version: 66.04
glider: 5
mission: 5
dive: 404
start: 2 5 109 9 21 51
data:
$ID,5
$MISSION,5
$DIVE,404
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-95294.82
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$PRESSURE_SLOPE,0.000115925
$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,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,091106,6101.651,-728.805,30,1.6,31,-8.2
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-52.6
$GPS2,092132,6101.601,-728.500,15,1.5,15,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_1
$TGT_LATLONG,6100.000,-735.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,251.3,6546,-12.9,-6.000
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.04,-113.6,0.0,0.0,0,99,0.00,0.00,-81.43,0.000,2,0.000,0.000,422,1950,3220
$GC,102,-1.09,-146.6,4.0,-4.2,4,125,10.90,2.65,-5.57,0.000,4,0.137,0.072,2500,3414,3429
$GC,346,-1.02,-146.6,27.1,-7.0,14,353,0.10,2.53,0.00,0.000,6,0.104,0.048,2520,1997,3429
$GC,664,-0.97,-146.6,51.2,-6.3,30,668,0.00,2.58,0.00,0.000,4,0.000,0.062,2520,3405,3429
$GC,688,-0.97,-146.6,52.6,-5.5,31,692,0.00,2.50,0.00,0.000,6,0.000,0.048,2520,2003,3429
$GC,1010,-0.90,-146.6,76.9,-7.7,47,1015,0.12,2.53,0.00,0.000,4,0.093,0.064,2547,594,3429
$GC,1082,-0.90,-146.6,84.6,-12.6,50,1086,0.00,2.53,0.00,0.000,6,0.000,0.051,2547,2013,3429
$GC,1401,-0.90,-146.6,103.8,-4.2,65,1405,0.00,2.50,0.00,0.000,4,0.000,0.063,2547,3405,3429
$GC,1434,-0.96,-146.6,105.2,-3.6,66,1441,0.00,2.50,0.00,0.000,6,0.000,0.050,2547,2000,3429
$GC,1753,-1.00,-146.6,117.9,-4.4,82,1757,0.00,2.53,0.00,0.000,4,0.000,0.064,2547,584,3429
$GC,1794,-1.04,-146.6,120.2,-6.6,84,1799,0.12,2.55,0.00,0.000,6,0.054,0.052,2511,2011,3429
$GC,2122,-0.98,-146.6,147.0,-8.7,100,2123,0.10,0.00,0.00,0.000,6,0.096,0.000,2530,2024,3429
$GC,2431,-0.98,-146.6,163.3,-7.0,115,2435,0.00,2.60,0.00,0.000,4,0.000,0.065,2530,594,3429
$GC,2510,-0.98,-146.6,170.2,-9.2,118,2516,0.00,2.50,0.00,0.000,6,0.000,0.051,2530,2003,3429
$GC,2826,-0.98,-146.6,195.8,-8.3,134,2830,0.00,2.53,0.00,0.000,4,0.000,0.062,2530,3412,3429
$GC,2854,-0.98,-146.6,198.7,-10.3,135,2858,0.00,2.53,0.00,0.000,6,0.000,0.051,2530,1997,3429
$GC,3170,-0.98,-146.6,236.7,-10.2,150,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1997,3429
$GC,3479,-0.98,-146.6,263.4,-7.4,165,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1997,3429
$GC,3789,-0.98,-146.6,288.9,-9.4,180,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1998,3429
$GC,4097,-0.98,-146.6,316.2,-8.8,195,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1996,3430
$GC,4406,-0.98,-146.6,344.3,-8.8,210,4411,0.00,2.53,0.00,0.000,4,0.000,0.066,2530,585,3430
$GC,4447,-0.98,-146.6,348.2,-9.9,212,4452,0.00,2.53,0.00,0.000,6,0.000,0.052,2530,2010,3430
$GC,4774,-0.98,-146.6,374.6,-7.8,228,4779,0.00,2.58,0.00,0.000,4,0.000,0.065,2530,594,3429
$GC,4819,-0.98,-146.6,378.8,-9.5,230,4823,0.00,2.50,0.00,0.000,6,0.000,0.052,2530,2005,3430
$GC,5146,-0.98,-146.6,405.6,-7.9,246,5150,0.00,2.50,0.00,0.000,4,0.000,0.064,2530,3408,3429
$GC,5167,-0.98,-146.6,407.4,-7.5,247,5172,0.00,2.53,0.00,0.000,6,0.000,0.054,2529,2000,3429
$GC,5489,-0.98,-146.6,432.0,-7.4,263,5493,0.00,2.58,0.00,0.000,4,0.000,0.064,2530,3411,3430
$GC,5545,-0.98,-146.6,437.0,-9.5,265,5552,0.00,2.50,0.00,0.000,6,0.000,0.054,2530,2013,3430
$GC,5861,-0.98,-146.6,468.4,-9.8,281,5865,0.00,2.53,0.00,0.000,4,0.000,0.063,2529,591,3429
$GC,5923,-0.98,-146.6,474.5,-9.5,283,5930,0.00,2.50,0.00,0.000,6,0.000,0.051,2530,2008,3430
$GC,6240,-0.98,-146.6,500.1,-7.2,299,6244,0.00,2.50,0.00,0.000,4,0.000,0.065,2530,3402,3430
$GC,6287,-0.98,-146.6,503.4,-7.1,301,6291,0.00,2.50,0.00,0.000,6,0.000,0.054,2530,2007,3429
$GC,6614,-0.98,-146.6,518.4,-3.6,317,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2007,3429
$GC,6923,-0.98,-146.6,533.4,-6.0,332,6927,0.00,2.58,0.00,0.000,4,0.000,0.066,2530,3410,3429
$GC,6984,-0.98,-146.6,537.4,-6.2,335,6989,0.00,2.50,0.00,0.000,6,0.000,0.057,2530,2021,3429
$GC,7313,-0.98,-146.6,556.9,-5.8,351,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2020,3429
$GC,7622,-0.98,-146.6,578.4,-7.7,366,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2020,3429
$GC,7930,-0.98,-146.6,604.1,-8.1,381,7934,0.00,2.60,0.00,0.000,4,0.000,0.077,2530,3408,3429
$GC,7986,-0.98,-146.6,608.8,-8.0,383,7992,0.00,2.50,0.00,0.000,6,0.000,0.064,2530,2041,3428
$GC,8302,-0.98,-146.6,633.0,-7.8,399,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2041,3427
$GC,8611,-0.98,-146.6,658.1,-8.0,414,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2041,3426
$GC,8921,-0.98,-146.6,678.0,-5.9,429,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2041,3425
$GC,9230,-1.02,-146.6,697.4,-6.9,444,9234,0.00,2.70,0.00,0.000,4,0.000,0.085,2530,583,3424
$GC,9263,-1.02,-146.6,699.7,-6.6,445,9271,0.00,2.67,0.00,0.000,6,0.000,0.072,2530,2035,3424
$GC,9580,-1.06,-146.6,721.0,-7.6,461,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2035,3422
$GC,9888,-1.06,-146.6,743.2,-6.7,476,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2035,3421
$GC,10199,-1.11,-146.6,765.9,-7.0,491,10204,0.12,2.78,0.00,0.000,4,0.072,0.088,2499,583,3419
$GC,10244,-1.05,-146.6,769.8,-8.8,493,10249,0.00,2.70,0.00,0.000,6,0.000,0.076,2499,2036,3419
$GC,10565,-1.05,-146.6,797.6,-7.9,509,10569,0.00,2.75,0.00,0.000,4,0.000,0.090,2499,594,3418
$GC,10610,-1.00,-146.6,801.5,-9.1,511,10615,0.12,2.67,0.00,0.000,6,0.110,0.076,2522,2033,3418
$GC,10932,-1.00,-146.6,824.3,-7.8,527,10936,0.00,2.75,0.00,0.000,4,0.000,0.091,2522,593,3417
$GC,10972,-1.05,-146.6,827.7,-8.4,529,10977,0.00,2.65,0.00,0.000,6,0.000,0.076,2522,2021,3416
$STATE,11276,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11276,begin apogee
$GC,11284,-0.33,0.0,851.2,7.6,544,11421,0.73,0.00,133.40,1.520,6,0.092,0.000,2672,2129,2832
$STATE,11422,end apogee,CONTROL_FINISHED_OK
$STATE,11422,begin climb
$GC,11425,1.09,146.6,854.2,0.0,551,11572,1.48,2.80,137.60,1.468,4,0.070,0.088,2982,717,2234
$GC,11580,0.84,146.6,847.7,6.9,559,11585,0.30,2.67,0.00,0.000,6,0.093,0.073,2926,2126,2234
$GC,11907,0.84,146.6,826.8,7.7,575,11912,0.00,2.70,0.00,0.000,4,0.000,0.089,2926,3539,2233
$GC,11929,0.84,146.6,825.1,7.4,576,11933,0.00,2.67,0.00,0.000,6,0.000,0.079,2926,2137,2233
$GC,12250,0.84,146.6,804.2,6.0,592,12255,0.00,2.70,0.00,0.000,4,0.000,0.091,2926,714,2232
$GC,12284,0.84,146.6,801.8,6.6,593,12290,0.00,2.67,0.00,0.000,6,0.000,0.075,2926,2136,2232
$GC,12599,0.84,146.6,782.8,6.7,609,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2136,2231
$GC,12909,0.84,146.6,762.9,6.6,624,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2136,2230
$GC,13218,0.84,146.6,743.5,6.3,639,13222,0.00,2.72,0.00,0.000,4,0.000,0.090,2926,714,2230
$GC,13258,0.84,146.6,740.9,6.7,641,13262,0.00,2.65,0.00,0.000,6,0.000,0.076,2926,2127,2229
$GC,13586,0.88,169.9,722.5,5.2,657,13609,0.00,0.00,21.85,1.403,6,0.000,0.000,2926,2128,2139
$GC,13915,0.88,171.8,704.1,5.9,673,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2127,2138
$GC,14224,0.89,177.0,686.8,5.8,688,14238,0.00,2.80,8.00,1.244,4,0.000,0.090,2926,714,2111
$GC,14279,0.89,177.0,682.8,6.5,690,14283,0.00,2.67,0.00,0.000,6,0.000,0.075,2926,2127,2110
$GC,14595,0.89,177.0,662.6,6.5,705,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2127,2110
$GC,14905,0.91,189.6,644.0,5.6,720,14927,0.00,2.83,13.20,1.325,4,0.000,0.090,2926,714,2059
$GC,14955,0.93,201.0,641.1,5.6,722,14972,0.00,2.67,12.00,1.299,6,0.000,0.076,2926,2122,2012
$GC,15284,1.03,232.1,625.0,4.9,738,15320,0.20,0.00,29.62,1.374,6,0.060,0.000,2975,2123,1885
$GC,15631,0.98,232.1,600.0,7.1,755,15632,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2123,1885
$GC,15939,0.92,232.1,575.7,8.5,770,15944,0.15,2.75,0.00,0.000,4,0.099,0.088,2946,703,1886
$GC,15974,0.92,232.1,572.9,7.4,771,15980,0.00,2.65,0.00,0.000,6,0.000,0.075,2945,2113,1885
$GC,16289,0.92,232.1,548.2,8.0,787,16294,0.00,2.70,0.00,0.000,4,0.000,0.087,2946,3536,1886
$GC,16317,0.92,232.1,545.7,8.2,788,16322,0.00,2.70,0.00,0.000,6,0.000,0.074,2946,2105,1886
$GC,16634,0.92,232.1,521.7,8.0,803,16638,0.00,2.60,0.00,0.000,4,0.000,0.084,2946,710,1886
$GC,16689,0.92,232.1,517.0,8.1,805,16695,0.00,2.58,0.00,0.000,6,0.000,0.070,2946,2100,1886
$GC,17005,0.92,232.1,493.5,7.6,821,17010,0.00,2.65,0.00,0.000,4,0.000,0.082,2946,701,1886
$GC,17049,0.92,232.1,489.8,8.9,823,17054,0.00,2.58,0.00,0.000,6,0.000,0.069,2946,2092,1886
$GC,17371,0.92,232.1,461.5,9.8,839,17375,0.00,2.67,0.00,0.000,4,0.000,0.078,2946,3530,1886
$GC,17478,0.92,232.1,450.6,10.2,844,17482,0.00,2.65,0.00,0.000,6,0.000,0.064,2946,2091,1886
$GC,17806,0.96,232.1,426.0,6.6,860,17810,0.00,2.70,0.00,0.000,4,0.000,0.075,2946,3532,1887
$GC,17856,1.00,232.1,422.2,6.7,862,17860,0.00,2.60,0.00,0.000,6,0.000,0.061,2946,2114,1887
$GC,18171,1.00,232.1,401.3,6.3,877,18176,0.00,2.55,0.00,0.000,4,0.000,0.071,2946,713,1887
$GC,18206,1.00,232.1,398.9,7.4,878,18212,0.00,2.55,0.00,0.000,6,0.000,0.058,2946,2122,1887
$GC,18522,1.04,232.1,378.4,6.7,894,18524,0.12,0.00,0.00,0.000,6,0.059,0.000,2980,2122,1888
$GC,18832,0.99,232.1,351.2,8.9,909,18836,0.00,2.58,0.00,0.000,4,0.000,0.068,2980,3538,1889
$GC,18873,0.94,232.1,347.2,10.2,911,18878,0.17,2.58,0.00,0.000,6,0.089,0.055,2946,2112,1889
$GC,19200,0.98,232.1,324.2,6.4,927,19201,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2111,1890
$GC,19510,1.04,232.1,303.9,7.6,942,19515,0.10,2.60,0.00,0.000,4,0.058,0.064,2976,3530,1891
$GC,19561,0.98,232.1,299.6,10.2,944,19565,0.00,2.53,0.00,0.000,6,0.000,0.052,2976,2120,1891
$GC,19878,0.98,232.1,272.6,9.2,959,19879,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2119,1892
$GC,20186,0.98,232.1,245.2,8.4,974,20187,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2119,1893
$GC,20495,0.98,232.1,221.7,7.3,989,20504,0.00,2.60,3.85,0.643,4,0.000,0.062,2976,3531,1885
$GC,20568,0.98,232.1,215.3,8.6,992,20572,0.00,2.50,0.00,0.000,6,0.000,0.049,2976,2128,1885
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$GC,22227,1.12,248.3,91.4,7.7,1072,22232,0.17,2.55,0.00,0.000,4,0.048,0.061,3004,3531,1819
$GC,22269,1.04,259.9,89.2,5.6,1074,22286,0.17,2.45,11.10,0.815,6,0.083,0.048,2970,2153,1772
$GC,22599,1.13,312.9,77.4,4.1,1089,22650,0.00,2.70,43.47,0.873,4,0.000,0.062,2970,717,1555
$GC,22680,1.20,328.3,73.2,5.5,1092,22701,0.17,2.60,14.05,0.808,6,0.048,0.051,3017,2162,1492
$GC,23020,1.13,328.3,43.1,11.5,1109,23022,0.12,0.00,0.00,0.000,6,0.090,0.000,2992,2180,1492
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$STATE,23510,end climb,SURFACE_DEPTH_REACHED
$STATE,23510,begin surface coast
$FINISH,0.4,1.013934
$STATE,23552,end surface coast,CONTROL_FINISHED_OK
$STATE,23553,begin surface
$SM_CCo,23636,0.00,0.000,0,0,1491,328.95
$SM_GC,1.24,11.30,0.00,0.00,0.041,0.000,0.000,423,1973,1491,-10.59,-0.76,328.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1809
$TCM_TEMP,17.00
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,776.3,84.3
$24V_AH,23.4,71.509
$10V_AH,10.1,35.617
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$DEVICE_SECS,27.225,203.400,443.300,0.000,0.000,76.779,78.472,255.864,21.000,0.000,0.000,15.792,2069.038,18354.219,643.468,2337.917,846.661,0.000,1820.693,0.000,2285.064,0.000,47.014,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,843.235,767.231,667.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56824,1135
$CAP_FILE_SIZE,174938,0
$CFSIZE,254472192,226627584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,050209,155706,6102.988,-729.107,42,1.1,43,-8.3