version: 66.11
glider: 189
mission: 7
dive: 521
start: 2 23 113 14 43 14
data:
$ID,189
$MISSION,7
$DIVE,521
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$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,100
$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,-48309.625
$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,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,230213,143234,2429.935,-3746.929,35,0.9,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-59.6
$GPS2,230213,144212,2430.060,-3746.897,16,1.3,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.040,-0.108
$KALMAN_X,160962.8,50.8,289.3,-136049.4,-1815.4
$KALMAN_Y,96353.4,-35.4,-98.0,-106506.9,2831.2
$MHEAD_RNG_PITCHd_Wd,214.2,2811,-21.1,-6.667,-30.00
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.25,0.000,2,0.000,0.000,155,2135,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,103,8.75,0.00,-51.72,0.000,6,0.171,0.000,2564,2132,2720,0,0,0,0,0,0,25.21,28.83,26.70
$GC,408,-1.28,-97.7,24.4,-8.2,38,414,0.00,2.62,0.00,0.000,4,0.000,0.041,2554,3747,2722,0,0,0,0,0,0,28.83,26.02,28.83
$GC,695,-1.20,-97.7,50.8,-9.4,67,704,0.17,2.45,0.00,0.000,6,0.131,0.021,2609,2090,2722,0,0,0,0,0,0,25.75,26.39,28.83
$GC,1005,-1.20,-97.7,74.2,-7.5,98,1012,0.00,2.67,0.00,0.000,4,0.000,0.039,2598,3745,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1064,-1.20,-97.7,78.4,-7.2,102,1071,0.00,2.45,0.00,0.000,6,0.000,0.021,2598,2094,2723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1395,-1.20,-97.7,99.9,-6.1,113,1402,0.00,2.67,0.00,0.000,4,0.000,0.039,2586,3751,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1567,-1.17,-97.7,109.3,-6.3,118,1574,0.15,2.40,0.00,0.000,6,0.143,0.021,2626,2090,2723,0,0,0,0,0,0,25.96,26.42,28.83
$GC,1878,-1.19,-97.7,132.1,-7.9,129,1884,0.00,2.38,0.00,0.000,4,0.000,0.037,2627,545,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1953,-1.19,-97.7,137.2,-8.3,131,1963,0.00,2.50,0.00,0.000,6,0.000,0.022,2616,2205,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2295,-1.19,-97.7,164.6,-7.5,140,2302,0.00,2.47,0.00,0.000,4,0.000,0.041,2604,3744,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2433,-1.19,-97.7,174.5,-7.9,142,2441,0.00,2.45,0.00,0.000,6,0.000,0.020,2604,2098,2724,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2775,-1.19,-97.7,207.4,-9.2,148,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2102,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3076,-1.19,-97.7,228.8,-6.9,153,3081,0.00,2.40,0.00,0.000,4,0.000,0.037,2604,542,2725,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3154,-1.19,-97.7,232.5,-6.3,154,3161,0.00,2.47,0.00,0.000,6,0.000,0.023,2592,2192,2725,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3495,-1.19,-97.7,250.3,-4.7,160,3501,0.00,2.58,0.00,0.000,4,0.000,0.035,2592,546,2725,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3556,-1.19,-97.7,253.0,-4.4,161,3562,0.12,2.42,0.00,0.000,6,0.157,0.023,2612,2198,2725,0,0,0,0,0,0,26.00,26.38,28.83
$GC,3915,-1.23,-97.7,268.5,-4.5,167,3921,0.00,2.55,0.00,0.000,4,0.000,0.035,2612,538,2725,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3995,-1.26,-97.7,272.0,-5.0,168,4002,0.00,2.47,0.00,0.000,6,0.000,0.024,2602,2187,2725,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4335,-1.28,-97.7,298.4,-7.8,174,4341,0.00,2.58,0.00,0.000,4,0.000,0.035,2602,544,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4424,-1.30,-97.7,303.6,-8.3,175,4431,0.00,2.47,0.00,0.000,6,0.000,0.023,2590,2188,2725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4756,-1.30,-97.7,333.7,-8.1,181,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2189,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5054,-1.30,-97.7,356.5,-7.5,186,5061,0.00,2.53,0.00,0.000,4,0.000,0.041,2578,3739,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5155,-1.30,-97.7,360.9,-7.3,187,5161,0.00,2.45,0.00,0.000,6,0.000,0.021,2578,2095,2724,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5476,-1.30,-97.7,383.1,-5.9,193,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2095,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5775,-1.30,-97.7,400.5,-5.8,198,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2095,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6075,-1.30,-97.7,421.0,-7.0,203,6081,0.00,2.45,0.00,0.000,4,0.000,0.038,2578,542,2722,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6214,-1.30,-97.7,430.9,-7.7,205,6221,0.00,2.47,0.00,0.000,6,0.000,0.024,2566,2186,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6554,-1.30,-97.7,461.1,-8.5,211,6561,0.00,2.53,0.00,0.000,4,0.000,0.041,2554,3743,2720,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6704,-1.30,-97.7,472.0,-8.8,213,6711,0.00,2.45,0.00,0.000,6,0.000,0.021,2555,2102,2719,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7035,-1.30,-97.7,503.0,-8.5,219,7041,0.00,2.62,0.00,0.000,4,0.000,0.041,2542,3747,2718,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7093,-1.30,-97.7,503.0,-8.5,219,7102,0.15,2.47,0.00,0.000,6,0.145,0.021,2582,2091,2718,0,0,0,0,0,0,25.96,26.41,28.83
$GC,7516,-1.33,-97.7,538.3,-7.3,223,7521,0.00,2.40,0.00,0.000,4,0.000,0.038,2582,538,2718,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7724,-1.35,-97.7,547.0,-7.2,224,7731,0.00,2.50,0.00,0.000,6,0.000,0.024,2572,2189,2717,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8115,-1.37,-97.7,586.8,-8.3,228,8122,0.00,2.60,0.00,0.000,4,0.000,0.037,2572,542,2716,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8275,-1.37,-97.7,598.0,-8.7,229,8281,0.00,2.50,0.00,0.000,6,0.000,0.024,2560,2192,2715,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8595,-1.37,-97.7,629.9,-9.0,232,8601,0.00,2.53,0.00,0.000,4,0.000,0.042,2548,3744,2714,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8674,-1.37,-97.7,629.9,-9.0,232,8681,0.00,2.47,0.00,0.000,6,0.000,0.022,2548,2092,2714,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9076,-1.37,-97.7,664.6,-7.2,236,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2093,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9434,-1.37,-97.7,690.2,-7.0,239,9441,0.00,2.45,0.00,0.000,4,0.000,0.039,2548,545,2711,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9504,-1.37,-97.7,690.2,-7.0,239,9511,0.00,2.53,0.00,0.000,6,0.000,0.024,2536,2199,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9915,-1.37,-97.7,734.2,-9.1,243,9921,0.00,2.58,0.00,0.000,4,0.000,0.037,2536,545,2711,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10015,-1.37,-97.7,734.2,-9.1,243,10022,0.08,2.50,0.00,0.000,6,0.144,0.025,2556,2187,2711,0,0,0,0,0,0,25.86,26.32,28.83
$GC,10395,-1.40,-97.7,781.7,-9.9,247,10402,0.00,2.60,0.00,0.000,4,0.000,0.039,2557,545,2709,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10565,-1.42,-97.7,792.5,-9.5,248,10571,0.00,2.53,0.00,0.000,6,0.000,0.025,2546,2192,2709,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10875,-1.44,-97.7,818.1,-7.6,251,10882,0.00,2.62,0.00,0.000,4,0.000,0.039,2546,543,2708,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10944,-1.46,-97.7,818.1,-7.6,251,10952,0.00,2.50,0.00,0.000,6,0.000,0.025,2535,2181,2708,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11356,-1.46,-97.7,849.1,-6.4,255,11362,0.00,2.55,0.00,0.000,4,0.000,0.039,2534,548,2707,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11444,-1.46,-97.7,849.1,-6.4,255,11451,0.00,2.50,0.00,0.000,6,0.000,0.025,2522,2187,2706,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11835,-1.46,-97.7,886.7,-7.8,259,11842,0.00,2.60,0.00,0.000,4,0.000,0.040,2522,550,2707,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11944,-1.46,-97.7,886.7,-7.8,259,11953,0.00,2.50,0.00,0.000,6,0.000,0.026,2511,2187,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12315,-1.46,-97.7,930.4,-9.1,263,12322,0.00,2.55,0.00,0.000,4,0.000,0.044,2499,3743,2704,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12435,-1.44,-97.7,942.2,-9.4,264,12442,0.10,2.45,0.00,0.000,6,0.135,0.024,2531,2102,2703,0,0,0,0,0,0,25.87,26.32,28.83
$GC,12795,-1.44,-97.7,974.3,-9.1,267,12802,0.00,2.50,0.00,0.000,4,0.000,0.042,2531,543,2702,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12924,-1.44,-97.7,985.0,-8.9,268,12931,0.00,2.53,0.00,0.000,6,0.000,0.025,2520,2188,2702,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,13032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13032,begin apogee
$GC,13042,-0.29,0.0,995.5,-8.9,269,13134,1.23,0.00,86.25,1.657,6,0.128,0.000,2899,1575,2323,0,0,0,0,0,0,24.93,28.83,22.99
$STATE,13135,end apogee,CONTROL_FINISHED_OK
$STATE,13135,begin climb
$GC,13139,1.33,97.7,1000.2,0.0,274,13235,1.50,0.00,92.45,1.638,6,0.061,0.000,3430,1575,1921,0,0,0,0,0,0,25.28,28.83,22.99
$GC,13615,1.20,97.7,976.2,6.8,293,13622,0.17,2.62,0.00,0.000,4,0.171,0.035,3385,3207,1913,0,0,0,0,0,0,25.89,26.15,28.83
$GC,13724,1.07,97.7,976.2,6.8,293,13734,0.15,2.53,0.00,0.000,6,0.156,0.030,3351,1586,1911,0,0,0,0,0,0,25.72,26.24,28.83
$GC,14096,1.01,111.4,947.4,6.0,297,14112,0.00,1.98,11.07,1.496,4,0.000,0.047,3360,348,1866,0,0,0,0,0,0,28.83,26.03,23.86
$GC,14215,0.96,127.3,940.0,5.9,298,14238,0.15,1.95,16.65,1.548,6,0.145,0.025,3313,1650,1799,0,0,0,0,0,0,25.77,26.30,23.70
$GC,14570,0.97,135.8,918.0,6.2,301,14584,0.00,2.50,8.52,1.426,4,0.000,0.034,3312,3202,1766,0,0,0,0,0,0,28.83,26.06,23.88
$GC,14696,0.98,143.7,910.4,6.3,302,14713,0.00,2.53,8.88,1.434,6,0.000,0.030,3324,1588,1734,0,0,0,0,0,0,28.83,26.16,23.83
$GC,15048,1.00,153.3,888.2,6.2,305,15064,0.00,2.60,9.98,1.469,4,0.000,0.035,3323,3202,1695,0,0,0,0,0,0,28.83,26.05,23.88
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$GC,25747,1.33,168.2,38.9,9.3,491,25755,0.00,1.92,0.00,0.000,6,0.000,0.022,3419,1653,1637,0,0,0,0,0,0,28.83,26.40,28.83
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$STATE,26134,end climb,SURFACE_DEPTH_REACHED
$STATE,26134,begin surface coast
$FINISH,1.5,1.025778
$STATE,26155,end surface coast,CONTROL_FINISHED_OK
$STATE,26155,begin surface
$SM_CCo,26183,60.88,0.123,0,0,1096,300.00
$SM_GC,2.31,8.52,0.82,60.88,0.031,0.034,0.123,155,2188,1096,-8.83,-0.48,300.00,0,0,0,0,0,0,26.27,26.32,25.39
$IRIDIUM_FIX,2425.21,-3722.99,230213,070738
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.08
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7569760
$TM_FREEKB,4387840
$24V_AH,23.0,87.614
$10V_AH,10.0,77.770
$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,22.100,243.425,249.375,60.875,0.000,28.308,43.349,200.265,0.000,0.000,18.004,2221.601,21124.590,725.792,2079.637,656.735,33.285,1736.857,0.000,1705.518,0.000,0.535,0.000
$DEVICE_MAMPS,171.360,77.265,1656.990,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26167.000,3002.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.786,13.439,0.000,0.000
$MEM,343684
$DATA_FILE_SIZE,13415,532
$CAP_FILE_SIZE,198768,0
$CFSIZE,260034560,203571200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230213,220158,2429.517,-3747.801,39,0.8,39,-14.0