version: 66.07.10.p01
glider: 574
mission: 4
dive: 286
start: 11 28 112 17 30 30
data:
$ID,574
$MISSION,4
$DIVE,286
$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,450
$T_MISSION,480
$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,0
$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,-6752.6567
$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,24
$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,28
$R_STBD_OVSHOOT,61
$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,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,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,265
$GPS1,281112,172005,-4142.671,-622.287,35,1.6,35,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-75.3
$GPS2,281112,172935,-4142.656,-622.333,41,1.2,41,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.149,-0.181
$KALMAN_X,-387074.0,864.3,275.1,585795.9,-12056.0
$KALMAN_Y,26118.4,586.5,-1606.9,102598.2,7190.8
$MHEAD_RNG_PITCHd_Wd,128.0,117781,-13.9,-7.407
$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,-0.59,-145.9,0.0,0.0,0,57,0.00,0.00,-30.38,0.000,2,0.000,0.000,68,1932,2108,0,0,0,0,0,0
$GC,60,-0.59,-145.9,3.1,-1.4,5,134,12.55,2.22,-52.12,0.000,4,0.264,0.067,2804,3284,3423,0,0,0,0,0,0
$GC,196,-0.64,-145.9,10.6,-9.8,27,203,0.00,2.20,0.00,0.000,6,0.000,0.044,2804,1911,3424,0,0,0,0,0,0
$GC,276,-0.69,-145.9,18.3,-9.4,40,283,0.00,2.33,0.00,0.000,4,0.000,0.062,2804,505,3424,0,0,0,0,0,0
$GC,373,-0.75,-145.9,27.9,-9.8,56,381,0.05,2.17,0.00,0.000,6,0.079,0.034,2767,1890,3425,0,0,0,0,0,0
$GC,453,-0.72,-145.9,35.9,-9.9,69,458,0.00,2.25,0.00,0.000,4,0.000,0.048,2757,3322,3425,0,0,0,0,0,0
$GC,535,-0.72,-145.9,44.5,-10.4,83,541,0.10,2.20,0.00,0.000,6,0.160,0.040,2781,1909,3425,0,0,0,0,0,0
$GC,769,-0.72,-145.9,66.9,-9.5,124,774,0.00,2.25,0.00,0.000,4,0.000,0.056,2782,497,3425,0,0,0,0,0,0
$GC,846,-0.74,-145.9,74.7,-10.2,138,853,0.00,2.20,0.00,0.000,6,0.000,0.032,2777,1921,3425,0,0,0,0,0,0
$GC,1191,-0.77,-145.9,108.2,-9.9,190,1195,0.00,2.17,0.00,0.000,4,0.000,0.046,2768,3318,3425,0,0,0,0,0,0
$GC,1206,-0.80,-145.9,109.3,-9.7,191,1210,0.00,2.17,0.00,0.000,6,0.000,0.037,2768,1901,3425,0,0,0,0,0,0
$GC,1531,-0.80,-145.9,141.7,-9.6,212,1535,0.00,2.22,0.00,0.000,4,0.000,0.044,2758,3320,3426,0,0,0,0,0,0
$GC,1619,-0.84,-145.9,151.0,-10.1,217,1625,0.00,2.17,0.00,0.000,6,0.000,0.036,2758,1911,3425,0,0,0,0,0,0
$GC,1940,-0.86,-145.9,182.6,-10.0,238,1945,0.08,2.22,0.00,0.000,4,0.129,0.045,2713,3324,3426,0,0,0,0,0,0
$GC,2012,-0.76,-145.9,191.3,-11.5,242,2020,0.15,2.17,0.00,0.000,6,0.133,0.036,2761,1913,3426,0,0,0,0,0,0
$GC,2333,-0.76,-145.9,223.1,-10.1,263,2336,0.00,0.98,0.00,0.000,4,0.000,0.040,2758,2560,3427,0,0,0,0,0,0
$GC,2461,-0.82,-145.9,237.2,-10.6,270,2469,0.00,1.00,0.00,0.000,6,0.000,0.040,2758,1909,3427,0,0,0,0,0,0
$GC,2778,-0.82,-145.9,272.4,-11.0,288,2782,0.00,1.65,0.00,0.000,4,0.000,0.041,2753,2962,3426,0,0,0,0,0,0
$GC,2839,-0.82,-145.9,279.6,-11.5,290,2847,0.00,1.62,0.00,0.000,6,0.000,0.038,2753,1911,3427,0,0,0,0,0,0
$GC,3155,-0.82,-145.9,314.8,-10.8,306,3159,0.00,2.17,0.00,0.000,4,0.000,0.044,2744,3319,3426,0,0,0,0,0,0
$GC,3227,-0.82,-145.9,323.1,-10.8,309,3232,0.00,2.17,0.00,0.000,6,0.000,0.035,2744,1910,3427,0,0,0,0,0,0
$GC,3551,-0.82,-145.9,358.0,-10.6,325,3555,0.00,2.20,0.00,0.000,4,0.000,0.044,2734,3318,3427,0,0,0,0,0,0
$GC,3601,-0.79,-145.9,363.9,-10.9,327,3606,0.08,2.17,0.00,0.000,6,0.132,0.034,2759,1904,3426,0,0,0,0,0,0
$GC,3931,-0.82,-145.9,395.2,-9.2,343,3935,0.00,2.03,0.00,0.000,4,0.000,0.044,2753,3198,3427,0,0,0,0,0,0
$GC,3999,-0.86,-145.9,401.8,-9.8,346,4003,0.00,1.98,0.00,0.000,6,0.000,0.035,2752,1904,3426,0,0,0,0,0,0
$GC,4339,-0.86,-145.9,432.0,-8.7,357,4343,0.00,1.55,0.00,0.000,4,0.000,0.041,2746,2893,3427,0,0,0,0,0,0
$GC,4379,-0.84,-145.9,435.6,-8.7,358,4383,0.00,1.50,0.00,0.000,6,0.000,0.037,2746,1918,3426,0,0,0,0,0,0
$GC,4714,-0.84,-145.9,464.3,-8.6,369,4718,0.00,2.17,0.00,0.000,4,0.000,0.044,2738,3315,3427,0,0,0,0,0,0
$GC,4797,-0.87,-145.9,472.1,-9.3,371,4801,0.00,2.17,0.00,0.000,6,0.000,0.034,2738,1907,3426,0,0,0,0,0,0
$GC,5115,-0.84,-145.9,501.4,-9.3,382,5119,0.00,0.73,0.00,0.000,4,0.000,0.039,2734,2396,3426,0,0,0,0,0,0
$GC,5226,-0.84,-145.9,512.5,-9.9,385,5231,0.00,0.75,0.00,0.000,6,0.000,0.041,2734,1904,3426,0,0,0,0,0,0
$GC,5556,-0.80,-145.9,544.6,-9.9,396,5561,0.08,1.98,0.00,0.000,4,0.193,0.042,2743,3178,3425,0,0,0,0,0,0
$GC,5600,-0.80,-145.9,549.2,-10.6,397,5604,0.00,1.95,0.00,0.000,6,0.000,0.034,2743,1916,3425,0,0,0,0,0,0
$GC,5930,-0.80,-145.9,581.3,-10.0,408,5933,0.00,1.20,0.00,0.000,4,0.000,0.037,2738,2699,3425,0,0,0,0,0,0
$GC,5956,-0.80,-145.9,584.1,-9.8,408,5963,0.05,1.23,0.00,0.000,6,0.210,0.036,2749,1906,3425,0,0,0,0,0,0
$GC,6269,-0.80,-145.9,614.2,-9.6,419,6273,0.00,2.20,0.00,0.000,4,0.000,0.041,2741,3316,3424,0,0,0,0,0,0
$GC,6358,-0.80,-145.9,623.2,-10.1,421,6364,0.00,2.15,0.00,0.000,6,0.000,0.033,2741,1921,3424,0,0,0,0,0,0
$GC,6671,-0.80,-145.9,652.0,-8.9,432,6674,0.00,0.73,0.00,0.000,4,0.000,0.038,2738,2413,3423,0,0,0,0,0,0
$GC,6927,-0.83,-145.9,675.0,-8.6,439,6932,0.00,0.77,0.00,0.000,6,0.000,0.039,2738,1906,3422,0,0,0,0,0,0
$GC,7246,-0.83,-145.9,703.6,-9.3,450,7250,0.00,2.20,0.00,0.000,4,0.000,0.052,2738,513,3422,0,0,0,0,0,0
$GC,7328,-0.77,-145.9,712.5,-10.6,452,7333,0.10,2.15,0.00,0.000,6,0.144,0.030,2761,1915,3421,0,0,0,0,0,0
$GC,7647,-0.83,-145.9,742.1,-9.6,463,7651,0.00,1.08,0.00,0.000,4,0.000,0.048,2761,1236,3421,0,0,0,0,0,0
$GC,7681,-0.83,-145.9,745.5,-9.0,464,7685,0.00,1.02,0.00,0.000,6,0.000,0.036,2758,1912,3421,0,0,0,0,0,0
$GC,8022,-0.87,-145.9,778.9,-9.9,475,8026,0.08,2.03,0.00,0.000,4,0.130,0.044,2715,3211,3421,0,0,0,0,0,0
$GC,8082,-0.84,-145.9,786.0,-11.5,476,8088,0.05,2.00,0.00,0.000,6,0.144,0.037,2733,1924,3420,0,0,0,0,0,0
$GC,8395,-0.84,-145.9,818.3,-10.1,487,8398,0.00,2.17,0.00,0.000,4,0.000,0.045,2725,3307,3420,0,0,0,0,0,0
$GC,8483,-0.84,-145.9,827.4,-9.8,489,8489,0.00,2.17,0.00,0.000,6,0.000,0.035,2725,1909,3420,0,0,0,0,0,0
$GC,8796,-0.80,-145.9,856.7,-9.2,500,8801,0.10,2.22,0.00,0.000,4,0.178,0.045,2741,3312,3420,0,0,0,0,0,0
$GC,8879,-0.83,-145.9,864.4,-9.7,502,8883,0.00,2.17,0.00,0.000,6,0.000,0.035,2741,1912,3419,0,0,0,0,0,0
$GC,9198,-0.83,-145.9,893.4,-9.3,513,9202,0.00,2.20,0.00,0.000,4,0.000,0.045,2731,3306,3419,0,0,0,0,0,0
$GC,9252,-0.78,-145.9,899.1,-10.8,514,9259,0.08,2.15,0.00,0.000,6,0.136,0.035,2756,1916,3418,0,0,0,0,0,0
$GC,9566,-0.84,-145.9,927.1,-9.1,525,9570,0.00,2.20,0.00,0.000,4,0.000,0.046,2748,3306,3418,0,0,0,0,0,0
$GC,9634,-0.88,-145.9,933.7,-9.9,527,9638,0.00,2.15,0.00,0.000,6,0.000,0.035,2748,1907,3418,0,0,0,0,0,0
$GC,9968,-0.90,-145.9,965.8,-9.6,538,9973,0.08,1.60,0.00,0.000,4,0.133,0.044,2709,2913,3418,0,0,0,0,0,0
$GC,10006,-0.80,-145.9,970.1,-11.2,539,10011,0.12,1.55,0.00,0.000,6,0.138,0.037,2748,1914,3417,0,0,0,0,0,0
$STATE,10341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10341,begin apogee
$GC,10346,-0.21,0.0,1002.8,9.8,550,10478,0.62,0.00,129.23,1.499,6,0.126,0.000,2941,1639,2827,0,0,0,0,0,0
$STATE,10479,end apogee,CONTROL_FINISHED_OK
$STATE,10479,begin climb
$GC,10481,0.59,145.9,1012.3,0.0,554,10622,0.77,0.90,135.23,1.480,4,0.067,0.054,3205,1147,2231,0,0,0,0,0,0
$GC,10680,0.35,242.9,1017.7,4.1,560,10781,0.28,0.82,92.65,1.463,6,0.183,0.035,3135,1664,1836,0,0,0,0,0,0
$GC,11094,0.39,318.0,997.8,4.8,574,11168,0.00,2.45,68.62,1.440,4,0.000,0.060,3135,257,1530,0,0,0,0,0,0
$GC,11270,0.65,329.3,986.9,7.0,579,11287,0.28,2.17,11.27,1.229,6,0.090,0.030,3225,1655,1483,0,0,0,0,0,0
$GC,11594,0.58,329.3,957.2,9.6,590,11598,0.10,1.50,0.00,0.000,4,0.188,0.059,3209,748,1479,0,0,0,0,0,0
$GC,11631,0.49,329.3,953.4,9.3,591,11636,0.10,1.38,0.00,0.000,6,0.158,0.032,3180,1645,1478,0,0,0,0,0,0
$GC,11966,0.54,329.3,925.2,8.5,602,11970,0.00,1.90,0.00,0.000,4,0.000,0.041,3180,2877,1478,0,0,0,0,0,0
$GC,12034,0.54,329.3,918.8,9.3,604,12038,0.00,1.92,0.00,0.000,6,0.000,0.045,3185,1656,1476,0,0,0,0,0,0
$GC,12375,0.60,329.3,887.7,9.2,615,12376,0.05,0.00,0.00,0.000,6,0.167,0.000,3212,1656,1476,0,0,0,0,0,0
$GC,12681,0.55,329.3,858.3,9.6,625,12685,0.08,1.23,0.00,0.000,4,0.198,0.041,3197,2452,1476,0,0,0,0,0,0
$GC,12740,0.55,329.3,852.5,9.0,626,12746,0.00,1.30,0.00,0.000,6,0.000,0.047,3200,1644,1476,0,0,0,0,0,0
$GC,13054,0.53,329.3,824.7,9.0,637,13059,0.05,2.28,0.00,0.000,4,0.246,0.068,3198,241,1476,0,0,0,0,0,0
$GC,13108,0.45,329.3,819.7,9.1,638,13113,0.15,2.17,0.00,0.000,6,0.169,0.037,3160,1636,1475,0,0,0,0,0,0
$GC,13427,0.55,335.5,795.8,7.2,649,13438,0.10,1.73,5.75,0.997,4,0.112,0.061,3208,574,1460,0,0,0,0,0,0
$GC,13476,0.47,335.5,791.4,8.5,650,13481,0.12,1.67,0.00,0.000,6,0.152,0.037,3171,1648,1460,0,0,0,0,0,0
$GC,13795,0.54,339.0,767.7,7.3,661,13802,0.00,0.00,5.55,0.967,6,0.000,0.000,3171,1657,1445,0,0,0,0,0,0
$GC,14101,0.62,345.6,745.4,7.2,671,14112,0.12,0.00,8.15,1.096,6,0.095,0.000,3224,1658,1418,0,0,0,0,0,0
$GC,14407,0.56,345.6,717.9,9.2,681,14411,0.12,2.22,0.00,0.000,4,0.177,0.046,3193,3052,1417,0,0,0,0,0,0
$GC,14478,0.56,345.6,711.4,8.7,683,14482,0.00,2.25,0.00,0.000,6,0.000,0.046,3200,1652,1416,0,0,0,0,0,0
$GC,14813,0.56,345.6,683.2,8.4,694,14817,0.00,0.70,0.00,0.000,4,0.000,0.062,3200,1206,1416,0,0,0,0,0,0
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$GC,19586,0.66,377.7,260.5,9.8,870,19591,0.00,1.02,0.00,0.000,6,0.000,0.047,3239,1649,1284,0,0,0,0,0,0
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$STATE,22255,end climb,SURFACE_DEPTH_REACHED
$STATE,22255,begin surface coast
$FINISH,1.8,1.000480
$STATE,22293,end surface coast,CONTROL_FINISHED_OK
$STATE,22293,begin surface
$SM_CCo,22369,0.00,0.000,0,0,1280,379.23
$SM_GC,2.91,8.70,0.00,0.00,0.054,0.000,0.000,88,1926,1280,-9.09,0.37,379.23
$IRIDIUM_FIX,-4126.50,-627.10,281112,101030
$TT8_MAMPS,0.027713
$HUMID,47.32
$INTERNAL_PRESSURE,9.09662
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.1,67.349
$10V_AH,10.1,45.722
$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,26.425,176.525,491.050,0.000,0.000,30.572,41.700,333.517,0.250,0.000,43.923,2989.517,15352.593,603.879,3742.553,235.539,33.360,2075.965,0.000,3262.349,0.000,2.834,0.000
$DEVICE_MAMPS,263.925,68.085,1498.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.784,1255.456,759.170,98.142,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354580
$DATA_FILE_SIZE,80408,1159
$CAP_FILE_SIZE,218274,0
$CFSIZE,2097086464,2054422528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,281112,234434,-4143.088,-623.084,38,1.5,42,-22.2