version: 66.07
glider: 500
mission: 4
dive: 188
start: 7 31 110 15 16 15
data:
$ID,500
$MISSION,4
$DIVE,188
$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,-112705.85
$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,51
$R_STBD_OVSHOOT,51
$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,187
$AR_SAMPLENUM,13
$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
$GPS1,310710,150937,2104.994,-15824.199,34,1.0,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-65.9
$GPS2,310710,151520,2104.977,-15824.230,10,1.0,10,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME1
$TGT_LATLONG,2105.500,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.019
$KALMAN_X,-185165.5,282.9,258.4,352084.1,-1589.3
$KALMAN_Y,180005.2,-186.4,182.8,-111487.9,-337.4
$MHEAD_RNG_PITCHd_Wd,75.4,34970,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.71,-116.8,0.0,0.0,0,74,0.00,0.00,-45.50,0.000,2,0.000,0.000,138,2056,2526,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.1,-4.7,9,113,10.15,2.38,-18.23,0.000,4,0.232,0.055,2637,3610,3302,0,0,0,0,0,0
$GC,136,-0.71,-116.8,13.0,-17.1,20,141,0.00,2.28,0.00,0.000,6,0.000,0.029,2637,2025,3303,0,0,0,0,0,0
$GC,337,-0.71,-116.8,51.6,-20.0,47,341,0.00,2.30,0.00,0.000,4,0.000,0.041,2637,458,3304,0,0,0,0,0,0
$GC,370,-0.71,-116.8,58.4,-20.5,49,377,0.12,2.28,0.00,0.000,6,0.152,0.031,2661,2060,3304,0,0,0,0,0,0
$GC,631,-0.71,-116.8,99.9,-13.3,74,635,0.00,2.33,0.00,0.000,4,0.000,0.041,2661,455,3305,0,0,0,0,0,0
$GC,715,-0.71,-116.8,110.4,-12.6,81,719,0.00,2.25,0.00,0.000,6,0.000,0.031,2651,2040,3308,0,0,0,0,0,0
$GC,975,-0.71,-116.8,140.7,-12.2,105,979,0.00,2.30,0.00,0.000,4,0.000,0.041,2652,450,3307,0,0,0,0,0,0
$GC,995,-0.71,-116.8,143.4,-12.6,106,1002,0.00,2.28,0.00,0.000,6,0.000,0.030,2639,2036,3307,0,0,0,0,0,0
$GC,1257,-0.71,-116.8,175.5,-13.8,131,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2036,3308,0,0,0,0,0,0
$GC,1510,-0.71,-116.8,204.6,-9.3,153,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2036,3308,0,0,0,0,0,0
$GC,1819,-0.71,-116.8,237.6,-11.7,168,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2036,3309,0,0,0,0,0,0
$GC,2129,-0.71,-116.8,268.1,-9.5,183,2133,0.00,2.28,0.00,0.000,4,0.000,0.041,2627,3610,3308,0,0,0,0,0,0
$GC,2192,-0.71,-116.8,274.5,-11.2,186,2197,0.12,2.22,0.00,0.000,6,0.127,0.028,2667,2026,3309,0,0,0,0,0,0
$GC,2520,-0.71,-116.8,301.3,-8.2,202,2524,0.00,2.28,0.00,0.000,4,0.000,0.042,2668,448,3309,0,0,0,0,0,0
$GC,2653,-0.71,-116.8,313.4,-9.2,205,2657,0.00,2.25,0.00,0.000,6,0.000,0.031,2658,2020,3308,0,0,0,0,0,0
$GC,2977,-0.71,-116.8,341.8,-8.8,213,2981,0.00,2.35,0.00,0.000,4,0.000,0.043,2646,3612,3306,0,0,0,0,0,0
$GC,3038,-0.71,-116.8,347.2,-8.4,214,3042,0.00,2.28,0.00,0.000,6,0.000,0.029,2646,2033,3306,0,0,0,0,0,0
$GC,3351,-0.71,-116.8,371.0,-7.1,222,3355,0.00,2.28,0.00,0.000,4,0.000,0.043,2646,455,3304,0,0,0,0,0,0
$GC,3585,-0.71,-116.8,388.9,-7.8,227,3589,0.00,2.25,0.00,0.000,6,0.000,0.031,2634,2030,3303,0,0,0,0,0,0
$GC,3898,-0.71,-116.8,414.1,-8.5,235,3903,0.00,2.35,0.00,0.000,4,0.000,0.043,2622,3614,3299,0,0,0,0,0,0
$GC,3947,-0.71,-116.8,418.8,-8.8,236,3953,0.10,2.28,0.00,0.000,6,0.100,0.028,2663,2032,3300,0,0,0,0,0,0
$GC,4266,-0.71,-116.8,441.1,-6.5,244,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2034,3298,0,0,0,0,0,0
$GC,4592,-0.71,-116.8,458.3,-5.1,252,4596,0.00,2.30,0.00,0.000,4,0.000,0.044,2663,452,3296,0,0,0,0,0,0
$GC,4697,-0.71,-116.8,465.2,-7.2,254,4701,0.00,2.28,0.00,0.000,6,0.000,0.032,2653,2035,3295,0,0,0,0,0,0
$GC,5045,-0.71,-116.8,488.4,-6.9,263,5049,0.00,2.33,0.00,0.000,4,0.000,0.044,2653,457,3293,0,0,0,0,0,0
$GC,5077,-0.71,-116.8,491.1,-8.3,263,5081,0.00,2.25,0.00,0.000,6,0.000,0.032,2647,2037,3292,0,0,0,0,0,0
$GC,5414,-0.71,-116.8,516.9,-7.7,272,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2037,3290,0,0,0,0,0,0
$GC,5739,-0.71,-116.8,540.3,-7.1,280,5743,0.00,2.30,0.00,0.000,4,0.000,0.044,2629,3607,3288,0,0,0,0,0,0
$GC,5782,-0.71,-116.8,543.4,-7.3,281,5786,0.00,2.28,0.00,0.000,6,0.000,0.031,2630,2018,3286,0,0,0,0,0,0
$GC,6106,-0.71,-116.8,567.6,-7.5,289,6111,0.10,2.30,0.00,0.000,4,0.146,0.044,2662,454,3286,0,0,0,0,0,0
$GC,6155,-0.71,-116.8,571.5,-7.7,290,6159,0.00,2.28,0.00,0.000,6,0.000,0.032,2652,2024,3285,0,0,0,0,0,0
$GC,6474,-0.71,-116.8,596.7,-8.0,298,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2023,3284,0,0,0,0,0,0
$GC,6799,-0.71,-116.8,621.2,-7.3,306,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2023,3280,0,0,0,0,0,0
$GC,7123,-0.71,-116.8,643.9,-6.9,314,7128,0.00,2.33,0.00,0.000,4,0.000,0.045,2641,3607,3280,0,0,0,0,0,0
$GC,7164,-0.71,-116.8,646.8,-7.8,315,7169,0.00,2.25,0.00,0.000,6,0.000,0.031,2640,2036,3280,0,0,0,0,0,0
$GC,7488,-0.71,-116.8,671.0,-7.4,323,7492,0.00,2.33,0.00,0.000,4,0.000,0.044,2640,448,3278,0,0,0,0,0,0
$GC,7564,-0.71,-116.8,677.5,-8.5,324,7572,0.08,2.30,0.00,0.000,6,0.116,0.032,2660,2033,3280,0,0,0,0,0,0
$GC,7896,-0.71,-116.8,699.2,-6.6,333,7900,0.00,2.33,0.00,0.000,4,0.000,0.045,2648,3616,3277,0,0,0,0,0,0
$GC,7923,-0.71,-116.8,701.2,-6.7,333,7927,0.00,2.33,0.00,0.000,6,0.000,0.031,2648,2021,3276,0,0,0,0,0,0
$GC,8260,-0.71,-116.8,725.1,-7.1,342,8264,0.00,2.30,0.00,0.000,4,0.000,0.044,2648,453,3276,0,0,0,0,0,0
$GC,8287,-0.71,-116.8,727.1,-7.7,342,8291,0.00,2.25,0.00,0.000,6,0.000,0.033,2637,2031,3275,0,0,0,0,0,0
$GC,8623,-0.71,-116.8,748.1,-5.9,351,8627,0.00,2.35,0.00,0.000,4,0.000,0.046,2637,451,3274,0,0,0,0,0,0
$GC,8683,-0.71,-116.8,752.2,-7.0,352,8688,0.12,2.28,0.00,0.000,6,0.141,0.033,2664,2047,3274,0,0,0,0,0,0
$GC,9025,-0.71,-116.8,768.8,-4.8,361,9029,0.00,2.35,0.00,0.000,4,0.000,0.044,2665,454,3273,0,0,0,0,0,0
$GC,9074,-0.71,-116.8,771.7,-6.2,362,9078,0.00,2.25,0.00,0.000,6,0.000,0.033,2655,2038,3272,0,0,0,0,0,0
$GC,9392,-0.71,-116.8,788.3,-5.2,370,9396,0.00,2.35,0.00,0.000,4,0.000,0.045,2655,448,3272,0,0,0,0,0,0
$GC,9463,-0.71,-116.8,792.6,-6.2,371,9468,0.00,2.30,0.00,0.000,6,0.000,0.033,2644,2032,3272,0,0,0,0,0,0
$GC,9800,-0.71,-116.8,810.6,-5.4,380,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2031,3271,0,0,0,0,0,0
$GC,10125,-0.71,-116.8,829.6,-6.0,388,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2032,3270,0,0,0,0,0,0
$GC,10450,-0.71,-116.8,847.8,-5.4,396,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2036,3269,0,0,0,0,0,0
$GC,10775,-0.71,-116.8,863.9,-4.9,404,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2031,3270,0,0,0,0,0,0
$GC,11100,-0.71,-116.8,880.0,-5.0,412,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2031,3266,0,0,0,0,0,0
$GC,11425,-0.71,-116.8,896.6,-5.2,420,11429,0.00,2.38,0.00,0.000,4,0.000,0.048,2644,451,3267,0,0,0,0,0,0
$GC,11474,-0.71,-116.8,899.7,-7.6,421,11478,0.00,2.30,0.00,0.000,6,0.000,0.035,2633,2023,3267,0,0,0,0,0,0
$GC,11793,-0.71,-116.8,919.6,-6.3,429,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2023,3267,0,0,0,0,0,0
$GC,12117,-0.71,-116.8,939.1,-5.9,437,12121,0.00,2.35,0.00,0.000,4,0.000,0.048,2633,458,3267,0,0,0,0,0,0
$GC,12156,-0.71,-116.8,941.7,-6.9,438,12161,0.15,2.28,0.00,0.000,6,0.133,0.034,2668,2041,3266,0,0,0,0,0,0
$GC,12480,-0.71,-116.8,956.0,-4.3,446,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2042,3267,0,0,0,0,0,0
$GC,12805,-0.71,-116.8,969.9,-4.4,454,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2042,3264,0,0,0,0,0,0
$GC,13130,-0.71,-116.8,985.7,-5.0,462,13134,0.00,2.38,0.00,0.000,4,0.000,0.048,2668,459,3268,0,0,0,0,0,0
$GC,13156,-0.71,-116.8,987.3,-7.1,462,13160,0.00,2.30,0.00,0.000,6,0.000,0.035,2658,2044,3265,0,0,0,0,0,0
$STATE,13208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13208,begin apogee
$GC,13213,-0.23,0.0,990.1,5.5,464,13311,0.47,0.00,95.65,1.285,6,0.105,0.000,2819,2043,2821,0,0,0,0,0,0
$STATE,13358,end apogee,CONTROL_FINISHED_OK
$STATE,13358,begin climb
$GC,13360,0.71,116.8,992.2,0.0,466,13482,0.80,2.62,110.75,1.257,4,0.059,0.045,3129,3599,2345,0,0,0,0,0,0
$GC,13543,0.71,116.8,979.1,14.2,471,13547,0.00,2.45,0.00,0.000,6,0.000,0.035,3137,2013,2337,0,0,0,0,0,0
$GC,13861,0.71,116.8,937.8,12.9,479,13862,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2013,2328,0,0,0,0,0,0
$GC,14186,0.71,116.8,893.2,13.9,487,14190,0.00,2.35,0.00,0.000,4,0.000,0.048,3148,454,2327,0,0,0,0,0,0
$GC,14246,0.71,116.8,884.1,14.9,488,14251,0.08,2.33,0.00,0.000,6,0.134,0.035,3123,2018,2325,0,0,0,0,0,0
$GC,14559,0.71,116.8,841.8,13.4,496,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2018,2326,0,0,0,0,0,0
$GC,14883,0.71,116.8,799.2,13.2,504,14887,0.00,2.40,0.00,0.000,4,0.000,0.045,3123,3625,2325,0,0,0,0,0,0
$GC,14928,0.71,116.8,792.9,14.1,505,14932,0.00,2.35,0.00,0.000,6,0.000,0.035,3134,2016,2327,0,0,0,0,0,0
$GC,15256,0.71,116.8,749.0,13.5,513,15261,0.00,2.40,0.00,0.000,4,0.000,0.044,3134,3612,2324,0,0,0,0,0,0
$GC,15295,0.71,116.8,743.4,14.9,514,15299,0.00,2.30,0.00,0.000,6,0.000,0.035,3145,2027,2323,0,0,0,0,0,0
$GC,15618,0.71,116.8,700.9,12.9,522,15623,0.00,2.35,0.00,0.000,4,0.000,0.047,3158,455,2323,0,0,0,0,0,0
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$STATE,22717,end climb,SURFACE_DEPTH_REACHED
$STATE,22717,begin surface coast
$FINISH,1.0,1.023023
$STATE,22753,end surface coast,CONTROL_FINISHED_OK
$STATE,22754,begin surface
$SM_CCo,22780,81.90,0.074,0,0,1292,375.30
$SM_GC,1.51,0.00,0.00,81.90,0.000,0.000,0.074,127,2020,1292,-8.64,-0.31,375.30
$IRIDIUM_FIX,2059.45,-15828.22,240112,020237
$TT8_MAMPS,0.064428
$HUMID,1078387732
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$TCM_TEMP,25.00
$XPDR_PINGS,21
$AR_POSTDIVE_SAMPLENUM,13
$AR_CDRIVE_FREE,8428912640
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48978690048
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,24.169
$10V_AH,9.6,29.567
$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,20.550,204.250,295.750,81.900,0.000,25.456,36.056,163.470,5.250,0.000,12.508,1792.135,18222.994,541.216,2438.622,210.956,33.368,1727.105,0.000,2093.563,0.000,0.540,0.000
$DEVICE_MAMPS,232.401,55.224,1285.492,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,612.822,0.000,0.000,0.000,0.000,0.000,0.000,23223.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.434,0.000,0.000
$MEM,334956
$DATA_FILE_SIZE,30073,897
$CAP_FILE_SIZE,183448,0
$CFSIZE,260165632,238850048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310710,213836,2104.678,-15822.188,27,1.0,27,9.8