version: 66.06
glider: 503
mission: 5
dive: 56
start: 3 27 110 22 9 39
data:
$ID,503
$MISSION,5
$DIVE,56
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52098
$NAV_MODE,0
$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,3647.3999
$TGT_DEFAULT_LON,-12151.5
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9286.0625
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.589809
$PRESSURE_SLOPE,0.00011732637
$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,500
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,215927,3649.253,-12215.169,37,3.1,56,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.5
$GPS2,220932,3649.283,-12215.075,9,1.9,9,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FOUR
$TGT_LATLONG,3645.000,-12219.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,201.5,9841,-15.8,-7.857
$D_GRID,1064
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.57,-116.8,0.0,0.0,0,52,0.00,0.00,-38.60,0.000,2,0.000,0.000,175,1746,2564,0,0,0,0,0,0
$GC,53,-0.57,-116.8,3.1,-6.1,7,85,8.85,2.12,-17.33,0.000,4,0.218,0.053,2514,394,3269,0,0,0,0,0,0
$GC,95,-0.23,-116.8,9.2,-13.4,15,102,0.35,2.15,0.00,0.000,6,0.117,0.026,2622,1796,3271,0,0,0,0,0,0
$GC,421,-0.35,-116.8,31.9,-5.8,76,428,0.12,2.20,0.00,0.000,4,0.090,0.033,2558,3198,3270,0,0,0,0,0,0
$GC,497,-0.43,-116.8,38.6,-9.1,90,503,0.00,2.15,0.00,0.000,6,0.000,0.026,2557,1800,3271,0,0,0,0,0,0
$GC,823,-0.43,-116.8,71.6,-9.3,151,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1800,3272,0,0,0,0,0,0
$GC,1149,-0.48,-116.8,95.8,-7.3,212,1154,0.00,2.17,0.00,0.000,4,0.000,0.033,2548,3195,3272,0,0,0,0,0,0
$GC,1164,-0.54,-116.8,97.0,-7.5,215,1171,0.00,2.12,0.00,0.000,6,0.000,0.027,2548,1803,3272,0,0,0,0,0,0
$GC,1491,-0.59,-116.8,125.9,-8.8,276,1497,0.12,2.17,0.00,0.000,4,0.091,0.041,2477,407,3272,0,0,0,0,0,0
$GC,1566,-0.47,-116.8,136.3,-14.7,290,1572,0.20,2.08,0.00,0.000,6,0.115,0.025,2538,1803,3272,0,0,0,0,0,0
$GC,1892,-0.47,-116.8,163.6,-7.4,351,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1803,3272,0,0,0,0,0,0
$GC,2218,-0.52,-116.8,189.5,-8.2,412,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1803,3272,0,0,0,0,0,0
$GC,2537,-0.56,-116.8,215.4,-8.9,455,2540,0.00,2.15,0.00,0.000,4,0.000,0.040,2539,406,3271,0,0,0,0,0,0
$GC,2558,-0.56,-116.8,217.3,-9.6,457,2561,0.00,2.08,0.00,0.000,6,0.000,0.025,2535,1801,3271,0,0,0,0,0,0
$GC,2877,-0.60,-116.8,246.1,-8.3,488,2882,0.00,2.12,0.00,0.000,4,0.000,0.032,2534,3195,3271,0,0,0,0,0,0
$GC,2904,-0.68,-116.8,248.1,-7.5,490,2911,0.12,2.15,0.00,0.000,6,0.052,0.026,2457,1781,3271,0,0,0,0,0,0
$GC,3220,-0.58,-116.8,290.2,-13.7,521,3221,0.17,0.00,0.00,0.000,6,0.137,0.000,2512,1780,3270,0,0,0,0,0,0
$GC,3531,-0.58,-116.8,319.6,-9.5,551,3534,0.00,2.10,0.00,0.000,4,0.000,0.040,2512,407,3270,0,0,0,0,0,0
$GC,3545,-0.58,-116.8,321.1,-9.6,552,3553,0.00,2.08,0.00,0.000,6,0.000,0.024,2505,1800,3270,0,0,0,0,0,0
$GC,3861,-0.58,-116.8,353.0,-10.9,583,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1800,3270,0,0,0,0,0,0
$GC,4172,-0.58,-116.8,384.5,-10.0,613,4176,0.00,2.15,0.00,0.000,4,0.000,0.033,2503,3196,3269,0,0,0,0,0,0
$GC,4193,-0.58,-116.8,386.4,-9.3,615,4197,0.00,2.12,0.00,0.000,6,0.000,0.026,2503,1796,3269,0,0,0,0,0,0
$GC,4513,-0.58,-116.8,416.8,-9.1,646,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1796,3269,0,0,0,0,0,0
$GC,4824,-0.58,-116.8,443.3,-8.3,676,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1796,3268,0,0,0,0,0,0
$GC,5134,-0.58,-116.8,470.5,-8.8,706,5138,0.00,2.15,0.00,0.000,4,0.000,0.031,2494,3202,3268,0,0,0,0,0,0
$GC,5155,-0.58,-116.8,472.3,-8.6,708,5160,0.00,2.15,0.00,0.000,6,0.000,0.026,2494,1797,3268,0,0,0,0,0,0
$GC,5477,-0.67,-116.8,496.5,-6.7,739,5480,0.00,2.12,0.00,0.000,4,0.000,0.031,2493,3189,3267,0,0,0,0,0,0
$GC,5530,-0.67,-116.8,500.0,-6.4,744,5534,0.00,2.10,0.00,0.000,6,0.000,0.027,2493,1802,3267,0,0,0,0,0,0
$GC,5845,-0.67,-116.8,523.5,-7.5,760,5849,0.00,2.15,0.00,0.000,4,0.000,0.041,2493,400,3267,0,0,0,0,0,0
$GC,5898,-0.67,-116.8,528.1,-8.5,762,5902,0.00,2.08,0.00,0.000,6,0.000,0.024,2484,1800,3267,0,0,0,0,0,0
$GC,6213,-0.67,-116.8,555.0,-8.7,778,6218,0.00,2.17,0.00,0.000,4,0.000,0.041,2483,391,3267,0,0,0,0,0,0
$GC,6250,-0.67,-116.8,558.4,-9.4,779,6257,0.00,2.10,0.00,0.000,6,0.000,0.025,2479,1805,3267,0,0,0,0,0,0
$GC,6561,-0.67,-116.8,586.2,-9.2,795,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1805,3266,0,0,0,0,0,0
$GC,6866,-0.67,-116.8,614.8,-9.6,810,6871,0.00,2.17,0.00,0.000,4,0.000,0.041,2479,400,3265,0,0,0,0,0,0
$GC,6881,-0.67,-116.8,616.5,-10.3,810,6889,0.00,2.10,0.00,0.000,6,0.000,0.025,2469,1802,3265,0,0,0,0,0,0
$GC,7192,-0.67,-116.8,647.3,-9.9,826,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1803,3265,0,0,0,0,0,0
$GC,7498,-0.67,-116.8,677.6,-9.7,841,7501,0.00,2.17,0.00,0.000,4,0.000,0.041,2470,399,3264,0,0,0,0,0,0
$GC,7518,-0.61,-116.8,679.7,-10.3,842,7523,0.10,2.08,0.00,0.000,6,0.117,0.025,2498,1795,3264,0,0,0,0,0,0
$GC,7845,-0.61,-116.8,703.4,-7.3,858,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1795,3264,0,0,0,0,0,0
$GC,8150,-0.61,-116.8,726.8,-7.0,873,8154,0.00,2.15,0.00,0.000,4,0.000,0.041,2498,403,3264,0,0,0,0,0,0
$GC,8181,-0.61,-116.8,729.3,-8.0,874,8186,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1808,3264,0,0,0,0,0,0
$GC,8497,-0.61,-116.8,752.8,-7.5,890,8501,0.00,2.17,0.00,0.000,4,0.000,0.040,2495,399,3263,0,0,0,0,0,0
$GC,8523,-0.61,-116.8,755.0,-9.0,891,8528,0.00,2.10,0.00,0.000,6,0.000,0.025,2487,1804,3264,0,0,0,0,0,0
$GC,8845,-0.61,-116.8,780.7,-8.0,907,8849,0.00,2.17,0.00,0.000,4,0.000,0.041,2487,400,3262,0,0,0,0,0,0
$GC,8859,-0.61,-116.8,782.1,-8.0,907,8866,0.00,2.10,0.00,0.000,6,0.000,0.025,2480,1802,3262,0,0,0,0,0,0
$GC,9171,-0.61,-116.8,807.7,-8.4,923,9175,0.00,2.15,0.00,0.000,4,0.000,0.041,2480,406,3262,0,0,0,0,0,0
$GC,9201,-0.61,-116.8,810.7,-9.9,924,9207,0.10,2.08,0.00,0.000,6,0.159,0.025,2500,1804,3262,0,0,0,0,0,0
$GC,9517,-0.61,-116.8,833.6,-6.9,940,9522,0.00,2.15,0.00,0.000,4,0.000,0.041,2500,406,3262,0,0,0,0,0,0
$STATE,9532,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9532,begin apogee
$GC,9537,-0.14,0.0,834.7,6.7,940,9631,0.45,0.00,92.38,1.100,6,0.105,0.000,2655,1746,2792,0,0,0,0,0,0
$STATE,9631,end apogee,CONTROL_FINISHED_OK
$STATE,9631,begin climb
$GC,9632,0.57,116.8,836.2,0.0,945,9739,0.62,2.28,100.47,1.063,4,0.061,0.031,2889,3147,2315,0,0,0,0,0,0
$GC,9792,0.45,122.8,831.9,7.6,953,9802,0.15,2.25,5.97,0.821,6,0.141,0.030,2852,1763,2291,0,0,0,0,0,0
$GC,10112,0.45,122.8,806.9,8.0,969,10116,0.00,2.25,0.00,0.000,4,0.000,0.044,2862,349,2285,0,0,0,0,0,0
$GC,10170,0.38,122.8,801.7,9.5,971,10177,0.10,2.15,0.00,0.000,6,0.123,0.025,2828,1752,2284,0,0,0,0,0,0
$GC,10481,0.41,143.2,779.8,6.9,987,10502,0.00,2.20,16.62,1.012,4,0.000,0.031,2828,3159,2209,0,0,0,0,0,0
$GC,10575,0.42,154.0,773.1,7.4,991,10590,0.00,2.22,11.12,0.961,6,0.000,0.029,2837,1751,2164,0,0,0,0,0,0
$GC,10912,0.44,165.6,749.0,7.3,1008,10924,0.00,0.00,11.15,0.964,6,0.000,0.000,2837,1751,2116,0,0,0,0,0,0
$GC,11218,0.47,192.6,727.0,6.6,1023,11242,0.00,0.00,23.38,1.006,6,0.000,0.000,2837,1751,2006,0,0,0,0,0,0
$GC,11543,0.53,210.0,705.1,7.1,1039,11564,0.10,2.20,15.60,0.973,4,0.104,0.031,2900,3151,1936,0,0,0,0,0,0
$GC,11616,0.47,210.0,696.5,12.3,1042,11621,0.15,2.22,0.00,0.000,6,0.123,0.028,2859,1751,1936,0,0,0,0,0,0
$GC,11931,0.47,210.0,665.2,10.3,1058,11936,0.00,2.25,0.00,0.000,4,0.000,0.044,2869,346,1936,0,0,0,0,0,0
$GC,11969,0.47,210.0,661.1,11.5,1059,11975,0.00,2.15,0.00,0.000,6,0.000,0.025,2869,1752,1936,0,0,0,0,0,0
$GC,12280,0.47,210.0,627.4,10.5,1075,12283,0.00,2.15,0.00,0.000,4,0.000,0.031,2869,3144,1934,0,0,0,0,0,0
$GC,12322,0.47,210.0,622.5,11.0,1077,12326,0.00,2.17,0.00,0.000,6,0.000,0.029,2880,1749,1934,0,0,0,0,0,0
$GC,12649,0.47,210.0,586.1,11.4,1093,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1748,1934,0,0,0,0,0,0
$GC,12953,0.47,210.0,551.3,10.9,1108,12957,0.00,2.17,0.00,0.000,4,0.000,0.042,2891,354,1933,0,0,0,0,0,0
$GC,12995,0.47,210.0,546.3,11.2,1110,13000,0.10,2.12,0.00,0.000,6,0.118,0.025,2854,1757,1933,0,0,0,0,0,0
$GC,13322,0.47,210.0,516.8,9.0,1126,13326,0.00,2.12,0.00,0.000,4,0.000,0.031,2854,3150,1932,0,0,0,0,0,0
$GC,13358,0.47,210.0,513.4,10.1,1127,13366,0.00,2.17,0.00,0.000,6,0.000,0.028,2862,1747,1932,0,0,0,0,0,0
$GC,13672,0.49,222.9,487.8,7.3,1150,13687,0.00,2.20,10.95,0.851,4,0.000,0.044,2873,356,1883,0,0,0,0,0,0
$GC,13713,0.49,222.9,484.5,8.3,1154,13718,0.00,2.12,0.00,0.000,6,0.000,0.025,2873,1753,1883,0,0,0,0,0,0
$GC,14035,0.49,222.9,456.7,9.0,1185,14039,0.00,2.12,0.00,0.000,4,0.000,0.031,2873,3141,1883,0,0,0,0,0,0
$GC,14071,0.49,222.9,453.1,10.2,1188,14078,0.00,2.17,0.00,0.000,6,0.000,0.029,2884,1748,1883,0,0,0,0,0,0
$GC,14387,0.49,222.9,423.0,9.7,1219,14391,0.00,2.17,0.00,0.000,4,0.000,0.044,2895,350,1883,0,0,0,0,0,0
$GC,14418,0.49,222.9,419.7,10.7,1222,14423,0.10,2.12,0.00,0.000,6,0.152,0.025,2859,1754,1883,0,0,0,0,0,0
$GC,14740,0.49,222.9,392.2,8.0,1253,14744,0.00,2.12,0.00,0.000,4,0.000,0.031,2859,3143,1883,0,0,0,0,0,0
$GC,14782,0.49,222.9,388.5,8.7,1257,14786,0.00,2.15,0.00,0.000,6,0.000,0.029,2869,1751,1883,0,0,0,0,0,0
$GC,15103,0.49,222.9,361.4,8.2,1288,15107,0.00,2.17,0.00,0.000,4,0.000,0.044,2878,350,1883,0,0,0,0,0,0
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$GC,16139,0.54,222.9,265.6,8.2,1388,16144,0.00,2.17,0.00,0.000,4,0.000,0.044,2868,347,1882,0,0,0,0,0,0
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$GC,18687,0.70,286.5,31.3,7.6,1790,18698,0.00,2.15,6.43,0.545,4,0.000,0.029,2903,3158,1624,0,0,0,0,0,0
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$STATE,19002,end climb,SURFACE_DEPTH_REACHED
$STATE,19002,begin surface coast
$FINISH,0.2,1.024844
$STATE,19040,end surface coast,CONTROL_FINISHED_OK
$STATE,19040,begin surface
$SM_CCo,19111,0.00,0.000,0,0,1624,286.51
$SM_GC,1.58,7.07,0.00,0.00,0.039,0.000,0.000,194,1749,1624,-7.76,-1.44,286.51
$IRIDIUM_FIX,3634.97,-12217.14,210699,222253
$TT8_MAMPS,0.051389
$HUMID,54.64
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,800.9,43.5
$24V_AH,24.0,11.814
$10V_AH,10.1,14.174
$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,19.525,167.675,342.525,0.000,0.000,58.346,59.820,326.795,2.250,0.000,11.259,0.000,13701.234,524.843,4781.674,678.962,0.000,2045.123,0.000,4109.870,0.000,16.307,0.000
$DEVICE_MAMPS,217.828,52.923,1099.878,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.206,3902.141,2823.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286664
$DATA_FILE_SIZE,129649,1856
$CAP_FILE_SIZE,210074,0
$CFSIZE,260165632,250114048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280310,032906,3647.314,-12216.736,38,0.9,38,14.8