version: 66.07
glider: 511
mission: 5
dive: 299
start: 1 21 111 6 38 51
data:
$ID,511
$MISSION,5
$DIVE,299
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48320.426
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2589
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,1998
$C_ROLL_CLIMB,2077
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,298
$AR_SAMPLENUM,0
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,210111,062730,1751.654,12749.273,39,1.3,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.5
$GPS2,210111,063756,1751.674,12749.257,15,1.1,15,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.191,-0.100
$KALMAN_X,-605915.4,85.6,-881.2,629791.6,6282.2
$KALMAN_Y,648421.6,568.9,-607.3,-953552.8,3293.3
$MHEAD_RNG_PITCHd_Wd,244.4,376438,-9.9,-6.000
$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
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,98,0.00,0.00,-70.07,0.000,2,0.000,0.000,46,1981,2903,0,0,0,0,0,0
$GC,101,-0.58,-146.0,3.7,-3.9,7,129,10.25,2.22,-11.90,0.000,4,0.251,0.064,2395,602,3489,0,0,0,0,0,0
$GC,234,-0.58,-146.0,37.8,-20.4,21,240,0.00,2.20,0.00,0.000,6,0.000,0.048,2387,1999,3490,0,0,0,0,0,0
$GC,495,-0.58,-146.0,98.8,-23.7,46,499,0.00,2.25,0.00,0.000,4,0.000,0.058,2376,3415,3490,0,0,0,0,0,0
$GC,583,-0.58,-146.0,119.5,-22.5,55,588,0.00,2.17,0.00,0.000,6,0.000,0.042,2376,2007,3489,0,0,0,0,0,0
$GC,845,-0.58,-146.0,173.3,-18.8,79,849,0.00,2.17,0.00,0.000,4,0.000,0.053,2376,585,3491,0,0,0,0,0,0
$GC,891,-0.58,-146.0,182.1,-16.1,83,897,0.12,2.20,0.00,0.000,6,0.161,0.048,2400,2003,3491,0,0,0,0,0,0
$GC,1147,-0.58,-146.0,217.2,-13.2,102,1151,0.00,2.20,0.00,0.000,4,0.000,0.059,2390,3411,3492,0,0,0,0,0,0
$GC,1217,-0.58,-146.0,226.2,-11.1,105,1221,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1991,3493,0,0,0,0,0,0
$GC,1541,-0.58,-146.0,267.2,-13.0,121,1545,0.00,2.17,0.00,0.000,4,0.000,0.051,2391,584,3492,0,0,0,0,0,0
$GC,1583,-0.58,-146.0,272.7,-12.7,123,1587,0.00,2.17,0.00,0.000,6,0.000,0.047,2382,2001,3489,0,0,0,0,0,0
$GC,1930,-0.58,-146.0,315.4,-11.9,137,1934,0.00,2.20,0.00,0.000,4,0.000,0.058,2372,3409,3493,0,0,0,0,0,0
$GC,2045,-0.58,-146.0,328.2,-10.0,139,2050,0.10,2.17,0.00,0.000,6,0.159,0.041,2399,1990,3491,0,0,0,0,0,0
$GC,2386,-0.58,-146.0,357.3,-8.1,148,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1987,3491,0,0,0,0,0,0
$GC,2710,-0.58,-146.0,382.1,-7.8,156,2715,0.00,2.25,0.00,0.000,4,0.000,0.063,2390,3403,3488,0,0,0,0,0,0
$GC,2770,-0.58,-146.0,386.8,-7.6,157,2774,0.00,2.17,0.00,0.000,6,0.000,0.043,2390,1994,3488,0,0,0,0,0,0
$GC,3119,-0.58,-146.0,415.5,-8.3,166,3123,0.00,2.28,0.00,0.000,4,0.000,0.064,2381,3409,3486,0,0,0,0,0,0
$GC,3197,-0.58,-146.0,422.2,-8.0,167,3201,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,2000,3485,0,0,0,0,0,0
$GC,3532,-0.58,-146.0,454.2,-9.9,176,3536,0.00,2.28,0.00,0.000,4,0.000,0.067,2378,3403,3483,0,0,0,0,0,0
$GC,3555,-0.58,-146.0,456.6,-10.1,176,3559,0.00,2.20,0.00,0.000,6,0.000,0.044,2378,1987,3482,0,0,0,0,0,0
$GC,3894,-0.58,-146.0,489.4,-9.3,185,3898,0.00,2.30,0.00,0.000,4,0.000,0.067,2370,3403,3481,0,0,0,0,0,0
$GC,3937,-0.58,-146.0,493.4,-9.6,186,3942,0.12,2.17,0.00,0.000,6,0.150,0.045,2406,2003,3482,0,0,0,0,0,0
$GC,4264,-0.58,-146.0,517.8,-7.3,194,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2003,3477,0,0,0,0,0,0
$GC,4589,-0.58,-146.0,541.3,-7.1,202,4593,0.00,2.28,0.00,0.000,4,0.000,0.069,2404,3405,3475,0,0,0,0,0,0
$GC,4622,-0.58,-146.0,543.6,-6.4,202,4626,0.00,2.17,0.00,0.000,6,0.000,0.041,2405,1988,3474,0,0,0,0,0,0
$GC,4952,-0.58,-146.0,565.3,-6.6,210,4956,0.00,2.28,0.00,0.000,4,0.000,0.062,2398,3409,3472,0,0,0,0,0,0
$GC,4984,-0.58,-146.0,567.6,-6.8,210,4988,0.00,2.17,0.00,0.000,6,0.000,0.041,2398,1998,3471,0,0,0,0,0,0
$GC,5314,-0.58,-146.0,590.4,-6.9,218,5318,0.00,2.25,0.00,0.000,4,0.000,0.062,2389,3405,3467,0,0,0,0,0,0
$GC,5365,-0.58,-146.0,594.1,-7.8,219,5369,0.00,2.17,0.00,0.000,6,0.000,0.042,2389,1998,3467,0,0,0,0,0,0
$GC,5682,-0.58,-146.0,620.6,-8.7,227,5686,0.00,2.28,0.00,0.000,4,0.000,0.062,2380,3405,3466,0,0,0,0,0,0
$GC,5704,-0.58,-146.0,622.5,-8.9,227,5709,0.00,2.17,0.00,0.000,6,0.000,0.042,2381,2002,3466,0,0,0,0,0,0
$GC,6049,-0.58,-146.0,651.5,-8.0,236,6053,0.00,2.28,0.00,0.000,4,0.000,0.062,2373,3405,3463,0,0,0,0,0,0
$GC,6137,-0.58,-146.0,658.1,-7.2,238,6142,0.10,2.20,0.00,0.000,6,0.155,0.043,2400,1988,3462,0,0,0,0,0,0
$GC,6465,-0.58,-146.0,678.2,-6.2,246,6469,0.00,2.28,0.00,0.000,4,0.000,0.062,2391,3407,3461,0,0,0,0,0,0
$GC,6507,-0.58,-146.0,681.1,-7.3,247,6512,0.00,2.17,0.00,0.000,6,0.000,0.043,2391,2002,3460,0,0,0,0,0,0
$GC,6834,-0.58,-146.0,704.9,-7.4,255,6838,0.00,2.30,0.00,0.000,4,0.000,0.062,2383,3404,3459,0,0,0,0,0,0
$GC,6877,-0.58,-146.0,708.2,-7.3,256,6881,0.00,2.20,0.00,0.000,6,0.000,0.043,2383,1994,3456,0,0,0,0,0,0
$GC,7203,-0.58,-146.0,734.1,-7.9,264,7207,0.00,2.28,0.00,0.000,4,0.000,0.062,2374,3404,3456,0,0,0,0,0,0
$GC,7246,-0.58,-146.0,737.6,-7.7,265,7250,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,1991,3456,0,0,0,0,0,0
$GC,7573,-0.58,-146.0,763.3,-7.6,273,7577,0.00,2.28,0.00,0.000,4,0.000,0.064,2374,3403,3455,0,0,0,0,0,0
$GC,7630,-0.58,-146.0,767.2,-7.1,274,7634,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,1995,3454,0,0,0,0,0,0
$GC,7943,-0.58,-146.0,789.2,-7.0,282,7947,0.00,2.30,0.00,0.000,4,0.000,0.065,2374,3409,3452,0,0,0,0,0,0
$GC,7970,-0.58,-146.0,791.2,-7.5,282,7974,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,1999,3452,0,0,0,0,0,0
$GC,8305,-0.58,-146.0,815.2,-7.3,291,8309,0.00,2.28,0.00,0.000,4,0.000,0.064,2374,3402,3451,0,0,0,0,0,0
$GC,8342,-0.58,-146.0,818.0,-7.1,291,8348,0.10,2.20,0.00,0.000,6,0.156,0.045,2402,1994,3448,0,0,0,0,0,0
$GC,8672,-0.58,-146.0,839.1,-6.5,300,8677,0.00,2.28,0.00,0.000,4,0.000,0.064,2393,3403,3449,0,0,0,0,0,0
$GC,8723,-0.58,-146.0,842.6,-7.1,301,8727,0.00,2.20,0.00,0.000,6,0.000,0.045,2394,2001,3449,0,0,0,0,0,0
$GC,9041,-0.58,-146.0,864.6,-6.8,309,9045,0.00,2.30,0.00,0.000,4,0.000,0.064,2384,3405,3448,0,0,0,0,0,0
$GC,9063,-0.58,-146.0,866.1,-7.1,309,9067,0.00,2.22,0.00,0.000,6,0.000,0.045,2385,1989,3448,0,0,0,0,0,0
$GC,9403,-0.58,-146.0,886.7,-5.8,318,9407,0.00,2.30,0.00,0.000,4,0.000,0.064,2374,3403,3447,0,0,0,0,0,0
$GC,9440,-0.58,-146.0,888.8,-5.9,318,9446,0.00,2.22,0.00,0.000,6,0.000,0.045,2374,1989,3451,0,0,0,0,0,0
$GC,9770,-0.58,-146.0,908.7,-6.1,327,9775,0.00,2.30,0.00,0.000,4,0.000,0.064,2365,3403,3446,0,0,0,0,0,0
$GC,9816,-0.58,-146.0,912.0,-6.7,328,9821,0.12,2.20,0.00,0.000,6,0.153,0.046,2401,2002,3446,0,0,0,0,0,0
$GC,10140,-0.58,-146.0,930.4,-5.8,336,10144,0.00,2.30,0.00,0.000,4,0.000,0.064,2392,3408,3446,0,0,0,0,0,0
$GC,10190,-0.58,-146.0,933.8,-7.3,337,10194,0.00,2.22,0.00,0.000,6,0.000,0.047,2392,1996,3444,0,0,0,0,0,0
$GC,10513,-0.58,-146.0,953.0,-5.9,345,10517,0.00,2.30,0.00,0.000,4,0.000,0.065,2383,3406,3443,0,0,0,0,0,0
$GC,10564,-0.58,-146.0,956.2,-5.9,346,10568,0.00,2.22,0.00,0.000,6,0.000,0.047,2383,1996,3443,0,0,0,0,0,0
$GC,10881,-0.58,-146.0,974.5,-5.6,354,10885,0.00,2.30,0.00,0.000,4,0.000,0.067,2374,3403,3443,0,0,0,0,0,0
$GC,10914,-0.58,-146.0,976.4,-5.9,354,10918,0.00,2.22,0.00,0.000,6,0.000,0.048,2374,1994,3442,0,0,0,0,0,0
$STATE,11165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11165,begin apogee
$GC,11171,-0.28,0.0,990.9,5.7,361,11296,0.40,0.00,122.10,1.354,6,0.132,0.000,2500,2088,2892,0,0,0,0,0,0
$STATE,11299,end apogee,CONTROL_FINISHED_OK
$STATE,11299,begin climb
$GC,11302,0.58,146.0,993.3,0.0,364,11445,0.75,2.53,133.77,1.317,4,0.078,0.059,2777,672,2294,0,0,1,0,0,0
$GC,11543,0.58,146.0,975.7,12.8,369,11547,0.00,2.33,0.00,0.000,6,0.000,0.056,2777,2067,2283,0,0,1,0,0,0
$GC,11883,0.58,146.0,934.1,12.0,378,11887,0.00,2.35,0.00,0.000,4,0.000,0.071,2777,3491,2279,0,0,0,0,0,0
$GC,11933,0.58,146.0,927.4,12.9,379,11937,0.00,2.22,0.00,0.000,6,0.000,0.050,2787,2084,2279,0,0,1,0,0,0
$GC,12251,0.58,146.0,889.7,11.8,387,12255,0.00,2.33,0.00,0.000,4,0.000,0.070,2783,3491,2278,0,0,0,0,0,0
$GC,12310,0.58,146.0,881.6,13.2,388,12314,0.00,2.25,0.00,0.000,6,0.000,0.050,2797,2069,2277,0,0,0,0,0,0
$GC,12623,0.58,146.0,842.5,12.5,396,12627,0.00,2.38,0.00,0.000,4,0.000,0.070,2798,3497,2278,0,0,0,0,0,0
$GC,12646,0.58,146.0,839.3,13.5,396,12651,0.12,2.22,0.00,0.000,6,0.216,0.050,2781,2075,2277,0,0,1,0,0,0
$GC,12986,0.58,146.0,800.5,11.0,405,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2068,2275,0,0,0,0,0,0
$GC,13312,0.58,146.0,765.8,10.4,413,13313,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2064,2274,0,0,0,0,0,0
$GC,13636,0.58,146.0,733.2,10.1,421,13640,0.00,2.38,0.00,0.000,4,0.000,0.070,2780,3497,2274,0,0,0,0,0,0
$GC,13682,0.58,146.0,728.1,10.6,422,13686,0.00,2.25,0.00,0.000,6,0.000,0.051,2789,2074,2273,0,0,1,0,0,0
$GC,14004,0.58,146.0,691.9,11.4,430,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2068,2272,0,0,0,0,0,0
$GC,14329,0.58,146.0,655.6,10.9,438,14333,0.00,2.35,0.00,0.000,4,0.000,0.069,2789,3492,2273,0,0,0,0,0,0
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$STATE,22686,end climb,SURFACE_DEPTH_REACHED
$STATE,22686,begin surface coast
$FINISH,0.8,1.022108
$STATE,22725,end surface coast,CONTROL_FINISHED_OK
$STATE,22725,begin surface
$SM_CCo,22746,71.18,0.553,0,0,1053,450.12
$SM_GC,1.81,0.00,0.00,71.18,0.000,0.000,0.553,54,1993,1053,-7.92,-0.17,450.12
$IRIDIUM_FIX,1742.84,12749.72,150712,181814
$TT8_MAMPS,0.056758
$HUMID,1078652248
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8434483200
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52409958400
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,61.781
$10V_AH,9.9,41.975
$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,20.025,234.225,389.550,71.175,0.000,31.302,40.352,404.723,0.000,0.000,17.584,1805.045,17954.264,612.068,2699.609,369.947,33.365,1887.099,0.000,2221.441,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,89.739,1353.755,553.007,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,585.981,0.000,0.000,0.000,0.000,0.000,0.000,21444.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.798,0.000,0.000
$MEM,354924
$DATA_FILE_SIZE,30079,868
$CAP_FILE_SIZE,199128,0
$CFSIZE,260165632,232157184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,210111,130151,1750.461,12747.223,88,2.9,107,-2.0