version: 66.07
glider: 500
mission: 4
dive: 39
start: 6 21 110 14 45 2
data:
$ID,500
$MISSION,4
$DIVE,39
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$D_NO_BLEED,200
$D_BOOST,4
$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,388
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$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,-110311
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.916748
$PRESSURE_SLOPE,0.00011603366
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,38
$AR_SAMPLENUM,12
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,210610,143106,2052.697,-15816.202,30,1.0,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.3
$GPS2,210610,144407,2052.863,-15816.422,8,1.9,13,9.8
$SPEED_LIMITS,0.147,0.214
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.060,-0.205
$KALMAN_X,-26390.4,101.9,41.8,-8413.4,-2268.1
$KALMAN_Y,30230.8,-213.7,-150.8,-63871.1,3196.2
$MHEAD_RNG_PITCHd_Wd,154.0,48452,-17.9,-8.505
$D_GRID,990
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.73,-107.1,0.0,0.0,0,73,0.00,0.00,-46.55,0.000,2,0.000,0.000,143,2044,2572,0,0,0,0,0,0
$GC,75,-0.73,-107.1,3.1,-4.8,9,112,10.25,2.42,-17.10,0.000,4,0.242,0.058,2655,454,3261,0,0,0,0,0,0
$GC,245,-0.73,-107.1,31.4,-17.9,39,252,0.00,2.33,0.00,0.000,6,0.000,0.035,2645,2037,3263,0,0,0,0,0,0
$GC,506,-0.73,-107.1,69.8,-12.6,64,510,0.00,2.35,0.00,0.000,4,0.000,0.046,2645,447,3263,0,0,0,0,0,0
$GC,544,-0.73,-107.1,74.6,-13.6,67,551,0.08,2.30,0.00,0.000,6,0.140,0.035,2660,2028,3263,0,0,0,0,0,0
$GC,806,-0.73,-107.1,105.6,-12.3,92,810,0.00,2.35,0.00,0.000,4,0.000,0.046,2650,3619,3267,0,0,0,0,0,0
$GC,837,-0.73,-107.1,109.7,-12.2,94,845,0.00,2.30,0.00,0.000,6,0.000,0.033,2649,2037,3265,0,0,0,0,0,0
$GC,1098,-0.73,-107.1,144.1,-13.5,119,1102,0.00,2.33,0.00,0.000,4,0.000,0.046,2655,444,3265,0,0,0,0,0,0
$GC,1153,-0.73,-107.1,151.4,-13.2,124,1158,0.00,2.25,0.00,0.000,6,0.000,0.035,2638,2039,3265,0,0,0,0,0,0
$GC,1419,-0.73,-107.1,182.4,-10.9,149,1424,0.00,2.30,0.00,0.000,4,0.000,0.046,2625,3609,3265,0,0,0,0,0,0
$GC,1485,-0.73,-107.1,190.9,-13.2,154,1492,0.10,2.30,0.00,0.000,6,0.114,0.032,2664,2020,3266,0,0,0,0,0,0
$GC,1741,-0.73,-107.1,216.8,-10.3,171,1745,0.00,2.28,0.00,0.000,4,0.000,0.046,2664,442,3266,0,0,0,0,0,0
$GC,1795,-0.73,-107.1,222.6,-10.0,173,1802,0.00,2.28,0.00,0.000,6,0.000,0.035,2654,2017,3266,0,0,0,0,0,0
$GC,2111,-0.73,-107.1,252.2,-9.6,189,2115,0.00,2.30,0.00,0.000,4,0.000,0.046,2654,442,3266,0,0,0,0,0,0
$GC,2233,-0.73,-107.1,266.0,-10.7,194,2238,0.00,2.30,0.00,0.000,6,0.000,0.035,2642,2042,3266,0,0,0,0,0,0
$GC,2554,-0.73,-107.1,297.5,-9.8,210,2558,0.00,2.33,0.00,0.000,4,0.000,0.048,2631,3611,3266,0,0,0,0,0,0
$GC,2603,-0.73,-107.1,301.8,-8.7,212,2608,0.08,2.30,0.00,0.000,6,0.118,0.034,2661,2022,3265,0,0,0,0,0,0
$GC,2928,-0.73,-107.1,326.4,-7.9,220,2932,0.00,2.30,0.00,0.000,4,0.000,0.047,2661,445,3265,0,0,0,0,0,0
$GC,2954,-0.73,-107.1,328.6,-8.2,220,2959,0.00,2.28,0.00,0.000,6,0.000,0.035,2651,2020,3264,0,0,0,0,0,0
$GC,3291,-0.73,-107.1,354.3,-7.1,229,3295,0.00,2.28,0.00,0.000,4,0.000,0.048,2653,451,3262,0,0,0,0,0,0
$GC,3329,-0.73,-107.1,357.1,-7.3,230,3333,0.00,2.28,0.00,0.000,6,0.000,0.037,2640,2059,3261,0,0,0,0,0,0
$GC,3651,-0.73,-107.1,377.2,-6.0,238,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2057,3259,0,0,0,0,0,0
$GC,3977,-0.73,-107.1,398.6,-6.9,246,3981,0.00,2.30,0.00,0.000,4,0.000,0.049,2628,3604,3256,0,0,0,0,0,0
$GC,4121,-0.73,-107.1,410.8,-9.4,249,4126,0.08,2.28,0.00,0.000,6,0.115,0.035,2658,2037,3255,0,0,0,0,0,0
$GC,4434,-0.73,-107.1,434.3,-7.5,257,4438,0.00,2.33,0.00,0.000,4,0.000,0.049,2658,440,3253,0,0,0,0,0,0
$GC,4533,-0.73,-107.1,442.3,-7.9,259,4538,0.00,2.30,0.00,0.000,6,0.000,0.037,2646,2018,3252,0,0,0,0,0,0
$GC,4846,-0.73,-107.1,464.6,-7.0,267,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2018,3250,0,0,0,0,0,0
$GC,5171,-0.73,-107.1,484.4,-5.9,275,5176,0.00,2.35,0.00,0.000,4,0.000,0.050,2636,3618,3248,0,0,0,0,0,0
$GC,5276,-0.73,-107.1,491.5,-6.9,277,5281,0.00,2.33,0.00,0.000,6,0.000,0.036,2636,2027,3247,0,0,0,0,0,0
$GC,5624,-0.73,-107.1,518.2,-8.2,286,5629,0.10,2.35,0.00,0.000,4,0.157,0.051,2666,447,3244,0,0,0,0,0,0
$GC,5724,-0.73,-107.1,526.5,-8.4,288,5728,0.00,2.30,0.00,0.000,6,0.000,0.038,2655,2032,3243,0,0,0,0,0,0
$GC,6037,-0.73,-107.1,550.1,-7.3,296,6041,0.00,2.35,0.00,0.000,4,0.000,0.051,2661,447,3243,0,0,0,0,0,0
$GC,6075,-0.73,-107.1,553.1,-8.6,297,6079,0.00,2.28,0.00,0.000,6,0.000,0.038,2646,2042,3241,0,0,0,0,0,0
$GC,6398,-0.73,-107.1,577.4,-7.4,305,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3240,0,0,0,0,0,0
$GC,6723,-0.73,-107.1,600.9,-7.2,313,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2046,3238,0,0,0,0,0,0
$GC,7049,-0.73,-107.1,623.2,-6.7,321,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3235,0,0,0,0,0,0
$GC,7373,-0.73,-107.1,642.6,-5.9,329,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3235,0,0,0,0,0,0
$GC,7698,-0.73,-107.1,662.3,-6.3,337,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3233,0,0,0,0,0,0
$GC,8023,-0.73,-107.1,686.2,-7.6,345,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3232,0,0,0,0,0,0
$GC,8348,-0.73,-107.1,711.9,-7.9,353,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3231,0,0,0,0,0,0
$GC,8673,-0.73,-107.1,735.3,-6.9,361,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3229,0,0,0,0,0,0
$GC,8999,-0.73,-107.1,757.3,-6.7,369,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3228,0,0,0,0,0,0
$GC,9323,-0.73,-107.1,779.5,-6.8,377,9328,0.00,2.35,0.00,0.000,4,0.000,0.054,2645,457,3228,0,0,0,0,0,0
$GC,9378,-0.73,-107.1,783.6,-7.2,378,9383,0.08,2.30,0.00,0.000,6,0.126,0.041,2661,2022,3227,0,0,0,0,0,0
$GC,9690,-0.73,-107.1,801.3,-5.5,386,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2025,3227,0,0,0,0,0,0
$GC,10016,-0.73,-107.1,817.6,-4.9,394,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2022,3228,0,0,0,0,0,0
$GC,10340,-0.73,-107.1,833.5,-4.9,402,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2022,3225,0,0,0,0,0,0
$GC,10665,-0.73,-107.1,849.3,-4.9,410,10669,0.00,2.38,0.00,0.000,4,0.000,0.054,2651,3614,3222,0,0,0,0,0,0
$GC,10709,-0.73,-107.1,851.7,-5.7,411,10713,0.00,2.33,0.00,0.000,6,0.000,0.039,2651,2044,3225,0,0,0,0,0,0
$GC,11033,-0.73,-107.1,870.6,-6.0,419,11037,0.00,2.38,0.00,0.000,4,0.000,0.054,2650,442,3223,0,0,0,0,0,0
$GC,11075,-0.73,-107.1,873.5,-7.1,420,11080,0.00,2.35,0.00,0.000,6,0.000,0.041,2640,2034,3223,0,0,0,0,0,0
$GC,11400,-0.73,-107.1,894.1,-6.3,428,11404,0.00,2.38,0.00,0.000,4,0.000,0.053,2628,3621,3222,0,0,0,0,0,0
$GC,11510,-0.73,-107.1,901.2,-6.4,430,11516,0.10,2.38,0.00,0.000,6,0.112,0.038,2683,2016,3222,0,0,0,0,0,0
$GC,11858,-0.73,-107.1,914.9,-3.7,439,11862,0.00,2.35,0.00,0.000,4,0.000,0.054,2689,451,3222,0,0,0,0,0,0
$GC,11907,-0.73,-107.1,917.0,-4.5,440,11912,0.00,2.33,0.00,0.000,6,0.000,0.041,2673,2025,3222,0,0,0,0,0,0
$GC,12226,-0.73,-107.1,929.6,-4.0,448,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2025,3221,0,0,0,0,0,0
$GC,12551,-0.73,-107.1,943.7,-4.4,456,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2025,3221,0,0,0,0,0,0
$GC,12876,-0.73,-107.1,960.7,-5.6,464,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2025,3220,0,0,0,0,0,0
$GC,13201,-0.73,-107.1,980.0,-6.1,472,13205,0.00,2.38,0.00,0.000,4,0.000,0.056,2674,454,3220,0,0,0,0,0,0
$GC,13249,-0.73,-107.1,983.4,-6.9,473,13254,0.00,2.35,0.00,0.000,6,0.000,0.041,2664,2038,3220,0,0,0,0,0,0
$STATE,13363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13363,begin apogee
$GC,13366,-0.23,0.0,990.8,6.5,476,13454,0.47,0.00,85.12,1.302,6,0.116,0.000,2822,2038,2822,0,0,0,0,0,0
$STATE,13457,end apogee,CONTROL_FINISHED_OK
$STATE,13457,begin climb
$GC,13458,0.73,107.1,993.2,0.0,478,13566,0.88,0.00,102.68,1.264,6,0.067,0.000,3139,2038,2385,0,0,0,0,0,0
$GC,13890,0.73,107.1,949.8,12.2,489,13894,0.00,2.45,0.00,0.000,4,0.000,0.056,3149,458,2368,0,0,0,0,0,0
$GC,13932,0.73,107.1,944.1,12.6,490,13937,0.00,2.40,0.00,0.000,6,0.000,0.041,3149,2026,2367,0,0,0,0,0,0
$GC,14256,0.73,107.1,902.5,12.8,498,14261,0.00,2.40,0.00,0.000,4,0.000,0.056,3161,457,2364,0,0,0,0,0,0
$GC,14277,0.73,107.1,899.7,12.5,498,14282,0.00,2.38,0.00,0.000,6,0.000,0.041,3161,2032,2364,0,0,0,0,0,0
$GC,14619,0.73,107.1,854.4,13.4,507,14624,0.00,2.42,0.00,0.000,4,0.000,0.053,3161,3620,2362,0,0,0,0,0,0
$GC,14652,0.73,107.1,849.5,14.6,507,14659,0.10,2.40,0.00,0.000,6,0.163,0.042,3141,2039,2362,0,0,0,0,0,0
$GC,14983,0.73,107.1,805.2,13.6,516,14984,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2039,2361,0,0,0,0,0,0
$GC,15308,0.73,107.1,758.6,14.6,524,15312,0.00,2.45,0.00,0.000,4,0.000,0.064,3152,441,2359,0,0,0,0,0,0
$GC,15423,0.73,107.1,740.1,16.3,526,15429,0.00,2.38,0.00,0.000,6,0.000,0.041,3152,2027,2360,0,0,0,0,0,0
$GC,15760,0.73,107.1,689.4,14.7,535,15761,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2027,2359,0,0,0,0,0,0
$GC,16084,0.73,107.1,643.4,14.0,543,16089,0.00,2.42,0.00,0.000,4,0.000,0.053,3152,3626,2360,0,0,0,0,0,0
$GC,16116,0.73,107.1,638.5,15.1,543,16124,0.08,2.40,0.00,0.000,6,0.161,0.042,3140,2029,2358,0,0,0,0,0,0
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$STATE,22328,end climb,SURFACE_DEPTH_REACHED
$STATE,22328,begin surface coast
$FINISH,0.7,1.021232
$STATE,22372,end surface coast,CONTROL_FINISHED_OK
$STATE,22372,begin surface
$SM_CCo,22387,97.45,0.075,0,0,1292,375.06
$SM_GC,1.59,0.00,0.00,97.45,0.000,0.000,0.075,138,2018,1292,-8.63,-0.37,375.06
$IRIDIUM_FIX,2043.29,-15816.20,151211,080807
$TT8_MAMPS,0.249275
$HUMID,1078381281
$INTERNAL_PRESSURE,9.38391
$TCM_TEMP,24.40
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,120.9,9.4
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8438677504
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57350193152
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,4.157
$10V_AH,9.9,4.654
$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,20.475,173.475,258.350,97.450,0.000,51.937,55.108,451.747,12.250,0.000,15.658,1741.305,18231.287,548.668,2605.230,145.947,33.364,1619.849,0.000,1937.356,0.000,17.850,0.000
$DEVICE_MAMPS,241.605,63.661,1302.366,75.166,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
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$SENSOR_SECS,608.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334792
$DATA_FILE_SIZE,30090,889
$CAP_FILE_SIZE,180369,0
$CFSIZE,260165632,255614976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210610,210107,2052.048,-15816.881,27,1.0,27,9.8