version: 66.07
glider: 500
mission: 4
dive: 93
start: 7 5 110 14 46 46
data:
$ID,500
$MISSION,4
$DIVE,93
$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,120
$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,-111177.56
$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,2890
$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,60
$R_STBD_OVSHOOT,52
$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,92
$AR_SAMPLENUM,9
$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
$GPS1,050710,144031,2019.430,-16013.352,35,1.7,35,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.7
$GPS2,050710,144550,2019.313,-16013.299,14,1.0,14,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06
$TGT_LATLONG,2020.000,-16015.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.034,0.193
$KALMAN_X,-163429.9,271.4,329.5,-73673.4,-2128.8
$KALMAN_Y,107366.2,-224.4,-118.3,-203153.9,-3232.8
$MHEAD_RNG_PITCHd_Wd,340.4,3217,-19.8,-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,-0.77,-88.6,0.0,0.0,0,78,0.00,0.00,-51.08,0.000,2,0.000,0.000,124,2044,2698,0,0,0,0,0,0
$GC,81,-0.81,-116.8,3.3,-5.9,10,112,10.15,2.38,-13.82,0.000,4,0.238,0.056,2619,3601,3300,0,0,0,0,0,0
$GC,224,-0.81,-116.8,30.8,-19.7,36,228,0.00,2.25,0.00,0.000,6,0.000,0.028,2619,2024,3302,0,0,0,0,0,0
$GC,490,-0.81,-116.8,74.4,-15.8,61,494,0.00,2.30,0.00,0.000,4,0.000,0.043,2619,456,3304,0,0,0,0,0,0
$GC,577,-0.81,-116.8,89.8,-15.9,68,585,0.00,2.28,0.00,0.000,6,0.000,0.032,2607,2024,3304,0,0,0,0,0,0
$GC,839,-0.81,-116.8,126.2,-13.3,93,843,0.00,2.30,0.00,0.000,4,0.000,0.041,2595,3616,3306,0,0,0,0,0,0
$GC,900,-0.81,-116.8,134.6,-13.4,98,904,0.12,2.25,0.00,0.000,6,0.148,0.028,2632,2018,3306,0,0,0,0,0,0
$GC,1165,-0.81,-116.8,164.1,-12.0,123,1170,0.00,2.25,0.00,0.000,4,0.000,0.042,2632,452,3308,0,0,0,0,0,0
$GC,1238,-0.81,-116.8,173.2,-11.9,129,1242,0.00,2.22,0.00,0.000,6,0.000,0.031,2622,2037,3309,0,0,0,0,0,0
$GC,1502,-0.81,-116.8,205.0,-12.0,152,1506,0.00,2.28,0.00,0.000,4,0.000,0.042,2610,3616,3309,0,0,0,0,0,0
$GC,1529,-0.81,-116.8,208.5,-13.5,153,1533,0.00,2.28,0.00,0.000,6,0.000,0.028,2610,2030,3309,0,0,0,0,0,0
$GC,1850,-0.81,-116.8,245.5,-10.2,169,1854,0.00,2.30,0.00,0.000,4,0.000,0.043,2610,463,3309,0,0,0,0,0,0
$GC,1921,-0.81,-116.8,252.4,-8.9,172,1926,0.08,2.25,0.00,0.000,6,0.130,0.031,2626,2029,3312,0,0,0,0,0,0
$GC,2242,-0.81,-116.8,276.8,-8.2,188,2246,0.00,2.30,0.00,0.000,4,0.000,0.043,2626,450,3309,0,0,0,0,0,0
$GC,2291,-0.81,-116.8,281.5,-9.9,190,2296,0.00,2.28,0.00,0.000,6,0.000,0.031,2616,2039,3309,0,0,0,0,0,0
$GC,2632,-0.81,-116.8,318.3,-11.1,203,2636,0.00,2.28,0.00,0.000,4,0.000,0.043,2604,3614,3307,0,0,0,0,0,0
$GC,2725,-0.81,-116.8,328.0,-9.4,205,2730,0.00,2.28,0.00,0.000,6,0.000,0.028,2605,2031,3309,0,0,0,0,0,0
$GC,3044,-0.81,-116.8,356.5,-8.5,213,3048,0.00,2.28,0.00,0.000,4,0.000,0.043,2604,450,3305,0,0,0,0,0,0
$GC,3092,-0.81,-116.8,361.2,-9.8,214,3098,0.10,2.28,0.00,0.000,6,0.125,0.031,2628,2032,3305,0,0,0,0,0,0
$GC,3411,-0.81,-116.8,387.1,-8.4,222,3415,0.00,2.33,0.00,0.000,4,0.000,0.044,2621,3618,3303,0,0,0,0,0,0
$GC,3460,-0.81,-116.8,391.4,-8.3,223,3465,0.00,2.30,0.00,0.000,6,0.000,0.030,2618,2022,3302,0,0,0,0,0,0
$GC,3778,-0.81,-116.8,419.2,-8.9,231,3782,0.00,2.28,0.00,0.000,4,0.000,0.044,2618,456,3301,0,0,0,0,0,0
$GC,3867,-0.81,-116.8,428.1,-10.1,233,3872,0.00,2.28,0.00,0.000,6,0.000,0.032,2606,2041,3299,0,0,0,0,0,0
$GC,4191,-0.81,-116.8,459.2,-9.6,241,4195,0.00,2.28,0.00,0.000,4,0.000,0.044,2594,3609,3297,0,0,0,0,0,0
$GC,4290,-0.81,-116.8,469.6,-10.8,243,4296,0.08,2.28,0.00,0.000,6,0.122,0.030,2623,2025,3297,0,0,0,0,0,0
$GC,4603,-0.81,-116.8,497.3,-8.9,251,4607,0.00,2.28,0.00,0.000,4,0.000,0.044,2624,451,3296,0,0,0,0,0,0
$GC,4657,-0.81,-116.8,502.5,-9.5,252,4662,0.00,2.28,0.00,0.000,6,0.000,0.033,2614,2027,3296,0,0,0,0,0,0
$GC,4970,-0.81,-116.8,531.9,-9.5,260,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2027,3294,0,0,0,0,0,0
$GC,5295,-0.81,-116.8,564.5,-10.3,268,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2027,3293,0,0,0,0,0,0
$GC,5620,-0.81,-116.8,598.7,-10.6,276,5624,0.00,2.33,0.00,0.000,4,0.000,0.045,2614,457,3291,0,0,0,0,0,0
$GC,5670,-0.81,-116.8,604.2,-11.5,277,5674,0.00,2.25,0.00,0.000,6,0.000,0.034,2602,2046,3289,0,0,0,0,0,0
$GC,5986,-0.81,-116.8,636.6,-10.1,285,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2046,3287,0,0,0,0,0,0
$GC,6311,-0.81,-116.8,665.7,-8.6,293,6315,0.00,2.30,0.00,0.000,4,0.000,0.046,2590,3610,3288,0,0,0,0,0,0
$GC,6349,-0.81,-116.8,669.1,-8.7,293,6356,0.08,2.30,0.00,0.000,6,0.126,0.031,2619,2028,3288,0,0,0,0,0,0
$GC,6680,-0.81,-116.8,692.1,-6.8,302,6684,0.00,2.30,0.00,0.000,4,0.000,0.046,2619,450,3287,0,0,0,0,0,0
$GC,6752,-0.81,-116.8,697.8,-7.9,303,6757,0.00,2.28,0.00,0.000,6,0.000,0.034,2610,2016,3287,0,0,0,0,0,0
$GC,7088,-0.81,-116.8,721.8,-7.1,312,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2015,3290,0,0,0,0,0,0
$GC,7413,-0.81,-116.8,746.1,-7.6,320,7417,0.00,2.30,0.00,0.000,4,0.000,0.047,2610,455,3285,0,0,0,0,0,0
$GC,7444,-0.81,-116.8,749.0,-9.0,320,7451,0.08,2.30,0.00,0.000,6,0.127,0.035,2626,2045,3285,0,0,0,0,0,0
$GC,7776,-0.81,-116.8,773.1,-7.4,329,7780,0.00,2.33,0.00,0.000,4,0.000,0.047,2626,460,3282,0,0,0,0,0,0
$GC,7818,-0.81,-116.8,776.8,-8.7,330,7823,0.00,2.28,0.00,0.000,6,0.000,0.035,2616,2027,3284,0,0,0,0,0,0
$GC,8143,-0.81,-116.8,802.5,-7.9,338,8147,0.00,2.33,0.00,0.000,4,0.000,0.046,2604,3614,3284,0,0,0,0,0,0
$GC,8174,-0.81,-116.8,805.1,-8.4,338,8181,0.00,2.30,0.00,0.000,6,0.000,0.032,2604,2039,3284,0,0,0,0,0,0
$GC,8505,-0.81,-116.8,832.9,-8.5,347,8509,0.00,2.33,0.00,0.000,4,0.000,0.047,2604,445,3283,0,0,0,0,0,0
$GC,8571,-0.81,-116.8,839.3,-9.7,348,8577,0.10,2.33,0.00,0.000,6,0.127,0.035,2628,2045,3286,0,0,0,0,0,0
$GC,8914,-0.81,-116.8,865.2,-7.4,357,8918,0.00,2.38,0.00,0.000,4,0.000,0.047,2628,446,3285,0,0,0,0,0,0
$GC,8962,-0.81,-116.8,869.2,-8.3,358,8967,0.00,2.30,0.00,0.000,6,0.000,0.035,2618,2025,3283,0,0,0,0,0,0
$GC,9281,-0.81,-116.8,892.9,-7.4,366,9285,0.00,2.35,0.00,0.000,4,0.000,0.047,2606,3604,3283,0,0,0,0,0,0
$GC,9307,-0.81,-116.8,895.0,-8.3,366,9311,0.00,2.30,0.00,0.000,6,0.000,0.033,2606,2030,3283,0,0,0,0,0,0
$GC,9649,-0.81,-116.8,920.1,-7.3,375,9653,0.00,2.33,0.00,0.000,4,0.000,0.048,2606,455,3283,0,0,0,0,0,0
$GC,9681,-0.81,-116.8,922.9,-8.7,375,9689,0.08,2.28,0.00,0.000,6,0.128,0.034,2623,2011,3282,0,0,0,0,0,0
$GC,10013,-0.81,-116.8,944.3,-6.3,384,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2011,3283,0,0,0,0,0,0
$GC,10338,-0.81,-116.8,964.4,-6.2,392,10342,0.00,2.33,0.00,0.000,4,0.000,0.048,2623,453,3282,0,0,0,0,0,0
$GC,10369,-0.81,-116.8,966.6,-7.8,392,10374,0.00,2.33,0.00,0.000,6,0.000,0.035,2614,2046,3283,0,0,0,0,0,0
$GC,10706,-0.81,-116.8,989.7,-6.9,401,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2048,3283,0,0,0,0,0,0
$STATE,10747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10747,begin apogee
$GC,10750,-0.23,0.0,992.7,7.0,402,10851,0.60,0.00,97.93,1.296,6,0.117,0.000,2812,2047,2822,0,0,0,0,0,0
$STATE,10898,end apogee,CONTROL_FINISHED_OK
$STATE,10898,begin climb
$GC,10900,0.81,116.8,994.2,0.0,404,11017,0.93,2.53,109.40,1.260,4,0.067,0.045,3156,3601,2347,0,0,0,0,0,0
$GC,11067,0.81,116.8,978.6,15.6,407,11072,0.00,2.47,0.00,0.000,6,0.000,0.035,3167,2033,2336,0,0,0,0,0,0
$GC,11390,0.81,116.8,928.6,15.2,415,11394,0.00,2.42,0.00,0.000,4,0.000,0.049,3179,450,2326,0,0,0,0,0,0
$GC,11479,0.81,116.8,914.4,15.9,417,11484,0.08,2.35,0.00,0.000,6,0.153,0.035,3156,2018,2325,0,0,0,0,0,0
$GC,11802,0.81,116.8,866.1,14.8,425,11806,0.00,2.38,0.00,0.000,4,0.000,0.049,3166,445,2324,0,0,0,0,0,0
$GC,11834,0.81,116.8,861.2,16.1,425,11839,0.00,2.38,0.00,0.000,6,0.000,0.035,3166,2042,2324,0,0,0,0,0,0
$GC,12171,0.81,116.8,810.1,15.2,434,12175,0.00,2.40,0.00,0.000,4,0.000,0.049,3178,443,2323,0,0,0,0,0,0
$GC,12231,0.81,116.8,800.1,15.8,435,12236,0.00,2.35,0.00,0.000,6,0.000,0.036,3178,2029,2323,0,0,0,0,0,0
$GC,12579,0.81,116.8,744.6,16.3,444,12583,0.00,2.35,0.00,0.000,4,0.000,0.049,3190,452,2323,0,0,0,0,0,0
$GC,12623,0.81,116.8,737.3,16.2,445,12628,0.10,2.33,0.00,0.000,6,0.152,0.036,3157,2030,2323,0,0,0,0,0,0
$GC,12946,0.81,116.8,691.2,13.9,453,12947,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2030,2322,0,0,0,0,0,0
$GC,13271,0.81,116.8,649.0,12.7,461,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2030,2322,0,0,0,0,0,0
$GC,13596,0.81,116.8,608.3,12.7,469,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2031,2320,0,0,0,0,0,0
$GC,13921,0.81,116.8,564.8,13.5,477,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2030,2320,0,0,0,0,0,0
$GC,14246,0.81,116.8,520.6,13.5,485,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2030,2320,0,0,0,0,0,0
$GC,14571,0.81,116.8,476.8,13.5,493,14575,0.00,2.35,0.00,0.000,4,0.000,0.050,3166,450,2320,0,0,0,0,0,0
$GC,14619,0.81,116.8,470.1,13.5,494,14624,0.00,2.33,0.00,0.000,6,0.000,0.035,3167,2038,2319,0,0,0,0,0,0
$GC,14938,0.81,116.8,431.0,11.9,502,14942,0.00,2.33,0.00,0.000,4,0.000,0.047,3167,3610,2319,0,0,0,0,0,0
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$STATE,19301,end climb,SURFACE_DEPTH_REACHED
$STATE,19302,begin surface coast
$FINISH,0.7,1.000566
$STATE,19338,end surface coast,CONTROL_FINISHED_OK
$STATE,19338,begin surface
$SM_CCo,19420,84.28,0.076,0,0,1293,375.30
$SM_GC,1.33,0.00,0.00,84.28,0.000,0.000,0.076,129,2029,1293,-8.63,-0.06,375.30
$IRIDIUM_FIX,2013.37,-15936.86,291211,040439
$TT8_MAMPS,0.058292
$HUMID,1078447087
$INTERNAL_PRESSURE,9.34484
$TCM_TEMP,24.00
$XPDR_PINGS,2
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$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8440938496
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54424829952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,10.827
$10V_AH,9.8,14.001
$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,20.675,185.475,288.150,84.275,0.000,24.468,33.330,151.302,3.000,0.000,17.403,1620.751,15275.655,539.724,2246.036,148.714,33.368,1597.913,0.000,1856.986,0.000,18.528,0.000
$DEVICE_MAMPS,237.770,55.991,1296.230,75.933,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
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$SENSOR_SECS,562.973,0.000,0.000,0.000,0.000,0.000,0.000,19812.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.454,0.000,0.000
$MEM,334428
$DATA_FILE_SIZE,30050,823
$CAP_FILE_SIZE,163875,0
$CFSIZE,260165632,250286080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050710,201307,2019.910,-16013.930,27,0.9,27,9.6