version: 66.11
glider: 181
mission: 11
dive: 530
start: 8 11 113 5 11 20
data:
$ID,181
$MISSION,11
$DIVE,530
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,270
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-05
$HEADING,200
$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,612.7594
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-97868.586
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,30
$C_ROLL_DIVE,2725
$C_ROLL_CLIMB,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2938
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110813,045753,2055.054,12523.057,25,0.8,43,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-66.9
$GPS2,110813,051048,2055.073,12523.411,11,1.0,16,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2044.925,12519.461
$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,202.8,20000,-18.8,-11.000,-27.44,3441
$D_GRID,1000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.34,-262.8,220,2725,468,431,0.0,0.0,0,124,0.00,0.00,-97.75,0.000,16386,0.000,0.000,219,2725,2947,2996,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.34,-262.8,219,2725,2996,2901,3.2,-10.6,18,167,9.07,1.62,-20.08,0.000,18948,0.362,0.058,2234,1669,3961,4037,3885,0,0,0,0,0,0,14.12,14.68,14.88
$GC,213,-1.34,-262.8,2234,1669,4037,4041,25.6,-24.0,32,218,0.00,1.75,0.00,0.000,1030,0.000,0.057,2233,2727,4039,4038,4041,0,0,0,0,0,0,28.83,14.58,28.83
$GC,406,-1.34,-262.8,2229,2727,4037,4041,71.7,-24.2,51,412,0.00,1.80,0.00,0.000,260,0.000,0.071,2221,3780,4038,4037,4040,0,0,0,0,0,0,28.83,14.54,28.83
$GC,460,-1.34,-262.8,2221,3781,4037,4041,84.5,-23.6,56,466,0.00,1.65,0.00,0.000,1030,0.000,0.031,2221,2724,4039,4037,4041,0,0,0,0,0,0,28.83,14.69,28.83
$GC,654,-1.34,-262.8,2221,2720,4037,4041,129.3,-23.8,75,659,0.00,1.77,0.00,0.000,260,0.000,0.067,2218,3793,4039,4037,4041,0,0,0,0,0,0,28.83,14.63,28.83
$GC,711,-1.34,-262.8,1360,3793,4037,4041,141.3,-21.9,80,719,0.12,1.50,0.00,0.000,3078,0.285,0.032,2238,2757,4039,4037,4041,0,0,0,0,0,0,14.35,14.76,28.83
$GC,898,-1.34,-262.8,2237,2756,4037,4041,178.9,-17.9,99,903,0.00,1.58,0.00,0.000,516,0.000,0.033,2237,1716,4039,4037,4041,0,0,0,0,0,0,28.83,14.73,28.83
$GC,922,-1.34,-262.8,2237,1716,4038,4041,183.5,-19.1,101,927,0.00,1.75,0.00,0.000,1030,0.000,0.054,2232,2788,4039,4037,4041,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1115,-1.34,-262.8,2232,2788,4038,4042,218.3,-17.2,120,1121,0.00,1.62,0.00,0.000,260,0.000,0.069,2224,3783,4040,4038,4042,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1183,-1.34,-262.8,2224,3783,4037,4041,229.2,-16.9,126,1190,0.00,1.45,0.00,0.000,1030,0.000,0.031,2224,2801,4039,4038,4041,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1369,-1.34,-262.8,2224,2801,4038,4041,261.6,-18.1,145,1374,0.00,1.65,0.00,0.000,516,0.000,0.031,2224,1707,4039,4037,4042,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1393,-1.34,-262.8,2224,1706,4038,4042,265.9,-18.1,147,1398,0.00,1.83,0.00,0.000,1030,0.000,0.055,2216,2824,3994,4038,3951,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1587,-1.34,-262.8,2216,2824,4037,4042,302.2,-19.7,166,1592,0.00,1.58,0.00,0.000,260,0.000,0.070,2208,3787,4040,4038,4042,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1631,-1.34,-262.8,2209,3788,4038,4042,311.2,-20.5,170,1636,0.08,1.48,0.00,0.000,3078,0.253,0.031,2235,2809,4040,4038,4042,0,0,0,0,0,0,14.36,14.76,28.83
$GC,1825,-1.34,-262.8,2236,2808,4038,4041,344.2,-16.0,189,1830,0.00,1.65,0.00,0.000,516,0.000,0.033,2236,1722,4040,4038,4042,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1899,-1.34,-262.8,2236,1721,4037,4037,355.5,-15.2,196,1904,0.00,1.67,0.00,0.000,1030,0.000,0.054,2231,2751,4043,4045,4041,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2092,-1.34,-262.8,2230,2751,4038,4042,383.7,-14.5,215,2098,0.00,1.70,0.00,0.000,260,0.000,0.071,2223,3784,4039,4037,4041,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2151,-1.34,-262.8,2223,3784,4037,4041,391.9,-15.6,220,2158,0.00,1.50,0.00,0.000,1030,0.000,0.033,2223,2745,4039,4038,4041,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2336,-1.34,-262.8,2223,2745,4037,4041,422.6,-16.5,239,2341,0.00,1.55,0.00,0.000,516,0.000,0.034,2223,1727,4036,4037,4036,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2355,-1.34,-262.8,2223,1726,4038,4041,424.8,-16.7,240,2361,0.00,1.65,0.00,0.000,1030,0.000,0.056,2216,2744,4039,4037,4041,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2540,-1.34,-262.8,2216,2743,4038,4036,457.8,-17.1,259,2545,0.00,1.73,0.00,0.000,260,0.000,0.072,2208,3787,4038,4037,4040,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2605,-1.34,-262.8,2208,3787,4037,4040,469.4,-18.4,265,2611,0.15,1.52,0.00,0.000,3078,0.263,0.033,2241,2758,4039,4038,4040,0,0,0,0,0,0,14.37,14.78,28.83
$GC,2799,-1.34,-262.8,2241,2757,4037,4039,500.4,-15.5,284,2805,0.00,1.62,0.00,0.000,516,0.000,0.034,2241,1716,4038,4037,4039,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2858,-1.34,-262.8,2241,1716,4037,4039,508.5,-14.6,289,2865,0.00,1.70,0.00,0.000,1030,0.000,0.057,2236,2730,4038,4038,4039,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3044,-1.34,-262.8,2236,2730,4037,4037,534.3,-12.9,308,3049,0.00,1.75,0.00,0.000,260,0.000,0.074,2228,3786,4037,4037,4037,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3112,-1.34,-262.8,2228,3786,4037,4037,543.0,-13.8,314,3119,0.00,1.55,0.00,0.000,1030,0.000,0.034,2228,2736,4037,4038,4037,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3300,-1.34,-262.8,2228,2735,4038,4035,568.0,-13.5,333,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2735,4036,4037,4036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3488,-1.34,-262.8,2228,2735,4034,4034,594.9,-15.0,352,3493,0.00,1.77,0.00,0.000,260,0.000,0.076,2220,3783,4035,4037,4034,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3513,-1.34,-262.8,2220,3784,4037,4033,598.7,-15.4,354,3518,0.00,1.52,0.00,0.000,1030,0.000,0.036,2218,2773,4035,4037,4033,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3707,-1.34,-262.8,2219,2773,4037,4032,630.0,-16.4,364,3712,0.00,1.65,0.00,0.000,516,0.000,0.036,2219,1704,4034,4037,4032,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3724,-1.34,-262.8,2219,1704,4037,4031,630.0,-16.4,364,3732,0.12,1.77,0.00,0.000,3078,0.278,0.062,2238,2773,4034,4037,4031,0,0,0,0,0,0,14.34,14.62,28.83
$GC,3914,-1.34,-262.8,2238,2772,4035,4028,662.6,-15.5,374,3919,0.00,1.70,0.00,0.000,260,0.000,0.080,2233,3784,4032,4036,4028,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3957,-1.34,-262.8,2233,3784,4034,4027,670.2,-15.8,376,3963,0.00,1.55,0.00,0.000,1030,0.000,0.038,2233,2772,4030,4034,4027,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4165,-1.34,-262.8,2233,2772,4032,4025,701.6,-15.4,386,4170,0.00,1.67,0.00,0.000,516,0.000,0.037,2233,1697,4028,4032,4025,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4182,-1.34,-262.8,2232,1696,4032,4025,701.6,-15.4,386,4189,0.00,1.83,0.00,0.000,1030,0.000,0.063,2225,2786,4028,4032,4025,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4369,-1.34,-262.8,2225,2786,4031,4021,734.3,-15.7,396,4374,0.00,1.73,0.00,0.000,260,0.000,0.083,2217,3777,4026,4031,4021,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4491,-1.34,-262.8,2218,3778,4030,4018,751.9,-17.0,401,4498,0.00,1.50,0.00,0.000,1030,0.000,0.039,2217,2800,4023,4029,4018,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4673,-1.34,-262.8,2218,2799,4028,4014,785.3,-16.8,411,4678,0.00,1.73,0.00,0.000,516,0.000,0.037,2217,1695,4021,4028,4014,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4717,-1.34,-262.8,2217,1695,4027,4014,792.6,-16.9,413,4723,0.15,1.88,0.00,0.000,3078,0.274,0.063,2242,2803,4021,4028,4014,0,0,0,0,0,0,14.24,14.56,28.83
$GC,4925,-1.34,-262.8,2242,2804,4026,4009,824.7,-15.5,423,4931,0.00,1.67,0.00,0.000,260,0.000,0.088,2237,3784,4018,4026,4010,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5005,-1.34,-262.8,2237,3784,4025,4008,836.1,-16.3,426,5011,0.00,1.50,0.00,0.000,1030,0.000,0.041,2237,2827,4016,4025,4008,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5190,-1.34,-262.8,2237,2827,4024,4012,867.5,-15.3,436,5196,0.00,1.83,0.00,0.000,516,0.000,0.041,2237,1704,4014,4024,4005,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5218,-1.34,-262.8,2237,1703,4024,4005,871.2,-15.4,437,5223,0.00,1.90,0.00,0.000,1030,0.000,0.069,2229,2818,4014,4023,4005,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5418,-1.34,-262.8,2229,2818,4022,4001,903.0,-15.7,447,5423,0.00,1.65,0.00,0.000,260,0.000,0.090,2221,3779,4014,4021,4007,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5476,-1.34,-262.8,2221,3779,4021,3999,910.5,-16.2,449,5483,0.00,1.50,0.00,0.000,1030,0.000,0.043,2221,2825,4010,4021,3999,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5663,-1.34,-262.8,2221,2825,4020,3996,942.2,-15.5,459,5668,0.00,1.77,0.00,0.000,516,0.000,0.041,2221,1705,4008,4020,3996,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5681,-1.34,-262.8,2221,1704,4020,3996,942.2,-15.5,459,5688,0.12,1.92,0.00,0.000,3078,0.283,0.070,2238,2829,4008,4021,3996,0,0,0,0,0,0,14.19,14.49,28.83
$GC,5869,-1.34,-262.8,2238,2829,4019,3992,972.8,-15.0,469,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2829,4005,4018,3992,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5984,begin apogee
$GC,5993,-0.22,0.0,2238,2178,4018,3991,990.8,-15.1,475,6246,1.25,0.00,243.77,1.823,10244,0.211,0.000,2593,2178,2934,2960,2909,0,0,0,0,0,0,14.02,28.83,13.26
$STATE,6251,end apogee,CONTROL_FINISHED_OK
$STATE,6251,begin climb
$GC,6254,1.34,262.8,2594,2178,2957,2904,1008.7,0.0,488,6507,1.42,1.77,242.43,1.802,10756,0.070,0.051,3113,1152,1863,1897,1829,0,0,0,0,0,0,14.30,14.28,13.28
$GC,6518,1.34,262.8,3113,1152,1895,1820,984.0,15.8,501,6523,0.00,1.77,0.00,0.000,1030,0.000,0.067,3113,2176,1857,1894,1820,0,0,0,0,0,0,28.83,14.27,28.83
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$GC,13420,1.67,425.8,3218,3227,1260,1176,28.0,13.4,1060,13431,0.00,1.48,2.35,0.175,9222,0.000,0.032,3225,2302,1202,1247,1158,0,0,0,0,0,0,28.83,14.61,14.16
$GC,13615,1.67,425.8,3225,2299,1263,1173,5.3,11.6,1095,13622,0.00,1.92,2.08,0.170,8708,0.000,0.043,3232,1141,1201,1249,1154,0,0,0,0,0,0,28.83,14.60,14.34
$STATE,13637,end climb,SURFACE_DEPTH_REACHED
$STATE,13638,begin surface coast
$FINISH,-0.3,1.021105
$STATE,13667,end surface coast,CONTROL_FINISHED_OK
$STATE,13667,begin surface
$SM_CCo,13690,88.45,0.135,0,0,436,612.76
$SM_GC,0.01,8.27,2.67,88.45,0.052,0.049,0.135,233,2738,436,-7.53,-0.85,612.76,0,0,0,0,0,0,14.63,14.63,14.42
$IRIDIUM_FIX,2101.76,12452.52,110813,000009
$TT8_MAMPS,0.019474,0.019474
$HUMID,51.06
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,3721280
$24V_AH,13.3,179.785
$10V_AH,12.5,0.000
$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,21.475,165.700,623.300,88.450,0.000,22.881,38.636,386.820,0.000,0.000,19.137,3012.453,7122.082,870.827,2861.578,678.847,0.000,2211.817,0.000,2313.236,0.000,0.543,0.000
$DEVICE_MAMPS,361.845,89.505,1822.995,134.640,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13735.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.002,0.000,0.000,0.000
$MEM,328676
$DATA_FILE_SIZE,43343,1104
$CAP_FILE_SIZE,245050,0
$CFSIZE,260034560,199081984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110813,090230,2053.971,12525.323,40,1.1,41,-2.8