version: 66.06
glider: 148
mission: 12
dive: 357
start: 8 8 113 15 32 6
data:
$ID,148
$MISSION,12
$DIVE,357
$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,-1023150.2
$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,3395
$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,28
$R_STBD_OVSHOOT,44
$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
$GPS1,152405,2242.887,-15758.264,30,0.9,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.5
$GPS2,153112,2242.872,-15758.308,12,1.4,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,-0.037
$KALMAN_X,-114830.9,320.1,261.7,117230.1,-82.3
$KALMAN_Y,115911.9,-289.6,-473.7,-119059.1,-921.7
$MHEAD_RNG_PITCHd_Wd,251.8,13861,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,411,1644,3154,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-6.9,10,122,14.05,2.38,-3.95,0.000,4,0.150,0.031,3114,3164,3396,0,0,0,0,0,0
$GC,216,-1.11,-146.0,36.9,-17.2,25,221,0.17,2.62,0.00,0.000,6,0.094,0.032,3153,1571,3397,0,0,0,0,0,0
$GC,484,-0.93,-146.0,83.6,-15.8,49,489,0.17,2.30,0.00,0.000,4,0.099,0.042,3191,169,3397,0,0,0,0,0,0
$GC,583,-0.93,-146.0,96.7,-10.9,58,587,0.00,2.15,0.00,0.000,6,0.000,0.016,3191,1612,3398,0,0,0,0,0,0
$GC,848,-0.87,-146.0,125.3,-10.0,82,852,0.00,2.30,0.00,0.000,4,0.000,0.020,3191,3101,3398,0,0,0,0,0,0
$GC,867,-0.87,-146.0,127.3,-10.1,83,871,0.00,2.53,0.00,0.000,6,0.000,0.027,3191,1541,3398,0,0,0,0,0,0
$GC,1132,-0.87,-146.0,153.8,-9.7,107,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1540,3399,0,0,0,0,0,0
$GC,1393,-0.87,-146.0,179.8,-10.2,132,1397,0.00,2.47,0.00,0.000,4,0.000,0.021,3191,3105,3400,0,0,0,0,0,0
$GC,1420,-0.87,-146.0,182.6,-9.7,134,1424,0.00,2.50,0.00,0.000,6,0.000,0.028,3191,1554,3400,0,0,0,0,0,0
$GC,1679,-0.87,-146.0,208.0,-9.7,152,1683,0.00,2.28,0.00,0.000,4,0.000,0.044,3190,169,3400,0,0,0,0,0,0
$GC,1693,-0.87,-146.0,209.6,-9.4,152,1698,0.00,2.08,0.00,0.000,6,0.000,0.018,3190,1581,3400,0,0,0,0,0,0
$GC,1968,-0.87,-146.0,232.5,-8.3,159,1972,0.00,2.35,0.00,0.000,4,0.000,0.021,3191,3099,3400,0,0,0,0,0,0
$GC,2002,-0.95,-146.0,235.2,-7.0,159,2006,0.00,2.50,0.00,0.000,6,0.000,0.028,3191,1551,3400,0,0,0,0,0,0
$GC,2252,-0.95,-146.0,256.0,-8.6,165,2256,0.00,2.28,0.00,0.000,4,0.000,0.044,3191,169,3400,0,0,0,0,0,0
$GC,2302,-1.01,-146.0,261.0,-10.2,166,2306,0.00,2.05,0.00,0.000,6,0.000,0.018,3191,1528,3400,0,0,0,0,0,0
$GC,2585,-1.06,-146.0,286.3,-8.6,173,2590,0.12,2.50,0.00,0.000,4,0.063,0.023,3127,3119,3400,0,0,0,0,0,0
$GC,2618,-1.06,-146.0,289.7,-10.7,173,2623,0.17,2.53,0.00,0.000,6,0.086,0.029,3168,1563,3400,0,0,0,0,0,0
$GC,2870,-1.06,-146.0,313.1,-9.3,179,2874,0.00,2.30,0.00,0.000,4,0.000,0.048,3168,173,3399,0,0,0,0,0,0
$GC,2893,-1.06,-146.0,315.7,-9.8,179,2897,0.00,2.10,0.00,0.000,6,0.000,0.019,3168,1556,3399,0,0,0,0,0,0
$GC,3156,-1.06,-146.0,337.6,-8.2,186,3161,0.00,2.50,0.00,0.000,4,0.000,0.028,3168,3137,3398,0,0,0,0,0,0
$GC,3195,-1.14,-146.0,341.1,-7.9,186,3200,0.00,2.58,0.00,0.000,6,0.000,0.032,3168,1566,3398,0,0,0,0,0,0
$GC,3445,-1.14,-146.0,361.7,-8.3,193,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1566,3397,0,0,0,0,0,0
$GC,3688,-1.14,-146.0,381.9,-8.2,199,3693,0.00,2.55,0.00,0.000,4,0.000,0.031,3168,3135,3396,0,0,0,0,0,0
$GC,3723,-1.21,-146.0,384.7,-7.7,199,3729,0.15,2.58,0.00,0.000,6,0.054,0.035,3094,1572,3396,0,0,0,0,0,0
$GC,3974,-1.09,-146.0,411.9,-11.0,205,3979,0.25,2.38,0.00,0.000,4,0.084,0.059,3155,173,3395,0,0,0,0,0,0
$GC,4005,-1.09,-146.0,414.7,-8.4,205,4009,0.00,2.15,0.00,0.000,6,0.000,0.022,3155,1557,3393,0,0,0,0,0,0
$GC,4259,-1.09,-146.0,435.2,-8.0,212,4263,0.00,2.55,0.00,0.000,4,0.000,0.035,3155,3139,3393,0,0,0,0,0,0
$GC,4288,-1.14,-146.0,437.6,-8.2,212,4293,0.00,2.60,0.00,0.000,6,0.000,0.037,3155,1569,3393,0,0,0,0,0,0
$GC,4545,-1.14,-146.0,460.0,-9.2,219,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1569,3390,0,0,0,0,0,0
$GC,4787,-1.14,-146.0,483.6,-9.6,225,4791,0.00,2.62,0.00,0.000,4,0.000,0.041,3155,3142,3389,0,0,0,0,0,0
$GC,4820,-1.21,-146.0,486.6,-8.9,225,4825,0.10,2.62,0.00,0.000,6,0.075,0.039,3099,1571,3389,0,0,0,0,0,0
$GC,5075,-1.12,-146.0,512.6,-10.2,231,5080,0.22,2.45,0.00,0.000,4,0.087,0.071,3150,167,3387,0,0,0,0,0,0
$GC,5127,-1.12,-146.0,517.8,-8.1,232,5131,0.00,2.25,0.00,0.000,6,0.000,0.028,3150,1570,3386,0,0,0,0,0,0
$GC,5405,-1.12,-146.0,539.4,-7.8,239,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1571,3385,0,0,0,0,0,0
$GC,5650,-1.12,-146.0,558.4,-7.7,245,5654,0.00,2.60,0.00,0.000,4,0.000,0.043,3150,3154,3383,0,0,0,0,0,0
$GC,5674,-1.17,-146.0,560.4,-8.0,245,5679,0.00,2.67,0.00,0.000,6,0.000,0.044,3150,1569,3383,0,0,0,0,0,0
$GC,5934,-1.17,-146.0,580.1,-7.5,252,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1569,3382,0,0,0,0,0,0
$GC,6179,-1.17,-146.0,598.0,-7.3,258,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1569,3380,0,0,0,0,0,0
$GC,6421,-1.17,-146.0,616.7,-7.7,264,6426,0.00,2.62,0.00,0.000,4,0.000,0.043,3150,3150,3378,0,0,0,0,0,0
$GC,6455,-1.26,-146.0,619.5,-8.4,264,6460,0.12,2.67,0.00,0.000,6,0.065,0.053,3090,1573,3378,0,0,0,0,0,0
$GC,6707,-1.16,-146.0,648.4,-12.4,270,6712,0.22,2.50,0.00,0.000,4,0.087,0.082,3141,170,3376,0,0,0,0,0,0
$GC,6740,-1.16,-146.0,653.1,-12.2,270,6744,0.00,2.28,0.00,0.000,6,0.000,0.031,3140,1574,3376,0,0,0,0,0,0
$GC,6993,-1.16,-146.0,672.4,-7.9,276,6997,0.00,2.65,0.00,0.000,4,0.000,0.050,3140,3154,3374,0,0,0,0,0,0
$GC,7034,-1.23,-146.0,676.5,-9.6,276,7040,0.00,2.70,0.00,0.000,6,0.000,0.048,3140,1567,3374,0,0,0,0,0,0
$GC,7285,-1.23,-146.0,696.4,-7.9,283,7289,0.00,2.47,0.00,0.000,4,0.000,0.082,3140,168,3373,0,0,0,0,0,0
$GC,7322,-1.23,-146.0,699.6,-8.0,283,7328,0.00,2.30,0.00,0.000,6,0.000,0.034,3141,1578,3373,0,0,0,0,0,0
$GC,7574,-1.23,-146.0,720.5,-8.3,290,7578,0.00,2.65,0.00,0.000,4,0.000,0.051,3140,3157,3372,0,0,0,0,0,0
$GC,7608,-1.30,-146.0,723.3,-8.0,290,7613,0.12,2.70,0.00,0.000,6,0.063,0.049,3081,1570,3372,0,0,0,0,0,0
$GC,7860,-1.20,-146.0,750.2,-11.0,296,7865,0.22,2.50,0.00,0.000,4,0.089,0.081,3132,163,3371,0,0,0,0,0,0
$GC,7914,-1.20,-146.0,755.8,-10.2,297,7918,0.00,2.30,0.00,0.000,6,0.000,0.034,3132,1574,3370,0,0,0,0,0,0
$GC,8196,-1.20,-146.0,779.6,-8.3,304,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1573,3369,0,0,0,0,0,0
$GC,8442,-1.20,-146.0,798.3,-7.5,310,8446,0.00,2.47,0.00,0.000,4,0.000,0.077,3132,170,3368,0,0,0,0,0,0
$GC,8465,-1.20,-146.0,800.4,-8.5,310,8470,0.00,2.28,0.00,0.000,6,0.000,0.035,3132,1574,3367,0,0,0,0,0,0
$GC,8725,-1.20,-146.0,818.6,-7.0,317,8729,0.00,2.67,0.00,0.000,4,0.000,0.053,3132,3161,3367,0,0,0,0,0,0
$GC,8756,-1.25,-146.0,820.6,-6.6,317,8760,0.00,2.72,0.00,0.000,6,0.000,0.051,3132,1570,3367,0,0,0,0,0,0
$GC,9010,-1.25,-146.0,837.4,-6.7,324,9015,0.00,2.53,0.00,0.000,4,0.000,0.084,3132,167,3366,0,0,0,0,0,0
$GC,9048,-1.25,-146.0,840.1,-7.1,324,9053,0.00,2.30,0.00,0.000,6,0.000,0.035,3132,1572,3365,0,0,0,0,0,0
$GC,9304,-1.25,-146.0,855.9,-6.4,331,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1572,3364,0,0,0,0,0,0
$GC,9542,-1.25,-146.0,871.7,-6.5,337,9546,0.00,2.67,0.00,0.000,4,0.000,0.053,3132,3158,3364,0,0,0,0,0,0
$GC,9571,-1.31,-146.0,873.7,-6.7,337,9575,0.00,2.72,0.00,0.000,6,0.000,0.051,3132,1564,3363,0,0,0,0,0,0
$GC,9827,-1.31,-146.0,890.4,-6.5,344,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1564,3363,0,0,0,0,0,0
$STATE,9985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9985,begin apogee
$GC,9992,-0.31,0.0,901.2,6.7,348,10115,0.85,0.00,120.07,1.147,6,0.067,0.000,3328,1345,2799,0,0,0,0,0,0
$STATE,10116,end apogee,CONTROL_FINISHED_OK
$STATE,10116,begin climb
$GC,10119,1.27,146.0,904.4,0.0,351,10257,1.40,2.20,130.27,1.129,4,0.031,0.086,3675,167,2203,0,0,0,0,0,0
$GC,10365,1.02,146.0,883.9,15.8,356,10370,0.28,1.95,0.00,0.000,6,0.109,0.030,3619,1353,2198,0,0,0,0,0,0
$GC,10627,0.95,146.0,856.7,10.1,363,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1353,2193,0,0,0,0,0,0
$GC,10869,0.88,146.0,832.6,10.0,369,10874,0.15,2.12,0.00,0.000,4,0.111,0.074,3588,164,2192,0,0,0,0,0,0
$GC,10891,0.82,152.5,830.4,9.7,369,10900,0.00,1.95,4.88,0.746,6,0.000,0.029,3588,1343,2178,0,0,0,0,0,0
$GC,11160,0.85,180.4,807.2,8.7,376,11193,0.00,0.00,27.60,1.040,6,0.000,0.000,3587,1343,2064,0,0,0,0,0,0
$GC,11438,0.88,202.6,781.5,9.0,383,11461,0.00,0.00,21.85,1.010,6,0.000,0.000,3588,1344,1973,0,0,0,0,0,0
$GC,11683,0.90,218.0,758.9,9.3,389,11700,0.00,0.00,15.43,0.968,6,0.000,0.000,3588,1344,1911,0,0,0,0,0,0
$GC,11925,0.90,218.0,734.3,10.2,395,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1346,1908,0,0,0,0,0,0
$GC,12171,0.90,218.0,709.4,10.3,401,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1346,1906,0,0,0,0,0,0
$GC,12412,0.90,218.0,684.5,10.2,407,12417,0.00,2.65,0.00,0.000,4,0.000,0.046,3588,2929,1905,0,0,0,0,0,0
$GC,12428,0.90,218.0,683.0,10.3,407,12433,0.00,2.70,0.00,0.000,6,0.000,0.046,3588,1341,1904,0,0,0,0,0,0
$GC,12697,0.90,218.0,654.4,10.7,414,12701,0.00,2.67,0.00,0.000,4,0.000,0.041,3588,2929,1904,0,0,0,0,0,0
$GC,12721,0.98,234.2,651.5,9.3,414,12742,0.00,2.72,15.60,0.920,6,0.000,0.049,3588,1347,1845,0,0,0,0,0,0
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$GC,15476,1.09,276.9,330.0,12.0,482,15480,0.00,2.58,0.00,0.000,4,0.000,0.031,3648,2937,1664,0,0,0,0,0,0
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$GC,17877,1.36,333.1,49.5,8.9,619,17906,0.10,2.10,21.67,0.463,4,0.083,0.049,3707,168,1440,0,0,0,0,0,0
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$STATE,18235,end climb,SURFACE_DEPTH_REACHED
$STATE,18235,begin surface coast
$FINISH,0.9,1.023072
$STATE,18276,end surface coast,CONTROL_FINISHED_OK
$STATE,18276,begin surface
$SM_CCo,18299,33.90,0.427,0,0,1210,390.03
$SM_GC,2.00,0.00,0.00,33.90,0.000,0.000,0.427,417,1644,1210,-13.70,2.09,390.03
$IRIDIUM_FIX,2234.68,-15754.99,021102,101023
$TT8_MAMPS,0.027612
$HUMID,67.16
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,11
$24V_AH,23.1,52.581
$10V_AH,9.8,50.210
$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,32.850,217.200,426.275,33.900,0.000,24.334,38.129,207.031,2.750,0.000,14.024,1489.166,13537.395,557.793,2413.383,754.020,33.371,1587.951,0.000,2422.975,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,85.904,1147.432,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,457.126,352.499,446.297,905.290,1191.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,54067,671
$CAP_FILE_SIZE,176603,0
$CFSIZE,260165632,145178624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080813,203923,2241.790,-15800.263,41,1.5,58,10.0