version: 66.11
glider: 189
mission: 7
dive: 84
start: 10 7 112 14 45 47
data:
$ID,189
$MISSION,7
$DIVE,84
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,540
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47228.656
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,071012,143622,2427.648,-3755.765,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-63.9
$GPS2,071012,144448,2427.679,-3755.784,18,0.9,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.148,0.139
$KALMAN_X,13393.0,-86.3,-139.5,-2863.6,394.4
$KALMAN_Y,79402.0,-121.0,-46.9,-93931.7,428.2
$MHEAD_RNG_PITCHd_Wd,327.1,15705,-11.8,-6.111,-16.77
$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,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,45,0.00,0.00,-21.62,0.000,2,0.000,0.000,162,1842,1754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.1,0.0,2,106,9.68,2.55,-42.40,0.000,4,0.206,0.051,2708,3458,2921,0,0,0,0,0,0,25.89,26.29,26.66
$GC,285,-0.68,-146.6,20.7,-12.2,26,295,0.22,2.47,0.00,0.000,6,0.139,0.024,2773,1825,2919,0,0,0,0,0,0,26.08,26.41,28.83
$GC,595,-0.58,-146.6,52.5,-11.3,57,605,0.12,2.33,0.00,0.000,4,0.152,0.042,2807,342,2920,0,0,0,0,0,0,26.38,26.41,28.83
$GC,835,-0.51,-146.6,77.0,-9.5,80,843,0.12,2.33,0.00,0.000,6,0.142,0.024,2836,1897,2921,0,0,0,0,0,0,26.34,26.58,28.83
$GC,1166,-0.51,-146.6,99.2,-5.7,91,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1897,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1465,-0.51,-146.6,114.9,-5.4,101,1473,0.00,2.40,0.00,0.000,4,0.000,0.038,2825,3454,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1615,-0.51,-146.6,124.2,-6.4,106,1619,0.00,2.45,0.00,0.000,6,0.000,0.022,2826,1817,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1937,-0.51,-146.6,141.6,-4.4,117,1944,0.00,2.30,0.00,0.000,4,0.000,0.041,2825,341,2922,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2026,-0.51,-146.6,145.0,-3.8,120,2034,0.00,2.30,0.00,0.000,6,0.000,0.024,2814,1889,2922,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2386,-0.51,-146.6,158.0,-3.9,129,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1893,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2686,-0.51,-146.6,174.1,-5.6,134,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,-0.51,-146.6,190.9,-5.4,139,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,-0.51,-146.6,203.3,-3.9,144,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3586,-0.51,-146.6,217.4,-4.8,149,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3886,-0.51,-146.6,234.8,-5.9,154,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-0.51,-146.6,256.1,-7.3,159,4190,0.00,2.42,0.00,0.000,4,0.000,0.042,2814,346,2918,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4297,-0.51,-146.6,264.5,-7.4,161,4302,0.12,2.30,0.00,0.000,6,0.135,0.024,2841,1886,2918,0,0,0,0,0,0,26.48,26.70,28.83
$GC,4650,-0.56,-146.6,282.4,-4.7,167,4657,0.00,2.40,0.00,0.000,4,0.000,0.040,2831,3449,2917,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4758,-0.62,-146.6,284.9,-4.4,168,4762,0.00,2.45,0.00,0.000,6,0.000,0.024,2831,1823,2917,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5060,-0.66,-146.6,299.3,-4.2,173,5062,0.12,0.00,0.00,0.000,6,0.080,0.000,2759,1822,2916,0,0,0,0,0,0,26.80,28.83,28.83
$GC,5359,-0.62,-146.6,318.5,-6.5,178,5367,0.15,2.30,0.00,0.000,4,0.128,0.043,2804,355,2914,0,0,0,0,0,0,26.55,26.57,28.83
$GC,5458,-0.59,-146.6,322.5,-6.6,179,5462,0.00,2.30,0.00,0.000,6,0.000,0.024,2794,1886,2914,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5769,-0.59,-146.6,346.0,-6.8,185,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1887,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6069,-0.59,-146.6,365.9,-6.6,190,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1887,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,-0.59,-146.6,382.7,-5.5,195,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1887,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-0.59,-146.6,396.3,-4.4,200,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1887,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6969,-0.59,-146.6,411.8,-5.3,205,6977,0.00,2.42,0.00,0.000,4,0.000,0.044,2794,350,2909,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7089,-0.59,-146.6,420.1,-6.3,207,7097,0.00,2.33,0.00,0.000,6,0.000,0.024,2783,1895,2908,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7449,-0.59,-146.6,447.9,-8.0,213,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1895,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,-0.59,-146.6,474.9,-9.1,218,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1895,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8049,-0.59,-146.6,499.8,-8.1,223,8053,0.00,2.45,0.00,0.000,4,0.000,0.044,2783,348,2906,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8119,-0.59,-146.6,503.9,-7.9,224,8124,0.12,2.33,0.00,0.000,6,0.139,0.025,2809,1887,2905,0,0,0,0,0,0,26.44,26.67,28.83
$GC,8512,-0.62,-146.6,521.9,-4.3,228,8520,0.00,2.40,0.00,0.000,4,0.000,0.044,2810,358,2904,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8622,-0.65,-146.6,521.9,-4.3,228,8631,0.00,2.30,0.00,0.000,6,0.000,0.025,2800,1883,2904,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8992,-0.69,-146.6,538.0,-3.3,232,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1883,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9352,-0.73,-146.6,555.9,-4.7,235,9354,0.12,0.00,0.00,0.000,6,0.081,0.000,2731,1884,2901,0,0,0,0,0,0,26.79,28.83,28.83
$GC,9711,-0.73,-146.6,584.2,-7.4,238,9713,0.12,0.00,0.00,0.000,6,0.140,0.000,2766,1884,2898,0,0,0,0,0,0,26.58,28.83,28.83
$GC,10071,-0.73,-146.6,604.5,-6.2,241,10079,0.00,2.42,0.00,0.000,4,0.000,0.044,2766,354,2900,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10250,-0.73,-146.6,610.5,-5.4,242,10255,0.00,2.33,0.00,0.000,6,0.000,0.026,2756,1888,2897,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10662,-0.73,-146.6,633.7,-4.9,246,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1888,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11022,-0.73,-146.6,655.9,-6.0,249,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1886,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11381,-0.73,-146.6,680.4,-6.7,252,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1887,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11741,-0.73,-146.6,705.6,-7.0,255,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1888,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12101,-0.73,-146.6,727.7,-6.3,258,12106,0.00,2.45,0.00,0.000,4,0.000,0.046,2757,351,2895,0,0,0,0,0,0,28.83,26.47,28.83
$GC,12232,-0.73,-146.6,734.5,-6.1,259,12236,0.00,2.33,0.00,0.000,6,0.000,0.025,2746,1883,2894,0,0,0,0,0,0,28.83,26.64,28.83
$GC,12564,-0.73,-146.6,754.3,-5.7,262,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1884,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12924,-0.73,-146.6,776.0,-6.0,265,12925,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1884,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13283,-0.73,-146.6,799.1,-6.4,268,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1884,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13643,-0.73,-146.6,823.4,-6.7,271,13647,0.00,2.45,0.00,0.000,4,0.000,0.047,2746,351,2891,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13835,-0.73,-146.6,831.8,-6.9,272,13843,0.00,2.33,0.00,0.000,6,0.000,0.026,2734,1882,2889,0,0,0,0,0,0,28.83,26.62,28.83
$GC,14234,-0.73,-146.6,864.7,-6.8,276,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1882,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14595,-0.73,-146.6,885.2,-5.8,279,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1882,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14955,-0.73,-146.6,906.7,-6.0,282,14963,0.00,2.45,0.00,0.000,4,0.000,0.047,2735,354,2887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,15054,-0.73,-146.6,906.7,-6.0,282,15059,0.15,2.33,0.00,0.000,6,0.137,0.027,2767,1879,2887,0,0,0,0,0,0,26.28,26.60,28.83
$GC,15427,-0.76,-146.6,931.1,-5.1,286,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1880,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15787,-0.80,-146.6,947.9,-4.7,289,15788,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1880,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16147,-0.85,-146.6,965.1,-4.7,292,16149,0.12,0.00,0.00,0.000,6,0.085,0.000,2704,1879,2885,0,0,0,0,0,0,26.76,28.83,28.83
$STATE,16505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16505,begin apogee
$GC,16509,-0.29,0.0,990.8,-6.7,295,16636,0.60,0.00,120.68,1.714,6,0.115,0.000,2905,1840,2319,0,0,0,0,0,0,26.00,28.83,23.79
$STATE,16637,end apogee,CONTROL_FINISHED_OK
$STATE,16637,begin climb
$GC,16639,0.86,146.6,994.2,0.0,296,16777,1.05,2.70,129.85,1.683,4,0.070,0.041,3273,3446,1722,0,0,0,0,0,0,24.98,24.57,23.55
$GC,16866,0.96,355.1,980.8,0.0,298,17056,0.00,2.60,183.07,1.662,6,0.000,0.028,3285,1834,871,0,0,0,0,0,0,28.83,25.44,23.42
$GC,17456,0.85,355.1,904.1,13.4,303,17464,0.00,2.45,0.00,0.000,4,0.000,0.050,3296,349,864,0,0,0,0,0,0,28.83,25.98,28.83
$GC,17505,0.75,355.1,904.1,13.4,303,17510,0.20,2.40,0.00,0.000,6,0.135,0.027,3239,1888,864,0,0,0,0,0,0,25.91,26.12,28.83
$GC,17808,0.69,355.1,860.4,12.7,306,17816,0.00,2.50,0.00,0.000,4,0.000,0.050,3249,358,863,0,0,0,0,0,0,28.83,26.21,28.83
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$GC,23688,0.77,355.1,307.0,8.5,373,23695,0.00,2.45,0.00,0.000,4,0.000,0.049,3239,356,860,0,0,0,0,0,0,28.83,26.45,28.83
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$STATE,27091,end climb,SURFACE_DEPTH_REACHED
$STATE,27091,begin surface coast
$FINISH,0.8,1.004187
$STATE,27123,end surface coast,CONTROL_FINISHED_OK
$STATE,27123,begin surface
$SM_CCo,27203,0.00,0.000,0,0,866,356.67
$SM_GC,1.93,8.02,0.08,0.00,0.034,0.109,0.000,160,1834,866,-8.84,0.59,356.67,0,0,0,0,0,0,26.65,26.80,28.83
$IRIDIUM_FIX,2411.01,-3836.26,071012,060619
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.18
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.80
$XPDR_PINGS,5
$SC_FREEKB,7737632
$TM_FREEKB,7156992
$24V_AH,23.4,17.090
$10V_AH,10.4,15.363
$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,22.075,163.325,433.600,0.000,0.000,28.672,37.384,225.187,1.250,0.000,19.317,1948.062,23018.625,711.484,1800.468,222.061,33.293,1512.211,0.000,1363.662,0.000,0.538,0.000
$DEVICE_MAMPS,205.785,144.585,1714.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27030.000,5467.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.843,13.544,0.000,0.000
$MEM,344536
$DATA_FILE_SIZE,13415,523
$CAP_FILE_SIZE,180860,0
$CFSIZE,260034560,245731328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071012,222028,2431.030,-3758.540,47,0.8,47,-14.0