version: 66.10
glider: 169
mission: 5
dive: 418
start: 1 28 112 19 39 12
data:
$ID,169
$MISSION,5
$DIVE,418
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,35
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-11405.049
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,280112,192501,2333.334,12322.638,40,1.8,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.0
$GPS2,280112,193850,2333.119,12322.717,15,2.0,15,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2341.965,12329.481
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,38.3,20000,-15.4,-9.167
$D_GRID,2880
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.18,0.000,2,0.000,0.000,117,2655,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.5,-8.0,14,125,7.12,2.28,-10.95,0.000,4,0.233,0.041,1815,1177,3694,0,0,0,0,0,0,24.82,26.03,26.54
$GC,153,-0.45,-175.2,26.0,-38.3,23,160,0.20,2.33,0.00,0.000,6,0.153,0.044,1859,2647,3694,0,0,0,0,0,0,25.53,25.92,28.83
$GC,466,-0.38,-175.2,103.2,-23.7,84,473,0.00,2.22,0.00,0.000,4,0.000,0.028,1870,1170,3694,0,0,0,0,0,0,28.83,26.15,28.83
$GC,554,-0.41,-175.2,116.6,-9.9,100,561,0.00,2.30,0.00,0.000,6,0.000,0.038,1861,2655,3694,0,0,0,0,0,0,28.83,26.09,28.83
$GC,866,-0.37,-175.2,175.8,-15.6,161,872,0.00,2.20,0.00,0.000,4,0.000,0.028,1861,1176,3695,0,0,0,0,0,0,28.83,26.22,28.83
$GC,915,-0.37,-175.2,182.8,-12.6,170,922,0.12,2.28,0.00,0.000,6,0.133,0.039,1889,2651,3695,0,0,0,0,0,0,25.96,26.13,28.83
$GC,1232,-0.38,-175.2,216.7,-10.5,216,1236,0.00,2.20,0.00,0.000,4,0.000,0.028,1889,1175,3694,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1274,-0.42,-175.2,220.6,-9.3,220,1282,0.00,2.28,0.00,0.000,6,0.000,0.039,1883,2650,3694,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1584,-0.44,-175.2,247.6,-8.8,251,1588,0.00,2.22,0.00,0.000,4,0.000,0.029,1883,1173,3694,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1617,-0.47,-175.2,250.4,-8.7,254,1626,0.00,2.28,0.00,0.000,6,0.000,0.037,1883,2654,3695,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1926,-0.49,-175.2,275.2,-8.3,285,1929,0.00,1.80,0.00,0.000,4,0.000,0.044,1874,3814,3694,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1979,-0.53,-175.2,279.0,-7.0,290,1988,0.10,1.77,0.00,0.000,6,0.096,0.023,1814,2561,3694,0,0,0,0,0,0,26.29,26.41,28.83
$GC,2287,-0.48,-175.2,330.5,-18.8,321,2297,0.12,2.05,0.00,0.000,4,0.148,0.025,1855,1174,3694,0,0,0,0,0,0,26.25,26.26,28.83
$GC,2370,-0.53,-175.2,339.8,-8.0,329,2379,0.00,2.28,0.00,0.000,6,0.000,0.037,1846,2652,3694,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2679,-0.53,-175.2,375.8,-12.7,360,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2652,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2982,-0.53,-175.2,411.3,-10.6,390,2991,0.00,2.17,0.00,0.000,4,0.000,0.029,1846,1179,3692,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3035,-0.56,-175.2,416.1,-8.4,395,3044,0.00,2.25,0.00,0.000,6,0.000,0.039,1838,2647,3692,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3343,-0.56,-175.2,448.2,-10.9,426,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2646,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3646,-0.56,-175.2,479.1,-9.7,456,3654,0.00,2.20,0.00,0.000,4,0.000,0.029,1838,1170,3689,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3679,-0.57,-175.2,482.4,-10.0,459,3687,0.00,2.28,0.00,0.000,6,0.000,0.039,1838,2650,3689,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3987,-0.58,-175.2,509.6,-9.3,490,3991,0.00,1.77,0.00,0.000,4,0.000,0.044,1829,3824,3686,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4019,-0.60,-175.2,512.4,-8.9,493,4027,0.00,1.83,0.00,0.000,6,0.000,0.023,1829,2564,3686,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4329,-0.60,-175.2,540.9,-9.1,524,4332,0.00,2.05,0.00,0.000,4,0.000,0.028,1829,1166,3685,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4353,-0.61,-175.2,542.9,-9.1,526,4360,0.00,2.30,0.00,0.000,6,0.000,0.039,1822,2652,3685,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4663,-0.61,-175.2,575.5,-11.5,557,4671,0.00,2.20,0.00,0.000,4,0.000,0.029,1822,1184,3683,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4695,-0.61,-175.2,579.4,-11.4,560,4703,0.00,2.28,0.00,0.000,6,0.000,0.039,1813,2651,3682,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5014,-0.61,-175.2,617.8,-11.8,585,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2650,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5316,-0.61,-175.2,654.0,-12.2,600,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2650,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5614,-0.61,-175.2,688.8,-10.8,615,5619,0.00,2.22,0.00,0.000,4,0.000,0.031,1813,1174,3676,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5662,-0.61,-175.2,692.7,-10.2,617,5666,0.00,2.30,0.00,0.000,6,0.000,0.041,1812,2650,3675,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5970,-0.61,-175.2,723.6,-10.2,632,5973,0.00,1.80,0.00,0.000,4,0.000,0.047,1804,3816,3673,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6014,-0.61,-175.2,727.9,-10.3,634,6017,0.00,1.83,0.00,0.000,6,0.000,0.026,1804,2570,3673,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6331,-0.61,-175.2,760.9,-10.1,650,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2568,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,-0.61,-175.2,789.2,-9.1,665,6636,0.00,2.00,0.00,0.000,4,0.000,0.046,1795,3816,3669,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6675,-0.61,-175.2,793.3,-9.2,667,6680,0.00,1.83,0.00,0.000,6,0.000,0.026,1794,2568,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6995,-0.61,-175.2,825.9,-10.3,683,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2568,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7296,-0.61,-175.2,855.0,-9.4,698,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2568,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7594,-0.61,-175.2,882.8,-9.6,713,7599,0.00,2.03,0.00,0.000,4,0.000,0.047,1785,3814,3663,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7648,-0.61,-175.2,886.9,-10.0,715,7655,0.00,1.83,0.00,0.000,6,0.000,0.027,1785,2568,3663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7954,-0.60,-175.2,922.2,-11.0,731,7960,0.10,2.00,0.00,0.000,4,0.149,0.045,1805,3817,3661,0,0,0,0,0,0,26.34,25.89,28.83
$GC,7987,-0.59,-175.2,924.4,-11.1,732,7994,0.00,1.83,0.00,0.000,6,0.000,0.026,1805,2569,3661,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8297,-0.59,-175.2,952.8,-9.0,748,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2569,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8594,-0.60,-175.2,979.7,-9.2,763,8600,0.00,2.00,0.00,0.000,4,0.000,0.047,1795,3813,3658,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8642,-0.61,-175.2,983.7,-9.5,765,8646,0.00,1.83,0.00,0.000,6,0.000,0.027,1795,2576,3657,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,8707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8707,begin apogee
$GC,8714,-0.20,0.0,991.0,-9.7,768,8875,0.43,0.15,154.50,1.194,6,0.098,0.076,1944,2534,2978,0,0,0,0,0,0,25.72,24.87,23.27
$STATE,8876,end apogee,CONTROL_FINISHED_OK
$STATE,8876,begin climb
$GC,8879,0.60,175.2,1000.1,0.0,776,9058,0.68,2.17,168.23,1.188,4,0.045,0.044,2209,3812,2254,0,0,0,0,0,0,25.17,24.88,23.34
$GC,9188,0.50,175.2,968.0,19.1,792,9195,0.17,2.08,0.00,0.000,6,0.185,0.028,2176,2459,2239,0,0,0,0,0,0,25.40,25.85,28.83
$GC,9508,0.44,175.2,922.5,14.0,808,9513,0.00,2.17,0.00,0.000,4,0.000,0.047,2176,3815,2235,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9576,0.37,175.2,912.8,15.8,811,9581,0.20,2.08,0.00,0.000,6,0.162,0.028,2132,2457,2234,0,0,0,0,0,0,25.60,26.11,28.83
$GC,9885,0.35,175.2,878.6,10.0,826,9888,0.00,2.15,0.00,0.000,4,0.000,0.044,2132,3814,2232,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9949,0.33,175.2,871.5,11.3,829,9952,0.00,2.05,0.00,0.000,6,0.000,0.028,2142,2464,2232,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10264,0.30,175.2,839.8,10.1,845,10266,0.12,0.00,0.00,0.000,6,0.170,0.000,2110,2462,2231,0,0,0,0,0,0,26.08,28.83,28.83
$GC,10561,0.31,183.0,814.5,8.9,860,10567,0.00,2.17,0.00,0.000,4,0.000,0.044,2110,3821,2230,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10594,0.31,183.0,812.6,9.2,861,10601,0.00,2.08,0.00,0.000,6,0.000,0.028,2121,2458,2229,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10904,0.31,183.0,780.8,9.5,877,10909,0.00,2.12,0.00,0.000,4,0.000,0.045,2120,3808,2229,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10945,0.30,183.0,776.7,9.7,879,10948,0.00,2.05,0.00,0.000,6,0.000,0.028,2130,2459,2228,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11258,0.30,196.0,747.6,8.7,895,11283,0.00,2.22,18.88,0.999,4,0.000,0.046,2131,3812,2169,0,0,0,0,0,0,28.83,25.87,24.02
$GC,11305,0.30,206.3,744.0,8.8,897,11317,0.12,2.08,4.38,0.790,6,0.161,0.028,2109,2457,2136,0,0,0,0,0,0,25.72,26.01,23.91
$GC,11621,0.39,269.6,721.0,6.9,913,11699,0.00,2.25,72.12,0.975,4,0.000,0.037,2120,1063,1870,0,0,0,0,0,0,28.83,25.30,23.75
$GC,11720,0.48,321.5,713.5,7.3,918,11780,0.15,2.33,52.00,0.976,6,0.067,0.038,2208,2527,1662,0,0,0,0,0,0,25.53,25.48,23.66
$GC,12098,0.44,321.5,642.9,19.1,937,12104,0.15,2.03,0.00,0.000,4,0.155,0.042,2160,3815,1640,0,0,0,0,0,0,25.77,25.85,28.83
$GC,12152,0.42,321.5,635.5,18.7,939,12159,0.00,2.08,0.00,0.000,6,0.000,0.028,2170,2460,1638,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12459,0.42,321.5,589.9,15.0,958,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2459,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12759,0.42,321.5,546.2,14.5,988,12767,0.00,2.10,0.00,0.000,4,0.000,0.038,2181,1058,1635,0,0,0,0,0,0,28.83,25.98,28.83
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$GC,14062,0.54,382.6,389.0,11.0,1118,14070,0.00,2.25,0.00,0.000,4,0.000,0.036,2192,1058,1392,0,0,0,0,0,0,28.83,25.96,28.83
$GC,14096,0.57,382.6,385.7,10.2,1121,14103,0.00,2.25,0.00,0.000,6,0.000,0.036,2192,2525,1389,0,0,0,0,0,0,28.83,25.99,28.83
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$GC,16598,0.75,441.6,47.9,12.1,1466,16605,0.00,2.12,0.00,0.000,4,0.000,0.037,2265,1058,1152,0,0,0,0,0,0,28.83,26.05,28.83
$GC,16642,0.80,441.6,42.6,11.7,1474,16649,0.00,2.22,0.00,0.000,6,0.000,0.035,2265,2527,1151,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,16946,end climb,SURFACE_DEPTH_REACHED
$STATE,16946,begin surface coast
$FINISH,0.4,1.023741
$STATE,16969,end surface coast,CONTROL_FINISHED_OK
$STATE,16969,begin surface
$SM_CCo,17044,0.00,0.000,0,0,1151,448.41
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$IRIDIUM_FIX,2321.52,12320.55,280112,141446
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.03
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.3,87.230
$10V_AH,9.9,52.081
$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
$DEVICE_SECS,16.050,148.300,578.775,0.000,0.000,24.807,41.712,619.022,0.000,0.000,16.532,3622.060,9714.716,703.794,3062.486,739.809,0.000,2146.102,0.000,2570.567,0.000,0.543,0.000
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$SENSOR_SECS,1045.146,1979.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330488
$DATA_FILE_SIZE,100393,1538
$CAP_FILE_SIZE,181318,0
$CFSIZE,260165632,184426496
$ERRORS,0,0,3,0,0,12,0,0,0,0,0,0,0,0,0
$GPS,290112,002436,2334.302,12324.589,53,1.0,53,-3.3