version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 313
start: 12 16 119 14 39 40
data:
$ID,574
$MISSION,7
$DIVE,313
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,995
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,20
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,343
$T_ABORT,350
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,5
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52719
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,358.37747
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,291
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2910
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2061
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.55536
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$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,20
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$DEEPGLIDER,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,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,161219,142658,-5403.9897,-4.8714,42,0.8,51,-20.4,0.5,182.4,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-66.8
$GPS2,161219,143928,-5404.0356,-4.8642,8,0.8,18,-20.4,0.5,220.3,11,9.2
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WPSW
$TGT_LATLONG,-5406.000,-6.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,219.1,3841,-26.4,-9.960,-28.62,1079
$D_GRID,995
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.89,-4.9,122,2059,595,598,0.0,0.0,0,114,0.00,0.00,-93.05,0.000,16390,0.000,0.000,122,2057,2081,2052,2110,0,0,0,0,0,0,14.68,13.00,14.68
$GC,118,-0.89,-4.9,123,2057,2056,2112,2.8,-5.4,17,141,16.60,2.53,0.00,0.000,2820,0.383,0.069,2613,3455,2086,2062,2110,0,0,0,0,0,0,14.05,14.42,14.37
$GC,641,-0.89,-4.9,2613,3455,2064,2102,88.6,-14.5,96,646,0.00,2.50,0.00,0.000,3078,0.000,0.050,2613,2043,2082,2062,2102,0,0,0,0,0,0,14.63,14.50,14.66
$GC,951,-0.89,-4.9,2613,2044,2064,2102,133.3,-13.5,127,956,0.00,2.55,0.00,0.000,2308,0.000,0.067,2613,3453,2082,2063,2101,0,0,0,0,0,0,14.80,14.48,14.80
$GC,1226,-0.89,-4.9,2614,3453,2064,2100,169.9,-13.3,154,1232,0.00,2.50,0.00,0.000,3078,0.000,0.050,2613,2042,2080,2063,2098,0,0,0,0,0,0,14.52,14.40,14.53
$GC,1531,-0.89,-4.9,2613,2043,2064,2098,211.5,-12.8,185,1536,0.00,2.53,0.00,0.000,2308,0.000,0.066,2613,3448,2080,2063,2098,0,0,0,0,0,0,14.78,14.46,14.78
$GC,1676,-0.89,-4.9,2613,3447,2064,2098,229.4,-12.6,199,1682,0.00,2.47,0.00,0.000,3078,0.000,0.048,2609,2048,2080,2064,2097,0,0,0,0,0,0,14.52,14.39,14.54
$GC,1981,-0.89,-4.9,2614,2050,2064,2098,268.8,-12.7,230,1983,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2048,2080,2063,2097,0,0,0,0,0,0,14.78,14.78,14.78
$GC,2281,-0.89,-4.9,2612,2049,2064,2096,306.7,-12.4,260,2286,0.00,2.53,0.00,0.000,2308,0.000,0.063,2613,3453,2079,2063,2096,0,0,0,0,0,0,14.78,14.42,14.78
$GC,2396,-0.89,-4.9,2614,3454,2064,2096,320.3,-12.4,271,2402,0.00,2.50,0.00,0.000,3078,0.000,0.048,2613,2042,2079,2063,2095,0,0,0,0,0,0,14.55,14.38,14.59
$GC,2701,-0.89,-4.9,2612,2043,2064,2095,358.1,-12.1,302,2703,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2042,2078,2063,2094,0,0,0,0,0,0,14.78,14.78,14.78
$GC,3001,-0.89,-4.9,2613,2043,2065,2095,394.5,-12.2,332,3006,0.00,2.53,0.00,0.000,2308,0.000,0.062,2613,3448,2079,2063,2095,0,0,0,0,0,0,14.78,14.41,14.78
$GC,3201,-0.89,-4.9,2613,3449,2064,2093,419.0,-12.1,352,3206,0.00,2.47,0.00,0.000,3078,0.000,0.047,2613,2048,2078,2063,2094,0,0,0,0,0,0,14.56,14.43,14.58
$GC,3511,-0.89,-4.9,2622,2049,2064,2095,456.6,-12.0,383,3516,0.00,2.53,0.00,0.000,2308,0.000,0.062,2613,3443,2078,2063,2094,0,0,0,0,0,0,14.75,14.40,14.75
$GC,3602,-0.89,-4.9,2612,3449,2065,2092,467.2,-11.7,392,3607,0.00,2.47,0.00,0.000,3078,0.000,0.047,2613,2042,2077,2062,2093,0,0,0,0,0,0,14.57,14.44,14.59
$GC,3911,-0.89,-4.9,2614,2040,2064,2095,504.1,-12.0,423,3913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,2042,2078,2063,2094,0,0,0,0,0,0,14.75,14.76,14.75
$GC,4211,-0.89,-4.9,2613,2042,2064,2095,538.1,-11.1,453,4213,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2042,2078,2063,2094,0,0,0,0,0,0,14.74,14.75,14.75
$GC,4511,-0.89,-4.9,2613,2042,2064,2095,571.3,-11.1,483,4516,0.00,2.53,0.00,0.000,2308,0.000,0.061,2613,3449,2078,2063,2094,0,0,0,0,0,0,14.75,14.40,14.75
$GC,4591,-0.89,-4.9,2614,3450,2064,2093,580.1,-11.0,491,4596,0.00,2.47,0.00,0.000,3078,0.000,0.046,2613,2044,2078,2063,2093,0,0,0,0,0,0,14.57,14.44,14.59
$GC,4901,-0.89,-4.9,2613,2044,2065,2093,613.4,-10.6,522,4903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2043,2078,2063,2093,0,0,0,0,0,0,14.74,14.75,14.75
$GC,5201,-0.89,-4.9,2614,2043,2064,2095,644.9,-10.4,552,5203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2043,2078,2063,2093,0,0,0,0,0,0,14.75,14.74,14.75
$GC,5501,-0.89,-4.9,2613,2043,2065,2095,675.5,-10.0,582,5503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2043,2079,2064,2094,0,0,0,0,0,0,14.75,14.75,14.75
$GC,5801,-0.89,-4.9,2613,2044,2066,2093,705.9,-10.2,612,5806,0.00,2.53,0.00,0.000,2308,0.000,0.062,2613,3450,2079,2064,2094,0,0,0,0,0,0,14.75,14.41,14.75
$GC,5876,-0.89,-4.9,2614,3449,2065,2094,713.1,-10.1,619,5883,0.00,2.53,0.00,0.000,3078,0.000,0.047,2613,2047,2077,2063,2092,0,0,0,0,0,0,14.57,14.40,14.59
$GC,6181,-0.89,-4.9,2613,2047,2065,2094,744.4,-10.0,650,6183,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2047,2078,2064,2093,0,0,0,0,0,0,14.75,14.75,14.75
$GC,6481,-0.89,-4.9,2613,2048,2065,2093,775.0,-10.4,680,6486,0.00,2.53,0.00,0.000,2308,0.000,0.061,2613,3453,2078,2064,2093,0,0,0,0,0,0,14.75,14.40,14.75
$GC,6591,-0.89,-4.9,2614,3454,2065,2094,786.5,-10.4,691,6596,0.00,2.47,0.00,0.000,3078,0.000,0.046,2613,2049,2078,2064,2093,0,0,0,0,0,0,14.56,14.43,14.58
$GC,6901,-0.89,-4.9,2613,2049,2066,2092,818.5,-10.2,722,6903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2049,2078,2064,2093,0,0,0,0,0,0,14.76,14.76,14.76
$GC,7201,-0.89,-4.9,2613,2050,2066,2093,849.2,-10.2,752,7203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2049,2078,2064,2093,0,0,0,0,0,0,14.75,14.75,14.75
$GC,7501,-0.89,-4.9,2617,2049,2066,2094,878.7,-9.6,782,7506,0.00,2.53,0.00,0.000,2308,0.000,0.061,2613,3453,2079,2065,2093,0,0,0,0,0,0,14.74,14.40,14.75
$GC,7561,-0.89,-4.9,2613,3455,2066,2092,884.5,-9.7,788,7566,0.00,2.47,0.00,0.000,3078,0.000,0.046,2613,2047,2078,2064,2092,0,0,0,0,0,0,14.56,14.42,14.58
$GC,7872,-0.89,-4.9,2613,2048,2065,2094,914.4,-9.6,819,7873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2048,2079,2065,2093,0,0,0,0,0,0,14.74,14.74,14.74
$GC,8171,-0.89,-4.9,2613,2048,2064,2094,942.8,-9.5,849,8173,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2048,2079,2065,2093,0,0,0,0,0,0,14.74,14.75,14.74
$GC,8471,-0.89,-4.9,2613,2049,2066,2092,970.3,-9.1,879,8473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2048,2078,2065,2092,0,0,0,0,0,0,14.74,14.75,14.75
$STATE,8749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8750,begin apogee
$GC,8754,-0.17,0.0,2614,1601,2066,2093,995.4,-8.9,907,8765,1.38,0.00,7.05,1.747,10246,0.242,0.000,2848,1600,2061,2059,2064,0,0,0,0,0,0,14.12,14.57,13.54
$STATE,8766,end apogee,CONTROL_FINISHED_OK
$STATE,8766,begin climb
$GC,8768,0.89,4.9,2848,1601,2059,2064,996.9,0.0,908,8781,1.65,0.00,7.40,1.672,10246,0.139,0.000,3171,1600,2042,2041,2043,0,0,0,0,0,0,14.51,14.33,13.54
$GC,9077,1.09,169.2,3172,1600,2041,2044,1009.6,-5.7,939,9258,0.32,2.70,174.50,2.136,11012,0.145,0.046,3240,3000,1371,1424,1319,0,0,0,0,0,0,14.28,13.62,12.83
$GC,9493,1.09,169.2,3241,3001,1421,1315,963.3,17.6,980,9499,0.00,2.53,0.00,0.000,3078,0.000,0.063,3240,1610,1367,1420,1315,0,0,1,0,0,0,14.38,14.23,14.40
$GC,9798,1.09,169.2,3241,1610,1420,1315,907.2,17.9,1011,9799,0.00,0.00,0.00,0.000,2054,0.000,0.000,3241,1610,1366,1419,1314,0,0,0,0,0,0,14.81,14.81,14.81
$GC,10098,1.09,169.2,3241,1610,1420,1315,853.4,18.0,1041,10103,0.00,2.38,0.00,0.000,2564,0.000,0.086,3240,301,1366,1419,1314,0,0,0,0,0,0,14.90,14.51,14.90
$GC,10158,1.09,169.2,3241,302,1419,1315,842.7,18.9,1047,10163,0.00,2.20,0.00,0.000,3078,0.000,0.030,3241,1613,1366,1419,1314,0,0,0,0,0,0,14.75,14.66,14.76
$GC,10469,1.09,169.2,3241,1618,1420,1315,787.5,17.5,1078,10471,0.00,0.00,0.00,0.000,2054,0.000,0.000,3241,1618,1366,1419,1314,0,0,0,0,0,0,14.95,14.95,14.95
$GC,10768,1.09,169.2,3241,1619,1419,1315,735.7,17.2,1108,10769,0.00,0.00,0.00,0.000,2054,0.000,0.000,3240,1618,1365,1418,1313,0,0,0,0,0,0,14.99,15.00,15.00
$GC,11068,1.09,169.2,3241,1618,1419,1314,684.8,16.7,1138,11073,0.00,2.40,0.00,0.000,2564,0.000,0.087,3241,302,1365,1418,1313,0,0,0,0,0,0,15.00,14.57,15.00
$GC,11108,1.09,169.2,3241,302,1419,1314,677.8,17.5,1142,11113,0.00,2.17,0.00,0.000,3078,0.000,0.032,3240,1597,1365,1418,1313,0,0,0,0,0,0,14.82,14.73,14.83
$GC,11419,1.09,169.2,3241,1604,1419,1314,626.4,16.2,1173,11424,0.00,2.35,0.00,0.000,2564,0.000,0.086,3241,306,1365,1418,1313,0,0,0,0,0,0,15.00,14.59,15.01
$GC,11463,1.09,169.2,3241,306,1423,1313,619.5,16.8,1177,11470,0.00,2.22,0.00,0.000,3078,0.000,0.032,3239,1601,1365,1418,1313,0,0,0,0,0,0,14.70,14.58,14.71
$GC,11769,1.09,169.2,3242,1607,1419,1314,570.1,15.9,1208,11773,0.00,2.38,0.00,0.000,2564,0.000,0.086,3241,304,1365,1418,1313,0,0,0,0,0,0,15.01,14.58,15.02
$GC,11808,1.09,169.2,3241,305,1420,1313,563.5,16.4,1212,11813,0.00,2.20,0.00,0.000,3078,0.000,0.034,3247,1609,1365,1418,1313,0,0,0,0,0,0,14.82,14.73,14.84
$GC,12118,1.09,169.2,3241,1616,1420,1312,514.3,15.9,1243,12123,0.00,2.38,0.00,0.000,2564,0.000,0.085,3241,306,1365,1418,1312,0,0,0,0,0,0,15.02,14.58,15.02
$GC,12153,1.09,169.2,3241,306,1419,1314,509.3,16.3,1246,12159,0.00,2.22,0.00,0.000,3078,0.000,0.037,3240,1596,1365,1418,1312,0,0,0,0,0,0,14.69,14.65,14.71
$GC,12458,1.09,169.2,3241,1603,1419,1313,459.5,16.1,1277,12460,0.00,0.00,0.00,0.000,2054,0.000,0.000,3241,1602,1365,1418,1313,0,0,0,0,0,0,15.03,15.04,15.04
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$GC,14668,1.09,169.2,3240,3000,1419,1312,122.2,13.4,1498,14674,0.00,2.55,0.00,0.000,3078,0.000,0.063,3240,1593,1364,1417,1312,0,0,0,0,0,0,14.56,14.44,14.57
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$STATE,15667,end climb,SURFACE_DEPTH_REACHED
$STATE,15667,begin surface coast
$FINISH,-0.3,1.019824
$STATE,15693,end surface coast,CONTROL_FINISHED_OK
$STATE,15693,begin surface
$SM_CCo,15721,175.20,0.156,0,0,599,358.38
$SM_GC,0.60,15.43,3.05,175.20,0.073,0.039,0.156,124,2038,599,-8.65,-1.47,358.38,0,0,0,0,0,0,14.55,14.59,14.33
$IRIDIUM_FIX,-5343.28,-3.67,161219,094553
$TT8_MAMPS,0.041944,0.483854
$HUMID,53.42
$INTERNAL_PRESSURE,9.16584
$TCM_TEMP,13.10
$XPDR_PINGS,0
$SC_FREEKB,3633760
$24V_AH,12.83,132.445
$10V_AH,12.51,0.000
$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,35.375,98.800,188.950,175.200,0.000,23.385,15.479,412.124,0.000,0.000,19.998,0.000,11597.518,581.662,4102.010,338.379,0.000,1898.334,0.000,2800.281,0.000,0.539,0.000
$DEVICE_MAMPS,383.265,87.210,2135.880,156.060,0.000,32.890,160.000,223.000,420.000,0.000,10.490,0.000,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15804.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,46.139,0.000,0.000,0.000
$MEM,340120
$DATA_FILE_SIZE,56606,1644
$CAP_FILE_SIZE,254005,0
$CFSIZE,2097086464,2026799104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,161219,190537,-5405.290,-6.502,31,0.9,37,-20.4,0.5,163.5,10,9.7