version: 66.11
glider: 120
mission: 16
dive: 11
start: 3 30 113 10 24 33
data:
$ID,120
$MISSION,16
$DIVE,11
$N_DIVES,0
$D_SURF,1
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56148
$MASS_COMP,1128.8
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4739.3799
$TGT_DEFAULT_LON,-12219.1
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40291.898
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,115
$PITCH_MAX,4069
$C_PITCH,2540
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3894
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2468
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-5.6651554
$PRESSURE_SLOPE,0.0001164831
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.00438176
$SEABIRD_T_H,0.00064101926
$SEABIRD_T_I,2.5489926e-05
$SEABIRD_T_J,2.6782905e-06
$SEABIRD_C_G,-10.157237
$SEABIRD_C_H,1.1376933
$SEABIRD_C_I,-0.0013911312
$SEABIRD_C_J,0.00019179068
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,300313,101221,2437.169,-3747.224,37,2.0,53,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.8
$GPS2,300313,102330,2437.227,-3747.212,11,1.9,16,-15.0
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.065,-0.250
$KALMAN_X,-7608.0,-189.6,40.3,12134.9,-1282.8
$KALMAN_Y,13518.6,-302.4,-403.3,-30206.8,2859.8
$MHEAD_RNG_PITCHd_Wd,194.8,30978,-17.6,-10.000,-21.21,2209
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.95,-146.6,130,1894,1453,1435,0.0,0.0,0,79,0.00,0.00,-52.50,0.000,16390,0.000,0.000,130,1895,3068,3157,2979,0,0,0,0,0,0,28.83,28.83,14.73
$GC,82,-0.95,-146.6,130,1895,3157,2979,3.1,-5.2,4,97,9.30,2.40,0.00,0.000,2308,0.379,0.067,2220,3318,3070,3161,2979,0,0,0,0,0,0,14.21,14.51,28.83
$GC,306,-0.79,-146.6,2220,3317,3165,2979,39.1,-15.1,18,313,0.25,2.35,0.00,0.000,3078,0.251,0.054,2283,1893,3072,3165,2979,0,0,0,0,0,0,14.23,14.52,28.83
$GC,612,-0.71,-146.6,2283,1893,3167,2979,79.0,-12.2,39,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1893,3073,3167,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,912,-0.64,-146.6,2283,1893,3168,2979,113.5,-11.1,59,914,0.17,0.00,0.00,0.000,2054,0.249,0.000,2330,1893,3073,3168,2979,0,0,0,0,0,0,14.29,28.83,28.83
$GC,1211,-0.64,-146.6,2330,1893,3170,2979,142.9,-10.3,79,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1893,3074,3169,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1512,-0.64,-146.6,2330,1893,3171,2979,172.2,-9.4,99,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1893,3075,3171,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.64,-146.6,2330,1893,3172,2979,199.3,-8.5,119,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1893,3075,3172,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2112,-0.64,-146.6,2329,1893,3172,2979,226.2,-8.7,139,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1893,3075,3172,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2427,-0.64,-146.6,2329,1894,3172,2979,252.3,-8.1,159,2432,0.00,2.38,0.00,0.000,516,0.000,0.081,2330,490,3075,3172,2979,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2530,-0.64,-146.6,2330,490,3172,2979,260.4,-8.4,162,2535,0.00,2.30,0.00,0.000,1030,0.000,0.044,2321,1918,3075,3172,2979,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2855,-0.64,-146.6,2321,1918,3172,2980,287.5,-7.9,173,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1918,3075,3172,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3153,-0.64,-146.6,2321,1918,3172,2979,309.9,-7.4,183,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1917,3075,3172,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3453,-0.64,-146.6,2321,1918,3171,2979,335.8,-9.0,193,3458,0.00,2.45,0.00,0.000,516,0.000,0.083,2321,490,3075,3172,2979,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3541,-0.64,-146.6,2321,490,3172,2979,342.0,-9.5,195,3547,0.00,2.28,0.00,0.000,1030,0.000,0.045,2310,1901,3075,3172,2979,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3846,-0.64,-146.6,2310,1901,3172,2979,375.4,-10.1,206,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1901,3075,3172,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4146,-0.64,-146.6,2310,1901,3170,2979,406.7,-10.6,216,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1901,3075,3171,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4446,-0.64,-146.6,2311,1901,3170,2979,438.8,-10.6,226,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1901,3074,3170,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4747,-0.64,-146.6,2310,1901,3168,2979,469.3,-9.8,236,4752,0.00,2.42,0.00,0.000,516,0.000,0.083,2311,489,3073,3168,2978,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4861,-0.64,-146.6,2311,489,3167,2979,478.7,-10.0,239,4867,0.12,2.30,0.00,0.000,3078,0.233,0.048,2331,1909,3073,3167,2979,0,0,0,0,0,0,14.44,14.69,28.83
$GC,5177,-0.69,-146.6,2331,1909,3166,2979,504.2,-7.4,250,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1909,3072,3166,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5475,-0.75,-146.6,2331,1909,3165,2981,527.4,-7.7,260,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1909,3072,3165,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5775,-0.81,-146.6,2331,1909,3164,2979,552.7,-8.6,270,5781,0.15,2.33,0.00,0.000,4356,0.122,0.070,2247,3308,3070,3162,2979,0,0,0,0,0,0,14.68,14.61,28.83
$GC,5849,-0.83,-146.6,2247,3309,3162,2979,560.1,-10.1,272,5854,0.00,2.33,0.00,0.000,1030,0.000,0.059,2247,1892,3070,3162,2979,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6174,-0.79,-146.6,2247,1892,3160,2979,599.6,-11.8,283,6176,0.15,0.00,0.00,0.000,2054,0.242,0.000,2284,1892,3069,3160,2979,0,0,0,0,0,0,14.40,28.83,28.83
$GC,6472,-0.79,-146.6,2285,1892,3159,2979,627.9,-9.1,293,6478,0.00,2.40,0.00,0.000,516,0.000,0.088,2284,491,3068,3158,2979,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6586,-0.79,-146.6,2284,491,3158,2979,636.6,-9.2,296,6592,0.00,2.30,0.00,0.000,1030,0.000,0.052,2277,1896,3068,3158,2978,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6902,-0.79,-146.6,2276,1897,3157,2979,667.0,-9.3,307,6907,0.00,2.42,0.00,0.000,516,0.000,0.087,2276,493,3068,3157,2979,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7044,-0.79,-146.6,2277,493,3156,2979,680.1,-10.5,311,7049,0.00,2.30,0.00,0.000,1030,0.000,0.052,2266,1899,3067,3155,2979,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7357,-0.79,-146.6,2266,1899,3154,2979,715.9,-11.0,322,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1898,3066,3154,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7657,-0.79,-146.6,2266,1899,3153,2979,748.4,-10.9,332,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1899,3066,3153,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7957,-0.79,-146.6,2266,1899,3150,2979,780.9,-10.8,342,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1899,3065,3151,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8257,-0.79,-146.6,2266,1899,3149,2979,814.8,-11.5,352,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1899,3064,3149,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8557,-0.79,-146.6,2266,1899,3147,2979,849.8,-11.9,362,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1899,3063,3147,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8857,-0.79,-146.6,2266,1899,3145,2979,885.9,-12.0,372,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1899,3062,3145,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9157,-0.79,-146.6,2266,1899,3145,2978,921.2,-11.4,382,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1899,3061,3144,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9457,-0.79,-146.6,2266,1899,3144,2976,953.6,-10.5,392,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1899,3060,3144,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9757,-0.79,-146.6,2266,1899,3144,2974,983.3,-9.8,402,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1899,3059,3145,2974,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9845,begin apogee
$GC,9851,-0.22,0.0,2266,2105,3144,2973,991.9,-9.7,405,9999,0.65,0.00,138.30,2.470,10246,0.190,0.000,2462,2105,2467,2532,2403,0,0,0,0,0,0,14.35,28.83,12.88
$STATE,10000,end apogee,CONTROL_FINISHED_OK
$STATE,10000,begin climb
$GC,10003,0.95,146.6,2462,2104,2531,2402,996.2,0.0,410,10166,1.20,2.60,153.57,2.432,10500,0.123,0.090,2846,3497,1868,1882,1855,0,0,0,0,0,0,14.00,13.78,12.76
$GC,10245,0.77,146.6,2846,3497,1878,1855,976.4,12.1,418,10251,0.28,2.42,0.00,0.000,5126,0.278,0.067,2792,2101,1866,1878,1855,0,0,0,0,0,0,13.95,14.14,28.83
$GC,10576,0.71,146.6,2792,2101,1877,1843,940.1,10.7,429,10582,0.00,2.50,0.00,0.000,516,0.000,0.103,2800,689,1860,1877,1844,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10634,0.65,146.6,2800,689,1877,1843,936.0,11.0,430,10642,0.20,2.38,0.00,0.000,5126,0.256,0.065,2752,2090,1860,1877,1844,0,0,0,0,0,0,14.25,14.47,28.83
$GC,10942,0.66,153.8,2752,2090,1877,1840,903.2,9.7,441,10955,0.00,2.47,6.38,1.735,8452,0.000,0.094,2752,3498,1839,1860,1819,0,0,0,0,0,0,28.83,14.57,13.47
$GC,11044,0.63,153.8,2752,3498,1860,1819,893.0,10.7,444,11050,0.00,2.38,0.00,0.000,1030,0.000,0.070,2759,2097,1839,1860,1819,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11369,0.63,153.8,2760,2098,1860,1819,858.1,10.5,455,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2097,1839,1860,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11668,0.63,153.8,2760,2098,1860,1817,827.1,10.2,465,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2098,1838,1860,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11968,0.65,164.8,2760,2098,1860,1817,797.7,9.5,475,11986,0.00,2.45,12.52,2.030,8452,0.000,0.090,2760,3514,1794,1816,1773,0,0,0,0,0,0,28.83,14.61,13.57
$GC,12070,0.62,164.8,2760,3514,1816,1773,787.9,10.4,478,12076,0.00,2.40,0.00,0.000,1030,0.000,0.072,2770,2100,1794,1816,1773,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12395,0.62,164.8,2769,2099,1816,1773,751.7,10.7,489,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2100,1794,1816,1773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12694,0.62,164.8,2770,2099,1816,1773,720.3,10.1,499,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2099,1794,1816,1773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12994,0.62,164.8,2770,2099,1815,1773,689.6,10.1,509,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2099,1794,1816,1773,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15051,0.77,233.3,2772,2097,1527,1489,464.1,13.0,577,15057,0.00,2.45,0.00,0.000,260,0.000,0.086,2771,3515,1508,1527,1489,0,0,0,0,0,0,28.83,14.49,28.83
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$STATE,18888,end climb,SURFACE_DEPTH_REACHED
$STATE,18888,begin surface coast
$FINISH,-0.1,1.025732
$STATE,18901,end surface coast,CONTROL_FINISHED_OK
$STATE,18901,begin surface
$SM_CCo,18984,0.00,0.000,0,0,1508,235.49
$SM_GC,0.90,9.02,0.30,0.00,0.210,0.074,0.000,130,1880,1508,-7.53,1.13,235.49,5,0,0,0,0,0,13.76,14.64,28.83
$IRIDIUM_FIX,2432.32,-3746.26,300313,040410
$TT8_MAMPS,0.023219,0.023219
$HUMID,40.31
$INTERNAL_PRESSURE,8.3133
$TCM_TEMP,23.50
$XPDR_PINGS,160
$SC_FREEKB,4015008
$TM_FREEKB,7830368
$24V_AH,12.8,8.309
$10V_AH,13.1,0.000
$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,22.100,82.025,378.625,0.000,0.000,29.238,35.739,334.767,40.000,0.000,16.967,2310.327,14339.387,467.693,2188.572,342.242,33.240,1353.449,0.000,1650.484,0.000,0.543,0.000
$DEVICE_MAMPS,378.675,102.510,2470.185,0.000,0.000,32.130,160.000,223.000,420.000,0.000,23.220,8.720,2.190,8.720,27.440,31.940,44.670,16.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.597,12.780,0.000,0.000
$MEM,353944
$DATA_FILE_SIZE,26721,775
$CAP_FILE_SIZE,181502,0
$CFSIZE,260165632,256946176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,5,0,0,0,0
$GPS,300313,154205,2435.521,-3747.003,25,1.7,25,-15.0