version: 66.11
glider: 189
mission: 7
dive: 559
start: 3 6 113 18 58 35
data:
$ID,189
$MISSION,7
$DIVE,559
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$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,100
$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,-48357.43
$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,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,060313,184800,2429.827,-3748.454,37,1.9,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-58.7
$GPS2,060313,185735,2429.776,-3748.491,17,1.0,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.110,0.048
$KALMAN_X,115364.8,527.9,-203.9,-93107.4,-4088.6
$KALMAN_Y,93955.0,-179.2,-50.0,-104533.7,241.2
$MHEAD_RNG_PITCHd_Wd,80.6,2250,-19.9,-6.667,-29.07
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.27,0.000,2,0.000,0.000,151,2117,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.10,2.58,-51.47,0.000,4,0.183,0.051,2592,541,2720,0,0,0,0,0,0,25.31,25.91,26.67
$GC,395,-1.18,-97.7,24.4,-7.8,37,403,0.10,2.50,0.00,0.000,6,0.136,0.024,2613,2188,2722,0,0,0,0,0,0,25.82,26.26,28.83
$GC,705,-1.18,-97.7,45.2,-7.4,68,713,0.00,2.60,0.00,0.000,4,0.000,0.037,2614,549,2722,0,0,0,0,0,0,28.83,26.05,28.83
$GC,765,-1.13,-97.7,49.6,-7.5,74,773,0.08,2.47,0.00,0.000,6,0.138,0.024,2628,2187,2721,0,0,0,0,0,0,25.95,26.31,28.83
$GC,1075,-1.13,-97.7,72.3,-7.0,105,1082,0.00,2.55,0.00,0.000,4,0.000,0.041,2618,3749,2722,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1144,-1.13,-97.7,76.8,-7.5,110,1152,0.00,2.47,0.00,0.000,6,0.000,0.021,2618,2101,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1465,-1.13,-97.7,101.5,-7.6,121,1471,0.00,2.45,0.00,0.000,4,0.000,0.037,2618,543,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1545,-1.13,-97.7,106.3,-7.8,123,1553,0.00,2.47,0.00,0.000,6,0.000,0.023,2605,2193,2723,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1855,-1.13,-97.7,131.3,-7.9,134,1856,0.10,0.00,0.00,0.000,6,0.165,0.000,2631,2189,2723,0,0,0,0,0,0,26.40,28.83,28.83
$GC,2185,-1.13,-97.7,155.5,-7.4,144,2191,0.00,2.60,0.00,0.000,4,0.000,0.036,2632,546,2724,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2285,-1.13,-97.7,159.9,-7.3,145,2291,0.00,2.47,0.00,0.000,6,0.000,0.023,2621,2192,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2605,-1.13,-97.7,183.0,-6.0,151,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2192,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2905,-1.13,-97.7,196.3,-4.2,156,2911,0.00,2.55,0.00,0.000,4,0.000,0.036,2621,543,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2945,-1.13,-97.7,196.3,-4.2,156,2952,0.00,2.47,0.00,0.000,6,0.000,0.023,2611,2191,2724,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3265,-1.13,-97.7,217.3,-6.3,162,3271,0.00,2.50,0.00,0.000,4,0.000,0.041,2602,3763,2726,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3365,-1.13,-97.7,221.9,-6.9,163,3372,0.15,2.42,0.00,0.000,6,0.140,0.021,2637,2088,2724,0,0,0,0,0,0,25.96,26.39,28.83
$GC,3686,-1.18,-97.7,250.3,-7.8,169,3692,0.00,2.40,0.00,0.000,4,0.000,0.038,2637,543,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3734,-1.22,-97.7,250.3,-7.8,169,3743,0.00,2.53,0.00,0.000,6,0.000,0.024,2627,2184,2725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4046,-1.25,-97.7,273.8,-6.4,175,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2184,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4345,-1.29,-97.7,290.9,-5.6,180,4352,0.12,2.55,0.00,0.000,4,0.082,0.037,2556,548,2724,0,0,0,0,0,0,26.60,26.10,28.83
$GC,4405,-1.29,-97.7,294.7,-5.7,181,4412,0.12,2.47,0.00,0.000,6,0.132,0.023,2583,2195,2724,0,0,0,0,0,0,25.84,26.34,28.83
$GC,4766,-1.29,-97.7,319.0,-7.0,187,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2195,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5065,-1.29,-97.7,344.9,-8.8,192,5071,0.00,2.62,0.00,0.000,4,0.000,0.037,2584,545,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5125,-1.29,-97.7,350.7,-9.1,193,5131,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2185,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5486,-1.29,-97.7,381.4,-8.2,199,5492,0.00,2.58,0.00,0.000,4,0.000,0.037,2573,540,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5524,-1.29,-97.7,381.4,-8.2,199,5531,0.00,2.50,0.00,0.000,6,0.000,0.023,2561,2192,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5845,-1.27,-97.7,406.2,-6.7,205,5847,0.12,0.00,0.00,0.000,6,0.156,0.000,2593,2192,2722,0,0,0,0,0,0,26.31,28.83,28.83
$GC,6146,-1.27,-97.7,425.7,-6.6,210,6152,0.00,2.58,0.00,0.000,4,0.000,0.037,2594,545,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6224,-1.27,-97.7,430.3,-7.0,211,6231,0.00,2.47,0.00,0.000,6,0.000,0.024,2583,2186,2721,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6565,-1.27,-97.7,461.4,-8.9,217,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2185,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6866,-1.27,-97.7,491.0,-10.0,222,6871,0.00,2.58,0.00,0.000,4,0.000,0.037,2584,540,2720,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6914,-1.27,-97.7,491.0,-10.0,222,6923,0.00,2.53,0.00,0.000,6,0.000,0.024,2571,2199,2719,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7225,-1.27,-97.7,525.7,-9.7,226,7232,0.00,2.62,0.00,0.000,4,0.000,0.037,2571,545,2719,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7284,-1.27,-97.7,525.7,-9.7,226,7292,0.12,2.50,0.00,0.000,6,0.156,0.024,2595,2190,2718,0,0,0,0,0,0,25.90,26.32,28.83
$GC,7705,-1.29,-97.7,563.0,-7.8,230,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2190,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8065,-1.33,-97.7,588.5,-7.1,233,8072,0.00,2.60,0.00,0.000,4,0.000,0.038,2595,551,2717,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8174,-1.37,-97.7,588.5,-7.1,233,8183,0.00,2.47,0.00,0.000,6,0.000,0.024,2585,2184,2715,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8546,-1.39,-97.7,625.4,-7.7,237,8552,0.00,2.58,0.00,0.000,4,0.000,0.039,2585,541,2715,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8604,-1.42,-97.7,625.4,-7.7,237,8612,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2183,2715,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9025,-1.42,-97.7,665.6,-8.4,241,9032,0.00,2.60,0.00,0.000,4,0.000,0.039,2573,543,2713,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9125,-1.42,-97.7,665.6,-8.4,241,9131,0.00,2.50,0.00,0.000,6,0.000,0.024,2561,2192,2714,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9505,-1.42,-97.7,701.8,-7.5,245,9512,0.00,2.60,0.00,0.000,4,0.000,0.039,2561,549,2712,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9574,-1.42,-97.7,701.8,-7.5,245,9582,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2189,2712,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9986,-1.42,-97.7,736.5,-7.2,249,9992,0.00,2.58,0.00,0.000,4,0.000,0.040,2549,548,2710,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10105,-1.42,-97.7,745.8,-7.4,250,10111,0.00,2.50,0.00,0.000,6,0.000,0.025,2537,2186,2711,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10465,-1.42,-97.7,774.7,-7.9,253,10472,0.00,2.60,0.00,0.000,4,0.000,0.039,2539,548,2710,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10545,-1.42,-97.7,774.7,-7.9,253,10551,0.00,2.53,0.00,0.000,6,0.000,0.025,2525,2190,2709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10945,-1.39,-97.7,817.3,-8.9,257,10952,0.00,2.62,0.00,0.000,4,0.000,0.039,2525,545,2708,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11084,-1.36,-97.7,828.8,-9.1,258,11092,0.12,2.50,0.00,0.000,6,0.134,0.024,2553,2187,2707,0,0,0,0,0,0,25.75,26.27,28.83
$GC,11426,-1.36,-97.7,859.3,-8.7,261,11431,0.00,2.58,0.00,0.000,4,0.000,0.041,2554,548,2706,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11514,-1.36,-97.7,859.3,-8.7,261,11521,0.00,2.53,0.00,0.000,6,0.000,0.024,2543,2193,2706,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11905,-1.36,-97.7,892.9,-7.0,265,11911,0.00,2.58,0.00,0.000,4,0.000,0.040,2543,548,2705,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11995,-1.36,-97.7,892.9,-7.0,265,12002,0.08,2.50,0.00,0.000,6,0.142,0.025,2555,2183,2705,0,0,0,0,0,0,25.87,26.24,28.83
$GC,12385,-1.36,-97.7,924.4,-6.5,269,12391,0.00,2.60,0.00,0.000,4,0.000,0.041,2556,542,2704,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12555,-1.36,-97.7,933.6,-6.9,270,12561,0.00,2.53,0.00,0.000,6,0.000,0.025,2545,2190,2703,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12865,-1.36,-97.7,963.9,-8.2,273,12871,0.00,2.58,0.00,0.000,4,0.000,0.041,2545,549,2703,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12934,-1.36,-97.7,963.9,-8.2,273,12941,0.00,2.53,0.00,0.000,6,0.000,0.025,2533,2187,2703,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,13161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13162,begin apogee
$GC,13172,-0.29,0.0,991.3,-9.2,278,13264,1.17,0.00,86.35,1.647,6,0.124,0.000,2898,1578,2319,0,0,0,0,0,0,24.88,28.83,22.93
$STATE,13265,end apogee,CONTROL_FINISHED_OK
$STATE,13265,begin climb
$GC,13269,1.26,97.7,996.6,0.0,283,13366,1.45,0.00,93.20,1.647,6,0.060,0.000,3412,1574,1920,0,0,0,0,0,0,25.27,28.83,22.89
$GC,13725,1.13,101.1,976.2,6.5,301,13727,0.20,0.00,0.00,0.000,6,0.166,0.000,3361,1577,1911,0,0,0,0,0,0,25.80,28.83,28.83
$GC,14085,1.03,110.3,954.0,6.2,304,14102,0.00,2.65,10.23,1.477,4,0.000,0.036,3360,3207,1870,0,0,0,0,0,0,28.83,26.06,23.84
$GC,14225,0.94,117.3,945.7,6.3,305,14242,0.25,2.53,8.30,1.432,6,0.161,0.031,3304,1571,1840,0,0,0,0,0,0,25.60,26.15,23.84
$GC,14568,0.89,117.3,921.4,6.8,308,14573,0.00,2.60,0.00,0.000,4,0.000,0.035,3303,3203,1838,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,19936,1.17,252.3,512.3,10.1,353,19943,0.00,1.95,0.00,0.000,4,0.000,0.047,3400,358,1294,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,24753,end climb,SURFACE_DEPTH_REACHED
$STATE,24753,begin surface coast
$FINISH,1.3,1.025875
$STATE,24774,end surface coast,CONTROL_FINISHED_OK
$STATE,24774,begin surface
$SM_CCo,24801,22.65,0.127,0,0,1095,300.00
$SM_GC,2.28,8.77,2.83,22.65,0.041,0.024,0.127,151,2186,1095,-8.83,-0.54,300.00,0,0,0,0,0,0,26.17,26.27,25.19
$IRIDIUM_FIX,2434.69,-3641.76,060313,121254
$TT8_MAMPS,0.027713,0.027713
$HUMID,64.68
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.20
$XPDR_PINGS,56
$SC_FREEKB,7555168
$TM_FREEKB,4231136
$24V_AH,22.9,93.162
$10V_AH,8.8,82.876
$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,22.675,236.775,328.225,22.650,0.000,29.152,43.413,188.730,14.000,0.000,18.363,2102.869,19938.572,727.209,1971.711,645.897,33.256,1686.236,0.000,1608.884,0.000,0.535,0.000
$DEVICE_MAMPS,182.835,75.735,1647.045,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24789.000,2416.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.613,13.834,0.000,0.000
$MEM,343640
$DATA_FILE_SIZE,13422,503
$CAP_FILE_SIZE,188660,0
$CFSIZE,260034560,200331264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070313,015335,2430.186,-3747.806,33,0.8,33,-14.0