version: 66.11
glider: 189
mission: 7
dive: 395
start: 1 16 113 13 17 9
data:
$ID,189
$MISSION,7
$DIVE,395
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48150.891
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,160113,130104,2438.000,-3754.660,32,0.8,33,-14.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-60.4
$GPS2,160113,131611,2437.925,-3754.619,20,0.9,20,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.092,-0.077
$KALMAN_X,218318.0,-126.4,-208.9,-205729.0,-495.6
$KALMAN_Y,-53980.1,-348.5,502.2,58109.1,-380.0
$MHEAD_RNG_PITCHd_Wd,144.1,16786,-19.9,-6.667,-29.07
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.26,-97.7,0.0,0.0,0,44,0.00,0.00,-20.80,0.000,2,0.000,0.000,152,2116,1703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.26,-97.7,2.3,0.0,2,105,9.52,2.67,-37.72,0.000,4,0.200,0.052,2578,3738,2720,0,0,0,0,0,0,25.18,25.99,26.66
$GC,398,-1.18,-97.7,25.6,-8.8,37,405,0.15,2.40,0.00,0.000,6,0.147,0.021,2618,2092,2721,0,0,0,0,0,0,25.92,26.37,28.83
$GC,705,-1.15,-97.7,51.0,-8.8,68,714,0.00,2.67,0.00,0.000,4,0.000,0.040,2607,3750,2721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1005,-1.10,-97.7,77.9,-8.8,96,1013,0.10,2.45,0.00,0.000,6,0.127,0.021,2640,2086,2722,0,0,0,0,0,0,26.07,26.47,28.83
$GC,1337,-1.10,-97.7,98.7,-5.4,107,1343,0.00,2.38,0.00,0.000,4,0.000,0.038,2641,546,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1636,-1.07,-97.7,116.0,-5.9,117,1642,0.00,2.45,0.00,0.000,6,0.000,0.023,2630,2188,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1966,-1.07,-97.7,138.8,-7.6,128,1972,0.00,2.53,0.00,0.000,4,0.000,0.036,2630,542,2723,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2055,-1.07,-97.7,145.5,-7.4,131,2063,0.10,2.45,0.00,0.000,6,0.135,0.022,2651,2183,2723,0,0,0,0,0,0,26.05,26.46,28.83
$GC,2386,-1.10,-97.7,161.6,-4.4,138,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2183,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2686,-1.13,-97.7,172.7,-3.8,143,2693,0.00,2.50,0.00,0.000,4,0.000,0.040,2641,3741,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2846,-1.16,-97.7,179.0,-4.7,145,2852,0.00,2.40,0.00,0.000,6,0.000,0.021,2641,2091,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3166,-1.16,-97.7,201.6,-6.6,151,3173,0.00,2.67,0.00,0.000,4,0.000,0.040,2629,3752,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3254,-1.16,-97.7,206.3,-7.1,152,3261,0.00,2.47,0.00,0.000,6,0.000,0.020,2628,2087,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3585,-1.16,-97.7,234.3,-7.5,158,3592,0.00,2.67,0.00,0.000,4,0.000,0.039,2616,3752,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3675,-1.16,-97.7,238.1,-7.1,159,3682,0.00,2.47,0.00,0.000,6,0.000,0.021,2616,2090,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4005,-1.16,-97.7,258.5,-5.4,165,4012,0.00,2.65,0.00,0.000,4,0.000,0.039,2604,3747,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4094,-1.16,-97.7,261.9,-5.5,166,4102,0.00,2.45,0.00,0.000,6,0.000,0.020,2604,2098,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4426,-1.16,-97.7,284.7,-6.5,172,4432,0.00,2.60,0.00,0.000,4,0.000,0.040,2592,3754,2722,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4705,-1.13,-97.7,304.0,-8.1,176,4713,0.12,2.47,0.00,0.000,6,0.120,0.021,2634,2087,2722,0,0,0,0,0,0,26.08,26.51,28.83
$GC,5026,-1.17,-97.7,332.2,-7.8,182,5033,0.00,2.40,0.00,0.000,4,0.000,0.038,2634,551,2722,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5105,-1.19,-97.7,336.4,-7.6,183,5112,0.00,2.45,0.00,0.000,6,0.000,0.023,2624,2195,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5447,-1.22,-97.7,357.8,-5.7,189,5452,0.00,2.55,0.00,0.000,4,0.000,0.037,2624,544,2721,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5485,-1.25,-97.7,357.8,-5.7,189,5493,0.00,2.50,0.00,0.000,6,0.000,0.023,2612,2201,2720,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5805,-1.25,-97.7,384.5,-8.0,195,5812,0.00,2.47,0.00,0.000,4,0.000,0.042,2600,3745,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6048,-1.25,-97.7,407.1,-9.4,199,6053,0.00,2.40,0.00,0.000,6,0.000,0.022,2600,2093,2719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6405,-1.25,-97.7,438.5,-8.4,205,6412,0.00,2.67,0.00,0.000,4,0.000,0.040,2588,3749,2718,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6494,-1.25,-97.7,442.9,-8.0,206,6502,0.00,2.47,0.00,0.000,6,0.000,0.021,2588,2092,2718,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6827,-1.25,-97.7,466.6,-6.4,212,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2093,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7125,-1.25,-97.7,486.6,-6.7,217,7132,0.00,2.67,0.00,0.000,4,0.000,0.041,2576,3745,2717,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7295,-1.25,-97.7,496.2,-7.4,219,7304,0.00,2.47,0.00,0.000,6,0.000,0.021,2576,2095,2716,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7665,-1.25,-97.7,532.9,-8.7,223,7672,0.00,2.67,0.00,0.000,4,0.000,0.041,2564,3751,2715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7785,-1.25,-97.7,543.1,-8.8,224,7793,0.10,2.45,0.00,0.000,6,0.125,0.021,2597,2097,2715,0,0,0,0,0,0,26.08,26.48,28.83
$GC,8146,-1.25,-97.7,569.1,-7.5,227,8152,0.00,2.60,0.00,0.000,4,0.000,0.041,2587,3747,2714,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8265,-1.25,-97.7,578.2,-7.3,228,8273,0.00,2.45,0.00,0.000,6,0.000,0.022,2587,2106,2714,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8625,-1.25,-97.7,607.2,-7.9,231,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2106,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8986,-1.25,-97.7,641.6,-9.3,234,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2106,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9345,-1.25,-97.7,675.1,-9.5,237,9352,0.00,2.67,0.00,0.000,4,0.000,0.041,2575,3751,2711,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9404,-1.25,-97.7,675.1,-9.5,237,9412,0.00,2.47,0.00,0.000,6,0.000,0.022,2574,2103,2711,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9825,-1.25,-97.7,709.0,-7.0,241,9832,0.00,2.65,0.00,0.000,4,0.000,0.041,2562,3745,2710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9955,-1.25,-97.7,716.5,-6.6,242,9963,0.10,2.45,0.00,0.000,6,0.127,0.022,2595,2098,2709,0,0,0,0,0,0,26.06,26.46,28.83
$GC,10306,-1.25,-97.7,739.1,-6.2,245,10312,0.00,2.65,0.00,0.000,4,0.000,0.041,2585,3744,2708,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10395,-1.25,-97.7,739.1,-6.2,245,10402,0.00,2.45,0.00,0.000,6,0.000,0.022,2585,2105,2708,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10786,-1.28,-97.7,778.5,-8.2,249,10792,0.00,2.45,0.00,0.000,4,0.000,0.040,2585,551,2707,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10854,-1.30,-97.7,778.5,-8.2,249,10862,0.00,2.50,0.00,0.000,6,0.000,0.024,2573,2198,2707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11266,-1.30,-97.7,818.1,-8.2,253,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2198,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11625,-1.30,-97.7,847.0,-8.0,256,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2198,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11986,-1.33,-97.7,879.2,-8.7,259,11992,0.00,2.62,0.00,0.000,4,0.000,0.040,2573,555,2703,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12037,-1.35,-97.7,879.2,-8.7,259,12042,0.00,2.47,0.00,0.000,6,0.000,0.026,2561,2185,2703,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12345,-1.35,-97.7,915.2,-9.9,262,12353,0.00,2.55,0.00,0.000,4,0.000,0.044,2549,3748,2702,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12414,-1.35,-97.7,915.2,-9.9,262,12422,0.00,2.50,0.00,0.000,6,0.000,0.024,2550,2097,2702,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12825,-1.35,-97.7,960.2,-9.4,266,12833,0.00,2.67,0.00,0.000,4,0.000,0.043,2538,3741,2700,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12965,-1.35,-97.7,971.0,-9.1,267,12973,0.00,2.50,0.00,0.000,6,0.000,0.024,2538,2096,2700,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,13182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13182,begin apogee
$GC,13190,-0.29,0.0,990.3,-8.5,269,13284,1.17,0.00,85.97,1.672,6,0.132,0.000,2900,1576,2320,0,0,0,0,0,0,25.14,28.83,23.04
$STATE,13286,end apogee,CONTROL_FINISHED_OK
$STATE,13286,begin climb
$GC,13290,1.26,97.7,993.5,0.0,274,13388,1.42,2.10,91.50,1.662,4,0.063,0.048,3418,355,1920,0,0,0,0,0,0,25.27,24.86,23.06
$GC,13467,1.09,97.7,987.4,7.3,283,13476,0.22,1.98,0.00,0.000,6,0.161,0.023,3356,1651,1915,0,0,0,0,0,0,25.44,25.89,28.83
$GC,13857,1.00,97.7,960.1,6.8,288,13859,0.12,0.00,0.00,0.000,6,0.177,0.000,3325,1651,1908,0,0,0,0,0,0,26.11,28.83,28.83
$GC,14218,0.96,113.4,939.2,5.9,291,14235,0.00,2.15,13.02,1.525,4,0.000,0.049,3333,350,1859,0,0,0,0,0,0,28.83,26.01,24.00
$GC,14347,0.93,133.3,932.3,5.7,292,14376,0.08,1.95,19.70,1.569,6,0.146,0.024,3309,1650,1775,0,0,0,0,0,0,25.96,26.29,23.80
$GC,14700,0.94,159.2,913.0,5.5,295,14729,0.00,2.60,24.12,1.594,4,0.000,0.037,3308,3205,1671,0,0,0,0,0,0,28.83,25.64,23.80
$GC,14788,0.95,185.1,913.0,5.5,295,14818,0.00,2.58,25.25,1.577,6,0.000,0.031,3319,1577,1564,0,0,0,0,0,0,28.83,25.93,23.59
$GC,15158,0.95,185.1,880.2,7.1,299,15165,0.00,1.98,0.00,0.000,4,0.000,0.050,3329,356,1559,0,0,0,0,0,0,28.83,26.11,28.83
$GC,15307,0.95,185.1,870.0,7.6,300,15315,0.00,1.95,0.00,0.000,6,0.000,0.024,3329,1651,1557,0,0,0,0,0,0,28.83,26.40,28.83
$GC,15638,0.95,185.1,841.5,8.1,303,15645,0.00,2.12,0.00,0.000,4,0.000,0.048,3338,346,1556,0,0,0,0,0,0,28.83,26.21,28.83
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$GC,20934,1.11,185.1,411.5,9.5,356,20935,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1654,1552,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25612,end climb,SURFACE_DEPTH_REACHED
$STATE,25612,begin surface coast
$FINISH,1.3,1.011780
$STATE,25643,end surface coast,CONTROL_FINISHED_OK
$STATE,25643,begin surface
$SM_CCo,25671,51.05,0.128,0,0,1095,300.00
$SM_GC,1.94,8.57,2.83,51.05,0.037,0.030,0.128,151,2177,1095,-8.82,-0.79,300.00,0,0,0,0,0,0,26.26,26.21,25.12
$IRIDIUM_FIX,2437.06,-3937.40,160113,131315
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.61
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.00
$XPDR_PINGS,1
$SC_FREEKB,7618176
$TM_FREEKB,4930176
$24V_AH,23.0,69.829
$10V_AH,9.8,61.178
$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,22.225,223.100,259.575,51.050,0.000,100.693,97.353,294.316,0.250,0.000,21.596,2182.839,20896.994,716.668,2278.355,539.099,33.266,1690.103,0.000,1668.511,0.000,0.536,0.000
$DEVICE_MAMPS,199.665,96.390,1672.290,127.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25654.000,2720.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.796,13.431,0.000,0.000
$MEM,343692
$DATA_FILE_SIZE,13410,514
$CAP_FILE_SIZE,194571,0
$CFSIZE,260034560,214687744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160113,202704,2436.770,-3753.018,32,0.8,33,-14.0