version: 66.14
glider: 640
mission: 9
dive: 62
start: 1 19 122 16 50 55
data:
$ID,640
$MISSION,9
$DIVE,62
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,500
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,190
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2390
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2945
$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,4
$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,-154.12344
$PRESSURE_SLOPE,0.00014097099
$AD7714Ch0Gain,32
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.2613181e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$GPS1,190122,164517,-6405.0322,223.6142,8,1.1,48,-21.1,1.5,223.3,7,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.4
$GPS2,190122,165023,-6405.0132,223.6072,7,1.1,47,-21.1,0.5,288.5,7,5.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.0,87114,-22.4,-10.000,-24.92,1493
$D_GRID,990
$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,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.76,-97.3,220,1832,2136,2195,0.0,0.0,0,88,0.00,0.00,-79.10,0.000,16386,0.000,0.000,221,1833,3331,3293,3369,0,0,0,0,0,0,14.64,28.83,14.65,8.51,58.54
$GC,91,-0.76,-97.3,221,1831,3295,3370,3.8,-8.9,12,107,6.03,2.67,-0.35,0.000,18948,0.373,2.258,2163,422,3344,3309,3379,0,0,0,0,0,0,14.28,13.66,14.51,8.63,57.83
$GC,164,-0.76,-97.3,2162,422,3312,3379,21.5,-17.6,25,172,0.00,2.50,0.00,0.000,5126,0.000,0.048,2153,1872,3346,3313,3379,0,0,0,0,0,0,14.52,14.42,14.52,8.63,57.52
$GC,294,-0.76,-97.3,2152,1872,3314,3378,46.7,-18.1,50,302,0.00,2.45,0.00,0.000,4356,0.000,0.080,2142,3253,3346,3314,3379,0,0,0,0,0,0,14.67,14.43,14.67,8.63,57.28
$GC,354,-0.76,-97.3,2142,3252,3314,3379,56.6,-15.3,61,362,0.00,2.40,0.00,0.000,3078,0.000,0.058,2142,1853,3346,3314,3379,0,0,0,0,0,0,14.58,14.48,14.59,8.63,57.28
$GC,664,-0.76,-97.3,2142,1852,3313,3379,107.1,-16.4,98,670,0.00,2.50,0.00,0.000,2564,0.000,0.082,2142,432,3346,3314,3379,0,0,0,0,0,0,14.78,14.56,14.78,8.62,56.77
$GC,706,-0.76,-97.3,2141,433,3314,3378,113.9,-16.8,100,711,0.00,2.42,0.00,0.000,3078,0.000,0.047,2132,1847,3346,3314,3379,0,0,0,0,0,0,14.63,14.58,14.64,8.62,56.61
$GC,1024,-0.76,-97.3,2131,1847,3314,3379,167.7,-16.8,116,1030,0.00,2.42,0.00,0.000,2308,0.000,0.079,2120,3260,3346,3314,3379,0,0,0,0,0,0,14.86,14.64,14.86,8.62,57.95
$GC,1072,-0.76,-97.3,2119,3259,3314,3379,174.4,-16.8,118,1077,0.08,2.38,0.00,0.000,3078,0.368,0.059,2144,1847,3346,3314,3379,0,0,0,0,0,0,14.56,14.66,14.71,8.61,57.79
$GC,1379,-0.76,-97.3,2144,1847,3314,3379,223.0,-15.2,133,1385,0.00,2.47,0.00,0.000,516,0.000,0.083,2144,433,3346,3314,3379,0,0,0,0,0,0,14.90,14.69,14.90,8.63,58.58
$GC,1452,-0.76,-97.3,2143,434,3314,3379,232.2,-15.2,136,1461,0.00,2.42,0.00,0.000,3078,0.000,0.048,2135,1854,3346,3314,3379,0,0,0,0,0,0,14.71,14.68,14.74,8.63,58.58
$GC,1760,-0.76,-97.3,2135,1854,3314,3379,281.8,-15.9,152,1766,0.00,2.40,0.00,0.000,2308,0.000,0.080,2124,3261,3346,3314,3379,0,0,0,0,0,0,14.94,14.71,14.95,8.63,59.01
$GC,1802,-0.76,-97.3,2123,3260,3314,3379,288.1,-15.8,154,1808,0.05,2.40,0.00,0.000,3078,0.341,0.060,2141,1849,3346,3314,3379,0,0,0,0,0,0,14.62,14.73,14.73,8.64,58.86
$GC,2121,-0.76,-97.3,2140,1848,3314,3379,337.6,-15.4,170,2127,0.00,2.45,0.00,0.000,2564,0.000,0.083,2141,435,3346,3314,3379,0,0,0,0,0,0,14.97,14.75,14.97,8.64,59.05
$GC,2182,-0.76,-97.3,2140,435,3314,3379,347.0,-15.7,173,2187,0.00,2.40,0.00,0.000,3078,0.000,0.047,2129,1854,3346,3314,3378,0,0,0,0,0,0,14.81,14.75,14.82,8.64,58.89
$GC,2501,-0.76,-97.3,2129,1855,3314,3379,397.3,-16.0,189,2507,0.00,2.40,0.00,0.000,2308,0.000,0.079,2118,3268,3346,3314,3379,0,0,0,0,0,0,14.98,14.76,14.99,8.65,59.56
$GC,2561,-0.76,-97.3,2117,3269,3315,3379,406.7,-15.8,192,2568,0.08,2.38,0.00,0.000,3078,0.363,0.062,2143,1843,3345,3313,3378,0,0,0,0,0,0,14.68,14.77,14.83,8.65,58.93
$GC,2881,-0.76,-97.3,2142,1843,3314,3379,454.6,-14.8,208,2887,0.00,2.42,0.00,0.000,2564,0.000,0.085,2143,442,3346,3314,3378,0,0,0,0,0,0,15.00,14.77,15.00,8.66,59.33
$GC,2943,-0.76,-97.3,2142,441,3314,3379,463.6,-15.0,211,2948,0.00,2.38,0.00,0.000,3078,0.000,0.047,2134,1849,3346,3314,3379,0,0,0,0,0,0,14.83,14.78,14.85,8.66,59.21
$GC,3261,-0.76,-97.3,2133,1849,3314,3379,511.7,-15.1,227,3267,0.00,2.38,0.00,0.000,2308,0.000,0.078,2123,3257,3346,3314,3378,0,0,0,0,0,0,15.01,14.78,15.01,8.66,58.97
$GC,3321,-0.76,-97.3,2122,3257,3314,3379,520.4,-14.7,230,3328,0.08,2.35,0.00,0.000,3078,0.365,0.061,2148,1844,3346,3314,3379,0,0,0,0,0,0,14.69,14.79,14.85,8.66,58.82
$GC,3641,-0.76,-97.3,2147,1844,3314,3378,565.0,-14.0,246,3647,0.00,2.45,0.00,0.000,516,0.000,0.085,2148,436,3346,3314,3379,0,0,0,0,0,0,15.01,14.79,15.01,8.67,59.05
$GC,3703,-0.76,-97.3,2147,436,3314,3378,573.5,-14.0,249,3708,0.00,2.38,0.00,0.000,3078,0.000,0.047,2139,1843,3346,3314,3378,0,0,0,0,0,0,14.85,14.81,14.87,8.67,59.13
$GC,4022,-0.76,-97.3,2139,1843,3314,3379,619.9,-14.9,265,4028,0.00,2.40,0.00,0.000,2308,0.000,0.078,2128,3263,3346,3314,3379,0,0,0,0,0,0,15.02,14.79,15.02,8.67,59.60
$GC,4070,-0.76,-97.3,2128,3263,3314,3379,625.8,-14.7,267,4076,0.05,2.35,0.00,0.000,3078,0.433,0.062,2144,1853,3346,3314,3379,0,0,0,0,0,0,14.70,14.81,14.88,8.67,59.49
$GC,4378,-0.76,-97.3,2143,1853,3315,3378,670.6,-14.2,282,4384,0.00,2.45,0.00,0.000,516,0.000,0.086,2143,443,3346,3314,3379,0,0,0,0,0,0,15.02,14.80,15.02,8.68,59.17
$GC,4449,-0.76,-97.3,2143,443,3315,3378,679.3,-14.4,285,4457,0.00,2.38,0.00,0.000,3078,0.000,0.047,2135,1850,3347,3315,3379,0,0,0,0,0,0,14.84,14.80,14.86,8.67,59.33
$GC,4757,-0.76,-97.3,2134,1850,3315,3379,725.3,-14.4,301,4763,0.00,2.38,0.00,0.000,2308,0.000,0.079,2124,3257,3347,3315,3379,0,0,0,0,0,0,15.02,14.80,15.02,8.67,59.88
$GC,4819,-0.76,-97.3,2124,3256,3316,3378,733.6,-14.0,304,4825,0.05,2.33,0.00,0.000,3078,0.336,0.060,2141,1848,3346,3315,3378,0,0,0,0,0,0,14.71,14.81,14.82,8.68,58.89
$GC,5137,-0.76,-97.3,2141,1847,3316,3379,777.0,-13.5,320,5143,0.00,2.45,0.00,0.000,2564,0.000,0.086,2140,435,3347,3316,3378,0,0,0,0,0,0,15.03,14.81,15.03,8.68,59.29
$GC,5205,-0.76,-97.3,2141,435,3316,3378,785.3,-13.9,323,5209,0.00,2.38,0.00,0.000,3078,0.000,0.047,2132,1872,3347,3316,3379,0,0,0,0,0,0,14.92,14.83,14.93,8.68,58.93
$GC,5517,-0.76,-97.3,2132,1872,3316,3379,829.7,-14.0,339,5523,0.00,2.33,0.00,0.000,2308,0.000,0.078,2121,3253,3347,3316,3379,0,0,0,0,0,0,15.03,14.81,15.04,8.69,59.56
$GC,5578,-0.76,-97.3,2121,3252,3316,3379,838.0,-13.7,342,5584,0.08,2.35,0.00,0.000,3078,0.360,0.062,2146,1840,3347,3316,3378,0,0,0,0,0,0,14.73,14.82,14.88,8.68,59.41
$GC,5898,-0.76,-97.3,2146,1839,3317,3379,880.0,-13.2,358,5904,0.00,2.45,0.00,0.000,516,0.000,0.086,2146,432,3347,3317,3378,0,0,0,0,0,0,15.03,14.81,15.03,8.69,59.09
$GC,5965,-0.76,-97.3,2146,433,3317,3378,888.2,-13.5,361,5969,0.00,2.35,0.00,0.000,3078,0.000,0.045,2137,1854,3348,3317,3379,0,0,0,0,0,0,14.92,14.83,14.94,8.69,59.29
$GC,6278,-0.76,-97.3,2137,1854,3317,3379,930.8,-13.6,377,6284,0.00,2.38,0.00,0.000,2308,0.000,0.078,2126,3260,3347,3316,3379,0,0,0,0,0,0,15.04,14.81,15.04,8.69,58.89
$GC,6338,-0.76,-97.3,2126,3260,3317,3379,938.8,-13.5,380,6345,0.05,2.35,0.00,0.000,3078,0.420,0.062,2142,1847,3348,3317,3379,0,0,0,0,0,0,14.71,14.83,14.88,8.69,59.25
$GC,6658,-0.76,-97.3,2142,1847,3317,3379,980.2,-13.0,396,6664,0.00,2.45,0.00,0.000,2564,0.000,0.088,2142,435,3348,3317,3379,0,0,0,0,0,0,15.04,14.81,15.04,8.69,59.56
$GC,6726,-0.76,-97.3,2142,436,3317,3379,988.2,-13.2,399,6730,0.00,2.33,0.00,0.000,3078,0.000,0.046,2133,1850,3348,3317,3379,0,0,0,0,0,0,14.93,14.84,14.94,8.70,59.21
$STATE,6738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6738,begin apogee
$GC,6742,-0.14,0.0,2133,1775,3317,3379,990.6,-12.9,400,6825,0.57,0.00,80.32,2.590,10246,0.263,0.000,2340,1775,2943,2930,2956,0,0,0,0,0,0,14.71,13.99,13.16,8.70,59.49
$STATE,6826,end apogee,CONTROL_FINISHED_OK
$STATE,6827,begin climb
$GC,6828,0.76,97.3,2340,1775,2930,2955,994.4,0.0,404,6920,0.77,2.60,79.97,2.504,10756,0.166,0.082,2643,416,2544,2533,2556,0,0,0,0,0,0,13.95,13.70,12.94,8.68,58.15
$GC,6956,0.80,126.6,2643,416,2535,2556,986.7,8.0,410,6987,0.00,2.45,25.48,2.374,9222,0.000,0.041,2644,1788,2425,2415,2436,0,0,0,0,0,0,13.98,13.93,12.97,8.65,57.04
$GC,7305,0.80,126.6,2644,1788,2414,2435,933.9,15.5,428,7311,0.00,2.47,0.00,0.000,260,0.000,0.073,2644,3200,2425,2414,2436,0,0,0,0,0,0,14.52,14.30,14.53,8.62,57.36
$GC,7352,0.80,126.6,2643,3201,2414,2435,927.6,15.6,430,7356,0.00,2.40,0.00,0.000,5126,0.000,0.063,2655,1814,2424,2414,2435,0,0,0,0,0,0,14.45,14.35,14.47,8.63,57.60
$GC,7665,0.80,126.6,2655,1814,2414,2435,878.0,15.5,446,7671,0.00,2.53,0.00,0.000,4612,0.000,0.080,2666,386,2424,2414,2435,0,0,0,0,0,0,14.71,14.50,14.72,8.62,57.71
$GC,7732,0.80,126.6,2666,386,2414,2435,868.7,15.5,449,7737,0.08,2.38,0.00,0.000,5126,0.399,0.040,2645,1807,2424,2414,2435,0,0,0,0,0,0,14.42,14.55,14.59,8.61,58.11
$GC,8045,0.80,126.6,2645,1808,2413,2435,822.2,14.6,465,8051,0.00,2.40,0.00,0.000,260,0.000,0.070,2645,3205,2424,2414,2435,0,0,0,0,0,0,14.82,14.61,14.83,8.61,58.74
$GC,8105,0.80,126.6,2645,3205,2413,2435,813.4,14.7,468,8111,0.00,2.38,0.00,0.000,5126,0.000,0.062,2655,1799,2424,2413,2435,0,0,0,0,0,0,14.73,14.63,14.73,8.61,58.26
$GC,8425,0.80,126.6,2655,1799,2413,2435,766.5,14.8,484,8431,0.00,2.47,0.00,0.000,4612,0.000,0.080,2666,380,2424,2414,2435,0,0,0,0,0,0,14.89,14.68,14.89,8.61,58.46
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$GC,12676,0.80,126.6,2641,3199,2415,2435,185.4,12.0,696,12680,0.00,2.33,0.00,0.000,5126,0.000,0.056,2651,1789,2425,2415,2435,0,0,0,0,0,0,14.93,14.83,14.94,8.56,58.74
$GC,12989,0.80,126.6,2650,1789,2415,2435,147.2,12.1,712,12995,0.00,2.40,0.00,0.000,4612,0.000,0.077,2662,391,2425,2415,2435,0,0,0,0,0,0,15.04,14.83,15.04,8.56,59.05
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$STATE,14358,end climb,SURFACE_DEPTH_REACHED
$STATE,14358,begin surface coast
$FINISH,-0.4,1.027181
$STATE,14389,end surface coast,CONTROL_FINISHED_OK
$STATE,14389,begin surface
$SM_CCo,14405,2.85,0.772,0,0,2169,190.10
$SM_GC,1.53,5.82,2.55,2.85,0.082,0.040,0.772,218,1856,2169,-6.47,-0.74,190.10,0,0,0,0,0,0,14.59,14.54,13.93
$IRIDIUM_FIX,-6409.62,233.02,190122,154435
$TT8_MAMPS,0.019474,0.338548
$HUMID,57.52
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.94,164.718
$10V_AH,13.19,0.000
$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
$DEVICE_SECS,14.325,199.875,223.950,2.850,0.000,24.762,12.486,152.307,0.000,0.000,48.796,2441.048,8960.598,406.635,2834.192,97.964,0.000,1544.469,0.000,1949.514,0.000,0.537,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.871,1923.758,244.503,1178.120,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343032
$DATA_FILE_SIZE,69448,896
$CAP_FILE_SIZE,154514,0
$CFSIZE,1023623168,1014824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190122,205355,-6403.742,222.665,100,1.4,140,-21.1,0.0,160.7,4,42.6