version: 66.07
glider: 500
mission: 4
dive: 185
start: 7 30 110 19 26 27
data:
$ID,500
$MISSION,4
$DIVE,185
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-112661.26
$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,56
$R_STBD_OVSHOOT,49
$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,0
$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,184
$AR_SAMPLENUM,10
$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
$GPS1,300710,191407,2106.002,-15831.528,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.7
$GPS2,300710,192532,2105.912,-15831.725,11,1.9,11,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME1
$TGT_LATLONG,2105.500,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.075
$KALMAN_X,-182648.5,67.4,189.0,336855.5,-2124.7
$KALMAN_Y,180095.0,-360.8,-458.6,-109031.7,1712.4
$MHEAD_RNG_PITCHd_Wd,100.0,47913,-17.0,-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,24,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-45.70,0.000,2,0.000,0.000,122,2039,2538,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-5.2,9,112,10.07,0.00,-19.55,0.000,6,0.226,0.000,2652,2038,3300,0,0,0,0,0,0
$GC,310,-0.71,-116.8,41.8,-18.4,46,314,0.00,2.33,0.00,0.000,4,0.000,0.043,2652,452,3302,0,0,0,0,0,0
$GC,342,-0.71,-116.8,48.2,-19.7,48,349,0.00,2.30,0.00,0.000,6,0.000,0.033,2643,2038,3301,0,0,0,0,0,0
$GC,604,-0.71,-116.8,96.6,-17.8,73,608,0.00,2.33,0.00,0.000,4,0.000,0.042,2629,3616,3302,0,0,0,0,0,0
$GC,620,-0.71,-116.8,99.6,-18.1,74,625,0.10,2.25,0.00,0.000,6,0.146,0.029,2660,2026,3305,0,0,0,0,0,0
$GC,881,-0.71,-116.8,135.5,-12.0,98,885,0.00,2.28,0.00,0.000,4,0.000,0.042,2660,452,3301,0,0,0,0,0,0
$GC,947,-0.71,-116.8,143.8,-12.8,103,953,0.00,2.28,0.00,0.000,6,0.000,0.031,2651,2043,3303,0,0,0,0,0,0
$GC,1208,-0.71,-116.8,174.2,-9.1,128,1212,0.00,2.30,0.00,0.000,4,0.000,0.042,2650,451,3302,0,0,0,0,0,0
$GC,1236,-0.71,-116.8,177.0,-10.3,130,1240,0.00,2.25,0.00,0.000,6,0.000,0.032,2639,2041,3303,0,0,0,0,0,0
$GC,1507,-0.71,-116.8,203.5,-11.0,154,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2041,3305,0,0,0,0,0,0
$GC,1815,-0.71,-116.8,238.3,-11.4,169,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2041,3309,0,0,0,0,0,0
$GC,2126,-0.71,-116.8,271.1,-9.4,184,2130,0.00,2.28,0.00,0.000,4,0.000,0.042,2639,457,3306,0,0,0,0,0,0
$GC,2237,-0.71,-116.8,283.3,-11.3,189,2242,0.08,2.25,0.00,0.000,6,0.110,0.032,2658,2022,3306,0,0,0,0,0,0
$GC,2583,-0.71,-116.8,308.4,-6.2,203,2587,0.00,2.35,0.00,0.000,4,0.000,0.043,2647,3614,3305,0,0,0,0,0,0
$GC,2621,-0.71,-116.8,311.0,-6.8,203,2627,0.00,2.28,0.00,0.000,6,0.000,0.028,2647,2026,3305,0,0,0,0,0,0
$GC,2952,-0.71,-116.8,336.2,-8.0,212,2956,0.00,2.25,0.00,0.000,4,0.000,0.042,2643,457,3304,0,0,0,0,0,0
$GC,3012,-0.71,-116.8,341.6,-8.9,213,3016,0.00,2.25,0.00,0.000,6,0.000,0.032,2636,2032,3303,0,0,0,0,0,0
$GC,3360,-0.71,-116.8,369.8,-8.2,222,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2033,3303,0,0,0,0,0,0
$GC,3684,-0.71,-116.8,398.3,-9.1,230,3688,0.00,2.30,0.00,0.000,4,0.000,0.042,2636,447,3298,0,0,0,0,0,0
$GC,3795,-0.71,-116.8,409.4,-9.9,232,3800,0.05,2.28,0.00,0.000,6,0.124,0.032,2664,2026,3297,0,0,0,0,0,0
$GC,4138,-0.71,-116.8,432.6,-6.4,241,4142,0.00,2.30,0.00,0.000,4,0.000,0.043,2664,456,3296,0,0,0,0,0,0
$GC,4249,-0.71,-116.8,440.3,-6.6,243,4253,0.00,2.22,0.00,0.000,6,0.000,0.032,2654,2040,3294,0,0,0,0,0,0
$GC,4590,-0.71,-116.8,462.8,-7.0,252,4594,0.00,2.33,0.00,0.000,4,0.000,0.044,2642,3604,3290,0,0,0,0,0,0
$GC,4639,-0.71,-116.8,466.7,-7.9,253,4644,0.00,2.28,0.00,0.000,6,0.000,0.029,2642,2030,3292,0,0,0,0,0,0
$GC,4959,-0.71,-116.8,493.0,-8.4,261,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2030,3289,0,0,0,0,0,0
$GC,5283,-0.71,-116.8,519.0,-7.9,269,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2029,3286,0,0,0,0,0,0
$GC,5608,-0.71,-116.8,541.2,-6.6,277,5612,0.00,2.30,0.00,0.000,4,0.000,0.043,2642,447,3287,0,0,0,0,0,0
$GC,5668,-0.71,-116.8,545.8,-7.8,278,5673,0.10,2.25,0.00,0.000,6,0.150,0.033,2661,2045,3284,0,0,0,0,0,0
$GC,6010,-0.71,-116.8,567.5,-6.6,287,6014,0.00,2.35,0.00,0.000,4,0.000,0.043,2661,452,3281,0,0,0,0,0,0
$GC,6075,-0.71,-116.8,572.7,-8.2,288,6080,0.00,2.28,0.00,0.000,6,0.000,0.032,2648,2018,3281,0,0,0,0,0,0
$GC,6418,-0.71,-116.8,595.4,-6.4,297,6422,0.00,2.30,0.00,0.000,4,0.000,0.044,2652,449,3278,0,0,0,0,0,0
$GC,6456,-0.71,-116.8,598.2,-7.5,297,6462,0.00,2.30,0.00,0.000,6,0.000,0.033,2637,2044,3278,0,0,0,0,0,0
$GC,6787,-0.71,-116.8,616.5,-5.2,306,6792,0.00,2.33,0.00,0.000,4,0.000,0.044,2629,3614,3276,0,0,0,0,0,0
$GC,6815,-0.71,-116.8,617.9,-5.6,306,6820,0.10,2.25,0.00,0.000,6,0.137,0.030,2661,2027,3276,0,0,0,0,0,0
$GC,7145,-0.71,-116.8,631.7,-4.0,314,7149,0.00,2.30,0.00,0.000,4,0.000,0.044,2661,451,3274,0,0,0,0,0,0
$GC,7251,-0.71,-116.8,637.2,-4.9,316,7255,0.00,2.25,0.00,0.000,6,0.000,0.032,2652,2036,3274,0,0,0,0,0,0
$GC,7599,-0.71,-116.8,654.3,-4.9,325,7603,0.00,2.30,0.00,0.000,4,0.000,0.044,2639,3609,3273,0,0,0,0,0,0
$GC,7631,-0.71,-116.8,656.1,-5.3,325,7637,0.00,2.28,0.00,0.000,6,0.000,0.030,2640,2027,3272,0,0,0,0,0,0
$GC,7962,-0.71,-116.8,675.8,-6.2,334,7966,0.00,2.30,0.00,0.000,4,0.000,0.045,2640,460,3268,0,0,0,0,0,0
$GC,8074,-0.71,-116.8,683.9,-7.6,336,8079,0.12,2.25,0.00,0.000,6,0.140,0.033,2667,2049,3270,0,0,0,0,0,0
$GC,8416,-0.71,-116.8,701.6,-5.0,345,8420,0.00,2.33,0.00,0.000,4,0.000,0.044,2667,459,3268,0,0,0,0,0,0
$GC,8481,-0.71,-116.8,705.4,-5.8,346,8486,0.00,2.28,0.00,0.000,6,0.000,0.033,2658,2023,3268,0,0,0,0,0,0
$GC,8824,-0.71,-116.8,723.8,-5.4,355,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2023,3267,0,0,0,0,0,0
$GC,9149,-0.71,-116.8,742.7,-5.7,363,9153,0.00,2.30,0.00,0.000,4,0.000,0.045,2658,462,3267,0,0,0,0,0,0
$GC,9182,-0.71,-116.8,744.8,-7.0,363,9188,0.00,2.30,0.00,0.000,6,0.000,0.034,2647,2040,3267,0,0,0,0,0,0
$GC,9513,-0.71,-116.8,764.1,-5.6,372,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2040,3266,0,0,0,0,0,0
$GC,9838,-0.71,-116.8,778.5,-4.0,380,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2040,3265,0,0,0,0,0,0
$GC,10163,-0.71,-116.8,791.5,-4.1,388,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2040,3265,0,0,0,0,0,0
$GC,10488,-0.71,-116.8,806.2,-4.6,396,10492,0.00,2.35,0.00,0.000,4,0.000,0.046,2647,458,3262,0,0,0,0,0,0
$GC,10520,-0.71,-116.8,807.9,-5.2,396,10525,0.00,2.30,0.00,0.000,6,0.000,0.034,2636,2028,3261,0,0,0,0,0,0
$GC,10857,-0.71,-116.8,825.2,-5.3,405,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2027,3262,0,0,0,0,0,0
$GC,11182,-0.71,-116.8,842.7,-5.4,413,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2028,3259,0,0,0,0,0,0
$GC,11507,-0.71,-116.8,858.7,-4.8,421,11511,0.00,2.35,0.00,0.000,4,0.000,0.045,2637,452,3261,0,0,0,0,0,0
$GC,11540,-0.71,-116.8,860.5,-5.4,421,11545,0.12,2.28,0.00,0.000,6,0.138,0.034,2663,2037,3260,0,0,0,0,0,0
$GC,11870,-0.71,-116.8,874.0,-4.2,429,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2037,3260,0,0,0,0,0,0
$GC,12195,-0.71,-116.8,890.3,-5.2,437,12200,0.00,2.38,0.00,0.000,4,0.000,0.046,2664,451,3260,0,0,0,0,0,0
$GC,12256,-0.71,-116.8,894.1,-6.1,438,12260,0.00,2.30,0.00,0.000,6,0.000,0.033,2654,2044,3260,0,0,0,0,0,0
$GC,12604,-0.71,-116.8,914.6,-5.7,447,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2045,3259,0,0,0,0,0,0
$GC,12929,-0.71,-116.8,932.2,-5.4,455,12933,0.00,2.38,0.00,0.000,4,0.000,0.047,2654,463,3258,0,0,0,0,0,0
$GC,12984,-0.71,-116.8,935.7,-6.7,456,12988,0.00,2.28,0.00,0.000,6,0.000,0.034,2644,2036,3259,0,0,0,0,0,0
$GC,13296,-0.71,-116.8,955.3,-6.5,464,13300,0.00,2.38,0.00,0.000,4,0.000,0.046,2644,456,3256,0,0,0,0,0,0
$GC,13329,-0.71,-116.8,957.9,-7.6,464,13335,0.00,2.30,0.00,0.000,6,0.000,0.034,2633,2028,3258,0,0,0,0,0,0
$STATE,13536,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13536,begin apogee
$GC,13541,-0.23,0.0,972.9,7.2,470,13638,0.55,0.00,94.05,1.277,6,0.104,0.000,2819,2029,2822,0,0,0,0,0,0
$STATE,13640,end apogee,CONTROL_FINISHED_OK
$STATE,13640,begin climb
$GC,13642,0.71,116.8,975.5,0.0,472,13758,0.82,0.00,111.97,1.244,6,0.058,0.000,3129,2028,2345,0,0,0,0,0,0
$GC,14049,0.71,116.8,937.3,12.0,482,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2029,2329,0,0,0,0,0,0
$GC,14372,0.71,116.8,898.2,11.9,490,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2029,2326,0,0,0,0,0,0
$GC,14697,0.71,116.8,859.4,12.1,498,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2029,2324,0,0,0,0,0,0
$GC,15022,0.71,116.8,817.8,12.5,506,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2029,2323,0,0,0,0,0,0
$GC,15348,0.71,116.8,778.6,11.8,514,15352,0.00,2.38,0.00,0.000,4,0.000,0.049,3141,459,2322,0,0,0,0,0,0
$GC,15386,0.71,116.8,773.9,12.1,515,15390,0.00,2.28,0.00,0.000,6,0.000,0.035,3141,2028,2322,0,0,0,0,0,0
$GC,15709,0.71,116.8,735.6,11.9,523,15713,0.00,2.35,0.00,0.000,4,0.000,0.044,3140,3615,2321,0,0,0,0,0,0
$GC,15737,0.71,116.8,732.3,11.8,523,15742,0.15,2.30,0.00,0.000,6,0.166,0.034,3112,2036,2324,0,0,0,0,0,0
$GC,16067,0.71,116.8,697.3,10.6,531,16071,0.00,2.35,0.00,0.000,4,0.000,0.044,3113,3616,2322,0,0,0,0,0,0
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$STATE,23300,end climb,SURFACE_DEPTH_REACHED
$STATE,23300,begin surface coast
$FINISH,0.9,1.023017
$STATE,23329,end surface coast,CONTROL_FINISHED_OK
$STATE,23329,begin surface
$SM_CCo,23412,80.75,0.075,0,0,1293,375.06
$SM_GC,1.52,0.00,0.00,80.75,0.000,0.000,0.075,124,2032,1293,-8.65,0.03,375.06
$IRIDIUM_FIX,2057.14,-15834.21,230112,070716
$TT8_MAMPS,0.059059
$HUMID,1078401926
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$TCM_TEMP,24.80
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8429240320
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49011228672
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.5,23.835
$10V_AH,9.6,29.121
$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,20.400,198.550,293.875,80.750,0.000,24.976,31.173,430.190,0.500,0.000,14.221,1792.521,18918.832,548.329,2644.471,273.332,33.370,1685.067,0.000,2010.153,0.000,0.541,0.000
$DEVICE_MAMPS,226.265,49.088,1277.055,75.166,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,622.066,0.000,0.000,0.000,0.000,0.000,0.000,288427.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,18.149,0.000,0.000
$MEM,334988
$DATA_FILE_SIZE,33363,910
$CAP_FILE_SIZE,188177,0
$CFSIZE,260165632,239063040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310710,015931,2105.600,-15829.684,40,1.1,40,9.8