version: 66.02
glider: 102
mission: 4
dive: 102
start: 12 1 107 0 10 3
data:
$ID,102
$MISSION,4
$DIVE,102
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$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,-78190.219
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.5065012
$PRESSURE_SLOPE,0.00011626
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,000338,6153.355,-954.503,31,0.9,31,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-62.8
$GPS2,000909,6153.362,-954.669,12,1.6,12,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.096,0.185
$KALMAN_X,41367.5,-273.3,1419.7,-117175.6,-17622.9
$KALMAN_Y,131540.7,-141.9,-304.5,-93657.5,-20167.3
$MHEAD_RNG_PITCHd_Wd,37.3,21931,-10.7,-6.000
$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
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.95,-146.6,0.0,0.0,0,64,0.00,0.00,-42.35,0.000,2,0.000,0.000,30,1882,2414
$GC,66,-0.95,-146.6,3.3,-3.3,2,137,11.88,2.60,-52.17,0.000,4,0.139,0.077,2286,500,3477
$GC,389,-0.95,-146.6,28.5,-9.8,16,396,0.00,2.50,0.00,0.000,6,0.000,0.039,2286,1912,3477
$GC,706,-0.95,-146.6,54.6,-8.0,32,710,0.00,2.62,0.00,0.000,4,0.000,0.064,2285,498,3477
$GC,789,-0.95,-146.6,61.7,-9.5,36,794,0.00,2.45,0.00,0.000,6,0.000,0.040,2286,1902,3477
$GC,1115,-0.95,-146.6,87.6,-8.0,52,1119,0.00,2.47,0.00,0.000,4,0.000,0.045,2286,3294,3477
$GC,1147,-0.95,-146.6,90.2,-8.0,53,1155,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1900,3477
$GC,1463,-0.95,-146.6,113.8,-7.6,69,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3477
$GC,1772,-0.95,-146.6,137.3,-7.9,84,1776,0.00,2.50,0.00,0.000,4,0.000,0.044,2285,3296,3477
$GC,1816,-0.95,-146.6,140.8,-7.6,86,1820,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1900,3477
$GC,2142,-0.95,-146.6,167.7,-8.7,102,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3477
$GC,2451,-0.95,-146.6,193.3,-8.2,117,2455,0.00,2.47,0.00,0.000,4,0.000,0.045,2286,3295,3477
$GC,2483,-0.95,-146.6,196.1,-8.1,118,2488,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1906,3477
$GC,2805,-0.95,-146.6,220.6,-7.3,134,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3477
$GC,3114,-0.95,-146.6,241.9,-7.0,149,3118,0.00,2.50,0.00,0.000,4,0.000,0.047,2285,3298,3477
$GC,3146,-0.95,-146.6,244.5,-8.0,150,3153,0.00,2.53,0.00,0.000,6,0.000,0.043,2286,1903,3477
$GC,3462,-0.95,-146.6,268.6,-7.8,166,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3477
$GC,3771,-0.95,-146.6,292.4,-7.7,181,3775,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3298,3477
$GC,3798,-0.95,-146.6,294.5,-7.5,182,3802,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1900,3477
$GC,4112,-0.95,-146.6,316.2,-8.6,197,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3477
$GC,4421,-0.95,-146.6,340.0,-8.1,212,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3477
$GC,4731,-0.95,-146.6,365.6,-8.1,227,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3477
$GC,5040,-0.95,-146.6,392.5,-8.8,242,5044,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3294,3477
$GC,5100,-0.95,-146.6,398.4,-10.1,245,5105,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1896,3477
$GC,5427,-0.95,-146.6,425.4,-7.9,261,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3477
$GC,5736,-0.95,-146.6,447.8,-7.4,276,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3477
$GC,6045,-0.95,-146.6,470.0,-7.6,291,6050,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3295,3477
$GC,6089,-0.95,-146.6,473.6,-8.3,293,6093,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1901,3477
$GC,6416,-0.95,-146.6,495.6,-6.7,309,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3477
$GC,6724,-0.95,-146.6,515.8,-7.0,324,6729,0.00,2.50,0.00,0.000,4,0.000,0.049,2286,3297,3477
$GC,6773,-0.95,-146.6,519.3,-6.4,326,6778,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1905,3477
$GC,7095,-0.95,-146.6,541.1,-6.8,342,7099,0.00,2.50,0.00,0.000,4,0.000,0.051,2286,3296,3477
$GC,7148,-0.95,-146.6,544.9,-6.7,344,7155,0.00,2.53,0.00,0.000,6,0.000,0.045,2285,1906,3477
$GC,7464,-0.95,-146.6,565.7,-6.7,360,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3477
$GC,7773,-0.95,-146.6,587.5,-7.5,375,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3477
$GC,8082,-0.95,-146.6,610.6,-7.4,390,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3477
$GC,8392,-0.95,-146.6,632.5,-7.1,405,8396,0.00,2.50,0.00,0.000,4,0.000,0.055,2286,3292,3476
$GC,8430,-0.95,-146.6,635.5,-8.2,407,8434,0.00,2.50,0.00,0.000,6,0.000,0.048,2286,1902,3477
$GC,8755,-0.95,-146.6,655.7,-5.6,423,8759,0.00,2.53,0.00,0.000,4,0.000,0.054,2286,3292,3477
$GC,8799,-0.95,-146.6,658.1,-5.6,425,8803,0.00,2.50,0.00,0.000,6,0.000,0.048,2286,1900,3477
$GC,9126,-0.95,-146.6,669.2,-3.2,441,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3477
$GC,9435,-0.95,-146.6,686.4,-7.4,456,9439,0.00,2.62,0.00,0.000,4,0.000,0.071,2286,488,3476
$GC,9500,-0.95,-146.6,691.9,-8.7,459,9504,0.00,2.50,0.00,0.000,6,0.000,0.048,2286,1891,3477
$GC,9827,-0.95,-146.6,716.5,-7.2,475,9831,0.00,2.60,0.00,0.000,4,0.000,0.061,2286,3304,3477
$GC,9899,-0.95,-146.6,721.2,-6.6,478,9903,0.00,2.55,0.00,0.000,6,0.000,0.051,2286,1898,3477
$GC,10213,-0.95,-146.6,741.6,-6.6,493,10217,0.00,2.62,0.00,0.000,4,0.000,0.076,2286,495,3476
$GC,10306,-0.95,-146.6,748.6,-8.1,497,10311,0.00,2.53,0.00,0.000,6,0.000,0.052,2286,1897,3476
$GC,10628,-0.95,-146.6,769.1,-5.5,513,10632,0.00,2.60,0.00,0.000,4,0.000,0.065,2286,3305,3475
$GC,10682,-0.95,-146.6,772.7,-6.7,515,10689,0.00,2.60,0.00,0.000,6,0.000,0.057,2286,1903,3475
$GC,10998,-0.95,-146.6,790.5,-6.3,531,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$GC,11307,-0.95,-146.6,809.4,-5.4,546,11311,0.00,2.60,0.00,0.000,4,0.000,0.064,2286,3310,3472
$GC,11361,-0.95,-146.6,812.5,-6.6,548,11368,0.00,2.60,0.00,0.000,6,0.000,0.057,2286,1896,3472
$GC,11677,-0.95,-146.6,827.9,-4.6,564,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3471
$GC,11985,-0.95,-146.6,847.3,-7.4,579,11990,0.00,2.58,0.00,0.000,4,0.000,0.067,2286,3302,3469
$GC,12034,-0.95,-146.6,850.8,-4.6,581,12039,0.00,2.58,0.00,0.000,6,0.000,0.058,2286,1901,3468
$STATE,12354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12354,begin apogee
$GC,12358,-0.36,0.0,867.1,5.9,597,12486,0.62,0.00,124.93,1.437,6,0.083,0.000,2418,2105,2878
$STATE,12487,end apogee,CONTROL_FINISHED_OK
$STATE,12487,begin climb
$GC,12489,0.95,146.6,872.1,0.0,603,12621,1.27,2.78,124.32,1.380,4,0.055,0.078,2700,693,2280
$GC,12666,1.00,188.8,870.3,4.7,611,12708,0.00,2.60,36.58,1.364,6,0.000,0.056,2700,2100,2109
$GC,13018,1.02,205.0,851.1,5.5,628,13039,0.00,2.70,14.57,1.378,4,0.000,0.068,2699,3509,2042
$GC,13145,1.02,205.0,841.5,8.6,633,13151,0.00,2.62,0.00,0.000,6,0.000,0.056,2700,2104,2042
$GC,13460,1.02,205.0,815.8,7.9,649,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2104,2041
$GC,13769,1.02,205.0,793.6,9.3,664,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2104,2040
$GC,14079,1.02,205.0,767.9,9.9,679,14083,0.00,2.60,0.00,0.000,4,0.000,0.063,2700,3506,2039
$GC,14132,1.02,205.0,764.3,7.3,681,14139,0.00,2.62,0.00,0.000,6,0.000,0.055,2700,2098,2039
$GC,14448,1.02,205.0,741.1,7.6,697,14453,0.00,2.67,0.00,0.000,4,0.000,0.081,2700,690,2039
$GC,14503,1.02,205.0,736.6,8.4,699,14510,0.00,2.58,0.00,0.000,6,0.000,0.052,2700,2103,2039
$GC,14818,1.02,205.0,711.5,7.0,715,14822,0.00,2.60,0.00,0.000,4,0.000,0.064,2700,3507,2038
$GC,14889,1.02,205.0,707.0,6.0,718,14893,0.00,2.58,0.00,0.000,6,0.000,0.053,2699,2096,2037
$GC,15210,1.17,327.1,696.2,2.4,734,15315,0.22,0.00,101.75,1.338,6,0.036,0.000,2766,2096,1544
$GC,15620,1.17,327.1,665.7,7.5,754,15624,0.00,2.65,0.00,0.000,4,0.000,0.077,2766,691,1543
$GC,15680,1.17,327.1,661.1,7.3,757,15685,0.00,2.53,0.00,0.000,6,0.000,0.047,2766,2105,1544
$GC,16006,1.17,327.1,636.4,8.1,773,16007,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2110,1544
$GC,16315,1.17,327.1,608.0,9.6,788,16319,0.00,2.65,0.00,0.000,4,0.000,0.068,2767,691,1544
$GC,16376,1.17,327.1,602.0,10.1,791,16380,0.00,2.50,0.00,0.000,6,0.000,0.043,2767,2104,1544
$GC,16701,1.17,327.1,569.4,10.8,807,16702,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2109,1545
$GC,17010,1.17,327.1,532.8,12.2,822,17015,0.00,2.65,0.00,0.000,4,0.000,0.067,2766,684,1546
$GC,17059,1.17,327.1,526.9,12.4,824,17064,0.00,2.50,0.00,0.000,6,0.000,0.041,2766,2108,1546
$GC,17380,1.17,327.1,491.9,10.7,840,17381,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2112,1547
$GC,17690,1.17,327.1,461.4,9.0,855,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2112,1548
$GC,17999,1.17,327.1,434.5,8.5,870,18003,0.00,2.65,0.00,0.000,4,0.000,0.065,2766,689,1548
$GC,18037,1.17,327.1,431.0,8.8,872,18041,0.00,2.50,0.00,0.000,6,0.000,0.041,2767,2107,1548
$GC,18362,1.17,327.1,401.2,9.6,888,18363,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2112,1549
$GC,18671,1.17,327.1,369.0,10.5,903,18675,0.00,2.65,0.00,0.000,4,0.000,0.064,2766,687,1549
$GC,18714,1.17,327.1,364.1,10.2,905,18719,0.00,2.53,0.00,0.000,6,0.000,0.040,2767,2100,1550
$GC,19042,1.17,327.1,331.3,9.7,921,19043,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2104,1550
$GC,19351,1.17,327.1,302.2,9.6,936,19352,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2103,1551
$GC,19660,1.17,327.1,270.8,10.2,951,19665,0.00,2.62,0.00,0.000,4,0.000,0.064,2766,690,1552
$GC,19704,1.17,327.1,266.0,11.5,953,19708,0.00,2.50,0.00,0.000,6,0.000,0.039,2767,2105,1552
$GC,20030,1.17,327.1,234.0,9.2,969,20031,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2110,1552
$GC,20339,1.17,327.1,206.7,8.5,984,20344,0.00,2.62,0.00,0.000,4,0.000,0.063,2766,687,1552
$GC,20380,1.17,327.1,203.3,9.2,986,20385,0.00,2.50,0.00,0.000,6,0.000,0.038,2767,2111,1552
$GC,20706,1.17,327.1,175.7,8.5,1002,20707,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2116,1551
$GC,21015,1.17,327.1,148.1,8.9,1017,21019,0.00,2.65,0.00,0.000,4,0.000,0.061,2767,681,1551
$GC,21077,1.17,327.1,142.1,9.8,1020,21081,0.00,2.50,0.00,0.000,6,0.000,0.039,2766,2106,1552
$GC,21402,1.17,327.1,111.3,9.4,1036,21403,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2111,1552
$GC,21711,1.17,327.1,82.2,9.3,1051,21716,0.00,2.62,0.00,0.000,4,0.000,0.062,2767,689,1553
$GC,21760,1.17,327.1,77.5,8.8,1053,21773,0.00,2.50,2.92,0.854,6,0.000,0.038,2767,2104,1544
$GC,22082,1.17,327.1,49.4,8.8,1069,22083,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2103,1544
$GC,22390,1.17,327.1,20.7,8.9,1084,22394,0.00,2.60,0.00,0.000,4,0.000,0.061,2767,689,1544
$GC,22416,1.17,327.1,17.9,9.2,1085,22421,0.00,2.45,0.00,0.000,6,0.000,0.038,2767,2096,1545
$STATE,22591,end climb,SURFACE_DEPTH_REACHED
$STATE,22592,begin surface coast
$FINISH,1.8,1.007545
$STATE,22613,end surface coast,CONTROL_FINISHED_OK
$STATE,22613,begin surface
$SM_CCo,22693,0.00,0.000,0,0,1543,327.48
$SM_GC,2.58,11.73,0.00,0.00,0.030,0.000,0.000,28,1875,1543,-11.27,-0.71,327.48
$IRIDIUM_FIX,6130.75,-951.75,301107,212110
$TT8_MAMPS,0.026078
$HUMID,2069
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,800.3,76.3
$24V_AH,23.2,27.520
$10V_AH,10.1,12.189
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.725,174.750,405.075,0.000,0.000,38.828,27.122,163.642,7.250,0.000,0.000,13.662,1954.037,17764.600,586.162,2302.318,413.408,33.366,1738.141,0.000,2267.677,0.000,47.581
$DEVICE_MAMPS,138.827,81.302,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,813.177,740.294,608.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56779,1095
$CFSIZE,260165632,252469248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,011207,062931,6153.547,-957.965,42,1.1,42,-9.9