version: 66.07
glider: 543
mission: 6
dive: 250
start: 1 21 113 5 7 34
data:
$ID,543
$MISSION,6
$DIVE,250
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,400
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8545.1777
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1628
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3400
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.913475
$PRESSURE_SLOPE,0.00011638312
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043127281
$SEABIRD_T_H,0.00062185986
$SEABIRD_T_I,2.2048062e-05
$SEABIRD_T_J,2.2117231e-06
$SEABIRD_C_G,-10.303595
$SEABIRD_C_H,1.1762303
$SEABIRD_C_I,-0.001936322
$SEABIRD_C_J,0.00024357962
$GPS1,210113,045633,-4232.386,900.879,41,1.4,41,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-53.6
$GPS2,210113,050635,-4232.329,900.998,17,1.0,17,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.244,-0.005
$KALMAN_X,-120227.2,-948.8,-535.2,202757.7,6616.3
$KALMAN_Y,111478.5,-131.1,-178.7,-115404.2,5505.6
$MHEAD_RNG_PITCHd_Wd,294.1,56146,-14.7,-8.333
$D_GRID,1000
$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
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.47,-146.1,0.0,0.0,0,70,0.00,0.00,-48.83,0.000,2,0.000,0.000,52,3398,2696,0,0,0,0,0,0
$GC,75,-0.47,-146.1,3.4,-4.0,6,94,5.78,0.00,-10.43,0.000,6,0.226,0.000,1467,3398,3071,0,0,0,0,0,0
$GC,174,-0.47,-146.1,15.8,-12.5,20,182,0.00,2.17,0.00,0.000,4,0.000,0.031,1468,1993,3075,0,0,0,0,0,0
$GC,232,-0.47,-146.1,23.3,-12.6,28,240,0.00,2.33,0.00,0.000,6,0.000,0.053,1458,3401,3075,0,0,0,0,0,0
$GC,322,-0.47,-146.1,34.6,-13.1,41,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3401,3075,0,0,0,0,0,0
$GC,571,-0.47,-146.1,68.9,-12.5,82,580,0.00,0.88,0.00,0.000,4,0.000,0.059,1454,3944,3076,0,0,0,0,0,0
$GC,599,-0.47,-146.1,72.0,-13.3,85,603,0.00,0.82,0.00,0.000,6,0.000,0.036,1454,3409,3076,0,0,0,0,0,0
$GC,939,-0.47,-146.1,116.5,-12.6,130,942,0.00,0.88,0.00,0.000,4,0.000,0.058,1450,3952,3076,0,0,0,0,0,0
$GC,980,-0.47,-146.1,122.2,-12.8,132,986,0.00,0.85,0.00,0.000,6,0.000,0.036,1450,3399,3076,0,0,0,0,0,0
$GC,1307,-0.47,-146.1,162.7,-12.5,153,1311,0.00,0.88,0.00,0.000,4,0.000,0.058,1446,3946,3077,0,0,0,0,0,0
$GC,1368,-0.47,-146.1,171.0,-13.3,156,1379,0.00,0.82,0.00,0.000,6,0.000,0.036,1446,3403,3077,0,0,0,0,0,0
$GC,1692,-0.47,-146.1,208.3,-11.7,177,1694,0.10,0.00,0.00,0.000,6,0.170,0.000,1471,3403,3078,0,0,0,0,0,0
$GC,2003,-0.47,-146.1,236.0,-8.2,197,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3403,3078,0,0,0,0,0,0
$GC,2319,-0.47,-146.1,261.4,-7.8,215,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3403,3078,0,0,0,0,0,0
$GC,2627,-0.47,-146.1,285.5,-7.8,230,2631,0.00,0.88,0.00,0.000,4,0.000,0.058,1468,3949,3078,0,0,0,0,0,0
$GC,2708,-0.47,-146.1,292.8,-9.0,233,2713,0.00,0.82,0.00,0.000,6,0.000,0.036,1469,3406,3078,0,0,0,0,0,0
$GC,3033,-0.47,-146.1,319.3,-8.1,249,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3078,0,0,0,0,0,0
$GC,3341,-0.47,-146.1,345.8,-8.9,264,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3406,3078,0,0,0,0,0,0
$GC,3651,-0.47,-146.1,375.0,-9.7,279,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3406,3077,0,0,0,0,0,0
$GC,3979,-0.47,-146.1,407.1,-9.8,294,3982,0.00,0.88,0.00,0.000,4,0.000,0.059,1465,3953,3078,0,0,0,0,0,0
$GC,4056,-0.47,-146.1,415.6,-10.6,296,4060,0.00,0.85,0.00,0.000,6,0.000,0.036,1464,3392,3078,0,0,0,0,0,0
$GC,4386,-0.47,-146.1,449.0,-10.1,307,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3392,3077,0,0,0,0,0,0
$GC,4693,-0.47,-146.1,479.0,-9.6,317,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3392,3078,0,0,0,0,0,0
$GC,5000,-0.47,-146.1,507.0,-8.9,327,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3393,3077,0,0,0,0,0,0
$GC,5306,-0.47,-146.1,532.0,-8.0,337,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3392,3077,0,0,0,0,0,0
$GC,5612,-0.47,-146.1,556.0,-7.9,347,5615,0.00,0.90,0.00,0.000,4,0.000,0.059,1461,3953,3076,0,0,0,0,0,0
$GC,5690,-0.47,-146.1,563.1,-8.9,349,5693,0.00,0.82,0.00,0.000,6,0.000,0.037,1461,3410,3075,0,0,0,0,0,0
$GC,6020,-0.47,-146.1,591.2,-8.7,360,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3410,3075,0,0,0,0,0,0
$GC,6327,-0.47,-146.1,618.1,-9.0,370,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3410,3075,0,0,0,0,0,0
$GC,6632,-0.47,-146.1,646.8,-9.5,380,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3410,3074,0,0,0,0,0,0
$GC,6938,-0.47,-146.1,676.6,-9.7,390,6942,0.00,2.17,0.00,0.000,4,0.000,0.031,1461,1963,3073,0,0,0,0,0,0
$GC,6971,-0.47,-146.1,680.0,-8.7,391,6975,0.00,2.33,0.00,0.000,6,0.000,0.054,1450,3401,3073,0,0,0,0,0,0
$GC,7300,-0.47,-146.1,713.4,-10.1,402,7304,0.00,0.88,0.00,0.000,4,0.000,0.059,1446,3948,3072,0,0,0,0,0,0
$GC,7390,-0.47,-146.1,723.0,-10.6,404,7394,0.08,0.85,0.00,0.000,6,0.133,0.037,1470,3392,3072,0,0,0,0,0,0
$GC,7708,-0.47,-146.1,749.3,-8.1,415,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3071,0,0,0,0,0,0
$GC,8015,-0.47,-146.1,773.3,-7.8,425,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3071,0,0,0,0,0,0
$GC,8322,-0.47,-146.1,797.0,-7.8,435,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3071,0,0,0,0,0,0
$GC,8627,-0.47,-146.1,819.6,-7.0,445,8632,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3948,3070,0,0,0,0,0,0
$GC,8689,-0.47,-146.1,824.4,-7.5,446,8696,0.00,0.85,0.00,0.000,6,0.000,0.037,1468,3394,3070,0,0,0,0,0,0
$GC,9004,-0.47,-146.1,845.2,-6.6,457,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3394,3069,0,0,0,0,0,0
$GC,9309,-0.47,-146.1,864.4,-6.1,467,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3394,3069,0,0,0,0,0,0
$GC,9615,-0.47,-146.1,883.0,-6.1,477,9619,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3955,3068,0,0,0,0,0,0
$GC,9677,-0.47,-146.1,887.4,-6.8,478,9685,0.00,0.85,0.00,0.000,6,0.000,0.037,1464,3400,3068,0,0,0,0,0,0
$GC,9991,-0.47,-146.1,908.7,-7.2,489,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3400,3068,0,0,0,0,0,0
$GC,10297,-0.47,-146.1,931.0,-7.2,499,10301,0.00,0.90,0.00,0.000,4,0.000,0.063,1460,3943,3067,0,0,0,0,0,0
$GC,10348,-0.47,-146.1,935.3,-8.0,500,10351,0.00,0.82,0.00,0.000,6,0.000,0.038,1460,3404,3067,0,0,0,0,0,0
$GC,10672,-0.47,-146.1,960.6,-8.0,511,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3404,3067,0,0,0,0,0,0
$GC,10978,-0.47,-146.1,986.0,-8.3,521,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3404,3066,0,0,0,0,0,0
$STATE,11160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11160,begin apogee
$GC,11167,-0.13,0.0,1000.7,8.0,527,11320,0.40,0.00,149.52,1.245,6,0.128,0.000,1581,3272,2473,0,0,0,0,0,0
$STATE,11321,end apogee,CONTROL_FINISHED_OK
$STATE,11322,begin climb
$GC,11324,0.47,146.1,1004.3,0.0,532,11485,0.57,2.47,146.12,1.297,4,0.083,0.031,1786,1855,1879,0,0,0,0,1,0
$GC,11530,0.47,146.1,982.5,12.0,538,11536,0.00,2.53,0.00,0.000,6,0.000,0.050,1786,3275,1879,0,0,0,0,0,0
$GC,11858,0.47,146.1,932.5,15.8,549,11861,0.00,1.12,0.00,0.000,4,0.000,0.058,1786,3957,1873,0,0,0,0,0,0
$GC,11950,0.47,146.1,916.7,16.9,551,11954,0.00,1.05,0.00,0.000,6,0.000,0.032,1791,3275,1872,0,0,0,0,0,0
$GC,12271,0.47,146.1,864.8,16.3,562,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3275,1871,0,0,0,0,0,0
$GC,12575,0.47,146.1,817.7,15.0,572,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3274,1870,0,0,0,0,0,0
$GC,12882,0.47,146.1,771.1,15.1,582,12886,0.00,1.10,0.00,0.000,4,0.000,0.059,1791,3949,1869,0,0,0,0,0,0
$GC,12920,0.47,146.1,764.7,16.8,583,12924,0.00,1.02,0.00,0.000,6,0.000,0.034,1796,3272,1870,0,0,0,0,0,0
$GC,13256,0.47,146.1,712.5,15.5,594,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3272,1869,0,0,0,0,0,0
$GC,13563,0.47,146.1,665.4,15.4,604,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3272,1868,0,0,0,0,0,0
$GC,13870,0.47,146.1,620.9,14.2,614,13873,0.00,1.10,0.00,0.000,4,0.000,0.058,1796,3948,1868,0,0,0,0,0,0
$GC,13925,0.47,146.1,612.1,14.6,615,13928,0.00,1.00,0.00,0.000,6,0.000,0.032,1801,3279,1868,0,0,0,0,0,0
$GC,14244,0.47,146.1,566.6,14.5,626,14245,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1868,0,0,0,0,0,0
$GC,14550,0.47,146.1,521.8,14.7,636,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1868,0,0,0,0,0,0
$GC,14857,0.47,146.1,475.6,15.5,646,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1868,0,0,0,0,0,0
$GC,15163,0.47,146.1,427.4,16.0,656,15164,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1867,0,0,0,0,0,0
$GC,15471,0.47,146.1,378.2,15.9,668,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1867,0,0,0,0,0,0
$GC,15781,0.47,146.1,328.8,15.9,683,15786,0.00,2.17,0.00,0.000,4,0.000,0.030,1812,1857,1867,0,0,0,0,0,0
$GC,15815,0.47,146.1,323.4,13.1,684,15820,0.12,2.30,0.00,0.000,6,0.170,0.048,1782,3289,1866,0,0,0,0,0,0
$GC,16133,0.47,146.1,280.4,13.8,699,16139,0.00,1.05,0.00,0.000,4,0.000,0.055,1782,3946,1865,0,0,0,0,0,0
$GC,16162,0.47,146.1,276.0,14.5,700,16165,0.00,1.00,0.00,0.000,6,0.000,0.032,1785,3273,1865,0,0,0,0,0,0
$GC,16492,0.47,146.1,232.1,13.6,718,16496,0.00,2.10,0.00,0.000,4,0.000,0.029,1796,1861,1865,0,0,0,0,0,0
$GC,16515,0.47,146.1,228.4,13.7,719,16522,0.00,2.28,0.00,0.000,6,0.000,0.047,1796,3288,1865,0,0,0,0,0,0
$GC,16835,0.47,146.1,183.0,15.0,740,16836,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3288,1865,0,0,0,0,0,0
$GC,17147,0.47,146.1,137.7,14.4,760,17149,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3288,1865,0,0,0,0,0,0
$GC,17464,0.47,146.1,92.8,14.5,786,17473,0.00,2.15,0.00,0.000,4,0.000,0.030,1807,1876,1865,0,0,0,0,0,0
$GC,17497,0.47,146.1,88.5,12.9,791,17504,0.00,2.25,0.00,0.000,6,0.000,0.047,1807,3272,1865,0,0,0,0,0,0
$GC,17856,0.47,146.1,39.3,12.4,852,17867,0.00,1.08,0.00,0.000,4,0.000,0.054,1807,3952,1865,0,0,0,0,0,0
$GC,17938,0.47,146.1,28.8,14.0,864,17948,0.10,1.00,0.00,0.000,6,0.162,0.031,1783,3269,1865,0,0,0,0,0,0
$GC,18028,0.47,146.1,18.5,10.5,877,18036,0.00,2.12,0.00,0.000,4,0.000,0.028,1792,1860,1865,0,0,0,0,0,0
$GC,18076,0.47,150.3,14.5,8.2,883,18084,0.00,2.30,0.00,0.000,6,0.000,0.048,1791,3286,1865,0,0,0,0,0,0
$STATE,18163,end climb,SURFACE_DEPTH_REACHED
$STATE,18163,begin surface coast
$FINISH,1.2,1.026301
$STATE,18189,end surface coast,CONTROL_FINISHED_OK
$STATE,18191,begin surface
$SM_CCo,18206,41.60,0.705,1,0,1533,230.09
$SM_GC,1.99,0.00,0.00,41.60,0.000,0.000,0.705,43,3402,1533,-4.95,0.06,230.09
$IRIDIUM_FIX,-4218.64,905.65,200113,232322
$TT8_MAMPS,0.025466
$HUMID,55.82
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,22.3,42.870
$10V_AH,10.1,27.202
$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,11.750,59.775,295.650,41.600,0.000,27.147,51.944,341.360,0.000,0.000,19.752,2224.039,12734.526,416.267,2521.496,957.161,33.368,1359.475,0.000,2354.530,0.000,1.015,0.000
$DEVICE_MAMPS,225.675,87.210,1296.675,704.565,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.122,1980.562,891.391,370.876,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,67112,900
$CAP_FILE_SIZE,131458,0
$CFSIZE,259252224,242638848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210113,101304,-4231.442,859.764,34,1.0,34,-25.2