version: 66.09
glider: 181
mission: 6
dive: 338
start: 8 13 111 2 10 37
data:
$ID,181
$MISSION,6
$DIVE,338
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40961.219
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,130811,020325,2101.339,12006.535,39,0.8,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.6
$GPS2,130811,020956,2101.503,12006.437,13,1.2,13,-2.5
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,354.7,81313,-15.4,-11.786
$D_GRID,3228
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.56,-243.3,0.0,0.0,0,84,0.00,0.00,-63.70,0.000,2,0.000,0.000,206,2625,2260,0,0,0,0,0,0
$GC,87,-0.56,-243.3,3.4,-3.6,10,136,7.97,1.80,-33.15,0.000,4,0.226,0.057,2125,3773,3862,0,0,0,0,0,0
$GC,216,-0.56,-243.3,52.3,-37.9,31,223,0.00,1.77,0.00,0.000,6,0.000,0.023,2125,2553,3862,0,0,0,0,0,0
$GC,355,-0.56,-243.3,103.0,-32.3,56,363,0.00,1.98,0.00,0.000,4,0.000,0.024,2125,1205,3862,0,0,0,0,0,0
$GC,388,-0.56,-243.3,111.6,-27.0,61,396,0.00,2.17,0.00,0.000,6,0.000,0.038,2125,2613,3862,0,0,0,0,0,0
$GC,527,-0.56,-243.3,140.0,-18.2,86,535,0.00,1.80,0.00,0.000,4,0.000,0.043,2116,3780,3862,0,0,0,0,0,0
$GC,618,-0.56,-243.3,153.6,-12.3,102,627,0.00,1.65,0.00,0.000,6,0.000,0.022,2116,2660,3862,0,0,0,0,0,0
$GC,760,-0.56,-243.3,172.3,-12.9,127,767,0.00,1.75,0.00,0.000,4,0.000,0.041,2113,3797,3862,0,0,0,0,0,0
$GC,786,-0.56,-243.3,176.6,-16.0,131,792,0.00,1.62,0.00,0.000,6,0.000,0.024,2112,2699,3863,0,0,0,0,0,0
$GC,929,-0.56,-243.3,203.1,-21.0,156,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2696,3863,0,0,0,0,0,0
$GC,1250,-0.56,-243.3,257.9,-15.3,186,1254,0.00,2.15,0.00,0.000,4,0.000,0.027,2112,1214,3863,0,0,0,0,0,0
$GC,1306,-0.56,-243.3,266.5,-12.6,190,1313,0.00,2.22,0.00,0.000,6,0.000,0.034,2112,2675,3863,0,0,0,0,0,0
$GC,1633,-0.56,-243.3,312.5,-13.5,221,1636,0.00,1.67,0.00,0.000,4,0.000,0.044,2111,3786,3861,0,0,0,0,0,0
$GC,1704,-0.56,-243.3,320.7,-10.4,227,1707,0.00,1.62,0.00,0.000,6,0.000,0.024,2112,2690,3860,0,0,0,0,0,0
$GC,2034,-0.56,-243.3,368.4,-15.0,258,2038,0.00,2.15,0.00,0.000,4,0.000,0.028,2111,1213,3858,0,0,0,0,0,0
$GC,2098,-0.56,-243.3,376.3,-11.0,263,2102,0.00,2.22,0.00,0.000,6,0.000,0.034,2111,2677,3857,0,0,0,0,0,0
$GC,2424,-0.56,-243.3,419.7,-12.8,293,2427,0.00,1.67,0.00,0.000,4,0.000,0.046,2111,3782,3854,0,0,0,0,0,0
$GC,2462,-0.56,-243.3,425.0,-12.9,296,2469,0.00,1.65,0.00,0.000,6,0.000,0.024,2111,2676,3854,0,0,0,0,0,0
$GC,2788,-0.56,-243.3,466.9,-13.4,327,2792,0.00,2.15,0.00,0.000,4,0.000,0.029,2111,1214,3851,0,0,0,0,0,0
$GC,2873,-0.56,-243.3,476.1,-9.5,334,2877,0.00,2.20,0.00,0.000,6,0.000,0.035,2111,2656,3851,0,0,0,0,0,0
$GC,3209,-0.56,-243.3,516.2,-12.7,359,3213,0.00,2.15,0.00,0.000,4,0.000,0.029,2111,1212,3847,0,0,0,0,0,0
$GC,3231,-0.56,-243.3,519.7,-12.5,360,3235,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2631,3848,0,0,0,0,0,0
$GC,3559,-0.56,-243.3,558.4,-11.8,376,3563,0.00,1.75,0.00,0.000,4,0.000,0.047,2111,3776,3844,0,0,0,0,0,0
$GC,3605,-0.56,-243.3,563.0,-10.0,378,3609,0.00,1.65,0.00,0.000,6,0.000,0.026,2111,2644,3844,0,0,0,0,0,0
$GC,3938,-0.56,-243.3,600.9,-12.1,394,3942,0.00,2.12,0.00,0.000,4,0.000,0.031,2111,1203,3840,0,0,0,0,0,0
$GC,4016,-0.56,-243.3,609.4,-9.8,397,4023,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2612,3840,0,0,0,0,0,0
$GC,4333,-0.56,-243.3,643.3,-11.3,413,4337,0.00,1.83,0.00,0.000,4,0.000,0.048,2111,3770,3837,0,0,0,0,0,0
$GC,4389,-0.56,-243.3,649.6,-10.4,415,4393,0.00,1.70,0.00,0.000,6,0.000,0.026,2111,2613,3836,0,0,0,0,0,0
$GC,4710,-0.56,-243.3,689.2,-12.9,431,4714,0.00,2.10,0.00,0.000,4,0.000,0.032,2111,1206,3834,0,0,0,0,0,0
$GC,4743,-0.56,-243.3,693.8,-13.1,432,4747,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2615,3834,0,0,0,0,0,0
$GC,5066,-0.56,-243.3,734.1,-12.5,448,5070,0.00,1.80,0.00,0.000,4,0.000,0.048,2111,3782,3831,0,0,0,0,0,0
$GC,5121,-0.56,-243.3,740.1,-9.5,450,5125,0.00,1.73,0.00,0.000,6,0.000,0.026,2111,2607,3830,0,0,0,0,0,0
$GC,5444,-0.56,-243.3,772.9,-9.7,466,5448,0.00,2.08,0.00,0.000,4,0.000,0.032,2111,1208,3829,0,0,0,0,0,0
$GC,5489,-0.56,-243.3,777.3,-9.3,468,5493,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2619,3829,0,0,0,0,0,0
$GC,5812,-0.56,-243.3,805.7,-9.4,484,5816,0.00,2.12,0.00,0.000,4,0.000,0.031,2111,1207,3826,0,0,0,0,0,0
$GC,5840,-0.56,-243.3,808.7,-9.5,485,5845,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2602,3826,0,0,0,0,0,0
$GC,6162,-0.56,-243.3,840.3,-10.8,501,6166,0.00,1.83,0.00,0.000,4,0.000,0.049,2111,3778,3824,0,0,0,0,0,0
$GC,6209,-0.56,-243.3,844.6,-9.4,503,6212,0.00,1.75,0.00,0.000,6,0.000,0.027,2111,2591,3824,0,0,0,0,0,0
$GC,6543,-0.56,-243.3,875.6,-9.4,519,6546,0.00,2.08,0.00,0.000,4,0.000,0.031,2111,1201,3820,0,0,0,0,0,0
$GC,6592,-0.56,-243.3,880.1,-8.9,521,6596,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2609,3821,0,0,0,0,0,0
$GC,6911,-0.56,-243.3,907.1,-8.3,536,6915,0.00,1.83,0.00,0.000,4,0.000,0.050,2111,3783,3818,0,0,0,0,0,0
$GC,6939,-0.56,-243.3,909.6,-8.0,537,6943,0.00,1.80,0.00,0.000,6,0.000,0.027,2111,2593,3818,0,0,0,0,0,0
$GC,7266,-0.56,-243.3,934.9,-7.7,553,7270,0.00,2.08,0.00,0.000,4,0.000,0.031,2111,1199,3817,0,0,0,0,0,0
$GC,7316,-0.56,-243.3,938.8,-7.6,555,7320,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2596,3816,0,0,0,0,0,0
$GC,7638,-0.56,-243.3,965.4,-9.2,571,7641,0.00,1.85,0.00,0.000,4,0.000,0.050,2111,3784,3815,0,0,0,0,0,0
$GC,7684,-0.56,-243.3,969.3,-8.3,573,7688,0.00,1.75,0.00,0.000,6,0.000,0.027,2111,2593,3814,0,0,0,0,0,0
$STATE,7911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7911,begin apogee
$GC,7918,-0.13,0.0,991.8,10.4,584,8109,0.47,0.00,184.57,1.088,4,0.111,0.000,2269,2116,2869,0,0,0,0,0,0
$STATE,8110,end apogee,CONTROL_FINISHED_OK
$STATE,8110,begin climb
$GC,8112,0.56,243.3,1006.1,0.0,593,8324,0.68,2.38,197.93,1.064,4,0.060,0.042,2510,3539,1876,0,0,0,0,0,0
$GC,8370,0.58,260.5,992.9,11.2,605,8393,0.00,2.30,15.15,0.946,6,0.000,0.027,2520,2114,1806,0,0,0,0,0,0
$GC,8705,0.58,260.5,954.7,12.0,621,8709,0.00,2.25,0.00,0.000,4,0.000,0.041,2521,3548,1807,0,0,0,0,0,0
$GC,8812,0.58,260.5,940.8,12.7,626,8816,0.00,2.20,0.00,0.000,6,0.000,0.028,2530,2106,1806,0,0,0,0,0,0
$GC,9139,0.58,260.5,898.9,13.6,642,9143,0.00,2.12,0.00,0.000,4,0.000,0.038,2541,710,1805,0,0,0,0,0,0
$GC,9240,0.58,260.5,884.0,14.8,646,9248,0.12,2.15,0.00,0.000,6,0.168,0.034,2510,2100,1805,0,0,0,0,0,0
$GC,9558,0.58,260.5,838.9,14.7,662,9562,0.00,2.22,0.00,0.000,4,0.000,0.044,2509,3538,1804,0,0,0,0,0,0
$GC,9621,0.58,260.5,828.6,16.5,665,9625,0.00,2.17,0.00,0.000,6,0.000,0.028,2518,2100,1804,0,0,0,0,0,0
$GC,9948,0.58,260.5,777.2,15.4,681,9952,0.00,2.10,0.00,0.000,4,0.000,0.037,2528,713,1804,0,0,0,0,0,0
$GC,10067,0.58,260.5,760.4,14.0,686,10071,0.00,2.10,0.00,0.000,6,0.000,0.033,2528,2090,1803,0,0,0,0,0,0
$GC,10383,0.58,260.5,715.9,14.2,701,10387,0.00,2.25,0.00,0.000,4,0.000,0.044,2528,3542,1803,0,0,0,0,0,0
$GC,10461,0.58,260.5,703.3,16.0,704,10469,0.12,2.22,0.00,0.000,6,0.184,0.028,2508,2073,1803,0,0,0,0,0,0
$GC,10780,0.59,270.1,664.3,11.5,720,10794,0.00,2.12,8.75,0.789,4,0.000,0.039,2517,719,1767,0,0,0,0,0,0
$GC,10839,0.59,274.7,656.7,11.6,722,10849,0.00,2.10,5.38,0.633,6,0.000,0.033,2517,2082,1748,0,0,0,0,0,0
$GC,11181,0.65,320.8,619.8,10.3,739,11224,0.00,2.33,35.70,0.843,4,0.000,0.044,2517,3541,1563,0,0,0,0,0,0
$GC,11296,0.65,320.8,606.1,12.0,744,11300,0.00,2.22,0.00,0.000,6,0.000,0.028,2527,2090,1563,0,0,0,0,0,0
$GC,11624,0.65,320.8,567.2,12.5,760,11628,0.00,2.08,0.00,0.000,4,0.000,0.037,2533,724,1567,0,0,0,0,0,0
$GC,11665,0.65,320.8,562.1,12.2,762,11669,0.00,2.10,0.00,0.000,6,0.000,0.033,2537,2095,1567,0,0,0,0,0,0
$GC,11994,0.65,320.8,518.3,13.4,778,11998,0.00,2.22,0.00,0.000,4,0.000,0.044,2537,3536,1567,0,0,0,0,0,0
$GC,12061,0.65,320.8,508.0,15.3,781,12065,0.00,2.17,0.00,0.000,6,0.000,0.028,2546,2098,1566,0,0,0,0,0,0
$GC,12386,0.65,320.8,463.3,13.7,809,12390,0.00,2.10,0.00,0.000,4,0.000,0.037,2557,708,1567,0,0,0,0,0,0
$GC,12446,0.65,320.8,454.6,13.5,814,12453,0.00,2.15,0.00,0.000,6,0.000,0.032,2557,2091,1566,0,0,0,0,0,0
$GC,12774,0.65,320.8,404.9,14.4,845,12778,0.00,2.22,0.00,0.000,4,0.000,0.044,2557,3534,1567,0,0,0,0,0,0
$GC,12837,0.65,320.8,394.5,15.9,850,12842,0.15,2.15,0.00,0.000,6,0.168,0.027,2529,2104,1567,0,0,0,0,0,0
$GC,13163,0.72,379.9,359.9,9.9,880,13219,0.00,2.20,45.88,0.685,4,0.000,0.037,2537,726,1321,0,0,0,0,0,0
$GC,13232,0.82,455.9,353.1,9.3,886,13301,0.12,2.17,57.22,0.655,6,0.089,0.031,2593,2131,1010,0,0,0,0,0,0
$GC,13618,0.82,455.9,300.4,13.5,922,13631,0.00,2.25,4.00,0.471,4,0.000,0.044,2593,3532,1008,0,0,0,0,0,0
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$GC,15527,1.32,867.9,34.7,9.3,1198,15535,0.00,2.20,0.12,0.104,6,0.000,0.031,2751,2133,440,0,0,0,0,0,0
$GC,15670,1.32,867.9,15.0,14.2,1223,15677,0.00,2.15,0.00,0.000,4,0.000,0.041,2751,3533,441,0,0,0,0,0,0
$GC,15707,1.32,867.9,9.5,15.7,1229,15715,0.00,2.12,0.60,0.090,6,0.000,0.026,2760,2121,441,0,0,0,0,0,0
$STATE,15753,end climb,SURFACE_DEPTH_REACHED
$STATE,15753,begin surface coast
$FINISH,0.3,1.008759
$STATE,15777,end surface coast,CONTROL_FINISHED_OK
$STATE,15780,begin surface
$SM_CCo,15857,0.00,0.000,0,0,442,595.59
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$IRIDIUM_FIX,2052.52,12008.74,120811,212103
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.82
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.1,54.489
$10V_AH,9.8,50.763
$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,16.925,182.725,659.800,0.000,0.000,31.213,37.116,169.570,0.000,0.000,15.655,3031.439,9149.089,733.219,2952.922,382.955,0.000,2098.304,0.000,2270.208,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,56.610,1087.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,864.360,1889.574,583.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323724
$DATA_FILE_SIZE,83739,1241
$CAP_FILE_SIZE,178899,0
$CFSIZE,260165632,219705344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130811,063607,2104.087,12007.074,35,0.9,36,-2.5