version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 80
start: 11 2 119 22 53 39
data:
$ID,574
$MISSION,7
$DIVE,80
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,20
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,343
$T_ABORT,350
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,5
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52719
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,291
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2900
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,1834
$C_ROLL_CLIMB,1809
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2061
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.55536
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,021119,223811,-5354.6436,3.1003,54,1.8,95,-20.5,0.0,286.8,5,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.4
$GPS2,021119,225328,-5354.6558,3.2676,9,1.8,49,-20.5,0.0,246.7,5,6.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WPNW
$TGT_LATLONG,-5353.166,3.680
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,29.8,2796,-27.8,-10.010,-30.00,972
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.93,-4.9,129,1816,1267,1200,0.0,0.0,0,70,0.00,0.00,-51.15,0.000,16386,0.000,0.000,128,1814,2048,2027,2069,0,0,0,0,0,0,14.64,28.83,14.65
$GC,72,-0.93,-4.9,129,1814,2029,2070,3.0,-5.5,9,95,15.82,2.53,-1.05,0.000,18948,0.369,0.098,2593,413,2084,2075,2094,0,0,0,0,0,0,14.28,13.53,14.54
$GC,235,-0.93,-4.9,2593,414,2082,2095,35.4,-17.5,41,241,0.00,2.53,0.00,0.000,3078,0.000,0.059,2593,1835,2087,2081,2094,0,0,0,0,0,0,14.58,14.49,14.59
$GC,300,-0.93,-4.9,2593,1837,2082,2094,46.3,-16.5,54,306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2593,1835,2087,2081,2094,0,0,0,0,0,0,14.69,14.69,14.69
$GC,365,-0.93,-4.9,2593,1837,2082,2094,56.7,-15.8,63,371,0.00,2.55,0.00,0.000,2308,0.000,0.085,2593,3236,2087,2081,2094,0,0,0,0,0,0,14.71,14.50,14.71
$GC,525,-0.93,-4.9,2593,3236,2082,2094,80.5,-14.7,79,531,0.00,2.55,0.00,0.000,3078,0.000,0.068,2593,1827,2087,2081,2093,0,0,0,0,0,0,14.59,14.54,14.62
$GC,836,-0.93,-4.9,2593,1827,2081,2094,129.9,-16.3,110,841,0.00,2.55,0.00,0.000,2308,0.000,0.082,2592,3244,2087,2081,2093,0,0,0,0,0,0,14.78,14.58,14.78
$GC,1115,-0.93,-4.9,2593,3244,2081,2093,172.2,-15.1,138,1121,0.00,2.53,0.00,0.000,3078,0.000,0.068,2593,1839,2086,2081,2092,0,0,0,0,0,0,14.64,14.62,14.65
$GC,1425,-0.93,-4.9,2593,1839,2082,2093,220.3,-15.4,169,1431,0.00,2.55,0.00,0.000,2308,0.000,0.083,2593,3234,2086,2081,2092,0,0,0,0,0,0,14.79,14.58,14.80
$GC,1620,-0.93,-4.9,2592,3236,2080,2091,246.6,-13.2,188,1627,0.00,2.53,0.00,0.000,3078,0.000,0.069,2593,1834,2086,2081,2092,0,0,0,0,0,0,14.63,14.57,14.65
$GC,1925,-0.93,-4.9,2593,1834,2082,2091,290.9,-13.9,219,1931,0.00,2.58,0.00,0.000,2308,0.000,0.082,2593,3240,2085,2081,2090,0,0,0,0,0,0,14.79,14.57,14.80
$GC,2180,-0.93,-4.9,2593,3240,2082,2091,325.0,-13.6,244,2187,0.00,2.53,0.00,0.000,3078,0.000,0.067,2593,1839,2086,2081,2091,0,0,0,0,0,0,14.62,14.57,14.64
$GC,2486,-0.93,-4.9,2593,1839,2082,2091,368.7,-14.0,275,2491,0.00,2.53,0.00,0.000,2308,0.000,0.081,2593,3242,2086,2081,2091,0,0,0,0,0,0,14.79,14.59,14.80
$GC,2796,-0.93,-4.9,2592,3242,2081,2092,411.3,-13.9,306,2801,0.00,2.53,0.00,0.000,3078,0.000,0.067,2593,1838,2086,2081,2091,0,0,0,0,0,0,14.67,14.61,14.69
$GC,3105,-0.93,-4.9,2593,1844,2083,2092,456.2,-14.7,337,3111,0.00,2.55,0.00,0.000,2308,0.000,0.080,2593,3239,2086,2081,2091,0,0,0,0,0,0,14.87,14.64,14.87
$GC,3336,-0.93,-4.9,2593,3239,2082,2092,488.3,-13.8,360,3341,0.00,2.50,0.00,0.000,3078,0.000,0.067,2593,1819,2086,2081,2091,0,0,0,0,0,0,14.78,14.66,14.78
$GC,3645,-0.93,-4.9,2593,1820,2082,2091,529.6,-13.5,391,3651,0.00,2.58,0.00,0.000,2308,0.000,0.080,2593,3239,2086,2081,2091,0,0,0,0,0,0,14.89,14.66,14.90
$GC,3890,-0.93,-4.9,2593,3239,2082,2088,559.9,-12.2,415,3897,0.00,2.50,0.00,0.000,3078,0.000,0.066,2593,1839,2086,2081,2091,0,0,0,0,0,0,14.71,14.65,14.73
$GC,4195,-0.93,-4.9,2593,1839,2082,2091,598.1,-12.0,446,4201,0.00,2.55,0.00,0.000,2308,0.000,0.080,2592,3243,2086,2081,2091,0,0,0,0,0,0,14.90,14.68,14.90
$GC,4370,-0.93,-4.9,2593,3244,2082,2091,617.7,-11.4,463,4377,0.00,2.50,0.00,0.000,3078,0.000,0.065,2593,1841,2085,2079,2091,0,0,0,0,0,0,14.72,14.66,14.73
$GC,4675,-0.93,-4.9,2593,1842,2082,2091,653.7,-11.7,494,4681,0.00,2.53,0.00,0.000,2308,0.000,0.080,2593,3236,2086,2081,2091,0,0,0,0,0,0,14.91,14.67,14.91
$GC,4911,-0.93,-4.9,2592,3238,2083,2091,679.3,-11.1,517,4917,0.00,2.50,0.00,0.000,3078,0.000,0.067,2593,1836,2086,2081,2091,0,0,0,0,0,0,14.73,14.66,14.76
$GC,5216,-0.93,-4.9,2592,1838,2083,2091,713.5,-10.8,548,5221,0.00,2.50,0.00,0.000,2308,0.000,0.079,2593,3245,2086,2082,2091,0,0,0,0,0,0,14.91,14.71,14.91
$GC,5480,-0.93,-4.9,2593,3246,2083,2091,740.4,-10.2,574,5487,0.00,2.53,0.00,0.000,3078,0.000,0.066,2593,1824,2086,2082,2091,0,0,0,0,0,0,14.74,14.69,14.77
$GC,5785,-0.93,-4.9,2594,1824,2079,2092,773.1,-10.5,605,5791,0.00,2.55,0.00,0.000,2308,0.000,0.079,2593,3235,2086,2082,2091,0,0,0,0,0,0,14.91,14.69,14.92
$GC,6040,-0.93,-4.9,2593,3236,2084,2091,798.0,-9.6,630,6047,0.00,2.50,0.00,0.000,3078,0.000,0.065,2593,1833,2086,2082,2091,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6346,-0.93,-4.9,2592,1835,2085,2091,828.1,-9.8,661,6351,0.00,2.50,0.00,0.000,2308,0.000,0.078,2593,3244,2087,2083,2091,0,0,0,0,0,0,14.92,14.71,14.92
$GC,6475,-0.93,-4.9,2592,3245,2085,2091,840.5,-9.4,674,6481,0.00,2.50,0.00,0.000,3078,0.000,0.065,2593,1838,2087,2083,2091,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6785,-0.93,-4.9,2593,1839,2090,2091,869.3,-9.4,705,6791,0.00,2.55,0.00,0.000,2308,0.000,0.080,2593,3245,2086,2083,2090,0,0,0,0,0,0,14.92,14.69,14.92
$GC,6940,-0.93,-4.9,2593,3246,2084,2091,883.3,-9.2,720,6947,0.00,2.53,0.00,0.000,3078,0.000,0.065,2593,1828,2087,2083,2091,0,0,0,0,0,0,14.75,14.69,14.77
$GC,7246,-0.93,-4.9,2593,1829,2084,2091,912.3,-9.4,751,7251,0.00,2.53,0.00,0.000,2308,0.000,0.077,2593,3250,2086,2082,2091,0,0,0,0,0,0,14.91,14.71,14.92
$GC,7481,-0.93,-4.9,2593,3251,2085,2091,933.3,-8.9,774,7487,0.00,2.47,0.00,0.000,3078,0.000,0.064,2592,1833,2087,2083,2091,0,0,0,0,0,0,14.81,14.71,14.83
$GC,7785,-0.93,-4.9,2594,1834,2084,2093,962.4,-9.4,805,7791,0.00,2.55,0.00,0.000,2308,0.000,0.078,2593,3244,2087,2083,2091,0,0,0,0,0,0,14.92,14.69,14.92
$GC,8021,-0.93,-4.9,2593,3245,2084,2091,984.5,-9.6,828,8027,0.00,2.50,0.00,0.000,3078,0.000,0.066,2592,1815,2087,2083,2091,0,0,0,0,0,0,14.81,14.70,14.83
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8184,begin apogee
$GC,8187,-0.17,0.0,2594,1815,2085,2092,1000.6,-9.4,845,8201,1.40,0.00,10.20,1.760,10246,0.252,0.000,2838,1815,2061,2068,2054,0,0,0,0,0,0,14.57,14.63,13.90
$STATE,8202,end apogee,CONTROL_FINISHED_OK
$STATE,8202,begin climb
$GC,8203,0.93,4.9,2839,1816,2069,2054,1002.2,0.0,846,8219,1.75,2.60,8.32,1.612,10756,0.156,0.094,3178,394,2039,2047,2032,0,0,0,0,0,0,14.57,14.45,13.75
$GC,8323,1.12,152.4,3179,395,2049,2032,1003.5,-5.6,857,8488,0.28,2.50,157.55,2.082,11270,0.154,0.050,3236,1825,1440,1490,1391,0,0,0,0,0,0,14.54,14.60,13.11
$GC,8788,1.12,152.4,3236,1825,1487,1388,947.1,17.2,904,8794,0.00,2.53,0.00,0.000,2308,0.000,0.074,3236,3206,1437,1486,1388,0,0,0,0,0,0,14.57,14.34,14.58
$GC,8863,1.12,152.4,3237,3207,1487,1387,935.7,17.1,911,8870,0.00,2.55,0.00,0.000,3078,0.000,0.074,3237,1817,1435,1485,1386,0,0,0,0,0,0,14.44,14.38,14.46
$GC,9168,1.12,152.4,3238,1817,1485,1386,881.8,16.8,942,9174,0.00,2.65,0.00,0.000,2564,0.000,0.100,3237,393,1435,1485,1385,0,0,0,0,0,0,14.76,14.50,14.76
$GC,9243,1.12,152.4,3237,394,1486,1385,869.6,18.3,949,9250,0.00,2.47,0.00,0.000,3078,0.000,0.050,3237,1800,1434,1484,1384,0,0,0,0,0,0,14.59,14.55,14.62
$GC,9548,1.12,152.4,3237,1807,1487,1384,814.5,17.8,980,9554,0.00,2.62,0.00,0.000,2564,0.000,0.097,3237,398,1434,1485,1384,0,0,0,0,0,0,14.85,14.59,14.85
$GC,9683,1.12,152.4,3238,397,1486,1385,790.5,18.8,993,9690,0.00,2.47,0.00,0.000,3078,0.000,0.053,3237,1810,1434,1485,1384,0,0,0,0,0,0,14.68,14.63,14.70
$GC,9988,1.12,152.4,3238,1816,1484,1385,735.4,17.4,1024,9994,0.00,2.62,0.00,0.000,2564,0.000,0.099,3238,400,1434,1485,1384,0,0,0,0,0,0,14.90,14.64,14.90
$GC,10108,1.12,152.4,3238,399,1486,1384,713.1,18.6,1036,10114,0.00,2.45,0.00,0.000,3078,0.000,0.050,3237,1804,1434,1485,1384,0,0,0,0,0,0,14.74,14.70,14.75
$GC,10418,1.12,152.4,3238,1811,1487,1383,658.3,17.9,1067,10424,0.00,2.60,0.00,0.000,2564,0.000,0.098,3238,406,1434,1485,1383,0,0,0,0,0,0,14.94,14.67,14.94
$GC,10498,1.12,152.4,3239,406,1486,1385,643.4,18.6,1075,10504,0.00,2.40,0.00,0.000,3078,0.000,0.053,3238,1808,1434,1485,1384,0,0,0,0,0,0,14.81,14.72,14.82
$GC,10808,1.12,152.4,3239,1814,1486,1385,588.6,17.8,1106,10814,0.00,2.62,0.00,0.000,2564,0.000,0.098,3238,393,1434,1485,1383,0,0,0,0,0,0,14.95,14.69,14.95
$GC,10913,1.12,152.4,3239,394,1486,1383,570.0,18.7,1116,10920,0.00,2.47,0.00,0.000,3078,0.000,0.053,3238,1809,1434,1485,1383,0,0,0,0,0,0,14.78,14.73,14.79
$GC,11218,1.12,152.4,3239,1821,1486,1384,515.7,17.3,1147,11224,0.00,2.60,0.00,0.000,2564,0.000,0.099,3240,403,1434,1485,1383,0,0,0,0,0,0,14.96,14.69,14.97
$GC,11343,1.12,152.4,3239,404,1486,1383,494.1,18.1,1159,11350,0.00,2.45,0.00,0.000,3078,0.000,0.053,3239,1809,1434,1485,1383,0,0,0,0,0,0,14.76,14.73,14.78
$GC,11648,1.12,152.4,3240,1815,1486,1383,441.5,16.8,1190,11654,0.00,2.60,0.00,0.000,2564,0.000,0.098,3240,403,1434,1485,1383,0,0,0,0,0,0,14.97,14.70,14.97
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$GC,13038,1.12,152.4,3241,1814,1486,1383,229.0,13.2,1329,13040,0.00,0.00,0.00,0.000,2054,0.000,0.000,3240,1814,1433,1485,1382,0,0,0,0,0,0,14.89,14.88,14.88
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$STATE,14914,end climb,SURFACE_DEPTH_REACHED
$STATE,14914,begin surface coast
$FINISH,0.0,1.021152
$STATE,14934,end surface coast,CONTROL_FINISHED_OK
$STATE,14934,begin surface
$SM_CCo,14956,42.90,0.170,0,0,1244,200.16
$SM_GC,1.00,15.43,0.00,42.90,0.083,0.000,0.170,128,1813,1244,-8.62,-0.59,200.16,0,0,0,0,0,0,14.65,14.85,14.55
$IRIDIUM_FIX,-5328.74,-14.60,021119,175601
$TT8_MAMPS,0.039697,0.583471
$HUMID,54.09
$INTERNAL_PRESSURE,9.19514
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3770208
$24V_AH,13.11,36.293
$10V_AH,13.17,0.000
$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,34.675,157.075,176.075,42.900,0.000,28.985,24.124,582.287,0.000,0.000,50.172,0.000,10559.425,499.044,4679.036,156.500,0.000,1952.898,0.000,3092.146,0.000,0.537,0.000
$DEVICE_MAMPS,368.730,100.215,2082.330,169.830,0.000,32.890,160.000,223.000,420.000,0.000,10.490,0.000,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15044.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,40.846,0.000,0.000,0.000
$MEM,340696
$DATA_FILE_SIZE,43242,1561
$CAP_FILE_SIZE,260758,0
$CFSIZE,2097086464,2074247168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,031119,030527,-5353.615,5.545,86,0.7,89,-20.5,0.8,37.9,11,9.2