version: 66.07
glider: 500
mission: 5
dive: 103
start: 11 24 110 23 25 49
data:
$ID,500
$MISSION,5
$DIVE,103
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,366
$T_MISSION,720
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-123221.85
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2290
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,102
$AR_SAMPLENUM,2
$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
$GPS1,241110,231631,2045.536,12512.122,36,1.7,36,-2.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-76.3
$GPS2,241110,232456,2045.422,12511.957,12,1.2,12,-2.7
$SPEED_LIMITS,0.156,0.265
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,0.085
$KALMAN_X,-147373.0,723.0,310.0,345301.6,-7580.8
$KALMAN_Y,-75799.4,-929.8,-308.9,32135.5,-1469.4
$MHEAD_RNG_PITCHd_Wd,73.9,171008,-14.8,-9.016
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.70,-165.4,0.0,0.0,0,129,0.00,0.00,-100.62,0.000,2,0.000,0.000,108,2266,3590,0,0,0,0,0,0
$GC,133,-0.70,-165.5,3.7,-7.9,20,149,10.20,2.33,0.00,0.000,4,0.225,0.039,2818,688,3592,0,0,0,0,0,0
$GC,234,-0.70,-165.5,37.3,-24.6,36,238,0.00,2.35,0.00,0.000,6,0.000,0.044,2808,2294,3595,0,0,0,0,0,0
$GC,494,-0.70,-165.5,99.3,-20.7,60,498,0.00,2.35,0.00,0.000,4,0.000,0.044,2808,702,3596,0,0,0,0,0,0
$GC,526,-0.70,-165.5,105.4,-17.8,62,532,0.00,2.33,0.00,0.000,6,0.000,0.044,2796,2288,3596,0,0,0,0,0,0
$GC,787,-0.70,-165.5,145.0,-15.2,87,791,0.00,2.30,0.00,0.000,4,0.000,0.043,2796,702,3597,0,0,0,0,0,0
$GC,898,-0.70,-165.5,162.6,-16.2,96,904,0.15,2.30,0.00,0.000,6,0.174,0.044,2826,2292,3597,0,0,0,0,0,0
$GC,1159,-0.70,-165.5,194.2,-11.3,121,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2293,3598,0,0,0,0,0,0
$GC,1417,-0.70,-165.5,225.9,-12.2,136,1421,0.00,2.30,0.00,0.000,4,0.000,0.044,2826,702,3602,0,0,0,0,0,0
$GC,1502,-0.70,-165.5,236.9,-13.1,140,1506,0.00,2.30,0.00,0.000,6,0.000,0.043,2815,2305,3598,0,0,0,0,0,0
$GC,1827,-0.70,-165.5,280.6,-13.3,156,1831,0.00,2.33,0.00,0.000,4,0.000,0.043,2815,688,3598,0,0,0,0,0,0
$GC,1993,-0.70,-165.5,302.0,-11.5,163,2000,0.00,2.35,0.00,0.000,6,0.000,0.044,2803,2291,3598,0,0,0,0,0,0
$GC,2324,-0.70,-165.5,334.5,-9.3,172,2328,0.00,2.30,0.00,0.000,4,0.000,0.044,2803,698,3598,0,0,0,0,0,0
$GC,2409,-0.70,-165.5,343.2,-10.5,174,2414,0.12,2.30,0.00,0.000,6,0.173,0.043,2826,2302,3599,0,0,0,0,0,0
$GC,2732,-0.70,-165.5,373.0,-9.7,182,2736,0.00,2.33,0.00,0.000,4,0.000,0.044,2827,690,3597,0,0,0,0,0,0
$GC,2747,-0.70,-165.5,374.6,-9.8,182,2751,0.00,2.35,0.00,0.000,6,0.000,0.044,2816,2288,3597,0,0,0,0,0,0
$GC,3095,-0.70,-165.5,407.2,-9.1,191,3099,0.00,2.33,0.00,0.000,4,0.000,0.051,2805,3846,3596,0,0,0,0,0,0
$GC,3166,-0.70,-165.5,414.0,-9.3,192,3171,0.00,2.30,0.00,0.000,6,0.000,0.035,2804,2273,3594,0,0,0,0,0,0
$GC,3503,-0.70,-165.5,442.8,-8.6,201,3507,0.00,2.28,0.00,0.000,4,0.000,0.044,2804,704,3592,0,0,0,0,0,0
$GC,3678,-0.70,-165.5,457.6,-8.9,205,3683,0.12,2.30,0.00,0.000,6,0.173,0.041,2827,2307,3592,0,0,0,0,0,0
$GC,4001,-0.70,-165.5,481.4,-7.3,213,4005,0.00,2.30,0.00,0.000,4,0.000,0.051,2817,3847,3590,0,0,0,0,0,0
$GC,4168,-0.70,-165.5,494.7,-7.9,216,4174,0.00,2.30,0.00,0.000,6,0.000,0.035,2817,2281,3589,0,0,0,0,0,0
$GC,4499,-0.70,-165.5,518.0,-7.0,225,4503,0.00,2.30,0.00,0.000,4,0.000,0.045,2816,704,3587,0,0,0,0,0,0
$GC,4520,-0.70,-165.5,519.8,-8.3,225,4524,0.00,2.33,0.00,0.000,6,0.000,0.043,2805,2299,3587,0,0,0,0,0,0
$GC,4856,-0.70,-165.5,545.3,-7.7,234,4861,0.00,2.35,0.00,0.000,4,0.000,0.045,2805,701,3585,0,0,0,0,0,0
$GC,4928,-0.70,-165.5,551.3,-8.7,235,4933,0.12,2.33,0.00,0.000,6,0.170,0.043,2828,2282,3584,0,0,0,0,0,0
$GC,5265,-0.70,-165.5,572.4,-5.7,244,5269,0.00,2.30,0.00,0.000,4,0.000,0.043,2828,698,3580,0,0,0,0,0,0
$GC,5308,-0.70,-165.5,575.0,-6.0,245,5313,0.00,2.35,0.00,0.000,6,0.000,0.044,2818,2291,3581,0,0,0,0,0,0
$GC,5632,-0.70,-165.5,593.1,-5.8,253,5636,0.00,2.33,0.00,0.000,4,0.000,0.044,2818,708,3579,0,0,0,0,0,0
$GC,5671,-0.70,-165.5,595.7,-6.5,253,5677,0.00,2.30,0.00,0.000,6,0.000,0.044,2806,2297,3576,0,0,0,0,0,0
$GC,6002,-0.70,-165.5,618.5,-7.1,262,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2297,3577,0,0,0,0,0,0
$GC,6327,-0.70,-165.5,639.8,-6.5,270,6331,0.00,2.35,0.00,0.000,4,0.000,0.046,2806,703,3574,0,0,0,0,0,0
$GC,6584,-0.70,-165.5,658.1,-7.5,275,6590,0.10,2.35,0.00,0.000,6,0.181,0.043,2821,2290,3570,0,0,0,0,0,0
$GC,6915,-0.70,-165.5,680.4,-6.9,284,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2287,3570,0,0,0,0,0,0
$GC,7241,-0.70,-165.5,703.7,-7.3,292,7245,0.00,2.30,0.00,0.000,4,0.000,0.044,2822,708,3571,0,0,0,0,0,0
$GC,7279,-0.70,-165.5,706.7,-7.9,293,7284,0.00,2.30,0.00,0.000,6,0.000,0.044,2812,2288,3568,0,0,0,0,0,0
$GC,7603,-0.70,-165.5,728.3,-6.4,301,7607,0.00,2.35,0.00,0.000,4,0.000,0.053,2799,3842,3566,0,0,0,0,0,0
$GC,7647,-0.70,-165.5,731.2,-6.3,302,7651,0.00,2.28,0.00,0.000,6,0.000,0.035,2799,2280,3565,0,0,0,0,0,0
$GC,7964,-0.70,-165.5,749.2,-5.3,310,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2280,3565,0,0,0,0,0,0
$GC,8289,-0.70,-165.5,765.5,-5.1,318,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2281,3563,0,0,0,0,0,0
$GC,8615,-0.70,-165.5,783.3,-5.6,326,8619,0.00,2.30,0.00,0.000,4,0.000,0.047,2799,706,3561,0,0,0,0,0,0
$GC,8653,-0.70,-165.5,785.8,-6.4,327,8658,0.12,2.33,0.00,0.000,6,0.171,0.044,2822,2292,3561,0,0,0,0,0,0
$GC,8977,-0.70,-165.5,803.4,-5.6,335,8981,0.00,2.35,0.00,0.000,4,0.000,0.045,2823,704,3560,0,0,0,0,0,0
$GC,9016,-0.70,-165.5,805.9,-6.0,336,9021,0.00,2.35,0.00,0.000,6,0.000,0.044,2812,2293,3558,0,0,0,0,0,0
$GC,9340,-0.70,-165.5,826.7,-6.5,344,9344,0.00,2.30,0.00,0.000,4,0.000,0.046,2813,714,3556,0,0,0,0,0,0
$GC,9407,-0.70,-165.5,831.6,-7.4,345,9411,0.00,2.33,0.00,0.000,6,0.000,0.047,2801,2302,3557,0,0,0,0,0,0
$GC,9742,-0.70,-165.5,854.6,-6.7,354,9746,0.00,2.33,0.00,0.000,4,0.000,0.047,2801,713,3556,0,0,0,0,0,0
$GC,9802,-0.70,-165.5,859.2,-7.2,355,9807,0.12,2.35,0.00,0.000,6,0.170,0.046,2824,2286,3554,0,0,0,0,0,0
$GC,10150,-0.70,-165.5,878.7,-5.3,364,10154,0.00,2.35,0.00,0.000,4,0.000,0.056,2813,3846,3554,0,0,0,0,0,0
$GC,10183,-0.70,-165.5,880.6,-6.3,364,10189,0.00,2.30,0.00,0.000,6,0.000,0.039,2813,2298,3555,0,0,0,0,0,0
$GC,10514,-0.70,-165.5,897.6,-5.0,373,10518,0.00,2.35,0.00,0.000,4,0.000,0.047,2810,699,3554,0,0,0,0,0,0
$GC,10547,-0.70,-165.5,899.3,-5.0,373,10552,0.00,2.35,0.00,0.000,6,0.000,0.044,2801,2292,3554,0,0,0,0,0,0
$GC,10877,-0.70,-165.5,916.8,-5.4,382,10881,0.00,2.35,0.00,0.000,4,0.000,0.046,2803,702,3553,0,0,0,0,0,0
$GC,11017,-0.70,-165.5,925.2,-6.3,385,11022,0.12,2.33,0.00,0.000,6,0.171,0.044,2824,2291,3553,0,0,0,0,0,0
$GC,11329,-0.70,-165.5,941.0,-5.2,393,11333,0.00,2.35,0.00,0.000,4,0.000,0.046,2825,702,3553,0,0,0,0,0,0
$GC,11414,-0.70,-165.5,945.8,-5.9,395,11418,0.00,2.35,0.00,0.000,6,0.000,0.045,2814,2297,3552,0,0,0,0,0,0
$GC,11743,-0.70,-165.5,963.3,-5.3,403,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2298,3551,0,0,0,0,0,0
$GC,12068,-0.70,-165.5,981.3,-5.5,411,12072,0.00,2.35,0.00,0.000,4,0.000,0.047,2814,703,3550,0,0,0,0,0,0
$GC,12158,-0.70,-165.5,986.5,-5.7,413,12162,0.00,2.33,0.00,0.000,6,0.000,0.045,2803,2297,3553,0,0,0,0,0,0
$STATE,12235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12235,begin apogee
$GC,12240,-0.23,0.0,991.1,5.7,415,12376,0.50,0.00,133.18,1.404,6,0.117,0.000,2973,1851,2915,0,0,0,0,0,0
$STATE,12399,end apogee,CONTROL_FINISHED_OK
$STATE,12399,begin climb
$GC,12401,0.70,165.5,990.7,0.0,418,12557,0.82,2.67,146.48,1.361,4,0.066,0.057,3281,3422,2240,0,0,0,0,0,0
$GC,12659,0.70,165.5,948.1,18.2,425,12663,0.00,2.47,0.00,0.000,6,0.000,0.047,3293,1848,2228,0,0,0,0,0,0
$GC,12981,0.70,165.5,883.8,20.1,433,12985,0.00,2.47,0.00,0.000,4,0.000,0.058,3305,262,2221,0,0,0,0,0,0
$GC,13001,0.70,165.5,879.3,22.0,433,13007,0.08,2.45,0.00,0.000,6,0.122,0.047,3282,1842,2220,0,0,0,0,0,0
$GC,13345,0.70,165.5,817.3,18.2,442,13349,0.00,2.45,0.00,0.000,4,0.000,0.058,3277,3439,2218,0,0,0,0,0,0
$GC,13460,0.70,165.5,795.0,18.5,444,13465,0.00,2.45,0.00,0.000,6,0.000,0.047,3287,1856,2214,0,0,0,0,0,0
$GC,13797,0.70,165.5,732.6,18.4,453,13801,0.00,2.42,0.00,0.000,4,0.000,0.055,3292,3436,2216,0,0,0,0,0,0
$GC,13840,0.70,165.5,724.5,18.4,454,13845,0.00,2.42,0.00,0.000,6,0.000,0.047,3299,1839,2215,0,0,0,0,0,0
$GC,14163,0.70,165.5,665.0,18.2,462,14168,0.00,2.47,0.00,0.000,4,0.000,0.056,3299,3451,2217,0,0,0,0,0,0
$GC,14195,0.70,165.5,658.8,18.7,462,14202,0.10,2.45,0.00,0.000,6,0.121,0.048,3274,1858,2214,0,0,0,0,0,0
$GC,14527,0.70,165.5,608.5,14.8,471,14531,0.00,2.45,0.00,0.000,4,0.000,0.058,3286,243,2214,0,0,0,0,0,0
$GC,14565,0.70,165.5,602.3,15.5,472,14569,0.00,2.42,0.00,0.000,6,0.000,0.048,3285,1853,2215,0,0,0,0,0,0
$GC,14888,0.70,165.5,549.6,16.7,480,14892,0.00,2.40,0.00,0.000,4,0.000,0.057,3285,3444,2213,0,0,0,0,0,0
$GC,14978,0.70,165.5,533.4,17.6,482,14982,0.00,2.42,0.00,0.000,6,0.000,0.048,3297,1842,2212,0,0,0,0,0,0
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$STATE,18915,end climb,SURFACE_DEPTH_REACHED
$STATE,18915,begin surface coast
$FINISH,0.9,1.022509
$STATE,18947,end surface coast,CONTROL_FINISHED_OK
$STATE,18947,begin surface
$SM_CCo,18965,103.72,0.607,0,0,877,500.16
$SM_GC,1.01,0.00,0.00,103.72,0.000,0.000,0.607,104,2306,877,-9.21,0.45,500.16
$IRIDIUM_FIX,2040.99,12510.29,190512,121234
$TT8_MAMPS,0.059059
$HUMID,1078671603
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$TCM_TEMP,24.70
$XPDR_PINGS,24
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8274870272
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58067812352
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,16.530
$10V_AH,10.1,12.086
$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,21.150,204.300,370.750,103.725,0.000,29.438,36.962,281.726,6.000,0.000,15.853,1521.560,14816.542,643.396,2340.820,251.839,33.366,1741.724,0.000,1904.701,0.000,0.542,0.000
$DEVICE_MAMPS,224.731,58.292,1404.377,607.464,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,504.669,0.000,0.000,0.000,0.000,0.000,0.000,19698.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.705,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,26723,742
$CAP_FILE_SIZE,170193,0
$CFSIZE,260165632,216076288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251110,044507,2046.706,12512.011,38,1.0,38,-2.7