version: 66.11
glider: 189
mission: 7
dive: 54
start: 9 28 112 19 59 24
data:
$ID,189
$MISSION,7
$DIVE,54
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,540
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$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,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46941.781
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,280912,194335,2433.539,-3802.523,34,1.0,34,-14.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-63.6
$GPS2,280912,195824,2433.633,-3802.567,16,1.5,16,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.169,0.112
$KALMAN_X,8305.2,-204.0,-139.8,-9081.1,302.6
$KALMAN_Y,59033.5,-417.1,5.8,-62291.8,2095.0
$MHEAD_RNG_PITCHd_Wd,70.5,36477,-11.8,-6.111,-16.77
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-32.45,0.000,2,0.000,0.000,160,1823,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.3,-4.5,3,105,9.88,2.35,-26.48,0.000,4,0.216,0.056,2718,349,2919,0,0,0,0,0,0,25.91,26.27,26.63
$GC,335,-0.65,-146.6,33.2,-13.6,31,344,0.28,2.33,0.00,0.000,6,0.142,0.024,2787,1888,2920,0,0,0,0,0,0,26.16,26.46,28.83
$GC,645,-0.56,-146.6,61.8,-8.9,62,655,0.10,2.45,0.00,0.000,4,0.161,0.039,2804,3458,2922,0,0,0,0,0,0,26.48,26.49,28.83
$GC,885,-0.52,-146.6,82.4,-7.6,80,892,0.00,2.45,0.00,0.000,6,0.000,0.023,2805,1824,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1216,-0.48,-146.6,101.4,-5.8,91,1224,0.15,2.28,0.00,0.000,4,0.134,0.041,2850,350,2923,0,0,0,0,0,0,26.51,26.58,28.83
$GC,1324,-0.45,-146.6,105.8,-5.0,94,1328,0.00,2.30,0.00,0.000,6,0.000,0.024,2840,1890,2923,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1625,-0.45,-146.6,119.1,-3.9,104,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1890,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1924,-0.45,-146.6,135.8,-6.2,114,1929,0.00,2.40,0.00,0.000,4,0.000,0.038,2828,3453,2924,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2074,-0.45,-146.6,145.0,-6.6,119,2079,0.00,2.45,0.00,0.000,6,0.000,0.022,2828,1814,2924,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2416,-0.45,-146.6,161.8,-4.4,127,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1815,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2716,-0.45,-146.6,174.7,-4.4,132,2724,0.00,2.53,0.00,0.000,4,0.000,0.037,2816,3452,2923,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2805,-0.45,-146.6,177.3,-4.4,133,2810,0.12,2.45,0.00,0.000,6,0.129,0.023,2854,1813,2923,0,0,0,0,0,0,26.55,26.73,28.83
$GC,3127,-0.50,-146.6,190.8,-3.9,139,3135,0.00,2.28,0.00,0.000,4,0.000,0.043,2854,351,2923,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3307,-0.54,-146.6,199.2,-4.5,142,3315,0.00,2.30,0.00,0.000,6,0.000,0.024,2847,1889,2922,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3668,-0.58,-146.6,214.7,-4.3,148,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3967,-0.63,-146.6,230.8,-5.4,153,3969,0.15,0.00,0.00,0.000,6,0.071,0.000,2761,1889,2921,0,0,0,0,0,0,26.82,28.83,28.83
$GC,4267,-0.58,-146.6,251.9,-7.1,158,4269,0.17,0.00,0.00,0.000,6,0.126,0.000,2814,1889,2921,0,0,0,0,0,0,26.58,28.83,28.83
$GC,4567,-0.58,-146.6,266.4,-4.7,163,4575,0.00,2.42,0.00,0.000,4,0.000,0.042,2815,341,2919,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4776,-0.58,-146.6,274.5,-4.5,166,4780,0.00,2.33,0.00,0.000,6,0.000,0.024,2804,1893,2918,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5097,-0.58,-146.6,291.6,-4.9,172,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1894,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,-0.58,-146.6,308.7,-5.7,177,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1893,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5697,-0.58,-146.6,324.6,-5.4,182,5705,0.00,2.42,0.00,0.000,4,0.000,0.043,2805,347,2916,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5867,-0.58,-146.6,331.8,-5.6,184,5871,0.00,2.33,0.00,0.000,6,0.000,0.025,2793,1893,2915,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6167,-0.58,-146.6,354.0,-6.3,189,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1893,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6467,-0.58,-146.6,372.7,-6.2,194,6471,0.00,2.42,0.00,0.000,4,0.000,0.041,2782,3456,2913,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6587,-0.58,-146.6,379.1,-5.8,196,6592,0.10,2.45,0.00,0.000,6,0.144,0.024,2810,1827,2912,0,0,0,0,0,0,26.56,26.73,28.83
$GC,6930,-0.61,-146.6,396.8,-4.9,202,6937,0.00,2.33,0.00,0.000,4,0.000,0.044,2810,342,2912,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7059,-0.61,-146.6,403.2,-5.1,204,7063,0.00,2.33,0.00,0.000,6,0.000,0.025,2800,1887,2912,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7400,-0.63,-146.6,421.7,-5.2,210,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1887,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7700,-0.65,-146.6,439.9,-6.3,215,7707,0.00,2.42,0.00,0.000,4,0.000,0.044,2800,345,2909,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7869,-0.65,-146.6,449.4,-7.2,217,7873,0.00,2.33,0.00,0.000,6,0.000,0.025,2789,1892,2909,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8170,-0.65,-146.6,476.9,-7.7,222,8177,0.00,2.42,0.00,0.000,4,0.000,0.041,2778,3456,2908,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8269,-0.65,-146.6,481.5,-7.6,223,8273,0.00,2.45,0.00,0.000,6,0.000,0.024,2776,1828,2908,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8640,-0.65,-146.6,509.4,-6.6,229,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1827,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9000,-0.65,-146.6,528.9,-5.6,232,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1827,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9360,-0.65,-146.6,544.6,-4.5,235,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1827,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9720,-0.65,-146.6,560.7,-4.5,238,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1827,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10080,-0.65,-146.6,579.0,-4.8,241,10088,0.00,2.33,0.00,0.000,4,0.000,0.045,2777,354,2903,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10209,-0.65,-146.6,587.7,-5.6,242,10213,0.00,2.30,0.00,0.000,6,0.000,0.026,2763,1882,2903,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10550,-0.65,-146.6,614.4,-7.6,245,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1883,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10910,-0.65,-146.6,636.5,-6.5,248,10914,0.00,2.42,0.00,0.000,4,0.000,0.045,2767,351,2904,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11070,-0.65,-146.6,642.9,-6.0,249,11075,0.12,2.33,0.00,0.000,6,0.143,0.026,2793,1889,2901,0,0,0,0,0,0,26.48,26.72,28.83
$GC,11373,-0.68,-146.6,657.9,-4.6,252,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1890,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11733,-0.72,-146.6,674.3,-4.4,255,11740,0.00,2.45,0.00,0.000,4,0.000,0.046,2793,344,2899,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11862,-0.76,-146.6,681.4,-4.9,256,11866,0.00,2.33,0.00,0.000,6,0.000,0.026,2784,1881,2899,0,0,0,0,0,0,28.83,26.71,28.83
$GC,12203,-0.80,-146.6,702.3,-5.9,259,12205,0.12,0.00,0.00,0.000,6,0.083,0.000,2719,1882,2898,0,0,0,0,0,0,26.82,28.83,28.83
$GC,12563,-0.80,-146.6,732.7,-8.0,262,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12923,-0.76,-146.6,762.4,-8.4,265,12932,0.12,2.42,0.00,0.000,4,0.144,0.047,2754,355,2894,0,0,0,0,0,0,26.60,26.57,28.83
$GC,13024,-0.73,-146.6,762.4,-8.4,265,13031,0.00,2.33,0.00,0.000,6,0.000,0.028,2744,1886,2896,0,0,0,0,0,0,28.83,26.69,28.83
$GC,13403,-0.73,-146.6,790.2,-5.8,269,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1886,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13763,-0.73,-146.6,803.8,-4.0,272,13764,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1886,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14123,-0.73,-146.6,819.4,-4.2,275,14130,0.00,2.45,0.00,0.000,4,0.000,0.047,2744,350,2894,0,0,0,0,0,0,28.83,26.54,28.83
$GC,14212,-0.73,-146.6,819.4,-4.2,275,14217,0.12,2.33,0.00,0.000,6,0.148,0.027,2767,1882,2893,0,0,0,0,0,0,26.42,26.68,28.83
$GC,14595,-0.75,-146.6,847.6,-5.9,279,14602,0.00,2.42,0.00,0.000,4,0.000,0.047,2768,349,2892,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14664,-0.78,-146.6,847.6,-5.9,279,14668,0.00,2.33,0.00,0.000,6,0.000,0.027,2759,1881,2892,0,0,0,0,0,0,28.83,26.67,28.83
$GC,15065,-0.81,-146.6,880.0,-6.9,283,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1882,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15425,-0.83,-146.6,905.3,-7.0,286,15426,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1883,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15785,-0.86,-146.6,929.4,-6.7,289,15794,0.12,2.45,0.00,0.000,4,0.083,0.048,2695,350,2889,0,0,0,0,0,0,26.79,26.51,28.83
$GC,15874,-0.89,-146.6,929.4,-6.7,289,15878,0.00,2.35,0.00,0.000,6,0.000,0.028,2683,1889,2888,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16255,-0.86,-146.6,971.4,-8.9,293,16257,0.15,0.00,0.00,0.000,6,0.150,0.000,2726,1889,2888,0,0,0,0,0,0,26.47,28.83,28.83
$STATE,16613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16614,begin apogee
$GC,16618,-0.29,0.0,997.4,-7.6,296,16745,0.55,0.00,120.90,1.752,6,0.114,0.000,2907,1837,2319,0,0,0,0,0,0,26.20,28.83,23.85
$STATE,16746,end apogee,CONTROL_FINISHED_OK
$STATE,16746,begin climb
$GC,16748,0.86,146.6,999.9,0.0,297,16883,1.05,0.00,130.50,1.729,6,0.073,0.000,3272,1836,1721,0,0,0,0,0,0,25.01,28.83,23.65
$GC,17216,0.73,146.6,958.2,10.4,301,17224,0.15,2.58,0.00,0.000,4,0.158,0.041,3231,3443,1713,0,0,0,0,0,0,25.89,26.01,28.83
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$GC,23309,0.62,259.3,556.7,5.2,352,23343,0.00,2.38,29.05,1.413,6,0.000,0.028,3203,1881,1261,0,0,0,0,0,0,28.83,26.21,24.58
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$STATE,30078,end climb,SURFACE_DEPTH_REACHED
$STATE,30078,begin surface coast
$FINISH,0.7,1.023670
$STATE,30120,end surface coast,CONTROL_FINISHED_OK
$STATE,30120,begin surface
$SM_CCo,30137,7.05,0.148,0,0,1092,300.00
$SM_GC,2.76,8.02,0.05,7.05,0.037,0.143,0.148,160,1841,1092,-8.83,0.79,300.00,0,0,0,0,0,0,26.72,26.82,26.42
$IRIDIUM_FIX,2437.06,-3754.37,280912,191913
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.59
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,24.90
$XPDR_PINGS,10
$SC_FREEKB,7749152
$TM_FREEKB,7394016
$24V_AH,23.7,12.242
$10V_AH,10.4,11.427
$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,22.950,162.650,367.875,7.050,0.000,80.228,126.178,353.385,2.500,0.000,16.700,2093.577,25925.258,676.336,2147.598,194.115,33.264,1496.442,0.000,1419.191,0.000,0.537,0.000
$DEVICE_MAMPS,215.730,143.055,1751.850,148.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30022.000,5802.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.864,13.547,0.000,0.000
$MEM,344608
$DATA_FILE_SIZE,16718,562
$CAP_FILE_SIZE,198496,0
$CFSIZE,260034560,248442880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290912,042304,2436.427,-3759.024,41,1.0,41,-14.0