version: 66.04
glider: 144
mission: 15
dive: 33
start: 6 22 109 19 1 13
data:
$ID,144
$MISSION,15
$DIVE,33
$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,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61553.688
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,10
$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,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,185106,5006.750,-14453.100,26,1.1,26,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-57.4
$GPS2,190019,5006.771,-14453.053,15,1.2,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133,0.031
$KALMAN_X,-22158.5,390.5,186.2,30844.6,-2198.4
$KALMAN_Y,4437.3,25.4,308.7,8319.3,253.3
$MHEAD_RNG_PITCHd_Wd,58.3,2911,-17.0,-5.500
$D_GRID,1001
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.82,-70.8,0.0,0.0,0,61,0.00,0.00,-42.20,0.000,2,0.000,0.000,102,2298,2613
$GC,64,-0.87,-107.2,3.0,-3.5,4,98,6.93,2.30,-20.12,0.000,4,0.254,0.074,1802,887,3370
$GC,350,-0.77,-107.2,46.7,-14.2,29,357,0.15,2.28,0.00,0.000,6,0.157,0.048,1833,2312,3372
$GC,686,-0.77,-107.2,85.5,-11.4,59,690,0.00,2.28,0.00,0.000,4,0.000,0.054,1833,893,3373
$GC,822,-0.81,-107.2,101.5,-11.9,65,826,0.00,2.25,0.00,0.000,6,0.000,0.049,1824,2304,3373
$GC,1148,-0.81,-107.2,137.7,-10.3,81,1152,0.00,2.28,0.00,0.000,4,0.000,0.066,1814,3723,3373
$GC,1175,-0.81,-107.2,141.0,-11.7,82,1180,0.00,2.22,0.00,0.000,6,0.000,0.041,1814,2294,3373
$GC,1515,-0.81,-107.2,175.6,-9.4,95,1519,0.00,2.22,0.00,0.000,4,0.000,0.054,1814,889,3374
$GC,1638,-0.86,-107.2,187.3,-9.3,98,1644,0.00,2.25,0.00,0.000,6,0.000,0.052,1807,2308,3373
$GC,1950,-0.86,-107.2,215.4,-9.2,109,1954,0.00,2.25,0.00,0.000,4,0.000,0.054,1806,894,3373
$GC,2018,-0.90,-107.2,222.2,-10.2,111,2022,0.00,2.22,0.00,0.000,6,0.000,0.051,1798,2305,3373
$GC,2353,-0.90,-107.2,257.6,-10.6,122,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2305,3373
$GC,2659,-0.90,-107.2,288.9,-10.2,132,2663,0.00,2.25,0.00,0.000,4,0.000,0.055,1798,895,3373
$GC,2692,-0.90,-107.2,292.5,-10.6,133,2696,0.00,2.22,0.00,0.000,6,0.000,0.051,1793,2301,3372
$GC,3025,-0.90,-107.2,325.8,-10.1,140,3029,0.00,2.25,0.00,0.000,4,0.000,0.056,1794,892,3372
$GC,3064,-0.90,-107.2,330.0,-10.1,140,3068,0.00,2.25,0.00,0.000,6,0.000,0.053,1792,2309,3372
$GC,3385,-0.90,-107.2,362.9,-10.3,146,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2309,3371
$GC,3689,-0.90,-107.2,392.8,-9.8,151,3693,0.00,2.25,0.00,0.000,4,0.000,0.058,1792,894,3371
$GC,3800,-0.90,-107.2,404.3,-10.0,152,3804,0.10,2.22,0.00,0.000,6,0.159,0.051,1806,2303,3371
$GC,4121,-0.96,-107.2,433.7,-9.2,158,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2304,3370
$GC,4425,-1.03,-107.2,462.2,-9.4,163,4427,0.12,0.00,0.00,0.000,6,0.074,0.000,1753,2304,3370
$GC,4728,-0.89,-107.2,500.3,-12.8,168,4730,0.20,0.00,0.00,0.000,6,0.156,0.000,1808,2304,3369
$GC,5031,-0.97,-107.2,528.5,-9.1,173,5035,0.00,2.25,0.00,0.000,4,0.000,0.057,1809,896,3369
$GC,5075,-1.07,-107.2,532.7,-9.2,173,5080,0.12,2.22,0.00,0.000,6,0.074,0.053,1751,2303,3369
$GC,5390,-0.94,-107.2,568.5,-11.5,179,5391,0.17,0.00,0.00,0.000,6,0.162,0.000,1798,2303,3368
$GC,5693,-0.99,-107.2,592.2,-7.7,184,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2304,3368
$GC,5996,-1.04,-107.2,614.0,-7.1,189,5998,0.10,0.00,0.00,0.000,6,0.089,0.000,1757,2304,3368
$GC,6299,-0.95,-107.2,642.9,-9.6,194,6301,0.15,0.00,0.00,0.000,6,0.155,0.000,1798,2304,3368
$GC,6602,-1.01,-107.2,668.1,-8.3,199,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2304,3367
$GC,6906,-1.07,-107.2,695.5,-9.1,204,6910,0.12,2.25,0.00,0.000,4,0.085,0.059,1752,893,3367
$GC,6950,-0.96,-107.2,700.6,-12.1,204,6954,0.17,2.22,0.00,0.000,6,0.164,0.051,1788,2303,3367
$GC,7264,-0.96,-107.2,732.5,-10.1,210,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2303,3367
$GC,7567,-0.96,-107.2,762.1,-9.7,215,7571,0.00,2.25,0.00,0.000,4,0.000,0.064,1779,3710,3366
$GC,7616,-0.96,-107.2,767.3,-10.3,215,7620,0.00,2.20,0.00,0.000,6,0.000,0.050,1779,2300,3366
$GC,7931,-0.96,-107.2,798.0,-9.7,221,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,2300,3366
$GC,8234,-0.96,-107.2,825.8,-9.1,226,8238,0.00,2.25,0.00,0.000,4,0.000,0.066,1780,894,3366
$GC,8256,-0.96,-107.2,828.0,-9.8,226,8261,0.10,2.25,0.00,0.000,6,0.175,0.058,1792,2313,3366
$GC,8600,-1.02,-107.2,854.6,-7.6,232,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2313,3366
$GC,8903,-1.08,-107.2,876.5,-7.2,237,8905,0.10,0.00,0.00,0.000,6,0.101,0.000,1758,2313,3366
$GC,9206,-0.99,-107.2,903.0,-8.8,242,9208,0.10,0.00,0.00,0.000,6,0.180,0.000,1781,2313,3366
$GC,9509,-0.99,-107.2,926.9,-7.8,247,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2313,3366
$GC,9812,-0.99,-107.2,950.4,-7.7,252,9816,0.00,2.25,0.00,0.000,4,0.000,0.072,1773,3712,3366
$GC,9838,-0.99,-107.2,952.5,-8.3,252,9842,0.00,2.20,0.00,0.000,6,0.000,0.048,1774,2306,3365
$GC,10177,-0.99,-107.2,979.2,-7.9,258,10181,0.00,2.28,0.00,0.000,4,0.000,0.066,1774,889,3366
$GC,10204,-0.99,-107.2,981.5,-9.7,258,10208,0.00,2.25,0.00,0.000,6,0.000,0.061,1767,2304,3365
$STATE,10357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10357,begin apogee
$GC,10363,-0.22,0.0,994.5,8.5,261,10451,0.62,0.00,85.00,1.344,6,0.169,0.000,1953,2304,2931
$STATE,10452,end apogee,CONTROL_FINISHED_OK
$STATE,10452,begin climb
$GC,10454,0.87,107.2,995.7,0.0,262,10550,0.73,0.00,90.07,1.312,6,0.113,0.000,2185,2304,2493
$GC,10885,0.62,107.2,961.2,9.5,269,10887,0.20,0.00,0.00,0.000,6,0.193,0.000,2138,2304,2482
$GC,11187,0.54,107.2,938.8,7.3,274,11191,0.00,2.35,0.00,0.000,4,0.000,0.068,2138,3719,2480
$GC,11236,0.37,107.2,934.6,7.9,274,11241,0.25,2.30,0.00,0.000,6,0.195,0.048,2084,2294,2479
$GC,11547,0.52,113.7,918.2,5.2,279,11554,0.10,0.00,4.47,0.853,6,0.095,0.000,2119,2294,2467
$GC,11849,0.52,113.7,897.8,6.8,284,11853,0.00,2.35,0.00,0.000,4,0.000,0.067,2119,3717,2466
$GC,11877,0.44,113.7,895.6,8.0,284,11882,0.15,2.28,0.00,0.000,6,0.183,0.049,2094,2297,2465
$GC,12209,0.55,113.7,876.5,5.7,290,12213,0.10,2.30,0.00,0.000,4,0.097,0.066,2135,882,2464
$GC,12235,0.55,113.7,874.6,7.0,290,12239,0.00,2.30,0.00,0.000,6,0.000,0.058,2135,2311,2464
$GC,12573,0.48,113.7,851.2,6.8,296,12578,0.12,2.28,0.00,0.000,4,0.179,0.063,2099,3713,2463
$GC,12606,0.48,113.7,848.8,7.1,296,12610,0.00,2.25,0.00,0.000,6,0.000,0.053,2108,2299,2463
$GC,12938,0.52,113.7,828.9,6.0,302,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2299,2463
$GC,13241,0.57,113.7,810.0,6.2,307,13245,0.00,2.30,0.00,0.000,4,0.000,0.064,2108,3713,2463
$GC,13273,0.53,113.7,807.4,6.5,307,13278,0.00,2.22,0.00,0.000,6,0.000,0.048,2118,2304,2462
$GC,13600,0.53,113.7,785.4,6.8,313,13604,0.00,2.30,0.00,0.000,4,0.000,0.068,2118,3720,2463
$GC,13627,0.47,113.7,783.1,8.5,313,13632,0.12,2.25,0.00,0.000,6,0.190,0.053,2099,2297,2462
$GC,13959,0.57,113.7,764.1,5.6,319,13961,0.10,0.00,0.00,0.000,6,0.091,0.000,2137,2297,2462
$GC,14262,0.50,113.7,744.0,6.7,324,14267,0.12,2.30,0.00,0.000,4,0.177,0.065,2107,3716,2462
$GC,14324,0.50,113.7,739.7,6.5,325,14328,0.00,2.22,0.00,0.000,6,0.000,0.048,2115,2302,2462
$GC,14690,0.50,113.9,719.3,5.5,331,14694,0.00,2.28,0.00,0.000,4,0.000,0.067,2115,3715,2462
$GC,14723,0.44,113.9,716.8,6.6,331,14727,0.12,2.22,0.00,0.000,6,0.186,0.049,2096,2296,2461
$GC,15049,0.57,124.9,700.7,4.9,337,15061,0.10,0.00,9.95,1.029,6,0.087,0.000,2136,2296,2421
$GC,15352,0.53,124.9,680.6,6.7,342,15354,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2296,2419
$GC,15654,0.53,124.9,660.1,6.8,347,15659,0.10,2.30,0.00,0.000,4,0.178,0.067,2114,3713,2418
$GC,15692,0.53,124.9,657.2,6.5,347,15696,0.00,2.22,0.00,0.000,6,0.000,0.045,2122,2301,2418
$GC,16019,0.53,124.9,636.1,6.4,353,16020,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2301,2418
$GC,16322,0.53,124.9,617.0,6.3,358,16326,0.00,2.28,0.00,0.000,4,0.000,0.062,2122,3714,2418
$GC,16388,0.45,124.9,612.0,8.5,359,16393,0.15,2.20,0.00,0.000,6,0.183,0.043,2096,2302,2417
$GC,16749,0.58,127.1,592.7,5.4,365,16751,0.12,0.00,0.00,0.000,6,0.074,0.000,2146,2301,2417
$GC,17052,0.51,127.1,571.6,7.1,370,17057,0.15,2.28,0.00,0.000,4,0.170,0.058,2107,3719,2417
$GC,17090,0.51,127.1,568.9,6.5,370,17094,0.00,2.22,0.00,0.000,6,0.000,0.044,2117,2295,2417
$GC,17418,0.56,127.1,550.4,5.6,376,17422,0.00,2.28,0.00,0.000,4,0.000,0.061,2116,3714,2418
$GC,17490,0.51,127.1,545.6,7.0,377,17494,0.00,2.20,0.00,0.000,6,0.000,0.044,2127,2303,2417
$GC,17845,0.51,127.1,525.4,5.7,383,17849,0.00,2.28,0.00,0.000,4,0.000,0.064,2128,3726,2417
$GC,17889,0.42,127.1,522.3,7.3,383,17894,0.17,2.22,0.00,0.000,6,0.177,0.044,2092,2301,2417
$GC,18205,0.58,136.8,506.6,5.0,389,18218,0.12,0.00,10.82,0.933,6,0.068,0.000,2148,2300,2373
$GC,18507,0.54,136.8,484.8,7.3,394,18512,0.12,2.28,0.00,0.000,4,0.166,0.058,2117,3714,2370
$GC,18551,0.54,136.8,481.6,8.0,394,18555,0.00,2.22,0.00,0.000,6,0.000,0.043,2126,2298,2369
$GC,18872,0.54,136.8,462.3,5.9,400,18876,0.00,2.28,0.00,0.000,4,0.000,0.060,2126,3716,2369
$GC,18922,0.48,136.8,458.9,6.5,400,18927,0.12,2.22,0.00,0.000,6,0.179,0.043,2106,2295,2369
$GC,19232,0.63,157.5,444.9,4.4,405,19253,0.12,0.00,17.90,0.937,6,0.072,0.000,2159,2294,2287
$GC,19536,0.56,157.5,424.4,6.9,410,19540,0.15,2.33,0.00,0.000,4,0.166,0.059,2122,3722,2283
$GC,19568,0.56,157.5,422.0,6.5,410,19572,0.00,2.25,0.00,0.000,6,0.000,0.044,2130,2295,2283
$GC,19902,0.62,157.5,402.3,6.1,416,19903,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2295,2283
$GC,20204,0.68,157.5,383.5,6.2,421,20208,0.00,2.30,0.00,0.000,4,0.000,0.061,2130,3717,2282
$GC,20248,0.68,157.5,380.3,8.2,421,20252,0.00,2.22,0.00,0.000,6,0.000,0.043,2141,2300,2282
$GC,20568,0.68,157.5,358.9,6.7,427,20572,0.00,2.28,0.00,0.000,4,0.000,0.058,2141,3715,2282
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$GC,21398,0.67,158.0,306.1,5.7,440,21402,0.00,2.22,0.00,0.000,6,0.000,0.044,2139,2292,2281
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$GC,24977,0.89,219.5,78.7,5.9,571,24981,0.00,2.25,0.00,0.000,4,0.000,0.056,2189,894,2027
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$GC,25691,0.94,250.7,24.5,3.8,636,25721,0.00,2.30,23.80,0.674,4,0.000,0.058,2195,3710,1909
$GC,25745,0.94,255.3,21.8,5.2,641,25757,0.00,2.22,5.30,0.532,6,0.000,0.041,2205,2292,1889
$STATE,26043,end climb,SURFACE_DEPTH_REACHED
$STATE,26043,begin surface coast
$FINISH,1.0,1.019058
$STATE,26063,end surface coast,CONTROL_FINISHED_OK
$STATE,26063,begin surface
$SM_CCo,26078,33.85,0.653,0,0,1707,300.00
$SM_GC,1.88,0.00,0.00,33.85,0.000,0.000,0.653,104,2291,1707,-8.72,-0.34,300.00
$IRIDIUM_FIX,4949.70,-14449.20,160998,191949
$TT8_MAMPS,0.029146
$HUMID,1607
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.00
$XPDR_PINGS,53
$24V_AH,23.5,8.271
$10V_AH,10.7,4.643
$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,Compass2
$DEVICE_SECS,20.500,193.950,296.900,33.850,0.000,59.498,107.318,204.590,13.250,0.000,0.000,16.645,1526.518,21876.531,479.858,2066.133,710.613,33.352,1507.903,0.000,2062.703,0.000,0.528,0.000
$DEVICE_MAMPS,253.877,73.632,1343.784,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,473.764,541.413,693.264,1152.355,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41130,671
$CAP_FILE_SIZE,168506,0
$CFSIZE,260165632,256479232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230609,021736,5007.839,-14450.055,30,1.4,31,18.5