version: 66.07
glider: 511
mission: 5
dive: 328
start: 1 29 111 14 26 54
data:
$ID,511
$MISSION,5
$DIVE,328
$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,-49289.918
$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,2060
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,13
$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,327
$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
$GPS1,290111,141651,1743.318,12633.626,144,3.1,163,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-71.6
$GPS2,290111,142600,1743.285,12633.572,35,1.0,104,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.130,0.171
$KALMAN_X,-562435.8,-160.9,-551.5,455041.1,3245.5
$KALMAN_Y,644507.8,399.6,335.3,-965960.2,-5339.6
$MHEAD_RNG_PITCHd_Wd,324.8,249460,-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,29,-0.58,-146.0,0.0,0.0,0,91,0.00,0.00,-60.53,0.000,2,0.000,0.000,41,2049,2646,0,0,0,0,0,0
$GC,94,-0.58,-146.0,3.2,-2.8,6,129,9.80,2.35,-19.62,0.000,4,0.236,0.074,2380,3486,3488,0,0,0,0,0,0
$GC,242,-0.58,-146.0,34.6,-18.8,22,246,0.00,2.20,0.00,0.000,6,0.000,0.044,2380,2063,3489,0,0,0,0,0,0
$GC,502,-0.58,-146.0,97.9,-23.8,46,506,0.00,2.20,0.00,0.000,4,0.000,0.058,2380,648,3489,0,0,0,0,0,0
$GC,548,-0.58,-146.0,108.7,-20.5,50,554,0.12,2.25,0.00,0.000,6,0.172,0.052,2403,2072,3489,0,0,0,0,0,0
$GC,810,-0.58,-146.0,158.5,-18.0,75,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2067,3490,0,0,0,0,0,0
$GC,1063,-0.58,-146.0,196.6,-13.0,99,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2067,3489,0,0,0,0,0,0
$GC,1322,-0.58,-146.0,226.8,-11.6,113,1326,0.00,2.25,0.00,0.000,4,0.000,0.057,2403,644,3490,0,0,0,0,0,0
$GC,1359,-0.58,-146.0,231.7,-12.2,114,1364,0.00,2.22,0.00,0.000,6,0.000,0.049,2396,2062,3490,0,0,0,0,0,0
$GC,1674,-0.58,-146.0,268.5,-10.8,130,1677,0.00,2.28,0.00,0.000,4,0.000,0.067,2386,3463,3490,0,0,0,0,0,0
$GC,1738,-0.58,-146.0,275.6,-10.1,132,1744,0.00,2.17,0.00,0.000,6,0.000,0.042,2386,2054,3490,0,0,0,0,0,0
$GC,2052,-0.58,-146.0,310.4,-11.1,146,2056,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,647,3489,0,0,0,0,0,0
$GC,2083,-0.58,-146.0,314.2,-11.8,146,2088,0.00,2.22,0.00,0.000,6,0.000,0.051,2387,2057,3488,0,0,0,0,0,0
$GC,2419,-0.58,-146.0,348.4,-10.0,155,2423,0.00,2.30,0.00,0.000,4,0.000,0.068,2386,3475,3490,0,0,0,0,0,0
$GC,2441,-0.58,-146.0,351.0,-10.3,155,2445,0.00,2.20,0.00,0.000,6,0.000,0.043,2386,2053,3490,0,0,0,0,0,0
$GC,2781,-0.58,-146.0,382.2,-8.8,164,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2052,3490,0,0,0,0,0,0
$GC,3106,-0.58,-146.0,411.7,-9.4,172,3110,0.00,2.20,0.00,0.000,4,0.000,0.055,2387,646,3487,0,0,0,0,0,0
$GC,3148,-0.58,-146.0,416.3,-10.6,173,3153,0.00,2.25,0.00,0.000,6,0.000,0.052,2386,2062,3487,0,0,0,0,0,0
$GC,3475,-0.58,-146.0,448.1,-9.4,181,3479,0.00,2.25,0.00,0.000,4,0.000,0.064,2377,3478,3484,0,0,0,0,0,0
$GC,3525,-0.58,-146.0,452.6,-9.5,182,3529,0.00,2.17,0.00,0.000,6,0.000,0.044,2377,2059,3481,0,0,0,0,0,0
$GC,3847,-0.58,-146.0,482.4,-9.4,190,3851,0.00,2.20,0.00,0.000,4,0.000,0.053,2377,648,3482,0,0,0,0,0,0
$GC,3883,-0.58,-146.0,486.1,-10.8,190,3889,0.00,2.25,0.00,0.000,6,0.000,0.054,2377,2061,3482,0,0,0,0,0,0
$GC,4214,-0.58,-146.0,515.5,-9.0,199,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2060,3479,0,0,0,0,0,0
$GC,4538,-0.58,-146.0,543.6,-8.2,207,4542,0.00,2.30,0.00,0.000,4,0.000,0.066,2377,3479,3477,0,0,0,0,0,0
$GC,4603,-0.58,-146.0,548.8,-7.6,208,4607,0.00,2.22,0.00,0.000,6,0.000,0.046,2377,2059,3478,0,0,0,0,0,0
$GC,4952,-0.58,-146.0,577.0,-8.3,217,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2059,3474,0,0,0,0,0,0
$GC,5276,-0.58,-146.0,603.2,-8.0,225,5280,0.00,2.22,0.00,0.000,4,0.000,0.054,2377,648,3471,0,0,0,0,0,0
$GC,5308,-0.58,-146.0,605.9,-7.8,225,5312,0.00,2.28,0.00,0.000,6,0.000,0.055,2372,2066,3471,0,0,0,0,0,0
$GC,5639,-0.58,-146.0,631.2,-7.7,233,5643,0.00,2.28,0.00,0.000,4,0.000,0.067,2377,3477,3468,0,0,0,0,0,0
$GC,5684,-0.58,-146.0,634.9,-7.6,234,5689,0.00,2.20,0.00,0.000,6,0.000,0.043,2377,2047,3467,0,0,0,0,0,0
$GC,6007,-0.58,-146.0,660.4,-7.9,242,6010,0.00,2.20,0.00,0.000,4,0.000,0.054,2377,649,3466,0,0,0,0,0,0
$GC,6034,-0.58,-146.0,662.7,-8.2,242,6038,0.00,2.25,0.00,0.000,6,0.000,0.049,2377,2066,3468,0,0,0,0,0,0
$GC,6369,-0.58,-146.0,684.8,-6.3,251,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2066,3463,0,0,0,0,0,0
$GC,6694,-0.58,-146.0,706.5,-6.9,259,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2066,3461,0,0,0,0,0,0
$GC,7020,-0.58,-146.0,729.9,-7.3,267,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2063,3459,0,0,0,0,0,0
$GC,7344,-0.58,-146.0,754.0,-7.3,275,7348,0.00,2.28,0.00,0.000,4,0.000,0.067,2377,3472,3456,0,0,0,0,0,0
$GC,7408,-0.58,-146.0,758.8,-6.8,276,7412,0.00,2.20,0.00,0.000,6,0.000,0.044,2377,2058,3455,0,0,0,0,0,0
$GC,7757,-0.58,-146.0,784.8,-7.7,285,7761,0.00,2.22,0.00,0.000,4,0.000,0.054,2375,655,3455,0,0,0,0,0,0
$GC,7803,-0.58,-146.0,788.8,-9.0,286,7808,0.10,2.22,0.00,0.000,6,0.164,0.050,2404,2066,3454,0,0,0,0,0,0
$GC,8126,-0.58,-146.0,809.3,-6.3,294,8130,0.00,2.28,0.00,0.000,4,0.000,0.067,2395,3469,3452,0,0,0,0,0,0
$GC,8150,-0.58,-146.0,810.8,-6.2,294,8154,0.00,2.20,0.00,0.000,6,0.000,0.046,2396,2050,3452,0,0,0,0,0,0
$GC,8489,-0.58,-146.0,831.8,-6.0,303,8493,0.00,2.22,0.00,0.000,4,0.000,0.055,2396,650,3450,0,0,0,0,0,0
$GC,8512,-0.58,-146.0,833.2,-6.0,303,8516,0.00,2.25,0.00,0.000,6,0.000,0.049,2391,2062,3451,0,0,0,0,0,0
$GC,8852,-0.58,-146.0,852.3,-5.4,312,8856,0.00,2.28,0.00,0.000,4,0.000,0.067,2382,3468,3449,0,0,0,0,0,0
$GC,8908,-0.58,-146.0,855.4,-4.8,313,8912,0.00,2.20,0.00,0.000,6,0.000,0.046,2382,2051,3448,0,0,0,0,0,0
$GC,9221,-0.58,-146.0,873.7,-5.9,321,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2046,3448,0,0,0,0,0,0
$GC,9546,-0.58,-146.0,896.9,-7.6,329,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2046,3449,0,0,0,0,0,0
$GC,9870,-0.58,-146.0,923.0,-8.1,337,9874,0.00,2.33,0.00,0.000,4,0.000,0.067,2373,3471,3446,0,0,0,0,0,0
$GC,9898,-0.58,-146.0,925.2,-8.3,337,9902,0.10,2.20,0.00,0.000,6,0.153,0.046,2397,2064,3448,0,0,0,0,0,0
$GC,10238,-0.58,-146.0,946.8,-6.0,346,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2056,3443,0,0,0,0,0,0
$GC,10563,-0.58,-146.0,964.5,-5.3,354,10567,0.00,2.30,0.00,0.000,4,0.000,0.068,2392,3464,3443,0,0,0,0,0,0
$GC,10586,-0.58,-146.0,965.7,-5.6,354,10590,0.00,2.20,0.00,0.000,6,0.000,0.048,2392,2062,3443,0,0,0,0,0,0
$GC,10927,-0.58,-146.0,984.7,-5.5,363,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2058,3443,0,0,0,0,0,0
$STATE,11046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11046,begin apogee
$GC,11051,-0.28,0.0,991.7,5.7,366,11176,0.32,0.00,122.12,1.352,6,0.127,0.000,2492,2136,2890,0,0,0,0,0,0
$STATE,11180,end apogee,CONTROL_FINISHED_OK
$STATE,11180,begin climb
$GC,11182,0.58,146.0,996.2,0.0,369,11324,0.80,2.53,133.40,1.316,4,0.081,0.068,2777,3525,2296,0,0,0,0,0,0
$GC,11398,0.58,146.0,983.3,12.8,374,11402,0.00,2.30,0.00,0.000,6,0.000,0.049,2788,2122,2290,0,0,1,0,0,0
$GC,11721,0.58,146.0,945.7,11.5,382,11725,0.00,2.33,0.00,0.000,4,0.000,0.069,2786,3534,2283,0,0,0,0,0,0
$GC,11767,0.58,146.0,939.7,14.2,383,11771,0.00,2.22,0.00,0.000,6,0.000,0.049,2797,2128,2282,0,0,0,0,0,0
$GC,12094,0.58,146.0,900.9,11.9,391,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2121,2281,0,0,0,0,0,0
$GC,12419,0.58,146.0,861.4,12.1,399,12423,0.00,2.35,0.00,0.000,4,0.000,0.069,2797,3538,2278,0,0,0,0,0,0
$GC,12465,0.58,146.0,855.2,13.3,400,12470,0.12,2.25,0.00,0.000,6,0.212,0.049,2780,2124,2279,0,0,0,0,0,0
$GC,12788,0.58,146.0,820.2,10.8,408,12792,0.00,2.33,0.00,0.000,4,0.000,0.069,2780,3530,2275,0,0,0,0,0,0
$GC,12843,0.58,146.0,813.4,12.7,409,12847,0.00,2.25,0.00,0.000,6,0.000,0.050,2788,2121,2277,0,0,0,0,0,0
$GC,13160,0.58,146.0,776.6,11.5,417,13164,0.00,2.22,0.00,0.000,4,0.000,0.059,2799,723,2277,0,0,0,0,0,0
$GC,13253,0.58,146.0,765.8,11.9,419,13257,0.00,2.25,0.00,0.000,6,0.000,0.056,2800,2128,2275,0,0,1,0,0,0
$GC,13575,0.58,146.0,729.7,11.1,427,13579,0.00,2.30,0.00,0.000,4,0.000,0.068,2799,3541,2275,0,0,0,0,0,0
$GC,13618,0.58,146.0,724.8,12.1,427,13624,0.15,2.25,0.00,0.000,6,0.204,0.050,2775,2126,2275,0,0,0,0,0,0
$GC,13948,0.58,146.0,695.5,8.4,436,13952,0.00,2.25,0.00,0.000,4,0.000,0.061,2780,724,2275,0,0,0,0,0,0
$GC,14040,0.58,146.0,686.9,9.1,438,14044,0.00,2.25,0.00,0.000,6,0.000,0.055,2784,2130,2275,0,0,0,0,0,0
$GC,14362,0.58,146.0,654.0,10.8,446,14364,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2130,2274,0,0,0,0,0,0
$GC,14687,0.58,146.0,619.1,10.3,454,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2130,2274,0,0,0,0,0,0
$GC,15012,0.58,146.0,590.7,8.2,462,15016,0.00,2.33,0.00,0.000,4,0.000,0.069,2784,3539,2273,0,0,0,0,0,0
$GC,15077,0.58,146.0,584.9,9.8,463,15081,0.00,2.25,0.00,0.000,6,0.000,0.050,2794,2125,2274,0,0,0,0,0,0
$GC,15421,0.58,146.0,556.3,8.4,472,15425,0.00,2.33,0.00,0.000,4,0.000,0.068,2794,3538,2273,0,0,0,0,0,0
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$STATE,23152,end climb,SURFACE_DEPTH_REACHED
$STATE,23152,begin surface coast
$FINISH,1.0,1.009248
$STATE,23185,end surface coast,CONTROL_FINISHED_OK
$STATE,23185,begin surface
$SM_CCo,23204,75.47,0.545,0,0,1055,450.12
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$IRIDIUM_FIX,1736.05,12635.91,240712,010110
$TT8_MAMPS,0.057525
$HUMID,1078676764
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$TCM_TEMP,25.60
$XPDR_PINGS,3
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$AR_CDRIVE_FREE,8433664000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52260175872
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,67.111
$10V_AH,9.8,45.715
$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,19.300,193.975,382.225,75.475,0.000,32.844,35.686,239.874,0.750,0.000,106.687,1811.579,18435.598,573.129,2683.248,322.898,33.365,1838.204,0.000,2231.805,0.000,0.544,0.000
$DEVICE_MAMPS,236.236,102.011,1352.221,545.337,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,605.043,0.000,0.000,0.000,0.000,0.000,0.000,21898.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.835,0.000,0.000
$MEM,354520
$DATA_FILE_SIZE,30105,896
$CAP_FILE_SIZE,189453,0
$CFSIZE,260165632,229613568
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,290111,205654,1745.270,12631.534,66,0.9,66,-2.0