version: 66.06
glider: 148
mission: 12
dive: 391
start: 8 16 113 7 13 12
data:
$ID,148
$MISSION,12
$DIVE,391
$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,-1023827.5
$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,25
$R_STBD_OVSHOOT,122
$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
$GPS1,070456,2250.435,-15739.067,25,2.1,44,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.1
$GPS2,071219,2250.361,-15739.093,15,1.1,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,0.244
$KALMAN_X,-88351.4,-176.0,191.1,124148.1,-868.1
$KALMAN_Y,74967.4,17.0,-233.7,-64801.0,-1165.7
$MHEAD_RNG_PITCHd_Wd,9.8,28601,-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,-67.20,0.000,2,0.000,0.000,416,1614,2917,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.1,9,123,13.90,2.35,-8.88,0.000,4,0.144,0.035,3117,3071,3396,0,0,0,0,0,0
$GC,191,-1.08,-146.0,31.6,-22.7,23,201,0.17,2.47,0.00,0.000,6,0.079,0.031,3160,1570,3397,0,0,0,0,0,0
$GC,460,-0.94,-146.0,74.6,-13.4,48,465,0.15,2.30,0.00,0.000,4,0.103,0.047,3194,169,3397,0,0,0,0,0,0
$GC,484,-0.82,-146.0,79.4,-14.6,49,493,0.08,2.05,0.00,0.000,6,0.087,0.018,3216,1533,3397,0,0,0,0,0,0
$GC,749,-0.82,-146.0,106.3,-10.5,74,753,0.00,2.45,0.00,0.000,4,0.000,0.021,3216,3106,3398,0,0,0,0,0,0
$GC,793,-0.90,-146.0,110.4,-10.0,77,797,0.00,2.50,0.00,0.000,6,0.000,0.028,3216,1557,3399,0,0,0,0,0,0
$GC,1060,-0.90,-146.0,137.7,-10.2,101,1064,0.00,2.25,0.00,0.000,4,0.000,0.044,3216,173,3399,0,0,0,0,0,0
$GC,1116,-0.98,-146.0,143.4,-8.4,106,1121,0.12,2.08,0.00,0.000,6,0.061,0.017,3145,1579,3399,0,0,0,0,0,0
$GC,1385,-0.84,-146.0,175.0,-12.6,130,1390,0.28,2.40,0.00,0.000,4,0.081,0.020,3211,3116,3399,0,0,0,0,0,0
$GC,1414,-0.89,-146.0,178.9,-8.5,132,1423,0.00,2.53,0.00,0.000,6,0.000,0.028,3210,1574,3400,0,0,0,0,0,0
$GC,1680,-0.89,-146.0,199.4,-8.3,157,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1574,3399,0,0,0,0,0,0
$GC,1933,-0.95,-146.0,220.2,-8.0,164,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1574,3400,0,0,0,0,0,0
$GC,2174,-1.02,-146.0,241.1,-8.7,170,2179,0.15,2.45,0.00,0.000,4,0.054,0.022,3137,3116,3399,0,0,0,0,0,0
$GC,2212,-1.02,-146.0,245.6,-11.5,170,2220,0.15,2.53,0.00,0.000,6,0.065,0.028,3178,1574,3399,0,0,0,0,0,0
$GC,2464,-1.02,-146.0,271.4,-10.3,177,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1574,3399,0,0,0,0,0,0
$GC,2706,-1.02,-146.0,291.1,-7.6,183,2710,0.00,2.45,0.00,0.000,4,0.000,0.024,3178,3110,3399,0,0,0,0,0,0
$GC,2735,-1.08,-146.0,293.1,-6.8,183,2740,0.00,2.47,0.00,0.000,6,0.000,0.035,3178,1572,3399,0,0,0,0,0,0
$GC,2992,-1.08,-146.0,311.0,-7.2,190,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1572,3398,0,0,0,0,0,0
$GC,3237,-1.08,-146.0,330.2,-8.2,196,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1572,3397,0,0,0,0,0,0
$GC,3478,-1.08,-146.0,350.6,-8.3,202,3482,0.00,2.47,0.00,0.000,4,0.000,0.029,3178,3106,3396,0,0,0,0,0,0
$GC,3518,-1.17,-146.0,353.8,-7.4,202,3524,0.15,2.53,0.00,0.000,6,0.051,0.035,3109,1580,3396,0,0,0,0,0,0
$GC,3768,-1.06,-146.0,382.2,-11.6,209,3770,0.28,0.00,0.00,0.000,6,0.081,0.000,3172,1581,3394,0,0,0,0,0,0
$GC,4011,-1.06,-146.0,401.1,-7.5,215,4016,0.00,2.47,0.00,0.000,4,0.000,0.034,3172,3100,3393,0,0,0,0,0,0
$GC,4032,-1.11,-146.0,402.4,-6.9,215,4037,0.00,2.50,0.00,0.000,6,0.000,0.035,3172,1589,3393,0,0,0,0,0,0
$GC,4297,-1.11,-146.0,421.3,-7.1,222,4301,0.00,2.42,0.00,0.000,4,0.000,0.062,3172,169,3391,0,0,0,0,0,0
$GC,4320,-1.11,-146.0,423.1,-7.3,222,4325,0.00,2.12,0.00,0.000,6,0.000,0.023,3172,1541,3391,0,0,0,0,0,0
$GC,4581,-1.11,-146.0,440.6,-6.6,229,4586,0.00,2.60,0.00,0.000,4,0.000,0.036,3172,3137,3389,0,0,0,0,0,0
$GC,4610,-1.20,-146.0,442.6,-6.0,229,4615,0.15,2.55,0.00,0.000,6,0.054,0.037,3105,1587,3389,0,0,0,0,0,0
$GC,4869,-1.10,-146.0,466.8,-9.8,236,4871,0.25,0.00,0.00,0.000,6,0.087,0.000,3160,1587,3387,0,0,0,0,0,0
$GC,5111,-1.10,-146.0,484.5,-7.2,242,5116,0.00,2.60,0.00,0.000,4,0.000,0.041,3160,3137,3386,0,0,0,0,0,0
$GC,5145,-1.18,-146.0,487.1,-7.1,242,5149,0.00,2.58,0.00,0.000,6,0.000,0.039,3160,1585,3386,0,0,0,0,0,0
$GC,5395,-1.18,-146.0,504.9,-7.3,248,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1585,3384,0,0,0,0,0,0
$GC,5640,-1.18,-146.0,521.7,-6.8,254,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1586,3382,0,0,0,0,0,0
$GC,5882,-1.18,-146.0,538.3,-6.8,260,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1585,3381,0,0,0,0,0,0
$GC,6128,-1.18,-146.0,554.6,-6.8,266,6133,0.00,2.60,0.00,0.000,4,0.000,0.044,3160,3142,3379,0,0,0,0,0,0
$GC,6148,-1.24,-146.0,556.1,-7.3,266,6153,0.12,2.58,0.00,0.000,6,0.063,0.041,3103,1598,3379,0,0,0,0,0,0
$GC,6415,-1.15,-146.0,581.1,-9.7,273,6420,0.20,2.53,0.00,0.000,4,0.091,0.074,3148,160,3377,0,0,0,0,0,0
$GC,6449,-1.15,-146.0,584.3,-8.3,273,6453,0.00,2.30,0.00,0.000,6,0.000,0.031,3148,1580,3377,0,0,0,0,0,0
$GC,6701,-1.15,-146.0,601.2,-6.6,279,6706,0.00,2.60,0.00,0.000,4,0.000,0.045,3148,3157,3376,0,0,0,0,0,0
$GC,6730,-1.20,-146.0,603.4,-7.2,279,6734,0.00,2.65,0.00,0.000,6,0.000,0.046,3148,1594,3376,0,0,0,0,0,0
$GC,6989,-1.20,-146.0,620.2,-6.6,286,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1594,3375,0,0,0,0,0,0
$GC,7230,-1.20,-146.0,636.6,-6.7,292,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1594,3373,0,0,0,0,0,0
$GC,7472,-1.20,-146.0,653.2,-6.8,298,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1594,3372,0,0,0,0,0,0
$GC,7716,-1.20,-146.0,669.8,-6.8,304,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1593,3371,0,0,0,0,0,0
$GC,7960,-1.20,-146.0,687.2,-7.2,310,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1593,3370,0,0,0,0,0,0
$GC,8210,-1.20,-146.0,704.7,-7.4,316,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1591,3369,0,0,0,0,0,0
$GC,8447,-1.20,-146.0,722.9,-7.4,322,8452,0.00,2.65,0.00,0.000,4,0.000,0.047,3148,3159,3367,0,0,0,0,0,0
$GC,8467,-1.26,-146.0,724.5,-8.2,322,8471,0.00,2.65,0.00,0.000,6,0.000,0.048,3148,1595,3367,0,0,0,0,0,0
$GC,8733,-1.26,-146.0,744.4,-7.6,329,8737,0.00,2.53,0.00,0.000,4,0.000,0.082,3148,168,3366,0,0,0,0,0,0
$GC,8761,-1.26,-146.0,746.9,-8.0,329,8765,0.00,2.33,0.00,0.000,6,0.000,0.035,3147,1602,3366,0,0,0,0,0,0
$GC,9018,-1.26,-146.0,766.6,-7.8,336,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1602,3366,0,0,0,0,0,0
$GC,9260,-1.26,-146.0,785.2,-7.8,342,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1602,3365,0,0,0,0,0,0
$GC,9505,-1.26,-146.0,803.3,-7.4,348,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1601,3364,0,0,0,0,0,0
$GC,9747,-1.30,-146.0,821.0,-7.3,354,9749,0.12,0.00,0.00,0.000,6,0.064,0.000,3091,1602,3363,0,0,0,0,0,0
$GC,9991,-1.23,-146.0,845.4,-10.3,360,9996,0.17,2.55,0.00,0.000,4,0.092,0.076,3131,167,3363,0,0,0,0,0,0
$GC,10017,-1.23,-146.0,848.1,-9.5,360,10021,0.00,2.33,0.00,0.000,6,0.000,0.036,3131,1593,3362,0,0,0,0,0,0
$GC,10277,-1.23,-146.0,871.8,-9.1,367,10281,0.00,2.65,0.00,0.000,4,0.000,0.053,3131,3161,3362,0,0,0,0,0,0
$GC,10306,-1.28,-146.0,874.3,-9.8,367,10310,0.00,2.67,0.00,0.000,6,0.000,0.050,3131,1597,3361,0,0,0,0,0,0
$GC,10562,-1.28,-146.0,896.6,-8.8,374,10567,0.00,2.50,0.00,0.000,4,0.000,0.081,3131,167,3360,0,0,0,0,0,0
$STATE,10593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10593,begin apogee
$GC,10601,-0.31,0.0,900.0,10.6,374,10725,0.85,0.00,120.55,1.153,6,0.074,0.000,3329,1362,2800,0,0,0,0,0,0
$STATE,10726,end apogee,CONTROL_FINISHED_OK
$STATE,10726,begin climb
$GC,10730,1.27,146.0,904.1,0.0,377,10872,1.42,2.17,131.62,1.131,4,0.032,0.075,3674,167,2203,0,0,0,0,0,0
$GC,10935,1.03,146.0,893.9,14.0,381,10940,0.17,1.98,0.00,0.000,6,0.099,0.032,3625,1340,2198,0,0,0,0,0,0
$GC,11190,0.95,149.9,868.4,9.8,388,11194,0.00,2.10,0.00,0.000,4,0.000,0.073,3625,166,2193,0,0,0,0,0,0
$GC,11205,0.85,156.4,866.9,9.7,388,11221,0.17,1.98,9.15,0.933,6,0.113,0.031,3588,1364,2162,0,0,0,0,0,0
$GC,11478,0.90,195.8,844.5,8.2,395,11518,0.00,0.00,38.22,1.069,6,0.000,0.000,3588,1364,2001,0,0,0,0,0,0
$GC,11760,0.92,210.8,818.4,9.3,402,11777,0.00,0.00,14.98,0.992,6,0.000,0.000,3588,1365,1940,0,0,0,0,0,0
$GC,12006,0.93,219.3,795.0,9.6,408,12022,0.00,2.75,9.52,0.920,4,0.000,0.051,3588,2929,1904,0,0,0,0,0,0
$GC,12042,1.00,228.5,791.2,9.6,408,12059,0.12,2.75,10.18,0.923,6,0.066,0.050,3633,1353,1867,0,0,0,0,0,0
$GC,12348,0.95,228.5,752.9,13.0,416,12350,0.12,0.00,0.00,0.000,6,0.115,0.000,3608,1353,1865,0,0,0,0,0,0
$GC,12586,0.95,228.5,724.1,11.8,422,12590,0.00,2.12,0.00,0.000,4,0.000,0.087,3607,164,1864,0,0,0,0,0,0
$GC,12599,0.95,228.5,722.3,11.5,422,12603,0.00,1.95,0.00,0.000,6,0.000,0.028,3607,1343,1864,0,0,0,0,0,0
$GC,12872,0.95,228.5,690.7,11.6,429,12876,0.00,2.67,0.00,0.000,4,0.000,0.051,3608,2931,1863,0,0,0,0,0,0
$GC,12912,1.01,228.5,686.2,11.3,429,12917,0.00,2.72,0.00,0.000,6,0.000,0.050,3607,1352,1860,0,0,0,0,0,0
$GC,13166,1.01,228.5,658.0,11.2,436,13170,0.00,2.67,0.00,0.000,4,0.000,0.044,3607,2938,1860,0,0,0,0,0,0
$GC,13180,1.01,228.5,655.8,11.2,436,13185,0.00,2.72,0.00,0.000,6,0.000,0.048,3607,1354,1859,0,0,0,0,0,0
$GC,13451,1.01,228.5,626.3,10.9,443,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1354,1859,0,0,0,0,0,0
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$GC,15867,1.09,252.5,364.1,9.3,502,15887,0.00,2.58,14.73,0.732,4,0.000,0.036,3622,2911,1769,0,0,0,0,0,0
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$GC,16203,1.19,290.2,333.4,9.2,510,16223,0.15,0.00,16.55,0.709,6,0.060,0.000,3677,1360,1616,0,0,0,0,0,0
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$STATE,19039,end climb,SURFACE_DEPTH_REACHED
$STATE,19040,begin surface coast
$FINISH,1.0,1.012014
$STATE,19074,end surface coast,CONTROL_FINISHED_OK
$STATE,19074,begin surface
$SM_CCo,19099,30.05,0.427,0,0,1210,390.03
$SM_GC,1.78,0.00,0.00,30.05,0.000,0.000,0.427,408,1628,1210,-13.77,1.64,390.03
$IRIDIUM_FIX,2241.69,-15737.19,101102,010124
$TT8_MAMPS,0.027612
$HUMID,66.97
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.20
$XPDR_PINGS,12
$24V_AH,23.0,57.620
$10V_AH,9.8,55.381
$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,33.475,170.025,444.000,30.050,0.000,27.296,36.420,217.510,3.000,0.000,16.498,1498.045,14353.212,542.760,2403.748,763.301,33.369,1552.285,0.000,2420.623,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,86.671,1152.801,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.673,376.278,477.548,975.896,1287.642,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,57344,714
$CAP_FILE_SIZE,169197,0
$CFSIZE,260165632,142557184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160813,123323,2252.218,-15739.011,40,1.0,40,10.1