version: 66.11
glider: 167
mission: 16
dive: 453
start: 9 12 113 4 11 34
data:
$ID,167
$MISSION,16
$DIVE,453
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975784.06
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2125
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-15.330984
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,120913,040105,1934.216,12330.050,31,0.9,31,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-70.3
$GPS2,120913,041105,1934.368,12329.939,44,1.0,44,-2.7
$SPEED_LIMITS,0.179,0.258
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,152.0,224762,-15.9,-10.312,-21.80,3549
$D_GRID,5092
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.03,-243.3,127,2107,739,616,0.0,0.0,0,112,0.00,0.00,-81.57,0.000,16386,0.000,0.000,126,2108,2716,2694,2738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.03,-243.3,126,2108,2694,2739,3.1,-2.7,15,165,11.62,2.12,-25.80,0.000,18948,0.256,0.045,2680,729,3964,3966,3962,0,0,0,0,0,0,25.01,26.01,26.47
$GC,201,-0.87,-243.3,2680,729,3966,3963,24.3,-26.6,29,209,0.25,2.08,0.00,0.000,3078,0.171,0.029,2738,2126,3964,3966,3963,0,0,0,0,0,0,25.41,26.04,28.83
$GC,519,-0.78,-243.3,2738,2126,3966,3963,90.6,-18.0,51,525,0.12,2.10,0.00,0.000,2308,0.174,0.037,2768,3528,3964,3965,3963,0,0,0,0,0,0,26.03,26.10,28.83
$GC,621,-0.73,-243.3,2767,3529,3966,3963,101.8,-13.2,55,628,0.00,2.03,0.00,0.000,1030,0.000,0.019,2767,2121,3965,3966,3964,0,0,0,0,0,0,28.83,26.31,28.83
$GC,925,-0.69,-243.3,2767,2121,3966,3963,141.3,-14.0,71,930,0.00,2.03,0.00,0.000,516,0.000,0.033,2767,731,3965,3966,3964,0,0,0,0,0,0,28.83,26.22,28.83
$GC,973,-0.66,-243.3,1696,731,3965,3962,147.9,-14.5,73,979,0.15,2.05,0.00,0.000,3078,0.143,0.031,2807,2124,3964,3966,3963,0,0,0,0,0,0,25.95,26.25,28.83
$GC,1294,-0.72,-243.3,2807,2124,3967,3963,185.3,-9.9,89,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2124,3965,3967,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.79,-243.3,2807,2124,3967,3963,215.5,-11.4,104,1603,0.12,2.08,0.00,0.000,4612,0.078,0.031,2721,723,3965,3967,3963,0,0,0,0,0,0,26.53,26.26,28.83
$GC,1672,-0.79,-243.3,2720,723,3967,3964,225.5,-14.1,107,1678,0.17,2.08,0.00,0.000,3078,0.147,0.028,2767,2139,3965,3967,3964,0,0,0,0,0,0,25.92,26.29,28.83
$GC,1989,-0.83,-243.3,2766,2140,3967,3963,262.8,-9.5,123,1994,0.00,2.08,0.00,0.000,260,0.000,0.039,2766,3532,3965,3967,3963,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2008,-0.86,-243.3,2765,3532,3967,3963,262.8,-9.5,123,2015,0.00,2.03,0.00,0.000,1030,0.000,0.019,2766,2111,3965,3967,3963,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2314,-0.90,-243.3,2765,2111,3966,3962,295.7,-10.9,139,2320,0.12,2.03,0.00,0.000,4612,0.079,0.032,2683,726,3964,3967,3961,0,0,0,0,0,0,26.53,26.27,28.83
$GC,2380,-0.88,-243.3,2682,726,3967,3962,305.3,-13.9,142,2386,0.20,2.05,0.00,0.000,3078,0.145,0.029,2730,2127,3964,3967,3961,0,0,0,0,0,0,25.88,26.31,28.83
$GC,2706,-0.85,-243.3,2729,2127,3967,3959,351.8,-13.7,158,2711,0.00,2.10,0.00,0.000,260,0.000,0.039,2724,3534,3962,3966,3958,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2721,-0.82,-243.3,2725,3534,3967,3958,351.8,-13.7,158,2726,0.12,2.03,0.00,0.000,3078,0.147,0.019,2758,2119,3962,3967,3958,0,0,0,0,0,0,26.08,26.40,28.83
$GC,3037,-0.86,-243.3,2757,2119,3967,3956,387.7,-9.1,174,3042,0.00,2.03,0.00,0.000,516,0.000,0.034,2758,736,3961,3966,3956,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3082,-0.89,-243.3,2758,735,3967,3956,392.2,-9.3,176,3088,0.00,2.05,0.00,0.000,1030,0.000,0.029,2752,2121,3961,3967,3956,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3407,-0.93,-243.3,2752,2122,3967,3951,428.4,-11.9,192,3413,0.00,2.12,0.00,0.000,260,0.000,0.041,2752,3541,3960,3967,3953,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3453,-0.97,-243.3,2752,3540,3967,3952,433.6,-11.5,194,3459,0.12,2.05,0.00,0.000,5126,0.084,0.019,2685,2118,3959,3967,3951,0,0,0,0,0,0,26.30,26.40,28.83
$GC,3779,-0.92,-243.3,2685,2118,3967,3947,477.3,-12.4,210,3785,0.12,2.17,0.00,0.000,2308,0.158,0.037,2718,3538,3956,3966,3947,0,0,0,0,0,0,26.20,26.20,28.83
$GC,3872,-0.90,-243.3,2718,3538,3966,3946,486.7,-11.0,214,3877,0.00,2.03,0.00,0.000,1030,0.000,0.019,2718,2125,3956,3967,3946,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4192,-0.91,-243.3,2718,2124,3967,3943,522.4,-11.7,230,4197,0.00,2.05,0.00,0.000,516,0.000,0.034,2718,727,3955,3967,3943,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4238,-0.91,-243.3,2718,727,3967,3943,528.0,-12.1,232,4243,0.00,2.08,0.00,0.000,1030,0.000,0.030,2718,2127,3954,3967,3942,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4563,-0.93,-243.3,2718,2126,3966,3938,569.2,-12.7,248,4568,0.00,2.10,0.00,0.000,260,0.000,0.041,2718,3529,3953,3969,3937,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4609,-0.94,-243.3,2718,3529,3966,3936,575.0,-12.8,250,4614,0.00,2.05,0.00,0.000,1030,0.000,0.021,2718,2109,3951,3966,3936,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4934,-0.94,-243.3,2718,2108,3966,3933,613.2,-10.8,264,4939,0.00,2.03,0.00,0.000,516,0.000,0.035,2718,733,3949,3966,3933,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4969,-0.94,-243.3,2718,732,3966,3932,617.0,-10.8,265,4975,0.00,2.08,0.00,0.000,1030,0.000,0.030,2713,2129,3949,3966,3932,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5309,-0.96,-243.3,2712,2129,3964,3928,650.8,-9.7,276,5314,0.00,2.12,0.00,0.000,260,0.000,0.041,2713,3536,3945,3964,3927,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5333,-0.97,-243.3,2712,3536,3963,3927,650.8,-9.7,276,5339,0.00,2.05,0.00,0.000,1030,0.000,0.021,2712,2116,3945,3963,3928,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5652,-0.95,-243.3,2712,2116,3961,3925,687.2,-11.1,287,5657,0.00,2.17,0.00,0.000,260,0.000,0.041,2710,3535,3943,3961,3925,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5741,-0.94,-243.3,2710,3535,3959,3924,694.9,-11.2,289,5748,0.00,2.05,0.00,0.000,1030,0.000,0.021,2710,2116,3941,3959,3924,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6051,-0.92,-243.3,2710,2116,3956,3922,730.9,-11.1,300,6056,0.00,2.17,0.00,0.000,260,0.000,0.041,2710,3534,3940,3959,3922,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6130,-0.91,-243.3,2710,3534,3957,3922,738.6,-11.2,302,6136,0.00,2.05,0.00,0.000,1030,0.000,0.022,2710,2122,3939,3957,3922,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6454,-0.89,-243.3,2710,2122,3953,3919,778.0,-12.0,313,6459,0.00,2.15,0.00,0.000,260,0.000,0.041,2710,3524,3936,3954,3919,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6566,-0.88,-243.3,2710,3523,3953,3918,790.0,-12.2,316,6571,0.00,2.05,0.00,0.000,1030,0.000,0.022,2710,2121,3935,3953,3918,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6890,-0.87,-243.3,2710,2121,3951,3915,829.6,-11.3,327,6896,0.12,2.08,0.00,0.000,2564,0.161,0.034,2749,727,3933,3951,3915,0,0,0,0,0,0,26.17,26.19,28.83
$GC,6965,-0.87,-243.3,2748,727,3951,3915,836.5,-10.6,329,6970,0.00,2.10,0.00,0.000,1030,0.000,0.032,2748,2127,3932,3951,3914,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7294,-0.94,-243.3,2748,2127,3951,3911,866.9,-9.2,340,7300,0.00,2.15,0.00,0.000,260,0.000,0.044,2748,3534,3930,3950,3911,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7319,-1.01,-243.3,2748,3534,3951,3911,866.9,-9.2,340,7325,0.15,2.08,0.00,0.000,5126,0.075,0.024,2677,2124,3930,3950,3911,0,0,0,0,0,0,26.24,26.34,28.83
$GC,7640,-0.97,-243.3,2677,2123,3946,3910,911.9,-13.8,351,7646,0.12,2.08,0.00,0.000,2564,0.159,0.034,2714,730,3928,3946,3910,0,0,0,0,0,0,26.15,26.16,28.83
$GC,7680,-0.94,-243.3,1672,730,3944,3908,917.2,-13.5,352,7685,0.00,2.10,0.00,0.000,1030,0.000,0.033,2713,2130,3927,3946,3909,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8013,-0.94,-243.3,2713,2130,3945,3907,956.6,-11.9,363,8018,0.00,2.15,0.00,0.000,260,0.000,0.044,2713,3532,3925,3944,3907,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8087,-0.94,-243.3,2713,3532,3945,3907,964.5,-11.9,365,8092,0.00,2.08,0.00,0.000,1030,0.000,0.024,2713,2117,3925,3944,3907,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,8318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8319,begin apogee
$GC,8327,-0.21,0.0,2713,2116,3943,3905,993.2,-11.7,373,8629,0.73,0.00,294.23,1.015,10246,0.120,0.000,2947,2116,2968,3042,2894,0,0,0,0,0,0,25.52,28.83,23.68
$STATE,8635,end apogee,CONTROL_FINISHED_OK
$STATE,8635,begin climb
$GC,8638,1.03,243.3,2947,2116,3036,2882,1016.5,0.0,383,8868,1.10,2.35,219.30,1.170,10500,0.051,0.043,3349,3500,1967,2061,1873,0,0,0,0,0,0,25.16,24.77,23.44
$GC,8912,0.92,262.9,3349,3500,2048,1851,1004.8,9.7,392,8936,0.15,2.15,18.20,1.100,13318,0.172,0.026,3323,2108,1898,1995,1801,0,0,0,0,0,0,25.17,25.46,23.89
$GC,9253,0.86,262.9,3323,2108,1973,1768,965.7,10.8,404,9258,0.00,2.20,0.00,0.000,260,0.000,0.045,3323,3506,1871,1973,1770,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9337,0.79,262.9,3323,3506,1973,1769,957.7,11.4,406,9343,0.20,2.12,0.00,0.000,5126,0.153,0.026,3277,2090,1870,1973,1768,0,0,0,0,0,0,25.75,26.13,28.83
$GC,9657,0.80,273.6,3277,2089,1973,1766,923.8,10.0,417,9661,0.00,0.00,2.15,0.301,8198,0.000,0.000,3277,2089,1852,1953,1752,0,0,0,0,0,0,28.83,28.83,22.66
$GC,9953,0.80,273.6,3277,2089,1952,1767,892.6,10.4,427,9958,0.00,2.10,0.00,0.000,516,0.000,0.040,3284,694,1859,1952,1767,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10052,0.78,273.6,2256,693,1881,1757,882.2,10.9,430,10058,0.00,2.12,0.00,0.000,1030,0.000,0.034,3284,2097,1860,1952,1768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10387,0.80,308.1,3284,2098,1952,1768,848.7,9.3,441,10433,0.00,2.30,32.75,1.257,8452,0.000,0.045,3284,3505,1717,1811,1623,0,0,0,0,1,0,28.83,25.53,23.49
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$GC,14181,1.09,484.0,3404,3501,1009,909,379.3,12.9,594,14188,0.15,2.10,0.00,0.000,5126,0.148,0.027,3372,2092,958,1008,909,0,0,0,0,0,0,25.87,26.24,28.83
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$STATE,17613,end climb,SURFACE_DEPTH_REACHED
$STATE,17613,begin surface coast
$FINISH,1.3,1.009007
$STATE,17643,end surface coast,CONTROL_FINISHED_OK
$STATE,17643,begin surface
$SM_CCo,17725,0.00,0.000,0,0,592,583.32
$SM_GC,2.19,8.35,0.00,0.00,0.020,0.000,0.000,135,2101,592,-8.93,-0.68,583.32,0,0,0,0,0,0,26.17,28.83,28.83
$IRIDIUM_FIX,1927.51,12331.25,110913,222258
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.20
$XPDR_PINGS,4
$SC_FREEKB,7576992
$24V_AH,22.7,74.154
$10V_AH,10.1,45.618
$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,26.025,177.225,824.550,0.000,0.000,0.000,0.000,334.475,1.000,0.000,46.055,2455.934,11817.564,888.780,2436.717,706.825,0.000,2456.852,0.000,2044.469,0.000,0.543,0.000
$DEVICE_MAMPS,255.510,45.900,1363.995,0.000,0.000,0.000,0.000,120.870,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17659.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.176,0.000,0.000,0.000
$MEM,327828
$DATA_FILE_SIZE,33427,805
$CAP_FILE_SIZE,215212,0
$CFSIZE,260034560,210448384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,120913,090824,1935.032,12329.728,43,1.0,43,-2.7