version: 66.14
glider: 640
mission: 9
dive: 64
start: 1 20 122 1 38 57
data:
$ID,640
$MISSION,9
$DIVE,64
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,200122,013252,-6402.3535,222.3740,68,0.8,72,-21.1,0.7,308.3,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-65.7
$GPS2,200122,013828,-6402.3525,222.3810,8,0.8,14,-21.1,1.4,238.1,10,9.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.8,82231,-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,4,begin dive
$GC,6,-0.76,-97.3,232,1873,2126,2163,0.0,0.0,0,76,0.00,0.00,-66.55,0.000,16386,0.000,0.000,232,1874,3166,3133,3199,0,0,0,0,0,0,14.68,28.83,14.69,8.51,58.19
$GC,78,-0.76,-97.3,232,1874,3134,3199,3.6,-7.4,10,100,6.00,2.78,-5.62,0.000,18948,0.376,2.267,2165,418,3344,3325,3364,0,0,0,0,0,0,14.31,13.66,14.55,8.61,57.67
$GC,192,-0.76,-97.3,2165,418,3328,3364,27.5,-18.0,31,200,0.00,2.45,0.00,0.000,5126,0.000,0.047,2155,1840,3346,3328,3364,0,0,0,0,0,0,14.55,14.46,14.56,8.64,56.97
$GC,322,-0.76,-97.3,2154,1841,3329,3364,49.2,-15.2,56,330,0.00,2.47,0.00,0.000,4356,0.000,0.080,2144,3258,3346,3329,3364,0,0,0,0,0,0,14.69,14.47,14.70,8.64,57.20
$GC,402,-0.76,-97.3,2144,3258,3329,3364,61.1,-14.7,71,409,0.00,2.40,0.00,0.000,1030,0.000,0.057,2144,1854,3346,3329,3364,0,0,0,0,0,0,14.60,14.51,14.62,8.63,57.20
$GC,727,-0.76,-97.3,2144,1853,3330,3363,111.5,-15.4,105,733,0.00,2.50,0.00,0.000,516,0.000,0.080,2143,435,3346,3329,3364,0,0,0,0,0,0,14.81,14.59,14.81,8.62,56.26
$GC,809,-0.76,-97.3,2144,435,3329,3364,123.5,-14.9,109,813,0.00,2.42,0.00,0.000,3078,0.000,0.046,2133,1851,3346,3329,3364,0,0,0,0,0,0,14.66,14.62,14.69,8.63,56.37
$GC,1127,-0.76,-97.3,2133,1851,3329,3364,174.8,-16.1,125,1129,0.00,0.00,0.00,0.000,2054,0.000,0.000,2133,1851,3346,3329,3364,0,0,0,0,0,0,14.89,14.89,14.89,8.63,57.71
$GC,1427,-0.76,-97.3,2133,1851,3329,3365,222.9,-15.9,140,1433,0.00,2.40,0.00,0.000,2308,0.000,0.076,2122,3261,3346,3329,3364,0,0,0,0,0,0,14.93,14.71,14.93,8.64,58.38
$GC,1460,-0.76,-97.3,2122,3261,3329,3364,226.1,-15.8,141,1469,0.05,2.40,0.00,0.000,3078,0.343,0.058,2139,1852,3346,3329,3364,0,0,0,0,0,0,14.59,14.69,14.71,8.64,58.34
$GC,1768,-0.76,-97.3,2139,1852,3329,3364,274.8,-15.2,157,1774,0.00,2.45,0.00,0.000,2564,0.000,0.080,2139,438,3346,3329,3364,0,0,0,0,0,0,14.95,14.73,14.96,8.64,59.09
$GC,1840,-0.76,-97.3,2139,438,3329,3364,284.0,-15.4,160,1849,0.00,2.40,0.00,0.000,3078,0.000,0.047,2129,1856,3346,3329,3364,0,0,0,0,0,0,14.78,14.73,14.79,8.65,58.66
$GC,2148,-0.76,-97.3,2128,1856,3329,3364,333.4,-15.6,176,2155,0.05,2.40,0.00,0.000,2308,0.464,0.075,2131,3261,3346,3329,3364,0,0,0,0,0,0,14.66,14.76,14.82,8.65,58.70
$GC,2180,-0.76,-97.3,2131,3260,3329,3364,336.4,-15.5,177,2189,0.00,2.40,0.00,0.000,3078,0.000,0.057,2131,1845,3346,3329,3364,0,0,0,0,0,0,14.80,14.74,14.81,8.65,58.66
$GC,2488,-0.76,-97.3,2131,1845,3329,3364,384.4,-15.1,193,2494,0.00,2.42,0.00,0.000,2564,0.000,0.079,2131,440,3346,3329,3363,0,0,0,0,0,0,15.00,14.77,15.00,8.66,58.97
$GC,2550,-0.76,-97.3,2131,440,3329,3364,393.6,-15.2,196,2556,0.05,2.38,0.00,0.000,3078,0.367,0.047,2138,1848,3346,3329,3364,0,0,0,0,0,0,14.65,14.77,14.78,8.65,58.86
$GC,2868,-0.76,-97.3,2138,1848,3329,3364,439.8,-14.6,212,2874,0.00,2.40,0.00,0.000,2308,0.000,0.078,2129,3262,3346,3328,3364,0,0,0,0,0,0,15.01,14.78,15.01,8.66,58.86
$GC,2910,-0.76,-97.3,2129,3261,3329,3364,445.6,-14.5,214,2916,0.00,2.40,0.00,0.000,3078,0.000,0.060,2129,1847,3346,3329,3364,0,0,0,0,0,0,14.83,14.78,14.85,8.66,58.82
$GC,3229,-0.76,-97.3,2128,1848,3329,3364,493.3,-14.9,230,3235,0.00,2.45,0.00,0.000,2564,0.000,0.083,2129,432,3346,3329,3364,0,0,0,0,0,0,15.02,14.79,15.02,8.67,58.97
$GC,3309,-0.76,-97.3,2128,433,3328,3364,505.4,-15.0,234,3316,0.08,2.35,0.00,0.000,3078,0.385,0.047,2141,1853,3346,3329,3364,0,0,0,0,0,0,14.70,14.81,14.86,8.66,59.05
$GC,3629,-0.76,-97.3,2142,1853,3329,3364,550.5,-14.3,250,3635,0.00,2.40,0.00,0.000,2308,0.000,0.078,2132,3264,3346,3329,3364,0,0,0,0,0,0,15.02,14.80,15.02,8.67,59.13
$GC,3676,-0.76,-97.3,2132,3263,3329,3364,556.2,-14.4,252,3681,0.00,2.35,0.00,0.000,3078,0.000,0.060,2132,1849,3346,3329,3364,0,0,0,0,0,0,14.91,14.81,14.92,8.67,59.13
$GC,3989,-0.76,-97.3,2132,1849,3329,3364,604.0,-15.1,268,3995,0.00,2.45,0.00,0.000,2564,0.000,0.085,2132,435,3346,3329,3364,0,0,0,0,0,0,15.03,14.80,15.03,8.67,58.97
$GC,4049,-0.76,-97.3,2132,435,3329,3364,613.2,-15.1,271,4056,0.08,2.35,0.00,0.000,3078,0.387,0.047,2146,1854,3346,3329,3364,0,0,0,0,0,0,14.71,14.83,14.87,8.67,59.05
$GC,4369,-0.76,-97.3,2145,1854,3329,3364,658.0,-14.1,287,4375,0.00,2.40,0.00,0.000,260,0.000,0.079,2137,3262,3346,3328,3364,0,0,0,0,0,0,15.03,14.81,15.04,8.68,59.01
$GC,4422,-0.76,-97.3,2136,3261,3329,3364,663.6,-14.0,289,4430,0.00,2.40,0.00,0.000,3078,0.000,0.060,2137,1849,3346,3329,3364,0,0,0,0,0,0,14.85,14.78,14.86,8.68,59.09
$GC,4730,-0.76,-97.3,2136,1849,3329,3364,709.9,-14.6,305,4736,0.00,2.42,0.00,0.000,2564,0.000,0.084,2137,441,3346,3329,3364,0,0,0,0,0,0,15.04,14.81,15.04,8.68,59.09
$GC,4812,-0.76,-97.3,2136,441,3329,3364,721.7,-14.6,309,4817,0.05,2.38,0.00,0.000,3078,0.356,0.046,2142,1851,3346,3329,3364,0,0,0,0,0,0,14.70,14.82,14.83,8.68,59.21
$GC,5132,-0.76,-97.3,2142,1851,3330,3364,765.7,-13.7,325,5137,0.00,2.35,0.00,0.000,2308,0.000,0.078,2133,3248,3347,3330,3364,0,0,0,0,0,0,15.04,14.80,15.04,8.67,59.17
$GC,5200,-0.76,-97.3,2133,3248,3330,3364,773.7,-13.4,328,5204,0.00,2.35,0.00,0.000,3078,0.000,0.063,2133,1842,3347,3330,3364,0,0,0,0,0,0,14.92,14.83,14.94,8.68,59.17
$GC,5507,-0.76,-97.3,2133,1841,3330,3364,817.4,-14.2,343,5513,0.00,2.40,0.00,0.000,2564,0.000,0.084,2133,442,3347,3330,3364,0,0,0,0,0,0,15.04,14.81,15.04,8.68,58.97
$GC,5567,-0.76,-97.3,2133,442,3330,3365,826.2,-14.6,346,5573,0.05,2.38,0.00,0.000,3078,0.367,0.046,2139,1850,3347,3330,3365,0,0,0,0,0,0,14.70,14.83,14.83,8.69,58.74
$GC,5886,-0.76,-97.3,2139,1851,3330,3364,869.4,-13.4,362,5892,0.00,2.38,0.00,0.000,2308,0.000,0.078,2130,3257,3347,3330,3365,0,0,0,0,0,0,15.04,14.81,15.04,8.69,59.13
$GC,5928,-0.76,-97.3,2130,3257,3330,3365,874.8,-13.4,364,5932,0.00,2.38,0.00,0.000,3078,0.000,0.060,2130,1851,3347,3330,3364,0,0,0,0,0,0,14.87,14.82,14.89,8.69,59.01
$GC,6246,-0.76,-97.3,2130,1852,3331,3365,918.3,-13.6,380,6252,0.00,2.45,0.00,0.000,2564,0.000,0.087,2130,439,3348,3331,3365,0,0,0,0,0,0,15.04,14.81,15.05,8.69,59.68
$GC,6319,-0.76,-97.3,2129,439,3331,3364,926.7,-13.8,383,6327,0.05,2.38,0.00,0.000,3078,0.361,0.047,2137,1848,3348,3331,3365,0,0,0,0,0,0,14.69,14.81,14.81,8.70,59.52
$GC,6627,-0.76,-97.3,2137,1849,3331,3364,968.1,-13.0,399,6628,0.00,0.00,0.00,0.000,2054,0.000,0.000,2138,1849,3348,3331,3365,0,0,0,0,0,0,15.04,15.05,15.04,8.70,59.01
$STATE,6805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6805,begin apogee
$GC,6809,-0.14,0.0,2138,1778,3331,3365,991.7,-13.1,408,6893,0.55,0.00,80.60,2.643,10246,0.254,0.000,2338,1777,2943,2934,2953,0,0,0,0,0,0,14.73,13.98,13.13,8.70,59.13
$STATE,6894,end apogee,CONTROL_FINISHED_OK
$STATE,6894,begin climb
$GC,6896,0.76,97.3,2338,1777,2932,2951,995.8,0.0,412,6988,0.77,2.62,80.20,2.527,10756,0.171,0.081,2641,413,2544,2533,2556,0,0,0,0,0,0,13.94,13.68,12.89,8.68,58.58
$GC,7019,0.80,128.1,2641,413,2534,2556,988.3,7.9,418,7053,0.00,2.42,26.50,2.375,11270,0.000,0.040,2642,1800,2419,2409,2430,0,0,0,0,0,0,14.04,13.95,12.96,8.64,57.08
$GC,7352,0.80,128.1,2642,1799,2408,2430,937.6,15.7,435,7358,0.00,2.47,0.00,0.000,2308,0.000,0.073,2642,3202,2419,2409,2430,0,0,0,0,0,0,14.52,14.30,14.52,8.62,57.60
$GC,7404,0.80,128.1,2642,3202,2408,2430,931.3,15.5,437,7412,0.00,2.45,0.00,0.000,5126,0.000,0.062,2652,1819,2419,2408,2430,0,0,0,0,0,0,14.38,14.32,14.39,8.63,57.56
$GC,7711,0.80,128.1,2652,1819,2408,2430,880.5,16.0,453,7717,0.00,2.55,0.00,0.000,4612,0.000,0.080,2664,384,2419,2408,2430,0,0,0,0,0,0,14.71,14.50,14.71,8.61,57.95
$GC,7779,0.80,128.1,2663,384,2408,2430,870.8,16.1,456,7784,0.05,2.38,0.00,0.000,5126,0.446,0.040,2651,1804,2419,2408,2430,0,0,0,0,0,0,14.41,14.54,14.59,8.61,58.07
$GC,8092,0.80,128.1,2651,1804,2408,2429,820.7,15.6,472,8098,0.00,2.40,0.00,0.000,4356,0.000,0.069,2651,3207,2419,2408,2430,0,0,0,0,0,0,14.82,14.60,14.82,8.62,58.50
$GC,8153,0.80,128.1,2651,3207,2408,2430,811.1,15.7,475,8159,0.00,2.40,0.00,0.000,5126,0.000,0.060,2661,1788,2419,2408,2430,0,0,0,0,0,0,14.73,14.63,14.73,8.61,58.42
$GC,8473,0.80,128.1,2661,1788,2408,2430,760.0,15.8,491,8479,0.00,2.45,0.00,0.000,4612,0.000,0.079,2672,384,2419,2408,2430,0,0,0,0,0,0,14.88,14.68,14.88,8.61,58.78
$GC,8533,0.80,128.1,2672,384,2408,2430,750.5,15.8,494,8539,0.08,2.35,0.00,0.000,5126,0.403,0.039,2650,1808,2419,2408,2430,0,0,0,0,0,0,14.57,14.71,14.74,8.61,58.11
$GC,8853,0.80,128.1,2650,1808,2408,2430,703.1,14.7,510,8859,0.00,2.38,0.00,0.000,4356,0.000,0.070,2650,3205,2418,2408,2429,0,0,0,0,0,0,14.93,14.71,14.93,8.60,58.70
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$GC,10346,0.80,128.1,2646,1803,2408,2430,492.5,13.6,583,10351,0.00,2.33,0.00,0.000,260,0.000,0.069,2647,3190,2419,2408,2430,0,0,0,0,0,0,15.00,14.78,15.00,8.59,58.97
$GC,10406,0.80,128.1,2646,3190,2408,2430,484.2,13.8,586,10411,0.00,2.35,0.00,0.000,5126,0.000,0.056,2658,1801,2418,2408,2429,0,0,0,0,0,0,14.88,14.79,14.86,8.59,58.58
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$STATE,14170,end climb,SURFACE_DEPTH_REACHED
$STATE,14170,begin surface coast
$FINISH,0.0,1.027177
$STATE,14191,end surface coast,CONTROL_FINISHED_OK
$STATE,14192,begin surface
$SM_CCo,14265,0.00,0.000,0,0,2094,208.26
$SM_GC,3.65,5.80,0.08,0.00,0.077,0.151,0.000,223,1863,2094,-6.43,-1.05,208.26,0,0,0,0,0,0,14.47,14.41,14.50
$IRIDIUM_FIX,-6406.99,218.03,190122,205915
$TT8_MAMPS,0.018725,0.33705
$HUMID,57.52
$INTERNAL_PRESSURE,8.49177
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.89,165.270
$10V_AH,13.17,0.000
$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
$DEVICE_SECS,14.200,177.875,241.625,0.000,0.000,31.209,15.902,187.405,0.000,0.000,15.371,2374.802,8982.807,404.334,2744.963,94.013,0.000,1493.924,0.000,1879.250,0.000,0.535,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.359,1885.005,236.581,1154.395,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343024
$DATA_FILE_SIZE,65929,878
$CAP_FILE_SIZE,147158,0
$CFSIZE,1023623168,1014644736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200122,053925,-6401.014,221.904,127,0.8,133,-21.1,1.6,260.6,9,9.6