version: 66.11
glider: 189
mission: 7
dive: 112
start: 10 17 112 1 2 29
data:
$ID,189
$MISSION,7
$DIVE,112
$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,-47263.973
$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
$GPS1,171012,005304,2440.275,-3749.204,37,0.8,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-56.9
$GPS2,171012,010130,2440.270,-3749.273,16,1.1,16,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007,-0.203
$KALMAN_X,21816.3,-446.9,-119.0,23.1,935.1
$KALMAN_Y,99756.4,284.1,190.3,-91608.8,-839.5
$MHEAD_RNG_PITCHd_Wd,195.8,36787,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,46,0.00,0.00,-22.10,0.000,2,0.000,0.000,162,1837,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.2,0.0,2,107,9.62,2.33,-40.15,0.000,4,0.203,0.055,2717,345,2919,0,0,0,0,0,0,25.84,26.22,26.64
$GC,336,-0.66,-146.6,31.5,-15.3,31,346,0.28,2.33,0.00,0.000,6,0.136,0.023,2786,1889,2921,0,0,0,0,0,0,25.97,26.41,28.83
$GC,646,-0.59,-146.6,62.8,-9.2,62,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1890,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,956,-0.53,-146.6,82.7,-6.0,85,958,0.15,0.00,0.00,0.000,6,0.135,0.000,2834,1890,2922,0,0,0,0,0,0,26.38,28.83,28.83
$GC,1256,-0.53,-146.6,101.9,-7.6,95,1263,0.00,2.42,0.00,0.000,4,0.000,0.041,2834,347,2922,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1346,-0.53,-146.6,109.5,-8.3,98,1350,0.00,2.30,0.00,0.000,6,0.000,0.023,2824,1890,2922,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1668,-0.53,-146.6,130.2,-5.4,109,1676,0.00,2.40,0.00,0.000,4,0.000,0.041,2824,352,2922,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1766,-0.53,-146.6,135.3,-5.6,112,1770,0.00,2.30,0.00,0.000,6,0.000,0.023,2813,1897,2923,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2077,-0.53,-146.6,153.5,-5.6,122,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1897,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2378,-0.53,-146.6,168.3,-4.9,127,2385,0.00,2.40,0.00,0.000,4,0.000,0.037,2801,3452,2923,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2478,-0.53,-146.6,171.4,-5.0,128,2485,0.00,2.45,0.00,0.000,6,0.000,0.022,2801,1818,2923,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2798,-0.53,-146.6,190.1,-5.1,134,2806,0.00,2.53,0.00,0.000,4,0.000,0.037,2789,3452,2922,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3006,-0.53,-146.6,198.3,-4.5,137,3011,0.12,2.45,0.00,0.000,6,0.131,0.023,2826,1818,2920,0,0,0,0,0,0,26.39,26.62,28.83
$GC,3331,-0.56,-146.6,211.7,-3.7,143,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1818,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3629,-0.59,-146.6,224.8,-4.5,148,3637,0.00,2.30,0.00,0.000,4,0.000,0.042,2826,349,2921,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3837,-0.59,-146.6,236.8,-6.4,151,3842,0.00,2.30,0.00,0.000,6,0.000,0.023,2817,1889,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4160,-0.61,-146.6,257.7,-5.7,157,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4460,-0.64,-146.6,271.5,-4.5,162,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1889,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4759,-0.67,-146.6,286.1,-5.0,167,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1889,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5060,-0.70,-146.6,302.3,-5.4,172,5062,0.12,0.00,0.00,0.000,6,0.080,0.000,2744,1894,2916,0,0,0,0,0,0,26.77,28.83,28.83
$GC,5359,-0.65,-146.6,322.6,-6.8,177,5368,0.15,2.42,0.00,0.000,4,0.129,0.038,2778,3452,2916,0,0,0,0,0,0,26.51,26.51,28.83
$GC,5480,-0.62,-146.6,329.1,-6.0,179,5487,0.00,2.45,0.00,0.000,6,0.000,0.024,2778,1818,2916,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5839,-0.62,-146.6,348.2,-5.4,185,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1819,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6139,-0.62,-146.6,367.3,-6.5,190,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6439,-0.62,-146.6,389.7,-7.6,195,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6739,-0.62,-146.6,412.1,-7.4,200,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7039,-0.62,-146.6,433.2,-7.0,205,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7339,-0.62,-146.6,455.7,-7.5,210,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1818,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7639,-0.62,-146.6,479.3,-7.8,215,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7939,-0.62,-146.6,500.7,-7.1,220,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1819,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8299,-0.62,-146.6,520.7,-5.7,223,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8659,-0.62,-146.6,540.9,-5.5,226,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1819,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9018,-0.62,-146.6,563.8,-6.3,229,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9378,-0.62,-146.6,588.3,-6.7,232,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9739,-0.62,-146.6,614.3,-7.2,235,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10099,-0.64,-146.6,636.4,-6.4,238,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1818,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10459,-0.67,-146.6,654.6,-5.2,241,10467,0.00,2.58,0.00,0.000,4,0.000,0.040,2766,3458,2900,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10628,-0.69,-146.6,660.4,-5.0,242,10633,0.00,2.47,0.00,0.000,6,0.000,0.025,2762,1830,2899,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10930,-0.69,-146.6,678.1,-5.0,245,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1830,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11290,-0.69,-146.6,698.8,-5.6,248,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1830,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11650,-0.69,-146.6,719.5,-5.8,251,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1830,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12010,-0.69,-146.6,739.9,-5.6,254,12019,0.00,2.55,0.00,0.000,4,0.000,0.041,2754,3449,2896,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12090,-0.69,-146.6,739.9,-5.6,254,12097,0.00,2.47,0.00,0.000,6,0.000,0.026,2754,1827,2896,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12490,-0.69,-146.6,771.8,-6.7,258,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1827,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12850,-0.69,-146.6,793.3,-6.1,261,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1827,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13210,-0.69,-146.6,813.5,-5.7,264,13212,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1827,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13570,-0.69,-146.6,833.8,-5.6,267,13571,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1827,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13930,-0.69,-146.6,854.4,-5.7,270,13931,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1827,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14290,-0.69,-146.6,875.7,-5.9,273,14298,0.00,2.58,0.00,0.000,4,0.000,0.042,2743,3449,2891,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14399,-0.69,-146.6,875.7,-5.9,273,14409,0.12,2.50,0.00,0.000,6,0.132,0.027,2778,1821,2891,0,0,0,0,0,0,26.26,26.49,28.83
$GC,14770,-0.73,-146.6,902.8,-5.6,277,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1821,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15131,-0.78,-146.6,922.6,-5.5,280,15139,0.00,2.33,0.00,0.000,4,0.000,0.047,2778,362,2889,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15210,-0.83,-146.6,922.6,-5.5,280,15218,0.12,2.33,0.00,0.000,6,0.081,0.026,2707,1885,2889,0,0,0,0,0,0,26.45,26.51,28.83
$GC,15610,-0.83,-146.6,960.4,-7.9,284,15611,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1885,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15970,-0.81,-146.6,989.0,-8.0,287,15972,0.12,0.00,0.00,0.000,6,0.144,0.000,2742,1885,2887,0,0,0,0,0,0,26.50,28.83,28.83
$STATE,16088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16089,begin apogee
$GC,16093,-0.29,0.0,996.7,-7.6,288,16219,0.47,0.00,121.12,1.722,6,0.109,0.000,2904,1834,2319,0,0,0,0,0,0,25.96,28.83,23.72
$STATE,16221,end apogee,CONTROL_FINISHED_OK
$STATE,16221,begin climb
$GC,16223,0.86,146.6,999.1,0.0,289,16358,1.08,0.00,130.62,1.683,6,0.069,0.000,3278,1834,1719,0,0,0,0,0,0,24.93,28.83,23.42
$GC,16691,0.72,146.6,958.2,10.3,293,16699,0.17,2.60,0.00,0.000,4,0.147,0.041,3230,3442,1713,0,0,0,0,0,0,25.76,25.91,28.83
$GC,16810,0.59,146.6,947.6,9.8,294,16819,0.17,2.53,0.00,0.000,6,0.141,0.028,3191,1834,1713,0,0,0,0,0,0,25.84,26.08,28.83
$GC,17171,0.51,146.6,922.4,7.4,297,17172,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1834,1710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17530,0.47,146.6,896.0,7.3,300,17539,0.15,2.40,0.00,0.000,4,0.136,0.049,3155,354,1708,0,0,0,0,0,0,26.25,26.25,28.83
$GC,17660,0.43,146.6,888.5,7.1,301,17664,0.00,2.35,0.00,0.000,6,0.000,0.027,3156,1884,1708,0,0,0,0,0,0,28.83,26.41,28.83
$GC,18001,0.45,163.3,869.5,5.6,304,18016,0.00,0.00,13.35,1.552,6,0.000,0.000,3155,1884,1652,0,0,0,0,0,0,28.83,28.83,24.98
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$GC,23745,0.67,266.4,432.9,9.4,359,23753,0.00,2.47,0.00,0.000,4,0.000,0.048,3223,357,1231,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,29187,end climb,SURFACE_DEPTH_REACHED
$STATE,29187,begin surface coast
$FINISH,0.9,1.010768
$STATE,29239,end surface coast,CONTROL_FINISHED_OK
$STATE,29239,begin surface
$SM_CCo,29257,13.88,0.139,0,0,1094,300.00
$SM_GC,2.11,8.02,0.08,13.88,0.033,0.109,0.139,161,1834,1094,-8.84,0.59,300.00,0,0,0,0,0,0,26.59,26.79,26.03
$IRIDIUM_FIX,2441.81,-3743.96,161012,161624
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.50
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7726880
$TM_FREEKB,6910496
$24V_AH,23.4,22.303
$10V_AH,10.4,19.511
$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,21.400,135.750,355.675,13.875,0.000,25.994,38.020,220.389,0.000,0.000,17.500,1943.619,25171.354,639.625,1749.582,266.664,33.263,1423.578,0.000,1325.286,0.000,0.538,0.000
$DEVICE_MAMPS,202.725,111.690,1722.015,139.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29147.000,5659.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.815,13.497,0.000,0.000
$MEM,344444
$DATA_FILE_SIZE,13423,551
$CAP_FILE_SIZE,180754,0
$CFSIZE,260034560,242950144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171012,091135,2436.290,-3749.862,40,0.9,40,-13.9