version: 66.11
glider: 189
mission: 7
dive: 91
start: 10 9 112 23 42 11
data:
$ID,189
$MISSION,7
$DIVE,91
$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,-47237.461
$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
$GPS1,091012,233305,2447.042,-3816.278,27,0.9,27,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-57.6
$GPS2,091012,234111,2447.044,-3816.367,15,0.9,15,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.041,-0.198
$KALMAN_X,15851.6,-181.9,-6.5,-40032.8,1250.3
$KALMAN_Y,88531.1,258.7,-147.6,-67476.1,1753.4
$MHEAD_RNG_PITCHd_Wd,205.7,49165,-11.8,-6.111,-16.79
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.86,-146.4,0.0,0.0,0,45,0.00,0.00,-22.20,0.000,2,0.000,0.000,160,1882,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.0,0.0,2,106,9.50,2.45,-43.10,0.000,4,0.199,0.054,2720,349,2919,0,0,0,0,0,0,25.93,26.27,26.66
$GC,335,-0.65,-146.6,29.9,-12.5,31,345,0.28,2.33,0.00,0.000,6,0.140,0.024,2789,1889,2918,0,0,0,0,0,0,26.09,26.46,28.83
$GC,645,-0.59,-146.6,53.5,-6.9,62,654,0.00,2.42,0.00,0.000,4,0.000,0.041,2790,347,2921,0,0,0,0,0,0,28.83,26.43,28.83
$GC,885,-0.50,-146.6,71.9,-7.5,86,895,0.20,2.33,0.00,0.000,6,0.127,0.024,2841,1900,2922,0,0,0,0,0,0,26.29,26.58,28.83
$GC,1206,-0.50,-146.6,96.4,-7.7,100,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1901,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1505,-0.50,-146.6,114.8,-5.3,110,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1901,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1805,-0.50,-146.6,125.0,-3.2,120,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1900,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-0.52,-146.6,137.5,-5.2,130,2113,0.00,2.42,0.00,0.000,4,0.000,0.041,2841,351,2922,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2244,-0.52,-146.6,145.3,-6.5,134,2248,0.00,2.30,0.00,0.000,6,0.000,0.024,2831,1891,2922,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2545,-0.52,-146.6,164.6,-6.0,140,2553,0.00,2.40,0.00,0.000,4,0.000,0.037,2820,3452,2922,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2674,-0.52,-146.6,171.5,-5.8,142,2678,0.00,2.45,0.00,0.000,6,0.000,0.022,2819,1818,2922,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3016,-0.52,-146.6,190.0,-5.2,148,3023,0.00,2.30,0.00,0.000,4,0.000,0.042,2820,343,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3205,-0.52,-146.6,201.5,-6.1,151,3213,0.00,2.30,0.00,0.000,6,0.000,0.024,2808,1889,2921,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3556,-0.52,-146.6,221.7,-5.3,157,3563,0.00,2.40,0.00,0.000,4,0.000,0.041,2808,352,2921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3644,-0.52,-146.6,224.9,-5.1,158,3649,0.12,2.30,0.00,0.000,6,0.135,0.024,2835,1892,2920,0,0,0,0,0,0,26.48,26.70,28.83
$GC,3967,-0.57,-146.6,239.3,-4.0,164,3975,0.00,2.40,0.00,0.000,4,0.000,0.039,2825,3455,2919,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4066,-0.61,-146.6,242.2,-4.2,165,4070,0.00,2.45,0.00,0.000,6,0.000,0.023,2824,1825,2919,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4378,-0.64,-146.6,262.2,-5.9,171,4386,0.00,2.30,0.00,0.000,4,0.000,0.043,2825,352,2918,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4447,-0.66,-146.6,265.9,-5.9,172,4451,0.00,2.30,0.00,0.000,6,0.000,0.024,2814,1890,2918,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4789,-0.69,-146.6,281.7,-4.1,178,4797,0.10,2.40,0.00,0.000,4,0.096,0.038,2741,3456,2917,0,0,0,0,0,0,26.80,26.59,28.83
$GC,4909,-0.69,-146.6,288.1,-4.5,180,4917,0.12,2.45,0.00,0.000,6,0.135,0.023,2775,1824,2917,0,0,0,0,0,0,26.45,26.67,28.83
$GC,5269,-0.67,-146.6,309.0,-6.0,186,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5568,-0.67,-146.6,326.0,-5.6,191,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5869,-0.67,-146.6,343.8,-6.1,196,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6168,-0.67,-146.6,365.4,-7.3,201,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6468,-0.67,-146.6,388.1,-7.5,206,6476,0.00,2.33,0.00,0.000,4,0.000,0.044,2776,348,2912,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6537,-0.67,-146.6,392.9,-7.6,207,6541,0.00,2.33,0.00,0.000,6,0.000,0.024,2766,1894,2911,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6879,-0.64,-146.6,419.4,-7.5,213,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1895,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7178,-0.64,-146.6,442.1,-7.6,218,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1895,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7478,-0.64,-146.6,463.5,-7.1,223,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1895,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7779,-0.64,-146.6,482.0,-6.1,228,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1895,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8079,-0.64,-146.6,499.6,-5.9,233,8087,0.00,2.45,0.00,0.000,4,0.000,0.044,2766,347,2907,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8188,-0.64,-146.6,503.7,-6.1,234,8193,0.12,2.33,0.00,0.000,6,0.141,0.024,2791,1888,2906,0,0,0,0,0,0,26.43,26.67,28.83
$GC,8549,-0.64,-146.6,525.8,-5.6,237,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1889,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8909,-0.67,-146.6,545.0,-5.2,240,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1889,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9269,-0.70,-146.6,568.8,-6.4,243,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1889,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9629,-0.73,-146.6,588.7,-5.8,246,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1889,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9989,-0.77,-146.6,604.6,-4.5,249,9998,0.12,2.45,0.00,0.000,4,0.081,0.044,2725,346,2900,0,0,0,0,0,0,26.78,26.51,28.83
$GC,10098,-0.80,-146.6,604.6,-4.5,249,10102,0.00,2.33,0.00,0.000,6,0.000,0.024,2713,1883,2900,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10458,-0.80,-146.6,642.9,-7.5,252,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1883,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10819,-0.75,-146.6,677.4,-9.5,255,10827,0.15,2.47,0.00,0.000,4,0.142,0.041,2746,3461,2899,0,0,0,0,0,0,26.48,26.51,28.83
$GC,10898,-0.70,-146.6,677.4,-9.5,255,10902,0.00,2.50,0.00,0.000,6,0.000,0.025,2746,1821,2899,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11290,-0.67,-146.6,714.7,-7.9,259,11292,0.12,0.00,0.00,0.000,6,0.136,0.000,2782,1821,2898,0,0,0,0,0,0,26.57,28.83,28.83
$GC,11650,-0.67,-146.6,734.1,-5.7,262,11657,0.00,2.33,0.00,0.000,4,0.000,0.046,2782,355,2896,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11739,-0.67,-146.6,734.1,-5.7,262,11743,0.00,2.33,0.00,0.000,6,0.000,0.025,2773,1888,2895,0,0,0,0,0,0,28.83,26.63,28.83
$GC,12121,-0.71,-146.6,758.9,-5.2,266,12128,0.00,2.45,0.00,0.000,4,0.000,0.045,2774,348,2895,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12219,-0.74,-146.6,758.9,-5.2,266,12223,0.00,2.33,0.00,0.000,6,0.000,0.025,2763,1883,2894,0,0,0,0,0,0,28.83,26.63,28.83
$GC,12591,-0.76,-146.6,791.8,-7.0,270,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1883,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12951,-0.78,-146.6,815.5,-6.7,273,12959,0.00,2.45,0.00,0.000,4,0.000,0.046,2763,349,2893,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13030,-0.81,-146.6,815.5,-6.7,273,13034,0.00,2.33,0.00,0.000,6,0.000,0.027,2753,1882,2893,0,0,0,0,0,0,28.83,26.60,28.83
$GC,13422,-0.81,-146.6,842.7,-5.7,277,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1882,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13781,-0.81,-146.6,865.0,-6.1,280,13789,0.00,2.45,0.00,0.000,4,0.000,0.047,2752,351,2890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13901,-0.81,-146.6,874.3,-6.5,281,13905,0.00,2.33,0.00,0.000,6,0.000,0.027,2742,1881,2890,0,0,0,0,0,0,28.83,26.60,28.83
$GC,14252,-0.81,-146.6,900.8,-7.6,284,14253,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1882,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14612,-0.81,-146.6,928.3,-7.6,287,14616,0.00,2.45,0.00,0.000,4,0.000,0.047,2742,352,2888,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14712,-0.81,-146.6,928.3,-7.6,287,14716,0.00,2.35,0.00,0.000,6,0.000,0.027,2731,1890,2888,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15073,-0.81,-146.6,964.2,-7.9,290,15074,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1891,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15433,-0.81,-146.6,988.5,-6.9,293,15434,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1891,2887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15552,begin apogee
$GC,15556,-0.29,0.0,995.8,-6.6,294,15683,0.52,0.00,119.70,1.707,6,0.109,0.000,2903,1838,2321,0,0,0,0,0,0,26.07,28.83,23.79
$STATE,15684,end apogee,CONTROL_FINISHED_OK
$STATE,15684,begin climb
$GC,15686,0.86,146.6,997.3,0.0,295,15819,1.08,0.00,129.32,1.662,6,0.070,0.000,3278,1838,1721,0,0,0,0,0,0,25.00,28.83,23.56
$GC,16154,0.72,146.6,950.1,11.8,299,16163,0.17,2.60,0.00,0.000,4,0.151,0.042,3231,3448,1713,0,0,0,0,0,0,25.80,25.96,28.83
$GC,16253,0.59,146.6,950.1,11.8,299,16258,0.17,2.55,0.00,0.000,6,0.149,0.028,3193,1829,1713,0,0,0,0,0,0,25.86,26.10,28.83
$GC,16625,0.52,146.6,910.3,8.4,303,16627,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1828,1710,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,21625,0.63,330.1,487.9,9.0,345,21630,0.12,2.33,0.00,0.000,6,0.134,0.026,3204,1886,960,0,0,0,0,0,0,26.39,26.60,28.83
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$STATE,27009,end climb,SURFACE_DEPTH_REACHED
$STATE,27009,begin surface coast
$FINISH,0.8,1.024502
$STATE,27050,end surface coast,CONTROL_FINISHED_OK
$STATE,27050,begin surface
$SM_CCo,27128,0.00,0.000,0,0,965,332.38
$SM_GC,1.89,7.95,0.08,0.00,0.032,0.111,0.000,162,1832,965,-8.81,0.54,332.38,0,0,0,0,0,0,26.63,26.79,28.83
$IRIDIUM_FIX,2439.44,-3822.90,091012,151553
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.21
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.30
$XPDR_PINGS,3
$SC_FREEKB,7734944
$TM_FREEKB,7095392
$24V_AH,23.6,18.437
$10V_AH,10.4,16.409
$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,21.950,163.250,410.975,0.000,0.000,27.661,45.240,206.554,0.750,0.000,16.545,1899.306,23060.676,720.868,1717.099,208.891,33.263,1494.609,0.000,1302.425,0.000,0.538,0.000
$DEVICE_MAMPS,198.900,137.700,1706.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26958.000,5411.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.817,13.526,0.000,0.000
$MEM,344456
$DATA_FILE_SIZE,13412,517
$CAP_FILE_SIZE,180473,0
$CFSIZE,260034560,245030912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101012,071528,2444.052,-3816.666,38,0.8,38,-14.1