version: 66.04
glider: 105
mission: 6
dive: 219
start: 8 2 109 3 51 57
data:
$ID,105
$MISSION,6
$DIVE,219
$D_SURF,3
$D_FLARE,4
$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,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,11
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-1631895.2
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$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,3
$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,-18.439545
$PRESSURE_SLOPE,0.0001163108
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$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,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,034236,6202.442,-951.837,37,1.2,37,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-58.2
$GPS2,035137,6202.481,-951.647,15,0.9,15,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,145.1,45608,-11.0,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,121,0.00,0.00,-99.95,0.000,6,0.000,0.000,385,2247,3432
$GC,125,-0.96,-146.6,4.7,-4.5,5,147,11.62,2.55,0.00,0.000,4,0.130,0.041,2583,829,3434
$GC,426,-0.96,-146.6,44.4,-8.8,18,431,0.00,2.47,0.00,0.000,6,0.000,0.034,2583,2245,3435
$GC,743,-0.96,-146.6,61.7,-4.7,33,748,0.00,2.53,0.00,0.000,4,0.000,0.041,2584,833,3435
$GC,789,-0.96,-146.6,64.1,-5.8,35,793,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2255,3435
$GC,1117,-0.96,-146.6,91.9,-10.9,51,1121,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3653,3435
$GC,1160,-0.96,-146.6,97.5,-11.9,53,1165,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2232,3435
$GC,1482,-0.96,-146.6,123.6,-4.9,69,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2232,3436
$GC,1791,-0.96,-146.6,139.1,-5.8,84,1796,0.00,2.60,0.00,0.000,4,0.000,0.052,2583,3648,3436
$GC,1930,-0.96,-146.6,149.0,-7.4,90,1935,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2248,3436
$GC,2252,-0.96,-146.6,172.5,-8.0,106,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2247,3436
$GC,2562,-0.96,-146.6,199.9,-8.9,121,2567,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3655,3436
$GC,2623,-0.96,-146.6,205.5,-8.4,123,2630,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2239,3436
$GC,2943,-0.96,-146.6,225.2,-5.1,139,2947,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3656,3435
$GC,3023,-0.96,-146.6,229.7,-5.3,142,3029,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2254,3435
$GC,3339,-0.96,-146.6,246.0,-5.7,158,3343,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3650,3435
$GC,3411,-0.96,-146.6,250.6,-6.5,161,3415,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,3727,-0.96,-146.6,270.5,-6.7,176,3731,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3644,3434
$GC,3782,-0.96,-146.6,274.7,-8.0,178,3786,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2244,3434
$GC,4097,-0.96,-146.6,295.8,-6.4,193,4102,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3644,3434
$GC,4159,-0.96,-146.6,300.1,-6.9,195,4165,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3434
$GC,4478,-0.96,-146.6,317.5,-5.2,211,4482,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3650,3433
$GC,4527,-0.96,-146.6,320.8,-6.1,213,4531,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,4843,-0.96,-146.6,339.2,-6.3,228,4848,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3647,3433
$GC,4894,-0.96,-146.6,342.9,-7.2,230,4898,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3434
$GC,5217,-0.96,-146.6,368.0,-8.1,246,5221,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3657,3433
$GC,5260,-0.96,-146.6,372.1,-9.0,248,5264,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,5584,-0.96,-146.6,398.4,-7.8,264,5589,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3433
$GC,5651,-0.96,-146.6,404.2,-8.4,267,5656,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2252,3433
$GC,5978,-0.96,-146.6,427.2,-6.9,283,5982,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3433
$GC,6078,-0.96,-146.6,434.4,-7.2,287,6084,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3433
$GC,6394,-0.96,-146.6,454.6,-6.5,303,6398,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3432
$GC,6443,-0.96,-146.6,458.1,-7.0,305,6448,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3432
$GC,6759,-0.96,-146.6,479.3,-7.3,320,6764,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3647,3432
$GC,6819,-0.96,-146.6,484.4,-8.2,322,6826,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,7136,-0.96,-146.6,509.4,-8.2,338,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3432
$GC,7444,-0.96,-146.6,534.7,-8.2,353,7449,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3655,3432
$GC,7528,-0.96,-146.6,542.0,-8.9,357,7533,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2242,3432
$GC,7856,-0.96,-146.6,564.8,-6.0,373,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2241,3432
$GC,8165,-0.96,-146.6,580.7,-4.9,388,8169,0.00,2.55,0.00,0.000,4,0.000,0.056,2583,3650,3432
$GC,8237,-0.96,-146.6,584.6,-5.9,391,8242,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2253,3432
$GC,8553,-0.96,-146.6,601.4,-5.6,406,8558,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3647,3432
$GC,8643,-0.96,-146.6,607.4,-6.7,410,8647,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2251,3431
$GC,8971,-0.96,-146.6,626.3,-5.6,426,8975,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3649,3431
$GC,9071,-0.96,-146.6,632.5,-6.7,430,9079,0.00,2.45,0.00,0.000,6,0.000,0.032,2583,2248,3431
$GC,9387,-0.96,-146.6,652.8,-6.3,446,9391,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3655,3431
$GC,9521,-0.96,-146.6,661.7,-6.8,452,9525,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2251,3431
$GC,9842,-0.96,-146.6,682.2,-6.5,468,9846,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3650,3431
$GC,9892,-0.96,-146.6,685.5,-5.9,470,9896,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2250,3431
$GC,10207,-0.96,-146.6,707.7,-8.4,485,10212,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3650,3429
$GC,10252,-0.96,-146.6,711.3,-7.3,487,10257,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2254,3429
$STATE,10536,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10536,begin apogee
$GC,10545,-0.36,0.0,729.3,5.7,501,10678,0.65,0.00,128.00,1.278,6,0.063,0.000,2723,1464,2832
$STATE,10678,end apogee,CONTROL_FINISHED_OK
$STATE,10679,begin climb
$GC,10681,0.96,146.6,733.5,0.0,508,10819,1.30,2.30,128.73,1.236,4,0.051,0.064,3009,263,2233
$GC,10874,0.96,146.6,726.5,6.8,517,10878,0.00,2.08,0.00,0.000,6,0.000,0.034,3009,1471,2228
$GC,11206,0.99,169.1,707.9,5.4,533,11231,0.00,2.55,19.83,1.175,4,0.000,0.048,3009,2853,2141
$GC,11357,0.99,169.1,699.5,6.6,539,11363,0.00,2.50,0.00,0.000,6,0.000,0.042,3010,1447,2138
$GC,11675,1.00,176.8,680.3,5.8,555,11689,0.00,2.55,7.45,1.026,4,0.000,0.046,3009,2837,2111
$GC,11793,1.03,197.2,673.2,5.4,560,11818,0.00,2.47,19.90,1.187,6,0.000,0.041,3009,1448,2029
$GC,12141,1.03,197.2,650.0,6.9,577,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1447,2023
$GC,12450,1.03,197.2,628.2,7.7,592,12454,0.00,2.53,0.00,0.000,4,0.000,0.048,3009,2853,2021
$GC,12494,1.03,197.2,624.8,7.4,594,12498,0.00,2.50,0.00,0.000,6,0.000,0.041,3009,1446,2021
$GC,12815,1.03,197.2,602.2,6.8,610,12820,0.00,2.53,0.00,0.000,4,0.000,0.045,3009,2854,2020
$GC,12927,1.03,197.2,594.7,6.3,615,12932,0.00,2.47,0.00,0.000,6,0.000,0.039,3009,1453,2019
$GC,13249,1.03,197.2,572.2,7.3,631,13253,0.00,2.47,0.00,0.000,4,0.000,0.045,3009,2846,2019
$GC,13338,1.03,197.2,565.9,7.8,635,13342,0.00,2.45,0.00,0.000,6,0.000,0.039,3009,1448,2018
$GC,13662,1.03,197.2,542.4,7.6,651,13666,0.00,2.47,0.00,0.000,4,0.000,0.043,3009,2851,2018
$GC,13705,1.03,197.2,539.0,7.2,653,13710,0.00,2.47,0.00,0.000,6,0.000,0.038,3009,1445,2018
$GC,14026,1.03,197.2,515.1,7.3,669,14031,0.00,2.50,0.00,0.000,4,0.000,0.042,3009,2846,2019
$GC,14082,1.03,197.2,510.7,7.8,671,14086,0.00,2.45,0.00,0.000,6,0.000,0.038,3009,1452,2018
$GC,14398,1.03,197.2,486.7,7.2,686,14402,0.00,2.45,0.00,0.000,4,0.000,0.042,3009,2847,2018
$GC,14431,1.03,197.2,484.2,7.4,687,14437,0.00,2.42,0.00,0.000,6,0.000,0.038,3009,1454,2018
$GC,14749,1.03,197.2,464.2,6.3,703,14753,0.00,2.45,0.00,0.000,4,0.000,0.041,3009,2850,2018
$GC,14776,1.03,197.2,462.2,6.1,704,14781,0.00,2.47,0.00,0.000,6,0.000,0.038,3009,1460,2018
$GC,15098,1.03,202.1,443.3,5.9,720,15107,0.00,2.45,4.60,0.755,4,0.000,0.041,3010,2847,2007
$GC,15136,1.04,204.3,440.9,5.9,721,15143,0.00,2.45,0.00,0.000,6,0.000,0.038,3009,1445,2006
$GC,15454,1.04,204.3,420.0,7.1,737,15458,0.00,2.50,0.00,0.000,4,0.000,0.041,3009,2856,2006
$GC,15509,1.04,204.3,415.6,7.0,739,15515,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1454,2007
$GC,15825,1.04,204.3,392.8,6.9,755,15829,0.00,2.47,0.00,0.000,4,0.000,0.041,3009,2854,2007
$GC,15881,1.04,204.3,388.8,7.3,757,15887,0.00,2.45,0.00,0.000,6,0.000,0.037,3009,1453,2007
$GC,16197,1.06,225.3,369.8,5.4,773,16226,0.00,2.58,22.25,1.002,4,0.000,0.041,3009,2855,1912
$GC,16272,1.07,230.8,365.3,5.9,776,16285,0.05,2.50,6.25,0.803,6,0.039,0.037,3058,1457,1890
$GC,16595,1.07,230.8,341.4,7.2,792,16600,0.12,2.47,0.00,0.000,4,0.077,0.040,3031,2851,1889
$GC,16628,1.07,230.8,338.9,6.9,793,16634,0.00,2.42,0.00,0.000,6,0.000,0.038,3032,1453,1888
$GC,16943,1.07,230.8,318.6,6.7,809,16948,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2848,1888
$GC,16976,1.07,230.8,316.3,7.2,810,16983,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1452,1888
$GC,17295,1.07,230.8,294.3,7.2,826,17296,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1452,1888
$GC,17603,1.07,230.8,272.5,6.9,841,17604,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1452,1888
$GC,17911,1.07,230.8,252.4,6.3,856,17912,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1452,1888
$GC,18220,1.07,230.8,233.3,6.1,871,18221,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1452,1888
$GC,18530,1.07,230.8,214.6,6.5,886,18531,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1452,1889
$GC,18839,1.07,230.8,191.2,7.9,901,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1451,1888
$GC,19150,1.07,230.8,168.5,6.8,916,19152,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1452,1888
$GC,19459,1.07,230.8,147.8,7.5,931,19460,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1452,1888
$GC,19766,1.07,230.8,121.6,7.3,946,19768,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1451,1889
$GC,20076,1.07,230.8,100.8,7.5,961,20078,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1451,1889
$GC,20387,1.24,366.6,84.6,2.3,976,20508,0.17,0.00,117.70,0.825,6,0.035,0.000,3104,1451,1337
$GC,20816,1.24,366.6,33.8,11.3,997,20820,0.17,2.15,0.00,0.000,4,0.071,0.056,3064,264,1326
$GC,20946,1.24,366.6,16.5,12.4,1003,20951,0.00,2.05,0.00,0.000,6,0.000,0.030,3064,1459,1324
$STATE,21090,end climb,SURFACE_DEPTH_REACHED
$STATE,21090,begin surface coast
$FINISH,1.0,1.026867
$STATE,21113,end surface coast,CONTROL_FINISHED_OK
$STATE,21113,begin surface
$SM_CCo,21197,0.00,0.000,0,0,1320,370.65
$SM_GC,0.99,11.62,0.00,0.00,0.025,0.000,0.000,390,2240,1320,-11.00,-0.28,370.65
$IRIDIUM_FIX,6139.81,-954.11,271098,030322
$TT8_MAMPS,0.026845
$HUMID,1887
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.6,63.7
$24V_AH,23.2,49.130
$10V_AH,10.1,30.150
$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,25.725,200.000,454.700,0.000,0.000,66.314,72.233,208.694,5.750,0.000,0.000,15.957,1886.100,15917.067,613.689,2319.689,999.645,0.000,1849.790,0.000,2496.645,0.000,39.546,0.000
$DEVICE_MAMPS,129.623,64.428,1277.822,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.814,741.372,595.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50460,1011
$CAP_FILE_SIZE,158987,0
$CFSIZE,260165632,241631232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,020809,094631,6201.391,-941.084,40,1.7,40,-9.8