version: 66.11
glider: 181
mission: 11
dive: 609
start: 8 23 113 2 6 14
data:
$ID,181
$MISSION,11
$DIVE,609
$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,220
$T_MISSION,270
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,180
$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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-99199.484
$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,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.9
$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,2825
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,10
$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
$GPS1,230813,015235,2004.364,12633.689,37,1.4,42,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-70.4
$GPS2,230813,020543,2004.444,12633.923,14,1.6,14,-2.5
$SPEED_LIMITS,0.126,0.224
$TGT_NAME,HEADING
$TGT_LATLONG,1953.645,12633.923
$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,182.5,20000,-27.9,-15.000,-33.75,2427
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.89,-243.3,216,2821,1014,998,0.0,0.0,0,107,0.00,0.00,-81.80,0.000,16386,0.000,0.000,216,2822,3087,3133,3041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-1.89,-243.3,215,2822,3133,3048,3.5,-12.0,15,143,8.43,1.67,-15.88,0.000,18692,0.364,0.096,2048,3795,3932,3989,3875,0,0,0,0,0,0,13.94,14.56,14.86
$GC,205,-1.89,-243.3,2048,3795,3989,3877,33.8,-31.1,29,211,0.00,1.55,0.00,0.000,1030,0.000,0.032,2048,2780,3933,3989,3877,0,0,0,0,0,0,28.83,14.62,28.83
$GC,399,-1.89,-243.3,2049,2778,3988,3877,92.8,-28.9,48,404,0.00,1.50,0.00,0.000,516,0.000,0.031,2048,1782,3933,3989,3877,0,0,0,0,0,0,28.83,14.58,28.83
$GC,428,-1.89,-243.3,2048,1780,3988,3877,99.2,-27.7,50,435,0.00,1.77,0.00,0.000,1030,0.000,0.060,2040,2833,3936,3989,3883,0,0,0,0,0,0,28.83,14.54,28.83
$GC,614,-1.89,-243.3,2040,2834,3989,3877,147.6,-25.2,69,619,0.00,1.55,0.00,0.000,260,0.000,0.063,2032,3794,3933,3989,3877,0,0,0,0,0,0,28.83,14.58,28.83
$GC,633,-1.89,-243.3,2032,3794,3989,3877,150.9,-24.5,70,640,0.12,1.48,0.00,0.000,3078,0.327,0.031,2055,2812,3933,3989,3877,0,0,0,0,0,0,14.19,14.69,28.83
$GC,819,-1.89,-243.3,2055,2812,3989,3878,196.6,-23.0,89,824,0.00,1.50,0.00,0.000,516,0.000,0.030,2053,1797,3933,3989,3878,0,0,0,0,0,0,28.83,14.68,28.83
$GC,837,-1.89,-243.3,2054,1796,3989,3878,199.5,-22.6,90,843,0.00,1.67,0.00,0.000,1030,0.000,0.056,2049,2831,3933,3989,3878,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1023,-1.89,-243.3,2049,2831,3989,3877,243.2,-22.4,109,1028,0.00,1.55,0.00,0.000,260,0.000,0.066,2042,3787,3934,3989,3879,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1092,-1.89,-243.3,2042,3788,3994,3880,258.2,-23.3,115,1098,0.00,1.45,0.00,0.000,1030,0.000,0.032,2042,2818,3935,3990,3880,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1277,-1.89,-243.3,2041,2818,3989,3881,302.2,-22.6,134,1282,0.00,1.50,0.00,0.000,516,0.000,0.031,2041,1808,3935,3989,3881,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1346,-1.89,-243.3,1232,1805,3988,3882,317.6,-23.6,140,1352,0.00,1.65,0.00,0.000,1030,0.000,0.057,2033,2826,3934,3987,3881,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1531,-1.89,-243.3,2034,2826,3989,3880,362.1,-23.4,159,1537,0.12,1.55,0.00,0.000,2308,0.337,0.063,2056,3779,3935,3989,3881,0,0,0,0,0,0,14.25,14.62,28.83
$GC,1597,-1.89,-243.3,2056,3780,3989,3881,376.7,-22.6,165,1602,0.00,1.45,0.00,0.000,1030,0.000,0.031,2056,2812,3935,3989,3881,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1792,-1.89,-243.3,2056,2811,3989,3880,417.2,-20.8,184,1797,0.00,1.60,0.00,0.000,260,0.000,0.067,2048,3778,3935,3989,3881,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1870,-1.89,-243.3,1264,3778,3988,3880,434.0,-23.0,191,1876,0.00,1.42,0.00,0.000,1030,0.000,0.031,2048,2823,3935,3990,3881,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2057,-1.89,-243.3,2048,2822,3989,3880,475.3,-21.6,210,2063,0.00,1.55,0.00,0.000,516,0.000,0.032,2048,1817,3934,3989,3880,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2096,-1.89,-243.3,2049,1816,3989,3880,482.6,-21.1,213,2102,0.00,1.65,0.00,0.000,1030,0.000,0.059,2041,2827,3934,3989,3880,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2282,-1.89,-243.3,2041,2827,3989,3878,522.5,-20.3,232,2287,0.00,1.60,0.00,0.000,260,0.000,0.070,2032,3776,3933,3989,3878,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2316,-1.89,-243.3,2033,3776,3989,3878,529.6,-20.5,235,2322,0.08,1.42,0.00,0.000,3078,0.311,0.032,2062,2844,3932,3988,3877,0,0,0,0,0,0,14.16,14.71,28.83
$GC,2511,-1.89,-243.3,2062,2844,3989,3876,567.5,-20.0,254,2516,0.00,1.62,0.00,0.000,516,0.000,0.034,2062,1808,3932,3989,3876,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2559,-1.89,-243.3,2062,1807,3989,3876,576.3,-19.4,258,2566,0.00,1.70,0.00,0.000,1030,0.000,0.060,2057,2814,3932,3989,3876,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2755,-1.89,-243.3,2057,2814,3989,3873,618.0,-21.2,274,2760,0.00,1.65,0.00,0.000,260,0.000,0.074,2049,3782,3931,3989,3873,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2815,-1.89,-243.3,2049,3782,3989,3873,627.6,-21.4,276,2821,0.00,1.48,0.00,0.000,1030,0.000,0.033,2049,2812,3931,3989,3873,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3000,-1.89,-243.3,2049,2813,3988,3870,670.7,-21.1,286,3006,0.00,1.52,0.00,0.000,516,0.000,0.034,2049,1806,3927,3989,3866,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3044,-1.89,-243.3,2049,1805,3989,3867,680.4,-21.3,288,3049,0.00,1.70,0.00,0.000,1030,0.000,0.063,2041,2824,3929,3989,3869,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3250,-1.89,-243.3,2041,2824,3989,3866,723.7,-21.0,298,3255,0.00,1.60,0.00,0.000,260,0.000,0.075,2033,3783,3927,3989,3866,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3304,-1.89,-243.3,2034,3784,3988,3865,733.8,-21.6,300,3310,0.12,1.48,0.00,0.000,3078,0.331,0.037,2056,2841,3926,3987,3866,0,0,0,0,0,0,14.19,14.69,28.83
$GC,3501,-1.89,-243.3,2056,2841,3987,3863,777.5,-21.6,310,3506,0.00,1.62,0.00,0.000,516,0.000,0.037,2056,1792,3925,3987,3863,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3577,-1.89,-243.3,2056,1792,3987,3862,791.7,-21.7,313,3582,0.00,1.73,0.00,0.000,1030,0.000,0.064,2051,2822,3924,3987,3862,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3771,-1.89,-243.3,2050,2823,3984,3859,837.4,-22.0,323,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2823,3921,3984,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3952,-1.89,-243.3,2050,2823,3983,3857,877.2,-22.0,332,3958,0.00,1.67,0.00,0.000,516,0.000,0.039,2050,1794,3920,3983,3857,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3981,-1.89,-243.3,2050,1793,3982,3856,882.9,-22.2,333,3986,0.00,1.73,0.00,0.000,1030,0.000,0.066,2043,2824,3919,3982,3856,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4180,-1.89,-243.3,2043,2824,3980,3854,928.3,-22.1,343,4185,0.00,1.62,0.00,0.000,260,0.000,0.083,2035,3781,3917,3980,3854,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4239,-1.89,-243.3,2035,3782,3978,3854,938.4,-22.5,345,4245,0.00,1.50,0.00,0.000,1030,0.000,0.039,2036,2813,3916,3978,3854,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4424,-1.89,-243.3,2035,2813,3977,3851,983.3,-22.2,355,4429,0.00,1.60,0.00,0.000,516,0.000,0.038,2035,1792,3913,3977,3850,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4457,-1.89,-243.3,2035,1791,3977,3850,989.5,-23.0,356,4462,0.15,1.75,0.00,0.000,3078,0.314,0.067,2057,2823,3913,3977,3850,0,0,0,0,0,0,14.06,14.50,28.83
$STATE,4467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4467,begin apogee
$GC,4477,-0.25,0.0,2057,2084,3977,3849,993.7,-22.5,357,4711,2.03,0.00,223.00,1.832,10246,0.272,0.000,2580,2081,2933,2967,2900,0,0,0,0,0,0,13.92,28.83,13.21
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4717,1.89,243.3,2580,2080,2965,2897,1010.3,0.0,369,4955,1.98,1.88,225.48,1.795,10756,0.077,0.059,3293,1019,1941,1970,1912,0,0,0,0,0,0,14.31,14.25,13.27
$GC,5042,1.89,243.3,3293,1019,1969,1897,962.5,22.0,385,5047,0.00,1.80,0.00,0.000,1030,0.000,0.065,3293,2077,1933,1969,1897,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5242,1.89,243.3,3293,2077,1968,1892,918.4,21.9,395,5247,0.00,1.75,0.00,0.000,516,0.000,0.054,3300,1013,1930,1969,1891,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5260,1.89,243.3,3300,1012,1969,1891,918.4,21.9,395,5266,0.00,1.80,0.00,0.000,1030,0.000,0.065,3300,2080,1929,1968,1891,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5446,1.89,243.3,3300,2080,1969,1888,873.5,21.9,405,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2080,1928,1969,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5627,1.89,243.3,3300,2080,1969,1886,833.5,22.3,414,5632,0.00,1.80,0.00,0.000,516,0.000,0.056,3307,1013,1926,1968,1885,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5700,1.89,243.3,3307,1014,1968,1885,818.7,22.6,417,5706,0.15,1.80,0.00,0.000,5126,0.351,0.063,3281,2085,1926,1968,1885,0,0,0,0,0,0,14.17,14.59,28.83
$GC,5899,1.89,243.3,3281,2085,1968,1882,775.6,20.8,427,5904,0.00,1.83,0.00,0.000,260,0.000,0.082,3281,3129,1928,1974,1882,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5943,1.89,243.3,3281,3129,1967,1882,765.8,20.7,429,5948,0.00,1.70,0.00,0.000,1030,0.000,0.037,3286,2064,1924,1967,1882,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6147,1.89,243.3,3286,2063,1967,1881,725.3,19.6,439,6152,0.00,1.70,0.00,0.000,516,0.000,0.050,3293,1013,1924,1967,1881,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6246,1.89,243.3,3294,1013,1967,1881,709.2,19.3,443,6253,0.00,1.77,0.00,0.000,1030,0.000,0.057,3293,2080,1923,1966,1881,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6431,1.89,243.3,3294,2080,1966,1879,671.7,18.6,453,6436,0.00,1.77,0.00,0.000,260,0.000,0.076,3293,3134,1922,1966,1879,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6480,1.89,243.3,3294,3134,1966,1880,663.0,19.1,455,6485,0.00,1.67,0.00,0.000,1030,0.000,0.034,3301,2071,1922,1966,1879,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6679,1.89,243.3,3301,2069,1965,1879,624.0,19.3,465,6685,0.00,1.70,0.00,0.000,516,0.000,0.047,3309,1013,1922,1965,1879,0,0,0,0,0,0,28.83,14.64,28.83
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$GC,7871,1.92,260.0,2352,1029,1921,1864,421.4,14.5,574,7888,0.00,1.75,12.52,1.183,9222,0.000,0.052,3296,2085,1876,1915,1838,0,0,0,0,0,0,28.83,14.52,13.72
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$STATE,10633,end climb,SURFACE_DEPTH_REACHED
$STATE,10633,begin surface coast
$FINISH,-0.2,1.021396
$STATE,10651,end surface coast,CONTROL_FINISHED_OK
$STATE,10651,begin surface
$SM_CCo,10675,10.20,0.145,0,0,999,475.15
$SM_GC,-0.27,8.82,1.25,10.20,0.050,0.071,0.145,219,2815,999,-7.54,-1.24,475.15,0,0,0,0,0,0,14.63,14.55,14.38
$IRIDIUM_FIX,2004.18,12637.95,230813,010124
$TT8_MAMPS,0.018725,0.018725
$HUMID,56.34
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,3690240
$24V_AH,13.2,206.426
$10V_AH,12.6,0.000
$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,22.250,125.575,608.975,10.200,0.000,63.086,62.196,298.354,0.250,0.000,17.064,2377.284,5412.386,713.717,2373.979,593.321,0.000,1814.905,0.000,1881.110,0.000,0.541,0.000
$DEVICE_MAMPS,364.140,96.390,1832.175,145.350,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10710.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.738,0.000,0.000,0.000
$MEM,328892
$DATA_FILE_SIZE,33413,858
$CAP_FILE_SIZE,192386,0
$CFSIZE,260034560,189759488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230813,050553,2004.010,12635.177,25,1.0,43,-2.5