version: 66.06
glider: 148
mission: 12
dive: 470
start: 9 3 113 2 57 37
data:
$ID,148
$MISSION,12
$DIVE,470
$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,660
$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,-1025424.5
$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,3410
$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,1355
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,129
$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
$GPS1,024147,2334.997,-15805.274,58,1.8,69,10.2
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.5
$GPS2,025645,2335.128,-15805.297,9,2.6,28,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.168,0.198
$KALMAN_X,-86063.5,109.4,-17.7,77022.6,611.5
$KALMAN_Y,-21393.3,219.6,37.6,113991.9,-41.9
$MHEAD_RNG_PITCHd_Wd,309.4,89265,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.95,0.000,2,0.000,0.000,406,1612,2949,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-4.5,9,123,14.15,2.35,-8.27,0.000,4,0.147,0.035,3127,3070,3397,0,0,0,0,0,0
$GC,271,-1.10,-146.0,40.9,-16.6,32,276,0.20,2.45,0.00,0.000,6,0.094,0.032,3171,1560,3397,0,0,0,0,0,0
$GC,541,-0.98,-146.0,81.1,-11.7,56,550,0.12,0.00,0.00,0.000,6,0.107,0.000,3198,1560,3397,0,0,0,0,0,0
$GC,806,-0.98,-146.0,108.8,-10.3,81,810,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1560,3398,0,0,0,0,0,0
$GC,1069,-0.98,-146.0,136.1,-10.7,106,1073,0.00,2.38,0.00,0.000,4,0.000,0.021,3198,3076,3399,0,0,0,0,0,0
$GC,1116,-1.05,-146.0,141.0,-9.6,110,1121,0.00,2.42,0.00,0.000,6,0.000,0.028,3198,1579,3399,0,0,0,0,0,0
$GC,1381,-1.05,-146.0,165.9,-9.4,134,1385,0.00,2.30,0.00,0.000,4,0.000,0.044,3198,169,3399,0,0,0,0,0,0
$GC,1410,-1.05,-146.0,168.7,-10.1,136,1414,0.00,2.05,0.00,0.000,6,0.000,0.017,3198,1541,3399,0,0,0,0,0,0
$GC,1677,-1.05,-146.0,192.3,-8.6,160,1681,0.00,2.45,0.00,0.000,4,0.000,0.021,3198,3107,3399,0,0,0,0,0,0
$GC,1746,-1.16,-146.0,197.8,-7.3,166,1751,0.17,2.45,0.00,0.000,6,0.046,0.028,3116,1583,3399,0,0,0,0,0,0
$GC,2017,-1.01,-146.0,233.2,-13.5,174,2022,0.30,2.33,0.00,0.000,4,0.080,0.041,3188,170,3398,0,0,0,0,0,0
$GC,2063,-1.01,-146.0,238.0,-9.9,175,2067,0.00,2.15,0.00,0.000,6,0.000,0.018,3188,1582,3398,0,0,0,0,0,0
$GC,2350,-1.01,-146.0,263.1,-8.9,182,2355,0.00,2.42,0.00,0.000,4,0.000,0.023,3188,3129,3397,0,0,0,0,0,0
$GC,2374,-1.08,-146.0,265.1,-8.6,182,2379,0.00,2.50,0.00,0.000,6,0.000,0.028,3188,1590,3397,0,0,0,0,0,0
$GC,2636,-1.08,-146.0,284.1,-7.0,189,2640,0.00,2.35,0.00,0.000,4,0.000,0.048,3188,171,3396,0,0,0,0,0,0
$GC,2664,-1.08,-146.0,286.1,-6.7,189,2668,0.00,2.15,0.00,0.000,6,0.000,0.019,3188,1585,3396,0,0,0,0,0,0
$GC,2928,-1.08,-146.0,302.0,-6.3,196,2933,0.00,2.45,0.00,0.000,4,0.000,0.026,3188,3128,3395,0,0,0,0,0,0
$GC,2950,-1.15,-146.0,303.7,-6.9,196,2955,0.12,2.55,0.00,0.000,6,0.061,0.032,3121,1581,3395,0,0,0,0,0,0
$GC,3215,-1.05,-146.0,331.6,-10.9,203,3220,0.25,2.35,0.00,0.000,4,0.081,0.051,3182,171,3394,0,0,0,0,0,0
$GC,3261,-1.15,-146.0,335.7,-7.8,204,3265,0.00,2.17,0.00,0.000,6,0.000,0.020,3182,1576,3392,0,0,0,0,0,0
$GC,3552,-1.20,-146.0,357.8,-7.6,211,3557,0.15,2.55,0.00,0.000,4,0.054,0.031,3112,3141,3391,0,0,0,0,0,0
$GC,3627,-1.20,-146.0,365.7,-10.2,212,3632,0.15,2.58,0.00,0.000,6,0.089,0.037,3148,1589,3391,0,0,0,0,0,0
$GC,3885,-1.20,-146.0,388.6,-8.7,219,3889,0.00,2.50,0.00,0.000,4,0.000,0.033,3148,3130,3389,0,0,0,0,0,0
$GC,3899,-1.20,-146.0,390.2,-8.8,219,3904,0.00,2.55,0.00,0.000,6,0.000,0.036,3148,1587,3389,0,0,0,0,0,0
$GC,4174,-1.20,-146.0,413.3,-8.8,226,4178,0.00,2.42,0.00,0.000,4,0.000,0.062,3148,164,3387,0,0,0,0,0,0
$GC,4226,-1.20,-146.0,419.0,-9.6,227,4230,0.00,2.25,0.00,0.000,6,0.000,0.025,3148,1585,3387,0,0,0,0,0,0
$GC,4503,-1.20,-146.0,443.7,-8.9,234,4508,0.00,2.55,0.00,0.000,4,0.000,0.038,3148,3139,3385,0,0,0,0,0,0
$GC,4533,-1.20,-146.0,446.3,-8.4,234,4538,0.00,2.58,0.00,0.000,6,0.000,0.038,3148,1593,3385,0,0,0,0,0,0
$GC,4793,-1.20,-146.0,467.5,-8.4,241,4797,0.00,2.47,0.00,0.000,4,0.000,0.068,3148,165,3383,0,0,0,0,0,0
$GC,4840,-1.20,-146.0,472.2,-8.4,242,4844,0.00,2.28,0.00,0.000,6,0.000,0.028,3148,1581,3382,0,0,0,0,0,0
$GC,5124,-1.20,-146.0,494.9,-7.9,249,5128,0.00,2.60,0.00,0.000,4,0.000,0.043,3148,3150,3380,0,0,0,0,0,0
$GC,5148,-1.20,-146.0,497.0,-7.9,249,5152,0.00,2.62,0.00,0.000,6,0.000,0.041,3148,1582,3380,0,0,0,0,0,0
$GC,5411,-1.20,-146.0,516.7,-7.5,256,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1582,3378,0,0,0,0,0,0
$GC,5653,-1.20,-146.0,537.0,-8.5,262,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1582,3377,0,0,0,0,0,0
$GC,5894,-1.20,-146.0,557.6,-8.4,268,5899,0.00,2.62,0.00,0.000,4,0.000,0.046,3148,3150,3375,0,0,0,0,0,0
$GC,5942,-1.27,-146.0,561.6,-8.2,269,5946,0.00,2.65,0.00,0.000,6,0.000,0.045,3148,1583,3375,0,0,0,0,0,0
$GC,6228,-1.27,-146.0,585.0,-8.2,276,6233,0.00,2.47,0.00,0.000,4,0.000,0.076,3148,169,3372,0,0,0,0,0,0
$GC,6273,-1.27,-146.0,589.0,-8.4,277,6278,0.00,2.30,0.00,0.000,6,0.000,0.034,3148,1587,3372,0,0,0,0,0,0
$GC,6562,-1.27,-146.0,612.2,-7.8,284,6567,0.00,2.62,0.00,0.000,4,0.000,0.048,3148,3152,3370,0,0,0,0,0,0
$GC,6596,-1.34,-146.0,615.2,-8.4,284,6601,0.12,2.65,0.00,0.000,6,0.064,0.047,3091,1589,3370,0,0,0,0,0,0
$GC,6846,-1.23,-146.0,641.1,-10.5,290,6851,0.22,2.50,0.00,0.000,4,0.089,0.078,3141,164,3370,0,0,0,0,0,0
$GC,6910,-1.23,-146.0,647.1,-9.4,291,6914,0.00,2.33,0.00,0.000,6,0.000,0.036,3141,1583,3369,0,0,0,0,0,0
$GC,7183,-1.23,-146.0,670.4,-8.4,298,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1583,3368,0,0,0,0,0,0
$GC,7427,-1.23,-146.0,690.5,-8.1,304,7431,0.00,2.67,0.00,0.000,4,0.000,0.054,3141,3161,3366,0,0,0,0,0,0
$GC,7458,-1.27,-146.0,692.8,-8.0,304,7462,0.00,2.67,0.00,0.000,6,0.000,0.048,3141,1592,3366,0,0,0,0,0,0
$GC,7715,-1.27,-146.0,711.9,-7.3,311,7720,0.00,2.53,0.00,0.000,4,0.000,0.082,3141,167,3364,0,0,0,0,0,0
$GC,7748,-1.27,-146.0,714.8,-8.3,311,7752,0.00,2.35,0.00,0.000,6,0.000,0.037,3141,1595,3364,0,0,0,0,0,0
$GC,8000,-1.27,-146.0,733.6,-7.6,317,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1595,3363,0,0,0,0,0,0
$GC,8242,-1.27,-146.0,752.4,-7.8,323,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1595,3362,0,0,0,0,0,0
$GC,8486,-1.27,-146.0,771.7,-7.9,329,8490,0.00,2.65,0.00,0.000,4,0.000,0.054,3141,3161,3361,0,0,0,0,0,0
$GC,8516,-1.32,-146.0,774.1,-8.0,329,8521,0.00,2.67,0.00,0.000,6,0.000,0.049,3141,1595,3361,0,0,0,0,0,0
$GC,8774,-1.32,-146.0,795.0,-8.3,336,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1594,3360,0,0,0,0,0,0
$GC,9015,-1.32,-146.0,815.2,-8.2,342,9019,0.00,2.53,0.00,0.000,4,0.000,0.083,3141,164,3359,0,0,0,0,0,0
$GC,9048,-1.32,-146.0,818.2,-9.4,342,9052,0.00,2.38,0.00,0.000,6,0.000,0.038,3141,1604,3359,0,0,0,0,0,0
$GC,9300,-1.32,-146.0,839.0,-8.3,348,9304,0.00,2.65,0.00,0.000,4,0.000,0.054,3141,3162,3358,0,0,0,0,0,0
$GC,9324,-1.32,-146.0,841.2,-8.8,348,9328,0.00,2.67,0.00,0.000,6,0.000,0.050,3141,1600,3358,0,0,0,0,0,0
$GC,9583,-1.32,-146.0,860.8,-7.4,355,9588,0.00,2.55,0.00,0.000,4,0.000,0.083,3141,164,3357,0,0,0,0,0,0
$GC,9604,-1.32,-146.0,862.4,-8.0,355,9608,0.00,2.38,0.00,0.000,6,0.000,0.038,3141,1605,3357,0,0,0,0,0,0
$GC,9868,-1.32,-146.0,879.2,-6.1,362,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1605,3356,0,0,0,0,0,0
$GC,10112,-1.32,-146.0,892.5,-5.3,368,10116,0.00,2.55,0.00,0.000,4,0.000,0.077,3141,165,3355,0,0,0,0,0,0
$GC,10142,-1.32,-146.0,894.6,-7.5,368,10146,0.00,2.38,0.00,0.000,6,0.000,0.038,3141,1601,3355,0,0,0,0,0,0
$STATE,10233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10233,begin apogee
$GC,10240,-0.31,0.0,900.3,6.2,371,10363,0.88,0.00,119.47,1.155,6,0.067,0.000,3343,1341,2800,0,0,0,0,0,0
$STATE,10364,end apogee,CONTROL_FINISHED_OK
$STATE,10364,begin climb
$GC,10366,1.27,146.0,902.9,0.0,374,10509,1.45,2.12,132.07,1.132,4,0.029,0.077,3697,170,2203,0,0,0,0,0,0
$GC,10626,0.99,146.0,880.6,15.6,380,10631,0.35,1.98,0.00,0.000,6,0.108,0.032,3626,1365,2197,0,0,0,0,0,0
$GC,10902,0.93,157.9,853.3,9.4,387,10919,0.00,2.20,10.25,0.956,4,0.000,0.074,3625,175,2156,0,0,0,0,0,0
$GC,10939,0.83,179.0,849.4,9.0,387,10967,0.15,1.95,21.17,1.039,6,0.115,0.032,3594,1352,2070,0,0,0,0,0,0
$GC,11240,0.87,206.9,823.2,8.7,395,11272,0.00,2.78,26.62,1.045,4,0.000,0.051,3593,2939,1955,0,0,0,0,0,0
$GC,11289,0.92,250.1,818.6,8.0,396,11338,0.00,2.75,42.17,1.058,6,0.000,0.049,3594,1361,1779,0,0,0,0,0,0
$GC,11617,0.96,250.1,783.5,10.9,404,11623,0.10,2.67,0.00,0.000,4,0.079,0.047,3632,2934,1773,0,0,0,0,0,0
$GC,11646,0.96,250.1,779.8,12.6,404,11651,0.00,2.72,0.00,0.000,6,0.000,0.051,3632,1364,1769,0,0,0,0,0,0
$GC,11905,0.96,250.1,746.7,13.0,411,11910,0.00,2.70,0.00,0.000,4,0.000,0.048,3632,2937,1769,0,0,0,0,0,0
$GC,11952,0.96,250.1,739.9,13.8,412,11956,0.00,2.70,0.00,0.000,6,0.000,0.054,3632,1374,1767,0,0,0,0,0,0
$GC,12236,0.96,250.1,702.9,13.2,419,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,3632,1374,1766,0,0,0,0,0,0
$GC,12478,0.96,250.1,671.1,13.0,425,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,3632,1374,1766,0,0,0,0,0,0
$GC,12724,0.96,250.1,639.7,12.8,431,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,3632,1374,1766,0,0,0,0,0,0
$GC,12965,0.96,250.1,610.4,11.9,437,12970,0.00,2.67,0.00,0.000,4,0.000,0.049,3632,2936,1766,0,0,0,0,0,0
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$GC,14352,0.99,250.1,451.5,11.4,470,14356,0.00,2.12,0.00,0.000,4,0.000,0.071,3627,159,1762,0,0,0,0,0,0
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$GC,15499,1.07,263.9,332.7,9.8,498,15508,0.00,0.00,6.35,0.610,6,0.000,0.000,3627,1390,1724,0,0,0,0,0,0
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$STATE,18593,end climb,SURFACE_DEPTH_REACHED
$STATE,18594,begin surface coast
$FINISH,0.9,1.023307
$STATE,18642,end surface coast,CONTROL_FINISHED_OK
$STATE,18642,begin surface
$SM_CCo,18666,40.90,0.430,0,0,1208,390.03
$SM_GC,1.72,0.00,0.00,40.90,0.000,0.000,0.430,413,1597,1208,-13.79,0.76,390.03
$IRIDIUM_FIX,2323.87,-15807.11,281102,020212
$TT8_MAMPS,0.027612
$HUMID,68.42
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,41
$24V_AH,23.0,69.352
$10V_AH,9.7,67.228
$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,33.500,221.725,419.050,40.900,0.000,61.534,75.155,512.059,10.250,0.000,30.989,1601.202,13532.648,567.541,2734.292,1155.481,33.375,1686.453,0.000,2710.372,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,82.836,1155.102,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.917,384.144,490.243,1021.052,1345.880,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356056
$DATA_FILE_SIZE,57392,718
$CAP_FILE_SIZE,193437,0
$CFSIZE,260165632,136470528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030913,081053,2337.474,-15806.458,27,1.7,44,10.2