version: 66.07.10.p01
glider: 574
mission: 4
dive: 247
start: 11 20 112 6 12 23
data:
$ID,574
$MISSION,4
$DIVE,247
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,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,278
$T_MISSION,300
$T_ABORT,720
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-6620.061
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,226
$GPS1,201112,060200,-4158.258,-632.005,42,1.3,42,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-71.7
$GPS2,201112,061128,-4158.258,-631.990,40,1.1,46,-22.1
$SPEED_LIMITS,0.208,0.275
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.080,0.264
$KALMAN_X,-343172.1,50.9,105.9,529775.6,520.5
$KALMAN_Y,111631.1,-313.0,63.2,-12563.6,-2696.8
$MHEAD_RNG_PITCHd_Wd,38.9,78301,-21.2,-11.990
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.79,-145.9,0.0,0.0,0,70,0.00,0.00,-42.83,0.000,2,0.000,0.000,66,1948,2191,0,0,0,0,0,0
$GC,72,-0.79,-145.9,3.0,-1.8,7,140,12.45,2.42,-46.40,0.000,4,0.271,0.076,2753,509,3422,0,0,0,0,0,0
$GC,207,-0.79,-145.9,15.5,-13.0,29,214,0.00,2.15,0.00,0.000,6,0.000,0.036,2745,1867,3423,0,0,0,0,0,0
$GC,288,-0.74,-145.9,24.8,-11.6,42,295,0.10,0.00,0.00,0.000,6,0.201,0.000,2767,1867,3422,0,0,0,0,0,0
$GC,367,-0.74,-145.9,33.7,-12.0,55,372,0.00,0.62,0.00,0.000,4,0.000,0.045,2765,2297,3423,0,0,0,0,0,0
$GC,404,-0.78,-145.9,37.7,-11.3,61,409,0.00,0.60,0.00,0.000,6,0.000,0.050,2765,1909,3423,0,0,0,0,0,0
$GC,637,-0.87,-145.9,63.5,-10.5,102,645,0.10,1.35,0.00,0.000,4,0.118,0.063,2724,1084,3423,0,0,0,0,0,0
$GC,681,-0.80,-145.9,68.7,-13.6,109,686,0.10,1.30,0.00,0.000,6,0.170,0.036,2748,1920,3423,0,0,0,0,0,0
$GC,1027,-0.86,-145.9,106.8,-10.5,163,1031,0.00,2.30,0.00,0.000,4,0.000,0.063,2748,512,3423,0,0,0,0,0,0
$GC,1091,-0.86,-145.9,114.4,-12.2,167,1095,0.00,2.17,0.00,0.000,6,0.000,0.035,2740,1923,3423,0,0,0,0,0,0
$GC,1416,-0.91,-145.9,149.9,-10.6,188,1420,0.05,0.62,0.00,0.000,4,0.175,0.046,2715,2347,3423,0,0,0,0,0,0
$GC,1476,-0.88,-145.9,156.9,-10.9,191,1482,0.00,0.68,0.00,0.000,6,0.000,0.045,2715,1897,3423,0,0,0,0,0,0
$GC,1798,-0.82,-145.9,192.9,-11.8,212,1803,0.12,2.22,0.00,0.000,4,0.186,0.060,2747,515,3423,0,0,0,0,0,0
$GC,1864,-0.79,-145.9,201.3,-11.2,216,1869,0.08,2.15,0.00,0.000,6,0.208,0.034,2753,1927,3423,0,0,0,0,0,0
$GC,2192,-0.89,-145.9,231.5,-9.3,237,2196,0.10,0.32,0.00,0.000,4,0.113,0.059,2715,1711,3423,0,0,0,0,0,0
$GC,2201,-0.97,-145.9,233.0,-9.5,237,2207,0.00,0.30,0.00,0.000,6,0.000,0.049,2714,1921,3423,0,0,0,0,0,0
$GC,2529,-0.93,-145.9,272.4,-12.8,256,2533,0.00,1.62,0.00,0.000,4,0.000,0.054,2714,906,3423,0,0,0,0,0,0
$GC,2584,-0.84,-145.9,280.2,-13.9,258,2589,0.08,1.55,0.00,0.000,6,0.169,0.037,2731,1897,3423,0,0,0,0,0,0
$GC,2907,-0.88,-145.9,317.1,-10.9,274,2911,0.00,2.17,0.00,0.000,4,0.000,0.047,2721,3320,3423,0,0,0,0,0,0
$GC,2972,-0.88,-145.9,324.7,-12.2,277,2976,0.00,2.15,0.00,0.000,6,0.000,0.036,2723,1911,3423,0,0,0,0,0,0
$GC,3301,-0.92,-145.9,361.9,-11.2,293,3305,0.00,1.73,0.00,0.000,4,0.000,0.044,2716,3010,3423,0,0,0,0,0,0
$GC,3356,-0.92,-145.9,368.8,-11.2,295,3360,0.00,1.67,0.00,0.000,6,0.000,0.036,2716,1919,3424,0,0,0,0,0,0
$GC,3688,-0.92,-145.9,405.2,-10.6,311,3691,0.00,1.45,0.00,0.000,4,0.000,0.051,2716,997,3424,0,0,0,0,0,0
$GC,3732,-0.88,-145.9,410.3,-11.8,312,3736,0.03,1.42,0.00,0.000,6,0.206,0.035,2718,1923,3423,0,0,0,0,0,0
$GC,4061,-0.88,-145.9,445.9,-11.0,323,4065,0.00,2.15,0.00,0.000,4,0.000,0.047,2709,3317,3423,0,0,0,0,0,0
$GC,4144,-0.85,-145.9,455.7,-12.4,325,4149,0.08,2.17,0.00,0.000,6,0.151,0.037,2732,1909,3423,0,0,0,0,0,0
$GC,4469,-0.91,-145.9,488.6,-10.1,336,4472,0.00,1.95,0.00,0.000,4,0.000,0.054,2732,670,3423,0,0,0,0,0,0
$GC,4523,-0.91,-145.9,495.1,-12.1,337,4528,0.00,1.92,0.00,0.000,6,0.000,0.031,2725,1927,3423,0,0,0,0,0,0
$GC,4843,-0.94,-145.9,529.7,-11.0,348,4846,0.00,1.10,0.00,0.000,4,0.000,0.042,2719,2652,3423,0,0,0,0,0,0
$GC,4877,-0.94,-145.9,533.6,-11.9,349,4881,0.00,1.15,0.00,0.000,6,0.000,0.041,2719,1911,3423,0,0,0,0,0,0
$GC,5218,-0.97,-145.9,572.6,-11.5,360,5222,0.00,2.22,0.00,0.000,4,0.000,0.055,2720,508,3422,0,0,0,0,0,0
$GC,5280,-0.91,-145.9,580.5,-12.8,362,5284,0.00,2.15,0.00,0.000,6,0.000,0.032,2710,1921,3422,0,0,0,0,0,0
$GC,5614,-0.83,-145.9,625.3,-13.4,373,5618,0.12,1.15,0.00,0.000,4,0.193,0.050,2741,1206,3422,0,0,0,0,0,0
$GC,5668,-0.81,-145.9,632.3,-12.5,374,5673,0.00,1.08,0.00,0.000,6,0.000,0.036,2737,1908,3421,0,0,0,0,0,0
$GC,5988,-0.87,-145.9,665.3,-10.0,385,5991,0.00,1.70,0.00,0.000,4,0.000,0.046,2729,3021,3421,0,0,0,0,0,0
$GC,6026,-0.91,-145.9,669.5,-11.3,386,6030,0.00,1.73,0.00,0.000,6,0.000,0.038,2729,1912,3421,0,0,0,0,0,0
$GC,6362,-0.95,-145.9,704.0,-10.3,397,6366,0.08,2.25,0.00,0.000,4,0.138,0.054,2701,503,3420,0,0,0,0,0,0
$GC,6382,-0.95,-145.9,706.9,-12.6,397,6386,0.00,2.17,0.00,0.000,6,0.000,0.031,2690,1913,3420,0,0,0,0,0,0
$GC,6701,-0.84,-145.9,752.0,-14.4,408,6705,0.17,2.25,0.00,0.000,4,0.187,0.053,2740,509,3419,0,0,0,0,0,0
$GC,6789,-0.84,-145.9,763.1,-12.4,410,6793,0.00,2.15,0.00,0.000,6,0.000,0.031,2730,1907,3419,0,0,0,0,0,0
$GC,7108,-0.81,-145.9,800.8,-11.8,421,7112,0.08,0.62,0.00,0.000,4,0.213,0.050,2746,1513,3418,0,0,0,0,0,0
$GC,7169,-0.81,-145.9,807.8,-10.5,422,7174,0.00,0.62,0.00,0.000,6,0.000,0.036,2745,1933,3419,0,0,0,0,0,0
$GC,7482,-0.91,-145.9,835.8,-8.6,433,7487,0.08,2.30,0.00,0.000,4,0.137,0.054,2715,510,3418,0,0,0,0,0,0
$GC,7554,-0.87,-145.9,843.7,-11.5,435,7559,0.10,2.12,0.00,0.000,6,0.194,0.032,2728,1900,3417,0,0,0,0,0,0
$GC,7878,-0.84,-145.9,877.7,-10.5,446,7881,0.00,0.35,0.00,0.000,4,0.000,0.050,2727,2170,3417,0,0,0,0,0,0
$GC,7933,-0.84,-145.9,883.8,-10.6,447,7937,0.00,0.40,0.00,0.000,6,0.000,0.050,2727,1900,3417,0,0,0,0,0,0
$GC,8251,-0.82,-145.9,918.3,-11.4,458,8256,0.10,0.52,0.00,0.000,4,0.198,0.053,2752,1546,3416,0,0,0,0,0,0
$GC,8319,-0.84,-145.9,925.1,-9.6,460,8323,0.00,0.55,0.00,0.000,6,0.000,0.038,2751,1928,3416,0,0,0,0,0,0
$GC,8660,-0.90,-145.9,959.0,-10.2,471,8665,0.10,2.28,0.00,0.000,4,0.124,0.054,2713,520,3415,0,0,0,0,0,0
$GC,8748,-0.86,-145.9,970.3,-13.4,473,8753,0.08,2.12,0.00,0.000,6,0.162,0.032,2726,1893,3415,0,0,0,0,0,0
$STATE,9004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9004,begin apogee
$GC,9009,-0.19,0.0,1003.4,13.2,482,9139,0.75,0.00,126.72,1.514,6,0.151,0.000,2944,1649,2827,0,0,0,0,0,0
$STATE,9140,end apogee,CONTROL_FINISHED_OK
$STATE,9140,begin climb
$GC,9141,0.79,145.9,1012.3,0.0,486,9282,0.98,0.80,132.35,1.462,4,0.072,0.039,3265,2103,2231,0,0,0,0,0,0
$GC,9432,0.59,233.0,1009.5,7.2,495,9521,0.22,0.75,79.32,1.433,6,0.203,0.050,3213,1658,1877,0,0,0,0,0,0
$GC,9826,0.57,292.4,977.0,8.7,508,9887,0.05,0.88,53.40,1.411,4,0.262,0.058,3205,1152,1633,0,0,0,0,0,0
$GC,9937,0.57,338.2,966.5,9.5,511,9984,0.00,0.82,42.42,1.381,6,0.000,0.034,3206,1672,1448,0,0,0,0,0,0
$GC,10291,0.63,363.8,930.5,10.6,523,10322,0.00,1.98,23.85,1.344,4,0.000,0.062,3212,523,1342,0,0,0,0,0,0
$GC,10378,0.69,368.3,920.5,11.7,525,10390,0.03,1.77,4.95,0.923,6,0.124,0.034,3227,1639,1324,0,0,0,0,0,0
$GC,10697,0.73,370.1,882.1,11.9,536,10701,0.00,0.98,0.00,0.000,4,0.000,0.060,3229,1045,1323,0,0,0,0,0,0
$GC,10757,0.75,370.1,874.4,12.3,537,10764,0.05,0.93,0.00,0.000,6,0.093,0.035,3254,1656,1322,0,0,0,0,0,0
$GC,11070,0.75,370.1,835.8,12.1,548,11074,0.00,2.03,0.00,0.000,4,0.000,0.064,3261,414,1322,0,0,0,0,0,0
$GC,11142,0.72,370.1,826.8,12.0,550,11147,0.03,1.92,0.00,0.000,6,0.208,0.038,3254,1643,1320,0,0,0,0,0,0
$GC,11477,0.72,382.3,788.8,11.3,561,11496,0.00,1.70,13.60,1.225,4,0.000,0.063,3261,630,1268,0,0,0,0,0,0
$GC,11558,0.72,382.3,779.1,12.1,563,11563,0.03,1.60,0.00,0.000,6,0.200,0.038,3254,1649,1265,0,0,0,0,0,0
$GC,11883,0.72,397.0,742.6,11.2,574,11903,0.00,2.35,15.25,1.213,4,0.000,0.067,3263,247,1207,0,0,0,0,0,0
$GC,11978,0.72,403.6,731.8,11.6,577,11992,0.08,2.20,7.40,1.060,6,0.223,0.040,3249,1653,1181,0,0,0,0,0,0
$GC,12318,0.75,430.1,696.1,10.5,588,12349,0.00,2.20,26.00,1.257,4,0.000,0.066,3253,337,1073,0,0,0,0,0,0
$GC,12412,0.78,440.9,685.3,11.4,590,12428,0.00,2.08,11.32,1.168,6,0.000,0.038,3253,1660,1028,0,0,0,0,0,0
$GC,12753,0.83,441.0,645.6,12.0,602,12757,0.08,2.08,0.00,0.000,4,0.138,0.066,3281,412,1023,0,0,0,0,0,0
$GC,12820,0.83,441.0,636.6,13.5,604,12824,0.00,1.92,0.00,0.000,6,0.000,0.040,3281,1658,1022,0,0,0,0,0,0
$GC,13160,0.83,441.0,590.8,13.2,615,13164,0.00,2.17,0.00,0.000,4,0.000,0.068,3287,334,1022,0,0,0,0,0,0
$GC,13226,0.80,441.0,581.1,14.7,617,13231,0.05,2.08,0.00,0.000,6,0.180,0.041,3273,1646,1020,0,0,0,0,0,0
$GC,13561,0.80,441.0,537.9,12.8,628,13565,0.00,1.92,0.00,0.000,4,0.000,0.066,3280,468,1020,0,0,0,0,0,0
$GC,13621,0.80,441.0,529.3,14.3,629,13627,0.00,1.85,0.00,0.000,6,0.000,0.039,3280,1646,1020,0,0,0,0,0,0
$GC,13934,0.80,441.0,487.2,13.5,640,13938,0.00,1.75,0.00,0.000,4,0.000,0.063,3286,574,1020,0,0,0,0,0,0
$GC,14002,0.77,441.0,477.5,14.4,642,14007,0.10,1.65,0.00,0.000,6,0.194,0.039,3265,1659,1019,0,0,0,0,0,0
$GC,14343,0.89,441.8,434.5,11.9,653,14347,0.10,1.20,0.00,0.000,4,0.115,0.063,3307,944,1019,0,0,0,0,0,0
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$GC,17484,0.91,510.0,17.7,20.4,896,17491,0.12,2.25,0.00,0.000,6,0.174,0.037,3311,1657,741,0,0,0,0,0,0
$GC,17564,0.87,510.0,5.7,13.3,909,17572,0.08,0.45,0.00,0.000,4,0.213,0.061,3296,1382,740,0,0,0,0,0,0
$STATE,17584,end climb,SURFACE_DEPTH_REACHED
$STATE,17585,begin surface coast
$FINISH,1.7,1.026553
$STATE,17610,end surface coast,CONTROL_FINISHED_OK
$STATE,17610,begin surface
$SM_CCo,17687,0.00,0.000,0,0,737,512.42
$SM_GC,2.79,9.12,0.00,0.00,0.065,0.000,0.000,92,1942,737,-9.08,0.85,512.42
$IRIDIUM_FIX,-4143.80,-631.93,201112,010147
$TT8_MAMPS,0.026964
$HUMID,46.73
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.3,58.126
$10V_AH,10.1,41.269
$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,26.725,150.275,598.725,0.000,0.000,29.005,43.411,345.414,0.250,0.000,48.184,2382.124,11843.726,630.398,3188.595,207.285,33.373,1907.809,0.000,2715.948,0.000,2.833,0.000
$DEVICE_MAMPS,270.810,76.500,1513.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.852,1001.160,595.731,73.717,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354448
$DATA_FILE_SIZE,56902,916
$CAP_FILE_SIZE,187088,0
$CFSIZE,2097086464,2059829248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201112,110827,-4157.984,-631.029,44,2.0,44,-22.1