version: 66.06
glider: 148
mission: 12
dive: 414
start: 8 21 113 12 0 19
data:
$ID,148
$MISSION,12
$DIVE,414
$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,-1024356.1
$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,105
$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
$GPS1,115231,2239.659,-15804.820,29,3.0,48,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.8
$GPS2,115925,2239.612,-15804.843,14,1.2,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.138,0.209
$KALMAN_X,-81795.6,121.7,156.6,73340.8,505.1
$KALMAN_Y,32312.1,-145.5,-135.2,-41977.1,-2126.0
$MHEAD_RNG_PITCHd_Wd,316.6,2572,-18.3,-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,-1.31,-134.4,0.0,0.0,0,92,0.00,0.00,-74.65,0.000,2,0.000,0.000,408,1588,3160,0,0,0,0,0,0
$GC,97,-1.32,-146.0,4.1,-6.4,10,122,14.52,2.33,-3.85,0.000,4,0.163,0.045,3105,155,3396,0,0,0,0,0,0
$GC,279,-1.05,-146.0,53.5,-21.0,30,284,0.30,2.10,0.00,0.000,6,0.097,0.017,3169,1526,3397,0,0,0,0,0,0
$GC,544,-0.95,-146.0,90.8,-12.4,54,549,0.10,2.53,0.00,0.000,4,0.120,0.021,3191,3139,3398,0,0,0,0,0,0
$GC,576,-0.95,-146.0,95.0,-10.5,56,585,0.00,2.58,0.00,0.000,6,0.000,0.031,3191,1568,3398,0,0,0,0,0,0
$GC,844,-0.91,-146.0,123.8,-12.1,81,848,0.00,2.28,0.00,0.000,4,0.000,0.043,3191,166,3399,0,0,0,0,0,0
$GC,873,-0.85,-146.0,127.5,-13.0,83,878,0.10,2.15,0.00,0.000,6,0.119,0.017,3213,1597,3399,0,0,0,0,0,0
$GC,1134,-0.85,-146.0,153.2,-9.5,107,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1600,3400,0,0,0,0,0,0
$GC,1391,-0.90,-146.0,175.7,-8.2,131,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1600,3400,0,0,0,0,0,0
$GC,1647,-0.96,-146.0,196.6,-7.6,155,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1600,3400,0,0,0,0,0,0
$GC,1930,-1.04,-146.0,220.4,-8.6,165,1932,0.17,0.00,0.00,0.000,6,0.047,0.000,3132,1600,3401,0,0,0,0,0,0
$GC,2175,-0.94,-146.0,253.2,-13.9,171,2180,0.25,2.38,0.00,0.000,4,0.083,0.021,3192,3119,3400,0,0,0,0,0,0
$GC,2206,-1.01,-146.0,256.9,-10.2,171,2210,0.00,2.53,0.00,0.000,6,0.000,0.028,3192,1560,3401,0,0,0,0,0,0
$GC,2461,-1.08,-146.0,278.5,-8.3,178,2463,0.12,0.00,0.00,0.000,6,0.063,0.000,3128,1560,3400,0,0,0,0,0,0
$GC,2705,-1.01,-146.0,305.9,-11.2,184,2710,0.22,2.47,0.00,0.000,4,0.083,0.023,3180,3115,3400,0,0,0,0,0,0
$GC,2736,-1.08,-146.0,309.0,-8.7,184,2741,0.00,2.53,0.00,0.000,6,0.000,0.031,3179,1571,3400,0,0,0,0,0,0
$GC,2994,-1.14,-146.0,329.9,-8.1,191,2999,0.12,2.35,0.00,0.000,4,0.063,0.054,3118,166,3399,0,0,0,0,0,0
$GC,3029,-1.05,-146.0,334.1,-12.9,191,3034,0.22,2.15,0.00,0.000,6,0.084,0.019,3170,1560,3399,0,0,0,0,0,0
$GC,3280,-1.09,-146.0,357.3,-9.1,197,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1563,3398,0,0,0,0,0,0
$GC,3523,-1.14,-146.0,380.0,-9.4,203,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1564,3396,0,0,0,0,0,0
$GC,3769,-1.20,-146.0,401.0,-8.3,209,3774,0.12,2.55,0.00,0.000,4,0.062,0.034,3105,3128,3395,0,0,0,0,0,0
$GC,3826,-1.20,-146.0,406.6,-9.2,210,3831,0.15,2.58,0.00,0.000,6,0.090,0.036,3140,1573,3395,0,0,0,0,0,0
$GC,4100,-1.20,-146.0,428.0,-7.7,217,4104,0.00,2.40,0.00,0.000,4,0.000,0.062,3140,166,3393,0,0,0,0,0,0
$GC,4126,-1.20,-146.0,430.2,-9.1,217,4130,0.00,2.20,0.00,0.000,6,0.000,0.024,3140,1572,3393,0,0,0,0,0,0
$GC,4389,-1.20,-146.0,452.4,-8.6,224,4394,0.00,2.55,0.00,0.000,4,0.000,0.036,3140,3133,3391,0,0,0,0,0,0
$GC,4418,-1.25,-146.0,455.1,-8.9,224,4423,0.00,2.58,0.00,0.000,6,0.000,0.038,3140,1576,3391,0,0,0,0,0,0
$GC,4677,-1.25,-146.0,477.4,-8.7,231,4681,0.00,2.42,0.00,0.000,4,0.000,0.068,3140,168,3389,0,0,0,0,0,0
$GC,4710,-1.25,-146.0,480.5,-8.6,231,4714,0.00,2.22,0.00,0.000,6,0.000,0.027,3140,1570,3389,0,0,0,0,0,0
$GC,4966,-1.25,-146.0,499.2,-7.1,238,4971,0.00,2.62,0.00,0.000,4,0.000,0.041,3140,3148,3388,0,0,0,0,0,0
$GC,5004,-1.32,-146.0,502.2,-7.1,238,5010,0.12,2.60,0.00,0.000,6,0.064,0.040,3081,1587,3387,0,0,0,0,0,0
$GC,5254,-1.21,-146.0,528.1,-10.8,245,5260,0.25,2.45,0.00,0.000,4,0.085,0.070,3141,166,3386,0,0,0,0,0,0
$GC,5276,-1.15,-146.0,530.3,-10.3,245,5280,0.00,2.28,0.00,0.000,6,0.000,0.028,3141,1586,3386,0,0,0,0,0,0
$GC,5540,-1.15,-146.0,551.1,-7.8,252,5544,0.00,2.47,0.00,0.000,4,0.000,0.069,3141,164,3384,0,0,0,0,0,0
$GC,5578,-1.15,-146.0,554.5,-8.4,252,5583,0.00,2.28,0.00,0.000,6,0.000,0.030,3141,1573,3384,0,0,0,0,0,0
$GC,5830,-1.15,-146.0,574.5,-8.1,259,5834,0.00,2.60,0.00,0.000,4,0.000,0.043,3141,3156,3382,0,0,0,0,0,0
$GC,5873,-1.24,-146.0,578.0,-7.6,260,5878,0.00,2.65,0.00,0.000,6,0.000,0.044,3141,1583,3382,0,0,0,0,0,0
$GC,6163,-1.24,-146.0,600.5,-7.8,267,6167,0.00,2.47,0.00,0.000,4,0.000,0.077,3141,170,3379,0,0,0,0,0,0
$GC,6188,-1.24,-146.0,602.6,-9.2,267,6192,0.00,2.30,0.00,0.000,6,0.000,0.031,3141,1593,3379,0,0,0,0,0,0
$GC,6452,-1.24,-146.0,622.3,-7.5,274,6456,0.00,2.60,0.00,0.000,4,0.000,0.045,3141,3156,3378,0,0,0,0,0,0
$GC,6496,-1.34,-146.0,625.7,-7.6,275,6501,0.15,2.65,0.00,0.000,6,0.055,0.047,3079,1589,3378,0,0,0,0,0,0
$GC,6787,-1.24,-146.0,655.9,-10.6,282,6793,0.22,2.53,0.00,0.000,4,0.089,0.080,3130,165,3376,0,0,0,0,0,0
$GC,6878,-1.24,-146.0,665.1,-8.8,284,6882,0.00,2.30,0.00,0.000,6,0.000,0.034,3130,1582,3375,0,0,0,0,0,0
$GC,7169,-1.24,-146.0,689.8,-8.6,291,7173,0.00,2.65,0.00,0.000,4,0.000,0.051,3130,3156,3374,0,0,0,0,0,0
$GC,7221,-1.31,-146.0,694.4,-8.4,292,7225,0.00,2.67,0.00,0.000,6,0.000,0.053,3130,1587,3374,0,0,0,0,0,0
$GC,7503,-1.31,-146.0,717.1,-8.1,299,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1587,3373,0,0,0,0,0,0
$GC,7745,-1.31,-146.0,736.4,-7.9,305,7749,0.00,2.53,0.00,0.000,4,0.000,0.082,3130,162,3371,0,0,0,0,0,0
$GC,7801,-1.31,-146.0,741.3,-8.8,306,7806,0.00,2.35,0.00,0.000,6,0.000,0.035,3130,1599,3371,0,0,0,0,0,0
$GC,8075,-1.31,-146.0,761.2,-7.1,313,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1599,3370,0,0,0,0,0,0
$GC,8318,-1.31,-146.0,777.8,-6.8,319,8323,0.00,2.62,0.00,0.000,4,0.000,0.052,3130,3154,3369,0,0,0,0,0,0
$GC,8342,-1.35,-146.0,779.6,-7.7,319,8348,0.10,2.67,0.00,0.000,6,0.077,0.049,3081,1585,3368,0,0,0,0,0,0
$GC,8607,-1.27,-146.0,803.2,-9.3,326,8613,0.17,2.53,0.00,0.000,4,0.094,0.081,3121,167,3367,0,0,0,0,0,0
$GC,8646,-1.27,-146.0,807.3,-8.4,326,8651,0.00,2.33,0.00,0.000,6,0.000,0.035,3121,1590,3367,0,0,0,0,0,0
$GC,8898,-1.27,-146.0,826.1,-7.6,333,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1590,3367,0,0,0,0,0,0
$GC,9140,-1.27,-146.0,844.6,-7.5,339,9144,0.00,2.53,0.00,0.000,4,0.000,0.076,3121,164,3366,0,0,0,0,0,0
$GC,9168,-1.27,-146.0,847.0,-8.8,339,9172,0.00,2.35,0.00,0.000,6,0.000,0.037,3121,1593,3366,0,0,0,0,0,0
$GC,9432,-1.27,-146.0,865.9,-7.2,346,9436,0.00,2.53,0.00,0.000,4,0.000,0.077,3120,167,3365,0,0,0,0,0,0
$GC,9458,-1.27,-146.0,868.2,-8.5,346,9462,0.00,2.33,0.00,0.000,6,0.000,0.036,3121,1586,3365,0,0,0,0,0,0
$GC,9721,-1.27,-146.0,887.8,-7.5,353,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1585,3364,0,0,0,0,0,0
$STATE,9922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9922,begin apogee
$GC,9928,-0.31,0.0,903.1,7.5,358,10053,0.90,0.00,120.82,1.144,6,0.066,0.000,3331,1340,2800,0,0,0,0,0,0
$STATE,10053,end apogee,CONTROL_FINISHED_OK
$STATE,10053,begin climb
$GC,10058,1.32,146.0,906.0,0.0,361,10197,1.48,2.15,130.68,1.125,4,0.031,0.080,3693,176,2203,0,0,0,0,0,0
$GC,10259,1.06,146.0,891.4,14.6,365,10263,0.30,1.95,0.00,0.000,6,0.112,0.033,3632,1349,2200,0,0,0,0,0,0
$GC,10511,0.98,146.0,862.7,11.3,371,10515,0.00,2.12,0.00,0.000,4,0.000,0.074,3632,165,2194,0,0,0,0,0,0
$GC,10560,0.85,146.0,856.3,13.5,372,10564,0.22,1.92,0.00,0.000,6,0.105,0.031,3586,1346,2193,0,0,0,0,0,0
$GC,10842,0.86,159.8,829.3,9.3,379,10859,0.00,2.15,11.85,0.966,4,0.000,0.074,3585,170,2148,0,0,0,0,0,0
$GC,10894,0.86,159.8,824.1,11.3,380,10897,0.00,1.95,0.00,0.000,6,0.000,0.032,3585,1345,2148,0,0,0,0,0,0
$GC,11177,0.88,173.3,797.3,9.3,387,11198,0.00,2.17,13.85,0.974,4,0.000,0.073,3585,172,2093,0,0,0,0,0,0
$GC,11226,0.88,174.4,792.2,9.9,388,11230,0.00,1.95,0.00,0.000,6,0.000,0.032,3585,1346,2092,0,0,0,0,0,0
$GC,11514,0.91,197.0,766.1,8.9,395,11539,0.00,0.00,22.88,1.004,6,0.000,0.000,3585,1346,1997,0,0,0,0,0,0
$GC,11759,0.98,209.9,743.6,9.4,401,11780,0.12,2.72,13.23,0.941,4,0.067,0.054,3631,2924,1944,0,0,0,0,0,0
$GC,11796,0.98,209.9,739.2,10.6,401,11801,0.00,2.75,0.00,0.000,6,0.000,0.049,3631,1344,1942,0,0,0,0,0,0
$GC,12046,0.98,209.9,708.4,12.3,407,12050,0.00,2.12,0.00,0.000,4,0.000,0.085,3631,163,1941,0,0,0,0,0,0
$GC,12088,0.90,209.9,702.6,14.8,407,12094,0.17,1.92,0.00,0.000,6,0.107,0.030,3596,1337,1940,0,0,0,0,0,0
$GC,12340,0.90,209.9,675.8,10.5,414,12344,0.00,2.72,0.00,0.000,4,0.000,0.053,3595,2936,1940,0,0,0,0,0,0
$GC,12383,0.99,214.0,671.0,9.8,415,12395,0.00,2.72,4.47,0.663,6,0.000,0.050,3595,1339,1927,0,0,0,0,0,0
$GC,12677,1.04,214.0,640.5,10.4,422,12679,0.12,0.00,0.00,0.000,6,0.067,0.000,3641,1339,1927,0,0,0,0,0,0
$GC,12917,0.99,214.0,611.3,12.1,428,12922,0.12,2.12,0.00,0.000,4,0.114,0.082,3615,157,1927,0,0,0,0,0,0
$GC,12950,0.99,214.0,607.1,12.4,428,12954,0.00,1.92,0.00,0.000,6,0.000,0.028,3615,1344,1927,0,0,0,0,0,0
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$GC,14079,0.99,241.2,493.3,10.7,456,14084,0.00,2.65,0.00,0.000,4,0.000,0.044,3618,2919,1812,0,0,0,0,0,0
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$GC,17892,1.46,324.8,61.8,8.5,631,17930,0.08,2.60,25.88,0.476,6,0.095,0.035,3730,1331,1473,0,0,0,0,0,0
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$STATE,18342,end climb,SURFACE_DEPTH_REACHED
$STATE,18342,begin surface coast
$FINISH,1.0,1.011893
$STATE,18384,end surface coast,CONTROL_FINISHED_OK
$STATE,18384,begin surface
$SM_CCo,18408,33.70,0.423,0,0,1208,390.03
$SM_GC,2.27,0.00,0.00,33.70,0.000,0.000,0.423,414,1609,1208,-13.74,1.10,390.03
$IRIDIUM_FIX,2232.34,-15801.07,151102,060642
$TT8_MAMPS,0.027612
$HUMID,67.40
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,7
$24V_AH,23.0,61.018
$10V_AH,9.8,58.816
$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,35.600,213.200,425.875,33.700,0.000,27.649,33.807,189.845,1.750,0.000,15.639,1551.516,13439.618,547.358,2575.595,733.500,33.368,1670.227,0.000,2568.267,0.000,0.536,0.000
$DEVICE_MAMPS,162.604,85.137,1143.597,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,468.350,356.944,460.565,919.086,1210.103,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,54063,689
$CAP_FILE_SIZE,185148,0
$CFSIZE,260165632,140816384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210813,170905,2240.514,-15806.149,39,1.9,39,10.0