version: 66.11
glider: 195
mission: 8
dive: 300
start: 1 24 114 16 34 53
data:
$ID,195
$MISSION,8
$DIVE,300
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,10
$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,550
$T_MISSION,660
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59371
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,14
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5935.0161
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2207
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,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,-50.110214
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,240114,162828,4857.086,-12645.099,40,0.9,40,17.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-64.6
$GPS2,240114,163425,4857.113,-12645.134,4,0.8,4,17.3
$SPEED_LIMITS,0.072,0.211
$TGT_NAME,EDDY
$TGT_LATLONG,4904.350,-12627.810
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.125
$KALMAN_X,-82790.7,0.0,0.0,-12145.4,-1846.6
$KALMAN_Y,23320.9,0.0,0.0,47769.7,1073.6
$MHEAD_RNG_PITCHd_Wd,40.2,24928,-10.0,-6.000,-15.88,3571
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-146.6,157,2212,1288,968,0.0,0.0,0,80,0.00,0.00,-61.62,0.000,16386,0.000,0.000,157,2212,2657,2668,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.45,-146.6,157,2212,2669,2646,3.6,-4.1,6,113,8.50,2.25,-15.57,0.000,18692,0.197,0.055,2384,3607,3218,3258,3178,0,0,0,0,0,0,25.15,25.94,26.53
$GC,233,-0.36,-146.6,2384,3608,3260,3179,18.3,-10.0,21,241,0.15,2.08,0.00,0.000,3078,0.121,0.022,2428,2189,3219,3260,3179,0,0,0,0,0,0,25.86,26.18,28.83
$GC,540,-0.36,-146.6,2427,2188,3261,3179,41.8,-7.0,52,544,0.00,2.05,0.00,0.000,516,0.000,0.032,2428,828,3220,3261,3179,0,0,0,0,0,0,28.83,26.09,28.83
$GC,589,-0.36,-146.6,2428,828,3261,3179,44.7,-6.3,56,596,0.00,2.08,0.00,0.000,1030,0.000,0.028,2424,2212,3220,3261,3179,0,0,0,0,0,0,28.83,26.17,28.83
$GC,897,-0.36,-146.6,2423,2212,3260,3178,62.7,-5.9,87,906,0.00,2.17,0.00,0.000,260,0.000,0.041,2413,3624,3220,3261,3179,0,0,0,0,0,0,28.83,26.06,28.83
$GC,991,-0.36,-146.6,2413,3624,3261,3179,68.7,-6.7,96,998,0.00,2.08,0.00,0.000,1030,0.000,0.022,2413,2201,3220,3261,3179,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1299,-0.36,-146.6,2413,2200,3261,3179,89.0,-5.6,120,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2200,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.36,-146.6,2413,2200,3262,3179,102.8,-4.3,135,1604,0.00,2.20,0.00,0.000,260,0.000,0.041,2404,3620,3220,3262,3179,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1631,-0.36,-146.6,2404,3619,3261,3179,103.7,-4.3,136,1638,0.00,2.05,0.00,0.000,1030,0.000,0.021,2404,2205,3220,3261,3179,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1938,-0.36,-146.6,2404,2205,3262,3179,119.0,-5.0,152,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2205,3220,3262,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,-0.36,-146.6,2404,2205,3262,3179,133.1,-4.3,167,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2205,3220,3262,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2538,-0.36,-146.6,2404,2205,3262,3179,146.3,-4.7,182,2544,0.00,2.17,0.00,0.000,260,0.000,0.041,2403,3609,3220,3261,3179,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2586,-0.36,-146.6,2403,3609,3262,3179,148.2,-4.8,184,2590,0.00,2.03,0.00,0.000,1030,0.000,0.022,2404,2206,3220,3261,3179,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2903,-0.36,-146.6,2403,2205,3262,3180,164.6,-5.1,195,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2205,3220,3262,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,-0.36,-146.6,2403,2205,3261,3179,177.7,-4.1,205,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2205,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3503,-0.36,-146.6,2403,2205,3262,3179,188.5,-3.6,215,3509,0.00,2.05,0.00,0.000,516,0.000,0.031,2403,829,3220,3262,3179,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3551,-0.36,-146.6,2403,829,3261,3179,189.7,-3.6,216,3555,0.00,2.08,0.00,0.000,1030,0.000,0.028,2403,2216,3220,3261,3179,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3859,-0.36,-146.6,2403,2216,3261,3179,200.8,-3.0,226,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2216,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4158,-0.36,-146.6,2403,2216,3261,3178,208.7,-2.7,236,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2216,3220,3262,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4458,-0.36,-146.6,2403,2216,3261,3179,216.8,-2.7,246,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2216,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4758,-0.36,-146.6,2403,2216,3262,3179,224.1,-2.2,256,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2216,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5058,-0.36,-146.6,2403,2216,3261,3179,231.0,-2.4,266,5064,0.00,2.08,0.00,0.000,516,0.000,0.031,2403,831,3220,3261,3179,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5106,-0.36,-146.6,2403,831,3261,3179,231.8,-2.4,267,5110,0.00,2.05,0.00,0.000,1030,0.000,0.028,2403,2205,3220,3261,3179,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5413,-0.36,-146.6,2403,2205,3261,3179,239.8,-2.3,277,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2205,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5713,-0.36,-146.6,2403,2205,3261,3179,248.9,-3.5,287,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2205,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6014,-0.36,-146.6,2403,2205,3261,3179,260.0,-3.5,297,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2205,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,-0.36,-146.6,2403,2205,3261,3178,271.7,-4.3,307,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2205,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.36,-146.6,2404,2205,3261,3179,284.8,-4.4,317,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2205,3220,3261,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,-0.36,-146.6,2403,2205,3261,3178,300.5,-5.3,327,6920,0.00,2.15,0.00,0.000,260,0.000,0.042,2401,3610,3220,3261,3179,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6968,-0.36,-146.6,2401,3611,3261,3178,300.5,-5.3,327,6974,0.00,2.05,0.00,0.000,1030,0.000,0.022,2401,2196,3219,3261,3178,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7273,-0.36,-146.6,2401,2196,3261,3178,318.5,-4.8,333,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2196,3219,3261,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7573,-0.36,-146.6,2401,2196,3261,3178,335.8,-5.9,338,7579,0.00,2.05,0.00,0.000,516,0.000,0.032,2401,828,3219,3261,3178,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7621,-0.36,-146.6,2401,828,3261,3178,335.8,-5.9,338,7626,0.12,2.08,0.00,0.000,3078,0.121,0.028,2434,2215,3219,3261,3178,0,0,0,0,0,0,26.08,26.30,28.83
$GC,7929,-0.45,-146.6,2433,2215,3261,3178,353.4,-4.6,343,7935,0.12,2.17,0.00,0.000,4356,0.078,0.039,2342,3622,3219,3261,3178,0,0,0,0,0,0,26.63,26.10,28.83
$GC,7977,-0.54,-146.6,2342,3622,3261,3178,353.4,-4.6,343,7981,0.00,2.05,0.00,0.000,1030,0.000,0.022,2342,2208,3219,3261,3177,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8283,-0.54,-146.6,2342,2208,3260,3178,377.8,-7.2,348,8287,0.00,2.08,0.00,0.000,516,0.000,0.032,2342,833,3219,3261,3177,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8407,-0.54,-146.6,1488,832,3249,3175,387.4,-7.7,350,8412,0.12,2.08,0.00,0.000,3078,0.131,0.029,2371,2216,3218,3260,3177,0,0,0,0,0,0,26.03,26.27,28.83
$GC,8762,-0.54,-146.6,2370,2216,3261,3177,410.0,-6.2,356,8768,0.00,2.15,0.00,0.000,260,0.000,0.042,2363,3614,3219,3261,3177,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8833,-0.54,-146.6,2363,3613,3261,3177,413.8,-6.4,357,8837,0.00,2.05,0.00,0.000,1030,0.000,0.023,2363,2210,3219,3261,3177,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9180,-0.54,-146.6,2363,2209,3261,3177,433.3,-5.6,363,9186,0.00,2.20,0.00,0.000,260,0.000,0.043,2354,3619,3219,3261,3177,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9242,-0.54,-146.6,1504,3619,3249,3173,436.7,-5.7,364,9247,0.00,2.12,0.00,0.000,1030,0.000,0.024,2355,2171,3218,3261,3176,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9600,-0.54,-146.6,2354,2171,3260,3176,456.2,-5.2,370,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2171,3218,3261,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9900,-0.69,-146.6,2354,2171,3261,3176,457.3,0.1,375,9906,0.00,2.03,0.00,0.000,516,0.000,0.035,2355,828,3218,3261,3176,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,9958,end dive,NO_VERTICAL_VELOCITY
$STATE,9958,begin apogee
$GC,9965,-0.23,0.0,2354,2034,3261,3176,457.3,0.0,376,10087,0.32,0.00,116.38,0.875,10246,0.074,0.000,2481,2034,2617,2709,2526,0,0,0,0,0,0,26.20,28.83,23.89
$STATE,10089,end apogee,CONTROL_FINISHED_OK
$STATE,10089,begin climb
$GC,10091,0.45,146.6,2481,2034,2709,2527,457.0,0.0,378,10218,0.57,2.35,119.28,0.850,11012,0.063,0.037,2690,655,2019,2165,1873,0,0,0,0,0,0,25.13,24.49,23.39
$GC,10263,0.45,146.6,2690,655,2165,1866,447.8,6.0,381,10267,0.00,2.17,0.00,0.000,1030,0.000,0.026,2690,2029,2015,2165,1865,0,0,0,0,0,0,28.83,24.94,28.83
$GC,10620,0.45,146.6,2690,2029,2164,1862,424.7,6.4,387,10624,0.00,2.15,0.00,0.000,516,0.000,0.037,2690,652,2013,2165,1862,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10676,0.45,146.6,2690,652,2165,1861,421.6,6.1,388,10680,0.00,2.10,0.00,0.000,1030,0.000,0.027,2690,2030,2013,2165,1861,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11032,0.45,146.6,2690,2031,2165,1860,400.8,6.2,394,11038,0.00,2.17,0.00,0.000,260,0.000,0.040,2690,3423,2012,2165,1860,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11105,0.45,146.6,2690,3423,2165,1860,396.9,6.2,395,11109,0.00,2.08,0.00,0.000,1030,0.000,0.024,2697,2028,2012,2165,1860,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11452,0.45,157.8,2697,2027,2165,1859,376.0,5.7,401,11466,0.00,2.22,9.38,0.738,8708,0.000,0.038,2702,639,1972,2123,1822,0,0,0,0,0,0,28.83,26.10,24.54
$GC,11497,0.45,168.9,2702,638,2123,1821,376.0,5.7,401,11512,0.00,2.10,10.43,0.746,9222,0.000,0.028,2702,2028,1928,2081,1776,0,0,0,0,0,0,28.83,26.17,24.56
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$GC,13526,0.61,413.3,2785,3423,1096,760,244.4,13.1,444,13534,0.15,2.08,0.00,0.000,5126,0.121,0.024,2741,2026,928,1096,760,0,0,0,0,0,0,25.98,26.24,28.83
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$GC,14524,0.61,413.3,2740,2038,1096,757,152.3,7.7,478,14525,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2037,925,1094,757,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16405,0.86,445.1,2778,2032,968,627,22.3,6.6,609,16414,0.12,2.10,0.00,0.000,2564,0.076,0.034,2870,646,797,968,627,0,0,0,0,0,0,26.53,26.20,28.83
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$STATE,16652,end climb,SURFACE_DEPTH_REACHED
$STATE,16652,begin surface coast
$FINISH,0.9,1.024554
$STATE,16671,end surface coast,CONTROL_FINISHED_OK
$STATE,16671,begin surface
$SM_CCo,16746,0.00,0.000,0,0,796,446.94
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$IRIDIUM_FIX,4837.05,-12649.57,240114,090927
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,8.81021
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,423.0,44.7
$24V_AH,23.4,44.537
$10V_AH,10.0,30.916
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.675,110.325,488.025,0.000,0.000,0.000,0.000,278.325,9.000,0.000,8.003,1796.382,12799.158,523.161,1851.261,137.727,0.000,1731.280,0.000,1523.505,0.000,61.479,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,22.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314876
$DATA_FILE_SIZE,36889,635
$CAP_FILE_SIZE,140564,0
$CFSIZE,2097872896,2056421376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240114,211504,4857.644,-12642.594,31,0.8,31,17.3