version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 383
start: 12 30 119 10 29 17
data:
$ID,574
$MISSION,7
$DIVE,383
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,995
$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,220
$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,2910
$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,2050
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,1919
$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,4
$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
$GPS1,301219,101506,-5355.4766,-4.6597,43,0.9,48,-20.4,0.3,181.2,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.8
$GPS2,301219,102905,-5355.4712,-4.5425,6,0.9,16,-20.4,0.4,290.7,9,9.6
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WPNW
$TGT_LATLONG,-5354.000,-6.000
$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,350.1,3155,-27.8,-9.960,-30.00,969
$D_GRID,995
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.93,-4.9,106,2001,1161,1153,0.0,0.0,0,71,0.00,0.00,-49.17,0.000,16390,0.000,0.000,105,2000,1939,1920,1959,0,0,0,0,0,0,14.70,12.91,14.66
$GC,73,-0.93,-4.9,106,2000,1919,1961,2.3,-2.2,9,97,16.45,2.38,0.00,0.000,2564,0.366,0.066,2601,674,1945,1934,1957,0,0,0,0,0,0,14.04,14.35,14.35
$GC,106,-0.93,-4.9,2601,675,1938,1956,8.3,-18.0,15,113,0.00,2.38,0.00,0.000,3078,0.000,0.042,2601,2028,1946,1938,1954,0,0,0,0,0,0,14.51,14.40,14.52
$GC,142,-0.93,-4.9,2602,2028,1943,1953,13.7,-13.5,22,148,0.00,0.00,0.00,0.000,2054,0.000,0.000,2601,2029,1946,1940,1952,0,0,0,0,0,0,14.70,14.71,14.71
$GC,178,-0.93,-4.9,2601,2028,1941,1953,18.9,-14.2,29,183,0.00,0.00,0.00,0.000,2054,0.000,0.000,2601,2029,1946,1941,1951,0,0,0,0,0,0,14.72,14.71,14.72
$GC,243,-0.93,-4.9,2602,2026,1941,1952,27.6,-13.4,42,249,0.00,0.00,0.00,0.000,2054,0.000,0.000,2601,2028,1946,1941,1951,0,0,0,0,0,0,14.74,14.74,14.74
$GC,309,-0.93,-4.9,2601,2030,1942,1950,36.3,-13.1,55,314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2601,2028,1946,1941,1951,0,0,0,0,0,0,14.75,14.75,14.75
$GC,374,-0.93,-4.9,2601,2027,1941,1951,44.9,-12.9,68,380,0.00,2.55,0.00,0.000,2308,0.000,0.067,2601,3451,1945,1941,1949,0,0,0,0,0,0,14.76,14.35,14.76
$GC,440,-0.93,-4.9,2601,3450,1941,1949,52.7,-12.9,78,446,0.00,2.40,0.00,0.000,3078,0.000,0.047,2600,2088,1943,1939,1948,0,0,0,0,0,0,14.49,14.35,14.50
$GC,745,-0.93,-4.9,2601,2089,1942,1947,91.5,-12.4,109,750,0.00,2.45,0.00,0.000,2308,0.000,0.065,2600,3454,1943,1940,1947,0,0,0,0,0,0,14.79,14.40,14.80
$GC,880,-0.93,-4.9,2601,3453,1941,1948,107.3,-12.1,122,887,0.00,2.50,0.00,0.000,3078,0.000,0.047,2600,2045,1943,1940,1946,0,0,0,0,0,0,14.51,14.38,14.53
$GC,1185,-0.93,-4.9,2601,2044,1942,1947,146.9,-13.8,153,1187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2600,2045,1943,1941,1946,0,0,0,0,0,0,14.81,14.81,14.81
$GC,1485,-0.93,-4.9,2600,2045,1942,1946,184.3,-11.8,183,1490,0.00,2.55,0.00,0.000,2308,0.000,0.065,2600,3455,1943,1941,1945,0,0,0,0,0,0,14.78,14.33,14.78
$GC,1721,-0.93,-4.9,2600,3456,1942,1944,209.1,-10.4,206,1727,0.00,2.50,0.00,0.000,3078,0.000,0.048,2600,2046,1942,1940,1945,0,0,0,0,0,0,14.43,14.33,14.44
$GC,2025,-0.93,-4.9,2599,2046,1940,1946,241.6,-10.5,237,2027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2599,2046,1939,1933,1945,0,0,0,0,0,0,14.77,14.78,14.77
$GC,2325,-0.93,-4.9,2600,2047,1942,1945,271.9,-9.2,267,2330,0.00,2.55,0.00,0.000,2564,0.000,0.073,2600,643,1942,1940,1944,0,0,0,0,0,0,14.79,14.31,14.79
$GC,2422,-0.93,-4.9,2600,644,1943,1945,281.1,-10.3,276,2427,0.00,2.47,0.00,0.000,3078,0.000,0.041,2600,2053,1942,1941,1944,0,0,0,0,0,0,14.40,14.31,14.42
$GC,2725,-0.93,-4.9,2600,2053,1942,1945,308.1,-8.3,307,2730,0.00,2.53,0.00,0.000,2308,0.000,0.068,2599,3458,1942,1941,1944,0,0,0,0,0,0,14.77,14.30,14.77
$GC,2830,-0.93,-4.9,2600,3458,1942,1944,316.6,-8.6,317,2836,0.00,2.50,0.00,0.000,3078,0.000,0.047,2600,2049,1942,1941,1943,0,0,0,0,0,0,14.50,14.32,14.51
$GC,3135,-0.93,-4.9,2600,2049,1942,1944,344.1,-9.1,348,3137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2600,2048,1942,1941,1943,0,0,0,0,0,0,14.77,14.77,14.77
$GC,3435,-0.93,-4.9,2599,2050,1942,1943,371.8,-9.7,378,3437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2600,2049,1941,1940,1943,0,0,0,0,0,0,14.77,14.77,14.78
$GC,3735,-0.93,-4.9,2600,2049,1942,1943,400.9,-9.9,408,3737,0.00,0.00,0.00,0.000,2054,0.000,0.000,2600,2048,1942,1941,1943,0,0,0,0,0,0,14.77,14.78,14.78
$GC,4035,-0.93,-4.9,2600,2049,1942,1944,430.6,-9.8,438,4040,0.00,2.55,0.00,0.000,2308,0.000,0.066,2598,3456,1942,1941,1943,0,0,0,0,0,0,14.73,14.34,14.73
$GC,4120,-0.93,-4.9,2599,3458,1942,1943,438.5,-10.0,446,4126,0.00,2.50,0.00,0.000,3078,0.000,0.047,2599,2046,1941,1941,1941,0,0,0,0,0,0,14.52,14.38,14.53
$GC,4425,-0.93,-4.9,2599,2047,1943,1943,468.6,-9.5,477,4430,0.00,2.55,0.00,0.000,2308,0.000,0.064,2598,3458,1942,1942,1943,0,0,0,0,0,0,14.73,14.34,14.73
$GC,4507,-0.93,-4.9,2599,3457,1942,1944,476.4,-9.7,485,4512,0.00,2.50,0.00,0.000,3078,0.000,0.047,2599,2047,1942,1941,1943,0,0,0,0,0,0,14.51,14.38,14.53
$GC,4817,-0.93,-4.9,2599,2049,1942,1943,505.0,-8.8,516,4818,0.00,0.00,0.00,0.000,2054,0.000,0.000,2599,2047,1942,1941,1943,0,0,0,0,0,0,14.72,14.73,14.73
$GC,5117,-0.93,-4.9,2598,2048,1943,1942,530.0,-8.0,546,5121,0.00,2.55,0.00,0.000,2308,0.000,0.065,2598,3458,1943,1943,1943,0,0,0,0,0,0,14.72,14.33,14.72
$GC,5218,-0.93,-4.9,2598,3457,1942,1944,538.0,-7.9,556,5223,0.00,2.50,0.00,0.000,3078,0.000,0.047,2598,2047,1942,1941,1943,0,0,0,0,0,0,14.51,14.38,14.53
$GC,5528,-0.93,-4.9,2599,2047,1942,1944,560.4,-6.8,587,5530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2598,2045,1942,1942,1943,0,0,0,0,0,0,14.72,14.72,14.73
$GC,5828,-0.93,-4.9,2598,2048,1943,1943,579.5,-6.3,617,5832,0.00,2.55,0.00,0.000,2308,0.000,0.063,2598,3458,1946,1949,1943,0,0,0,0,0,0,14.73,14.34,14.73
$GC,5892,-0.93,-4.9,2598,3459,1943,1943,583.3,-6.4,623,5899,0.00,2.50,0.00,0.000,3078,0.000,0.047,2598,2050,1942,1942,1943,0,0,0,0,0,0,14.51,14.37,14.53
$GC,6198,-0.93,-4.9,2598,2051,1943,1943,602.6,-6.2,654,6199,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,2050,1943,1942,1944,0,0,0,0,0,0,14.72,14.72,14.72
$GC,6498,-0.93,-4.9,2598,2051,1943,1943,621.5,-6.5,684,6502,0.00,2.58,0.00,0.000,2308,0.000,0.064,2597,3461,1942,1942,1943,0,0,0,0,0,0,14.72,14.33,14.72
$GC,6602,-0.93,-4.9,2597,3461,1943,1943,628.0,-6.6,694,6609,0.00,2.50,0.00,0.000,3078,0.000,0.044,2596,2049,1942,1942,1943,0,0,0,0,0,0,14.51,14.37,14.52
$GC,6908,-0.93,-4.9,2597,2050,1943,1943,648.7,-6.7,725,6912,0.00,2.55,0.00,0.000,2308,0.000,0.063,2597,3459,1942,1942,1943,0,0,0,0,0,0,14.73,14.33,14.73
$GC,6989,-0.93,-4.9,2597,3460,1943,1943,654.0,-6.7,733,6994,0.00,2.50,0.00,0.000,3078,0.000,0.044,2595,2045,1942,1942,1943,0,0,0,0,0,0,14.50,14.38,14.51
$GC,7299,-0.93,-4.9,2597,2045,1943,1944,675.2,-7.0,764,7300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,2045,1943,1942,1944,0,0,0,0,0,0,14.71,14.71,14.71
$GC,7599,-0.93,-4.9,2597,2045,1943,1944,696.4,-7.0,794,7600,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,2045,1942,1942,1943,0,0,0,0,0,0,14.71,14.71,14.71
$GC,7899,-0.93,-4.9,2597,2045,1943,1944,717.2,-7.0,824,7900,0.00,0.00,0.00,0.000,2054,0.000,0.000,2596,2045,1942,1942,1943,0,0,0,0,0,0,14.71,14.71,14.71
$GC,8199,-0.93,-4.9,2597,2045,1944,1944,737.3,-6.4,854,8203,0.00,2.55,0.00,0.000,2308,0.000,0.060,2597,3455,1939,1936,1943,0,0,0,0,0,0,14.71,14.34,14.71
$GC,8290,-0.93,-4.9,2596,3455,1943,1942,743.0,-6.4,863,8295,0.00,2.50,0.00,0.000,3078,0.000,0.045,2596,2047,1942,1942,1943,0,0,0,0,0,0,14.50,14.34,14.52
$GC,8600,-0.93,-4.9,2598,2047,1944,1944,762.3,-6.1,894,8605,0.00,2.55,0.00,0.000,2308,0.000,0.059,2597,3456,1942,1942,1943,0,0,0,0,0,0,14.70,14.33,14.70
$GC,8701,-0.93,-4.9,2596,3456,1943,1944,768.5,-6.2,904,8706,0.00,2.50,0.00,0.000,3078,0.000,0.044,2596,2042,1942,1942,1943,0,0,0,0,0,0,14.50,14.38,14.52
$GC,9011,-0.93,-4.9,2597,2042,1943,1944,786.8,-5.8,935,9013,0.00,0.00,0.00,0.000,2054,0.000,0.000,2596,2042,1942,1942,1943,0,0,0,0,0,0,14.71,14.71,14.71
$GC,9311,-0.93,-4.9,2597,2043,1944,1943,804.4,-5.7,965,9313,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,2042,1942,1942,1943,0,0,0,0,0,0,14.71,14.72,14.72
$GC,9611,-0.93,-4.9,2597,2041,1943,1944,821.2,-5.5,995,9616,0.00,2.55,0.00,0.000,2308,0.000,0.060,2597,3458,1943,1943,1943,0,0,0,0,0,0,14.72,14.32,14.71
$GC,9692,-0.93,-4.9,2597,3458,1943,1944,825.8,-5.6,1003,9697,0.00,2.50,0.00,0.000,3078,0.000,0.044,2597,2046,1943,1943,1943,0,0,0,0,0,0,14.50,14.37,14.52
$GC,10002,-0.93,-4.9,2597,2047,1945,1943,842.9,-5.3,1034,10004,0.00,0.00,0.00,0.000,2054,0.000,0.000,2596,2046,1943,1943,1943,0,0,0,0,0,0,14.71,14.71,14.71
$STATE,10300,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10300,begin apogee
$GC,10305,-0.17,0.0,2597,1600,1945,1943,859.0,-5.3,1064,10317,1.50,0.00,8.62,1.736,10246,0.246,0.000,2848,1599,1917,1924,1911,0,0,0,0,0,0,14.00,14.53,13.45
$STATE,10319,end apogee,CONTROL_FINISHED_OK
$STATE,10319,begin climb
$GC,10321,0.93,4.9,2848,1599,1926,1913,859.0,0.0,1065,10334,1.75,0.00,7.22,1.600,10246,0.132,0.000,3189,1599,1898,1905,1892,0,0,0,0,0,0,14.47,14.24,13.41
$GC,10630,1.08,122.6,3189,1599,1906,1893,861.3,-2.5,1096,10766,0.20,2.45,126.57,1.955,11012,0.152,0.081,3236,311,1418,1450,1387,0,0,0,0,0,0,14.36,13.74,13.05
$GC,11171,1.08,122.6,3236,311,1447,1387,786.1,16.8,1150,11176,0.00,2.22,0.00,0.000,3078,0.000,0.030,3236,1618,1415,1446,1385,0,0,0,0,0,0,14.65,14.57,14.66
$GC,11481,1.08,122.6,3237,1626,1447,1385,738.1,15.4,1181,11486,0.00,2.40,0.00,0.000,2564,0.000,0.086,3236,313,1415,1446,1384,0,0,0,0,0,0,14.93,14.49,14.92
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$STATE,17003,end climb,SURFACE_DEPTH_REACHED
$STATE,17003,begin surface coast
$FINISH,0.1,1.021011
$STATE,17023,end surface coast,CONTROL_FINISHED_OK
$STATE,17023,begin surface
$SM_CCo,17050,85.75,0.158,0,0,1021,220.03
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$IRIDIUM_FIX,-5336.00,0.00,301219,053245
$TT8_MAMPS,0.041944,0.543025
$HUMID,54.29
$INTERNAL_PRESSURE,9.21467
$TCM_TEMP,13.30
$XPDR_PINGS,0
$SC_FREEKB,3593440
$24V_AH,12.91,163.029
$10V_AH,12.46,0.000
$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
$DEVICE_SECS,35.350,128.225,162.950,85.750,0.000,26.063,47.992,442.923,0.000,0.000,17.343,0.000,12502.964,469.914,4538.673,436.283,0.000,1913.486,0.000,3098.086,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17138.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,48.117,0.000,0.000,0.000
$MEM,340096
$DATA_FILE_SIZE,59920,1781
$CAP_FILE_SIZE,279561,0
$CFSIZE,2097086464,2012676096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,301219,151636,-5353.984,-4.726,37,1.1,78,-20.4,0.9,85.4,7,3.9