version: 66.07
glider: 543
mission: 14
dive: 321
start: 10 5 115 9 45 3
data:
$ID,543
$MISSION,14
$DIVE,321
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$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,390
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,-25136.689
$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,1905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.001
$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,-55.053406
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,117
$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,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00012677554
$GPS1,051015,092933,-4301.391,825.915,40,1.1,40,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-68.9
$GPS2,051015,094441,-4301.317,826.107,19,1.0,19,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,234.8,5728,-17.1,-8.547
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.43,-116.8,0.0,0.0,0,73,0.00,0.00,-55.55,0.000,2,0.000,0.000,62,3222,1932,0,0,0,0,0,0
$GC,75,-0.43,-116.8,3.8,-2.9,7,93,7.03,1.17,-1.10,0.000,4,0.230,0.070,1755,3958,1978,0,0,0,0,0,0
$GC,278,-0.36,-116.8,32.4,-11.8,40,288,0.08,1.08,0.00,0.000,6,0.142,0.030,1781,3222,1980,0,0,0,0,0,0
$GC,429,-0.36,-116.8,46.5,-9.6,65,435,0.00,1.15,0.00,0.000,4,0.000,0.056,1777,3948,1980,0,0,0,0,0,0
$GC,470,-0.36,-116.8,50.4,-8.8,72,479,0.00,1.08,0.00,0.000,6,0.000,0.031,1776,3205,1980,0,0,0,0,0,0
$GC,823,-0.36,-116.8,84.5,-8.6,133,829,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3205,1981,0,0,0,0,0,0
$GC,1159,-0.36,-116.8,114.3,-9.0,179,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3205,1980,0,0,0,0,0,0
$GC,1481,-0.36,-116.8,144.0,-8.9,209,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3205,1980,0,0,0,0,0,0
$GC,1808,-0.36,-116.8,169.1,-6.8,240,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3205,1981,0,0,0,0,0,0
$GC,2125,-0.36,-116.8,189.3,-6.2,270,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3205,1981,0,0,0,0,0,0
$GC,2445,-0.36,-116.8,208.2,-5.7,300,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3205,1980,0,0,0,0,0,0
$GC,2763,-0.36,-116.8,229.0,-6.5,330,2766,0.00,1.27,0.00,0.000,4,0.000,0.026,1777,2289,1980,0,0,0,0,0,0
$GC,2825,-0.39,-116.8,232.9,-6.0,335,2831,0.00,1.48,0.00,0.000,6,0.000,0.050,1771,3206,1981,0,0,0,0,0,0
$GC,3150,-0.39,-116.8,256.1,-7.6,366,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3206,1980,0,0,0,0,0,0
$GC,3470,-0.39,-116.8,281.7,-8.4,396,3474,0.00,1.27,0.00,0.000,4,0.000,0.025,1770,2291,1980,0,0,0,0,0,0
$GC,3516,-0.42,-116.8,285.6,-7.6,400,3520,0.00,1.48,0.00,0.000,6,0.000,0.050,1764,3211,1981,0,0,0,0,0,0
$GC,3846,-0.42,-116.8,315.1,-8.6,431,3850,0.00,1.15,0.00,0.000,4,0.000,0.057,1759,3948,1980,0,0,0,0,0,0
$GC,3917,-0.39,-116.8,321.2,-8.9,437,3920,0.00,1.08,0.00,0.000,6,0.000,0.031,1759,3201,1981,0,0,0,0,0,0
$GC,4248,-0.37,-116.8,349.3,-8.5,468,4252,0.00,1.20,0.00,0.000,4,0.000,0.056,1753,3959,1981,0,0,0,0,0,0
$GC,4283,-0.33,-116.8,352.5,-9.1,471,4287,0.12,1.08,0.00,0.000,6,0.126,0.030,1793,3215,1980,0,0,0,0,0,0
$GC,4613,-0.39,-116.8,370.3,-5.1,502,4617,0.00,1.17,0.00,0.000,4,0.000,0.057,1790,3958,1980,0,0,0,0,0,0
$GC,4652,-0.45,-116.8,372.3,-5.9,505,4655,0.00,1.08,0.00,0.000,6,0.000,0.031,1790,3210,1980,0,0,0,0,0,0
$GC,4983,-0.50,-116.8,390.7,-5.5,536,4985,0.12,0.00,0.00,0.000,6,0.090,0.000,1726,3209,1981,0,0,0,0,0,0
$GC,5295,-0.41,-116.8,421.7,-9.8,556,5299,0.15,1.20,0.00,0.000,4,0.158,0.056,1763,3957,1980,0,0,0,0,0,0
$GC,5341,-0.41,-116.8,425.6,-7.5,558,5344,0.00,1.08,0.00,0.000,6,0.000,0.031,1763,3210,1981,0,0,0,0,0,0
$GC,5673,-0.41,-116.8,450.8,-7.8,574,5677,0.00,1.27,0.00,0.000,4,0.000,0.025,1763,2294,1980,0,0,0,0,0,0
$GC,5723,-0.43,-116.8,454.6,-6.7,576,5727,0.00,1.48,0.00,0.000,6,0.000,0.049,1756,3213,1980,0,0,0,0,0,0
$GC,6051,-0.41,-116.8,480.9,-7.9,592,6055,0.00,1.15,0.00,0.000,4,0.000,0.057,1751,3951,1980,0,0,0,0,0,0
$GC,6142,-0.37,-116.8,488.8,-8.8,596,6146,0.08,1.08,0.00,0.000,6,0.131,0.031,1776,3209,1980,0,0,0,0,0,0
$GC,6476,-0.40,-116.8,510.1,-6.3,612,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3209,1980,0,0,0,0,0,0
$GC,6784,-0.43,-116.8,530.1,-6.4,627,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3209,1980,0,0,0,0,0,0
$GC,7095,-0.45,-116.8,551.1,-6.9,642,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3209,1981,0,0,0,0,0,0
$GC,7402,-0.48,-116.8,573.0,-7.4,657,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3209,1980,0,0,0,0,0,0
$GC,7712,-0.51,-116.8,597.0,-7.8,672,7714,0.12,0.00,0.00,0.000,6,0.096,0.000,1718,3208,1980,0,0,0,0,0,0
$GC,8021,-0.42,-116.8,632.8,-12.0,687,8025,0.17,1.20,0.00,0.000,4,0.158,0.056,1762,3953,1979,0,0,0,0,0,0
$GC,8089,-0.42,-116.8,639.6,-9.3,690,8093,0.00,1.08,0.00,0.000,6,0.000,0.031,1761,3212,1980,0,0,0,0,0,0
$GC,8422,-0.42,-116.8,667.5,-8.0,706,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3212,1980,0,0,0,0,0,0
$GC,8731,-0.42,-116.8,691.6,-7.9,721,8734,0.00,1.17,0.00,0.000,4,0.000,0.057,1757,3951,1980,0,0,0,0,0,0
$GC,8769,-0.42,-116.8,694.9,-8.8,722,8776,0.00,1.10,0.00,0.000,6,0.000,0.031,1757,3206,1980,0,0,0,0,0,0
$GC,9086,-0.42,-116.8,721.5,-8.7,738,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3206,1980,0,0,0,0,0,0
$GC,9395,-0.42,-116.8,747.6,-8.4,753,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3206,1979,0,0,0,0,0,0
$GC,9704,-0.42,-116.8,773.1,-8.4,768,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3206,1980,0,0,0,0,0,0
$GC,10014,-0.42,-116.8,798.2,-7.9,783,10018,0.00,1.30,0.00,0.000,4,0.000,0.028,1757,2295,1980,0,0,0,0,0,0
$GC,10041,-0.42,-116.8,800.4,-8.1,784,10045,0.00,1.48,0.00,0.000,6,0.000,0.050,1751,3207,1980,0,0,0,0,0,0
$GC,10370,-0.40,-116.8,825.3,-7.5,800,10373,0.00,1.17,0.00,0.000,4,0.000,0.058,1745,3952,1980,0,0,0,0,0,0
$GC,10416,-0.37,-116.8,828.8,-8.5,802,10420,0.10,1.08,0.00,0.000,6,0.132,0.032,1778,3219,1980,0,0,0,0,0,0
$GC,10750,-0.41,-116.8,845.6,-4.8,818,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,3219,1980,0,0,0,0,0,0
$GC,11057,-0.46,-116.8,861.6,-5.3,833,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,3219,1980,0,0,0,0,0,0
$GC,11367,-0.51,-116.8,879.8,-6.1,848,11369,0.12,0.00,0.00,0.000,6,0.096,0.000,1720,3218,1980,0,0,0,0,0,0
$GC,11676,-0.43,-116.8,912.2,-10.8,863,11680,0.15,1.20,0.00,0.000,4,0.159,0.059,1757,3958,1980,0,0,0,0,0,0
$GC,11748,-0.43,-116.8,918.9,-8.1,866,11752,0.00,1.10,0.00,0.000,6,0.000,0.032,1757,3204,1980,0,0,0,0,0,0
$GC,12076,-0.43,-116.8,945.9,-7.9,882,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3205,1980,0,0,0,0,0,0
$GC,12385,-0.43,-116.8,969.8,-7.4,897,12389,0.00,1.20,0.00,0.000,4,0.000,0.058,1751,3956,1980,0,0,0,0,0,0
$GC,12417,-0.43,-116.8,972.5,-7.6,898,12421,0.00,1.10,0.00,0.000,6,0.000,0.031,1751,3205,1980,0,0,0,0,0,0
$STATE,12613,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12613,begin apogee
$GC,12619,-0.09,0.0,986.5,7.0,908,12750,0.40,0.00,128.45,1.841,6,0.126,0.000,1874,2913,1499,0,0,0,0,0,0
$STATE,12751,end apogee,CONTROL_FINISHED_OK
$STATE,12751,begin climb
$GC,12753,0.43,116.8,988.9,0.0,914,12885,0.50,1.45,123.93,1.776,4,0.085,0.028,2044,2045,1024,0,0,0,0,0,0
$GC,12947,0.43,116.8,973.3,10.1,923,12951,0.00,1.52,0.00,0.000,6,0.000,0.047,2044,2927,1022,0,0,0,0,0,0
$GC,13280,0.38,116.8,935.2,11.3,939,13283,0.00,1.42,0.00,0.000,4,0.000,0.058,2044,3811,1018,0,0,0,0,0,0
$GC,13374,0.29,116.8,922.7,13.4,943,13379,0.15,1.35,0.00,0.000,6,0.164,0.031,2006,2911,1017,0,0,0,0,0,0
$GC,13703,0.32,126.1,895.2,8.1,959,13717,0.00,1.50,9.30,1.616,4,0.000,0.058,2006,3814,983,0,0,0,0,0,0
$GC,13792,0.30,126.1,886.4,10.0,963,13795,0.00,1.35,0.00,0.000,6,0.000,0.032,2012,2917,983,0,0,0,0,0,0
$GC,14124,0.30,126.1,853.7,10.1,979,14128,0.00,1.45,0.00,0.000,4,0.000,0.058,2012,3811,982,0,0,0,0,0,0
$GC,14185,0.27,126.1,846.8,11.2,981,14192,0.00,1.33,0.00,0.000,6,0.000,0.031,2018,2922,982,0,0,0,0,0,0
$GC,14501,0.27,126.1,814.8,10.1,997,14504,0.00,1.42,0.00,0.000,4,0.000,0.057,2018,3811,982,0,0,0,0,0,0
$GC,14592,0.24,126.1,804.3,11.5,1001,14596,0.12,1.33,0.00,0.000,6,0.155,0.031,1987,2918,981,0,0,0,0,0,0
$GC,14925,0.32,141.2,777.6,7.8,1017,14948,0.00,1.45,15.62,1.672,4,0.000,0.057,1986,3811,922,0,0,0,0,0,0
$GC,14987,0.36,141.2,772.1,9.1,1019,14993,0.00,1.35,0.00,0.000,6,0.000,0.031,1992,2913,922,0,0,0,0,0,0
$GC,15303,0.43,144.7,745.7,8.4,1035,15313,0.15,1.48,4.57,1.325,4,0.087,0.058,2058,3808,909,0,0,0,0,0,0
$GC,15357,0.32,144.7,738.4,14.5,1037,15362,0.17,1.33,0.00,0.000,6,0.161,0.031,2013,2922,909,0,0,0,0,0,0
$GC,15679,0.35,144.7,708.9,8.8,1053,15682,0.00,1.42,0.00,0.000,4,0.000,0.057,2012,3806,909,0,0,0,0,0,0
$GC,15756,0.35,144.7,700.8,10.5,1056,15761,0.00,1.30,0.00,0.000,6,0.000,0.031,2018,2929,909,0,0,0,0,0,0
$GC,16078,0.35,144.7,672.3,8.7,1072,16081,0.00,1.42,0.00,0.000,4,0.000,0.057,2018,3812,908,0,0,0,0,0,0
$GC,16123,0.32,144.7,667.8,10.2,1074,16127,0.00,1.33,0.00,0.000,6,0.000,0.032,2025,2924,909,0,0,0,0,0,0
$GC,16456,0.32,144.7,636.6,9.3,1090,16460,0.00,1.45,0.00,0.000,4,0.000,0.058,2025,3808,908,0,0,0,0,0,0
$GC,16511,0.29,144.7,630.4,11.1,1092,16516,0.08,1.33,0.00,0.000,6,0.157,0.031,2007,2919,908,0,0,0,0,0,0
$GC,16835,0.36,168.7,605.8,7.4,1108,16865,0.00,1.50,24.25,1.620,4,0.000,0.058,2007,3812,811,0,0,0,0,0,0
$GC,16904,0.38,168.7,600.0,8.7,1111,16908,0.00,1.35,0.00,0.000,6,0.000,0.031,2012,2925,810,0,0,0,0,0,0
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$GC,19006,0.44,182.0,402.0,9.5,1212,19007,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2917,754,0,0,0,0,0,0
$GC,19326,0.44,182.0,370.5,10.0,1240,19330,0.00,1.42,0.00,0.000,4,0.000,0.057,2044,3803,754,0,0,0,0,0,0
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$STATE,22820,end climb,SURFACE_DEPTH_REACHED
$STATE,22820,begin surface coast
$FINISH,1.2,1.026181
$STATE,22840,end surface coast,CONTROL_FINISHED_OK
$STATE,22840,begin surface
$SM_CCo,22854,2.78,0.178,0,0,683,200.16
$SM_GC,2.59,0.00,0.00,2.78,0.000,0.000,0.178,67,3234,683,-5.75,0.71,200.16
$IRIDIUM_FIX,-4242.04,822.38,310708,090922
$TT8_MAMPS,0.027713
$HUMID,62.60
$INTERNAL_PRESSURE,11.4176
$TCM_TEMP,14.20
$XPDR_PINGS,1
$24V_AH,21.5,60.561
$10V_AH,10.0,38.975
$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,15.525,104.575,332.400,2.775,0.000,78.952,203.971,351.239,0.250,0.000,21.622,4022.781,14797.595,451.776,4140.795,338.389,0.000,1943.321,0.000,3489.367,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,69.615,1841.355,178.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.104,1173.836,1121.871,96.663,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353968
$DATA_FILE_SIZE,93565,1629
$CAP_FILE_SIZE,214544,0
$CFSIZE,259252224,231751680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051015,160751,-4302.300,825.683,75,0.9,75,-25.0