version: 66.06
glider: 148
mission: 12
dive: 405
start: 8 19 113 11 18 17
data:
$ID,148
$MISSION,12
$DIVE,405
$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,-1024181.1
$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,26
$R_STBD_OVSHOOT,88
$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
$GPS1,110600,2253.765,-15745.607,38,1.5,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-78.1
$GPS2,111725,2253.694,-15745.646,37,1.4,37,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.242,-0.093
$KALMAN_X,-89519.5,-119.8,330.7,113925.9,-181.5
$KALMAN_Y,54259.1,-43.2,-206.1,-37878.0,-1516.1
$MHEAD_RNG_PITCHd_Wd,238.9,42508,-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,-67.43,0.000,2,0.000,0.000,414,1564,2943,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.4,-4.6,9,123,13.93,2.38,-8.07,0.000,4,0.144,0.054,3116,165,3399,0,0,0,0,0,0
$GC,224,-0.96,-146.0,38.3,-21.7,26,229,0.32,2.10,0.00,0.000,6,0.094,0.017,3186,1556,3399,0,0,0,0,0,0
$GC,493,-0.86,-146.0,80.4,-12.7,50,498,0.12,2.47,0.00,0.000,4,0.106,0.021,3214,3131,3400,0,0,0,0,0,0
$GC,537,-0.94,-146.0,86.1,-9.4,53,543,0.00,2.55,0.00,0.000,6,0.000,0.028,3214,1560,3400,0,0,0,0,0,0
$GC,802,-0.94,-146.0,112.8,-9.9,78,811,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1559,3400,0,0,0,0,0,0
$GC,1068,-0.94,-146.0,137.2,-9.0,103,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1560,3401,0,0,0,0,0,0
$GC,1331,-0.94,-146.0,159.3,-8.0,128,1335,0.00,2.50,0.00,0.000,4,0.000,0.021,3214,3139,3401,0,0,0,0,0,0
$GC,1361,-1.00,-146.0,161.4,-8.3,130,1366,0.12,2.55,0.00,0.000,6,0.061,0.028,3142,1566,3401,0,0,0,0,0,0
$GC,1626,-0.87,-146.0,194.2,-12.0,154,1631,0.28,2.28,0.00,0.000,4,0.082,0.041,3208,170,3401,0,0,0,0,0,0
$GC,1645,-0.78,-146.0,196.6,-11.8,155,1650,0.10,2.15,0.00,0.000,6,0.110,0.017,3232,1611,3401,0,0,0,0,0,0
$GC,1897,-0.89,-146.0,214.0,-6.4,164,1902,0.10,2.35,0.00,0.000,4,0.074,0.021,3164,3110,3401,0,0,0,0,0,0
$GC,1943,-0.94,-146.0,217.6,-9.0,165,1948,0.12,2.47,0.00,0.000,6,0.090,0.028,3194,1584,3401,0,0,0,0,0,0
$GC,2231,-0.94,-146.0,243.5,-9.1,172,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1584,3401,0,0,0,0,0,0
$GC,2477,-0.94,-146.0,264.8,-8.5,178,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1584,3400,0,0,0,0,0,0
$GC,2719,-1.01,-146.0,282.1,-7.0,184,2723,0.00,2.40,0.00,0.000,4,0.000,0.023,3194,3104,3399,0,0,0,0,0,0
$GC,2757,-1.14,-146.0,284.8,-6.7,184,2763,0.17,2.47,0.00,0.000,6,0.046,0.029,3110,1587,3399,0,0,0,0,0,0
$GC,3011,-1.01,-146.0,311.3,-11.0,191,3016,0.28,2.33,0.00,0.000,4,0.080,0.046,3178,170,3398,0,0,0,0,0,0
$GC,3056,-1.06,-146.0,315.8,-8.2,192,3060,0.00,2.12,0.00,0.000,6,0.000,0.020,3178,1559,3398,0,0,0,0,0,0
$GC,3345,-1.06,-146.0,337.8,-7.9,199,3349,0.00,2.50,0.00,0.000,4,0.000,0.028,3178,3136,3397,0,0,0,0,0,0
$GC,3396,-1.18,-146.0,341.9,-7.3,200,3402,0.15,2.53,0.00,0.000,6,0.053,0.033,3106,1597,3397,0,0,0,0,0,0
$GC,3675,-1.06,-146.0,372.6,-11.4,207,3680,0.25,2.40,0.00,0.000,4,0.082,0.054,3167,166,3395,0,0,0,0,0,0
$GC,3734,-1.06,-146.0,378.6,-9.6,208,3738,0.00,2.22,0.00,0.000,6,0.000,0.022,3168,1585,3395,0,0,0,0,0,0
$GC,4007,-1.06,-146.0,402.5,-8.7,215,4012,0.00,2.53,0.00,0.000,4,0.000,0.033,3168,3150,3393,0,0,0,0,0,0
$GC,4055,-1.17,-146.0,406.0,-8.1,216,4060,0.10,2.58,0.00,0.000,6,0.075,0.037,3111,1595,3393,0,0,0,0,0,0
$GC,4343,-1.09,-146.0,435.6,-10.0,223,4348,0.22,2.45,0.00,0.000,4,0.083,0.064,3162,173,3390,0,0,0,0,0,0
$GC,4416,-1.09,-146.0,441.7,-8.4,224,4420,0.00,2.25,0.00,0.000,6,0.000,0.025,3162,1596,3390,0,0,0,0,0,0
$GC,4677,-1.09,-146.0,461.0,-7.5,231,4681,0.00,2.55,0.00,0.000,4,0.000,0.044,3162,3149,3389,0,0,0,0,0,0
$GC,4721,-1.19,-146.0,464.4,-7.3,232,4725,0.00,2.58,0.00,0.000,6,0.000,0.038,3162,1599,3388,0,0,0,0,0,0
$GC,5010,-1.19,-146.0,487.1,-7.9,239,5014,0.00,2.47,0.00,0.000,4,0.000,0.071,3162,163,3386,0,0,0,0,0,0
$GC,5034,-1.19,-146.0,489.3,-8.9,239,5038,0.00,2.30,0.00,0.000,6,0.000,0.028,3162,1597,3386,0,0,0,0,0,0
$GC,5295,-1.19,-146.0,506.8,-6.6,246,5300,0.00,2.58,0.00,0.000,4,0.000,0.043,3162,3150,3384,0,0,0,0,0,0
$GC,5321,-1.25,-146.0,508.6,-7.4,246,5326,0.15,2.60,0.00,0.000,6,0.054,0.040,3097,1595,3384,0,0,0,0,0,0
$GC,5582,-1.15,-146.0,533.9,-10.2,253,5587,0.22,2.50,0.00,0.000,4,0.086,0.071,3149,164,3382,0,0,0,0,0,0
$GC,5608,-1.15,-146.0,536.5,-9.7,253,5612,0.00,2.33,0.00,0.000,6,0.000,0.030,3148,1604,3382,0,0,0,0,0,0
$GC,5867,-1.15,-146.0,557.4,-7.9,260,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1604,3381,0,0,0,0,0,0
$GC,6113,-1.15,-146.0,576.9,-8.0,266,6118,0.00,2.50,0.00,0.000,4,0.000,0.071,3148,172,3379,0,0,0,0,0,0
$GC,6146,-1.15,-146.0,580.0,-8.7,266,6151,0.00,2.33,0.00,0.000,6,0.000,0.033,3148,1597,3378,0,0,0,0,0,0
$GC,6398,-1.15,-146.0,598.8,-7.6,272,6403,0.00,2.58,0.00,0.000,4,0.000,0.047,3148,3155,3377,0,0,0,0,0,0
$GC,6427,-1.21,-146.0,601.3,-7.7,272,6432,0.00,2.65,0.00,0.000,6,0.000,0.046,3149,1595,3377,0,0,0,0,0,0
$GC,6684,-1.21,-146.0,621.1,-7.7,279,6688,0.00,2.53,0.00,0.000,4,0.000,0.079,3149,166,3376,0,0,0,0,0,0
$GC,6703,-1.21,-146.0,622.8,-8.1,279,6707,0.00,2.33,0.00,0.000,6,0.000,0.032,3149,1596,3375,0,0,0,0,0,0
$GC,6975,-1.21,-146.0,642.4,-7.2,286,6979,0.00,2.53,0.00,0.000,4,0.000,0.074,3149,166,3373,0,0,0,0,0,0
$GC,6999,-1.21,-146.0,644.6,-8.9,286,7003,0.00,2.33,0.00,0.000,6,0.000,0.035,3149,1590,3373,0,0,0,0,0,0
$GC,7266,-1.21,-146.0,663.5,-7.0,293,7270,0.00,2.65,0.00,0.000,4,0.000,0.052,3149,3158,3371,0,0,0,0,0,0
$GC,7290,-1.26,-146.0,665.5,-8.0,293,7295,0.10,2.67,0.00,0.000,6,0.077,0.047,3101,1585,3371,0,0,0,0,0,0
$GC,7553,-1.19,-146.0,689.7,-9.5,300,7558,0.17,2.53,0.00,0.000,4,0.092,0.081,3140,169,3370,0,0,0,0,0,0
$GC,7582,-1.19,-146.0,692.6,-8.7,300,7586,0.00,2.33,0.00,0.000,6,0.000,0.035,3140,1588,3370,0,0,0,0,0,0
$GC,7836,-1.19,-146.0,711.3,-7.3,307,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1587,3369,0,0,0,0,0,0
$GC,8082,-1.19,-146.0,729.0,-7.3,313,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1588,3368,0,0,0,0,0,0
$GC,8324,-1.19,-146.0,747.6,-7.7,319,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1588,3366,0,0,0,0,0,0
$GC,8567,-1.19,-146.0,766.5,-7.8,325,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1588,3366,0,0,0,0,0,0
$GC,8816,-1.19,-146.0,784.6,-7.4,331,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1588,3365,0,0,0,0,0,0
$GC,9057,-1.19,-146.0,802.6,-7.4,337,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1588,3364,0,0,0,0,0,0
$GC,9299,-1.19,-146.0,820.6,-7.4,343,9303,0.00,2.65,0.00,0.000,4,0.000,0.054,3140,3156,3363,0,0,0,0,0,0
$GC,9318,-1.19,-146.0,822.1,-7.8,343,9322,0.00,2.67,0.00,0.000,6,0.000,0.048,3140,1586,3363,0,0,0,0,0,0
$GC,9582,-1.19,-146.0,841.3,-7.3,350,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1586,3362,0,0,0,0,0,0
$GC,9830,-1.19,-146.0,858.6,-7.0,356,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1586,3361,0,0,0,0,0,0
$GC,10069,-1.19,-146.0,874.2,-6.4,362,10074,0.00,2.65,0.00,0.000,4,0.000,0.045,3140,3162,3361,0,0,0,0,0,0
$GC,10084,-1.19,-146.0,875.3,-6.3,362,10089,0.00,2.70,0.00,0.000,6,0.000,0.049,3140,1581,3361,0,0,0,0,0,0
$GC,10355,-1.19,-146.0,891.7,-6.1,369,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1580,3360,0,0,0,0,0,0
$STATE,10512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10512,begin apogee
$GC,10519,-0.31,0.0,901.7,6.1,373,10643,0.82,0.00,120.38,1.151,6,0.066,0.000,3332,1347,2800,0,0,0,0,0,0
$STATE,10643,end apogee,CONTROL_FINISHED_OK
$STATE,10644,begin climb
$GC,10646,1.27,146.0,904.4,0.0,376,10787,1.40,2.22,131.45,1.128,4,0.031,0.088,3675,176,2203,0,0,0,0,0,0
$GC,10848,1.03,146.0,890.3,15.0,380,10853,0.25,1.95,0.00,0.000,6,0.112,0.031,3625,1353,2200,0,0,0,0,0,0
$GC,11107,0.95,146.0,862.4,10.7,387,11111,0.00,2.12,0.00,0.000,4,0.000,0.073,3625,167,2194,0,0,0,0,0,0
$GC,11140,0.80,146.0,858.2,12.5,387,11144,0.22,1.95,0.00,0.000,6,0.105,0.031,3576,1351,2194,0,0,0,0,0,0
$GC,11392,0.85,186.9,837.2,8.1,393,11435,0.00,2.70,36.85,1.068,4,0.000,0.050,3577,2929,2037,0,0,0,0,0,0
$GC,11452,0.94,216.5,832.1,8.6,394,11489,0.12,2.72,29.35,1.045,6,0.066,0.050,3622,1357,1916,0,0,0,0,0,0
$GC,11773,0.94,216.5,794.7,11.8,402,11777,0.00,2.67,0.00,0.000,4,0.000,0.044,3622,2929,1910,0,0,0,0,0,0
$GC,11791,0.94,216.5,792.4,11.1,402,11796,0.00,2.72,0.00,0.000,6,0.000,0.050,3622,1356,1908,0,0,0,0,0,0
$GC,12055,0.94,216.5,761.5,11.8,409,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,1357,1907,0,0,0,0,0,0
$GC,12301,0.94,216.5,732.3,12.0,415,12305,0.00,2.67,0.00,0.000,4,0.000,0.047,3622,2932,1907,0,0,0,0,0,0
$GC,12320,0.94,216.5,729.8,11.0,415,12325,0.00,2.72,0.00,0.000,6,0.000,0.051,3622,1359,1905,0,0,0,0,0,0
$GC,12584,0.94,216.5,696.8,12.7,422,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,1359,1905,0,0,0,0,0,0
$GC,12829,0.94,216.5,665.8,12.5,428,12830,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1359,1905,0,0,0,0,0,0
$GC,13071,0.94,216.5,638.0,11.2,434,13075,0.00,2.15,0.00,0.000,4,0.000,0.085,3622,166,1905,0,0,0,0,0,0
$GC,13099,0.87,216.5,634.6,12.5,434,13104,0.15,1.95,0.00,0.000,6,0.112,0.028,3590,1372,1905,0,0,0,0,0,0
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$GC,15958,1.12,285.5,310.2,11.8,503,15962,0.00,2.50,0.00,0.000,4,0.000,0.031,3645,2922,1633,0,0,0,0,0,0
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$GC,18622,1.40,329.2,9.4,11.4,692,18630,0.00,1.98,0.00,0.000,4,0.000,0.044,3707,170,1453,0,0,0,0,0,0
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$STATE,18677,end climb,SURFACE_DEPTH_REACHED
$STATE,18677,begin surface coast
$FINISH,1.0,1.013161
$STATE,18713,end surface coast,CONTROL_FINISHED_OK
$STATE,18714,begin surface
$SM_CCo,18739,31.70,0.423,0,0,1210,390.03
$SM_GC,1.95,0.00,0.00,31.70,0.000,0.000,0.423,412,1558,1210,-13.74,-0.34,390.03
$IRIDIUM_FIX,2246.36,-15743.68,131102,111127
$TT8_MAMPS,0.027612
$HUMID,67.52
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.40
$XPDR_PINGS,5
$24V_AH,23.0,59.722
$10V_AH,9.8,57.485
$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,34.875,205.600,425.075,31.700,0.000,50.065,75.855,293.040,1.250,0.000,39.105,1555.930,13820.129,542.822,2597.621,924.438,33.381,1636.225,0.000,2570.032,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,88.205,1151.267,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,479.226,367.975,471.736,971.808,1281.026,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,57401,704
$CAP_FILE_SIZE,187739,0
$CFSIZE,260165632,141484032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190813,163230,2251.662,-15747.807,39,1.7,39,10.1