version: 66.04
glider: 144
mission: 15
dive: 173
start: 8 8 109 9 16 40
data:
$ID,144
$MISSION,15
$DIVE,173
$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,-64348
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,090757,5020.397,-14429.715,32,2.3,52,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-64.9
$GPS2,091544,5020.337,-14429.676,10,1.6,10,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.021,-0.172
$KALMAN_X,-84463.8,60.3,2.4,121511.8,-797.0
$KALMAN_Y,69966.3,-42.9,39.0,-31732.9,-82.3
$MHEAD_RNG_PITCHd_Wd,154.2,48755,-11.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.65,-117.3,0.0,0.0,0,59,0.00,0.00,-41.97,0.000,2,0.000,0.000,100,2297,2698
$GC,61,-0.65,-117.3,3.6,-5.6,4,90,7.15,2.30,-15.95,0.000,4,0.245,0.063,1845,3707,3411
$GC,163,-0.40,-117.3,19.5,-14.4,12,170,0.22,2.20,0.00,0.000,6,0.127,0.031,1911,2294,3412
$GC,490,-0.52,-117.3,45.3,-7.6,43,494,0.10,2.22,0.00,0.000,4,0.066,0.041,1836,888,3414
$GC,590,-0.37,-117.3,57.7,-13.7,51,597,0.30,2.22,0.00,0.000,6,0.118,0.038,1920,2308,3414
$GC,917,-0.55,-117.3,78.5,-5.8,82,922,0.15,2.22,0.00,0.000,4,0.051,0.040,1826,894,3415
$GC,941,-0.55,-117.3,80.5,-8.0,84,945,0.22,2.20,0.00,0.000,6,0.124,0.041,1886,2302,3415
$GC,1272,-0.55,-117.3,106.9,-8.2,100,1276,0.00,2.20,0.00,0.000,4,0.000,0.042,1886,894,3415
$GC,1311,-0.62,-117.3,110.1,-8.2,101,1317,0.00,2.20,0.00,0.000,6,0.000,0.038,1879,2309,3416
$GC,1627,-0.62,-117.3,133.9,-6.8,117,1631,0.00,2.22,0.00,0.000,4,0.000,0.053,1876,3707,3416
$GC,1654,-0.70,-117.3,136.0,-7.5,118,1658,0.10,2.15,0.00,0.000,6,0.064,0.029,1813,2300,3415
$GC,1979,-0.49,-117.3,173.3,-11.4,131,1983,0.25,2.22,0.00,0.000,4,0.121,0.050,1891,894,3415
$GC,2062,-0.67,-117.3,179.2,-6.2,133,2067,0.12,2.20,0.00,0.000,6,0.058,0.042,1809,2308,3415
$GC,2386,-0.51,-117.3,208.4,-8.7,144,2391,0.22,2.22,0.00,0.000,4,0.122,0.050,1876,3709,3414
$GC,2420,-0.64,-117.3,210.5,-5.2,145,2424,0.00,2.17,0.00,0.000,6,0.000,0.035,1877,2295,3415
$GC,2750,-0.78,-117.3,225.3,-4.7,156,2754,0.15,2.25,0.00,0.000,4,0.056,0.049,1772,3707,3413
$GC,2778,-0.60,-117.3,227.6,-9.5,157,2783,0.32,2.15,0.00,0.000,6,0.128,0.031,1871,2304,3413
$GC,3113,-0.70,-117.3,247.5,-5.9,168,3115,0.10,0.00,0.00,0.000,6,0.068,0.000,1805,2304,3413
$GC,3419,-0.55,-117.3,276.0,-9.6,178,3424,0.22,2.22,0.00,0.000,4,0.122,0.044,1880,899,3412
$GC,3463,-0.72,-117.3,279.2,-6.4,179,3468,0.12,2.20,0.00,0.000,6,0.058,0.047,1796,2302,3412
$GC,3812,-0.54,-117.3,312.2,-9.7,189,3814,0.28,0.00,0.00,0.000,6,0.122,0.000,1881,2302,3412
$GC,4114,-0.69,-117.3,327.0,-4.6,194,4116,0.12,0.00,0.00,0.000,6,0.061,0.000,1798,2302,3411
$GC,4417,-0.52,-117.3,354.0,-9.2,199,4421,0.25,2.22,0.00,0.000,4,0.123,0.048,1880,894,3410
$GC,4480,-0.71,-117.3,358.1,-5.8,200,4484,0.12,2.22,0.00,0.000,6,0.059,0.041,1797,2307,3411
$GC,4845,-0.55,-117.3,392.5,-9.5,206,4847,0.28,0.00,0.00,0.000,6,0.122,0.000,1883,2306,3410
$GC,5149,-0.73,-117.3,407.7,-4.9,211,5151,0.15,0.00,0.00,0.000,6,0.055,0.000,1794,2307,3409
$GC,5451,-0.56,-117.3,435.6,-9.4,216,5456,0.25,2.25,0.00,0.000,4,0.121,0.046,1877,893,3409
$GC,5484,-0.72,-117.3,437.9,-5.9,216,5489,0.12,2.22,0.00,0.000,6,0.060,0.046,1803,2305,3409
$GC,5811,-0.59,-117.3,464.8,-8.3,222,5815,0.20,2.25,0.00,0.000,4,0.123,0.044,1870,891,3408
$GC,5851,-0.76,-117.3,467.2,-5.4,222,5856,0.10,2.22,0.00,0.000,6,0.071,0.040,1799,2305,3408
$GC,6172,-0.62,-117.3,493.0,-8.2,228,6174,0.22,0.00,0.00,0.000,6,0.123,0.000,1868,2305,3408
$GC,6475,-0.77,-117.3,508.3,-5.0,233,6477,0.12,0.00,0.00,0.000,6,0.061,0.000,1792,2305,3407
$GC,6778,-0.60,-117.3,534.2,-8.7,238,6783,0.22,2.25,0.00,0.000,4,0.123,0.047,1866,895,3407
$GC,6805,-0.67,-117.3,536.0,-6.1,238,6809,0.00,2.22,0.00,0.000,6,0.000,0.043,1864,2303,3407
$GC,7137,-0.80,-117.3,551.6,-4.6,244,7142,0.12,2.25,0.00,0.000,4,0.061,0.056,1781,3709,3407
$GC,7165,-0.69,-117.3,553.6,-7.8,244,7170,0.22,2.17,0.00,0.000,6,0.125,0.035,1849,2305,3406
$GC,7498,-0.77,-117.3,571.3,-5.2,250,7501,0.00,2.22,0.00,0.000,4,0.000,0.050,1848,898,3406
$GC,7531,-0.86,-117.3,573.3,-6.2,250,7535,0.12,2.20,0.00,0.000,6,0.061,0.047,1777,2304,3406
$GC,7869,-0.65,-117.3,602.4,-8.9,256,7874,0.22,2.25,0.00,0.000,4,0.132,0.050,1852,892,3406
$GC,7908,-0.76,-117.3,605.1,-5.3,256,7912,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2302,3406
$GC,8229,-0.85,-117.3,621.3,-5.1,262,8231,0.12,0.00,0.00,0.000,6,0.059,0.000,1777,2303,3405
$GC,8532,-0.65,-117.3,647.4,-8.8,267,8534,0.28,0.00,0.00,0.000,6,0.125,0.000,1861,2303,3405
$GC,8835,-0.79,-117.3,660.6,-4.1,272,8839,0.12,2.22,0.00,0.000,4,0.061,0.045,1786,896,3405
$GC,8873,-0.62,-117.3,663.2,-8.3,272,8878,0.28,2.22,0.00,0.000,6,0.124,0.046,1865,2304,3405
$GC,9194,-0.78,-117.3,675.9,-3.9,278,9196,0.12,0.00,0.00,0.000,6,0.064,0.000,1793,2304,3405
$GC,9497,-0.66,-117.3,697.5,-7.3,283,9499,0.22,0.00,0.00,0.000,6,0.118,0.000,1862,2304,3405
$GC,9801,-0.81,-117.3,710.6,-4.3,288,9805,0.15,2.28,0.00,0.000,4,0.061,0.057,1781,3722,3405
$GC,9828,-0.72,-117.3,712.4,-6.6,288,9832,0.22,2.20,0.00,0.000,6,0.122,0.034,1850,2297,3404
$GC,10166,-0.83,-117.3,729.9,-5.1,294,10168,0.12,0.00,0.00,0.000,6,0.071,0.000,1789,2296,3404
$GC,10468,-0.68,-117.3,755.3,-8.6,299,10470,0.22,0.00,0.00,0.000,6,0.123,0.000,1857,2296,3404
$GC,10771,-0.83,-117.3,773.3,-5.7,304,10776,0.12,2.22,0.00,0.000,4,0.071,0.048,1801,897,3404
$GC,10792,-0.83,-117.3,774.9,-7.5,304,10797,0.10,2.22,0.00,0.000,6,0.137,0.047,1818,2307,3403
$GC,11136,-0.83,-117.3,799.5,-7.2,310,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2307,3404
$GC,11439,-0.83,-117.3,819.6,-6.6,315,11443,0.00,2.28,0.00,0.000,4,0.000,0.051,1818,891,3404
$GC,11479,-0.83,-117.3,822.4,-7.2,315,11483,0.00,2.25,0.00,0.000,6,0.000,0.048,1810,2313,3403
$GC,11800,-0.78,-117.3,844.0,-6.7,321,11804,0.00,2.28,0.00,0.000,4,0.000,0.054,1810,891,3404
$GC,11844,-0.74,-117.3,847.4,-7.3,321,11849,0.15,2.25,0.00,0.000,6,0.127,0.044,1846,2312,3403
$GC,12161,-0.85,-117.3,863.1,-4.9,327,12163,0.12,0.00,0.00,0.000,6,0.076,0.000,1794,2312,3404
$GC,12462,-0.74,-117.3,884.7,-7.2,332,12464,0.17,0.00,0.00,0.000,6,0.127,0.000,1845,2312,3403
$GC,12766,-0.84,-117.3,899.6,-4.9,337,12767,0.10,0.00,0.00,0.000,6,0.085,0.000,1801,2312,3403
$GC,13069,-0.77,-117.3,919.6,-6.7,342,13074,0.12,2.28,0.00,0.000,4,0.134,0.050,1840,897,3403
$GC,13113,-0.87,-117.3,922.4,-5.8,342,13118,0.10,2.22,0.00,0.000,6,0.082,0.048,1794,2304,3403
$GC,13430,-0.77,-117.3,944.4,-7.1,348,13434,0.15,2.28,0.00,0.000,4,0.134,0.054,1827,3719,3402
$GC,13470,-0.85,-117.3,946.9,-6.4,348,13474,0.00,2.20,0.00,0.000,6,0.000,0.037,1828,2302,3402
$GC,13791,-0.89,-117.3,964.5,-5.5,354,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2302,3402
$GC,14094,-0.94,-117.3,980.5,-5.2,359,14096,0.12,0.00,0.00,0.000,6,0.084,0.000,1777,2302,3402
$STATE,14272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14273,begin apogee
$GC,14278,-0.22,0.0,993.9,6.9,362,14374,0.57,0.00,92.82,1.332,6,0.132,0.000,1956,2302,2931
$STATE,14375,end apogee,CONTROL_FINISHED_OK
$STATE,14375,begin climb
$GC,14377,0.65,117.3,995.2,0.0,363,14484,0.55,2.53,98.75,1.302,4,0.078,0.056,2146,3700,2450
$GC,14505,0.31,117.3,991.3,6.1,365,14510,0.35,2.38,0.00,0.000,6,0.182,0.035,2072,2305,2447
$GC,14871,0.34,135.0,972.9,4.9,371,14890,0.00,2.40,14.50,1.189,4,0.000,0.054,2081,888,2380
$GC,14913,0.39,176.8,970.8,4.2,371,14955,0.00,2.35,37.12,1.258,6,0.000,0.042,2081,2306,2210
$GC,15301,0.43,176.8,949.1,5.6,378,15305,0.00,2.33,0.00,0.000,4,0.000,0.053,2081,3718,2202
$GC,15322,0.43,176.8,947.6,5.9,378,15326,0.00,2.28,0.00,0.000,6,0.000,0.039,2090,2300,2201
$GC,15665,0.43,176.8,927.8,5.8,384,15667,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2301,2200
$GC,15969,0.43,176.8,910.9,5.5,389,15973,0.00,2.33,0.00,0.000,4,0.000,0.055,2090,3721,2200
$GC,16002,0.36,176.8,908.7,6.2,389,16006,0.00,2.25,0.00,0.000,6,0.000,0.041,2100,2303,2199
$GC,16335,0.36,176.8,889.2,5.9,395,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2302,2199
$GC,16637,0.36,176.8,872.1,5.6,400,16641,0.00,2.30,0.00,0.000,4,0.000,0.052,2099,3716,2198
$GC,16665,0.27,176.8,870.3,6.6,400,16669,0.20,2.25,0.00,0.000,6,0.156,0.038,2056,2293,2197
$GC,16997,0.62,196.6,854.9,4.9,406,17019,0.20,2.28,16.15,1.167,4,0.067,0.058,2150,894,2129
$GC,17137,0.45,196.6,845.1,7.0,408,17142,0.20,2.28,0.00,0.000,6,0.146,0.041,2096,2310,2126
$GC,17491,0.46,210.8,826.9,5.1,414,17510,0.00,2.33,13.27,1.125,4,0.000,0.058,2096,3712,2070
$GC,17545,0.47,213.7,823.8,5.4,414,17558,0.00,2.25,4.18,0.759,6,0.000,0.036,2103,2298,2058
$GC,17860,0.47,213.7,806.0,5.6,420,17861,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2298,2056
$GC,18163,0.47,213.7,788.6,5.8,425,18167,0.00,2.30,0.00,0.000,4,0.000,0.057,2103,3713,2055
$GC,18201,0.41,213.7,785.9,6.3,425,18206,0.10,2.25,0.00,0.000,6,0.160,0.035,2090,2292,2055
$GC,18522,0.48,213.7,768.2,5.5,431,18523,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2291,2055
$GC,18826,0.55,217.4,751.9,5.4,436,18832,0.10,0.00,4.38,0.780,6,0.071,0.000,2141,2290,2044
$GC,19128,0.37,217.4,726.1,8.6,441,19133,0.20,2.30,0.00,0.000,4,0.143,0.051,2080,3712,2043
$GC,19161,0.37,217.4,723.7,6.5,441,19165,0.00,2.25,0.00,0.000,6,0.000,0.035,2087,2301,2042
$GC,19495,0.44,219.7,705.4,5.4,447,19496,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2301,2042
$GC,19796,0.54,228.8,689.6,5.2,452,19813,0.10,2.28,11.18,1.024,4,0.074,0.051,2146,3714,1997
$GC,19835,0.34,228.8,686.3,9.1,452,19840,0.30,2.22,0.00,0.000,6,0.148,0.035,2071,2301,1996
$GC,20156,0.72,228.8,668.4,5.9,458,20161,0.22,2.28,0.00,0.000,4,0.061,0.048,2166,888,1994
$GC,20194,0.72,228.8,665.6,7.6,458,20198,0.00,2.25,0.00,0.000,6,0.000,0.040,2165,2305,1994
$GC,20521,0.46,228.8,636.3,9.2,464,20526,0.20,2.25,0.00,0.000,4,0.149,0.051,2105,3709,1994
$GC,20588,0.42,228.8,631.3,6.5,465,20593,0.10,2.20,0.00,0.000,6,0.148,0.037,2089,2296,1994
$GC,20955,0.64,248.9,613.7,4.9,471,20979,0.17,2.30,17.90,1.029,4,0.060,0.055,2175,894,1915
$GC,21021,0.47,248.9,608.7,7.9,472,21025,0.28,2.25,0.00,0.000,6,0.137,0.043,2097,2314,1912
$GC,21392,0.57,249.6,588.2,5.5,478,21396,0.10,2.25,0.00,0.000,4,0.066,0.049,2161,3713,1911
$GC,21430,0.32,249.6,584.6,10.2,478,21435,0.35,2.22,0.00,0.000,6,0.148,0.038,2072,2295,1910
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$STATE,29136,end climb,SURFACE_DEPTH_REACHED
$STATE,29136,begin surface coast
$FINISH,0.9,1.016158
$STATE,29169,end surface coast,CONTROL_FINISHED_OK
$STATE,29169,begin surface
$SM_CCo,29244,0.00,0.000,0,0,1590,328.95
$SM_GC,1.68,5.50,0.00,0.00,0.041,0.000,0.000,99,2305,1590,-8.62,0.06,328.95
$IRIDIUM_FIX,4959.75,-14432.05,021198,090939
$TT8_MAMPS,0.028379
$HUMID,1660
$INTERNAL_PRESSURE,7.45146
$TCM_TEMP,15.40
$XPDR_PINGS,80
$24V_AH,23.0,27.400
$10V_AH,10.7,22.005
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$DEVICE_SECS,30.125,224.750,379.800,0.000,0.000,56.580,71.119,153.574,20.000,0.000,0.000,11.907,1751.598,24474.176,525.519,2257.536,696.376,33.370,1674.695,0.000,2262.601,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,528.648,605.032,775.462,1288.020,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44368,750
$CAP_FILE_SIZE,200917,0
$CFSIZE,260165632,245202944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,080809,172536,5017.052,-14429.093,41,1.2,53,18.6