version: 66.04
glider: 144
mission: 15
dive: 207
start: 8 18 109 19 52 14
data:
$ID,144
$MISSION,15
$DIVE,207
$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,-64971.238
$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,31
$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
$GPS1,194538,4959.424,-14506.948,38,1.2,39,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.6
$GPS2,195120,4959.419,-14506.968,15,1.1,15,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,0.092
$KALMAN_X,1533.2,-392.0,-200.8,3339.7,399.1
$KALMAN_Y,5449.8,-159.5,-75.7,-45141.3,1015.1
$MHEAD_RNG_PITCHd_Wd,38.5,24270,-12.3,-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,-0.68,-117.3,0.0,0.0,0,56,0.00,0.00,-37.15,0.000,2,0.000,0.000,100,2304,2779
$GC,58,-0.68,-117.3,4.0,-6.6,4,85,7.10,2.30,-12.95,0.000,4,0.242,0.069,1840,3713,3414
$GC,339,-0.56,-117.3,45.6,-11.1,29,344,0.15,2.17,0.00,0.000,6,0.120,0.030,1883,2290,3416
$GC,668,-0.61,-117.3,72.6,-8.7,59,672,0.00,2.17,0.00,0.000,4,0.000,0.041,1883,895,3418
$GC,718,-0.69,-117.3,77.6,-9.1,63,725,0.10,2.20,0.00,0.000,6,0.064,0.037,1809,2315,3418
$GC,1035,-0.46,-117.3,115.9,-11.8,80,1040,0.28,2.22,0.00,0.000,4,0.130,0.041,1898,895,3418
$GC,1102,-0.63,-117.3,121.3,-7.1,83,1106,0.10,2.20,0.00,0.000,6,0.066,0.038,1822,2309,3419
$GC,1433,-0.52,-117.3,154.1,-8.7,99,1438,0.17,2.20,0.00,0.000,4,0.125,0.041,1880,891,3419
$GC,1477,-0.69,-117.3,157.1,-6.0,100,1482,0.10,2.20,0.00,0.000,6,0.066,0.039,1808,2303,3419
$GC,1795,-0.55,-117.3,184.1,-8.7,111,1797,0.25,0.00,0.00,0.000,6,0.118,0.000,1885,2303,3418
$GC,2101,-0.73,-117.3,201.0,-5.2,121,2106,0.15,2.20,0.00,0.000,4,0.052,0.044,1789,895,3418
$GC,2164,-0.55,-117.3,206.6,-9.9,123,2169,0.32,2.20,0.00,0.000,6,0.124,0.041,1880,2311,3418
$GC,2499,-0.73,-117.3,224.9,-5.6,134,2501,0.15,0.00,0.00,0.000,6,0.053,0.000,1788,2311,3417
$GC,2805,-0.54,-117.3,256.5,-10.4,144,2810,0.28,2.22,0.00,0.000,4,0.124,0.044,1879,896,3417
$GC,2861,-0.74,-117.3,260.5,-5.2,145,2868,0.12,2.20,0.00,0.000,6,0.058,0.041,1803,2307,3417
$GC,3174,-0.62,-117.3,287.3,-8.8,156,3178,0.20,2.22,0.00,0.000,4,0.121,0.051,1862,3709,3416
$GC,3212,-0.80,-117.3,289.9,-5.8,157,3217,0.12,2.15,0.00,0.000,6,0.061,0.031,1781,2295,3417
$GC,3564,-0.59,-117.3,325.0,-10.3,165,3569,0.28,2.20,0.00,0.000,4,0.126,0.050,1870,890,3416
$GC,3636,-0.76,-117.3,329.8,-5.9,166,3640,0.10,2.20,0.00,0.000,6,0.067,0.041,1795,2308,3415
$GC,3996,-0.62,-117.3,362.2,-9.4,172,3998,0.22,0.00,0.00,0.000,6,0.123,0.000,1863,2308,3415
$GC,4299,-0.76,-117.3,380.1,-5.8,177,4301,0.12,0.00,0.00,0.000,6,0.060,0.000,1786,2308,3415
$GC,4602,-0.60,-117.3,409.6,-10.0,182,4607,0.25,2.22,0.00,0.000,4,0.121,0.046,1869,897,3414
$GC,4658,-0.79,-117.3,413.6,-6.2,182,4665,0.12,2.20,0.00,0.000,6,0.061,0.040,1792,2311,3414
$GC,4968,-0.66,-117.3,441.5,-9.2,188,4970,0.22,0.00,0.00,0.000,6,0.122,0.000,1861,2310,3413
$GC,5271,-0.80,-117.3,457.3,-5.0,193,5275,0.12,2.22,0.00,0.000,4,0.058,0.049,1787,896,3413
$GC,5304,-0.66,-117.3,459.8,-8.0,193,5309,0.25,2.20,0.00,0.000,6,0.127,0.045,1856,2305,3412
$GC,5630,-0.78,-117.3,476.5,-4.9,199,5632,0.10,0.00,0.00,0.000,6,0.071,0.000,1793,2305,3412
$GC,5934,-0.66,-117.3,501.8,-8.6,204,5938,0.20,2.22,0.00,0.000,4,0.121,0.046,1857,897,3412
$GC,6000,-0.82,-117.3,506.1,-6.0,205,6005,0.10,2.20,0.00,0.000,6,0.068,0.044,1782,2308,3412
$GC,6360,-0.66,-117.3,537.6,-8.9,211,6362,0.25,0.00,0.00,0.000,6,0.123,0.000,1858,2308,3411
$GC,6664,-0.81,-117.3,552.2,-4.7,216,6666,0.12,0.00,0.00,0.000,6,0.059,0.000,1783,2308,3411
$GC,6967,-0.66,-117.3,578.7,-9.0,221,6971,0.20,2.20,0.00,0.000,4,0.123,0.048,1851,900,3411
$GC,7016,-0.81,-117.3,582.3,-6.5,221,7021,0.10,2.20,0.00,0.000,6,0.069,0.045,1788,2306,3410
$GC,7326,-0.68,-117.3,610.0,-9.2,226,7328,0.22,0.00,0.00,0.000,6,0.122,0.000,1857,2307,3410
$GC,7630,-0.84,-117.3,627.1,-5.4,231,7635,0.12,2.22,0.00,0.000,4,0.060,0.052,1782,894,3410
$GC,7657,-0.76,-117.3,629.4,-8.4,231,7661,0.22,2.20,0.00,0.000,6,0.127,0.041,1839,2314,3410
$GC,7995,-0.85,-117.3,649.8,-6.0,237,7996,0.10,0.00,0.00,0.000,6,0.074,0.000,1781,2314,3410
$GC,8298,-0.70,-117.3,675.6,-8.6,242,8302,0.20,2.25,0.00,0.000,4,0.124,0.050,1847,892,3410
$GC,8347,-0.84,-117.3,678.8,-5.7,242,8352,0.12,2.22,0.00,0.000,6,0.061,0.042,1775,2312,3409
$GC,8657,-0.68,-117.3,704.7,-8.5,247,8659,0.25,0.00,0.00,0.000,6,0.126,0.000,1851,2312,3409
$GC,8961,-0.82,-117.3,719.4,-4.7,252,8963,0.12,0.00,0.00,0.000,6,0.064,0.000,1782,2312,3409
$GC,9263,-0.69,-117.3,745.6,-8.9,257,9268,0.20,2.25,0.00,0.000,4,0.122,0.051,1846,894,3409
$GC,9307,-0.83,-117.3,748.9,-6.5,257,9311,0.00,2.22,0.00,0.000,6,0.000,0.041,1839,2315,3408
$GC,9622,-0.93,-117.3,767.4,-5.9,263,9624,0.15,0.00,0.00,0.000,6,0.064,0.000,1767,2315,3408
$GC,9925,-0.75,-117.3,795.2,-9.3,268,9930,0.20,2.22,0.00,0.000,4,0.131,0.054,1833,901,3408
$GC,9987,-0.83,-117.3,799.5,-6.5,269,9991,0.00,2.20,0.00,0.000,6,0.000,0.048,1825,2303,3408
$GC,10353,-0.87,-117.3,821.0,-5.8,275,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2303,3408
$GC,10657,-0.92,-117.3,838.4,-5.7,280,10659,0.10,0.00,0.00,0.000,6,0.081,0.000,1774,2303,3407
$GC,10960,-0.77,-117.3,862.8,-8.2,285,10965,0.17,2.25,0.00,0.000,4,0.129,0.054,1830,894,3407
$GC,11010,-0.85,-117.3,866.3,-5.8,285,11014,0.00,2.22,0.00,0.000,6,0.000,0.044,1823,2308,3407
$GC,11320,-0.90,-117.3,885.1,-6.1,290,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2308,3407
$GC,11623,-0.95,-117.3,905.1,-6.7,295,11627,0.10,2.25,0.00,0.000,4,0.083,0.048,1775,897,3407
$GC,11672,-0.79,-117.3,909.7,-9.8,295,11677,0.22,2.22,0.00,0.000,6,0.135,0.049,1830,2311,3407
$GC,11982,-0.88,-117.3,929.2,-6.2,300,11984,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2310,3407
$GC,12285,-0.97,-117.3,948.3,-6.4,305,12290,0.15,2.25,0.00,0.000,4,0.074,0.051,1771,899,3407
$GC,12330,-0.80,-117.3,952.3,-9.4,305,12335,0.22,2.22,0.00,0.000,6,0.138,0.042,1825,2313,3407
$GC,12647,-0.87,-117.3,973.2,-6.5,311,12651,0.00,2.25,0.00,0.000,4,0.000,0.050,1825,900,3407
$GC,12679,-0.93,-117.3,975.6,-6.3,311,12684,0.10,2.20,0.00,0.000,6,0.086,0.050,1779,2301,3407
$STATE,12887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12887,begin apogee
$GC,12893,-0.22,0.0,992.3,8.1,315,12990,0.57,0.00,94.45,1.330,6,0.133,0.000,1956,2302,2931
$STATE,12991,end apogee,CONTROL_FINISHED_OK
$STATE,12991,begin climb
$GC,12993,0.68,117.3,993.6,0.0,316,13100,0.57,2.50,100.07,1.301,4,0.077,0.060,2150,3707,2451
$GC,13111,0.40,117.3,990.8,6.4,318,13116,0.30,2.35,0.00,0.000,6,0.181,0.035,2091,2317,2449
$GC,13427,0.36,130.1,974.6,5.1,324,13440,0.00,0.00,10.68,1.134,6,0.000,0.000,2091,2317,2400
$GC,13730,0.37,137.9,958.7,5.2,329,13740,0.00,0.00,8.18,1.075,6,0.000,0.000,2091,2317,2368
$GC,14033,0.38,146.2,942.9,5.2,334,14043,0.00,0.00,8.23,1.073,6,0.000,0.000,2091,2317,2335
$GC,14336,0.40,161.0,927.6,5.0,339,14352,0.00,0.00,14.27,1.177,6,0.000,0.000,2091,2317,2274
$GC,14639,0.41,165.2,911.5,5.4,344,14646,0.00,0.00,4.75,0.867,6,0.000,0.000,2091,2317,2257
$GC,14942,0.41,165.2,894.3,5.7,349,14943,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2317,2255
$GC,15245,0.41,165.2,877.5,5.5,354,15249,0.00,2.25,0.00,0.000,4,0.000,0.054,2084,3713,2254
$GC,15272,0.41,165.2,875.6,6.8,354,15276,0.00,2.20,0.00,0.000,6,0.000,0.036,2093,2296,2253
$GC,15604,0.41,165.2,857.0,5.6,360,15608,0.00,2.28,0.00,0.000,4,0.000,0.052,2092,3712,2253
$GC,15637,0.34,165.2,854.9,6.9,360,15642,0.12,2.17,0.00,0.000,6,0.158,0.041,2071,2303,2253
$GC,15970,0.58,177.5,838.4,5.1,366,15989,0.17,2.33,11.50,1.111,4,0.065,0.058,2143,3713,2207
$GC,16118,0.31,177.5,825.9,9.4,368,16123,0.32,2.20,0.00,0.000,6,0.157,0.037,2063,2303,2205
$GC,16467,0.64,200.5,809.7,4.7,374,16494,0.20,2.28,21.08,1.158,4,0.062,0.052,2159,895,2112
$GC,16603,0.47,200.5,800.2,8.0,376,16608,0.20,2.25,0.00,0.000,6,0.143,0.044,2105,2305,2109
$GC,16963,0.48,205.9,780.4,5.3,382,16973,0.00,2.25,5.62,0.891,4,0.000,0.054,2105,3712,2089
$GC,17018,0.44,205.9,776.7,6.0,382,17025,0.00,2.22,0.00,0.000,6,0.000,0.037,2113,2306,2089
$GC,17328,0.44,205.9,756.6,6.5,388,17332,0.00,2.25,0.00,0.000,4,0.000,0.050,2123,891,2088
$GC,17351,0.44,205.9,755.1,6.3,388,17355,0.12,2.25,0.00,0.000,6,0.131,0.045,2090,2314,2088
$GC,17688,0.53,205.9,735.4,5.8,394,17693,0.10,2.22,0.00,0.000,4,0.067,0.051,2144,3709,2088
$GC,17717,0.39,205.9,733.1,9.0,394,17722,0.25,2.17,0.00,0.000,6,0.151,0.041,2085,2300,2088
$GC,18049,0.50,205.9,713.7,5.7,400,18053,0.08,2.22,0.00,0.000,4,0.081,0.055,2145,893,2087
$GC,18070,0.50,205.9,712.2,6.8,400,18075,0.10,2.25,0.00,0.000,6,0.127,0.044,2098,2306,2087
$GC,18414,0.56,205.9,692.5,5.6,406,18418,0.08,2.22,0.00,0.000,4,0.081,0.050,2149,3710,2087
$GC,18458,0.32,205.9,688.5,10.3,406,18463,0.32,2.17,0.00,0.000,6,0.148,0.034,2067,2294,2086
$GC,18775,0.67,205.9,671.1,5.7,412,18779,0.20,2.22,0.00,0.000,4,0.059,0.048,2155,885,2086
$GC,18866,0.54,205.9,664.6,6.9,413,18870,0.15,2.22,0.00,0.000,6,0.137,0.046,2115,2304,2086
$GC,19202,0.54,205.9,642.8,6.4,419,19206,0.00,2.22,0.00,0.000,4,0.000,0.054,2116,3709,2086
$GC,19271,0.45,205.9,637.5,7.9,420,19276,0.12,2.15,0.00,0.000,6,0.144,0.040,2091,2306,2086
$GC,19642,0.55,211.1,617.2,5.3,426,19653,0.10,2.22,5.38,0.814,4,0.066,0.048,2165,886,2069
$GC,19675,0.40,211.1,614.7,7.5,426,19680,0.28,2.22,0.00,0.000,6,0.137,0.044,2086,2308,2069
$GC,20002,0.56,229.2,598.3,4.9,432,20027,0.12,2.30,16.98,1.014,4,0.058,0.054,2160,3712,1996
$GC,20068,0.30,229.2,592.2,11.8,433,20072,0.38,2.20,0.00,0.000,6,0.150,0.034,2063,2296,1994
$GC,20433,0.89,229.2,567.3,7.3,439,20438,0.35,2.28,0.00,0.000,4,0.069,0.051,2191,3709,1990
$GC,20489,0.55,229.2,561.7,12.5,439,20496,0.30,2.17,0.00,0.000,6,0.163,0.035,2120,2301,1990
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$GC,20832,0.55,229.2,534.1,8.3,445,20836,0.00,2.15,0.00,0.000,6,0.000,0.033,2127,2302,1990
$GC,21166,0.51,229.2,505.4,8.6,451,21170,0.00,2.25,0.00,0.000,4,0.000,0.053,2127,3710,1990
$GC,21193,0.43,229.2,502.7,9.8,451,21198,0.17,2.17,0.00,0.000,6,0.136,0.034,2087,2294,1990
$GC,21526,0.74,229.2,479.6,7.1,457,21530,0.20,2.20,0.00,0.000,4,0.057,0.045,2176,891,1990
$GC,21637,0.57,229.2,469.5,9.8,458,21641,0.20,2.20,0.00,0.000,6,0.138,0.040,2120,2307,1990
$GC,21957,0.57,229.2,448.4,6.4,464,21960,0.00,2.22,0.00,0.000,4,0.000,0.055,2121,3710,1990
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$STATE,28056,end climb,SURFACE_DEPTH_REACHED
$STATE,28056,begin surface coast
$FINISH,1.2,1.014524
$STATE,28068,end surface coast,CONTROL_FINISHED_OK
$STATE,28068,begin surface
$SM_CCo,28144,0.00,0.000,0,0,1377,381.20
$SM_GC,2.00,6.03,0.00,0.00,0.044,0.000,0.000,99,2293,1377,-8.61,-0.28,381.20
$IRIDIUM_FIX,4939.69,-14508.15,121198,111108
$TT8_MAMPS,0.029146
$HUMID,1689
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.20
$XPDR_PINGS,73
$24V_AH,22.8,31.694
$10V_AH,10.7,25.856
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$DEVICE_SECS,30.975,226.750,426.325,0.000,0.000,25.274,30.538,158.750,18.250,0.000,0.000,16.707,1672.774,23376.951,575.684,2247.547,603.257,33.357,1724.654,0.000,2235.723,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,491.673,560.328,714.436,1189.395,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41266,693
$CAP_FILE_SIZE,197796,0
$CFSIZE,260165632,242708480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190809,034236,5001.378,-14502.999,35,1.4,40,18.5