version: 66.09
glider: 181
mission: 6
dive: 100
start: 6 29 111 20 19 3
data:
$ID,181
$MISSION,6
$DIVE,100
$N_DIVES,100
$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,400
$T_MISSION,440
$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,-8
$MAX_BUOY,150
$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,-40548.121
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,67
$R_STBD_OVSHOOT,37
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,290611,201136,2000.534,11953.052,32,0.8,32,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.1
$GPS2,290611,201838,2000.528,11953.065,10,1.5,10,-2.2
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,176.0,112754,-14.5,-8.250
$D_GRID,3501
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.47,-146.0,0.0,0.0,0,75,0.00,0.00,-57.03,0.000,2,0.000,0.000,206,2573,2427,0,0,0,0,0,0
$GC,78,-0.47,-146.0,3.1,-4.2,8,117,7.82,2.05,-22.65,0.000,4,0.233,0.039,2140,1197,3466,0,0,0,0,0,0
$GC,150,-0.47,-146.0,27.2,-39.0,19,158,0.00,2.22,0.00,0.000,6,0.000,0.044,2131,2586,3468,0,0,0,0,0,0
$GC,284,-0.47,-146.0,77.8,-38.7,44,292,0.00,1.85,0.00,0.000,4,0.000,0.041,2122,3783,3468,0,0,0,0,0,0
$GC,372,-0.47,-146.0,107.7,-30.2,60,380,0.00,1.75,0.00,0.000,6,0.000,0.024,2122,2617,3470,0,0,0,0,0,0
$GC,506,-0.47,-146.0,136.3,-23.3,85,514,0.00,2.12,0.00,0.000,4,0.000,0.028,2122,1196,3472,0,0,0,0,0,0
$GC,558,-0.47,-146.0,148.1,-19.6,94,567,0.10,2.20,0.00,0.000,6,0.152,0.037,2143,2600,3471,0,0,0,0,0,0
$GC,696,-0.47,-146.0,172.7,-18.0,119,704,0.00,1.85,0.00,0.000,4,0.000,0.043,2135,3783,3471,0,0,0,0,0,0
$GC,748,-0.47,-146.0,182.7,-17.3,128,756,0.00,1.77,0.00,0.000,6,0.000,0.024,2135,2587,3472,0,0,0,0,0,0
$GC,889,-0.47,-146.0,210.9,-20.3,149,893,0.00,2.03,0.00,0.000,4,0.000,0.028,2135,1211,3472,0,0,0,0,0,0
$GC,936,-0.47,-146.0,219.5,-17.6,153,940,0.00,2.12,0.00,0.000,6,0.000,0.036,2126,2603,3472,0,0,0,0,0,0
$GC,1266,-0.47,-146.0,281.8,-17.0,184,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2603,3472,0,0,0,0,0,0
$GC,1586,-0.47,-146.0,325.2,-13.8,214,1590,0.00,2.08,0.00,0.000,4,0.000,0.030,2126,1202,3470,0,0,0,0,0,0
$GC,1641,-0.47,-146.0,333.0,-13.2,218,1648,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2582,3470,0,0,0,0,0,0
$GC,1966,-0.47,-146.0,381.9,-15.4,249,1970,0.00,1.83,0.00,0.000,4,0.000,0.045,2116,3791,3467,0,0,0,0,0,0
$GC,2012,-0.47,-146.0,388.4,-13.9,253,2017,0.12,1.73,0.00,0.000,6,0.150,0.026,2149,2604,3467,0,0,0,0,0,0
$GC,2342,-0.47,-146.0,427.7,-12.3,284,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2600,3464,0,0,0,0,0,0
$GC,2663,-0.47,-146.0,466.4,-11.8,314,2666,0.00,2.05,0.00,0.000,4,0.000,0.032,2150,1211,3460,0,0,0,0,0,0
$GC,2725,-0.47,-146.0,473.8,-10.8,319,2732,0.00,2.10,0.00,0.000,6,0.000,0.037,2150,2587,3459,0,0,0,0,0,0
$GC,3060,-0.47,-146.0,508.8,-10.7,347,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2588,3456,0,0,0,0,0,0
$GC,3368,-0.47,-146.0,541.5,-10.4,362,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2588,3453,0,0,0,0,0,0
$GC,3677,-0.47,-146.0,573.2,-10.4,377,3681,0.00,2.08,0.00,0.000,4,0.000,0.034,2150,1201,3451,0,0,0,0,0,0
$GC,3739,-0.47,-146.0,579.2,-9.4,380,3743,0.00,2.10,0.00,0.000,6,0.000,0.040,2150,2570,3450,0,0,0,0,0,0
$GC,4066,-0.47,-146.0,611.4,-9.7,396,4070,0.00,1.85,0.00,0.000,4,0.000,0.050,2149,3780,3447,0,0,0,0,0,0
$GC,4104,-0.47,-146.0,615.3,-9.6,397,4111,0.00,1.83,0.00,0.000,6,0.000,0.028,2152,2570,3447,0,0,0,0,0,0
$GC,4421,-0.47,-146.0,644.7,-9.3,413,4425,0.00,2.03,0.00,0.000,4,0.000,0.034,2150,1200,3444,0,0,0,0,0,0
$GC,4482,-0.47,-146.0,650.5,-8.8,415,4489,0.00,2.12,0.00,0.000,6,0.000,0.039,2142,2558,3444,0,0,0,0,0,0
$GC,4798,-0.47,-146.0,678.9,-9.0,431,4802,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3786,3441,0,0,0,0,0,0
$GC,4837,-0.47,-146.0,682.4,-8.8,432,4844,0.00,1.83,0.00,0.000,6,0.000,0.030,2138,2555,3441,0,0,0,0,0,0
$GC,5153,-0.47,-146.0,712.0,-9.9,448,5157,0.00,2.00,0.00,0.000,4,0.000,0.034,2138,1201,3439,0,0,0,0,0,0
$GC,5225,-0.47,-146.0,719.3,-9.3,451,5229,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2567,3438,0,0,0,0,0,0
$GC,5553,-0.47,-146.0,751.7,-10.1,467,5557,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1206,3436,0,0,0,0,0,0
$GC,5580,-0.47,-146.0,754.8,-10.4,468,5584,0.00,2.12,0.00,0.000,6,0.000,0.041,2137,2558,3436,0,0,0,0,0,0
$GC,5908,-0.47,-146.0,788.9,-10.2,484,5912,0.00,1.92,0.00,0.000,4,0.000,0.051,2138,3780,3434,0,0,0,0,0,0
$GC,5941,-0.47,-146.0,792.3,-10.7,485,5945,0.00,1.85,0.00,0.000,6,0.000,0.030,2138,2561,3434,0,0,0,0,0,0
$GC,6263,-0.47,-146.0,823.4,-9.4,501,6266,0.00,2.03,0.00,0.000,4,0.000,0.036,2137,1195,3433,0,0,0,0,0,0
$GC,6301,-0.47,-146.0,827.0,-9.0,502,6309,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2566,3432,0,0,0,0,0,0
$GC,6618,-0.47,-146.0,854.8,-8.8,518,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2566,3431,0,0,0,0,0,0
$GC,6927,-0.47,-146.0,882.3,-8.8,533,6931,0.00,2.08,0.00,0.000,4,0.000,0.037,2138,1191,3430,0,0,0,0,0,0
$GC,6971,-0.47,-146.0,886.3,-8.9,535,6975,0.00,2.10,0.00,0.000,6,0.000,0.041,2138,2552,3433,0,0,0,0,0,0
$GC,7298,-0.47,-146.0,915.0,-9.0,551,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2556,3428,0,0,0,0,0,0
$GC,7607,-0.47,-146.0,943.2,-9.0,566,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2556,3427,0,0,0,0,0,0
$GC,7917,-0.47,-146.0,970.5,-8.7,581,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2561,3424,0,0,0,0,0,0
$STATE,8141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8141,begin apogee
$GC,8147,-0.16,0.0,990.0,8.5,592,8263,0.32,0.00,110.10,1.115,4,0.124,0.000,2245,2115,2869,0,0,0,0,0,0
$STATE,8264,end apogee,CONTROL_FINISHED_OK
$STATE,8264,begin climb
$GC,8266,0.47,146.0,994.3,0.0,597,8397,0.62,2.28,120.25,1.084,4,0.088,0.041,2452,716,2273,0,0,0,0,0,0
$GC,8652,0.47,146.0,966.9,8.5,615,8656,0.00,2.25,0.00,0.000,6,0.000,0.037,2452,2141,2266,0,0,0,0,0,0
$GC,8978,0.47,146.0,936.8,9.0,631,8982,0.00,2.22,0.00,0.000,4,0.000,0.040,2462,709,2262,0,0,0,0,0,0
$GC,9235,0.47,146.0,914.2,8.7,642,9242,0.00,2.22,0.00,0.000,6,0.000,0.037,2462,2120,2262,0,0,0,0,0,0
$GC,9552,0.47,146.0,887.0,8.3,658,9556,0.00,2.20,0.00,0.000,4,0.000,0.046,2462,3542,2261,0,0,0,0,0,0
$GC,9579,0.47,146.0,884.4,8.6,659,9583,0.00,2.20,0.00,0.000,6,0.000,0.030,2472,2092,2260,0,0,0,0,0,0
$GC,9900,0.47,146.0,856.6,8.3,675,9904,0.00,2.08,0.00,0.000,4,0.000,0.041,2483,725,2259,0,0,0,0,0,0
$GC,9972,0.47,146.0,850.2,9.0,678,9976,0.00,2.12,0.00,0.000,6,0.000,0.035,2483,2118,2259,0,0,0,0,0,0
$GC,10294,0.47,146.0,821.5,9.0,694,10298,0.00,2.20,0.00,0.000,4,0.000,0.044,2483,3544,2258,0,0,0,0,0,0
$GC,10334,0.47,146.0,817.6,9.8,696,10339,0.15,2.17,0.00,0.000,6,0.194,0.029,2457,2104,2258,0,0,0,0,0,0
$GC,10663,0.52,182.9,793.9,6.8,712,10698,0.00,2.22,27.90,0.978,4,0.000,0.039,2466,719,2123,0,0,0,0,0,0
$GC,10782,0.54,205.2,784.9,7.4,717,10808,0.00,2.12,19.27,0.927,6,0.000,0.034,2466,2092,2032,0,0,0,0,0,0
$GC,11126,0.54,205.2,755.5,9.2,734,11130,0.00,2.25,0.00,0.000,4,0.000,0.044,2466,3538,2028,0,0,0,0,0,0
$GC,11166,0.54,205.2,751.3,10.5,736,11170,0.00,2.22,0.00,0.000,6,0.000,0.030,2476,2084,2028,0,0,0,0,0,0
$GC,11493,0.54,205.2,713.4,12.2,752,11497,0.00,2.08,0.00,0.000,4,0.000,0.039,2486,716,2027,0,0,0,0,0,0
$GC,11533,0.54,205.2,708.5,12.4,754,11537,0.00,2.10,0.00,0.000,6,0.000,0.033,2486,2086,2027,0,0,0,0,0,0
$GC,11860,0.54,205.2,663.8,14.0,770,11864,0.00,2.25,0.00,0.000,4,0.000,0.045,2487,3536,2026,0,0,0,0,0,0
$GC,11903,0.54,205.2,656.8,15.6,772,11908,0.00,2.20,0.00,0.000,6,0.000,0.029,2496,2079,2025,0,0,0,0,0,0
$GC,12231,0.54,205.2,607.3,15.4,788,12235,0.00,2.08,0.00,0.000,4,0.000,0.040,2507,709,2025,0,0,0,0,0,0
$GC,12345,0.54,205.2,590.2,15.0,793,12349,0.00,2.10,0.00,0.000,6,0.000,0.034,2506,2085,2025,0,0,0,0,0,0
$GC,12672,0.54,205.2,541.3,13.9,809,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2085,2028,0,0,0,0,0,0
$GC,12981,0.54,205.2,500.1,13.0,824,12985,0.00,2.10,0.00,0.000,4,0.000,0.039,2515,713,2025,0,0,0,0,0,0
$GC,13016,0.54,205.2,495.5,13.1,826,13021,0.15,2.05,0.00,0.000,6,0.161,0.036,2476,2060,2025,0,0,0,0,0,0
$GC,13341,0.54,205.2,458.8,11.5,856,13346,0.00,2.28,0.00,0.000,4,0.000,0.046,2476,3541,2026,0,0,0,0,0,0
$GC,13419,0.54,205.2,448.7,12.9,862,13426,0.00,2.25,0.00,0.000,6,0.000,0.030,2485,2056,2024,0,0,0,0,0,0
$GC,13745,0.54,205.2,411.1,11.6,893,13749,0.00,2.30,0.00,0.000,4,0.000,0.042,2484,3542,2024,0,0,0,0,0,0
$GC,13774,0.54,205.2,407.4,12.4,895,13778,0.00,2.22,0.00,0.000,6,0.000,0.031,2494,2064,2024,0,0,0,0,0,0
$GC,14099,0.54,205.2,367.3,12.5,925,14103,0.00,2.08,0.00,0.000,4,0.000,0.041,2505,722,2024,0,0,0,0,0,0
$GC,14160,0.54,205.2,359.4,12.5,930,14167,0.00,2.05,0.00,0.000,6,0.000,0.034,2505,2069,2024,0,0,0,0,0,0
$GC,14486,0.54,205.2,321.1,10.0,961,14490,0.00,2.25,0.00,0.000,4,0.000,0.045,2505,3536,2024,0,0,0,0,0,0
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$GC,15601,0.55,210.6,217.9,10.2,1064,15605,0.00,2.28,0.00,0.000,4,0.000,0.044,2485,3551,2012,0,0,0,0,0,0
$GC,15705,0.55,210.6,207.0,9.9,1073,15712,0.00,2.22,0.00,0.000,6,0.000,0.030,2495,2061,2012,0,0,0,0,0,0
$GC,16026,0.61,259.5,181.3,6.4,1126,16070,0.00,0.00,38.30,0.597,6,0.000,0.000,2495,2061,1809,0,0,0,0,0,0
$GC,16198,0.65,296.0,170.2,6.9,1156,16236,0.00,2.38,28.20,0.558,4,0.000,0.041,2495,3532,1661,0,0,0,0,0,0
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$STATE,18119,end climb,SURFACE_DEPTH_REACHED
$STATE,18119,begin surface coast
$FINISH,0.2,1.020942
$STATE,18148,end surface coast,CONTROL_FINISHED_OK
$STATE,18148,begin surface
$SM_CCo,18225,0.00,0.000,0,0,875,489.13
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$IRIDIUM_FIX,1952.70,11956.07,290611,141412
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.01
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.1,15.619
$10V_AH,10.1,16.967
$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
$DEVICE_SECS,15.650,177.700,500.250,0.000,0.000,25.920,46.303,204.008,0.000,0.000,13.205,3622.830,10231.808,590.139,3814.640,369.797,0.000,2104.454,0.000,2603.897,0.000,0.541,0.000
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$SENSOR_SECS,1046.039,1571.715,1779.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322664
$DATA_FILE_SIZE,100359,1502
$CAP_FILE_SIZE,190008,0
$CFSIZE,260165632,241569792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,012406,1959.968,11950.958,40,1.0,40,-2.2