version: 66.11
glider: 189
mission: 7
dive: 247
start: 12 2 112 16 45 50
data:
$ID,189
$MISSION,7
$DIVE,247
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,0
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47964.379
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,021212,163534,2417.765,-3814.441,32,0.8,32,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-57.4
$GPS2,021212,164448,2417.821,-3814.391,17,1.4,18,-14.1
$SPEED_LIMITS,0.130,0.172
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.126,0.117
$KALMAN_X,21185.5,702.7,845.8,-43804.7,-7702.6
$KALMAN_Y,56835.7,-858.9,-919.2,-88023.0,3373.2
$MHEAD_RNG_PITCHd_Wd,61.2,36516,-13.3,-7.500,-23.59
$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,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.00,-195.4,0.0,0.0,0,37,0.00,0.00,-11.40,0.000,2,0.000,0.000,153,2123,1375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.00,-195.4,2.1,0.0,1,127,9.35,2.65,-68.20,0.000,4,0.190,0.056,2675,3739,3117,0,0,0,0,0,0,25.75,26.10,26.68
$GC,358,-0.91,-195.4,21.9,-10.4,33,366,0.08,2.45,0.00,0.000,6,0.124,0.022,2719,2091,3117,0,0,0,0,0,0,26.01,26.39,28.83
$GC,667,-0.86,-195.4,49.0,-8.3,64,676,0.00,2.62,0.00,0.000,4,0.000,0.041,2708,3742,3117,0,0,0,0,0,0,28.83,26.24,28.83
$GC,907,-0.81,-195.4,68.2,-8.3,88,916,0.10,2.45,0.00,0.000,6,0.145,0.021,2735,2092,3118,0,0,0,0,0,0,26.25,26.51,28.83
$GC,1237,-0.81,-195.4,93.4,-7.0,105,1244,0.00,2.62,0.00,0.000,4,0.000,0.041,2724,3748,3118,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1476,-0.81,-195.4,111.4,-7.7,113,1484,0.00,2.45,0.00,0.000,6,0.000,0.021,2724,2098,3118,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1806,-0.81,-195.4,136.7,-7.7,124,1814,0.00,2.62,0.00,0.000,4,0.000,0.041,2712,3752,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2047,-0.78,-195.4,152.9,-6.2,132,2055,0.08,2.42,0.00,0.000,6,0.109,0.021,2742,2101,3122,0,0,0,0,0,0,26.31,26.58,28.83
$GC,2407,-0.78,-195.4,170.9,-4.9,138,2414,0.00,2.60,0.00,0.000,4,0.000,0.041,2730,3746,3119,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2648,-0.78,-195.4,190.0,-8.0,142,2654,0.00,2.42,0.00,0.000,6,0.000,0.021,2729,2104,3119,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3006,-0.78,-195.4,221.1,-8.4,148,3014,0.00,2.62,0.00,0.000,4,0.000,0.041,2718,3756,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3248,-0.78,-195.4,239.6,-7.7,152,3255,0.00,2.45,0.00,0.000,6,0.000,0.021,2719,2096,3119,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3607,-0.78,-195.4,268.4,-8.1,158,3614,0.00,2.42,0.00,0.000,4,0.000,0.037,2719,543,3119,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3849,-0.76,-195.4,286.3,-7.5,162,3855,0.15,2.42,0.00,0.000,6,0.128,0.025,2751,2197,3118,0,0,0,0,0,0,26.22,26.51,28.83
$GC,4207,-0.83,-195.4,302.9,-4.4,168,4214,0.00,2.58,0.00,0.000,4,0.000,0.037,2752,543,3118,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4356,-0.90,-195.4,309.3,-4.8,170,4364,0.00,2.47,0.00,0.000,6,0.000,0.024,2742,2187,3118,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4687,-0.97,-195.4,335.2,-7.9,176,4695,0.15,2.55,0.00,0.000,4,0.070,0.037,2659,545,3116,0,0,0,0,0,0,26.70,26.36,28.83
$GC,4835,-0.97,-195.4,349.2,-10.1,178,4840,0.15,2.47,0.00,0.000,6,0.141,0.024,2689,2186,3116,0,0,0,0,0,0,26.16,26.51,28.83
$GC,5159,-0.95,-195.4,390.3,-11.6,184,5166,0.00,2.47,0.00,0.000,4,0.000,0.043,2679,3748,3115,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5400,-0.92,-195.4,414.6,-10.1,188,5406,0.00,2.45,0.00,0.000,6,0.000,0.021,2679,2068,3114,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5759,-0.90,-195.4,441.3,-7.0,194,5767,0.12,2.67,0.00,0.000,4,0.138,0.042,2704,3751,3113,0,0,0,0,0,0,26.48,26.29,28.83
$GC,6000,-0.90,-195.4,455.6,-5.9,198,6006,0.00,2.45,0.00,0.000,6,0.000,0.021,2703,2103,3112,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6359,-0.90,-195.4,475.9,-5.6,204,6366,0.00,2.42,0.00,0.000,4,0.000,0.039,2703,551,3111,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6600,-0.90,-195.4,493.9,-7.5,208,6606,0.00,2.45,0.00,0.000,6,0.000,0.026,2692,2177,3110,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6959,-0.90,-195.4,522.5,-7.9,212,6966,0.00,2.50,0.00,0.000,4,0.000,0.044,2679,3746,3110,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7198,-0.90,-195.4,542.3,-8.1,214,7206,0.12,2.47,0.00,0.000,6,0.134,0.022,2715,2093,3109,0,0,0,0,0,0,26.25,26.55,28.83
$GC,7559,-0.93,-195.4,572.0,-8.2,217,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2094,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7919,-1.00,-195.4,607.2,-9.6,220,7927,0.12,2.42,0.00,0.000,4,0.080,0.039,2651,550,3107,0,0,0,0,0,0,26.70,26.32,28.83
$GC,8058,-1.04,-195.4,620.5,-10.1,221,8066,0.00,2.50,0.00,0.000,6,0.000,0.026,2639,2193,3106,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8400,-1.01,-195.4,656.3,-10.3,224,8407,0.12,2.47,0.00,0.000,4,0.146,0.045,2662,3742,3106,0,0,0,0,0,0,26.46,26.25,28.83
$GC,8640,-0.98,-195.4,673.5,-8.4,226,8646,0.00,2.45,0.00,0.000,6,0.000,0.023,2662,2101,3104,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8999,-0.95,-195.4,696.1,-6.4,229,9007,0.10,2.65,0.00,0.000,4,0.148,0.044,2678,3751,3103,0,0,0,0,0,0,26.55,26.24,28.83
$GC,9240,-0.95,-195.4,711.3,-6.3,231,9246,0.00,2.42,0.00,0.000,6,0.000,0.023,2678,2094,3104,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9599,-0.95,-195.4,736.5,-6.8,234,9606,0.00,2.65,0.00,0.000,4,0.000,0.044,2666,3739,3101,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9838,-0.95,-195.4,757.2,-7.9,236,9846,0.00,2.47,0.00,0.000,6,0.000,0.022,2666,2097,3100,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10199,-0.95,-195.4,788.6,-8.7,239,10206,0.00,2.45,0.00,0.000,4,0.000,0.040,2666,546,3099,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10440,-0.95,-195.4,810.5,-9.0,241,10447,0.10,2.47,0.00,0.000,6,0.122,0.026,2690,2177,3098,0,0,0,0,0,0,26.12,26.44,28.83
$GC,10799,-0.95,-195.4,838.0,-7.9,244,10806,0.00,2.58,0.00,0.000,4,0.000,0.040,2690,551,3097,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10887,-0.95,-195.4,838.0,-7.9,244,10891,0.00,2.50,0.00,0.000,6,0.000,0.026,2680,2189,3097,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11270,-1.01,-195.4,871.9,-7.2,248,11277,0.00,2.60,0.00,0.000,4,0.000,0.041,2681,549,3096,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11512,-1.07,-195.4,889.8,-7.2,250,11517,0.00,2.45,0.00,0.000,6,0.000,0.027,2674,2183,3095,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11870,-1.12,-195.4,918.0,-7.8,253,11877,0.10,2.60,0.00,0.000,4,0.096,0.041,2619,550,3093,0,0,0,0,0,0,26.70,26.20,28.83
$GC,12101,-1.16,-195.4,929.8,-8.3,254,12108,0.00,2.50,0.00,0.000,6,0.000,0.028,2607,2187,3093,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12469,-1.09,-195.4,979.6,-10.4,258,12477,0.15,2.50,0.00,0.000,4,0.145,0.046,2639,3744,3091,0,0,0,0,0,0,26.32,26.13,28.83
$STATE,12587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12587,begin apogee
$GC,12597,-0.29,0.0,991.1,-10.3,259,12772,0.80,0.05,165.50,1.665,6,0.107,0.131,2907,1620,2320,0,0,0,0,0,0,25.65,24.50,23.27
$STATE,12773,end apogee,CONTROL_FINISHED_OK
$STATE,12773,begin climb
$GC,12776,1.00,195.4,999.8,0.0,268,12960,1.17,2.20,174.45,1.636,4,0.060,0.047,3332,349,1523,0,0,0,0,0,0,24.89,24.19,22.86
$GC,13059,0.83,195.4,981.3,10.7,282,13067,0.22,2.03,0.00,0.000,6,0.141,0.024,3271,1654,1518,0,0,0,0,0,0,25.35,25.63,28.83
$GC,13420,0.72,195.4,947.7,9.4,285,13422,0.12,0.00,0.00,0.000,6,0.151,0.000,3235,1654,1515,0,0,0,0,0,0,26.13,28.83,28.83
$GC,13779,0.67,195.4,917.1,8.7,288,13787,0.00,2.12,0.00,0.000,4,0.000,0.049,3244,356,1513,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14021,0.63,195.4,897.8,8.2,290,14027,0.15,1.92,0.00,0.000,6,0.134,0.027,3199,1646,1512,0,0,0,0,0,0,26.17,26.49,28.83
$GC,14379,0.64,206.7,872.3,7.2,293,14390,0.00,0.00,9.02,1.438,6,0.000,0.000,3200,1646,1477,0,0,0,0,0,0,28.83,28.83,24.53
$GC,14740,0.70,225.7,847.3,7.0,296,14766,0.00,2.17,18.77,1.535,4,0.000,0.050,3208,347,1399,0,0,0,0,0,0,28.83,25.86,24.43
$GC,14860,0.76,244.6,838.6,7.0,297,14887,0.08,1.98,18.27,1.519,6,0.054,0.027,3267,1648,1322,0,0,0,0,0,0,26.06,26.16,24.19
$GC,15219,0.76,244.6,808.9,8.0,300,15227,0.00,2.12,0.00,0.000,4,0.000,0.049,3277,349,1318,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15318,0.76,244.6,808.9,8.0,300,15323,0.12,1.98,0.00,0.000,6,0.141,0.026,3242,1652,1317,0,0,0,0,0,0,26.09,26.36,28.83
$GC,15691,0.76,244.6,768.5,8.5,304,15698,0.00,2.12,0.00,0.000,4,0.000,0.050,3251,346,1320,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15932,0.76,244.6,747.6,8.6,306,15939,0.00,1.95,0.00,0.000,6,0.000,0.027,3251,1647,1316,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16291,0.76,244.6,719.3,8.1,309,16298,0.00,2.10,0.00,0.000,4,0.000,0.049,3261,356,1316,0,0,0,0,0,0,28.83,26.30,28.83
$GC,16490,0.76,244.6,710.6,7.7,310,16493,0.00,1.95,0.00,0.000,6,0.000,0.026,3261,1647,1315,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16882,0.75,251.1,676.0,7.3,314,16893,0.00,2.12,6.07,1.250,4,0.000,0.050,3271,349,1295,0,0,0,0,0,0,28.83,26.34,24.53
$GC,17000,0.72,251.1,666.5,7.6,315,17005,0.12,1.98,0.00,0.000,6,0.137,0.026,3235,1658,1295,0,0,0,0,0,0,26.19,26.46,28.83
$GC,17343,0.72,251.1,637.4,8.3,318,17350,0.00,2.42,0.00,0.000,4,0.000,0.037,3235,3196,1295,0,0,0,0,0,0,28.83,26.32,28.83
$GC,17411,0.72,251.1,637.4,8.3,318,17416,0.00,2.53,0.00,0.000,6,0.000,0.030,3246,1582,1295,0,0,0,0,0,0,28.83,26.38,28.83
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$GC,20956,0.87,277.1,338.3,10.0,364,20963,0.00,2.10,0.00,0.000,4,0.000,0.047,3294,356,1188,0,0,0,0,0,0,28.83,26.20,28.83
$GC,21198,0.87,277.1,313.7,10.2,368,21203,0.00,1.90,0.00,0.000,6,0.000,0.026,3295,1658,1188,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,24574,end climb,SURFACE_DEPTH_REACHED
$STATE,24575,begin surface coast
$FINISH,1.1,1.025402
$STATE,24606,end surface coast,CONTROL_FINISHED_OK
$STATE,24606,begin surface
$SM_CCo,24687,0.00,0.000,0,0,980,328.70
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$IRIDIUM_FIX,2403.92,-3757.89,021212,090915
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.06
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,7675040
$TM_FREEKB,5696352
$24V_AH,22.9,48.329
$10V_AH,10.2,40.392
$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,22.700,204.100,463.525,0.000,0.000,28.239,44.221,213.323,0.000,0.000,18.980,2444.755,19125.570,818.917,2439.441,400.714,33.277,1928.254,0.000,2003.572,0.000,0.536,0.000
$DEVICE_MAMPS,189.720,130.815,1664.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24610.000,4970.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.727,13.567,0.000,0.000
$MEM,344380
$DATA_FILE_SIZE,13433,506
$CAP_FILE_SIZE,196584,0
$CFSIZE,260034560,228605952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,021212,233831,2417.159,-3812.751,40,0.8,40,-14.1