version: 66.06
glider: 148
mission: 12
dive: 266
start: 7 19 113 9 18 37
data:
$ID,148
$MISSION,12
$DIVE,266
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1021364.2
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3385
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.028999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,92
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,091023,2320.892,-15734.789,26,1.6,43,10.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.5
$GPS2,091743,2320.933,-15734.826,11,1.2,11,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYT1
$TGT_LATLONG,2332.500,-15900.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,-0.026
$KALMAN_X,-203178.5,-455.8,351.4,246388.1,-541.0
$KALMAN_Y,170620.4,260.6,46.6,-104364.1,1227.6
$MHEAD_RNG_PITCHd_Wd,254.1,146192,-17.5,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.82,0.000,2,0.000,0.000,410,1581,2900,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.3,9,120,14.00,2.38,-9.32,0.000,4,0.150,0.052,3102,168,3396,0,0,0,0,0,0
$GC,264,-0.94,-146.0,48.9,-23.3,30,269,0.35,2.08,0.00,0.000,6,0.096,0.017,3177,1550,3397,0,0,0,0,0,0
$GC,528,-0.86,-146.0,88.6,-12.3,54,533,0.10,2.50,0.00,0.000,4,0.120,0.021,3199,3134,3398,0,0,0,0,0,0
$GC,570,-0.92,-146.0,93.2,-10.4,57,574,0.00,2.55,0.00,0.000,6,0.000,0.028,3199,1564,3398,0,0,0,0,0,0
$GC,838,-0.92,-146.0,118.1,-8.2,81,842,0.00,2.30,0.00,0.000,4,0.000,0.044,3199,168,3398,0,0,0,0,0,0
$GC,873,-0.92,-146.0,121.8,-9.0,84,877,0.00,2.12,0.00,0.000,6,0.000,0.017,3198,1600,3398,0,0,0,0,0,0
$GC,1138,-0.92,-146.0,146.2,-8.9,108,1142,0.00,2.38,0.00,0.000,4,0.000,0.021,3199,3117,3398,0,0,0,0,0,0
$GC,1166,-0.97,-146.0,148.9,-9.1,110,1171,0.10,2.50,0.00,0.000,6,0.074,0.028,3127,1564,3399,0,0,0,0,0,0
$GC,1426,-0.81,-146.0,183.4,-13.3,134,1428,0.38,0.00,0.00,0.000,6,0.080,0.000,3209,1564,3399,0,0,0,0,0,0
$GC,1701,-0.88,-146.0,207.3,-8.7,154,1705,0.00,2.42,0.00,0.000,4,0.000,0.021,3209,3114,3399,0,0,0,0,0,0
$GC,1741,-1.03,-146.0,211.0,-8.7,154,1749,0.17,2.47,0.00,0.000,6,0.018,0.028,3109,1577,3399,0,0,0,0,0,0
$GC,1993,-0.89,-146.0,242.0,-12.1,161,1998,0.32,2.30,0.00,0.000,4,0.080,0.044,3188,168,3400,0,0,0,0,0,0
$GC,2038,-0.97,-146.0,247.0,-9.2,162,2042,0.00,2.10,0.00,0.000,6,0.000,0.018,3189,1553,3400,0,0,0,0,0,0
$GC,2327,-1.03,-146.0,264.6,-5.7,169,2332,0.12,2.47,0.00,0.000,4,0.062,0.024,3123,3124,3399,0,0,0,0,0,0
$GC,2374,-1.03,-146.0,268.6,-8.4,170,2379,0.15,2.53,0.00,0.000,6,0.091,0.030,3159,1572,3399,0,0,0,0,0,0
$GC,2661,-1.03,-146.0,293.6,-9.2,177,2665,0.00,2.33,0.00,0.000,4,0.000,0.051,3160,164,3399,0,0,0,0,0,0
$GC,2750,-1.03,-146.0,302.0,-9.5,179,2754,0.00,2.15,0.00,0.000,6,0.000,0.020,3159,1553,3398,0,0,0,0,0,0
$GC,3041,-1.03,-146.0,326.2,-8.3,186,3045,0.00,2.55,0.00,0.000,4,0.000,0.029,3159,3142,3398,0,0,0,0,0,0
$GC,3079,-1.13,-146.0,329.7,-8.0,186,3084,0.00,2.60,0.00,0.000,6,0.000,0.035,3159,1568,3397,0,0,0,0,0,0
$GC,3329,-1.13,-146.0,349.6,-8.0,193,3333,0.00,2.38,0.00,0.000,4,0.000,0.057,3159,161,3396,0,0,0,0,0,0
$GC,3350,-1.13,-146.0,351.3,-8.7,193,3354,0.00,2.20,0.00,0.000,6,0.000,0.021,3159,1576,3395,0,0,0,0,0,0
$GC,3613,-1.13,-146.0,373.0,-8.4,200,3617,0.00,2.53,0.00,0.000,4,0.000,0.031,3159,3137,3394,0,0,0,0,0,0
$GC,3659,-1.24,-146.0,376.8,-7.7,201,3664,0.17,2.60,0.00,0.000,6,0.048,0.038,3085,1568,3394,0,0,0,0,0,0
$GC,3949,-1.11,-146.0,410.7,-11.7,208,3954,0.25,2.58,0.00,0.000,4,0.086,0.034,3145,3133,3391,0,0,0,0,0,0
$GC,3964,-1.03,-146.0,412.8,-11.5,208,3969,0.00,2.58,0.00,0.000,6,0.000,0.035,3145,1574,3391,0,0,0,0,0,0
$GC,4233,-1.03,-146.0,434.1,-7.7,215,4237,0.00,2.40,0.00,0.000,4,0.000,0.065,3145,165,3390,0,0,0,0,0,0
$GC,4292,-1.08,-146.0,439.3,-8.9,216,4296,0.00,2.20,0.00,0.000,6,0.000,0.025,3145,1572,3389,0,0,0,0,0,0
$GC,4565,-1.08,-146.0,462.8,-8.8,223,4569,0.00,2.55,0.00,0.000,4,0.000,0.037,3145,3140,3387,0,0,0,0,0,0
$GC,4581,-1.08,-146.0,464.2,-8.9,223,4586,0.00,2.58,0.00,0.000,6,0.000,0.037,3145,1576,3387,0,0,0,0,0,0
$GC,4850,-1.08,-146.0,486.2,-8.1,230,4854,0.00,2.45,0.00,0.000,4,0.000,0.071,3145,164,3385,0,0,0,0,0,0
$GC,4869,-1.08,-146.0,487.8,-8.2,230,4873,0.00,2.22,0.00,0.000,6,0.000,0.028,3145,1573,3385,0,0,0,0,0,0
$GC,5134,-1.08,-146.0,508.0,-7.7,237,5139,0.00,2.60,0.00,0.000,4,0.000,0.040,3145,3147,3384,0,0,0,0,0,0
$GC,5172,-1.17,-146.0,511.3,-7.5,237,5178,0.00,2.62,0.00,0.000,6,0.000,0.042,3145,1581,3384,0,0,0,0,0,0
$GC,5423,-1.17,-146.0,531.1,-8.0,244,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1580,3382,0,0,0,0,0,0
$GC,5668,-1.17,-146.0,549.7,-7.5,250,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1580,3380,0,0,0,0,0,0
$GC,5914,-1.17,-146.0,567.5,-7.3,256,5919,0.00,2.47,0.00,0.000,4,0.000,0.077,3145,170,3378,0,0,0,0,0,0
$GC,5943,-1.17,-146.0,570.3,-8.7,256,5947,0.00,2.28,0.00,0.000,6,0.000,0.031,3145,1580,3379,0,0,0,0,0,0
$GC,6199,-1.17,-146.0,588.6,-7.2,263,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1580,3377,0,0,0,0,0,0
$GC,6441,-1.17,-146.0,607.1,-7.5,269,6445,0.00,2.62,0.00,0.000,4,0.000,0.044,3144,3155,3376,0,0,0,0,0,0
$GC,6460,-1.22,-146.0,608.6,-7.3,269,6466,0.12,2.67,0.00,0.000,6,0.064,0.046,3090,1577,3376,0,0,0,0,0,0
$GC,6730,-1.14,-146.0,634.9,-10.0,276,6735,0.20,2.50,0.00,0.000,4,0.090,0.080,3135,164,3374,0,0,0,0,0,0
$GC,6777,-1.14,-146.0,639.7,-8.9,277,6781,0.00,2.30,0.00,0.000,6,0.000,0.031,3135,1585,3373,0,0,0,0,0,0
$GC,7059,-1.14,-146.0,660.1,-7.0,284,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1585,3373,0,0,0,0,0,0
$GC,7305,-1.14,-146.0,677.1,-7.0,290,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1585,3371,0,0,0,0,0,0
$GC,7549,-1.14,-146.0,695.5,-7.7,296,7554,0.00,2.50,0.00,0.000,4,0.000,0.075,3136,166,3370,0,0,0,0,0,0
$GC,7568,-1.14,-146.0,697.4,-8.3,296,7573,0.00,2.28,0.00,0.000,6,0.000,0.032,3135,1580,3369,0,0,0,0,0,0
$GC,7834,-1.14,-146.0,718.2,-7.8,303,7838,0.00,2.62,0.00,0.000,4,0.000,0.048,3134,3152,3369,0,0,0,0,0,0
$GC,7859,-1.20,-146.0,720.3,-8.7,303,7863,0.00,2.70,0.00,0.000,6,0.000,0.049,3135,1568,3369,0,0,0,0,0,0
$GC,8118,-1.20,-146.0,740.9,-7.9,310,8122,0.00,2.47,0.00,0.000,4,0.000,0.083,3135,168,3367,0,0,0,0,0,0
$GC,8148,-1.20,-146.0,743.3,-9.3,310,8152,0.00,2.28,0.00,0.000,6,0.000,0.033,3135,1581,3367,0,0,0,0,0,0
$GC,8403,-1.20,-146.0,762.4,-7.4,317,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1581,3366,0,0,0,0,0,0
$GC,8646,-1.20,-146.0,778.6,-6.6,323,8651,0.00,2.50,0.00,0.000,4,0.000,0.076,3136,164,3365,0,0,0,0,0,0
$GC,8666,-1.20,-146.0,780.1,-7.6,323,8670,0.00,2.30,0.00,0.000,6,0.000,0.033,3135,1576,3365,0,0,0,0,0,0
$GC,8931,-1.20,-146.0,797.6,-6.7,330,8936,0.00,2.65,0.00,0.000,4,0.000,0.049,3135,3158,3364,0,0,0,0,0,0
$GC,8969,-1.30,-146.0,800.5,-7.0,330,8980,0.10,2.72,0.00,0.000,6,0.032,0.051,3081,1578,3364,0,0,0,0,0,0
$GC,9222,-1.22,-146.0,823.4,-9.2,337,9227,0.15,2.53,0.00,0.000,4,0.100,0.083,3116,165,3363,0,0,0,0,0,0
$GC,9260,-1.22,-146.0,827.2,-8.8,337,9265,0.00,2.30,0.00,0.000,6,0.000,0.034,3116,1576,3362,0,0,0,0,0,0
$GC,9510,-1.22,-146.0,845.7,-7.4,344,9514,0.00,2.65,0.00,0.000,4,0.000,0.050,3116,3154,3362,0,0,0,0,0,0
$GC,9535,-1.22,-146.0,847.5,-8.2,344,9540,0.00,2.70,0.00,0.000,6,0.000,0.054,3116,1576,3362,0,0,0,0,0,0
$GC,9797,-1.22,-146.0,866.3,-7.2,351,9802,0.00,2.50,0.00,0.000,4,0.000,0.083,3116,166,3362,0,0,0,0,0,0
$GC,9826,-1.22,-146.0,868.7,-8.4,351,9830,0.00,2.30,0.00,0.000,6,0.000,0.033,3116,1577,3361,0,0,0,0,0,0
$GC,10082,-1.22,-146.0,886.4,-7.0,358,10087,0.00,2.65,0.00,0.000,4,0.000,0.051,3116,3158,3361,0,0,0,0,0,0
$GC,10111,-1.22,-146.0,888.6,-7.4,358,10115,0.00,2.70,0.00,0.000,6,0.000,0.050,3116,1576,3361,0,0,0,0,0,0
$STATE,10282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10282,begin apogee
$GC,10288,-0.31,0.0,900.3,6.8,363,10411,0.88,0.00,119.43,1.154,6,0.071,0.000,3318,1342,2800,0,0,0,0,0,0
$STATE,10412,end apogee,CONTROL_FINISHED_OK
$STATE,10412,begin climb
$GC,10416,1.27,146.0,903.3,0.0,366,10553,1.42,0.00,130.32,1.134,6,0.032,0.000,3668,1342,2204,0,0,0,0,0,0
$GC,10783,1.08,146.0,869.9,12.6,375,10788,0.22,2.12,0.00,0.000,4,0.109,0.081,3622,167,2194,0,0,0,0,0,0
$GC,10814,0.92,146.0,866.2,12.1,375,10818,0.17,1.95,0.00,0.000,6,0.114,0.030,3587,1356,2194,0,0,0,0,0,0
$GC,11069,0.96,180.4,843.9,8.4,382,11102,0.00,0.00,31.08,1.068,6,0.000,0.000,3587,1357,2064,0,0,0,0,0,0
$GC,11314,0.97,187.1,820.7,9.7,388,11322,0.00,0.00,6.72,0.857,6,0.000,0.000,3587,1357,2037,0,0,0,0,0,0
$GC,11555,0.97,187.1,795.5,10.6,394,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1358,2035,0,0,0,0,0,0
$GC,11799,0.97,187.1,768.2,11.2,400,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1358,2033,0,0,0,0,0,0
$GC,12047,0.97,187.1,740.1,11.5,406,12051,0.00,2.10,0.00,0.000,4,0.000,0.072,3587,168,2032,0,0,0,0,0,0
$GC,12091,0.97,187.1,734.4,12.6,407,12095,0.00,1.90,0.00,0.000,6,0.000,0.029,3587,1351,2032,0,0,0,0,0,0
$GC,12382,0.97,187.1,702.5,10.5,414,12387,0.00,2.67,0.00,0.000,4,0.000,0.050,3587,2933,2031,0,0,0,0,0,0
$GC,12406,0.97,187.1,699.9,10.2,414,12410,0.00,2.72,0.00,0.000,6,0.000,0.049,3586,1351,2030,0,0,0,0,0,0
$GC,12672,0.99,202.8,675.3,9.3,421,12692,0.00,2.20,14.95,0.942,4,0.000,0.086,3586,174,1973,0,0,0,0,0,0
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$GC,14268,0.99,245.6,481.1,11.5,460,14272,0.00,2.62,0.00,0.000,4,0.000,0.042,3602,2928,1787,0,0,0,0,0,0
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$GC,15360,1.13,249.0,361.7,9.8,486,15366,0.12,2.65,0.00,0.000,6,0.066,0.042,3651,1358,1783,0,0,0,0,0,0
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$STATE,18348,end climb,SURFACE_DEPTH_REACHED
$STATE,18348,begin surface coast
$FINISH,0.9,1.020909
$STATE,18382,end surface coast,CONTROL_FINISHED_OK
$STATE,18382,begin surface
$SM_CCo,18406,42.58,0.434,0,0,1209,390.03
$SM_GC,1.96,0.00,0.00,42.58,0.000,0.000,0.434,415,1581,1209,-13.66,0.31,390.03
$IRIDIUM_FIX,2312.13,-15736.17,131002,040403
$TT8_MAMPS,0.027612
$HUMID,66.89
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.00
$XPDR_PINGS,15
$24V_AH,23.2,39.270
$10V_AH,9.9,36.719
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.550,202.425,407.300,42.575,0.000,29.854,37.227,205.327,3.750,0.000,13.421,1503.922,13610.675,564.484,2456.674,745.755,33.371,1593.257,0.000,2461.285,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,85.904,1154.335,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,463.509,351.029,445.481,915.589,1200.388,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,54149,679
$CAP_FILE_SIZE,175489,0
$CFSIZE,260165632,152096768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190713,142802,2320.610,-15737.800,73,1.6,73,10.2