version: 66.07
glider: 511
mission: 5
dive: 309
start: 1 24 111 2 55 43
data:
$ID,511
$MISSION,5
$DIVE,309
$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,-48610.848
$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,2010
$C_ROLL_CLIMB,2090
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$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,308
$AR_SAMPLENUM,1
$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
$GPS1,240111,024120,1742.567,12723.730,196,3.3,215,-2.0
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,6
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.5
$GPS2,240111,025449,1742.571,12723.583,27,1.3,40,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.208,0.056
$KALMAN_X,-591239.7,-257.3,-1414.7,571502.5,6988.0
$KALMAN_Y,657914.1,544.7,1208.8,-981690.9,-1882.8
$MHEAD_RNG_PITCHd_Wd,287.1,335027,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.58,-146.0,0.0,0.0,0,121,0.00,0.00,-90.62,0.000,2,0.000,0.000,40,2001,2971,0,0,0,0,0,0
$GC,125,-0.58,-146.0,4.5,-5.4,9,152,10.43,2.30,-9.73,0.000,4,0.255,0.075,2386,3418,3487,0,0,0,0,0,0
$GC,194,-0.58,-146.0,31.0,-28.4,16,199,0.00,2.17,0.00,0.000,6,0.000,0.044,2388,2005,3490,0,0,0,0,0,0
$GC,390,-0.58,-146.0,83.1,-27.0,35,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1999,3490,0,0,0,0,0,0
$GC,645,-0.58,-146.0,144.6,-22.6,59,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1999,3489,0,0,0,0,0,0
$GC,901,-0.58,-146.0,189.0,-15.0,83,905,0.00,2.28,0.00,0.000,4,0.000,0.062,2377,3417,3490,0,0,0,0,0,0
$GC,943,-0.58,-146.0,195.3,-15.0,87,947,0.00,2.17,0.00,0.000,6,0.000,0.042,2378,2006,3490,0,0,0,0,0,0
$GC,1208,-0.58,-146.0,236.3,-16.1,101,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2005,3491,0,0,0,0,0,0
$GC,1516,-0.58,-146.0,277.1,-13.0,116,1520,0.00,2.20,0.00,0.000,4,0.000,0.058,2378,602,3491,0,0,0,0,0,0
$GC,1604,-0.58,-146.0,287.7,-11.8,120,1609,0.12,2.17,0.00,0.000,6,0.153,0.048,2405,2010,3491,0,0,0,0,0,0
$GC,1931,-0.58,-146.0,318.7,-9.2,131,1935,0.00,2.25,0.00,0.000,4,0.000,0.067,2397,3423,3490,0,0,0,0,0,0
$GC,2004,-0.58,-146.0,325.8,-9.4,132,2008,0.00,2.17,0.00,0.000,6,0.000,0.041,2397,1999,3490,0,0,0,0,0,0
$GC,2344,-0.58,-146.0,358.1,-9.8,141,2348,0.00,2.30,0.00,0.000,4,0.000,0.067,2388,3421,3488,0,0,0,0,0,0
$GC,2376,-0.58,-146.0,361.2,-9.7,141,2380,0.00,2.15,0.00,0.000,6,0.000,0.041,2387,2010,3487,0,0,0,0,0,0
$GC,2711,-0.58,-146.0,389.8,-8.5,150,2715,0.00,2.30,0.00,0.000,4,0.000,0.067,2379,3423,3485,0,0,1,0,0,0
$GC,2742,-0.58,-146.0,392.8,-10.0,150,2746,0.00,2.15,0.00,0.000,6,0.000,0.043,2378,2002,3485,0,0,1,0,0,0
$GC,3073,-0.58,-146.0,422.2,-8.5,158,3077,0.00,2.17,0.00,0.000,4,0.000,0.054,2379,593,3482,0,0,0,0,0,0
$GC,3100,-0.58,-146.0,424.8,-9.2,158,3105,0.12,2.25,0.00,0.000,6,0.144,0.052,2408,2016,3483,0,0,0,0,0,0
$GC,3436,-0.58,-146.0,445.7,-6.3,167,3440,0.00,2.22,0.00,0.000,4,0.000,0.063,2400,3419,3480,0,0,0,0,0,0
$GC,3482,-0.58,-146.0,449.0,-7.1,168,3486,0.00,2.17,0.00,0.000,6,0.000,0.045,2400,2010,3477,0,0,0,0,0,0
$GC,3804,-0.58,-146.0,473.9,-7.8,176,3809,0.00,2.22,-0.10,0.000,4,0.000,0.067,2399,598,3498,0,0,0,0,0,0
$GC,3837,-0.58,-146.0,476.6,-8.3,176,3841,0.00,2.22,0.00,0.000,6,0.000,0.049,2391,2012,3498,0,0,0,0,0,0
$GC,4171,-0.58,-146.0,501.2,-7.2,185,4176,0.00,2.25,0.00,0.000,4,0.000,0.064,2383,3424,3495,0,0,0,0,0,0
$GC,4279,-0.58,-146.0,509.4,-8.0,187,4283,0.00,2.20,0.00,0.000,6,0.000,0.046,2382,2009,3494,0,0,0,0,0,0
$GC,4628,-0.58,-146.0,538.0,-8.0,196,4632,0.00,2.30,0.00,0.000,4,0.000,0.070,2374,3417,3491,0,0,0,0,0,0
$GC,4674,-0.58,-146.0,541.7,-7.7,197,4678,0.00,2.20,0.00,0.000,6,0.000,0.046,2374,2010,3493,0,0,0,0,0,0
$GC,4995,-0.58,-146.0,568.4,-8.6,205,4997,0.10,0.00,0.00,0.000,6,0.164,0.000,2401,2007,3488,0,0,0,0,0,0
$GC,5321,-0.58,-146.0,590.9,-6.7,213,5325,0.00,2.30,0.00,0.000,4,0.000,0.071,2394,3417,3485,0,0,0,0,0,0
$GC,5357,-0.58,-146.0,593.2,-6.9,213,5363,0.00,2.22,0.00,0.000,6,0.000,0.048,2394,2007,3485,0,0,0,0,0,0
$GC,5688,-0.58,-146.0,614.9,-6.6,222,5692,0.00,2.20,0.00,0.000,4,0.000,0.053,2394,598,3483,0,0,0,0,0,0
$GC,5715,-0.58,-146.0,616.9,-7.4,222,5719,0.00,2.28,0.00,0.000,6,0.000,0.055,2394,2014,3483,0,0,0,0,0,0
$GC,6050,-0.58,-146.0,639.4,-6.7,231,6054,0.00,2.25,0.00,0.000,4,0.000,0.064,2385,3418,3480,0,0,0,0,0,0
$GC,6139,-0.58,-146.0,645.6,-7.6,233,6143,0.00,2.17,0.00,0.000,6,0.000,0.043,2384,2003,3480,0,0,0,0,0,0
$GC,6466,-0.58,-146.0,668.9,-6.8,241,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1999,3478,0,0,0,0,0,0
$GC,6790,-0.58,-146.0,688.4,-6.0,249,6795,0.00,2.30,0.00,0.000,4,0.000,0.064,2375,3428,3476,0,0,0,0,0,0
$GC,6827,-0.58,-146.0,690.8,-6.7,249,6832,0.00,2.22,0.00,0.000,6,0.000,0.043,2375,2000,3476,0,0,0,0,0,0
$GC,7158,-0.58,-146.0,714.3,-7.6,258,7162,0.00,2.30,0.00,0.000,4,0.000,0.064,2367,3421,3474,0,0,0,0,0,0
$GC,7194,-0.58,-146.0,717.3,-8.3,258,7200,0.15,2.17,0.00,0.000,6,0.140,0.044,2410,2009,3474,0,0,0,0,0,0
$GC,7525,-0.58,-146.0,736.1,-5.5,267,7529,0.00,2.30,0.00,0.000,4,0.000,0.064,2402,3422,3473,0,0,0,0,0,0
$GC,7553,-0.58,-146.0,737.6,-5.3,267,7557,0.00,2.20,0.00,0.000,6,0.000,0.044,2402,2010,3473,0,0,0,0,0,0
$GC,7889,-0.58,-146.0,756.5,-5.6,276,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2005,3471,0,0,0,0,0,0
$GC,8214,-0.58,-146.0,773.4,-5.0,284,8218,0.00,2.30,0.00,0.000,4,0.000,0.064,2393,3421,3468,0,0,0,0,0,0
$GC,8251,-0.58,-146.0,775.4,-5.7,284,8255,0.00,2.20,0.00,0.000,6,0.000,0.045,2393,2005,3468,0,0,0,0,0,0
$GC,8586,-0.58,-146.0,795.2,-6.0,293,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2001,3467,0,0,0,0,0,0
$GC,8910,-0.58,-146.0,815.9,-6.6,301,8915,0.00,2.33,0.00,0.000,4,0.000,0.064,2383,3421,3467,0,0,0,0,0,0
$GC,8980,-0.58,-146.0,820.8,-6.7,302,8984,0.00,2.22,0.00,0.000,6,0.000,0.045,2383,2008,3464,0,0,0,0,0,0
$GC,9319,-0.58,-146.0,844.9,-7.0,311,9323,0.00,2.33,0.00,0.000,4,0.000,0.064,2373,3422,3465,0,0,0,0,0,0
$GC,9342,-0.58,-146.0,846.6,-7.5,311,9347,0.10,2.22,0.00,0.000,6,0.156,0.045,2401,2009,3465,0,0,0,0,0,0
$GC,9683,-0.58,-146.0,865.9,-5.4,320,9687,0.00,2.33,0.00,0.000,4,0.000,0.064,2390,3421,3464,0,0,0,0,0,0
$GC,9715,-0.58,-146.0,867.6,-6.2,320,9719,0.00,2.22,0.00,0.000,6,0.000,0.046,2392,2010,3464,0,0,0,0,0,0
$GC,10046,-0.58,-146.0,887.5,-6.0,328,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2005,3462,0,0,0,0,0,0
$GC,10371,-0.58,-146.0,908.8,-6.7,336,10375,0.00,2.30,0.00,0.000,4,0.000,0.064,2383,3424,3462,0,0,0,0,0,0
$GC,10417,-0.58,-146.0,912.3,-6.8,337,10421,0.00,2.22,0.00,0.000,6,0.000,0.046,2383,2010,3464,0,0,0,0,0,0
$GC,10739,-0.58,-146.0,935.7,-7.2,345,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2005,3461,0,0,0,0,0,0
$GC,11065,-0.58,-146.0,958.0,-6.7,353,11069,0.00,2.33,0.00,0.000,4,0.000,0.067,2374,3427,3460,0,0,0,0,0,0
$GC,11110,-0.58,-146.0,961.3,-8.4,354,11115,0.00,2.22,0.00,0.000,6,0.000,0.047,2375,2006,3460,0,0,0,0,0,0
$GC,11432,-0.58,-146.0,982.6,-6.6,362,11436,0.00,2.33,0.00,0.000,4,0.000,0.067,2374,3423,3460,0,0,0,0,0,0
$GC,11469,-0.58,-146.0,985.0,-6.3,362,11473,0.00,2.22,0.00,0.000,6,0.000,0.047,2374,2005,3459,0,0,0,0,0,0
$STATE,11558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11558,begin apogee
$GC,11564,-0.28,0.0,990.6,6.4,365,11693,0.40,0.00,126.15,1.360,6,0.129,0.000,2499,2105,2890,0,0,0,0,0,0
$STATE,11694,end apogee,CONTROL_FINISHED_OK
$STATE,11694,begin climb
$GC,11696,0.58,146.0,994.5,0.0,368,11843,0.80,2.50,134.27,1.319,4,0.074,0.057,2789,685,2292,0,0,0,0,0,0
$GC,11904,0.58,146.0,982.1,12.9,373,11908,0.00,2.35,0.00,0.000,6,0.000,0.054,2789,2083,2285,0,0,1,0,0,0
$GC,12217,0.58,146.0,942.7,12.4,381,12221,0.00,2.38,0.00,0.000,4,0.000,0.071,2789,3503,2281,0,0,0,0,0,0
$GC,12309,0.58,146.0,930.0,13.1,383,12313,0.00,2.22,0.00,0.000,6,0.000,0.050,2799,2096,2280,0,0,1,0,0,0
$GC,12632,0.58,146.0,889.3,12.7,391,12633,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2092,2277,0,0,0,0,0,0
$GC,12956,0.58,146.0,849.6,12.4,399,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2092,2276,0,0,0,0,0,0
$GC,13281,0.58,146.0,808.4,12.8,407,13285,0.00,2.35,0.00,0.000,4,0.000,0.069,2799,3505,2276,0,0,0,0,0,0
$GC,13351,0.58,146.0,798.4,15.8,408,13355,0.12,2.25,0.00,0.000,6,0.211,0.051,2788,2091,2276,0,0,0,0,0,0
$GC,13691,0.58,146.0,758.8,11.5,417,13695,0.00,2.28,0.00,0.000,4,0.000,0.066,2791,682,2275,0,0,0,0,0,0
$GC,13741,0.58,146.0,752.8,11.5,418,13745,0.00,2.28,0.00,0.000,6,0.000,0.057,2791,2094,2274,0,0,0,0,0,0
$GC,14064,0.58,146.0,715.2,11.7,426,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2097,2273,0,0,0,0,0,0
$GC,14388,0.58,146.0,679.3,10.8,434,14392,0.00,2.33,0.00,0.000,4,0.000,0.070,2789,3501,2273,0,0,0,0,0,0
$GC,14448,0.58,146.0,672.1,12.8,435,14452,0.00,2.25,0.00,0.000,6,0.000,0.052,2801,2089,2273,0,0,0,0,0,0
$GC,14761,0.58,146.0,636.8,11.2,443,14765,0.00,2.35,0.00,0.000,4,0.000,0.070,2801,3495,2270,0,0,0,0,0,0
$GC,14834,0.58,146.0,627.9,12.1,444,14839,0.15,2.28,0.00,0.000,6,0.206,0.052,2777,2081,2273,0,0,0,0,0,0
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$STATE,23190,end climb,SURFACE_DEPTH_REACHED
$STATE,23190,begin surface coast
$FINISH,1.0,1.022838
$STATE,23219,end surface coast,CONTROL_FINISHED_OK
$STATE,23219,begin surface
$SM_CCo,23240,75.12,0.548,0,0,1055,450.36
$SM_GC,1.80,0.00,0.00,75.12,0.000,0.000,0.548,48,2004,1055,-7.94,-0.11,450.36
$IRIDIUM_FIX,1738.31,12727.49,180712,141444
$TT8_MAMPS,0.057525
$HUMID,1078643216
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,25.90
$XPDR_PINGS,5
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8434089984
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52409073664
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,63.620
$10V_AH,9.9,43.425
$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,20.125,217.275,390.225,75.125,0.000,28.294,34.710,567.845,1.250,0.000,42.312,1804.338,18362.406,642.491,2926.497,383.226,33.369,1923.539,0.000,2276.974,0.000,0.544,0.000
$DEVICE_MAMPS,254.644,91.273,1359.891,547.638,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,588.230,0.000,0.000,0.000,0.000,0.000,0.000,22246.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,18.306,0.000,0.000
$MEM,354880
$DATA_FILE_SIZE,30090,872
$CAP_FILE_SIZE,199796,0
$CFSIZE,260165632,231350272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,240111,092627,1743.351,12721.312,51,2.4,70,-2.0