version: 66.09
glider: 181
mission: 6
dive: 769
start: 11 5 111 10 38 1
data:
$ID,181
$MISSION,6
$DIVE,769
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-41819.141
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,051111,103007,2133.056,12024.931,37,1.4,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.7
$GPS2,051111,103736,2133.015,12024.930,15,1.4,31,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,191.4,286726,-14.3,-10.312
$D_GRID,1464
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.61,-219.0,0.0,0.0,0,92,0.00,0.00,-73.43,0.000,2,0.000,0.000,134,2511,2471,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.5,-3.4,13,138,8.70,0.82,-28.75,0.000,4,0.230,0.060,2172,1941,3764,0,0,0,0,0,0
$GC,205,-0.48,-219.0,24.3,-17.3,31,213,0.15,0.80,0.00,0.000,6,0.132,0.035,2217,2470,3764,0,0,0,0,0,0
$GC,553,-0.41,-219.0,73.9,-13.8,92,560,0.00,0.82,0.00,0.000,4,0.000,0.037,2215,3022,3762,0,0,0,0,0,0
$GC,698,-0.35,-219.0,95.1,-14.7,117,706,0.12,0.77,0.00,0.000,6,0.121,0.024,2257,2462,3762,0,0,0,0,0,0
$GC,1048,-0.47,-219.0,128.3,-7.4,178,1057,0.10,0.65,0.00,0.000,4,0.091,0.026,2194,1967,3762,0,0,0,0,0,0
$GC,1133,-0.47,-219.0,137.4,-12.3,192,1139,0.00,0.80,0.00,0.000,6,0.000,0.033,2193,2503,3762,0,0,0,0,0,0
$GC,1482,-0.53,-219.0,174.8,-8.5,253,1489,0.00,0.77,0.00,0.000,4,0.000,0.037,2193,3030,3762,0,0,0,0,0,0
$GC,1547,-0.57,-219.0,181.1,-9.3,264,1554,0.00,0.73,0.00,0.000,6,0.000,0.025,2193,2501,3762,0,0,0,0,0,0
$GC,1886,-0.64,-219.0,213.6,-8.6,311,1890,0.00,0.77,0.00,0.000,4,0.000,0.036,2193,3018,3762,0,0,0,0,0,0
$GC,1933,-0.72,-219.0,217.5,-8.1,315,1937,0.12,0.70,0.00,0.000,6,0.037,0.025,2108,2502,3762,0,0,0,0,0,0
$GC,2264,-0.61,-219.0,265.4,-15.3,346,2268,0.25,0.82,0.00,0.000,4,0.141,0.032,2183,3027,3762,0,0,0,0,0,0
$GC,2334,-0.61,-219.0,273.3,-9.9,352,2337,0.00,0.73,0.00,0.000,6,0.000,0.024,2183,2497,3762,0,0,0,0,0,0
$GC,2666,-0.68,-219.0,304.8,-10.2,383,2670,0.00,0.80,0.00,0.000,4,0.000,0.036,2181,3026,3761,0,0,0,0,0,0
$GC,2716,-0.74,-219.0,310.4,-10.9,387,2724,0.10,0.73,0.00,0.000,6,0.043,0.024,2109,2502,3761,0,0,0,0,0,0
$GC,3042,-0.64,-219.0,357.8,-14.8,418,3046,0.20,0.80,0.00,0.000,4,0.139,0.033,2164,3017,3758,0,0,0,0,0,0
$GC,3113,-0.61,-219.0,365.4,-10.0,424,3117,0.00,0.73,0.00,0.000,6,0.000,0.024,2163,2492,3758,0,0,0,0,0,0
$GC,3444,-0.67,-219.0,392.3,-7.8,455,3448,0.00,0.82,0.00,0.000,4,0.000,0.037,2160,3029,3756,0,0,0,0,0,0
$GC,3492,-0.72,-219.0,396.2,-8.4,459,3496,0.00,0.73,0.00,0.000,6,0.000,0.026,2160,2515,3756,0,0,0,0,0,0
$GC,3824,-0.78,-219.0,431.4,-11.6,490,3828,0.10,0.80,0.00,0.000,4,0.094,0.040,2098,3017,3753,0,0,0,0,0,0
$GC,3941,-0.68,-219.0,447.0,-15.2,500,3945,0.17,0.75,0.00,0.000,6,0.131,0.025,2153,2483,3751,0,0,0,0,0,0
$GC,4271,-0.70,-219.0,481.3,-10.6,531,4275,0.00,0.68,0.00,0.000,4,0.000,0.026,2153,1972,3749,0,0,0,0,0,0
$GC,4404,-0.73,-219.0,492.9,-8.1,542,4411,0.00,0.80,0.00,0.000,6,0.000,0.035,2152,2498,3748,0,0,0,0,0,0
$GC,4725,-0.79,-219.0,517.8,-8.0,562,4729,0.00,0.70,0.00,0.000,4,0.000,0.025,2152,1986,3746,0,0,0,0,0,0
$GC,4841,-0.83,-219.0,527.7,-8.9,567,4845,0.10,0.77,0.00,0.000,6,0.048,0.037,2088,2498,3744,0,0,0,0,0,0
$GC,5176,-0.72,-219.0,573.0,-13.9,583,5180,0.20,0.82,0.00,0.000,4,0.145,0.037,2141,3026,3742,0,0,0,0,0,0
$GC,5337,-0.68,-219.0,590.9,-10.4,590,5341,0.00,0.75,0.00,0.000,6,0.000,0.026,2141,2497,3741,0,0,0,0,0,0
$GC,5666,-0.72,-219.0,621.8,-8.8,606,5670,0.00,0.70,0.00,0.000,4,0.000,0.027,2141,1975,3738,0,0,0,0,0,0
$GC,5784,-0.73,-219.0,631.3,-7.9,611,5788,0.00,0.80,0.00,0.000,6,0.000,0.036,2139,2495,3737,0,0,0,0,0,0
$GC,6114,-0.78,-219.0,657.2,-7.5,627,6117,0.00,0.73,0.00,0.000,4,0.000,0.028,2139,1972,3734,0,0,0,0,0,0
$GC,6165,-0.81,-219.0,661.3,-7.9,629,6168,0.00,0.82,0.00,0.000,6,0.000,0.038,2139,2505,3734,0,0,0,0,0,0
$GC,6493,-0.84,-219.0,685.1,-7.4,645,6496,0.00,0.80,0.00,0.000,4,0.000,0.041,2139,3032,3732,0,0,0,0,0,0
$GC,6522,-0.87,-219.0,687.3,-7.5,646,6527,0.10,0.75,0.00,0.000,6,0.049,0.026,2078,2510,3732,0,0,0,0,0,0
$GC,6852,-0.76,-219.0,725.0,-12.3,662,6856,0.17,0.75,0.00,0.000,4,0.148,0.028,2128,1986,3730,0,0,0,0,0,0
$GC,6886,-0.69,-219.0,729.0,-11.8,663,6890,0.00,0.80,0.00,0.000,6,0.000,0.038,2125,2503,3730,0,0,0,0,0,0
$GC,7209,-0.64,-219.0,760.6,-10.2,679,7213,0.15,0.82,0.00,0.000,4,0.155,0.041,2164,3024,3728,0,0,0,0,0,0
$GC,7290,-0.66,-219.0,767.7,-8.7,682,7294,0.00,0.75,0.00,0.000,6,0.000,0.027,2164,2500,3727,0,0,0,0,0,0
$GC,7613,-0.75,-219.0,793.0,-7.6,698,7616,0.00,0.73,0.00,0.000,4,0.000,0.028,2164,1979,3726,0,0,0,0,0,0
$GC,7641,-0.84,-219.0,795.4,-7.6,699,7645,0.15,0.80,0.00,0.000,6,0.045,0.037,2083,2499,3726,0,0,0,0,0,0
$GC,7969,-0.82,-219.0,829.5,-11.1,715,7973,0.00,0.82,0.00,0.000,4,0.000,0.044,2081,3021,3724,0,0,0,0,0,0
$GC,8108,-0.71,-219.0,848.4,-14.1,721,8112,0.17,0.75,0.00,0.000,6,0.138,0.027,2136,2498,3723,0,0,0,0,0,0
$GC,8445,-0.69,-219.0,881.0,-9.3,737,8449,0.00,0.70,0.00,0.000,4,0.000,0.028,2137,1975,3722,0,0,0,0,0,0
$GC,8506,-0.66,-219.0,887.1,-9.3,739,8513,0.00,0.80,0.00,0.000,6,0.000,0.037,2134,2493,3721,0,0,0,0,0,0
$GC,8825,-0.63,-219.0,915.5,-9.0,755,8829,0.12,0.85,0.00,0.000,4,0.155,0.043,2166,3027,3720,0,0,0,0,0,0
$GC,8903,-0.65,-219.0,921.2,-6.6,758,8907,0.00,0.75,0.00,0.000,6,0.000,0.027,2166,2511,3720,0,0,0,0,0,0
$GC,9226,-0.74,-219.0,942.2,-6.5,774,9230,0.00,0.80,0.00,0.000,4,0.000,0.043,2166,3019,3718,0,0,0,0,0,0
$GC,9357,-0.81,-219.0,951.3,-7.2,779,9364,0.12,0.77,0.00,0.000,6,0.049,0.026,2098,2488,3717,0,0,0,0,0,0
$GC,9675,-0.74,-219.0,985.5,-12.6,795,9677,0.15,0.00,0.00,0.000,6,0.146,0.000,2139,2488,3716,0,0,0,0,0,0
$STATE,9732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9732,begin apogee
$GC,9739,-0.19,0.0,991.9,11.4,798,9912,0.52,0.00,167.62,1.061,6,0.112,0.000,2310,2084,2869,0,0,0,0,0,0
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9913,begin climb
$GC,9915,0.61,219.0,1004.5,0.0,806,10106,0.73,0.93,182.48,1.046,4,0.050,0.033,2583,2624,1976,0,0,0,0,0,0
$GC,10123,0.50,228.6,998.0,10.0,816,10139,0.17,0.82,10.35,0.868,6,0.153,0.026,2541,2116,1936,0,0,0,0,0,0
$GC,10468,0.44,228.6,962.8,10.9,833,10472,0.00,0.77,0.00,0.000,4,0.000,0.034,2541,2633,1933,0,0,0,0,0,0
$GC,10506,0.38,228.6,957.7,12.4,834,10514,0.12,0.80,0.00,0.000,6,0.148,0.028,2505,2093,1933,0,0,0,0,0,0
$GC,10823,0.36,228.6,921.3,12.1,850,10827,0.00,0.80,0.00,0.000,4,0.000,0.032,2505,2632,1932,0,0,0,0,0,0
$GC,10931,0.32,228.6,908.3,11.7,854,10938,0.00,0.77,0.00,0.000,6,0.000,0.028,2507,2101,1932,0,0,0,0,0,0
$GC,11247,0.30,228.6,870.9,11.5,870,11252,0.12,0.82,0.00,0.000,4,0.161,0.032,2473,2640,1931,0,0,0,0,0,0
$GC,11319,0.35,242.6,863.8,9.9,873,11334,0.00,0.80,11.68,0.885,6,0.000,0.028,2475,2095,1880,0,0,0,0,0,0
$GC,11647,0.48,305.7,834.9,8.3,888,11704,0.17,0.80,49.83,0.955,4,0.071,0.034,2556,1582,1621,0,0,0,0,0,0
$GC,11816,0.44,305.7,816.9,10.4,895,11823,0.12,0.80,0.00,0.000,6,0.132,0.029,2518,2113,1620,0,0,0,0,0,0
$GC,12136,0.49,335.0,788.5,9.4,911,12165,0.00,0.80,23.60,0.897,4,0.000,0.036,2518,2624,1503,0,0,0,0,0,0
$GC,12205,0.54,341.4,781.1,10.1,914,12215,0.00,0.77,6.78,0.718,6,0.000,0.029,2519,2105,1477,0,0,0,0,0,0
$GC,12530,0.58,341.4,747.0,10.9,929,12534,0.12,0.80,0.00,0.000,4,0.092,0.035,2580,1575,1479,0,0,0,0,0,0
$GC,12563,0.56,341.4,742.6,11.5,930,12567,0.00,0.80,0.00,0.000,6,0.000,0.029,2580,2107,1479,0,0,0,0,0,0
$GC,12885,0.51,341.4,703.9,12.0,946,12889,0.15,0.80,0.00,0.000,4,0.145,0.030,2540,1574,1482,0,0,0,0,0,0
$GC,13002,0.51,358.3,692.6,9.8,951,13024,0.00,0.77,16.00,0.823,6,0.000,0.028,2540,2099,1407,0,0,0,0,0,0
$GC,13337,0.57,379.3,659.5,9.6,967,13360,0.00,0.80,17.83,0.809,4,0.000,0.037,2540,2618,1321,0,0,0,0,0,0
$GC,13429,0.59,379.3,649.9,10.5,971,13433,0.00,0.77,0.00,0.000,6,0.000,0.030,2542,2097,1321,0,0,0,0,0,0
$GC,13764,0.65,389.6,617.1,10.0,987,13779,0.12,0.77,9.50,0.725,4,0.089,0.034,2606,1576,1279,0,0,0,0,0,0
$GC,13892,0.59,389.6,600.3,13.4,992,13899,0.12,0.77,0.00,0.000,6,0.129,0.030,2566,2094,1279,0,0,0,0,0,0
$GC,14210,0.62,389.6,565.6,10.7,1008,14213,0.00,0.77,0.00,0.000,4,0.000,0.036,2566,2618,1279,0,0,0,0,0,0
$GC,14260,0.64,389.6,559.9,10.8,1010,14264,0.00,0.77,0.00,0.000,6,0.000,0.028,2567,2094,1278,0,0,0,0,0,0
$GC,14590,0.73,421.5,528.3,9.3,1026,14620,0.12,0.77,25.48,0.748,4,0.090,0.031,2634,1574,1149,0,0,0,0,0,0
$GC,14705,0.66,421.5,513.6,13.3,1031,14709,0.15,0.80,0.00,0.000,6,0.134,0.030,2587,2102,1148,0,0,0,0,0,0
$GC,15027,0.67,421.5,478.3,11.8,1055,15031,0.00,0.75,0.00,0.000,4,0.000,0.035,2587,2617,1153,0,0,0,0,0,0
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$GC,15462,0.84,483.7,430.1,9.0,1095,15500,0.12,0.80,33.72,0.683,6,0.047,0.029,2659,2107,896,0,0,0,0,0,0
$GC,15820,0.81,483.7,388.7,12.4,1128,15832,0.00,0.80,4.03,0.480,4,0.000,0.036,2659,2625,897,0,0,0,0,0,0
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$STATE,19201,end climb,SURFACE_DEPTH_REACHED
$STATE,19201,begin surface coast
$FINISH,2.2,1.022091
$STATE,19207,end surface coast,CONTROL_FINISHED_OK
$STATE,19209,begin surface
$SM_CCo,19287,0.00,0.000,0,0,442,595.34
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$IRIDIUM_FIX,2124.90,12037.56,051111,050530
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.64
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.5,127.944
$10V_AH,9.6,91.167
$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,21.825,71.750,667.875,0.000,0.000,28.053,37.950,193.983,0.000,0.000,33.654,3894.268,11332.621,739.289,3209.863,539.723,0.000,2341.135,0.000,2906.417,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,60.435,1061.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1099.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322764
$DATA_FILE_SIZE,90161,1591
$CAP_FILE_SIZE,220969,0
$CFSIZE,260165632,182226944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051111,160037,2131.346,12025.598,30,1.0,30,-2.6