version: 66.04
glider: 103
mission: 11
dive: 479
start: 6 4 109 11 22 51
data:
$ID,103
$MISSION,11
$DIVE,479
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,0
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,63
$TGT_DEFAULT_LON,-6
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,-152945.7
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.802039
$PRESSURE_SLOPE,0.0001162
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,110937,6329.062,-559.997,36,1.1,36,-8.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-58.5
$GPS2,112201,6328.922,-559.880,14,1.1,31,-8.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,N05
$TGT_LATLONG,6300.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.155,-0.154
$KALMAN_X,-6321.5,-758.9,612.0,229755.0,4093.8
$KALMAN_Y,-40258.8,2943.6,1602.9,120041.0,-7813.5
$MHEAD_RNG_PITCHd_Wd,233.5,53737,-11.1,-6.000
$D_GRID,990
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,78,0.00,0.00,-57.67,0.000,6,0.000,0.000,54,2758,3500
$GC,82,-1.10,-146.6,6.5,-13.4,3,103,12.25,2.03,0.00,0.000,4,0.160,0.084,2195,3785,3500
$GC,357,-1.10,-146.6,42.1,-8.9,15,360,0.00,1.92,0.00,0.000,6,0.000,0.066,2195,2756,3501
$GC,685,-1.10,-146.6,68.4,-7.7,31,688,0.00,2.05,0.00,0.000,4,0.000,0.097,2195,3786,3500
$GC,758,-1.10,-146.6,74.5,-8.1,34,761,0.00,1.95,0.00,0.000,6,0.000,0.064,2195,2739,3501
$GC,1085,-1.10,-146.6,100.8,-8.0,50,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2739,3501
$GC,1395,-1.10,-146.6,125.2,-7.8,65,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2739,3501
$GC,1704,-1.10,-146.6,149.6,-7.9,80,1712,0.00,2.67,0.00,0.000,4,0.000,0.081,2195,1331,3502
$GC,1757,-1.10,-146.6,154.1,-8.0,82,1761,0.00,2.72,0.00,0.000,6,0.000,0.076,2195,2754,3501
$GC,2078,-1.10,-146.6,178.6,-7.6,98,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2754,3501
$GC,2387,-1.10,-146.6,203.9,-8.3,113,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2753,3502
$GC,2696,-1.10,-146.6,230.5,-8.8,128,2701,0.00,2.72,0.00,0.000,4,0.000,0.081,2195,1334,3501
$GC,2730,-1.10,-146.6,233.6,-9.5,129,2736,0.00,2.72,0.00,0.000,6,0.000,0.079,2195,2749,3501
$GC,3046,-1.10,-146.6,260.7,-8.5,145,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3500
$GC,3355,-1.10,-146.6,285.7,-7.9,160,3358,0.00,2.08,0.00,0.000,4,0.000,0.107,2194,3788,3500
$GC,3418,-1.10,-146.6,290.8,-8.3,162,3424,0.00,1.95,0.00,0.000,6,0.000,0.067,2195,2747,3499
$GC,3734,-1.10,-146.6,317.1,-8.5,178,3739,0.00,2.70,0.00,0.000,4,0.000,0.084,2195,1333,3498
$GC,3784,-1.10,-146.6,321.3,-8.2,180,3789,0.00,2.72,0.00,0.000,6,0.000,0.079,2195,2750,3498
$GC,4101,-1.10,-146.6,347.2,-8.3,195,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3494
$GC,4409,-1.10,-146.6,374.7,-9.1,210,4414,0.00,2.72,0.00,0.000,4,0.000,0.081,2194,1333,3494
$GC,4437,-1.10,-146.6,377.2,-9.1,211,4441,0.00,2.75,0.00,0.000,6,0.000,0.080,2195,2760,3494
$GC,4758,-1.10,-146.6,403.6,-7.9,227,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2760,3494
$GC,5069,-1.10,-146.6,425.7,-6.5,242,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2760,3493
$GC,5376,-1.10,-146.6,445.3,-6.3,257,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2760,3492
$GC,5686,-1.10,-146.6,465.4,-6.8,272,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2760,3491
$GC,5995,-1.10,-146.6,485.8,-6.7,287,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2760,3490
$GC,6304,-1.10,-146.6,505.9,-6.5,302,6309,0.00,2.75,0.00,0.000,4,0.000,0.081,2195,1330,3490
$GC,6338,-1.10,-146.6,508.2,-6.6,303,6344,0.00,2.75,0.00,0.000,6,0.000,0.078,2195,2758,3490
$GC,6654,-1.10,-146.6,529.9,-7.0,319,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3489
$GC,6963,-1.10,-146.6,552.1,-7.3,334,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3489
$GC,7274,-1.10,-146.6,575.2,-7.5,349,7277,0.00,2.05,0.00,0.000,4,0.000,0.108,2195,3785,3488
$GC,7307,-1.10,-146.6,578.1,-8.5,350,7311,0.00,1.92,0.00,0.000,6,0.000,0.063,2195,2745,3488
$GC,7629,-1.10,-146.6,601.7,-7.3,366,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2745,3487
$GC,7938,-1.10,-146.6,624.6,-7.6,381,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2745,3487
$GC,8248,-1.10,-146.6,647.2,-7.4,396,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2745,3487
$GC,8557,-1.10,-146.6,671.1,-8.0,411,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2745,3487
$GC,8866,-1.10,-146.6,696.8,-8.4,426,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2745,3487
$GC,9176,-1.10,-146.6,722.1,-8.3,441,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2745,3486
$GC,9485,-1.10,-146.6,747.3,-8.0,456,9490,0.00,2.70,0.00,0.000,4,0.000,0.083,2195,1331,3486
$GC,9519,-1.10,-146.6,750.2,-8.5,457,9525,0.00,2.75,0.00,0.000,6,0.000,0.081,2195,2751,3486
$GC,9836,-1.10,-146.6,773.4,-7.1,473,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3485
$GC,10144,-1.10,-146.6,794.5,-6.8,488,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3485
$GC,10454,-1.10,-146.6,814.4,-6.4,503,10458,0.00,2.72,0.00,0.000,4,0.000,0.081,2195,1332,3484
$GC,10482,-1.10,-146.6,816.3,-6.1,504,10486,0.00,2.75,0.00,0.000,6,0.000,0.080,2195,2758,3484
$GC,10798,-1.10,-146.6,836.3,-6.6,519,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3484
$GC,11107,-1.10,-146.6,856.7,-6.7,534,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3484
$GC,11417,-1.10,-146.6,876.7,-6.3,549,11421,0.00,2.72,0.00,0.000,4,0.000,0.081,2195,1335,3483
$GC,11444,-1.10,-146.6,878.5,-6.6,550,11448,0.00,2.72,0.00,0.000,6,0.000,0.080,2195,2749,3483
$GC,11760,-1.10,-146.6,898.1,-6.3,565,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3483
$GC,12070,-1.10,-146.6,917.2,-6.2,580,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3482
$GC,12378,-1.10,-146.6,936.4,-6.3,595,12383,0.00,2.72,0.00,0.000,4,0.000,0.081,2195,1332,3482
$GC,12406,-1.10,-146.6,938.2,-5.5,596,12411,0.00,2.75,0.00,0.000,6,0.000,0.081,2195,2753,3482
$GC,12724,-1.10,-146.6,958.9,-6.7,611,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2754,3482
$GC,13032,-1.10,-146.6,978.2,-6.2,626,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2754,3482
$STATE,13214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13214,begin apogee
$GC,13224,-0.42,0.0,990.1,6.4,635,13359,0.77,0.00,131.50,1.417,6,0.100,0.000,2346,2075,2902
$STATE,13359,end apogee,CONTROL_FINISHED_OK
$STATE,13359,begin climb
$GC,13363,1.10,146.6,996.4,0.0,642,13508,1.58,2.80,133.77,1.370,4,0.064,0.073,2676,662,2304
$GC,13636,1.16,189.9,992.7,4.8,654,13682,0.00,2.60,40.92,1.333,6,0.000,0.045,2676,2096,2128
$GC,13997,1.16,189.9,971.9,6.4,671,14002,0.00,2.65,0.00,0.000,4,0.000,0.079,2676,3480,2126
$GC,14199,1.18,211.6,959.2,5.4,680,14225,0.00,2.60,20.70,1.317,6,0.000,0.054,2675,2066,2039
$GC,14541,1.18,211.6,938.1,6.0,697,14546,0.00,2.75,0.00,0.000,4,0.000,0.077,2675,3490,2039
$GC,14592,1.18,211.6,934.8,6.2,699,14597,0.00,2.60,0.00,0.000,6,0.000,0.053,2675,2076,2039
$GC,14908,1.18,211.6,915.9,6.1,714,14913,0.00,2.70,0.00,0.000,4,0.000,0.078,2676,3478,2040
$GC,14948,1.18,211.6,913.3,6.2,716,14953,0.00,2.58,0.00,0.000,6,0.000,0.054,2676,2075,2040
$GC,15276,1.18,211.6,893.7,6.2,732,15280,0.00,2.70,0.00,0.000,4,0.000,0.078,2675,3479,2040
$GC,15316,1.18,211.6,891.1,6.6,734,15321,0.10,2.58,0.00,0.000,6,0.056,0.052,2706,2073,2041
$GC,15642,1.18,211.6,867.2,7.4,750,15647,0.00,2.62,0.00,0.000,4,0.000,0.072,2706,668,2041
$GC,15670,1.18,211.6,865.1,6.6,751,15675,0.00,2.55,0.00,0.000,6,0.000,0.047,2706,2081,2040
$GC,15987,1.18,211.6,841.0,7.6,766,15988,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2081,2041
$GC,16296,1.18,211.6,817.5,7.7,781,16297,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2081,2040
$GC,16606,1.18,211.6,794.0,7.3,796,16607,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2081,2040
$GC,16914,1.18,211.6,772.3,6.9,811,16916,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2081,2040
$GC,17224,1.18,211.6,750.0,7.4,826,17225,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2081,2040
$GC,17533,1.18,211.6,727.6,7.1,841,17535,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2081,2040
$GC,17842,1.18,211.6,705.9,6.8,856,17847,0.00,2.67,0.00,0.000,4,0.000,0.081,2706,3486,2040
$GC,17875,1.18,211.6,703.6,8.2,857,17881,0.00,2.60,0.00,0.000,6,0.000,0.054,2706,2066,2040
$GC,18192,1.18,211.6,682.0,6.6,873,18193,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2066,2040
$GC,18500,1.18,211.6,661.2,6.8,888,18501,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2066,2040
$GC,18810,1.18,211.6,641.1,6.4,903,18811,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2066,2040
$GC,19120,1.19,220.2,622.3,5.8,918,19131,0.00,0.00,9.23,1.092,6,0.000,0.000,2706,2066,2004
$GC,19428,1.20,225.9,604.0,5.8,933,19437,0.00,0.00,6.93,1.018,6,0.000,0.000,2706,2066,1982
$GC,19738,1.21,233.7,585.8,5.8,948,19752,0.00,2.80,8.65,1.061,4,0.000,0.081,2706,3491,1949
$GC,19776,1.21,233.7,583.2,6.8,949,19782,0.00,2.65,0.00,0.000,6,0.000,0.054,2706,2066,1949
$GC,20092,1.22,242.5,564.5,5.8,965,20103,0.00,0.00,9.38,1.060,6,0.000,0.000,2706,2066,1913
$GC,20401,1.22,242.5,545.5,6.3,980,20405,0.00,2.75,0.00,0.000,4,0.000,0.081,2706,3485,1913
$GC,20441,1.22,242.5,543.0,6.1,982,20445,0.00,2.62,0.00,0.000,6,0.000,0.057,2706,2067,1913
$GC,20768,1.22,242.5,521.9,6.5,998,20769,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2067,1913
$GC,21077,1.22,242.5,501.4,6.4,1013,21081,0.00,2.72,0.00,0.000,4,0.000,0.081,2706,3481,1914
$GC,21099,1.22,242.5,499.7,7.7,1014,21104,0.00,2.60,0.00,0.000,6,0.000,0.057,2706,2074,1914
$GC,21420,1.22,242.5,479.1,6.3,1030,21421,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2074,1914
$GC,21729,1.22,242.5,459.4,6.4,1045,21731,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2074,1914
$GC,22040,1.24,257.9,441.5,5.6,1060,22058,0.00,0.00,15.00,1.051,6,0.000,0.000,2706,2074,1850
$GC,22369,1.26,276.6,422.8,5.5,1076,22388,0.00,0.00,17.70,1.044,6,0.000,0.000,2706,2074,1774
$GC,22697,1.26,276.6,403.2,6.2,1092,22702,0.00,2.75,0.00,0.000,4,0.000,0.083,2706,3482,1774
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$GC,23742,1.30,308.8,337.6,5.1,1143,23773,0.00,0.00,29.25,1.007,6,0.000,0.000,2706,2072,1643
$GC,24071,1.30,308.8,318.9,6.2,1159,24075,0.00,2.75,0.00,0.000,4,0.000,0.084,2706,3488,1643
$GC,24112,1.30,308.8,316.2,8.0,1161,24116,0.00,2.65,0.00,0.000,6,0.000,0.062,2706,2072,1643
$GC,24439,1.30,308.8,293.3,7.3,1177,24443,0.00,2.75,0.00,0.000,4,0.000,0.081,2706,3486,1643
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$STATE,28434,end climb,SURFACE_DEPTH_REACHED
$STATE,28434,begin surface coast
$FINISH,0.3,1.027338
$STATE,28454,end surface coast,CONTROL_FINISHED_OK
$STATE,28455,begin surface
$SM_CCo,28539,0.00,0.000,0,0,1650,307.12
$SM_GC,0.94,11.88,0.00,0.00,0.037,0.000,0.000,53,2755,1650,-10.93,0.14,307.12
$IRIDIUM_FIX,6303.50,-557.01,290898,111158
$TT8_MAMPS,0.029146
$HUMID,1820
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,16.50
$XPDR_PINGS,90
$24V_AH,22.5,77.441
$10V_AH,10.0,43.719
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.575,174.425,423.025,0.000,0.000,86.934,94.643,258.671,31.000,0.000,0.000,31.226,2393.807,22680.914,574.521,2684.140,932.542,33.371,1888.642,0.000,2615.861,0.000,57.927,0.000
$DEVICE_MAMPS,160.303,108.147,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.095,978.507,713.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69500,1372
$CAP_FILE_SIZE,180776,0
$CFSIZE,260165632,228978688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040609,191937,6324.758,-604.068,28,1.2,28,-8.3