version: 66.11
glider: 189
mission: 7
dive: 253
start: 12 4 112 9 32 6
data:
$ID,189
$MISSION,7
$DIVE,253
$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,440
$T_MISSION,480
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-47971.926
$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,2150
$C_ROLL_CLIMB,1600
$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
$GPS1,041212,092204,2418.187,-3805.450,27,0.9,27,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-55.2
$GPS2,041212,093105,2418.177,-3805.458,17,0.9,18,-14.1
$SPEED_LIMITS,0.130,0.151
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,0.149
$KALMAN_X,27986.5,9.3,418.9,-34418.8,443.7
$KALMAN_Y,33950.3,261.3,209.2,-66731.4,-4564.0
$MHEAD_RNG_PITCHd_Wd,5.9,29877,-17.1,-7.500,-26.45
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.16,-146.6,0.0,0.0,0,38,0.00,0.00,-11.77,0.000,2,0.000,0.000,151,2117,1445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-1.16,-146.6,2.0,0.0,1,118,9.05,2.67,-57.00,0.000,4,0.183,0.055,2612,3762,2922,0,0,0,0,0,0,25.51,26.10,26.67
$GC,130,-1.36,-146.6,1.6,-0.9,10,137,0.15,2.45,0.00,0.000,6,0.083,0.021,2553,2087,2920,0,0,0,0,0,0,26.17,26.32,28.83
$GC,438,-1.20,-146.6,52.6,-17.8,41,448,0.22,2.42,0.00,0.000,4,0.158,0.038,2617,543,2921,0,0,0,0,0,0,25.86,26.24,28.83
$GC,678,-1.08,-146.6,83.0,-11.2,61,686,0.15,2.50,0.00,0.000,6,0.161,0.024,2649,2194,2921,0,0,0,0,0,0,25.97,26.44,28.83
$GC,1010,-1.02,-146.6,108.0,-6.8,72,1016,0.00,2.55,0.00,0.000,4,0.000,0.037,2649,543,2921,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1220,-0.95,-146.6,123.3,-7.1,79,1226,0.20,2.42,0.00,0.000,6,0.141,0.024,2695,2192,2922,0,0,0,0,0,0,25.98,26.48,28.83
$GC,1551,-0.95,-146.6,144.8,-7.0,90,1556,0.00,2.42,0.00,0.000,4,0.000,0.042,2684,3756,2923,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1727,-0.95,-146.6,161.3,-9.3,95,1735,0.00,2.47,0.00,0.000,6,0.000,0.020,2684,2090,2923,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2087,-0.95,-146.6,192.4,-8.2,101,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2090,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2388,-0.95,-146.6,210.0,-5.6,106,2395,0.00,2.60,0.00,0.000,4,0.000,0.041,2673,3736,2923,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2629,-0.95,-146.6,223.9,-5.8,110,2636,0.00,2.40,0.00,0.000,6,0.000,0.021,2672,2108,2923,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2988,-0.95,-146.6,247.5,-6.9,116,2995,0.00,2.58,0.00,0.000,4,0.000,0.041,2661,3739,2923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3229,-0.95,-146.6,268.6,-8.8,120,3236,0.08,2.42,0.00,0.000,6,0.124,0.021,2687,2095,2923,0,0,0,0,0,0,26.28,26.58,28.83
$GC,3588,-0.97,-146.6,298.9,-8.4,126,3595,0.00,2.62,0.00,0.000,4,0.000,0.041,2677,3754,2921,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3829,-0.97,-146.6,319.5,-8.6,130,3835,0.00,2.45,0.00,0.000,6,0.000,0.021,2676,2100,2923,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4188,-0.97,-146.6,348.5,-8.0,136,4196,0.00,2.60,0.00,0.000,4,0.000,0.041,2665,3745,2922,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4429,-0.97,-146.6,369.4,-8.7,140,4435,0.00,2.42,0.00,0.000,6,0.000,0.021,2664,2105,2921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4788,-0.97,-146.6,403.4,-9.7,146,4795,0.00,2.60,0.00,0.000,4,0.000,0.041,2653,3744,2921,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5029,-0.97,-146.6,427.0,-9.9,150,5036,0.08,2.42,0.00,0.000,6,0.125,0.021,2680,2104,2921,0,0,0,0,0,0,26.27,26.57,28.83
$GC,5389,-1.00,-146.6,452.8,-6.7,156,5396,0.00,2.62,0.00,0.000,4,0.000,0.042,2669,3749,2919,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5630,-1.03,-146.6,466.2,-5.5,160,5636,0.00,2.45,0.00,0.000,6,0.000,0.021,2669,2103,2918,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5989,-1.05,-146.6,487.5,-6.2,166,5995,0.00,2.58,0.00,0.000,4,0.000,0.042,2657,3754,2917,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6229,-1.05,-146.6,505.8,-7.6,170,6235,0.00,2.45,0.00,0.000,6,0.000,0.021,2657,2108,2916,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6589,-1.07,-146.6,532.6,-7.4,173,6595,0.00,2.60,0.00,0.000,4,0.000,0.042,2645,3745,2916,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6766,-1.07,-146.6,542.8,-7.6,174,6771,0.00,2.47,0.00,0.000,6,0.000,0.021,2645,2098,2915,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7178,-1.07,-146.6,579.7,-7.8,178,7186,0.00,2.65,0.00,0.000,4,0.000,0.043,2633,3754,2913,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7358,-1.07,-146.6,589.3,-7.7,179,7366,0.00,2.47,0.00,0.000,6,0.000,0.021,2633,2106,2913,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7778,-1.07,-146.6,629.5,-8.4,183,7786,0.00,2.62,0.00,0.000,4,0.000,0.042,2621,3746,2911,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7988,-1.07,-146.6,638.9,-8.2,184,7996,0.12,2.47,0.00,0.000,6,0.146,0.022,2654,2099,2911,0,0,0,0,0,0,26.19,26.53,28.83
$GC,8379,-1.07,-146.6,676.1,-7.7,188,8386,0.00,2.62,0.00,0.000,4,0.000,0.043,2643,3746,2909,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8577,-1.07,-146.6,685.6,-7.6,189,8582,0.00,2.47,0.00,0.000,6,0.000,0.022,2643,2107,2909,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8970,-1.07,-146.6,721.9,-7.7,193,8977,0.00,2.62,0.00,0.000,4,0.000,0.043,2631,3750,2907,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9038,-1.07,-146.6,721.9,-7.7,193,9042,0.00,2.47,0.00,0.000,6,0.000,0.022,2631,2110,2907,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9440,-1.07,-146.6,762.0,-8.5,197,9448,0.00,2.65,0.00,0.000,4,0.000,0.043,2619,3756,2906,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9580,-1.07,-146.6,773.0,-8.7,198,9588,0.10,2.50,0.00,0.000,6,0.154,0.022,2650,2100,2905,0,0,0,0,0,0,26.19,26.50,28.83
$GC,9920,-1.07,-146.6,802.2,-8.3,201,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2101,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10280,-1.10,-146.6,831.2,-8.0,204,10288,0.00,2.65,0.00,0.000,4,0.000,0.044,2639,3739,2903,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10410,-1.13,-146.6,841.4,-8.1,205,10418,0.00,2.47,0.00,0.000,6,0.000,0.023,2639,2107,2903,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10760,-1.16,-146.6,873.5,-8.9,208,10768,0.00,2.62,0.00,0.000,4,0.000,0.044,2626,3743,2902,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10952,-1.18,-146.6,884.2,-8.9,209,10958,0.00,2.45,0.00,0.000,6,0.000,0.024,2627,2112,2901,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11360,-1.18,-146.6,924.8,-8.4,213,11368,0.00,2.65,0.00,0.000,4,0.000,0.044,2615,3753,2899,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11459,-1.18,-146.6,924.8,-8.4,213,11463,0.00,2.50,0.00,0.000,6,0.000,0.023,2618,2108,2899,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11831,-1.18,-146.6,964.3,-8.4,217,11839,0.00,2.65,0.00,0.000,4,0.000,0.044,2603,3748,2898,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11951,-1.18,-146.6,975.1,-8.5,218,11958,0.00,2.50,0.00,0.000,6,0.000,0.024,2603,2106,2898,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,12129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12129,begin apogee
$GC,12136,-0.29,0.0,991.7,-9.2,222,12266,0.93,0.05,125.43,1.665,6,0.121,0.131,2899,1623,2319,0,0,0,0,0,0,25.49,24.67,23.39
$STATE,12270,end apogee,CONTROL_FINISHED_OK
$STATE,12270,begin climb
$GC,12272,1.16,146.6,996.6,0.0,228,12411,1.33,2.25,131.18,1.640,4,0.060,0.047,3383,349,1722,0,0,0,0,0,0,25.02,24.38,23.01
$GC,12591,0.99,146.6,984.9,9.6,240,12600,0.22,2.00,0.00,0.000,6,0.159,0.023,3324,1656,1715,0,0,0,0,0,0,25.59,25.98,28.83
$GC,12961,0.87,146.6,949.0,7.7,244,12963,0.15,0.00,0.00,0.000,6,0.156,0.000,3283,1656,1712,0,0,0,0,0,0,26.08,28.83,28.83
$GC,13322,0.84,175.7,926.1,6.5,247,13352,0.00,2.55,24.83,1.577,4,0.000,0.037,3283,3198,1602,0,0,0,0,0,0,28.83,25.72,24.26
$GC,13482,0.82,202.4,917.8,6.6,248,13512,0.00,2.55,24.77,1.564,6,0.000,0.031,3293,1594,1495,0,0,0,0,0,0,28.83,26.06,24.03
$GC,13902,0.78,202.4,877.2,8.7,252,13904,0.15,0.00,0.00,0.000,6,0.146,0.000,3252,1593,1490,0,0,0,0,0,0,26.10,28.83,28.83
$GC,14261,0.78,202.4,849.1,8.0,255,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1593,1488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14621,0.82,202.4,821.3,7.7,258,14628,0.00,2.00,0.00,0.000,4,0.000,0.050,3260,355,1487,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14751,0.84,202.4,812.0,7.7,259,14758,0.00,1.95,0.00,0.000,6,0.000,0.025,3260,1648,1486,0,0,0,0,0,0,28.83,26.52,28.83
$GC,15101,0.87,202.4,784.9,7.6,262,15109,0.00,2.12,0.00,0.000,4,0.000,0.049,3270,345,1485,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15280,0.87,202.4,775.0,7.7,263,15284,0.00,1.98,0.00,0.000,6,0.000,0.026,3270,1645,1485,0,0,0,0,0,0,28.83,26.53,28.83
$GC,15692,0.87,202.4,736.0,8.3,267,15693,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1645,1485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16052,0.89,202.4,706.1,8.3,270,16059,0.00,2.10,0.00,0.000,4,0.000,0.049,3279,355,1484,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16261,0.89,202.4,695.6,8.4,271,16268,0.00,1.95,0.00,0.000,6,0.000,0.026,3280,1650,1484,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16651,0.89,202.4,656.4,8.1,275,16659,0.00,2.12,0.00,0.000,4,0.000,0.049,3290,346,1484,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16790,0.89,202.4,646.5,8.1,276,16794,0.00,1.98,0.00,0.000,6,0.000,0.025,3290,1661,1484,0,0,0,0,0,0,28.83,26.53,28.83
$GC,17122,0.89,202.4,618.1,8.1,279,17130,0.00,2.12,0.00,0.000,4,0.000,0.049,3299,356,1484,0,0,0,0,0,0,28.83,26.20,28.83
$GC,17251,0.89,202.4,607.8,8.2,280,17255,0.00,1.95,0.00,0.000,6,0.000,0.025,3300,1655,1484,0,0,0,0,0,0,28.83,26.54,28.83
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$GC,20615,1.04,255.7,322.9,7.1,323,20633,0.00,2.05,11.90,1.147,4,0.000,0.048,3328,355,1278,0,0,0,0,0,0,28.83,26.25,24.75
$GC,20694,1.09,267.9,318.4,7.1,324,20714,0.00,1.98,12.27,1.146,6,0.000,0.024,3324,1652,1225,0,0,0,0,0,0,28.83,26.38,24.63
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$STATE,23866,end climb,SURFACE_DEPTH_REACHED
$STATE,23866,begin surface coast
$FINISH,1.0,1.000924
$STATE,23897,end surface coast,CONTROL_FINISHED_OK
$STATE,23898,begin surface
$SM_CCo,23921,13.77,0.135,0,0,1094,300.00
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$IRIDIUM_FIX,2403.92,-3747.94,041212,020233
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.34
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7672736
$TM_FREEKB,5652864
$24V_AH,23.0,49.455
$10V_AH,10.2,41.238
$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,21.700,187.150,366.925,13.775,0.000,25.510,42.810,205.956,0.000,0.000,18.605,2133.171,19129.697,705.434,2109.139,390.594,33.259,1661.606,0.000,1697.725,0.000,0.535,0.000
$DEVICE_MAMPS,182.835,130.815,1664.640,134.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23905.000,4289.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.641,13.538,0.000,0.000
$MEM,344312
$DATA_FILE_SIZE,13419,457
$CAP_FILE_SIZE,177620,0
$CFSIZE,260034560,228048896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,041212,161204,2419.606,-3805.168,26,1.1,26,-14.1