version: 66.06
glider: 148
mission: 12
dive: 297
start: 7 26 113 9 24 30
data:
$ID,148
$MISSION,12
$DIVE,297
$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,-1021937.4
$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,26
$R_STBD_OVSHOOT,134
$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
$GPS1,091255,2327.446,-15756.614,23,2.1,42,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.3
$GPS2,092336,2327.514,-15756.604,11,2.0,11,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK2
$TGT_LATLONG,2332.200,-15756.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.065,0.251
$KALMAN_X,-182419.3,100.3,-404.6,188621.6,1284.7
$KALMAN_Y,159255.4,104.4,-79.9,-80523.7,694.2
$MHEAD_RNG_PITCHd_Wd,335.2,8680,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,415,1601,2953,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.3,-4.5,9,123,13.77,2.33,-7.88,0.000,4,0.143,0.035,3102,3067,3399,0,0,0,0,0,0
$GC,214,-1.09,-146.0,34.0,-18.0,26,219,0.20,2.42,0.00,0.000,6,0.099,0.031,3145,1566,3399,0,0,0,0,0,0
$GC,484,-0.90,-146.0,81.2,-14.9,50,489,0.20,2.28,0.00,0.000,4,0.098,0.044,3188,168,3400,0,0,0,0,0,0
$GC,557,-0.90,-146.0,93.1,-11.8,56,566,0.00,2.00,0.00,0.000,6,0.000,0.017,3188,1502,3399,0,0,0,0,0,0
$GC,825,-0.85,-146.0,120.2,-11.4,81,829,0.00,2.40,0.00,0.000,4,0.000,0.021,3188,3069,3400,0,0,0,0,0,0
$GC,881,-0.94,-146.0,126.8,-9.0,86,886,0.00,2.40,0.00,0.000,6,0.000,0.028,3188,1566,3400,0,0,0,0,0,0
$GC,1146,-0.94,-146.0,154.0,-10.0,110,1150,0.00,2.25,0.00,0.000,4,0.000,0.042,3188,170,3401,0,0,0,0,0,0
$GC,1194,-0.94,-146.0,159.4,-10.2,114,1206,0.00,2.03,0.00,0.000,6,0.000,0.017,3188,1524,3400,0,0,0,0,0,0
$GC,1462,-0.94,-146.0,183.6,-8.9,139,1466,0.00,2.42,0.00,0.000,4,0.000,0.021,3188,3105,3400,0,0,0,0,0,0
$GC,1503,-1.00,-146.0,187.2,-8.8,142,1507,0.00,2.47,0.00,0.000,6,0.000,0.028,3188,1553,3400,0,0,0,0,0,0
$GC,1769,-1.00,-146.0,212.1,-9.5,158,1773,0.00,2.25,0.00,0.000,4,0.000,0.043,3188,163,3401,0,0,0,0,0,0
$GC,1808,-1.00,-146.0,215.9,-9.3,158,1814,0.00,2.08,0.00,0.000,6,0.000,0.017,3188,1574,3400,0,0,0,0,0,0
$GC,2058,-1.00,-146.0,237.5,-8.5,165,2063,0.00,2.35,0.00,0.000,4,0.000,0.021,3188,3111,3400,0,0,0,0,0,0
$GC,2106,-1.12,-146.0,241.1,-7.9,166,2111,0.20,2.45,0.00,0.000,6,0.042,0.028,3100,1575,3400,0,0,0,0,0,0
$GC,2395,-0.96,-146.0,281.6,-14.8,173,2400,0.30,2.28,0.00,0.000,4,0.083,0.043,3172,166,3400,0,0,0,0,0,0
$GC,2419,-0.96,-146.0,284.9,-11.6,173,2423,0.00,2.10,0.00,0.000,6,0.000,0.018,3173,1573,3400,0,0,0,0,0,0
$GC,2680,-0.96,-146.0,306.5,-8.0,180,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1576,3400,0,0,0,0,0,0
$GC,2924,-0.96,-146.0,324.5,-7.4,186,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1576,3399,0,0,0,0,0,0
$GC,3166,-1.00,-146.0,342.5,-7.3,192,3170,0.00,2.42,0.00,0.000,4,0.000,0.028,3172,3121,3398,0,0,0,0,0,0
$GC,3199,-1.12,-146.0,344.8,-6.6,192,3205,0.12,2.50,0.00,0.000,6,0.060,0.033,3103,1581,3398,0,0,0,0,0,0
$GC,3451,-1.01,-146.0,371.7,-11.2,198,3453,0.28,0.00,0.00,0.000,6,0.083,0.000,3165,1582,3397,0,0,0,0,0,0
$GC,3693,-1.01,-146.0,393.1,-8.7,204,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1581,3395,0,0,0,0,0,0
$GC,3937,-1.01,-146.0,412.4,-8.0,210,3941,0.00,2.47,0.00,0.000,4,0.000,0.035,3165,3119,3393,0,0,0,0,0,0
$GC,3963,-1.08,-146.0,414.3,-8.1,210,3967,0.00,2.50,0.00,0.000,6,0.000,0.038,3165,1584,3393,0,0,0,0,0,0
$GC,4223,-1.13,-146.0,435.2,-8.2,217,4228,0.12,2.40,0.00,0.000,4,0.064,0.066,3108,172,3391,0,0,0,0,0,0
$GC,4247,-1.06,-146.0,438.1,-11.5,217,4252,0.20,2.15,0.00,0.000,6,0.087,0.025,3153,1558,3391,0,0,0,0,0,0
$GC,4509,-1.06,-146.0,460.0,-8.0,224,4513,0.00,2.55,0.00,0.000,4,0.000,0.037,3153,3147,3389,0,0,0,0,0,0
$GC,4543,-1.15,-146.0,463.0,-8.9,224,4547,0.00,2.58,0.00,0.000,6,0.000,0.039,3153,1586,3389,0,0,0,0,0,0
$GC,4794,-1.15,-146.0,481.5,-7.4,230,4798,0.00,2.42,0.00,0.000,4,0.000,0.070,3153,170,3387,0,0,0,0,0,0
$GC,4840,-1.15,-146.0,485.4,-8.4,231,4844,0.00,2.25,0.00,0.000,6,0.000,0.028,3153,1589,3387,0,0,0,0,0,0
$GC,5127,-1.15,-146.0,508.6,-7.9,238,5131,0.00,2.55,0.00,0.000,4,0.000,0.041,3153,3151,3385,0,0,0,0,0,0
$GC,5162,-1.24,-146.0,511.2,-7.4,238,5167,0.17,2.60,0.00,0.000,6,0.049,0.041,3082,1584,3385,0,0,0,0,0,0
$GC,5412,-1.13,-146.0,538.9,-11.2,244,5417,0.25,2.42,0.00,0.000,4,0.085,0.072,3142,172,3383,0,0,0,0,0,0
$GC,5480,-1.13,-146.0,544.9,-8.6,245,5484,0.00,2.25,0.00,0.000,6,0.000,0.028,3142,1582,3383,0,0,0,0,0,0
$GC,5746,-1.13,-146.0,563.6,-6.8,252,5750,0.00,2.55,0.00,0.000,4,0.000,0.042,3142,3150,3381,0,0,0,0,0,0
$GC,5785,-1.22,-146.0,566.3,-6.2,252,5791,0.00,2.62,0.00,0.000,6,0.000,0.045,3142,1582,3381,0,0,0,0,0,0
$GC,6037,-1.22,-146.0,582.7,-6.6,259,6042,0.00,2.47,0.00,0.000,4,0.000,0.078,3142,164,3379,0,0,0,0,0,0
$GC,6100,-1.22,-146.0,587.7,-8.2,260,6104,0.00,2.25,0.00,0.000,6,0.000,0.031,3142,1579,3378,0,0,0,0,0,0
$GC,6368,-1.22,-146.0,608.8,-8.2,267,6372,0.00,2.60,0.00,0.000,4,0.000,0.046,3142,3154,3377,0,0,0,0,0,0
$GC,6389,-1.22,-146.0,610.7,-9.1,267,6394,0.10,2.65,0.00,0.000,6,0.076,0.046,3093,1573,3377,0,0,0,0,0,0
$GC,6654,-1.14,-146.0,639.2,-11.1,274,6659,0.20,2.45,0.00,0.000,4,0.091,0.079,3137,167,3377,0,0,0,0,0,0
$GC,6722,-1.14,-146.0,645.9,-10.0,275,6726,0.00,2.28,0.00,0.000,6,0.000,0.034,3137,1573,3375,0,0,0,0,0,0
$GC,6986,-1.14,-146.0,667.9,-8.2,282,6990,0.00,2.62,0.00,0.000,4,0.000,0.051,3137,3158,3374,0,0,0,0,0,0
$GC,7031,-1.23,-146.0,671.2,-7.7,283,7036,0.00,2.67,0.00,0.000,6,0.000,0.049,3137,1574,3374,0,0,0,0,0,0
$GC,7320,-1.23,-146.0,690.1,-6.5,290,7325,0.00,2.47,0.00,0.000,4,0.000,0.082,3137,167,3372,0,0,0,0,0,0
$GC,7377,-1.27,-146.0,694.5,-7.0,291,7382,0.12,2.30,0.00,0.000,6,0.064,0.035,3084,1583,3372,0,0,0,0,0,0
$GC,7653,-1.19,-146.0,719.4,-9.3,298,7658,0.17,2.65,0.00,0.000,4,0.094,0.054,3124,3153,3370,0,0,0,0,0,0
$GC,7673,-1.19,-146.0,721.4,-8.9,298,7678,0.00,2.67,0.00,0.000,6,0.000,0.048,3124,1569,3370,0,0,0,0,0,0
$GC,7937,-1.19,-146.0,741.1,-7.6,305,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1569,3369,0,0,0,0,0,0
$GC,8185,-1.19,-146.0,760.5,-8.0,311,8189,0.00,2.47,0.00,0.000,4,0.000,0.084,3124,167,3368,0,0,0,0,0,0
$GC,8213,-1.19,-146.0,763.4,-8.9,311,8218,0.00,2.28,0.00,0.000,6,0.000,0.035,3124,1581,3367,0,0,0,0,0,0
$GC,8468,-1.19,-146.0,782.7,-7.5,318,8472,0.00,2.62,0.00,0.000,4,0.000,0.051,3124,3153,3366,0,0,0,0,0,0
$GC,8489,-1.19,-146.0,784.1,-7.3,318,8493,0.00,2.67,0.00,0.000,6,0.000,0.049,3124,1572,3367,0,0,0,0,0,0
$GC,8753,-1.19,-146.0,804.5,-7.8,325,8757,0.00,2.47,0.00,0.000,4,0.000,0.084,3124,168,3365,0,0,0,0,0,0
$GC,8776,-1.19,-146.0,806.7,-10.0,325,8781,0.00,2.25,0.00,0.000,6,0.000,0.034,3124,1573,3365,0,0,0,0,0,0
$GC,9037,-1.19,-146.0,828.5,-8.5,332,9042,0.00,2.65,0.00,0.000,4,0.000,0.051,3124,3160,3364,0,0,0,0,0,0
$GC,9061,-1.19,-146.0,830.6,-8.9,332,9066,0.00,2.70,0.00,0.000,6,0.000,0.050,3124,1568,3364,0,0,0,0,0,0
$GC,9321,-1.19,-146.0,850.7,-7.5,339,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1569,3363,0,0,0,0,0,0
$GC,9564,-1.19,-146.0,867.4,-6.8,345,9568,0.00,2.45,0.00,0.000,4,0.000,0.083,3124,170,3362,0,0,0,0,0,0
$GC,9589,-1.19,-146.0,869.3,-8.3,345,9593,0.00,2.30,0.00,0.000,6,0.000,0.034,3124,1584,3362,0,0,0,0,0,0
$GC,9853,-1.19,-146.0,886.9,-6.6,352,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1584,3362,0,0,0,0,0,0
$STATE,10055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10055,begin apogee
$GC,10062,-0.31,0.0,901.2,7.0,357,10184,0.82,0.00,119.28,1.151,6,0.068,0.000,3315,1338,2800,0,0,0,0,0,0
$STATE,10185,end apogee,CONTROL_FINISHED_OK
$STATE,10185,begin climb
$GC,10189,1.27,146.0,904.8,0.0,360,10328,1.42,2.12,129.98,1.130,4,0.031,0.080,3667,167,2203,0,0,0,0,0,0
$GC,10364,1.01,146.0,896.0,13.7,364,10369,0.30,1.95,0.00,0.000,6,0.109,0.031,3607,1353,2201,0,0,0,0,0,0
$GC,10650,0.97,168.7,869.4,8.9,371,10677,0.00,2.12,20.77,1.046,4,0.000,0.073,3606,175,2111,0,0,0,0,0,0
$GC,10748,0.86,168.7,859.2,11.1,373,10753,0.15,1.92,0.00,0.000,6,0.112,0.031,3575,1353,2110,0,0,0,0,0,0
$GC,11027,0.91,205.3,836.0,8.3,380,11071,0.00,2.75,34.10,1.069,4,0.000,0.050,3575,2922,1961,0,0,0,0,0,0
$GC,11078,0.91,206.6,831.4,9.9,381,11083,0.00,2.72,0.00,0.000,6,0.000,0.048,3574,1348,1959,0,0,0,0,0,0
$GC,11361,0.91,206.6,801.7,10.7,388,11366,0.00,2.65,0.00,0.000,4,0.000,0.043,3575,2928,1956,0,0,0,0,0,0
$GC,11387,0.96,206.6,799.1,10.7,388,11391,0.00,2.70,0.00,0.000,6,0.000,0.051,3575,1347,1954,0,0,0,0,0,0
$GC,11646,0.96,206.6,769.6,11.3,395,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1348,1954,0,0,0,0,0,0
$GC,11892,0.96,206.6,743.3,10.7,401,11896,0.00,2.10,0.00,0.000,4,0.000,0.087,3575,164,1953,0,0,0,0,0,0
$GC,11906,0.96,206.6,741.4,10.4,401,11910,0.00,1.92,0.00,0.000,6,0.000,0.029,3574,1354,1952,0,0,0,0,0,0
$GC,12180,0.99,225.7,715.5,9.1,408,12206,0.10,2.70,19.17,0.980,4,0.081,0.051,3613,2923,1878,0,0,0,0,0,0
$GC,12225,1.02,250.0,710.6,8.9,409,12254,0.00,2.72,23.60,0.981,6,0.000,0.049,3614,1345,1780,0,0,0,0,0,0
$GC,12509,1.02,250.0,677.8,11.8,416,12510,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1345,1776,0,0,0,0,0,0
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$GC,13033,1.02,250.0,611.5,12.6,429,13037,0.00,2.10,0.00,0.000,4,0.000,0.084,3614,165,1771,0,0,0,0,0,0
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$GC,14185,1.02,250.0,478.3,10.8,457,14189,0.00,2.58,0.00,0.000,4,0.000,0.040,3614,2919,1769,0,0,0,0,0,0
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$STATE,18340,end climb,SURFACE_DEPTH_REACHED
$STATE,18340,begin surface coast
$FINISH,0.9,1.023577
$STATE,18376,end surface coast,CONTROL_FINISHED_OK
$STATE,18376,begin surface
$SM_CCo,18401,32.78,0.429,0,0,1209,390.03
$SM_GC,2.03,0.00,0.00,32.78,0.000,0.000,0.429,417,1598,1209,-13.65,0.76,390.03
$IRIDIUM_FIX,2316.83,-15755.34,201002,090913
$TT8_MAMPS,0.027612
$HUMID,67.48
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,12
$24V_AH,23.2,43.821
$10V_AH,9.9,41.338
$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,33.550,230.775,428.450,32.775,0.000,58.903,75.150,282.363,3.000,0.000,14.565,1546.240,13486.491,536.995,2582.643,913.225,33.373,1674.362,0.000,2582.382,0.000,0.536,0.000
$DEVICE_MAMPS,143.429,86.671,1151.267,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,467.098,360.406,457.410,934.475,1234.262,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355896
$DATA_FILE_SIZE,54195,686
$CAP_FILE_SIZE,189601,0
$CFSIZE,260165632,149700608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260713,143324,2330.214,-15757.299,56,1.6,56,10.2