version: 66.07
glider: 23
mission: 5
dive: 213
start: 1 5 111 9 7 33
data:
$ID,23
$MISSION,5
$DIVE,213
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$D_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,471
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-55964.578
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2570
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$AR_DIVENUM,212
$AR_SAMPLENUM,0
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,050111,090031,1819.301,12417.917,46,1.3,46,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-53.0
$GPS2,050111,090642,1819.360,12417.902,12,1.1,28,-2.1
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,0.194
$KALMAN_X,-367450.4,66.3,-240.0,189840.0,-4009.1
$KALMAN_Y,222469.8,200.1,-31.2,-559766.1,770.7
$MHEAD_RNG_PITCHd_Wd,34.1,339768,-11.2,-7.006
$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
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.93,-173.6,0.0,0.0,0,79,0.00,0.00,-50.75,0.000,2,0.000,0.000,360,2536,2636,0,0,0,0,0,0
$GC,82,-0.94,-175.2,3.1,-1.1,10,143,9.95,1.83,-42.25,0.000,4,0.153,0.054,2111,3632,3787,0,0,0,0,0,0
$GC,391,-0.94,-175.2,59.8,-20.8,54,394,0.00,1.67,0.00,0.000,6,0.000,0.030,2111,2564,3788,0,0,0,0,0,0
$GC,656,-0.94,-175.2,121.0,-22.9,79,660,0.00,1.67,0.00,0.000,4,0.000,0.032,2111,3637,3789,0,0,0,0,0,0
$GC,880,-0.94,-175.2,163.6,-17.8,99,884,0.00,1.73,0.00,0.000,6,0.000,0.025,2113,2555,3790,0,0,0,0,0,0
$GC,1155,-0.94,-175.2,207.8,-16.1,123,1159,0.00,1.77,0.00,0.000,4,0.000,0.035,2111,3634,3792,0,0,0,0,0,0
$GC,1412,-0.94,-175.2,246.2,-14.3,134,1417,0.00,1.70,0.00,0.000,6,0.000,0.021,2111,2560,3793,0,0,0,0,0,0
$GC,1733,-0.94,-175.2,288.0,-12.8,150,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2561,3793,0,0,0,0,0,0
$GC,2040,-0.94,-175.2,327.2,-12.1,160,2044,0.00,1.73,0.00,0.000,4,0.000,0.039,2111,3643,3793,0,0,0,0,0,0
$GC,2241,-0.94,-175.2,350.6,-9.8,164,2245,0.00,1.70,0.00,0.000,6,0.000,0.024,2111,2571,3792,0,0,0,0,0,0
$GC,2589,-0.94,-175.2,384.7,-10.0,173,2593,0.00,2.25,0.00,0.000,4,0.000,0.038,2111,1510,3791,0,0,0,0,0,0
$GC,2643,-0.94,-175.2,390.4,-10.4,174,2648,0.00,2.22,0.00,0.000,6,0.000,0.028,2111,2562,3790,0,0,0,0,0,0
$GC,2956,-0.94,-175.2,424.0,-10.5,182,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2562,3788,0,0,0,0,0,0
$GC,3281,-0.94,-175.2,457.6,-10.5,190,3285,0.00,1.77,0.00,0.000,4,0.000,0.045,2111,3637,3787,0,0,0,0,0,0
$GC,3326,-0.94,-175.2,462.0,-10.4,191,3329,0.00,1.73,0.00,0.000,6,0.000,0.026,2111,2563,3787,0,0,0,0,0,0
$GC,3654,-0.94,-175.2,494.5,-10.4,199,3658,0.00,2.22,0.00,0.000,4,0.000,0.041,2111,1507,3783,0,0,0,0,0,0
$GC,3765,-0.94,-175.2,506.1,-9.9,201,3770,0.00,2.28,0.00,0.000,6,0.000,0.031,2111,2573,3782,0,0,0,0,0,0
$GC,4107,-0.94,-175.2,536.8,-8.6,210,4111,0.00,1.75,0.00,0.000,4,0.000,0.047,2111,3640,3780,0,0,0,0,0,0
$GC,4185,-0.94,-175.2,543.8,-9.1,211,4189,0.00,1.75,0.00,0.000,6,0.000,0.026,2111,2559,3779,0,0,0,0,0,0
$GC,4522,-0.94,-175.2,571.6,-8.2,220,4526,0.00,2.25,0.00,0.000,4,0.000,0.042,2111,1510,3776,0,0,0,0,0,0
$GC,4660,-0.94,-175.2,584.5,-9.4,223,4665,0.00,2.28,0.00,0.000,6,0.000,0.034,2111,2571,3776,0,0,0,0,0,0
$GC,4979,-0.94,-175.2,612.5,-8.8,231,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2570,3773,0,0,0,0,0,0
$GC,5304,-0.94,-175.2,639.6,-8.2,239,5308,0.00,2.28,0.00,0.000,4,0.000,0.043,2110,1504,3771,0,0,0,0,0,0
$GC,5443,-0.94,-175.2,651.6,-8.9,242,5448,0.00,2.30,0.00,0.000,6,0.000,0.035,2111,2573,3769,0,0,0,0,0,0
$GC,5762,-0.94,-175.2,682.2,-9.9,250,5766,0.00,2.28,0.00,0.000,4,0.000,0.044,2111,1515,3766,0,0,0,0,0,0
$GC,5918,-0.94,-175.2,698.2,-10.6,253,5922,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2578,3765,0,0,0,0,0,0
$GC,6265,-0.94,-175.2,732.0,-9.8,262,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2578,3762,0,0,0,0,0,0
$GC,6590,-0.94,-175.2,760.9,-8.4,270,6595,0.00,2.30,0.00,0.000,4,0.000,0.043,2111,1507,3759,0,0,0,0,0,0
$GC,6639,-0.94,-175.2,765.1,-7.7,271,6644,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2569,3759,0,0,0,0,0,0
$GC,6958,-0.94,-175.2,787.8,-6.8,279,6962,0.00,2.28,0.00,0.000,4,0.000,0.042,2111,1510,3758,0,0,0,0,0,0
$GC,7053,-0.94,-175.2,794.3,-6.8,281,7057,0.00,2.25,0.00,0.000,6,0.000,0.038,2111,2573,3756,0,0,0,0,0,0
$GC,7376,-0.94,-175.2,816.6,-7.1,289,7380,0.00,2.30,0.00,0.000,4,0.000,0.043,2111,1505,3754,0,0,0,0,0,0
$GC,7443,-0.94,-175.2,821.6,-8.1,290,7447,0.00,2.33,0.00,0.000,6,0.000,0.038,2111,2578,3754,0,0,0,0,0,0
$GC,7790,-0.94,-175.2,849.0,-8.1,299,7794,0.00,2.28,0.00,0.000,4,0.000,0.042,2111,1509,3752,0,0,0,0,0,0
$GC,7856,-0.94,-175.2,854.5,-8.2,300,7861,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2569,3751,0,0,0,0,0,0
$GC,8199,-0.94,-175.2,881.9,-8.2,309,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2569,3749,0,0,0,0,0,0
$GC,8523,-0.94,-175.2,908.3,-8.0,317,8527,0.00,2.30,0.00,0.000,4,0.000,0.043,2111,1505,3748,0,0,0,0,0,0
$GC,8600,-0.94,-175.2,914.3,-7.6,318,8607,0.00,2.33,0.00,0.000,6,0.000,0.038,2111,2575,3747,0,0,0,0,0,0
$GC,8932,-0.94,-175.2,938.5,-7.1,327,8936,0.00,2.28,0.00,0.000,4,0.000,0.043,2111,1511,3747,0,0,0,0,0,0
$GC,9043,-0.94,-175.2,946.3,-6.4,329,9047,0.00,2.28,0.00,0.000,6,0.000,0.039,2111,2580,3746,0,0,0,0,0,0
$GC,9385,-0.94,-175.2,966.3,-5.5,338,9389,0.00,2.30,0.00,0.000,4,0.000,0.043,2111,1502,3745,0,0,0,0,0,0
$GC,9536,-0.94,-175.2,974.7,-5.6,341,9540,0.00,2.28,0.00,0.000,6,0.000,0.039,2111,2568,3744,0,0,0,0,0,0
$STATE,9834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9834,begin apogee
$GC,9840,-0.33,0.0,992.0,5.9,349,9985,0.68,0.00,141.68,1.486,6,0.101,0.000,2246,1877,3071,0,0,0,0,0,0
$STATE,9988,end apogee,CONTROL_FINISHED_OK
$STATE,9988,begin climb
$GC,9990,0.94,175.2,992.9,0.0,352,10153,1.30,2.40,149.73,1.427,4,0.070,0.054,2521,774,2355,0,0,0,0,0,0
$GC,10191,0.94,175.2,976.7,7.7,356,10197,0.00,2.22,0.00,0.000,6,0.000,0.031,2521,1868,2352,0,0,0,0,0,0
$GC,10522,0.94,175.2,950.7,8.0,365,10526,0.00,2.25,0.00,0.000,4,0.000,0.054,2521,782,2349,0,0,0,0,0,0
$GC,10609,0.94,175.2,943.6,8.4,367,10614,0.00,2.20,0.00,0.000,6,0.000,0.033,2521,1867,2350,0,0,0,0,0,0
$GC,10934,0.94,175.2,918.6,7.6,375,10938,0.00,2.22,0.00,0.000,4,0.000,0.053,2521,793,2348,0,0,0,0,0,0
$GC,11039,0.94,175.2,910.6,7.1,377,11043,0.00,2.20,0.00,0.000,6,0.000,0.033,2521,1871,2348,0,0,0,0,0,0
$GC,11387,0.94,175.2,885.5,7.2,386,11390,0.00,2.25,0.00,0.000,4,0.000,0.054,2521,781,2348,0,0,0,0,0,0
$GC,11470,0.94,175.2,879.5,8.1,387,11476,0.00,2.20,0.00,0.000,6,0.000,0.033,2520,1871,2347,0,0,0,0,0,0
$GC,11800,0.94,175.2,856.1,7.1,396,11804,0.00,2.25,0.00,0.000,4,0.000,0.053,2521,793,2346,0,0,0,0,0,0
$GC,11923,0.94,175.2,847.2,7.2,398,11929,0.00,2.17,0.00,0.000,6,0.000,0.032,2521,1867,2346,0,0,0,0,0,0
$GC,12254,0.94,175.2,822.4,7.7,407,12258,0.00,2.25,0.00,0.000,4,0.000,0.054,2521,781,2345,0,0,0,0,0,0
$GC,12382,0.94,175.2,812.4,8.0,410,12386,0.00,2.17,0.00,0.000,6,0.000,0.032,2521,1873,2345,0,0,0,0,0,0
$GC,12706,0.94,175.2,786.2,8.2,418,12710,0.00,2.28,0.00,0.000,4,0.000,0.053,2521,779,2344,0,0,0,0,0,0
$GC,12793,0.94,175.2,778.8,8.6,420,12798,0.00,2.20,0.00,0.000,6,0.000,0.032,2521,1868,2344,0,0,0,0,0,0
$GC,13118,0.94,175.2,752.6,8.1,428,13122,0.00,2.22,0.00,0.000,4,0.000,0.054,2521,791,2344,0,0,0,0,0,0
$GC,13246,0.94,175.2,742.7,7.9,431,13250,0.00,2.15,0.00,0.000,6,0.000,0.032,2521,1867,2344,0,0,0,0,0,0
$GC,13569,0.94,175.2,718.2,7.7,439,13573,0.00,2.25,0.00,0.000,4,0.000,0.054,2521,786,2344,0,0,0,0,0,0
$GC,13680,0.94,175.2,709.6,7.6,441,13685,0.00,2.17,0.00,0.000,6,0.000,0.032,2521,1866,2344,0,0,0,0,0,0
$GC,14022,0.94,175.2,683.4,7.7,450,14026,0.00,2.22,0.00,0.000,4,0.000,0.055,2521,790,2344,0,0,0,0,0,0
$GC,14133,0.94,175.2,675.2,7.4,452,14138,0.00,2.17,0.00,0.000,6,0.000,0.031,2521,1870,2344,0,0,0,0,0,0
$GC,14476,0.94,175.2,650.9,7.0,461,14480,0.00,2.28,0.00,0.000,4,0.000,0.056,2520,777,2344,0,0,0,0,0,0
$GC,14542,0.96,198.2,646.5,6.4,462,14567,0.00,2.17,18.42,1.211,6,0.000,0.031,2521,1870,2263,0,0,0,0,0,0
$GC,14886,0.96,198.2,620.7,7.9,471,14890,0.00,2.28,0.00,0.000,4,0.000,0.057,2521,777,2261,0,0,0,0,0,0
$GC,14918,0.96,198.2,617.9,8.7,471,14923,0.00,2.17,0.00,0.000,6,0.000,0.031,2521,1863,2261,0,0,0,0,0,0
$GC,15255,0.96,198.2,588.6,8.9,480,15259,0.00,2.25,0.00,0.000,4,0.000,0.059,2522,790,2261,0,0,0,0,0,0
$GC,15366,0.96,198.2,578.8,8.4,482,15371,0.00,2.17,0.00,0.000,6,0.000,0.030,2521,1870,2261,0,0,0,0,0,0
$GC,15708,0.96,198.2,552.8,7.3,491,15712,0.00,2.25,0.00,0.000,4,0.000,0.059,2521,790,2261,0,0,0,0,0,0
$GC,15849,0.98,214.2,542.9,6.6,494,15868,0.00,2.15,14.82,1.112,6,0.000,0.030,2521,1876,2197,0,0,0,0,0,0
$GC,16204,0.98,214.2,516.7,7.7,503,16208,0.00,2.30,0.00,0.000,4,0.000,0.061,2521,775,2195,0,0,0,0,0,0
$GC,16248,0.98,214.2,512.9,8.4,504,16252,0.00,2.20,0.00,0.000,6,0.000,0.031,2521,1871,2195,0,0,0,0,0,0
$GC,16572,0.98,214.2,482.1,9.9,512,16576,0.00,2.05,0.00,0.000,4,0.000,0.041,2521,2917,2195,0,0,0,0,0,0
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$GC,21862,1.03,265.1,23.9,10.4,808,21867,0.00,2.08,0.00,0.000,6,0.000,0.032,2541,1856,1994,0,0,0,0,0,0
$GC,22070,1.31,517.8,11.9,0.2,845,22242,0.25,0.00,167.75,0.586,2,0.061,0.000,2603,1855,1109,0,0,0,0,0,0
$STATE,22243,end climb,SURFACE_DEPTH_REACHED
$STATE,22243,begin surface coast
$FINISH,2.0,1.000675
$STATE,22277,end surface coast,CONTROL_FINISHED_OK
$STATE,22277,begin surface
$SM_CCo,22358,0.00,0.000,0,0,1101,483.24
$SM_GC,2.85,9.80,0.00,0.00,0.022,0.000,0.000,363,2578,1101,-8.93,0.25,483.24
$IRIDIUM_FIX,1812.31,12419.17,290612,222247
$TT8_MAMPS,0.048321
$HUMID,1078893539
$TCM_TEMP,25.00
$XPDR_PINGS,332
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2091745280
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077885952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,37.264
$10V_AH,10.0,21.294
$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
$DEVICE_SECS,22.050,196.000,540.350,0.000,0.000,29.647,36.144,177.943,83.000,0.000,30.034,1782.552,17174.057,661.387,2905.738,205.248,33.374,2071.050,0.000,2567.583,0.000,0.544,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,597.822,0.000,0.000,0.000,0.000,0.000,0.000,19481.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.277,0.000,0.000
$MEM,354972
$DATA_FILE_SIZE,33392,885
$CAP_FILE_SIZE,186060,0
$CFSIZE,260034560,241557504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,152136,1820.406,12418.543,37,1.1,37,-2.1