version: 66.02
glider: 16
mission: 6
dive: 396
start: 1 30 108 1 49 43
data:
$ID,16
$MISSION,6
$DIVE,396
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2086623.4
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,013008,6148.313,-210.277,38,2.0,38,-5.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-62.0
$GPS2,014853,6148.477,-209.490,11,2.1,30,-5.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.168,-0.144
$KALMAN_X,15910.9,298.8,1088.9,348788.3,5214.6
$KALMAN_Y,3204.1,-1027.5,-257.7,17134.8,6349.4
$MHEAD_RNG_PITCHd_Wd,173.5,82389,-11.0,-6.000
$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
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,89,0.00,0.00,-60.88,0.000,2,0.000,0.000,67,2404,3150
$GC,93,-0.85,-146.6,4.2,-5.2,3,118,12.25,2.65,-5.88,0.000,4,0.173,0.088,2222,3766,3417
$GC,243,-0.85,-146.6,23.0,-9.2,9,250,0.00,2.53,0.00,0.000,6,0.000,0.054,2222,2396,3418
$GC,560,-0.85,-146.6,48.2,-8.1,25,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3418
$GC,868,-0.85,-146.6,73.7,-8.0,40,873,0.00,2.65,0.00,0.000,4,0.000,0.078,2222,3766,3419
$GC,931,-0.85,-146.6,79.3,-9.5,43,935,0.00,2.53,0.00,0.000,6,0.000,0.054,2222,2400,3420
$GC,1258,-0.85,-146.6,105.5,-8.0,59,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,1566,-0.85,-146.6,130.7,-8.8,74,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3420
$GC,1875,-0.85,-146.6,157.6,-8.8,89,1880,0.00,2.65,0.00,0.000,4,0.000,0.081,2222,3766,3420
$GC,1920,-0.85,-146.6,162.0,-10.0,91,1925,0.00,2.53,0.00,0.000,6,0.000,0.056,2222,2400,3420
$GC,2241,-0.85,-146.6,190.0,-8.7,107,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3420
$GC,2550,-0.85,-146.6,216.0,-8.3,122,2555,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,985,3420
$GC,2607,-0.85,-146.6,220.5,-7.7,124,2614,0.00,2.62,0.00,0.000,6,0.000,0.062,2222,2398,3420
$GC,2922,-0.85,-146.6,243.8,-7.1,140,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3420
$GC,3231,-0.85,-146.6,266.3,-7.6,155,3236,0.00,2.65,0.00,0.000,4,0.000,0.084,2222,3769,3420
$GC,3276,-0.85,-146.6,270.1,-8.5,157,3281,0.00,2.53,0.00,0.000,6,0.000,0.058,2222,2401,3420
$GC,3597,-0.85,-146.6,295.9,-8.1,173,3602,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,979,3420
$GC,3663,-0.85,-146.6,301.6,-8.8,176,3668,0.00,2.62,0.00,0.000,6,0.000,0.063,2222,2400,3420
$GC,3986,-0.85,-146.6,326.2,-7.3,192,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3420
$GC,4294,-0.85,-146.6,347.2,-6.8,207,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3420
$GC,4603,-0.85,-146.6,369.2,-6.9,222,4607,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,984,3420
$GC,4681,-0.85,-146.6,374.9,-7.4,225,4688,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2407,3420
$GC,4997,-0.85,-146.6,396.8,-6.8,241,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3420
$GC,5306,-0.85,-146.6,418.7,-7.4,256,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3420
$GC,5616,-0.85,-146.6,442.7,-7.4,271,5620,0.00,2.65,0.00,0.000,4,0.000,0.087,2223,3768,3421
$GC,5665,-0.85,-146.6,446.7,-7.9,273,5670,0.00,2.55,0.00,0.000,6,0.000,0.060,2223,2402,3421
$GC,5981,-0.85,-146.6,468.3,-6.8,288,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3421
$GC,6291,-0.85,-146.6,489.5,-7.0,303,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3421
$GC,6599,-0.85,-146.6,510.6,-6.7,318,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3420
$GC,6909,-0.85,-146.6,530.1,-5.8,333,6913,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,986,3419
$GC,6976,-0.85,-146.6,534.3,-6.8,336,6980,0.00,2.67,0.00,0.000,6,0.000,0.067,2223,2408,3419
$GC,7297,-0.85,-146.6,553.7,-5.8,352,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2408,3418
$GC,7607,-0.85,-146.6,570.8,-5.4,367,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2408,3417
$GC,7915,-0.85,-146.6,587.2,-5.6,382,7920,0.00,2.72,0.00,0.000,4,0.000,0.077,2223,986,3416
$GC,7982,-0.85,-146.6,591.5,-7.0,385,7987,0.00,2.65,0.00,0.000,6,0.000,0.068,2223,2402,3416
$GC,8304,-0.85,-146.6,609.6,-5.5,401,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3414
$GC,8613,-0.85,-146.6,626.3,-5.5,416,8617,0.00,2.72,0.00,0.000,4,0.000,0.079,2222,985,3413
$GC,8685,-0.85,-146.6,630.5,-5.5,419,8689,0.00,2.70,0.00,0.000,6,0.000,0.071,2223,2406,3413
$GC,9000,-0.85,-146.6,647.4,-5.6,434,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2406,3412
$GC,9309,-0.85,-146.6,666.0,-6.3,449,9314,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,984,3411
$GC,9382,-0.85,-146.6,671.1,-7.2,452,9386,0.00,2.67,0.00,0.000,6,0.000,0.071,2223,2398,3410
$GC,9698,-0.85,-146.6,690.9,-6.2,467,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3409
$GC,10006,-0.85,-146.6,711.1,-6.6,482,10011,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,982,3409
$GC,10056,-0.85,-146.6,714.6,-7.0,484,10060,0.00,2.70,0.00,0.000,6,0.000,0.073,2223,2405,3408
$GC,10372,-0.85,-146.6,734.7,-6.3,499,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3407
$GC,10681,-0.85,-146.6,753.8,-6.2,514,10685,0.00,2.75,0.00,0.000,4,0.000,0.080,2222,979,3406
$GC,10747,-0.85,-146.6,758.1,-6.8,517,10752,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2400,3406
$GC,11069,-0.85,-146.6,777.6,-5.8,533,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3405
$GC,11378,-0.85,-146.6,795.2,-5.7,548,11382,0.00,2.70,0.00,0.000,4,0.000,0.081,2223,986,3404
$GC,11451,-0.85,-146.6,799.7,-6.6,551,11455,0.00,2.70,0.00,0.000,6,0.000,0.072,2223,2403,3404
$GC,11767,-0.85,-146.6,818.6,-6.0,566,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3404
$GC,12076,-0.85,-146.6,837.5,-6.3,581,12080,0.00,2.72,0.00,0.000,4,0.000,0.081,2223,986,3403
$GC,12132,-0.85,-146.6,841.2,-6.2,583,12138,0.00,2.70,0.00,0.000,6,0.000,0.072,2223,2401,3403
$GC,12448,-0.85,-146.6,859.3,-5.5,599,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3402
$GC,12758,-0.85,-146.6,875.5,-5.1,614,12762,0.00,2.72,0.00,0.000,4,0.000,0.081,2223,986,3402
$GC,12815,-0.85,-146.6,878.9,-5.7,616,12821,0.00,2.70,0.00,0.000,6,0.000,0.071,2223,2405,3402
$GC,13131,-0.85,-146.6,895.9,-5.3,632,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3401
$GC,13441,-0.85,-146.6,914.1,-5.9,647,13446,0.00,2.72,0.00,0.000,4,0.000,0.080,2223,986,3401
$GC,13503,-0.85,-146.6,918.1,-6.4,650,13507,0.00,2.67,0.00,0.000,6,0.000,0.071,2223,2401,3401
$GC,13829,-0.85,-146.6,937.6,-6.0,666,13830,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3401
$GC,14140,-0.85,-146.6,956.1,-5.9,681,14144,0.00,2.72,0.00,0.000,4,0.000,0.078,2223,981,3400
$GC,14211,-0.85,-146.6,960.9,-6.9,684,14216,0.00,2.67,0.00,0.000,6,0.000,0.068,2223,2404,3400
$GC,14527,-0.85,-146.6,979.9,-6.2,699,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3400
$STATE,14710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14710,begin apogee
$GC,14717,-0.31,0.0,990.9,5.7,708,14855,0.60,0.00,129.68,1.338,6,0.120,0.000,2338,2188,2817
$STATE,14856,end apogee,CONTROL_FINISHED_OK
$STATE,14856,begin climb
$GC,14859,0.85,146.6,996.1,0.0,715,14995,1.27,2.83,126.30,1.325,4,0.106,0.077,2587,794,2220
$GC,15014,0.85,146.6,991.0,6.7,722,15019,0.00,2.65,0.00,0.000,6,0.000,0.060,2587,2199,2219
$GC,15330,0.85,146.6,971.5,6.4,737,15334,0.00,2.78,0.00,0.000,4,0.000,0.091,2587,3609,2219
$GC,15369,0.85,146.6,968.9,6.3,739,15374,0.00,2.65,0.00,0.000,6,0.000,0.062,2587,2205,2219
$GC,15696,0.85,147.2,949.0,6.0,755,15697,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2218
$GC,16005,0.86,159.1,930.9,5.7,770,16018,0.00,0.00,12.05,1.229,6,0.000,0.000,2587,2205,2169
$GC,16314,0.87,170.6,913.0,5.7,785,16333,0.00,0.00,11.77,1.229,6,0.000,0.000,2587,2204,2121
$GC,16642,0.88,176.5,893.9,5.8,801,16656,0.00,2.85,6.75,1.085,4,0.000,0.082,2587,786,2097
$GC,16680,0.88,176.5,891.5,6.9,802,16686,0.00,2.65,0.00,0.000,6,0.000,0.061,2586,2199,2096
$GC,16996,0.88,176.5,871.6,6.4,818,16997,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2096
$GC,17305,0.88,176.7,852.3,6.0,833,17306,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2096
$GC,17614,0.88,176.7,833.0,6.3,848,17615,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2096
$GC,17924,0.88,176.7,813.1,6.3,863,17925,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2096
$GC,18232,0.88,176.7,793.5,6.4,878,18233,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2096
$GC,18541,0.88,176.7,773.3,6.8,893,18546,0.00,2.72,0.00,0.000,4,0.000,0.081,2587,786,2095
$GC,18574,0.88,176.7,770.7,7.8,894,18580,0.00,2.65,0.00,0.000,6,0.000,0.064,2587,2203,2095
$GC,18890,0.88,176.7,747.5,7.4,910,18891,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2096
$GC,19199,0.88,176.7,724.9,7.1,925,19200,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2094
$GC,19508,0.88,176.7,703.1,7.0,940,19509,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2095
$GC,19818,0.88,176.7,682.2,6.6,955,19822,0.00,2.72,0.00,0.000,4,0.000,0.079,2587,788,2095
$GC,19862,0.88,176.7,679.0,6.9,957,19866,0.00,2.65,0.00,0.000,6,0.000,0.064,2587,2199,2094
$GC,20182,0.88,176.7,658.5,6.3,973,20183,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2094
$GC,20493,0.88,179.2,639.7,5.9,988,20494,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2094
$GC,20801,0.88,179.2,621.1,6.2,1003,20806,0.00,0.00,3.60,0.723,6,0.000,0.000,2587,2200,2086
$GC,21110,0.88,179.2,601.1,6.6,1018,21111,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2086
$GC,21420,0.88,179.2,580.5,6.6,1033,21424,0.00,2.72,0.00,0.000,4,0.000,0.080,2587,785,2086
$GC,21465,0.88,179.2,577.4,8.0,1035,21470,0.00,2.67,0.00,0.000,6,0.000,0.064,2587,2207,2085
$GC,21787,0.88,179.2,555.3,7.0,1051,21788,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2207,2085
$GC,22096,0.88,179.2,533.2,7.0,1066,22097,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2207,2085
$GC,22405,0.88,179.2,511.6,7.0,1081,22406,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2207,2086
$GC,22714,0.88,179.2,489.8,7.1,1096,22718,0.00,2.72,0.00,0.000,4,0.000,0.078,2587,788,2085
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$GC,26126,0.91,201.9,260.2,6.6,1262,26127,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,1994
$GC,26435,0.91,201.9,240.0,6.5,1277,26439,0.00,2.70,0.00,0.000,4,0.000,0.070,2587,777,1995
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$GC,29681,0.91,201.9,13.1,7.4,1434,29690,0.00,2.70,3.78,0.459,4,0.000,0.068,2587,791,1994
$GC,29729,0.91,201.9,9.9,6.3,1436,29734,0.00,2.58,0.00,0.000,6,0.000,0.051,2587,2201,1993
$STATE,29842,end climb,SURFACE_DEPTH_REACHED
$STATE,29842,begin surface coast
$FINISH,0.8,1.016097
$STATE,29864,end surface coast,CONTROL_FINISHED_OK
$STATE,29864,begin surface
$SM_CCo,29887,58.50,0.634,2,0,1593,300.00
$SM_GC,1.74,0.00,0.00,58.50,0.000,0.000,0.634,67,2403,1593,-10.78,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2054
$TCM_TEMP,17.10
$XPDR_PINGS,128
$24V_AH,23.1,61.662
$10V_AH,10.1,33.248
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.625,182.775,316.200,58.500,0.000,132.305,230.992,402.814,40.500,0.000,0.000,31.588,2526.312,23935.963,581.244,2815.319,1210.620,33.369,1939.806,0.000,2746.835,0.000,56.136
$DEVICE_MAMPS,173.342,90.506,1337.648,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.427,998.345,754.810,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72611,1443
$CFSIZE,260165632,236646400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,3,0
$GPS,300108,101007,6145.761,-207.398,29,1.6,29,-5.6