version: 66.10
glider: 169
mission: 5
dive: 567
start: 2 29 112 13 45 30
data:
$ID,169
$MISSION,5
$DIVE,567
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,250
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-13624.326
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,290212,133654,2322.842,12157.341,41,1.8,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-71.1
$GPS2,290212,134506,2323.089,12157.355,15,1.1,31,-3.1
$SPEED_LIMITS,0.159,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,2319.395,12146.305
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,253.1,20000,-11.5,-9.167
$D_GRID,4692
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.65,-292.0,0.0,0.0,0,115,0.00,0.00,-94.70,0.000,2,0.000,0.000,109,2659,3053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.65,-292.0,3.6,-7.7,17,150,7.12,2.38,-16.60,0.000,4,0.231,0.032,1803,1160,3962,0,0,0,0,0,0,24.76,25.98,26.53
$GC,253,-0.61,-292.0,45.6,-15.8,42,260,0.00,2.45,0.00,0.000,6,0.000,0.037,1792,2646,3962,0,0,0,0,0,0,28.83,25.75,28.83
$GC,567,-0.48,-292.0,150.9,-28.3,103,574,0.20,1.80,0.00,0.000,4,0.155,0.043,1844,3816,3962,0,0,0,0,0,0,25.69,25.72,28.83
$GC,633,-0.47,-292.0,162.7,-11.4,115,640,0.00,1.80,0.00,0.000,6,0.000,0.022,1844,2569,3961,0,0,0,0,0,0,28.83,26.20,28.83
$GC,946,-0.42,-292.0,206.1,-14.3,172,954,0.00,2.12,0.00,0.000,4,0.000,0.025,1844,1180,3962,0,0,0,0,0,0,28.83,26.00,28.83
$GC,970,-0.38,-292.0,209.5,-14.5,174,978,0.17,2.40,0.00,0.000,6,0.099,0.037,1894,2645,3962,0,0,0,0,0,0,25.65,25.80,28.83
$GC,1279,-0.43,-292.0,230.6,-6.4,205,1287,0.00,2.33,0.00,0.000,4,0.000,0.027,1895,1178,3962,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1321,-0.51,-292.0,234.3,-8.4,209,1330,0.10,2.35,0.00,0.000,6,0.044,0.032,1826,2640,3962,0,0,0,0,0,0,25.82,25.88,28.83
$GC,1632,-0.57,-292.0,264.7,-10.4,240,1640,0.00,2.30,0.00,0.000,4,0.000,0.027,1826,1180,3960,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1747,-0.67,-292.0,274.5,-10.2,251,1754,0.00,2.40,0.00,0.000,6,0.000,0.034,1826,2649,3960,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2055,-0.76,-292.0,306.4,-9.6,282,2064,0.15,2.33,0.00,0.000,4,0.096,0.024,1772,1179,3959,0,0,0,0,0,0,26.26,25.99,28.83
$GC,2110,-0.84,-292.0,311.2,-8.8,287,2117,0.00,2.38,0.00,0.000,6,0.000,0.031,1772,2650,3959,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2418,-0.85,-292.0,337.4,-8.3,318,2427,0.10,1.77,0.00,0.000,4,0.089,0.041,1692,3828,3957,0,0,0,0,0,0,26.45,25.77,28.83
$GC,2441,-0.83,-292.0,339.7,-9.3,320,2445,0.10,1.83,0.00,0.000,6,0.139,0.020,1743,2570,3957,0,0,0,0,0,0,25.59,26.20,28.83
$GC,2753,-0.72,-292.0,408.4,-23.6,351,2763,0.12,2.17,0.00,0.000,4,0.174,0.025,1791,1180,3956,0,0,0,0,0,0,25.98,25.94,28.83
$GC,2825,-0.72,-292.0,418.9,-10.1,358,2834,0.00,2.42,0.00,0.000,6,0.000,0.036,1780,2648,3955,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3136,-0.66,-292.0,469.1,-16.1,389,3145,0.00,2.30,0.00,0.000,4,0.000,0.027,1780,1181,3953,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3180,-0.62,-292.0,475.0,-14.1,393,3188,0.12,2.40,0.00,0.000,6,0.117,0.037,1812,2644,3953,0,0,0,0,0,0,25.64,25.77,28.83
$GC,3488,-0.59,-292.0,503.4,-9.1,424,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2644,3950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3791,-0.57,-292.0,531.4,-9.7,454,3799,0.00,2.33,0.00,0.000,4,0.000,0.027,1813,1181,3948,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3834,-0.58,-292.0,535.1,-8.3,458,3843,0.00,2.38,0.00,0.000,6,0.000,0.037,1812,2633,3948,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4144,-0.56,-292.0,564.1,-10.7,489,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2632,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4455,-0.54,-292.0,598.5,-11.4,520,4464,0.00,2.33,0.00,0.000,4,0.000,0.028,1813,1179,3944,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4480,-0.53,-292.0,601.2,-11.2,522,4484,0.00,2.42,0.00,0.000,6,0.000,0.037,1812,2643,3944,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4795,-0.52,-292.0,635.2,-10.7,538,4797,0.10,0.00,0.00,0.000,6,0.145,0.000,1843,2643,3942,0,0,0,0,0,0,26.26,28.83,28.83
$GC,5093,-0.54,-292.0,656.5,-6.7,553,5098,0.00,2.33,0.00,0.000,4,0.000,0.028,1844,1187,3939,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5126,-0.57,-292.0,657.8,-6.7,554,5132,0.00,2.40,0.00,0.000,6,0.000,0.035,1844,2646,3939,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5435,-0.67,-292.0,688.6,-10.0,570,5441,0.12,1.80,0.00,0.000,4,0.106,0.044,1786,3826,3937,0,0,0,0,0,0,26.29,25.59,28.83
$GC,5487,-0.75,-292.0,693.0,-10.3,572,5494,0.00,1.83,0.00,0.000,6,0.000,0.024,1785,2573,3936,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5798,-0.78,-292.0,720.7,-8.3,588,5803,0.00,1.98,0.00,0.000,4,0.000,0.046,1778,3809,3933,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5904,-0.78,-292.0,731.0,-10.5,593,5907,0.00,1.83,0.00,0.000,6,0.000,0.024,1778,2583,3933,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6218,-0.73,-292.0,774.1,-14.0,609,6223,0.00,2.17,0.00,0.000,4,0.000,0.031,1778,1190,3930,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6271,-0.70,-292.0,779.4,-13.6,611,6278,0.00,2.42,0.00,0.000,6,0.000,0.040,1769,2643,3930,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6576,-0.65,-292.0,823.9,-14.2,627,6583,0.12,2.33,0.00,0.000,4,0.144,0.027,1812,1189,3929,0,0,0,0,0,0,26.07,25.77,28.83
$GC,6601,-0.61,-292.0,826.4,-13.8,628,6606,0.00,2.42,0.00,0.000,6,0.000,0.041,1812,2642,3928,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6916,-0.61,-292.0,852.3,-8.1,644,6919,0.00,1.83,0.00,0.000,4,0.000,0.048,1804,3818,3927,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6940,-0.61,-292.0,854.1,-8.0,645,6944,0.00,1.85,0.00,0.000,6,0.000,0.024,1804,2582,3927,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7259,-0.60,-292.0,882.0,-9.0,661,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2582,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7558,-0.59,-292.0,908.1,-8.7,676,7562,0.00,2.03,0.00,0.000,4,0.000,0.048,1796,3821,3923,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7584,-0.59,-292.0,910.3,-9.0,677,7588,0.00,1.83,0.00,0.000,6,0.000,0.026,1796,2589,3923,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7896,-0.58,-292.0,939.2,-8.7,693,7902,0.00,2.22,0.00,0.000,4,0.000,0.030,1796,1184,3922,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7929,-0.57,-292.0,941.0,-8.7,694,7936,0.00,2.42,0.00,0.000,6,0.000,0.040,1796,2641,3921,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8239,-0.56,-292.0,968.1,-8.8,710,8245,0.12,1.83,0.00,0.000,4,0.127,0.046,1834,3813,3920,0,0,0,0,0,0,26.14,25.41,28.83
$GC,8279,-0.57,-292.0,970.6,-7.6,712,8284,0.00,1.85,0.00,0.000,6,0.000,0.028,1834,2578,3919,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,8516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8516,begin apogee
$GC,8523,-0.20,0.0,990.2,-9.2,724,8741,0.28,0.08,212.15,1.182,6,0.051,0.061,1965,2526,2977,0,0,0,0,0,0,26.12,24.49,23.35
$STATE,8742,end apogee,CONTROL_FINISHED_OK
$STATE,8742,begin climb
$GC,8745,0.65,292.0,1002.1,0.0,735,9030,0.68,2.25,275.08,1.166,4,0.042,0.045,2234,3810,1775,0,0,0,0,0,0,24.93,24.62,23.20
$GC,9114,0.53,292.0,950.3,23.5,753,9121,0.22,2.12,0.00,0.000,6,0.171,0.028,2185,2461,1758,0,0,0,0,0,0,24.99,25.59,28.83
$GC,9420,0.47,292.0,896.7,15.9,769,9425,0.00,2.22,0.00,0.000,4,0.000,0.046,2186,3820,1754,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9523,0.40,292.0,878.8,17.8,774,9528,0.20,2.10,0.00,0.000,6,0.146,0.027,2139,2463,1753,0,0,0,0,0,0,25.39,25.92,28.83
$GC,9836,0.38,292.0,842.6,10.9,790,9842,0.00,2.22,0.00,0.000,4,0.000,0.045,2139,3817,1752,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9879,0.36,292.0,837.7,11.5,792,9883,0.00,2.10,0.00,0.000,6,0.000,0.028,2150,2461,1752,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10193,0.33,292.0,800.5,11.9,808,10199,0.12,2.22,0.00,0.000,4,0.158,0.042,2111,3823,1751,0,0,0,0,0,0,25.94,25.61,28.83
$GC,10232,0.32,292.0,796.1,11.4,810,10238,0.00,2.10,0.00,0.000,6,0.000,0.027,2121,2455,1751,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10553,0.35,316.4,768.8,8.6,826,10584,0.00,2.28,20.15,0.851,4,0.000,0.035,2132,1052,1685,0,0,0,0,1,0,28.83,25.75,23.99
$GC,10600,0.38,340.5,765.3,8.7,828,10636,0.00,2.35,25.75,0.923,6,0.000,0.036,2132,2518,1589,0,0,0,0,1,0,28.83,25.77,23.71
$GC,10949,0.44,393.0,734.9,8.1,846,11020,0.00,2.22,58.97,1.052,4,0.000,0.046,2132,3818,1385,0,0,0,0,1,0,28.83,25.20,23.42
$GC,11038,0.52,448.4,728.5,8.0,850,11109,0.12,2.15,54.15,1.178,6,0.077,0.028,2230,2459,1158,0,0,0,0,1,0,25.49,25.53,23.22
$GC,11409,0.46,448.4,649.8,21.6,869,11416,0.22,2.25,1.65,0.174,4,0.146,0.048,2159,3814,1151,0,0,0,0,0,0,25.46,25.64,24.91
$GC,11500,0.44,448.4,638.0,15.5,873,11507,0.00,2.10,0.00,0.000,6,0.000,0.028,2170,2458,1158,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11804,0.44,448.4,602.0,11.2,889,11810,0.00,2.22,0.00,0.000,4,0.000,0.035,2181,1050,1158,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11837,0.46,448.4,598.8,10.9,891,11844,0.00,2.33,0.00,0.000,6,0.000,0.034,2181,2522,1158,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12145,0.44,448.4,561.7,12.3,922,12153,0.00,2.08,0.00,0.000,4,0.000,0.044,2181,3820,1158,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12179,0.43,448.4,557.5,12.8,925,12186,0.15,2.10,0.00,0.000,6,0.121,0.027,2145,2461,1158,0,0,0,0,0,0,25.64,25.92,28.83
$GC,12487,0.57,537.6,536.2,7.3,956,12589,0.12,2.33,95.15,0.874,4,0.078,0.034,2252,1061,776,0,0,0,0,0,0,26.32,25.20,23.84
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$GC,12954,0.60,553.2,481.9,8.8,1002,12973,0.00,2.30,13.68,0.805,6,0.000,0.031,2192,2520,722,0,0,0,0,0,0,28.83,25.81,24.30
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$GC,13662,0.90,553.2,401.1,11.6,1072,13669,0.00,2.33,0.00,0.000,6,0.000,0.032,2297,2525,700,0,0,0,0,0,0,28.83,25.79,28.83
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$GC,15512,0.90,621.6,38.8,13.0,1346,15519,0.00,2.08,0.00,0.000,4,0.000,0.041,2270,3823,418,0,0,0,0,0,0,28.83,25.74,28.83
$GC,15748,0.99,621.6,4.8,14.0,1392,15755,0.17,2.05,0.00,0.000,6,0.076,0.022,2339,2442,417,0,0,0,0,0,0,25.90,26.10,28.83
$STATE,15760,end climb,SURFACE_DEPTH_REACHED
$STATE,15760,begin surface coast
$FINISH,0.4,1.023077
$STATE,15781,end surface coast,CONTROL_FINISHED_OK
$STATE,15781,begin surface
$SM_CCo,15858,0.00,0.000,0,0,417,628.46
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$IRIDIUM_FIX,2309.79,12155.35,290212,080816
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.05
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,23.40
$XPDR_PINGS,0
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$10V_AH,9.8,69.993
$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
$DEVICE_SECS,17.450,166.850,817.475,0.000,0.000,30.779,47.003,249.476,0.000,0.000,32.853,3282.571,8749.058,881.849,2990.494,419.925,0.000,2377.977,0.000,2501.015,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324732
$DATA_FILE_SIZE,93759,1398
$CAP_FILE_SIZE,182784,0
$CFSIZE,260165632,168865792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,290212,181106,2324.593,12156.645,39,1.0,50,-3.1