version: 66.10
glider: 170
mission: 8
dive: 113
start: 5 11 112 14 44 43
data:
$ID,170
$MISSION,8
$DIVE,113
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51734
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,652.74329
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-124905.6
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.25
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3121
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,146
$AH0_10V,97.5
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.674221
$PRESSURE_SLOPE,0.0001164274
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0043607452
$SEABIRD_T_H,0.00062843185
$SEABIRD_T_I,2.3948436e-05
$SEABIRD_T_J,2.5418763e-06
$SEABIRD_C_G,-9.9654589
$SEABIRD_C_H,1.1018275
$SEABIRD_C_I,-0.0017437373
$SEABIRD_C_J,0.00021077196
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110512,143305,1957.404,12008.748,27,1.1,27,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-74.3
$GPS2,110512,144419,1957.721,12009.011,15,0.8,17,-2.6
$SPEED_LIMITS,0.150,0.298
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$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,320.9,199285,-13.9,-8.684
$D_GRID,3743
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.46,-194.6,0.0,0.0,0,101,0.00,0.00,-81.18,0.000,2,0.000,0.000,136,2694,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.6,-3.1,8,147,10.40,1.60,-23.42,0.000,4,0.243,0.073,2640,3692,3925,0,0,0,0,0,0,25.44,25.95,26.44
$GC,220,-0.39,-194.6,32.4,-20.0,19,226,0.10,1.52,0.00,0.000,6,0.162,0.031,2668,2656,3927,0,0,0,0,0,0,25.94,26.20,28.83
$GC,544,-0.43,-194.6,84.1,-12.6,40,550,0.00,2.00,0.00,0.000,4,0.000,0.031,2668,1287,3930,0,0,0,0,0,0,28.83,26.27,28.83
$GC,631,-0.48,-194.6,86.5,-2.8,44,636,0.00,2.15,0.00,0.000,6,0.000,0.043,2668,2672,3930,0,0,0,0,0,0,28.83,26.18,28.83
$GC,950,-0.59,-194.6,98.0,-7.4,60,956,0.15,1.62,0.00,0.000,4,0.089,0.054,2600,3704,3930,0,0,0,0,0,0,26.42,26.22,28.83
$GC,1004,-0.66,-194.6,102.7,-9.6,62,1009,0.00,1.67,0.00,0.000,6,0.000,0.030,2600,2554,3930,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1316,-0.66,-194.6,145.3,-10.2,78,1322,0.00,1.85,0.00,0.000,4,0.000,0.028,2600,1295,3930,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1382,-0.66,-194.6,150.6,-8.9,81,1388,0.00,1.95,0.00,0.000,6,0.000,0.041,2600,2561,3930,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1700,-0.66,-194.6,177.3,-9.7,97,1705,0.00,1.80,0.00,0.000,4,0.000,0.056,2600,3701,3929,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1726,-0.66,-194.6,179.4,-9.5,98,1731,0.00,1.70,0.00,0.000,6,0.000,0.030,2600,2524,3929,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2044,-0.66,-194.6,204.6,-6.8,114,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2524,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,-0.68,-194.6,223.2,-6.8,129,2351,0.00,1.77,0.00,0.000,4,0.000,0.031,2600,1296,3926,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2369,-0.69,-194.6,225.0,-7.0,130,2375,0.00,1.98,0.00,0.000,6,0.000,0.044,2600,2565,3926,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2693,-0.71,-194.6,249.5,-7.7,146,2698,0.00,1.88,0.00,0.000,4,0.000,0.031,2600,1295,3924,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2747,-0.73,-194.6,253.0,-8.0,148,2753,0.12,1.95,0.00,0.000,6,0.089,0.044,2534,2556,3924,0,0,0,0,0,0,26.40,26.39,28.83
$GC,3061,-0.67,-194.6,302.0,-17.3,164,3063,0.17,0.00,0.00,0.000,6,0.141,0.000,2587,2556,3922,0,0,0,0,0,0,26.32,28.83,28.83
$GC,3361,-0.67,-194.6,341.5,-12.1,179,3367,0.00,1.85,0.00,0.000,4,0.000,0.030,2587,1286,3919,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3407,-0.67,-194.6,346.5,-11.6,181,3412,0.00,1.95,0.00,0.000,6,0.000,0.044,2587,2550,3919,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3725,-0.67,-194.6,376.2,-8.3,197,3731,0.00,1.85,0.00,0.000,4,0.000,0.030,2587,1292,3918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3753,-0.68,-194.6,378.1,-8.1,198,3759,0.00,1.92,0.00,0.000,6,0.000,0.044,2587,2536,3916,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4071,-0.70,-194.6,395.3,-2.6,214,4076,0.00,1.80,0.00,0.000,4,0.000,0.055,2587,3696,3914,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4108,-0.72,-194.6,395.9,-2.3,215,4115,0.00,1.73,0.00,0.000,6,0.000,0.033,2587,2533,3914,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4414,-0.74,-194.6,401.8,-2.6,231,4419,0.00,1.80,0.00,0.000,4,0.000,0.031,2587,1299,3911,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4466,-0.75,-194.6,403.0,-3.0,233,4472,0.00,1.92,0.00,0.000,6,0.000,0.045,2587,2538,3911,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4780,-0.77,-194.6,420.3,-7.1,249,4782,0.12,0.00,0.00,0.000,6,0.092,0.000,2522,2538,3908,0,0,0,0,0,0,26.66,28.83,28.83
$GC,5081,-0.71,-194.6,462.8,-16.2,264,5087,0.12,1.80,0.00,0.000,4,0.152,0.055,2563,3692,3906,0,0,0,0,0,0,26.40,26.30,28.83
$GC,5139,-0.67,-194.6,469.5,-15.8,266,5146,0.00,1.73,0.00,0.000,6,0.000,0.034,2564,2553,3907,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5444,-0.67,-194.6,515.6,-14.8,282,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2553,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5745,-0.67,-194.6,552.9,-10.8,297,5751,0.00,1.85,0.00,0.000,4,0.000,0.030,2564,1285,3902,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5791,-0.67,-194.6,557.3,-10.4,299,5796,0.00,1.98,0.00,0.000,6,0.000,0.045,2564,2550,3902,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6109,-0.67,-194.6,580.7,-6.0,315,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2550,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6409,-0.67,-194.6,598.9,-6.7,330,6415,0.00,1.80,0.00,0.000,4,0.000,0.057,2564,3701,3899,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6447,-0.67,-194.6,601.4,-7.3,332,6452,0.00,1.73,0.00,0.000,6,0.000,0.034,2564,2546,3898,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6776,-0.67,-194.6,636.9,-12.2,343,6781,0.00,1.83,0.00,0.000,4,0.000,0.031,2564,1287,3897,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6833,-0.67,-194.6,641.3,-12.2,344,6840,0.00,1.95,0.00,0.000,6,0.000,0.045,2564,2539,3896,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7138,-0.67,-194.6,684.3,-12.8,355,7144,0.00,1.85,0.00,0.000,4,0.000,0.032,2564,1298,3895,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7171,-0.67,-194.6,688.3,-12.6,356,7176,0.00,1.92,0.00,0.000,6,0.000,0.047,2564,2522,3895,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7505,-0.67,-194.6,724.4,-10.2,367,7510,0.00,1.83,0.00,0.000,4,0.000,0.032,2564,1298,3893,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7541,-0.67,-194.6,727.8,-10.0,368,7546,0.00,1.90,0.00,0.000,6,0.000,0.047,2564,2513,3893,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7870,-0.67,-194.6,758.0,-8.6,379,7876,0.00,1.85,0.00,0.000,4,0.000,0.058,2563,3691,3891,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7938,-0.67,-194.6,763.3,-8.4,381,7943,0.00,1.75,0.00,0.000,6,0.000,0.035,2564,2533,3891,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8267,-0.67,-194.6,786.4,-6.4,392,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2532,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8566,-0.67,-194.6,806.2,-6.9,402,8571,0.00,1.83,0.00,0.000,4,0.000,0.032,2565,1295,3889,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8623,-0.67,-194.6,808.6,-7.0,403,8630,0.00,1.90,0.00,0.000,6,0.000,0.047,2564,2508,3889,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8928,-0.67,-194.6,832.6,-7.4,414,8934,0.00,1.90,0.00,0.000,4,0.000,0.059,2564,3700,3887,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8956,-0.67,-194.6,832.6,-7.4,414,8963,0.00,1.77,0.00,0.000,6,0.000,0.035,2564,2524,3887,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9262,-0.67,-194.6,856.9,-7.2,425,9268,0.00,1.80,0.00,0.000,4,0.000,0.033,2564,1302,3885,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9315,-0.67,-194.6,859.5,-7.3,426,9320,0.00,1.88,0.00,0.000,6,0.000,0.047,2563,2498,3885,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9629,-0.68,-194.6,883.3,-6.9,437,9634,0.00,1.90,0.00,0.000,4,0.000,0.060,2564,3690,3885,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9687,-0.70,-194.6,885.7,-6.9,438,9693,0.00,1.77,0.00,0.000,6,0.000,0.036,2564,2518,3884,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9994,-0.71,-194.6,909.3,-7.3,449,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2518,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10292,-0.73,-194.6,932.3,-8.0,459,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2518,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10593,-0.75,-194.6,956.4,-8.0,469,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2518,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10892,-0.76,-194.6,977.9,-6.8,479,10898,0.00,1.83,0.00,0.000,4,0.000,0.034,2564,1306,3881,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10919,-0.78,-194.6,977.9,-6.8,479,10926,0.00,1.90,0.00,0.000,6,0.000,0.048,2564,2510,3881,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,11073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11074,begin apogee
$GC,11080,-0.12,0.0,990.1,-6.6,485,11244,0.57,0.00,158.82,1.438,4,0.112,0.000,2758,1949,3121,0,0,0,0,0,0,25.79,28.83,23.27
$STATE,11245,end apogee,CONTROL_FINISHED_OK
$STATE,11246,begin climb
$GC,11248,0.46,194.6,995.5,0.0,490,11436,0.55,2.30,178.60,1.395,4,0.060,0.040,2960,550,2327,0,0,0,0,0,0,24.61,24.60,22.78
$GC,11454,0.44,240.7,987.3,7.3,497,11503,0.00,2.33,43.08,1.343,6,0.000,0.037,2960,1939,2139,0,0,0,0,0,0,28.83,24.36,22.94
$GC,11831,0.42,240.7,942.7,10.9,510,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1939,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12132,0.39,240.7,914.6,9.0,520,12137,0.12,2.28,0.00,0.000,4,0.155,0.051,2919,3357,2128,0,0,0,0,0,0,25.96,25.97,28.83
$GC,12204,0.39,255.1,909.7,8.3,522,12225,0.00,2.15,12.77,1.252,6,0.000,0.033,2926,1953,2079,0,0,0,0,0,0,28.83,26.15,24.57
$GC,12527,0.47,364.3,891.0,5.4,533,12634,0.00,2.42,97.53,1.359,4,0.000,0.053,2926,3340,1635,0,0,0,0,0,0,28.83,24.70,23.61
$GC,12657,0.57,476.1,884.4,5.3,537,12770,0.17,2.22,99.40,1.324,6,0.073,0.033,3010,1955,1179,0,0,0,0,0,0,25.11,25.13,23.23
$GC,13068,0.54,476.1,823.1,17.9,551,13074,0.12,2.20,0.00,0.000,4,0.143,0.041,2979,536,1176,0,0,0,0,0,0,25.70,25.77,28.83
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$GC,13850,0.68,507.4,734.7,8.0,576,13879,0.12,2.17,21.70,1.219,6,0.090,0.037,3052,1928,1052,0,0,0,0,0,0,26.09,26.10,24.46
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$STATE,19379,end climb,SURFACE_DEPTH_REACHED
$STATE,19379,begin surface coast
$FINISH,1.1,1.006678
$STATE,19410,end surface coast,CONTROL_FINISHED_OK
$STATE,19410,begin surface
$SM_CCo,19488,0.00,0.000,0,0,459,652.99
$SM_GC,2.06,7.93,1.35,0.00,0.044,0.047,0.000,135,2686,459,-8.28,-1.10,652.99,0,0,0,0,0,0,26.06,26.24,28.83
$IRIDIUM_FIX,1948.12,12011.43,110512,141406
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.24
$INTERNAL_PRESSURE,7.25186
$TCM_TEMP,23.00
$XPDR_PINGS,3
$24V_AH,22.8,25.517
$10V_AH,9.9,11.105
$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,22.125,169.225,757.575,0.000,0.000,0.000,0.000,429.100,0.750,0.000,18.357,2721.696,13743.646,854.135,2563.623,267.640,0.000,2517.441,0.000,2023.969,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,72.675,1438.200,0.000,0.000,0.000,0.000,96.390,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19446.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.116,0.000,0.000,0.000
$MEM,325380
$DATA_FILE_SIZE,29998,850
$CAP_FILE_SIZE,222936,0
$CFSIZE,260165632,240013312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.162, 75.1,1
$GPS,110512,201035,2000.565,12008.710,30,0.7,30,-2.6