version: 66.06
glider: 148
mission: 12
dive: 161
start: 6 25 113 14 30 49
data:
$ID,148
$MISSION,12
$DIVE,161
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$D_NO_BLEED,200
$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,300
$T_MISSION,600
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1019397.8
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3385
$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,0.028999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,74
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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,-11.834597
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,142230,2249.629,-15746.662,50,1.2,50,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.7
$GPS2,142955,2249.639,-15746.745,13,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,-0.178
$KALMAN_X,-180689.7,98.9,360.9,202963.8,-2090.5
$KALMAN_Y,64703.4,251.9,-374.2,-55973.9,1453.9
$MHEAD_RNG_PITCHd_Wd,123.2,25537,-17.5,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.05,0.000,2,0.000,0.000,414,1567,2965,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.5,9,122,13.93,2.35,-7.57,0.000,4,0.147,0.052,3104,166,3399,0,0,0,0,0,0
$GC,201,-1.04,-146.0,33.7,-20.6,24,206,0.25,2.15,0.00,0.000,6,0.097,0.018,3157,1570,3399,0,0,0,0,0,0
$GC,470,-0.92,-146.0,74.7,-13.7,48,475,0.12,2.47,0.00,0.000,4,0.112,0.022,3184,3143,3400,0,0,0,0,0,0
$GC,504,-0.92,-146.0,79.4,-10.1,50,513,0.00,2.58,0.00,0.000,6,0.000,0.028,3184,1567,3400,0,0,0,0,0,0
$GC,772,-0.92,-146.0,102.9,-9.0,75,776,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1567,3401,0,0,0,0,0,0
$GC,1033,-0.92,-146.0,128.1,-9.3,100,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1567,3401,0,0,0,0,0,0
$GC,1293,-0.92,-146.0,151.0,-9.0,124,1297,0.00,2.28,0.00,0.000,4,0.000,0.044,3184,166,3401,0,0,0,0,0,0
$GC,1311,-0.92,-146.0,153.5,-10.1,125,1317,0.00,2.12,0.00,0.000,6,0.000,0.018,3184,1600,3402,0,0,0,0,0,0
$GC,1574,-0.92,-146.0,177.4,-9.4,150,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1602,3402,0,0,0,0,0,0
$GC,1828,-0.92,-146.0,200.5,-9.0,174,1833,0.00,2.35,0.00,0.000,4,0.000,0.021,3184,3100,3402,0,0,0,0,0,0
$GC,1852,-0.99,-146.0,202.8,-9.0,174,1857,0.00,2.47,0.00,0.000,6,0.000,0.028,3184,1561,3402,0,0,0,0,0,0
$GC,2114,-1.04,-146.0,226.5,-9.3,181,2116,0.10,0.00,0.00,0.000,6,0.076,0.000,3128,1562,3402,0,0,0,0,0,0
$GC,2356,-0.96,-146.0,253.8,-11.2,187,2357,0.20,0.00,0.00,0.000,6,0.090,0.000,3173,1561,3402,0,0,0,0,0,0
$GC,2600,-1.01,-146.0,273.0,-7.6,193,2604,0.00,2.45,0.00,0.000,4,0.000,0.023,3173,3104,3402,0,0,0,0,0,0
$GC,2630,-1.12,-146.0,275.2,-6.6,193,2635,0.12,2.47,0.00,0.000,6,0.061,0.029,3104,1562,3402,0,0,0,0,0,0
$GC,2886,-1.01,-146.0,302.2,-11.0,200,2890,0.25,2.30,0.00,0.000,4,0.087,0.047,3163,168,3402,0,0,0,0,0,0
$GC,2935,-1.08,-146.0,306.9,-8.0,201,2939,0.00,2.05,0.00,0.000,6,0.000,0.020,3163,1520,3402,0,0,0,0,0,0
$GC,3218,-1.13,-146.0,327.8,-7.5,208,3223,0.10,2.60,0.00,0.000,4,0.075,0.029,3110,3130,3401,0,0,0,0,0,0
$GC,3238,-1.13,-146.0,329.6,-8.8,208,3243,0.12,2.58,0.00,0.000,6,0.097,0.033,3139,1557,3401,0,0,0,0,0,0
$GC,3504,-1.13,-146.0,354.3,-9.6,215,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1557,3400,0,0,0,0,0,0
$GC,3746,-1.13,-146.0,376.4,-8.9,221,3751,0.00,2.55,0.00,0.000,4,0.000,0.034,3139,3123,3398,0,0,0,0,0,0
$GC,3784,-1.21,-146.0,379.6,-8.0,221,3790,0.00,2.58,0.00,0.000,6,0.000,0.038,3139,1568,3398,0,0,0,0,0,0
$GC,4036,-1.21,-146.0,401.1,-8.7,228,4040,0.00,2.38,0.00,0.000,4,0.000,0.062,3139,168,3396,0,0,0,0,0,0
$GC,4096,-1.21,-146.0,407.3,-10.3,229,4100,0.00,2.17,0.00,0.000,6,0.000,0.024,3139,1551,3396,0,0,0,0,0,0
$GC,4365,-1.21,-146.0,431.6,-9.3,236,4369,0.00,2.58,0.00,0.000,4,0.000,0.037,3139,3137,3394,0,0,0,0,0,0
$GC,4385,-1.21,-146.0,433.4,-9.1,236,4390,0.00,2.62,0.00,0.000,6,0.000,0.038,3139,1553,3394,0,0,0,0,0,0
$GC,4650,-1.21,-146.0,455.8,-8.2,243,4654,0.00,2.60,0.00,0.000,4,0.000,0.041,3139,3136,3392,0,0,0,0,0,0
$GC,4664,-1.21,-146.0,457.1,-8.2,243,4668,0.00,2.60,0.00,0.000,6,0.000,0.035,3139,1560,3392,0,0,0,0,0,0
$GC,4934,-1.21,-146.0,477.0,-7.2,250,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1560,3390,0,0,0,0,0,0
$GC,5177,-1.21,-146.0,494.9,-7.5,256,5181,0.00,2.60,0.00,0.000,4,0.000,0.042,3139,3134,3388,0,0,0,0,0,0
$GC,5196,-1.26,-146.0,496.7,-9.1,256,5201,0.12,2.60,0.00,0.000,6,0.066,0.039,3079,1567,3388,0,0,0,0,0,0
$GC,5463,-1.17,-146.0,525.9,-11.2,263,5468,0.22,2.42,0.00,0.000,4,0.090,0.072,3130,171,3387,0,0,0,0,0,0
$GC,5507,-1.17,-146.0,530.2,-8.3,264,5511,0.00,2.20,0.00,0.000,6,0.000,0.030,3130,1541,3386,0,0,0,0,0,0
$GC,5795,-1.17,-146.0,553.6,-8.1,271,5800,0.00,2.65,0.00,0.000,4,0.000,0.047,3130,3148,3384,0,0,0,0,0,0
$GC,5839,-1.25,-146.0,557.2,-7.8,272,5844,0.00,2.65,0.00,0.000,6,0.000,0.044,3130,1557,3384,0,0,0,0,0,0
$GC,6126,-1.25,-146.0,579.8,-7.9,279,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1557,3382,0,0,0,0,0,0
$GC,6372,-1.25,-146.0,600.6,-8.6,285,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1557,3381,0,0,0,0,0,0
$GC,6614,-1.25,-146.0,622.5,-9.1,291,6618,0.00,2.67,0.00,0.000,4,0.000,0.048,3130,3156,3379,0,0,0,0,0,0
$GC,6647,-1.34,-146.0,625.5,-8.7,291,6656,0.15,2.70,0.00,0.000,6,0.061,0.048,3074,1560,3379,0,0,0,0,0,0
$GC,6902,-1.25,-146.0,653.4,-11.0,298,6907,0.17,2.47,0.00,0.000,4,0.098,0.081,3112,165,3378,0,0,0,0,0,0
$GC,6936,-1.25,-146.0,657.2,-9.6,298,6940,0.00,2.25,0.00,0.000,6,0.000,0.033,3112,1556,3378,0,0,0,0,0,0
$GC,7186,-1.25,-146.0,678.2,-8.3,304,7190,0.00,2.70,0.00,0.000,4,0.000,0.053,3112,3155,3376,0,0,0,0,0,0
$GC,7207,-1.25,-146.0,680.1,-9.3,304,7211,0.00,2.70,0.00,0.000,6,0.000,0.047,3112,1559,3376,0,0,0,0,0,0
$GC,7472,-1.25,-146.0,702.4,-8.4,311,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1559,3375,0,0,0,0,0,0
$GC,7716,-1.25,-146.0,722.3,-8.3,317,7720,0.00,2.67,0.00,0.000,4,0.000,0.047,3112,3151,3373,0,0,0,0,0,0
$GC,7732,-1.25,-146.0,723.8,-8.3,317,7737,0.00,2.67,0.00,0.000,6,0.000,0.051,3113,1569,3373,0,0,0,0,0,0
$GC,8001,-1.25,-146.0,745.2,-8.0,324,8006,0.00,2.45,0.00,0.000,4,0.000,0.082,3112,169,3372,0,0,0,0,0,0
$GC,8053,-1.25,-146.0,749.6,-7.4,325,8057,0.00,2.28,0.00,0.000,6,0.000,0.034,3112,1566,3372,0,0,0,0,0,0
$GC,8332,-1.25,-146.0,769.1,-6.9,332,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1566,3371,0,0,0,0,0,0
$GC,8574,-1.25,-146.0,785.3,-6.5,338,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1566,3370,0,0,0,0,0,0
$GC,8818,-1.25,-146.0,801.6,-6.7,344,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1566,3369,0,0,0,0,0,0
$GC,9063,-1.25,-146.0,818.9,-7.1,350,9068,0.00,2.67,0.00,0.000,4,0.000,0.054,3112,3154,3368,0,0,0,0,0,0
$GC,9078,-1.25,-146.0,820.3,-7.4,350,9082,0.00,2.67,0.00,0.000,6,0.000,0.047,3112,1564,3368,0,0,0,0,0,0
$GC,9346,-1.25,-146.0,840.0,-7.4,357,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1564,3367,0,0,0,0,0,0
$GC,9590,-1.25,-146.0,857.7,-7.2,363,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1564,3366,0,0,0,0,0,0
$GC,9835,-1.25,-146.0,873.9,-6.5,369,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1564,3365,0,0,0,0,0,0
$GC,10077,-1.25,-146.0,889.0,-6.2,375,10082,0.00,2.65,0.00,0.000,4,0.000,0.045,3112,3159,3364,0,0,0,0,0,0
$GC,10097,-1.25,-146.0,890.4,-7.1,375,10101,0.00,2.70,0.00,0.000,6,0.000,0.048,3112,1567,3364,0,0,0,0,0,0
$STATE,10277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10277,begin apogee
$GC,10285,-0.31,0.0,901.5,6.1,380,10408,0.90,0.00,119.65,1.161,6,0.074,0.000,3318,1347,2800,0,0,0,0,0,0
$STATE,10408,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10411,1.27,146.0,904.2,0.0,383,10549,1.45,2.17,130.23,1.138,4,0.031,0.085,3668,169,2203,0,0,0,0,0,0
$GC,10643,0.99,146.0,883.1,15.9,388,10648,0.32,1.95,0.00,0.000,6,0.113,0.030,3603,1352,2199,0,0,0,0,0,0
$GC,10900,0.90,146.0,853.9,11.1,395,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1353,2193,0,0,0,0,0,0
$GC,11142,0.82,146.0,826.6,11.3,401,11146,0.17,2.10,0.00,0.000,4,0.111,0.071,3565,169,2191,0,0,0,0,0,0
$GC,11186,0.77,146.0,821.8,10.1,402,11189,0.00,1.95,0.00,0.000,6,0.000,0.030,3565,1361,2192,0,0,0,0,0,0
$GC,11478,0.79,159.9,794.1,9.4,409,11492,0.00,0.00,11.75,0.969,6,0.000,0.000,3566,1363,2148,0,0,0,0,0,0
$GC,11720,0.79,165.5,770.4,9.7,415,11732,0.00,2.75,6.50,0.836,4,0.000,0.053,3566,2932,2125,0,0,0,0,0,0
$GC,11775,0.89,197.2,765.1,8.5,416,11812,0.00,2.72,30.67,1.035,6,0.000,0.048,3566,1354,1995,0,0,0,0,0,0
$GC,12100,0.89,199.7,732.7,9.9,424,12104,0.00,2.12,0.00,0.000,4,0.000,0.086,3566,167,1990,0,0,0,0,0,0
$GC,12164,0.89,199.7,725.5,11.0,425,12167,0.00,1.95,0.00,0.000,6,0.000,0.031,3566,1358,1990,0,0,0,0,0,0
$GC,12438,0.92,218.8,700.1,9.1,432,12466,0.00,2.72,20.85,0.979,4,0.000,0.051,3566,2936,1906,0,0,0,0,0,0
$GC,12490,1.04,258.5,695.1,8.2,433,12536,0.20,2.75,37.42,0.995,6,0.049,0.050,3630,1353,1745,0,0,0,0,0,0
$GC,12815,0.97,258.5,649.6,14.5,441,12822,0.15,2.70,0.00,0.000,4,0.113,0.047,3599,2936,1739,0,0,0,0,0,0
$GC,12865,1.03,258.5,643.1,12.3,442,12869,0.00,2.75,0.00,0.000,6,0.000,0.051,3598,1347,1736,0,0,0,0,0,0
$GC,13149,1.03,258.5,606.0,13.4,449,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1347,1736,0,0,0,0,0,0
$GC,13391,1.03,258.5,572.6,13.6,455,13395,0.00,2.65,0.00,0.000,4,0.000,0.044,3599,2930,1735,0,0,0,0,0,0
$GC,13423,1.03,258.5,568.0,14.0,455,13428,0.00,2.70,0.00,0.000,6,0.000,0.049,3598,1357,1733,0,0,0,0,0,0
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$GC,13716,1.03,258.5,528.1,13.6,461,13721,0.00,1.95,0.00,0.000,6,0.000,0.028,3598,1373,1733,0,0,0,0,0,0
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$GC,14023,1.11,258.5,488.8,12.1,469,14028,0.12,2.62,0.00,0.000,6,0.067,0.047,3647,1363,1731,0,0,0,0,0,0
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$STATE,18171,end climb,SURFACE_DEPTH_REACHED
$STATE,18171,begin surface coast
$FINISH,1.0,1.000268
$STATE,18212,end surface coast,CONTROL_FINISHED_OK
$STATE,18212,begin surface
$SM_CCo,18237,35.72,0.430,0,0,1249,380.21
$SM_GC,2.06,0.00,0.00,35.72,0.000,0.000,0.430,408,1581,1249,-13.70,0.31,380.21
$IRIDIUM_FIX,2241.69,-15746.73,190902,080825
$TT8_MAMPS,0.027612
$HUMID,64.72
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,26
$24V_AH,23.3,23.469
$10V_AH,9.9,20.655
$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,33.325,198.300,410.650,35.725,0.000,31.250,43.075,211.444,6.500,0.000,15.344,1545.385,13399.763,529.523,2497.328,735.522,33.366,1631.162,0.000,2492.501,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,85.904,1161.238,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,479.801,338.308,437.132,760.019,1042.013,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,54279,705
$CAP_FILE_SIZE,177661,0
$CFSIZE,260165632,160264192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250613,193656,2249.231,-15745.821,33,99.0,52,10.1