version: 66.03
glider: 5
mission: 3
dive: 140
start: 7 9 108 13 0 55
data:
$ID,5
$MISSION,3
$DIVE,140
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,547.01898
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-79303.32
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,125331,6141.750,-928.016,40,1.3,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-55.3
$GPS2,130003,6141.676,-928.031,16,1.8,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.184,0.080
$KALMAN_X,-60358.3,-359.4,1878.4,71633.5,-12483.6
$KALMAN_Y,57846.0,537.8,2339.5,-74855.8,-13122.0
$MHEAD_RNG_PITCHd_Wd,76.0,15014,-12.6,-6.000
$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
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,138,0.00,0.00,-111.18,0.000,6,0.000,0.000,418,2169,3099
$GC,142,-1.03,-117.3,2.1,-1.4,5,158,10.60,2.60,0.00,0.000,4,0.136,0.058,2468,742,3099
$GC,297,-0.72,-117.3,21.3,-10.4,11,302,0.35,2.53,0.00,0.000,6,0.088,0.051,2542,2148,3098
$GC,627,-0.62,-117.3,44.5,-6.8,27,632,0.10,2.58,0.00,0.000,4,0.100,0.060,2563,740,3097
$GC,823,-0.62,-117.3,58.2,-7.3,36,828,0.00,2.47,0.00,0.000,6,0.000,0.050,2563,2129,3098
$GC,1151,-0.62,-117.3,80.6,-6.6,52,1155,0.00,2.55,0.00,0.000,4,0.000,0.060,2563,3557,3097
$GC,1195,-0.58,-117.3,83.9,-7.5,54,1200,0.00,2.55,0.00,0.000,6,0.000,0.048,2563,2119,3097
$GC,1517,-0.58,-117.3,107.6,-8.0,70,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2102,3098
$GC,1826,-0.58,-117.3,137.0,-10.2,85,1831,0.00,2.62,0.00,0.000,4,0.000,0.060,2563,3564,3097
$GC,1905,-0.58,-117.3,145.6,-11.0,88,1911,0.00,2.50,0.00,0.000,6,0.000,0.047,2563,2147,3097
$GC,2221,-0.58,-117.3,178.5,-10.2,104,2225,0.00,2.50,0.00,0.000,4,0.000,0.062,2563,752,3098
$GC,2253,-0.58,-117.3,182.0,-10.8,105,2260,0.00,2.50,0.00,0.000,6,0.000,0.051,2562,2149,3097
$GC,2570,-0.58,-117.3,213.6,-9.6,121,2575,0.00,2.55,0.00,0.000,4,0.000,0.062,2563,753,3097
$GC,2610,-0.58,-117.3,217.7,-10.0,123,2615,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,2137,3097
$GC,2938,-0.58,-117.3,245.5,-7.5,139,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2136,3097
$GC,3247,-0.58,-117.3,265.2,-5.9,154,3251,0.00,2.53,0.00,0.000,4,0.000,0.062,2563,753,3097
$GC,3296,-0.58,-117.3,268.3,-6.1,156,3301,0.00,2.47,0.00,0.000,6,0.000,0.052,2563,2135,3097
$GC,3614,-0.58,-117.3,284.8,-5.0,171,3618,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,3557,3097
$GC,3663,-0.58,-117.3,287.7,-5.8,173,3668,0.00,2.53,0.00,0.000,6,0.000,0.049,2563,2135,3097
$GC,3980,-0.58,-117.3,303.0,-5.0,188,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2134,3096
$GC,4289,-0.58,-117.3,318.8,-5.0,203,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2131,3096
$GC,4598,-0.58,-117.3,334.3,-5.3,218,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2129,3096
$GC,4907,-0.58,-117.3,352.0,-6.1,233,4911,0.00,2.60,0.00,0.000,4,0.000,0.064,2563,3562,3096
$GC,4951,-0.58,-117.3,355.0,-7.0,235,4956,0.00,2.55,0.00,0.000,6,0.000,0.051,2563,2133,3096
$GC,5272,-0.58,-117.3,376.9,-6.9,251,5277,0.00,2.50,0.00,0.000,4,0.000,0.066,2562,743,3096
$GC,5312,-0.58,-117.3,379.9,-7.7,253,5317,0.00,2.50,0.00,0.000,6,0.000,0.054,2563,2138,3095
$GC,5640,-0.58,-117.3,403.6,-7.0,269,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2137,3095
$GC,5949,-0.58,-117.3,425.1,-6.8,284,5954,0.00,2.55,0.00,0.000,4,0.000,0.066,2563,742,3095
$GC,5999,-0.58,-117.3,428.7,-6.9,286,6004,0.00,2.50,0.00,0.000,6,0.000,0.054,2562,2138,3095
$GC,6317,-0.58,-117.3,451.0,-7.5,301,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2137,3095
$GC,6625,-0.58,-117.3,476.0,-8.2,316,6630,0.00,2.55,0.00,0.000,4,0.000,0.065,2563,746,3094
$GC,6681,-0.58,-117.3,480.8,-8.8,318,6687,0.00,2.50,0.00,0.000,6,0.000,0.054,2563,2137,3094
$GC,6997,-0.58,-117.3,503.5,-6.5,334,7001,0.00,2.58,0.00,0.000,4,0.000,0.066,2562,3564,3094
$GC,7053,-0.58,-117.3,507.5,-7.8,336,7059,0.00,2.58,0.00,0.000,6,0.000,0.053,2563,2124,3094
$GC,7369,-0.58,-117.3,527.1,-5.9,352,7374,0.00,2.47,0.00,0.000,4,0.000,0.064,2563,746,3094
$GC,7425,-0.58,-117.3,530.5,-6.4,354,7431,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2120,3094
$GC,7741,-0.58,-117.3,545.8,-3.3,370,7745,0.00,2.58,0.00,0.000,4,0.000,0.066,2563,3557,3094
$GC,7833,-0.58,-117.3,548.6,-2.5,374,7837,0.00,2.58,0.00,0.000,6,0.000,0.052,2563,2114,3094
$GC,8154,-0.58,-117.3,554.4,-1.2,390,8158,0.00,2.45,0.00,0.000,4,0.000,0.064,2563,740,3093
$GC,8232,-0.58,-117.3,555.8,-1.5,393,8238,0.00,2.50,0.00,0.000,6,0.000,0.054,2563,2130,3094
$GC,8549,-0.58,-117.3,562.1,-2.7,409,8553,0.00,2.53,0.00,0.000,4,0.000,0.067,2563,746,3093
$GC,8621,-0.58,-117.3,564.3,-3.3,412,8625,0.00,2.40,0.00,0.000,6,0.000,0.054,2562,2080,3093
$GC,8937,-0.58,-117.3,570.4,-1.6,427,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2080,3093
$GC,9247,-0.58,-117.3,572.2,-0.4,442,9251,0.00,2.67,0.00,0.000,4,0.000,0.069,2563,3558,3093
$GC,9347,-0.58,-117.3,574.3,-2.4,446,9353,0.00,2.65,0.00,0.000,6,0.000,0.053,2563,2066,3093
$GC,9664,-0.58,-117.3,588.2,-5.4,462,9668,0.00,2.38,0.00,0.000,4,0.000,0.066,2563,746,3093
$GC,9726,-0.58,-117.3,592.0,-6.4,465,9730,0.00,2.40,0.00,0.000,6,0.000,0.056,2563,2087,3093
$GC,10053,-0.58,-117.3,611.5,-6.3,481,10057,0.00,2.67,0.00,0.000,4,0.000,0.069,2563,3562,3093
$GC,10171,-0.58,-117.3,619.1,-6.4,486,10175,0.00,2.62,0.00,0.000,6,0.000,0.054,2562,2098,3093
$GC,10487,-0.58,-117.3,639.7,-5.8,501,10492,0.00,2.70,0.00,0.000,4,0.000,0.070,2563,3556,3092
$GC,10531,-0.58,-117.3,642.7,-6.8,503,10536,0.00,2.58,0.00,0.000,6,0.000,0.054,2563,2124,3092
$GC,10853,-0.58,-117.3,666.7,-7.9,519,10857,0.00,2.47,0.00,0.000,4,0.000,0.067,2563,747,3092
$GC,11111,-0.58,-117.3,691.2,-10.1,530,11117,0.00,2.45,0.00,0.000,6,0.000,0.058,2563,2101,3092
$GC,11427,-0.58,-117.3,717.5,-8.6,546,11431,0.00,2.50,0.00,0.000,4,0.000,0.070,2562,747,3091
$GC,11506,-0.58,-117.3,725.5,-9.7,549,11512,0.00,2.45,0.00,0.000,6,0.000,0.059,2562,2099,3091
$GC,11822,-0.58,-117.3,758.6,-10.8,565,11826,0.00,2.67,0.00,0.000,4,0.000,0.072,2562,3566,3091
$GC,11992,-0.58,-117.3,774.9,-8.1,572,11999,0.00,2.58,0.00,0.000,6,0.000,0.057,2562,2116,3091
$GC,12309,-0.62,-117.3,781.8,0.6,588,12313,0.00,2.47,0.00,0.000,4,0.000,0.070,2562,761,3091
$GC,12449,-0.62,-117.3,780.1,0.2,594,12453,0.00,2.47,0.00,0.000,6,0.000,0.063,2562,2117,3091
$GC,12766,-0.67,-117.3,787.5,-4.6,609,12770,0.00,2.53,0.00,0.000,4,0.000,0.074,2562,761,3090
$GC,12851,-0.67,-117.3,792.4,-5.8,613,12855,0.00,2.42,0.00,0.000,6,0.000,0.064,2562,2091,3090
$GC,13181,-0.72,-117.3,806.5,-2.2,629,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2091,3090
$GC,13487,-0.78,-117.3,826.2,-10.8,644,13489,0.15,0.00,0.00,0.000,6,0.056,0.000,2522,2091,3089
$GC,13797,-0.66,-117.3,852.6,-4.1,659,13802,0.15,2.72,0.00,0.000,4,0.099,0.080,2556,3565,3088
$GC,14021,-0.66,-117.3,858.7,-3.0,669,14026,0.00,2.67,0.00,0.000,6,0.000,0.073,2556,2123,3088
$GC,14344,-0.71,-117.3,875.8,0.8,685,14348,0.00,2.72,0.00,0.000,4,0.000,0.082,2556,3566,3087
$GC,14602,-0.71,-117.3,884.0,-6.0,696,14608,0.00,2.67,0.00,0.000,6,0.000,0.070,2556,2107,3086
$STATE,14770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14770,begin apogee
$GC,14777,-0.33,0.0,893.1,6.3,705,14882,0.32,0.00,101.82,1.490,6,0.087,0.000,2624,2082,2620
$STATE,14883,end apogee,CONTROL_FINISHED_OK
$STATE,14883,begin climb
$GC,14886,1.03,117.3,903.9,0.0,710,14996,1.40,2.78,102.38,1.460,4,0.074,0.088,2922,686,2141
$GC,15075,1.11,255.7,901.2,1.3,719,15201,0.00,2.67,118.60,1.438,6,0.000,0.073,2922,2102,1577
$GC,15518,1.19,255.7,864.0,9.7,741,15524,0.15,2.75,0.00,0.000,4,0.057,0.092,2967,693,1577
$GC,15530,1.27,255.7,861.9,11.0,741,15536,0.00,2.60,0.00,0.000,6,0.000,0.074,2967,2066,1577
$GC,15847,1.17,255.7,822.5,13.3,757,15851,0.00,2.72,0.00,0.000,4,0.000,0.085,2967,3508,1577
$GC,15914,1.12,255.7,815.4,9.3,760,15919,0.12,2.75,0.00,0.000,6,0.098,0.072,2943,2048,1577
$GC,16236,1.14,267.0,792.9,5.6,776,16249,0.00,0.00,11.32,1.299,6,0.000,0.000,2943,2047,1531
$GC,16545,1.14,267.0,774.0,6.0,791,16550,0.00,2.78,0.00,0.000,4,0.000,0.080,2943,3508,1530
$GC,16567,1.14,267.0,772.4,6.7,792,16571,0.00,2.70,0.00,0.000,6,0.000,0.065,2943,2057,1530
$GC,16888,1.14,267.0,750.0,6.9,808,16892,0.00,2.75,0.00,0.000,4,0.000,0.077,2943,3510,1529
$GC,16904,1.14,267.0,748.8,7.3,809,16909,0.00,2.70,0.00,0.000,6,0.000,0.067,2943,2054,1529
$GC,17232,1.14,269.1,728.7,5.9,825,17236,0.00,2.53,0.00,0.000,4,0.000,0.078,2944,688,1529
$GC,17251,1.14,269.1,727.5,6.1,826,17255,0.00,2.53,0.00,0.000,6,0.000,0.065,2944,2059,1529
$GC,17577,1.14,269.1,701.8,8.2,842,17582,0.00,2.67,0.00,0.000,4,0.000,0.074,2944,3513,1529
$GC,17594,1.14,269.1,700.4,8.3,843,17599,0.00,2.67,0.00,0.000,6,0.000,0.061,2944,2048,1529
$GC,17921,1.14,269.1,677.2,6.7,859,17926,0.00,2.72,0.00,0.000,4,0.000,0.071,2944,3508,1529
$GC,17954,1.14,269.1,674.7,6.7,860,17960,0.00,2.65,0.00,0.000,6,0.000,0.058,2944,2049,1529
$GC,18271,1.14,269.1,649.4,9.1,876,18275,0.00,2.70,0.00,0.000,4,0.000,0.069,2944,3508,1530
$GC,18287,1.14,269.1,647.9,8.5,877,18292,0.00,2.62,0.00,0.000,6,0.000,0.057,2943,2061,1530
$GC,18614,1.14,269.1,616.0,9.7,893,18615,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2049,1530
$GC,18924,1.14,269.1,585.0,9.7,908,18928,0.00,2.67,0.00,0.000,4,0.000,0.067,2944,3508,1530
$GC,18940,1.14,269.1,583.3,9.0,909,18945,0.00,2.58,0.00,0.000,6,0.000,0.054,2944,2074,1530
$GC,19267,1.14,269.1,548.7,10.2,925,19271,0.00,2.65,0.00,0.000,4,0.000,0.065,2944,3512,1531
$GC,19289,1.19,269.1,546.4,11.6,926,19293,0.00,2.58,0.00,0.000,6,0.000,0.054,2943,2085,1531
$GC,19610,1.19,269.1,516.9,8.6,942,19614,0.00,2.62,0.00,0.000,4,0.000,0.064,2943,3510,1531
$GC,19643,1.24,269.1,513.9,8.6,943,19653,0.12,2.55,4.10,0.779,6,0.051,0.055,2981,2093,1521
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$GC,21054,1.19,269.1,378.9,10.1,1011,21058,0.00,2.45,0.00,0.000,6,0.000,0.051,2960,2139,1524
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$GC,22681,1.19,269.1,256.8,7.8,1089,22685,0.00,2.45,0.00,0.000,4,0.000,0.061,2960,3509,1526
$GC,22708,1.19,269.1,254.4,8.3,1090,22712,0.00,2.42,0.00,0.000,6,0.000,0.051,2960,2154,1527
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$STATE,25847,end climb,SURFACE_DEPTH_REACHED
$STATE,25847,begin surface coast
$FINISH,0.2,1.012901
$STATE,25870,end surface coast,CONTROL_FINISHED_OK
$STATE,25870,begin surface
$SM_CCo,25892,159.62,0.769,0,0,390,547.02
$SM_GC,0.58,0.00,0.00,159.62,0.000,0.000,0.769,417,2166,390,-10.50,0.48,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1664
$TCM_TEMP,17.70
$XPDR_PINGS,668
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,800.7,102.3
$24V_AH,23.7,29.415
$10V_AH,10.1,14.247
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.750,255.650,348.325,159.625,0.000,37.762,28.623,180.409,174.250,0.000,0.000,16.134,2321.350,19837.877,740.948,2834.224,700.762,33.354,2160.747,0.000,2774.753,0.000,49.606
$DEVICE_MAMPS,135.759,92.040,1490.281,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,854.038,925.924,682.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63188,1243
$CAP_FILE_SIZE,196905,0
$CFSIZE,254472192,242094080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,090708,201626,6141.079,-929.711,38,1.3,39,-9.5