version: 66.06
glider: 148
mission: 12
dive: 385
start: 8 14 113 22 39 44
data:
$ID,148
$MISSION,12
$DIVE,385
$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,-1023718.1
$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,3400
$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,24
$R_STBD_OVSHOOT,55
$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
$GPS1,222720,2241.260,-15739.861,39,99.0,58,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.9
$GPS2,223852,2241.305,-15739.926,18,99.0,37,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.002,0.260
$KALMAN_X,-85245.3,-432.0,-102.5,120173.1,587.6
$KALMAN_Y,85490.3,-105.1,35.9,-92240.4,-1098.0
$MHEAD_RNG_PITCHd_Wd,350.2,45334,-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,-67.62,0.000,2,0.000,0.000,407,1653,2964,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.5,-4.8,9,123,14.68,2.40,-7.53,0.000,4,0.166,0.032,3116,3155,3398,0,0,0,0,0,0
$GC,247,-1.11,-146.0,38.6,-17.5,29,252,0.17,2.60,0.00,0.000,6,0.104,0.031,3155,1560,3399,0,0,0,0,0,0
$GC,516,-0.95,-146.0,82.0,-14.8,53,521,0.17,2.33,0.00,0.000,4,0.102,0.051,3192,166,3399,0,0,0,0,0,0
$GC,575,-0.95,-146.0,91.2,-11.8,58,579,0.00,2.12,0.00,0.000,6,0.000,0.016,3192,1597,3399,0,0,0,0,0,0
$GC,839,-0.95,-146.0,120.8,-11.7,82,848,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1600,3400,0,0,0,0,0,0
$GC,1104,-0.95,-146.0,150.3,-11.2,107,1108,0.00,2.35,0.00,0.000,4,0.000,0.021,3192,3110,3400,0,0,0,0,0,0
$GC,1132,-0.95,-146.0,153.3,-11.0,109,1137,0.00,2.53,0.00,0.000,6,0.000,0.028,3192,1540,3401,0,0,0,0,0,0
$GC,1401,-0.95,-146.0,182.0,-11.1,133,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1540,3401,0,0,0,0,0,0
$GC,1688,-0.95,-146.0,213.3,-10.3,152,1692,0.00,2.47,0.00,0.000,4,0.000,0.021,3192,3114,3401,0,0,0,0,0,0
$GC,1741,-1.06,-146.0,218.2,-9.1,153,1746,0.10,2.55,0.00,0.000,6,0.075,0.028,3131,1546,3401,0,0,0,0,0,0
$GC,2020,-0.94,-146.0,250.8,-11.8,160,2022,0.28,0.00,0.00,0.000,6,0.080,0.000,3194,1545,3401,0,0,0,0,0,0
$GC,2271,-0.99,-146.0,271.2,-8.2,166,2275,0.00,2.47,0.00,0.000,4,0.000,0.024,3193,3114,3401,0,0,0,0,0,0
$GC,2327,-1.13,-146.0,276.3,-7.2,167,2332,0.17,2.53,0.00,0.000,6,0.046,0.029,3109,1559,3401,0,0,0,0,0,0
$GC,2601,-0.99,-146.0,308.9,-12.1,174,2607,0.30,2.47,0.00,0.000,4,0.082,0.025,3180,3110,3400,0,0,0,0,0,0
$GC,2633,-1.05,-146.0,311.9,-8.6,174,2637,0.00,2.53,0.00,0.000,6,0.000,0.031,3180,1564,3400,0,0,0,0,0,0
$GC,2893,-1.05,-146.0,331.9,-7.8,181,2897,0.00,2.33,0.00,0.000,4,0.000,0.053,3180,163,3398,0,0,0,0,0,0
$GC,2923,-1.09,-146.0,334.9,-8.9,181,2927,0.00,2.10,0.00,0.000,6,0.000,0.020,3180,1527,3399,0,0,0,0,0,0
$GC,3183,-1.14,-146.0,354.2,-7.6,188,3188,0.12,2.60,0.00,0.000,4,0.062,0.031,3115,3137,3397,0,0,0,0,0,0
$GC,3244,-1.14,-146.0,360.3,-9.9,189,3250,0.17,2.58,0.00,0.000,6,0.084,0.035,3156,1564,3397,0,0,0,0,0,0
$GC,3521,-1.14,-146.0,384.5,-8.9,196,3525,0.00,2.55,0.00,0.000,4,0.000,0.033,3156,3136,3395,0,0,0,0,0,0
$GC,3540,-1.14,-146.0,386.8,-8.7,196,3544,0.00,2.58,0.00,0.000,6,0.000,0.035,3156,1562,3395,0,0,0,0,0,0
$GC,3804,-1.14,-146.0,409.5,-8.7,203,3808,0.00,2.38,0.00,0.000,4,0.000,0.062,3156,172,3393,0,0,0,0,0,0
$GC,3834,-1.14,-146.0,412.2,-9.7,203,3838,0.00,2.15,0.00,0.000,6,0.000,0.022,3156,1556,3393,0,0,0,0,0,0
$GC,4089,-1.14,-146.0,434.0,-8.4,210,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1557,3391,0,0,0,0,0,0
$GC,4334,-1.14,-146.0,453.3,-7.9,216,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1557,3389,0,0,0,0,0,0
$GC,4578,-1.14,-146.0,472.7,-7.9,222,4582,0.00,2.60,0.00,0.000,4,0.000,0.038,3155,3138,3387,0,0,0,0,0,0
$GC,4607,-1.20,-146.0,475.3,-8.4,222,4611,0.00,2.60,0.00,0.000,6,0.000,0.038,3156,1570,3387,0,0,0,0,0,0
$GC,4862,-1.20,-146.0,495.8,-8.2,229,4866,0.00,2.62,0.00,0.000,4,0.000,0.041,3156,3135,3386,0,0,0,0,0,0
$GC,4887,-1.20,-146.0,498.0,-9.4,229,4892,0.00,2.60,0.00,0.000,6,0.000,0.039,3155,1568,3385,0,0,0,0,0,0
$GC,5149,-1.20,-146.0,519.8,-8.4,236,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1568,3384,0,0,0,0,0,0
$GC,5390,-1.20,-146.0,539.7,-8.2,242,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1568,3382,0,0,0,0,0,0
$GC,5636,-1.20,-146.0,558.4,-7.5,248,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1568,3380,0,0,0,0,0,0
$GC,5878,-1.20,-146.0,575.5,-7.0,254,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1568,3379,0,0,0,0,0,0
$GC,6121,-1.20,-146.0,591.7,-6.6,260,6126,0.00,2.62,0.00,0.000,4,0.000,0.044,3156,3140,3378,0,0,0,0,0,0
$GC,6155,-1.29,-146.0,593.9,-6.0,260,6160,0.15,2.65,0.00,0.000,6,0.057,0.047,3093,1580,3377,0,0,0,0,0,0
$GC,6410,-1.19,-146.0,617.3,-9.6,266,6415,0.20,2.50,0.00,0.000,4,0.090,0.077,3139,164,3376,0,0,0,0,0,0
$GC,6443,-1.19,-146.0,620.8,-8.2,266,6448,0.00,2.28,0.00,0.000,6,0.000,0.032,3139,1564,3376,0,0,0,0,0,0
$GC,6695,-1.19,-146.0,639.5,-7.4,272,6699,0.00,2.67,0.00,0.000,4,0.000,0.050,3139,3159,3375,0,0,0,0,0,0
$GC,6716,-1.19,-146.0,641.1,-7.0,272,6720,0.00,2.65,0.00,0.000,6,0.000,0.046,3139,1580,3375,0,0,0,0,0,0
$GC,6980,-1.19,-146.0,661.2,-7.9,279,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1580,3373,0,0,0,0,0,0
$GC,7224,-1.19,-146.0,680.8,-8.0,285,7228,0.00,2.50,0.00,0.000,4,0.000,0.081,3139,167,3371,0,0,0,0,0,0
$GC,7258,-1.19,-146.0,683.8,-9.0,285,7263,0.00,2.33,0.00,0.000,6,0.000,0.034,3139,1590,3371,0,0,0,0,0,0
$GC,7511,-1.19,-146.0,703.7,-7.8,291,7515,0.00,2.62,0.00,0.000,4,0.000,0.052,3139,3158,3370,0,0,0,0,0,0
$GC,7532,-1.19,-146.0,705.5,-7.6,291,7536,0.00,2.70,0.00,0.000,6,0.000,0.048,3139,1574,3370,0,0,0,0,0,0
$GC,7798,-1.19,-146.0,724.4,-7.0,298,7802,0.00,2.50,0.00,0.000,4,0.000,0.081,3139,161,3369,0,0,0,0,0,0
$GC,7826,-1.19,-146.0,726.6,-7.5,298,7830,0.00,2.30,0.00,0.000,6,0.000,0.034,3139,1583,3369,0,0,0,0,0,0
$GC,8081,-1.19,-146.0,742.9,-6.2,305,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1584,3367,0,0,0,0,0,0
$GC,8328,-1.19,-146.0,758.6,-6.5,311,8333,0.00,2.65,0.00,0.000,4,0.000,0.053,3139,3162,3366,0,0,0,0,0,0
$GC,8347,-1.19,-146.0,760.3,-6.7,311,8352,0.00,2.70,0.00,0.000,6,0.000,0.048,3139,1579,3366,0,0,0,0,0,0
$GC,8612,-1.19,-146.0,777.5,-6.6,318,8616,0.00,2.50,0.00,0.000,4,0.000,0.081,3139,166,3365,0,0,0,0,0,0
$GC,8637,-1.19,-146.0,779.3,-7.6,318,8641,0.00,2.33,0.00,0.000,6,0.000,0.034,3139,1589,3365,0,0,0,0,0,0
$GC,8896,-1.19,-146.0,797.0,-6.8,325,8901,0.00,2.65,0.00,0.000,4,0.000,0.053,3139,3157,3364,0,0,0,0,0,0
$GC,8925,-1.25,-146.0,799.0,-7.9,325,8930,0.00,2.70,0.00,0.000,6,0.000,0.049,3139,1576,3364,0,0,0,0,0,0
$GC,9182,-1.25,-146.0,816.1,-6.9,332,9186,0.00,2.50,0.00,0.000,4,0.000,0.082,3139,168,3363,0,0,0,0,0,0
$GC,9219,-1.25,-146.0,819.2,-8.1,332,9225,0.00,2.33,0.00,0.000,6,0.000,0.035,3139,1583,3363,0,0,0,0,0,0
$GC,9469,-1.25,-146.0,835.7,-6.6,339,9474,0.00,2.65,0.00,0.000,4,0.000,0.054,3139,3159,3362,0,0,0,0,0,0
$GC,9490,-1.25,-146.0,837.1,-6.9,339,9495,0.00,2.70,0.00,0.000,6,0.000,0.048,3139,1578,3362,0,0,0,0,0,0
$GC,9759,-1.25,-146.0,854.9,-6.8,346,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1578,3361,0,0,0,0,0,0
$GC,9998,-1.25,-146.0,871.2,-6.7,352,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1578,3361,0,0,0,0,0,0
$GC,10242,-1.25,-146.0,886.9,-6.4,358,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1578,3361,0,0,0,0,0,0
$STATE,10483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10483,begin apogee
$GC,10491,-0.31,0.0,901.6,5.9,364,10615,0.85,0.00,120.57,1.149,6,0.071,0.000,3334,1343,2800,0,0,0,0,0,0
$STATE,10616,end apogee,CONTROL_FINISHED_OK
$STATE,10616,begin climb
$GC,10619,1.27,146.0,903.8,0.0,367,10759,1.42,2.20,131.55,1.126,4,0.034,0.084,3680,174,2203,0,0,0,0,0,0
$GC,10804,1.01,146.0,890.8,16.1,371,10809,0.28,1.92,0.00,0.000,6,0.110,0.031,3624,1350,2200,0,0,0,0,0,0
$GC,11080,0.93,146.0,858.6,11.4,378,11084,0.00,2.12,0.00,0.000,4,0.000,0.074,3623,163,2194,0,0,0,0,0,0
$GC,11100,0.82,146.0,856.0,12.1,378,11105,0.22,1.95,0.00,0.000,6,0.104,0.031,3577,1350,2194,0,0,0,0,0,0
$GC,11364,0.83,156.2,830.5,9.5,385,11375,0.00,0.00,8.50,0.911,6,0.000,0.000,3577,1351,2163,0,0,0,0,0,0
$GC,11614,0.83,156.2,806.5,10.0,391,11618,0.00,2.70,0.00,0.000,4,0.000,0.052,3577,2931,2161,0,0,0,0,0,0
$GC,11633,0.84,166.0,803.8,9.5,391,11649,0.00,2.70,10.80,0.948,6,0.000,0.048,3577,1356,2123,0,0,0,0,0,0
$GC,11900,0.85,169.1,777.2,9.9,398,11906,0.00,0.00,4.32,0.689,6,0.000,0.000,3577,1356,2110,0,0,0,0,0,0
$GC,12145,0.87,187.4,754.6,9.2,404,12166,0.00,0.00,18.62,0.990,6,0.000,0.000,3577,1356,2035,0,0,0,0,0,0
$GC,12388,0.94,209.0,732.6,9.0,410,12417,0.12,2.78,21.48,0.987,4,0.067,0.042,3623,2927,1946,0,0,0,0,0,0
$GC,12425,0.90,212.3,729.0,9.8,410,12438,0.12,2.75,4.57,0.686,6,0.107,0.050,3597,1356,1933,0,0,0,0,0,0
$GC,12679,0.90,216.9,703.3,9.8,417,12686,0.00,0.00,5.75,0.765,6,0.000,0.000,3597,1356,1915,0,0,0,0,0,0
$GC,12922,0.90,216.9,678.2,10.4,423,12927,0.00,2.65,0.00,0.000,4,0.000,0.043,3597,2930,1913,0,0,0,0,0,0
$GC,12943,0.91,223.0,676.1,9.7,423,12955,0.00,2.70,7.12,0.814,6,0.000,0.051,3597,1359,1891,0,0,0,0,0,0
$GC,13210,0.91,223.0,647.3,10.7,430,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1359,1890,0,0,0,0,0,0
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$GC,14589,1.01,244.4,496.4,9.4,463,14611,0.00,2.65,14.30,0.821,6,0.000,0.044,3606,1365,1802,0,0,0,0,0,0
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$GC,16054,1.07,260.4,320.4,10.3,499,16057,0.00,2.12,0.00,0.000,4,0.000,0.063,3626,160,1732,0,0,0,0,0,0
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$STATE,18843,end climb,SURFACE_DEPTH_REACHED
$STATE,18843,begin surface coast
$FINISH,1.0,1.023332
$STATE,18884,end surface coast,CONTROL_FINISHED_OK
$STATE,18884,begin surface
$SM_CCo,18909,45.03,0.427,0,0,1208,390.03
$SM_GC,1.84,0.00,0.00,45.03,0.000,0.000,0.427,413,1583,1208,-13.74,0.37,390.03
$IRIDIUM_FIX,2230.01,-15738.97,081102,222249
$TT8_MAMPS,0.027612
$HUMID,66.65
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,6
$24V_AH,23.0,56.757
$10V_AH,9.9,54.478
$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,34.100,204.775,410.750,45.025,0.000,48.425,79.566,301.606,1.500,0.000,39.738,1541.244,14083.998,555.764,2533.708,917.095,33.370,1604.213,0.000,2506.460,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,84.370,1148.966,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.516,366.605,465.936,968.478,1272.330,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,57304,705
$CAP_FILE_SIZE,182392,0
$CFSIZE,260165632,142999552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150813,035720,2242.717,-15739.957,38,4.7,57,10.1