version: 66.11
glider: 189
mission: 7
dive: 519
start: 2 23 113 0 21 25
data:
$ID,189
$MISSION,7
$DIVE,519
$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,-48307.109
$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
$GPS1,230213,001058,2430.435,-3747.411,40,0.8,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-59.0
$GPS2,230213,002023,2430.563,-3747.362,20,1.5,20,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.037,-0.114
$KALMAN_X,161886.1,201.7,-536.0,-137079.0,-338.8
$KALMAN_Y,91932.3,-370.7,-354.2,-100563.6,4226.6
$MHEAD_RNG_PITCHd_Wd,211.9,1650,-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,-97.7,0.0,0.0,0,34,0.00,0.00,-10.23,0.000,2,0.000,0.000,152,2130,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,104,9.27,2.60,-50.88,0.000,4,0.187,0.051,2592,548,2719,0,0,0,0,0,0,25.25,25.94,26.70
$GC,255,-1.16,-97.7,11.5,-8.4,23,263,0.12,2.50,0.00,0.000,6,0.135,0.024,2621,2192,2721,0,0,0,0,0,0,25.75,26.25,28.83
$GC,565,-1.16,-97.7,33.4,-7.2,54,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2195,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,865,-1.16,-97.7,55.3,-7.1,84,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2192,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1185,-1.16,-97.7,80.7,-8.6,112,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2192,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-1.16,-97.7,105.0,-7.7,122,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2192,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1785,-1.16,-97.7,126.2,-6.8,132,1791,0.00,2.60,0.00,0.000,4,0.000,0.037,2621,549,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1845,-1.16,-97.7,130.5,-7.0,134,1851,0.00,2.42,0.00,0.000,6,0.000,0.024,2611,2194,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2205,-1.16,-97.7,155.6,-6.9,145,2211,0.00,2.53,0.00,0.000,4,0.000,0.041,2599,3750,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2304,-1.16,-97.7,159.8,-7.0,146,2311,0.00,2.47,0.00,0.000,6,0.000,0.020,2599,2095,2724,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2626,-1.16,-97.7,184.9,-6.7,152,2631,0.00,2.40,0.00,0.000,4,0.000,0.037,2599,542,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2736,-1.14,-97.7,188.8,-6.6,153,2744,0.17,2.45,0.00,0.000,6,0.145,0.024,2635,2203,2724,0,0,0,0,0,0,25.86,26.37,28.83
$GC,3046,-1.17,-97.7,213.9,-7.1,159,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2203,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3345,-1.20,-97.7,236.0,-7.3,164,3351,0.00,2.55,0.00,0.000,4,0.000,0.036,2635,545,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3454,-1.23,-97.7,240.5,-7.3,165,3463,0.00,2.47,0.00,0.000,6,0.000,0.023,2624,2191,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3766,-1.26,-97.7,266.8,-7.2,171,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2191,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4066,-1.29,-97.7,284.9,-5.9,176,4072,0.12,2.55,0.00,0.000,4,0.082,0.036,2557,542,2724,0,0,0,0,0,0,26.62,26.15,28.83
$GC,4215,-1.29,-97.7,292.0,-5.7,178,4222,0.10,2.47,0.00,0.000,6,0.136,0.024,2577,2186,2724,0,0,0,0,0,0,25.94,26.38,28.83
$GC,4545,-1.26,-97.7,312.9,-6.0,184,4551,0.00,2.50,0.00,0.000,4,0.000,0.041,2568,3751,2725,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4614,-1.23,-97.7,316.9,-6.2,185,4622,0.10,2.45,0.00,0.000,6,0.131,0.021,2600,2085,2725,0,0,0,0,0,0,26.01,26.44,28.83
$GC,4966,-1.23,-97.7,340.9,-6.8,191,4971,0.00,2.38,0.00,0.000,4,0.000,0.037,2600,538,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5065,-1.23,-97.7,345.6,-7.1,192,5071,0.00,2.47,0.00,0.000,6,0.000,0.024,2590,2185,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5385,-1.23,-97.7,378.1,-9.4,198,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2185,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,-1.23,-97.7,406.5,-9.4,203,5691,0.00,2.50,0.00,0.000,4,0.000,0.041,2578,3755,2722,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5774,-1.23,-97.7,411.9,-9.2,204,5781,0.00,2.47,0.00,0.000,6,0.000,0.021,2578,2101,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6105,-1.23,-97.7,440.8,-7.7,210,6111,0.00,2.67,0.00,0.000,4,0.000,0.040,2566,3748,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6175,-1.23,-97.7,445.2,-7.6,211,6182,0.10,2.45,0.00,0.000,6,0.129,0.021,2599,2089,2721,0,0,0,0,0,0,26.01,26.43,28.83
$GC,6525,-1.23,-97.7,468.3,-6.3,217,6531,0.00,2.40,0.00,0.000,4,0.000,0.037,2599,547,2721,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6675,-1.23,-97.7,476.6,-6.5,219,6681,0.00,2.47,0.00,0.000,6,0.000,0.024,2589,2188,2720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7005,-1.23,-97.7,503.9,-7.8,225,7011,0.00,2.58,0.00,0.000,4,0.000,0.037,2589,548,2719,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7064,-1.23,-97.7,503.9,-7.8,225,7071,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2193,2719,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7485,-1.23,-97.7,545.8,-8.7,229,7491,0.00,2.60,0.00,0.000,4,0.000,0.037,2577,543,2718,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7644,-1.23,-97.7,556.5,-8.7,230,7652,0.15,2.53,0.00,0.000,6,0.152,0.024,2604,2198,2717,0,0,0,0,0,0,25.90,26.34,28.83
$GC,7965,-1.23,-97.7,586.8,-8.5,233,7971,0.00,2.60,0.00,0.000,4,0.000,0.037,2605,552,2717,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8044,-1.23,-97.7,586.8,-8.5,233,8052,0.00,2.47,0.00,0.000,6,0.000,0.024,2594,2186,2714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8445,-1.27,-97.7,623.9,-7.7,237,8451,0.00,2.62,0.00,0.000,4,0.000,0.038,2594,542,2715,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8604,-1.29,-97.7,632.6,-7.4,238,8611,0.00,2.50,0.00,0.000,6,0.000,0.024,2582,2182,2715,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8926,-1.32,-97.7,657.8,-7.1,241,8931,0.00,2.55,0.00,0.000,4,0.000,0.038,2582,542,2713,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8994,-1.34,-97.7,657.8,-7.1,241,9001,0.00,2.58,0.00,0.000,6,0.000,0.025,2570,2192,2713,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9405,-1.34,-97.7,691.8,-7.1,245,9411,0.00,2.62,0.00,0.000,4,0.000,0.038,2570,542,2712,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9555,-1.34,-97.7,701.0,-7.2,246,9561,0.00,2.50,0.00,0.000,6,0.000,0.025,2558,2186,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9885,-1.34,-97.7,729.0,-7.8,249,9891,0.00,2.60,0.00,0.000,4,0.000,0.038,2558,544,2711,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9974,-1.34,-97.7,729.0,-7.8,249,9982,0.00,2.53,0.00,0.000,6,0.000,0.024,2546,2193,2710,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10366,-1.34,-97.7,763.6,-7.2,253,10371,0.00,2.58,0.00,0.000,4,0.000,0.039,2546,540,2707,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10485,-1.34,-97.7,771.8,-6.8,254,10492,0.10,2.50,0.00,0.000,6,0.139,0.025,2565,2183,2709,0,0,0,0,0,0,25.87,26.32,28.83
$GC,10846,-1.34,-97.7,794.5,-6.4,257,10852,0.00,2.58,0.00,0.000,4,0.000,0.040,2566,539,2708,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10924,-1.34,-97.7,794.5,-6.4,257,10932,0.00,2.53,0.00,0.000,6,0.000,0.024,2555,2193,2707,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11325,-1.34,-97.7,835.9,-8.6,261,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2193,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11685,-1.34,-97.7,873.6,-10.2,264,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2193,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12045,-1.34,-97.7,908.6,-10.0,267,12052,0.00,2.65,0.00,0.000,4,0.000,0.041,2552,542,2706,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12144,-1.34,-97.7,908.6,-10.0,267,12151,0.00,2.55,0.00,0.000,6,0.000,0.026,2543,2192,2704,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12525,-1.34,-97.7,943.9,-7.3,271,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2193,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12886,-1.34,-97.7,966.8,-6.4,274,12892,0.00,2.60,0.00,0.000,4,0.000,0.041,2543,545,2702,0,0,0,0,0,0,28.83,25.95,28.83
$GC,13104,-1.34,-97.7,975.5,-6.6,275,13112,0.10,2.50,0.00,0.000,6,0.139,0.026,2562,2178,2701,0,0,0,0,0,0,25.79,26.24,28.83
$STATE,13241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13241,begin apogee
$GC,13251,-0.29,0.0,992.8,-7.1,277,13344,1.08,0.05,85.80,1.643,6,0.123,0.126,2901,1624,2319,0,0,0,0,0,0,25.00,24.73,22.98
$STATE,13346,end apogee,CONTROL_FINISHED_OK
$STATE,13346,begin climb
$GC,13349,1.26,97.7,996.4,0.0,282,13452,1.40,2.72,91.60,1.629,4,0.061,0.035,3404,3207,1921,0,0,0,0,0,0,25.31,25.02,23.01
$GC,13494,1.20,169.9,994.6,3.3,289,13566,0.08,2.60,65.97,1.618,6,0.163,0.030,3395,1582,1628,0,0,0,0,0,0,25.44,25.72,23.18
$GC,13976,1.12,169.9,954.1,8.5,299,13983,0.12,1.98,0.00,0.000,4,0.176,0.049,3371,356,1617,0,0,0,0,0,0,26.10,26.11,28.83
$GC,14046,1.03,169.9,954.1,8.5,299,14053,0.10,1.92,0.00,0.000,6,0.146,0.024,3340,1649,1616,0,0,0,0,0,0,25.96,26.38,28.83
$GC,14456,1.00,169.9,917.7,7.6,303,14462,0.00,2.10,0.00,0.000,4,0.000,0.048,3348,355,1614,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14596,0.98,169.9,908.3,7.5,304,14603,0.10,1.92,0.00,0.000,6,0.139,0.025,3316,1645,1614,0,0,0,0,0,0,26.01,26.44,28.83
$GC,14935,0.98,169.9,882.2,7.4,307,14942,0.00,2.53,0.00,0.000,4,0.000,0.036,3316,3203,1613,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15055,0.98,169.9,872.9,7.4,308,15062,0.00,2.53,0.00,0.000,6,0.000,0.031,3327,1582,1613,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,18656,1.00,172.6,606.1,6.5,338,18662,0.00,1.98,0.00,0.000,4,0.000,0.048,3338,356,1607,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,25592,end climb,SURFACE_DEPTH_REACHED
$STATE,25592,begin surface coast
$FINISH,1.4,1.025761
$STATE,25613,end surface coast,CONTROL_FINISHED_OK
$STATE,25613,begin surface
$SM_CCo,25639,47.00,0.124,0,0,1093,300.00
$SM_GC,2.20,8.55,2.85,47.00,0.035,0.026,0.124,153,2176,1093,-8.84,-0.51,300.00,0,0,0,0,0,0,26.28,26.25,25.40
$IRIDIUM_FIX,2411.01,-3822.98,220213,171731
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.75
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7570528
$TM_FREEKB,4396480
$24V_AH,23.0,87.336
$10V_AH,10.1,77.493
$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,22.250,221.300,265.000,47.000,0.000,27.561,35.609,194.253,0.000,0.000,22.032,2162.834,20728.381,699.360,2021.715,627.236,33.290,1668.631,0.000,1666.660,0.000,0.535,0.000
$DEVICE_MAMPS,186.660,130.815,1643.220,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25628.000,2555.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.803,13.418,0.000,0.000
$MEM,343672
$DATA_FILE_SIZE,13415,521
$CAP_FILE_SIZE,188309,0
$CFSIZE,260034560,203759616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230213,073053,2430.296,-3747.980,40,1.1,40,-14.0