version: 66.06
glider: 146
mission: 7
dive: 75
start: 6 4 112 13 27 2
data:
$ID,146
$MISSION,7
$DIVE,75
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-289273.47
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3144
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,130800,2259.771,-15756.435,38,1.8,38,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-68.1
$GPS2,132607,2259.742,-15756.513,10,1.2,10,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,CHOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,-0.173
$KALMAN_X,-100157.0,33.9,254.3,112179.4,-529.0
$KALMAN_Y,-24285.9,282.5,-274.5,59754.5,-56.2
$MHEAD_RNG_PITCHd_Wd,123.4,50565,-18.2,-10.014
$D_GRID,700
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,115,0.00,0.00,-91.28,0.000,6,0.000,0.000,467,2177,3556,0,0,0,0,0,0
$GC,118,-1.31,-136.3,1.9,-5.4,12,136,13.12,2.55,0.00,0.000,4,0.171,0.041,2851,627,3558,0,0,0,0,0,0
$GC,214,-1.13,-136.3,22.1,-14.5,25,224,0.17,2.50,0.00,0.000,6,0.103,0.019,2892,2207,3558,0,0,0,0,0,0
$GC,498,-1.07,-136.3,54.4,-10.2,54,503,0.00,2.58,0.00,0.000,4,0.000,0.041,2892,629,3557,0,0,0,0,0,0
$GC,520,-1.01,-136.3,56.8,-10.4,55,525,0.15,2.47,0.00,0.000,6,0.114,0.017,2923,2221,3558,0,0,0,0,0,0
$GC,790,-1.05,-136.3,78.5,-7.4,79,795,0.00,2.60,0.00,0.000,4,0.000,0.042,2923,630,3558,0,0,0,0,0,0
$GC,826,-1.05,-136.3,81.3,-7.0,81,830,0.00,2.40,0.00,0.000,6,0.000,0.017,2923,2192,3558,0,0,0,0,0,0
$GC,1094,-1.09,-136.3,100.5,-7.7,105,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2192,3558,0,0,0,0,0,0
$GC,1357,-1.14,-136.3,123.4,-8.1,130,1359,0.12,0.00,0.00,0.000,6,0.068,0.000,2876,2192,3559,0,0,0,0,0,0
$GC,1613,-1.14,-136.3,143.7,-6.7,154,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2192,3559,0,0,0,0,0,0
$GC,1875,-1.14,-136.3,162.0,-7.2,179,1879,0.00,2.60,0.00,0.000,4,0.000,0.052,2876,622,3559,0,0,0,0,0,0
$GC,1943,-1.14,-136.3,167.1,-8.3,184,1948,0.00,2.45,0.00,0.000,6,0.000,0.023,2876,2199,3559,0,0,0,0,0,0
$GC,2210,-1.14,-136.3,187.4,-7.7,208,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2199,3559,0,0,0,0,0,0
$GC,2488,-1.14,-136.3,211.5,-8.8,226,2493,0.00,2.53,0.00,0.000,4,0.000,0.042,2876,3772,3558,0,0,0,0,0,0
$GC,2515,-1.14,-136.3,213.9,-8.2,226,2520,0.00,2.50,0.00,0.000,6,0.000,0.027,2876,2182,3558,0,0,0,0,0,0
$GC,2765,-1.14,-136.3,231.6,-6.9,232,2770,0.00,2.58,0.00,0.000,4,0.000,0.038,2876,3777,3558,0,0,0,0,0,0
$GC,2809,-1.14,-136.3,235.0,-7.6,233,2813,0.00,2.50,0.00,0.000,6,0.000,0.028,2876,2197,3558,0,0,0,0,0,0
$GC,3086,-1.14,-136.3,254.9,-7.2,240,3091,0.00,2.60,0.00,0.000,4,0.000,0.060,2876,639,3557,0,0,0,0,0,0
$GC,3173,-1.14,-136.3,261.7,-7.9,242,3177,0.00,2.42,0.00,0.000,6,0.000,0.029,2876,2179,3557,0,0,0,0,0,0
$GC,3456,-1.14,-136.3,282.0,-7.0,249,3460,0.00,2.62,0.00,0.000,4,0.000,0.044,2876,3785,3556,0,0,0,0,0,0
$GC,3477,-1.14,-136.3,283.6,-7.1,249,3482,0.00,2.53,0.00,0.000,6,0.000,0.028,2876,2192,3556,0,0,0,0,0,0
$GC,3735,-1.14,-136.3,299.1,-5.8,256,3739,0.00,2.60,0.00,0.000,4,0.000,0.044,2876,3778,3555,0,0,0,0,0,0
$GC,3778,-1.14,-136.3,302.1,-6.8,257,3783,0.00,2.55,0.00,0.000,6,0.000,0.026,2876,2184,3555,0,0,0,0,0,0
$GC,4056,-1.14,-136.3,319.7,-6.5,264,4061,0.00,2.62,0.00,0.000,4,0.000,0.063,2876,631,3553,0,0,0,0,0,0
$GC,4113,-1.14,-136.3,324.2,-8.1,265,4117,0.00,2.47,0.00,0.000,6,0.000,0.025,2876,2189,3553,0,0,0,0,0,0
$GC,4379,-1.14,-136.3,344.1,-7.3,272,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2189,3551,0,0,0,0,0,0
$GC,4623,-1.14,-136.3,359.2,-5.9,278,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2189,3550,0,0,0,0,0,0
$GC,4868,-1.14,-136.3,371.8,-5.1,284,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2189,3548,0,0,0,0,0,0
$GC,5111,-1.18,-136.3,385.1,-5.7,290,5115,0.00,2.70,0.00,0.000,4,0.000,0.067,2876,630,3548,0,0,0,0,0,0
$GC,5155,-1.18,-136.3,388.4,-8.1,291,5159,0.00,2.47,0.00,0.000,6,0.000,0.031,2876,2174,3547,0,0,0,0,0,0
$GC,5434,-1.22,-136.3,407.9,-7.1,298,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2174,3546,0,0,0,0,0,0
$GC,5676,-1.26,-136.3,425.0,-6.9,304,5681,0.00,2.72,0.00,0.000,4,0.000,0.056,2876,3788,3545,0,0,0,0,0,0
$GC,5732,-1.31,-136.3,429.3,-7.7,305,5737,0.00,2.65,0.00,0.000,6,0.000,0.044,2876,2192,3544,0,0,0,0,0,0
$GC,6000,-1.36,-136.3,445.2,-5.6,312,6002,0.12,0.00,0.00,0.000,6,0.076,0.000,2837,2192,3543,0,0,0,0,0,0
$GC,6242,-1.36,-136.3,458.1,-5.2,318,6247,0.00,2.70,0.00,0.000,4,0.000,0.058,2837,3787,3542,0,0,0,0,0,0
$GC,6285,-1.36,-136.3,460.7,-5.8,319,6290,0.00,2.67,0.00,0.000,6,0.000,0.050,2837,2186,3542,0,0,0,0,0,0
$GC,6565,-1.36,-136.3,475.9,-5.7,326,6570,0.00,2.72,0.00,0.000,4,0.000,0.059,2837,3787,3540,0,0,0,0,0,0
$GC,6583,-1.32,-136.3,477.0,-6.3,326,6587,0.00,2.67,0.00,0.000,6,0.000,0.050,2837,2189,3540,0,0,0,0,0,0
$GC,6845,-1.32,-136.3,496.1,-7.5,333,6850,0.00,2.72,0.00,0.000,4,0.000,0.061,2837,3786,3539,0,0,0,0,0,0
$GC,6912,-1.32,-136.3,501.9,-8.3,334,6917,0.00,2.67,0.00,0.000,6,0.000,0.049,2837,2197,3538,0,0,0,0,0,0
$GC,7168,-1.32,-136.3,519.7,-6.9,341,7173,0.00,2.75,0.00,0.000,4,0.000,0.068,2837,3792,3537,0,0,0,0,0,0
$GC,7209,-1.32,-136.3,522.7,-8.1,342,7214,0.00,2.70,0.00,0.000,6,0.000,0.051,2837,2198,3537,0,0,0,0,0,0
$GC,7492,-1.32,-136.3,541.6,-6.5,349,7497,0.00,3.00,0.00,0.000,4,0.000,0.120,2837,623,3536,0,0,0,0,0,0
$GC,7553,-1.28,-136.3,546.0,-6.8,350,7559,0.12,2.62,0.00,0.000,6,0.120,0.045,2863,2191,3535,0,0,0,0,0,0
$GC,7819,-1.32,-136.3,560.9,-5.4,357,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2192,3534,0,0,0,0,0,0
$GC,8061,-1.36,-136.3,575.4,-6.2,363,8065,0.00,2.85,0.00,0.000,4,0.000,0.095,2863,620,3533,0,0,0,0,0,0
$GC,8093,-1.36,-136.3,577.7,-7.2,363,8099,0.00,2.65,0.00,0.000,6,0.000,0.055,2863,2193,3532,0,0,0,0,0,0
$GC,8345,-1.40,-136.3,594.0,-6.7,370,8351,0.10,2.95,0.00,0.000,4,0.092,0.104,2832,3794,3531,0,0,0,0,0,0
$GC,8396,-1.40,-136.3,598.3,-8.6,371,8400,0.00,2.78,0.00,0.000,6,0.000,0.066,2832,2203,3531,0,0,0,0,0,0
$GC,8669,-1.40,-136.3,617.3,-6.8,378,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2203,3530,0,0,0,0,0,0
$GC,8911,-1.40,-136.3,632.6,-6.2,384,8916,0.00,2.88,0.00,0.000,4,0.000,0.091,2832,3794,3529,0,0,0,0,0,0
$GC,8972,-1.40,-136.3,636.8,-7.1,385,8977,0.00,2.83,0.00,0.000,6,0.000,0.082,2832,2218,3529,0,0,0,0,0,0
$GC,9234,-1.40,-136.3,651.6,-5.6,392,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2218,3528,0,0,0,0,0,0
$GC,9476,-1.40,-136.3,664.9,-5.4,398,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2218,3527,0,0,0,0,0,0
$GC,9720,-1.40,-136.3,678.1,-5.5,404,9725,0.00,2.97,0.00,0.000,4,0.000,0.114,2833,3799,3526,0,0,0,0,0,0
$GC,9760,-1.40,-136.3,680.8,-7.5,405,9765,0.00,2.95,0.00,0.000,6,0.000,0.104,2832,2221,3526,0,0,0,0,0,0
$GC,10045,-1.40,-136.3,699.1,-6.4,412,10050,0.00,2.97,0.00,0.000,4,0.000,0.119,2832,3793,3525,0,0,0,0,0,0
$STATE,10058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10058,begin apogee
$GC,10067,-0.31,0.0,700.3,6.6,412,10180,1.05,0.00,109.80,1.116,6,0.082,0.000,3071,2198,3000,0,0,0,0,0,0
$STATE,10181,end apogee,CONTROL_FINISHED_OK
$STATE,10181,begin climb
$GC,10186,1.31,136.3,701.8,0.0,415,10309,1.55,0.00,119.25,1.081,6,0.058,0.000,3431,2198,2444,0,0,0,0,0,0
$GC,10534,1.17,136.3,660.2,13.9,424,10539,0.15,2.95,0.00,0.000,4,0.138,0.099,3403,3785,2435,0,0,0,0,0,0
$GC,10564,1.08,136.3,656.1,13.3,424,10569,0.12,2.95,0.00,0.000,6,0.132,0.092,3380,2199,2434,0,0,0,0,0,0
$GC,10813,1.08,136.3,626.8,11.7,430,10818,0.00,3.08,0.00,0.000,4,0.000,0.124,3380,606,2431,0,0,0,0,0,0
$GC,10835,1.03,136.3,624.1,11.8,430,10839,0.00,2.78,0.00,0.000,6,0.000,0.059,3380,2202,2431,0,0,0,0,0,0
$GC,11091,1.03,136.3,594.7,11.5,437,11096,0.00,2.88,0.00,0.000,4,0.000,0.093,3380,3789,2430,0,0,0,0,0,0
$GC,11112,1.03,136.3,591.9,12.0,437,11117,0.00,2.78,0.00,0.000,6,0.000,0.060,3380,2196,2430,0,0,0,0,0,0
$GC,11367,1.03,136.3,565.5,10.1,444,11368,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2196,2429,0,0,0,0,0,0
$GC,11611,1.03,140.0,541.3,9.8,450,11616,0.00,2.97,0.00,0.000,4,0.000,0.104,3380,603,2428,0,0,0,0,0,0
$GC,11642,0.98,140.0,538.4,11.1,450,11647,0.10,2.65,0.00,0.000,6,0.142,0.042,3361,2198,2427,0,0,0,0,0,0
$GC,11892,1.03,175.1,517.0,8.3,456,11931,0.00,0.00,33.50,0.976,6,0.000,0.000,3361,2199,2285,0,0,0,0,0,0
$GC,12175,1.03,175.1,489.2,10.4,463,12179,0.00,2.72,0.00,0.000,4,0.000,0.061,3361,3785,2281,0,0,0,0,0,0
$GC,12216,1.07,175.1,484.9,11.0,464,12221,0.00,2.67,0.00,0.000,6,0.000,0.040,3361,2193,2280,0,0,0,0,0,0
$GC,12499,1.11,175.1,453.8,10.8,471,12505,0.10,2.90,0.00,0.000,4,0.093,0.091,3388,606,2279,0,0,0,0,0,0
$GC,12534,1.07,175.1,449.6,12.6,471,12540,0.00,2.62,0.00,0.000,6,0.000,0.030,3388,2214,2279,0,0,0,0,0,0
$GC,12784,1.07,175.1,420.5,11.5,478,12788,0.00,2.60,0.00,0.000,4,0.000,0.050,3388,3783,2278,0,0,0,0,0,0
$GC,12816,1.07,175.1,416.4,12.6,478,12822,0.00,2.65,0.00,0.000,6,0.000,0.037,3388,2185,2278,0,0,0,0,0,0
$GC,13066,1.07,175.1,389.8,10.4,485,13071,0.00,2.75,0.00,0.000,4,0.000,0.075,3388,612,2278,0,0,0,0,0,0
$GC,13089,1.07,175.1,387.4,10.7,485,13093,0.00,2.55,0.00,0.000,6,0.000,0.028,3388,2202,2277,0,0,0,0,0,0
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$GC,14863,1.08,181.2,199.1,9.8,529,14874,0.00,2.47,5.38,0.568,6,0.000,0.027,3388,2183,2261,0,0,0,0,0,0
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$GC,15443,1.28,220.9,146.1,8.9,582,15471,0.15,2.67,22.02,0.650,4,0.069,0.036,3430,3768,2099,0,0,0,0,0,0
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$STATE,16705,end climb,SURFACE_DEPTH_REACHED
$STATE,16705,begin surface coast
$FINISH,-0.6,1.023789
$STATE,16747,end surface coast,CONTROL_FINISHED_OK
$STATE,16747,begin surface
$SM_CCo,16768,129.25,0.520,0,0,1450,380.21
$SM_GC,0.09,0.00,0.00,129.25,0.000,0.000,0.520,472,2184,1450,-12.29,-0.71,380.21
$IRIDIUM_FIX,2253.38,-15757.57,290801,131326
$TT8_MAMPS,0.026078
$HUMID,57.04
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.70
$XPDR_PINGS,71
$24V_AH,23.3,11.406
$10V_AH,10.3,10.570
$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,29.000,218.850,305.425,129.250,0.000,77.590,94.099,623.414,17.750,0.000,12.079,1486.860,12162.874,613.761,2473.629,1241.571,33.359,1584.359,0.000,2483.209,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,124.254,1115.985,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,484.446,356.549,476.593,840.309,1271.118,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,54233,711
$CAP_FILE_SIZE,172647,0
$CFSIZE,260165632,142225408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040612,181000,2259.483,-15754.714,38,1.5,38,10.1