version: 66.06
glider: 148
mission: 9
dive: 640
start: 2 6 111 10 29 26
data:
$ID,148
$MISSION,9
$DIVE,640
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-871931.75
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$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,0
$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,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,102000,2206.608,-15807.991,60,1.2,60,9.9
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.6
$GPS2,102832,2206.641,-15807.984,11,1.2,11,9.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,-0.214
$KALMAN_X,-122062.8,-43.9,150.5,125179.4,-1477.7
$KALMAN_Y,-234692.6,-173.8,-184.1,284591.1,1294.3
$MHEAD_RNG_PITCHd_Wd,163.9,29336,-21.7,-10.000
$D_GRID,900
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-68.12,0.000,2,0.000,0.000,409,1846,3269,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.9,-5.2,9,117,11.43,2.72,-4.68,0.000,4,0.158,0.044,2530,205,3518,0,0,0,0,0,0
$GC,202,-1.48,-97.3,28.4,-17.0,25,211,0.00,2.53,0.00,0.000,6,0.000,0.019,2531,1792,3520,0,0,0,0,0,0
$GC,477,-1.33,-97.3,75.9,-18.1,51,482,0.17,2.53,0.00,0.000,4,0.110,0.030,2566,3367,3521,0,0,0,0,0,0
$GC,503,-1.23,-97.3,81.1,-17.5,52,512,0.08,2.55,0.00,0.000,6,0.087,0.022,2587,1782,3521,0,0,0,0,0,0
$GC,768,-1.23,-97.3,116.4,-13.0,77,772,0.00,2.53,0.00,0.000,4,0.000,0.027,2587,3367,3522,0,0,0,0,0,0
$GC,783,-1.23,-97.3,119.1,-13.3,78,787,0.00,2.53,0.00,0.000,6,0.000,0.021,2587,1783,3522,0,0,0,0,0,0
$GC,1048,-1.39,-97.3,147.8,-10.6,102,1057,0.12,0.00,0.00,0.000,6,0.065,0.000,2528,1783,3523,0,0,0,0,0,0
$GC,1314,-1.39,-97.3,182.5,-13.1,127,1319,0.12,2.58,0.00,0.000,4,0.112,0.028,2556,3374,3524,0,0,0,0,0,0
$GC,1326,-1.39,-97.3,184.7,-13.0,127,1332,0.00,2.50,0.00,0.000,6,0.000,0.021,2556,1786,3524,0,0,0,0,0,0
$GC,1594,-1.47,-97.3,213.9,-10.6,144,1598,0.00,2.55,0.00,0.000,4,0.000,0.040,2556,208,3525,0,0,0,0,0,0
$GC,1687,-1.64,-97.3,223.6,-10.4,146,1692,0.22,2.45,0.00,0.000,6,0.042,0.018,2474,1789,3525,0,0,0,0,0,0
$GC,1975,-1.53,-97.3,264.3,-14.4,153,1977,0.22,0.00,0.00,0.000,6,0.096,0.000,2523,1792,3525,0,0,0,0,0,0
$GC,2218,-1.53,-97.3,291.8,-11.0,159,2223,0.00,2.58,0.00,0.000,4,0.000,0.041,2523,217,3525,0,0,0,0,0,0
$GC,2253,-1.53,-97.3,295.5,-11.2,159,2257,0.00,2.42,0.00,0.000,6,0.000,0.020,2523,1777,3525,0,0,0,0,0,0
$GC,2503,-1.53,-97.3,321.5,-10.3,165,2507,0.00,2.53,0.00,0.000,4,0.000,0.031,2523,3362,3525,0,0,0,0,0,0
$GC,2516,-1.53,-97.3,323.0,-10.5,165,2521,0.00,2.53,0.00,0.000,6,0.000,0.023,2523,1785,3525,0,0,0,0,0,0
$GC,2787,-1.61,-97.3,349.9,-10.1,172,2792,0.00,2.58,0.00,0.000,4,0.000,0.035,2523,3360,3525,0,0,0,0,0,0
$GC,2834,-1.71,-97.3,355.1,-10.2,173,2839,0.15,2.53,0.00,0.000,6,0.055,0.027,2454,1801,3525,0,0,0,0,0,0
$GC,3117,-1.59,-97.3,392.3,-13.3,180,3124,0.25,2.67,0.00,0.000,4,0.094,0.052,2512,205,3524,0,0,0,0,0,0
$GC,3187,-1.59,-97.3,400.5,-12.4,181,3191,0.00,2.53,0.00,0.000,6,0.000,0.025,2512,1781,3524,0,0,0,0,0,0
$GC,3451,-1.59,-97.3,429.3,-10.8,188,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1781,3522,0,0,0,0,0,0
$GC,3694,-1.59,-97.3,457.2,-11.5,194,3699,0.00,2.70,0.00,0.000,4,0.000,0.060,2512,217,3521,0,0,0,0,0,0
$GC,3775,-1.59,-97.3,467.2,-12.2,195,3780,0.00,2.53,0.00,0.000,6,0.000,0.031,2512,1782,3520,0,0,0,0,0,0
$GC,4025,-1.66,-97.3,493.7,-10.4,201,4030,0.00,2.62,0.00,0.000,4,0.000,0.047,2512,3368,3519,0,0,0,0,0,0
$GC,4048,-1.66,-97.3,495.7,-10.4,201,4052,0.00,2.60,0.00,0.000,6,0.000,0.033,2513,1792,3518,0,0,0,0,0,0
$GC,4312,-1.74,-97.3,521.0,-9.3,208,4319,0.12,2.72,0.00,0.000,4,0.067,0.066,2458,211,3516,0,0,0,0,0,0
$GC,4380,-1.66,-97.3,530.1,-13.8,209,4385,0.17,2.58,0.00,0.000,6,0.105,0.035,2496,1791,3516,0,0,0,0,0,0
$GC,4647,-1.66,-97.3,558.6,-10.7,216,4651,0.00,2.75,0.00,0.000,4,0.000,0.065,2496,212,3515,0,0,0,0,0,0
$GC,4670,-1.66,-97.3,561.6,-11.9,216,4675,0.00,2.58,0.00,0.000,6,0.000,0.034,2496,1795,3515,0,0,0,0,0,0
$GC,4929,-1.66,-97.3,589.9,-11.0,223,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1795,3513,0,0,0,0,0,0
$GC,5175,-1.66,-97.3,617.6,-11.5,229,5179,0.00,2.78,0.00,0.000,4,0.000,0.067,2496,208,3511,0,0,0,0,0,0
$GC,5218,-1.66,-97.3,623.0,-13.1,230,5222,0.00,2.62,0.00,0.000,6,0.000,0.037,2496,1797,3510,0,0,0,0,0,0
$GC,5505,-1.66,-97.3,653.8,-10.5,237,5509,0.00,2.78,0.00,0.000,4,0.000,0.067,2496,212,3508,0,0,0,0,0,0
$GC,5521,-1.66,-97.3,655.5,-10.3,237,5525,0.00,2.58,0.00,0.000,6,0.000,0.035,2496,1787,3508,0,0,0,0,0,0
$GC,5789,-1.66,-97.3,682.7,-10.1,244,5793,0.00,2.75,0.00,0.000,4,0.000,0.067,2496,212,3506,0,0,0,0,0,0
$GC,5803,-1.66,-97.3,684.2,-9.5,244,5808,0.00,2.58,0.00,0.000,6,0.000,0.035,2496,1784,3506,0,0,0,0,0,0
$GC,6075,-1.72,-97.3,708.3,-8.7,251,6079,0.00,2.75,0.00,0.000,4,0.000,0.068,2496,212,3504,0,0,0,0,0,0
$GC,6108,-1.72,-97.3,711.8,-9.8,251,6112,0.00,2.58,0.00,0.000,6,0.000,0.038,2496,1781,3503,0,0,0,0,0,0
$GC,6358,-1.79,-97.3,732.9,-8.4,257,6360,0.10,0.00,0.00,0.000,6,0.081,0.000,2452,1780,3502,0,0,0,0,0,0
$GC,6603,-1.79,-97.3,757.7,-10.3,263,6607,0.00,2.75,0.00,0.000,4,0.000,0.068,2452,212,3500,0,0,0,0,0,0
$GC,6627,-1.71,-97.3,760.6,-11.6,263,6632,0.17,2.58,0.00,0.000,6,0.110,0.038,2487,1777,3500,0,0,0,0,0,0
$GC,6887,-1.71,-97.3,785.5,-9.8,270,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1777,3499,0,0,0,0,0,0
$GC,7132,-1.71,-97.3,810.1,-10.2,276,7137,0.00,2.72,0.00,0.000,4,0.000,0.069,2488,213,3498,0,0,0,0,0,0
$GC,7148,-1.71,-97.3,812.1,-10.3,276,7153,0.00,2.58,0.00,0.000,6,0.000,0.037,2487,1781,3498,0,0,0,0,0,0
$GC,7417,-1.71,-97.3,839.4,-10.2,283,7421,0.00,2.72,0.00,0.000,4,0.000,0.062,2487,3378,3497,0,0,0,0,0,0
$GC,7431,-1.71,-97.3,840.9,-10.1,283,7436,0.00,2.67,0.00,0.000,6,0.000,0.039,2487,1776,3497,0,0,0,0,0,0
$GC,7702,-1.71,-97.3,867.3,-9.7,290,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1775,3496,0,0,0,0,0,0
$GC,7944,-1.71,-97.3,890.9,-9.7,296,7948,0.00,2.78,0.00,0.000,4,0.000,0.075,2487,200,3494,0,0,0,0,0,0
$GC,7967,-1.71,-97.3,893.6,-12.1,296,7972,0.00,2.60,0.00,0.000,6,0.000,0.038,2487,1780,3494,0,0,0,0,0,0
$STATE,8061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8061,begin apogee
$GC,8069,-0.31,0.0,903.2,10.1,299,8155,1.38,0.00,82.05,1.175,6,0.082,0.000,2791,1669,3120,0,0,0,0,0,0
$STATE,8156,end apogee,CONTROL_FINISHED_OK
$STATE,8156,begin climb
$GC,8159,1.48,97.3,906.0,0.0,301,8260,1.60,2.75,88.20,1.154,4,0.024,0.072,3187,182,2722,0,0,0,0,0,0
$GC,8326,1.05,128.7,905.8,7.8,304,8363,0.47,2.50,29.70,1.107,6,0.122,0.034,3093,1682,2594,0,0,0,0,0,0
$GC,8623,1.02,156.5,882.7,8.1,312,8656,0.00,2.75,25.75,1.095,4,0.000,0.068,3093,187,2481,0,0,0,0,0,0
$GC,8749,0.85,156.5,868.6,14.2,314,8754,0.22,2.47,0.00,0.000,6,0.114,0.035,3048,1678,2477,0,0,0,0,0,0
$GC,9001,0.93,159.6,844.1,9.8,320,9006,0.00,2.65,0.00,0.000,4,0.000,0.069,3048,183,2475,0,0,0,0,0,0
$GC,9075,0.93,159.6,835.5,10.4,321,9080,0.00,2.47,0.00,0.000,6,0.000,0.035,3047,1675,2474,0,0,0,0,0,0
$GC,9330,1.01,171.5,811.7,9.2,328,9351,0.15,2.75,14.20,1.019,4,0.061,0.068,3104,179,2421,0,0,0,0,0,0
$GC,9385,0.84,171.5,805.1,12.2,329,9390,0.30,2.50,0.00,0.000,6,0.109,0.035,3044,1671,2418,0,0,0,0,0,0
$GC,9664,0.97,196.5,780.8,8.3,336,9696,0.10,2.67,24.67,1.052,4,0.082,0.067,3087,183,2318,0,0,0,0,0,0
$GC,9738,0.86,196.5,773.2,12.6,337,9743,0.20,2.50,0.00,0.000,6,0.113,0.035,3048,1670,2315,0,0,0,0,0,0
$GC,9998,0.99,218.5,750.0,8.5,344,10027,0.12,2.72,21.27,1.022,4,0.069,0.067,3099,186,2228,0,0,0,0,0,0
$GC,10050,0.88,218.5,744.5,13.0,345,10055,0.22,2.47,0.00,0.000,6,0.109,0.035,3054,1669,2227,0,0,0,0,0,0
$GC,10333,0.97,218.5,714.9,10.3,352,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1670,2223,0,0,0,0,0,0
$GC,10579,1.06,218.5,689.2,10.6,358,10581,0.15,0.00,0.00,0.000,6,0.060,0.000,3114,1670,2221,0,0,0,0,0,0
$GC,10820,1.06,218.5,657.6,13.1,364,10824,0.00,2.62,0.00,0.000,4,0.000,0.065,3114,178,2221,0,0,0,0,0,0
$GC,10848,0.94,218.5,653.5,15.2,364,10854,0.22,2.45,0.00,0.000,6,0.111,0.034,3067,1665,2221,0,0,0,0,0,0
$GC,11108,1.02,224.1,627.6,9.6,371,11120,0.00,2.65,5.18,0.728,4,0.000,0.064,3067,176,2205,0,0,0,0,0,0
$GC,11195,1.02,224.1,617.5,12.0,372,11200,0.00,2.45,0.00,0.000,6,0.000,0.033,3067,1651,2205,0,0,0,0,0,0
$GC,11447,1.10,229.1,593.3,9.7,379,11456,0.15,0.00,6.38,0.778,6,0.058,0.000,3131,1651,2186,0,0,0,0,0,0
$GC,11688,1.02,229.1,563.1,12.4,385,11690,0.22,0.00,0.00,0.000,6,0.113,0.000,3085,1652,2185,0,0,0,0,0,0
$GC,11932,1.02,229.1,536.9,10.7,391,11936,0.00,2.55,0.00,0.000,4,0.000,0.061,3085,180,2184,0,0,0,0,0,0
$GC,12045,1.02,229.1,523.6,11.7,393,12049,0.00,2.40,0.00,0.000,6,0.000,0.029,3085,1658,2183,0,0,0,0,0,0
$GC,12313,1.02,230.9,496.6,9.9,400,12317,0.00,2.55,0.00,0.000,4,0.000,0.060,3085,173,2183,0,0,0,0,0,0
$GC,12359,1.02,230.9,491.3,10.9,401,12364,0.00,2.38,0.00,0.000,6,0.000,0.027,3085,1648,2182,0,0,0,0,0,0
$GC,12644,1.03,231.7,463.1,9.9,408,12648,0.00,2.55,0.00,0.000,4,0.000,0.059,3085,173,2182,0,0,0,0,0,0
$GC,12681,1.03,231.7,458.7,11.1,408,12686,0.00,2.40,0.00,0.000,6,0.000,0.026,3085,1651,2182,0,0,0,0,0,0
$GC,12933,1.10,238.3,434.3,9.5,415,12949,0.00,2.62,9.85,0.781,4,0.000,0.058,3085,177,2148,0,0,0,0,0,0
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$GC,13886,1.13,239.1,330.1,10.1,438,13890,0.00,2.70,0.00,0.000,4,0.000,0.049,3093,3255,2144,0,0,0,0,0,0
$GC,13932,1.27,249.0,325.4,9.3,439,13949,0.17,2.67,11.00,0.717,6,0.054,0.035,3157,1649,2104,0,0,0,0,0,0
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$STATE,16878,end climb,SURFACE_DEPTH_REACHED
$STATE,16878,begin surface coast
$FINISH,1.0,1.005080
$STATE,16914,end surface coast,CONTROL_FINISHED_OK
$STATE,16914,begin surface
$SM_CCo,16937,38.65,0.370,1,0,1569,380.21
$SM_GC,1.94,0.00,0.00,38.65,0.000,0.000,0.370,415,1830,1569,-11.25,1.13,380.21
$IRIDIUM_FIX,2202.04,-15741.24,020500,050545
$TT8_MAMPS,0.027612
$HUMID,50.27
$INTERNAL_PRESSURE,9.7308
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,22.8,84.142
$10V_AH,9.8,74.512
$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,32.175,217.350,375.375,38.650,0.000,27.983,36.395,280.105,0.000,0.000,13.234,1464.180,12293.139,522.162,2387.253,817.069,33.378,1618.884,0.000,2381.749,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,75.166,1175.044,369.694,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,442.293,319.658,402.933,539.997,955.056,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,50976,649
$CAP_FILE_SIZE,177611,0
$CFSIZE,260165632,133963776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060211,151337,2205.185,-15807.963,29,1.4,29,9.9