version: 66.11
glider: 189
mission: 7
dive: 427
start: 1 26 113 6 29 24
data:
$ID,189
$MISSION,7
$DIVE,427
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$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,100
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-48191.32
$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,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260113,061523,2430.343,-3748.333,40,0.8,40,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-58.3
$GPS2,260113,062823,2430.379,-3748.383,15,1.2,15,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.057,-0.106
$KALMAN_X,227412.8,-33.8,-309.0,-204309.5,-1046.5
$KALMAN_Y,14905.9,-297.7,-985.2,-23317.9,5920.5
$MHEAD_RNG_PITCHd_Wd,165.7,1120,-19.9,-6.667,-29.07
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.65,0.000,2,0.000,0.000,152,2114,1405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.1,0.0,1,104,9.20,2.50,-49.85,0.000,4,0.189,0.054,2586,546,2719,0,0,0,0,0,0,25.32,25.91,26.69
$GC,214,-1.19,-97.7,9.2,-10.2,19,223,0.10,2.47,0.00,0.000,6,0.139,0.024,2608,2182,2720,0,0,0,0,0,0,25.84,26.27,28.83
$GC,524,-1.15,-97.7,33.9,-9.9,50,533,0.00,2.50,0.00,0.000,4,0.000,0.040,2603,3738,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,734,-1.10,-97.7,54.2,-7.9,71,743,0.12,2.42,0.00,0.000,6,0.125,0.021,2639,2091,2721,0,0,0,0,0,0,25.98,26.45,28.83
$GC,1044,-1.10,-97.7,73.2,-5.7,102,1053,0.00,2.67,0.00,0.000,4,0.000,0.040,2628,3748,2720,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1174,-1.08,-97.7,81.9,-7.5,108,1181,0.00,2.42,0.00,0.000,6,0.000,0.021,2629,2105,2721,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1494,-1.08,-97.7,107.6,-7.2,119,1501,0.00,2.65,0.00,0.000,4,0.000,0.039,2617,3748,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1794,-1.05,-97.7,129.9,-7.5,129,1802,0.12,2.42,0.00,0.000,6,0.120,0.020,2658,2094,2724,0,0,0,0,0,0,26.06,26.49,28.83
$GC,2157,-1.09,-97.7,154.5,-6.5,140,2163,0.00,2.38,0.00,0.000,4,0.000,0.037,2656,546,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2305,-1.11,-97.7,161.4,-5.9,142,2311,0.00,2.45,0.00,0.000,6,0.000,0.024,2648,2191,2722,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2635,-1.14,-97.7,179.7,-5.2,148,2641,0.00,2.58,0.00,0.000,4,0.000,0.036,2649,545,2722,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2705,-1.17,-97.7,183.3,-5.4,149,2711,0.00,2.45,0.00,0.000,6,0.000,0.023,2637,2192,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3054,-1.17,-97.7,203.7,-5.6,155,3061,0.00,2.50,0.00,0.000,4,0.000,0.040,2625,3749,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3263,-1.17,-97.7,214.2,-5.8,158,3271,0.00,2.45,0.00,0.000,6,0.000,0.020,2625,2095,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3595,-1.17,-97.7,237.3,-6.7,164,3601,0.00,2.62,0.00,0.000,4,0.000,0.040,2612,3754,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3793,-1.17,-97.7,251.8,-7.9,167,3801,0.00,2.45,0.00,0.000,6,0.000,0.020,2612,2099,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4135,-1.17,-97.7,280.9,-8.0,173,4141,0.00,2.62,0.00,0.000,4,0.000,0.041,2600,3757,2722,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4223,-1.17,-97.7,285.6,-7.9,174,4231,0.00,2.47,0.00,0.000,6,0.000,0.020,2600,2090,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4554,-1.17,-97.7,310.6,-6.8,180,4561,0.00,2.65,0.00,0.000,4,0.000,0.039,2589,3744,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4704,-1.17,-97.7,318.5,-6.6,182,4712,0.10,2.42,0.00,0.000,6,0.124,0.020,2622,2094,2722,0,0,0,0,0,0,26.12,26.51,28.83
$GC,5034,-1.17,-97.7,341.7,-6.5,188,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2094,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5335,-1.19,-97.7,364.7,-7.8,193,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2095,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5635,-1.22,-97.7,388.4,-7.9,198,5642,0.00,2.67,0.00,0.000,4,0.000,0.041,2611,3740,2720,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5694,-1.24,-97.7,393.1,-7.8,199,5702,0.00,2.42,0.00,0.000,6,0.000,0.021,2611,2106,2720,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6055,-1.24,-97.7,419.4,-7.2,205,6061,0.00,2.62,0.00,0.000,4,0.000,0.041,2599,3748,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6283,-1.24,-97.7,432.6,-7.3,208,6292,0.00,2.47,0.00,0.000,6,0.000,0.021,2599,2091,2719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6594,-1.24,-97.7,459.6,-7.6,214,6602,0.00,2.67,0.00,0.000,4,0.000,0.040,2586,3745,2718,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6704,-1.24,-97.7,464.3,-7.6,215,6713,0.00,2.42,0.00,0.000,6,0.000,0.021,2586,2104,2718,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7014,-1.24,-97.7,491.4,-7.3,221,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2104,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-1.24,-97.7,510.2,-6.3,225,7321,0.00,2.45,0.00,0.000,4,0.000,0.038,2587,549,2716,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7354,-1.24,-97.7,510.2,-6.3,225,7362,0.00,2.45,0.00,0.000,6,0.000,0.023,2575,2188,2716,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7674,-1.24,-97.7,530.9,-5.7,228,7682,0.00,2.53,0.00,0.000,4,0.000,0.041,2563,3749,2715,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7734,-1.24,-97.7,530.9,-5.7,228,7742,0.15,2.47,0.00,0.000,6,0.140,0.021,2604,2085,2714,0,0,0,0,0,0,26.05,26.48,28.83
$GC,8155,-1.26,-97.7,567.3,-7.6,232,8162,0.00,2.42,0.00,0.000,4,0.000,0.038,2605,545,2713,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8234,-1.28,-97.7,567.3,-7.6,232,8241,0.00,2.47,0.00,0.000,6,0.000,0.024,2593,2192,2713,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8634,-1.28,-97.7,613.3,-9.6,236,8642,0.00,2.53,0.00,0.000,4,0.000,0.042,2582,3751,2712,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8814,-1.28,-97.7,624.2,-9.4,237,8821,0.00,2.45,0.00,0.000,6,0.000,0.022,2582,2104,2712,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9234,-1.28,-97.7,662.5,-8.0,241,9241,0.00,2.65,0.00,0.000,4,0.000,0.042,2570,3739,2710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9273,-1.28,-97.7,662.5,-8.0,241,9281,0.00,2.45,0.00,0.000,6,0.000,0.021,2570,2104,2710,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9595,-1.28,-97.7,689.1,-7.3,244,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2105,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9954,-1.28,-97.7,716.8,-7.6,247,9961,0.00,2.67,0.00,0.000,4,0.000,0.041,2558,3740,2709,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10063,-1.28,-97.7,716.8,-7.6,247,10073,0.12,2.47,0.00,0.000,6,0.148,0.021,2590,2090,2709,0,0,0,0,0,0,26.08,26.45,28.83
$GC,10435,-1.28,-97.7,755.3,-8.0,251,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2090,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10795,-1.31,-97.7,783.4,-7.8,254,10802,0.00,2.42,0.00,0.000,4,0.000,0.040,2590,553,2706,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10854,-1.35,-97.7,783.4,-7.8,254,10862,0.00,2.50,0.00,0.000,6,0.000,0.024,2580,2197,2706,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11275,-1.38,-97.7,820.4,-7.7,258,11281,0.00,2.53,0.00,0.000,4,0.000,0.044,2568,3743,2705,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11453,-1.40,-97.7,829.4,-7.6,259,11461,0.00,2.47,0.00,0.000,6,0.000,0.022,2568,2103,2703,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11874,-1.40,-97.7,863.3,-7.0,263,11881,0.00,2.67,0.00,0.000,4,0.000,0.042,2556,3740,2702,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11964,-1.40,-97.7,863.3,-7.0,263,11972,0.00,2.45,0.00,0.000,6,0.000,0.022,2556,2109,2702,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12354,-1.40,-97.7,903.8,-8.4,267,12361,0.00,2.47,0.00,0.000,4,0.000,0.040,2556,543,2701,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12433,-1.40,-97.7,903.8,-8.4,267,12441,0.00,2.53,0.00,0.000,6,0.000,0.024,2544,2196,2701,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12835,-1.40,-97.7,949.8,-9.6,271,12841,0.00,2.50,0.00,0.000,4,0.000,0.044,2533,3741,2700,0,0,0,0,0,0,28.83,26.04,28.83
$GC,13076,-1.40,-97.7,972.6,-9.5,273,13082,0.00,2.42,0.00,0.000,6,0.000,0.024,2533,2098,2699,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,13311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13311,begin apogee
$GC,13320,-0.29,0.0,994.2,-9.3,275,13413,1.17,0.00,85.32,1.675,6,0.129,0.000,2902,1576,2322,0,0,0,0,0,0,25.14,28.83,23.00
$STATE,13415,end apogee,CONTROL_FINISHED_OK
$STATE,13415,begin climb
$GC,13418,1.26,97.7,998.4,0.0,280,13517,1.40,2.10,92.18,1.666,4,0.062,0.047,3412,353,1920,0,0,0,0,0,0,25.29,24.91,23.06
$GC,13666,1.10,97.7,988.5,7.1,293,13674,0.17,1.95,0.00,0.000,6,0.147,0.023,3360,1648,1910,0,0,0,0,0,0,25.65,26.13,28.83
$GC,14088,1.04,120.2,964.8,5.6,299,14114,0.00,2.15,19.60,1.587,4,0.000,0.049,3368,356,1828,0,0,0,0,0,0,28.83,25.77,23.83
$GC,14166,0.98,142.8,964.8,5.6,299,14194,0.20,2.00,21.52,1.603,6,0.151,0.023,3315,1650,1738,0,0,0,0,0,0,25.66,26.09,23.59
$GC,14567,0.96,146.5,933.5,6.5,303,14576,0.00,2.12,4.20,1.179,4,0.000,0.048,3324,354,1722,0,0,0,0,0,0,28.83,26.14,23.88
$GC,14706,0.96,146.5,924.9,6.9,304,14713,0.00,1.95,0.00,0.000,6,0.000,0.024,3324,1644,1721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,15036,0.94,146.5,896.7,7.8,307,15043,0.00,2.08,0.00,0.000,4,0.000,0.048,3333,350,1720,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15308,0.91,146.5,878.5,7.7,309,15315,0.15,1.92,0.00,0.000,6,0.150,0.026,3294,1654,1718,0,0,0,0,0,0,26.06,26.49,28.83
$GC,15636,0.91,146.5,853.9,7.0,312,15644,0.00,2.10,0.00,0.000,4,0.000,0.048,3302,354,1716,0,0,0,0,0,0,28.83,26.17,28.83
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$GC,19348,1.06,155.0,572.2,6.4,343,19359,0.00,2.15,6.18,1.204,4,0.000,0.047,3327,354,1688,0,0,0,0,0,0,28.83,26.12,23.98
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$STATE,26117,end climb,SURFACE_DEPTH_REACHED
$STATE,26118,begin surface coast
$FINISH,1.3,1.004712
$STATE,26149,end surface coast,CONTROL_FINISHED_OK
$STATE,26149,begin surface
$SM_CCo,26173,52.65,0.125,0,0,1094,300.00
$SM_GC,2.40,8.25,0.77,52.65,0.023,0.032,0.125,153,2194,1094,-8.82,-0.54,300.00,0,0,0,0,0,0,26.39,26.46,25.53
$IRIDIUM_FIX,2437.06,-3747.71,260113,060639
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.30
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7605888
$TM_FREEKB,4791008
$24V_AH,23.0,74.294
$10V_AH,10.1,65.654
$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,21.900,219.900,262.725,52.650,0.000,47.996,90.187,279.980,0.000,0.000,16.689,2299.136,21089.170,714.775,2321.012,568.136,33.265,1744.349,0.000,1781.272,0.000,0.535,0.000
$DEVICE_MAMPS,188.955,95.625,1674.585,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26158.000,2797.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.832,13.531,0.000,0.000
$MEM,343680
$DATA_FILE_SIZE,13429,532
$CAP_FILE_SIZE,199887,0
$CFSIZE,260034560,211877888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260113,134752,2429.951,-3748.148,42,0.9,43,-14.0