version: 66.06
glider: 503
mission: 5
dive: 93
start: 4 5 110 1 54 2
data:
$ID,503
$MISSION,5
$DIVE,93
$D_SURF,3
$D_FLARE,3
$D_TGT,991
$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,-3
$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,-10048.725
$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,40
$R_STBD_OVSHOOT,51
$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
$GPS1,013855,3643.105,-12208.899,47,1.5,47,14.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.2
$GPS2,015322,3643.217,-12208.828,12,2.8,31,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$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,60.9,5863,-15.7,-7.865
$D_GRID,877
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.57,-116.8,0.0,0.0,0,56,0.00,0.00,-42.38,0.000,2,0.000,0.000,137,1753,2810,0,0,0,0,0,0
$GC,58,-0.57,-116.8,3.5,-7.2,8,85,9.20,2.30,-9.85,0.000,4,0.223,0.044,2503,3199,3272,0,0,0,0,0,0
$GC,249,-0.57,-116.8,36.5,-15.0,44,256,0.00,2.17,0.00,0.000,6,0.000,0.028,2503,1807,3274,0,0,0,0,0,0
$GC,576,-0.51,-116.8,73.2,-10.5,105,582,0.10,2.20,0.00,0.000,4,0.160,0.040,2532,405,3274,0,0,0,0,0,0
$GC,619,-0.51,-116.8,77.4,-10.2,113,625,0.00,2.10,0.00,0.000,6,0.000,0.024,2523,1799,3273,0,0,0,0,0,0
$GC,946,-0.51,-116.8,109.3,-9.7,174,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1799,3274,0,0,0,0,0,0
$GC,1271,-0.51,-116.8,141.6,-10.2,235,1278,0.00,2.17,0.00,0.000,4,0.000,0.039,2523,400,3274,0,0,0,0,0,0
$GC,1325,-0.51,-116.8,147.7,-11.3,245,1331,0.00,2.10,0.00,0.000,6,0.000,0.024,2515,1802,3274,0,0,0,0,0,0
$GC,1651,-0.51,-116.8,184.8,-10.8,306,1658,0.00,2.12,0.00,0.000,4,0.000,0.031,2505,3193,3274,0,0,0,0,0,0
$GC,1683,-0.51,-116.8,188.3,-10.9,312,1690,0.00,2.15,0.00,0.000,6,0.000,0.026,2505,1789,3274,0,0,0,0,0,0
$GC,2003,-0.51,-116.8,221.6,-10.0,353,2006,0.00,2.12,0.00,0.000,4,0.000,0.039,2505,408,3274,0,0,0,0,0,0
$GC,2081,-0.47,-116.8,230.3,-10.4,360,2089,0.15,2.10,0.00,0.000,6,0.134,0.023,2545,1806,3274,0,0,0,0,0,0
$GC,2398,-0.54,-116.8,252.7,-7.2,391,2402,0.00,2.17,0.00,0.000,4,0.000,0.038,2546,401,3274,0,0,0,0,0,0
$GC,2441,-0.59,-116.8,256.1,-8.3,395,2444,0.08,2.08,0.00,0.000,6,0.055,0.024,2485,1792,3274,0,0,0,0,0,0
$GC,2760,-0.55,-116.8,291.8,-11.8,426,2765,0.12,2.17,0.00,0.000,4,0.146,0.038,2523,399,3273,0,0,0,0,0,0
$GC,2803,-0.55,-116.8,296.4,-10.4,430,2807,0.00,2.12,0.00,0.000,6,0.000,0.024,2519,1814,3273,0,0,0,0,0,0
$GC,3124,-0.55,-116.8,322.9,-8.2,461,3128,0.00,2.10,0.00,0.000,4,0.000,0.031,2514,3193,3273,0,0,0,0,0,0
$GC,3155,-0.60,-116.8,325.5,-8.0,464,3160,0.00,2.12,0.00,0.000,6,0.000,0.025,2513,1801,3273,0,0,0,0,0,0
$GC,3477,-0.60,-116.8,353.0,-8.6,495,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1800,3272,0,0,0,0,0,0
$GC,3787,-0.60,-116.8,378.8,-8.2,525,3791,0.00,2.17,0.00,0.000,4,0.000,0.040,2514,401,3272,0,0,0,0,0,0
$GC,3823,-0.60,-116.8,382.2,-9.0,528,3831,0.00,2.10,0.00,0.000,6,0.000,0.025,2509,1803,3272,0,0,0,0,0,0
$GC,4140,-0.60,-116.8,408.4,-8.5,559,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1803,3271,0,0,0,0,0,0
$GC,4451,-0.60,-116.8,435.1,-8.9,589,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1804,3271,0,0,0,0,0,0
$GC,4761,-0.60,-116.8,461.6,-7.9,619,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1805,3270,0,0,0,0,0,0
$GC,5072,-0.60,-116.8,488.3,-9.1,649,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1805,3270,0,0,0,0,0,0
$GC,5389,-0.60,-116.8,517.2,-9.1,671,5392,0.00,2.17,0.00,0.000,4,0.000,0.039,2508,398,3270,0,0,0,0,0,0
$GC,5414,-0.60,-116.8,519.8,-10.8,672,5419,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1792,3269,0,0,0,0,0,0
$GC,5736,-0.60,-116.8,552.1,-10.1,688,5740,0.00,2.15,0.00,0.000,4,0.000,0.032,2495,3197,3269,0,0,0,0,0,0
$GC,5767,-0.65,-116.8,555.2,-10.0,689,5772,0.00,2.15,0.00,0.000,6,0.000,0.026,2495,1797,3269,0,0,0,0,0,0
$GC,6083,-0.65,-116.8,589.9,-11.3,705,6087,0.00,2.15,0.00,0.000,4,0.000,0.040,2495,403,3268,0,0,0,0,0,0
$GC,6126,-0.65,-116.8,594.8,-11.3,707,6130,0.00,2.08,0.00,0.000,6,0.000,0.025,2491,1796,3268,0,0,0,0,0,0
$GC,6452,-0.65,-116.8,626.0,-9.4,723,6456,0.00,2.15,0.00,0.000,4,0.000,0.032,2480,3201,3268,0,0,0,0,0,0
$GC,6515,-0.65,-116.8,631.9,-9.3,726,6520,0.00,2.12,0.00,0.000,6,0.000,0.026,2481,1804,3267,0,0,0,0,0,0
$GC,6841,-0.65,-116.8,662.0,-9.2,742,6846,0.00,2.15,0.00,0.000,4,0.000,0.040,2481,407,3268,0,0,0,0,0,0
$GC,6916,-0.60,-116.8,669.3,-9.6,745,6921,0.10,2.10,0.00,0.000,6,0.159,0.025,2507,1806,3267,0,0,0,0,0,0
$GC,7233,-0.60,-116.8,692.4,-7.2,761,7236,0.00,2.15,0.00,0.000,4,0.000,0.040,2508,401,3267,0,0,0,0,0,0
$GC,7284,-0.60,-116.8,696.9,-8.8,763,7289,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1802,3267,0,0,0,0,0,0
$GC,7601,-0.60,-116.8,722.3,-8.2,779,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1802,3267,0,0,0,0,0,0
$GC,7906,-0.60,-116.8,745.7,-7.3,794,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1803,3266,0,0,0,0,0,0
$GC,8212,-0.60,-116.8,766.8,-6.7,809,8215,0.00,2.17,0.00,0.000,4,0.000,0.040,2505,399,3265,0,0,0,0,0,0
$GC,8243,-0.60,-116.8,769.4,-8.1,810,8247,0.00,2.08,0.00,0.000,6,0.000,0.025,2495,1789,3265,0,0,0,0,0,0
$GC,8558,-0.60,-116.8,792.3,-7.1,826,8563,0.00,2.15,0.00,0.000,4,0.000,0.032,2495,3195,3265,0,0,0,0,0,0
$GC,8627,-0.66,-116.8,796.7,-6.2,829,8632,0.00,2.12,0.00,0.000,6,0.000,0.026,2495,1798,3265,0,0,0,0,0,0
$GC,8949,-0.66,-116.8,818.1,-6.8,845,8953,0.00,2.15,0.00,0.000,4,0.000,0.041,2495,404,3264,0,0,0,0,0,0
$GC,8996,-0.66,-116.8,821.9,-8.3,847,9001,0.00,2.10,0.00,0.000,6,0.000,0.024,2486,1801,3264,0,0,0,0,0,0
$GC,9319,-0.66,-116.8,845.8,-7.4,863,9322,0.00,2.15,0.00,0.000,4,0.000,0.041,2486,398,3264,0,0,0,0,0,0
$GC,9343,-0.66,-116.8,848.1,-9.3,864,9348,0.00,2.12,0.00,0.000,6,0.000,0.025,2478,1810,3264,0,0,0,0,0,0
$GC,9664,-0.66,-116.8,874.5,-8.4,880,9669,0.00,2.12,0.00,0.000,4,0.000,0.032,2478,3196,3264,0,0,0,0,0,0
$STATE,9695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9695,begin apogee
$GC,9700,-0.14,0.0,877.1,8.6,881,9796,0.50,0.00,93.72,1.130,6,0.101,0.000,2655,1753,2792,0,0,0,0,0,0
$STATE,9796,end apogee,CONTROL_FINISHED_OK
$STATE,9796,begin climb
$GC,9797,0.57,116.8,879.8,0.0,886,9905,0.65,2.35,101.90,1.095,4,0.061,0.044,2903,344,2315,0,0,0,0,0,0
$GC,9935,0.41,116.8,876.5,7.9,892,9940,0.22,2.25,0.00,0.000,6,0.137,0.025,2835,1747,2313,0,0,0,0,0,0
$GC,10251,0.42,127.2,853.4,7.4,908,10265,0.00,2.28,8.38,0.945,4,0.000,0.032,2835,3156,2273,0,0,0,0,0,0
$GC,10414,0.42,127.2,840.5,7.9,915,10422,0.00,2.25,0.00,0.000,6,0.000,0.030,2845,1750,2272,0,0,0,0,0,0
$GC,10726,0.44,144.9,818.6,7.1,931,10747,0.00,2.22,15.93,1.032,4,0.000,0.044,2855,344,2201,0,0,0,0,0,0
$GC,10789,0.44,145.8,814.3,7.8,934,10793,0.00,2.17,0.00,0.000,6,0.000,0.025,2855,1753,2200,0,0,0,0,0,0
$GC,11114,0.47,167.9,791.1,6.9,950,11139,0.00,2.25,20.80,1.039,4,0.000,0.033,2856,3153,2108,0,0,0,0,0,0
$GC,11178,0.47,168.8,786.5,7.8,953,11182,0.00,2.25,0.00,0.000,6,0.000,0.029,2866,1747,2107,0,0,0,0,0,0
$GC,11504,0.47,168.8,759.7,8.6,969,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1746,2106,0,0,0,0,0,0
$GC,11809,0.47,168.8,733.9,8.3,984,11813,0.00,2.20,0.00,0.000,4,0.000,0.031,2866,3152,2105,0,0,0,0,0,0
$GC,11835,0.43,174.0,731.7,7.6,985,11845,0.10,2.20,6.40,0.871,6,0.124,0.028,2842,1747,2082,0,0,0,0,0,0
$GC,12157,0.45,184.6,708.7,7.4,1001,12171,0.00,2.20,10.38,0.951,4,0.000,0.032,2841,3154,2039,0,0,0,0,0,0
$GC,12187,0.45,188.1,706.3,7.7,1001,12197,0.00,2.20,4.88,0.752,6,0.000,0.028,2850,1752,2024,0,0,0,0,0,0
$GC,12519,0.45,188.1,677.0,9.7,1018,12523,0.00,2.20,0.00,0.000,4,0.000,0.042,2861,353,2025,0,0,0,0,0,0
$GC,12555,0.45,188.1,673.1,10.1,1019,12562,0.00,2.12,0.00,0.000,6,0.000,0.025,2861,1754,2024,0,0,0,0,0,0
$GC,12866,0.45,188.1,642.8,9.0,1035,12870,0.00,2.22,0.00,0.000,4,0.000,0.042,2872,343,2024,0,0,0,0,0,0
$GC,12934,0.45,188.1,635.2,11.7,1038,12939,0.00,2.15,0.00,0.000,6,0.000,0.025,2872,1755,2023,0,0,0,0,0,0
$GC,13256,0.45,188.1,601.9,10.1,1054,13260,0.00,2.15,0.00,0.000,4,0.000,0.031,2872,3148,2023,0,0,0,0,0,0
$GC,13363,0.45,188.1,590.6,10.6,1059,13367,0.10,2.17,0.00,0.000,6,0.117,0.028,2846,1748,2023,0,0,0,0,0,0
$GC,13690,0.47,199.7,565.2,7.3,1075,13704,0.00,2.17,10.27,0.887,4,0.000,0.041,2856,339,1978,0,0,0,0,0,0
$GC,13725,0.47,199.7,562.4,8.0,1076,13729,0.00,2.12,0.00,0.000,6,0.000,0.025,2856,1747,1978,0,0,0,0,0,0
$GC,14051,0.48,212.9,537.8,7.3,1092,14065,0.00,0.00,12.60,0.885,6,0.000,0.000,2856,1747,1924,0,0,0,0,0,0
$GC,14357,0.49,217.2,513.8,7.7,1107,14366,0.00,2.17,5.45,0.738,4,0.000,0.031,2856,3151,1906,0,0,0,0,0,0
$GC,14409,0.49,217.2,509.6,8.1,1109,14414,0.00,2.17,0.00,0.000,6,0.000,0.028,2865,1754,1906,0,0,0,0,0,0
$GC,14728,0.49,217.2,482.2,9.3,1134,14733,0.00,2.20,0.00,0.000,4,0.000,0.041,2877,351,1906,0,0,0,0,0,0
$GC,14749,0.49,217.2,480.1,9.6,1136,14754,0.00,2.12,0.00,0.000,6,0.000,0.025,2876,1749,1906,0,0,0,0,0,0
$GC,15070,0.49,217.2,449.5,9.5,1167,15074,0.00,2.17,0.00,0.000,4,0.000,0.031,2877,3149,1906,0,0,0,0,0,0
$GC,15101,0.49,217.2,446.4,10.0,1170,15106,0.00,2.17,0.00,0.000,6,0.000,0.028,2887,1748,1906,0,0,0,0,0,0
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$GC,16044,0.49,217.2,353.7,9.0,1261,16048,0.00,2.15,0.00,0.000,4,0.000,0.031,2887,3155,1905,0,0,0,0,0,0
$GC,16096,0.49,217.2,348.8,8.9,1266,16101,0.10,2.17,0.00,0.000,6,0.117,0.028,2860,1749,1905,0,0,0,0,0,0
$GC,16418,0.52,240.7,326.6,6.8,1297,16442,0.00,2.22,19.98,0.782,4,0.000,0.042,2870,345,1810,0,0,0,0,0,0
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$STATE,19836,end climb,SURFACE_DEPTH_REACHED
$STATE,19836,begin surface coast
$FINISH,2.7,1.025157
$STATE,19842,end surface coast,CONTROL_FINISHED_OK
$STATE,19842,begin surface
$SM_CCo,19916,0.00,0.000,0,0,1613,289.20
$SM_GC,0.90,7.15,0.00,0.00,0.051,0.000,0.000,193,1813,1613,-7.77,0.37,289.20
$IRIDIUM_FIX,3629.60,-12206.02,300699,010159
$TT8_MAMPS,0.052156
$HUMID,54.21
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.50
$XPDR_PINGS,3
$24V_AH,23.8,16.230
$10V_AH,10.0,21.839
$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,18.825,173.075,351.925,0.000,0.000,76.273,118.758,409.707,2.750,0.000,34.282,0.000,14560.742,524.418,4797.119,893.885,0.000,2056.719,0.000,4097.957,0.000,15.381,0.000
$DEVICE_MAMPS,223.197,44.486,1129.791,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1261.174,3785.859,2669.189,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246728
$DATA_FILE_SIZE,126714,1815
$CAP_FILE_SIZE,212215,0
$CFSIZE,260165632,246046720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050410,072655,3643.870,-12206.506,39,1.2,39,14.8