version: 66.06
glider: 146
mission: 9
dive: 234
start: 4 20 114 9 23 50
data:
$ID,146
$MISSION,9
$DIVE,234
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$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,-328729.25
$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,3004
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$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,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,39
$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,3060
$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,-29.187134
$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,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,084606,2244.715,-15744.349,25,1.3,25,10.1
$_CALLS,5
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-67.7
$GPS2,092255,2244.833,-15744.494,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,-0.236
$KALMAN_X,-192816.4,-290.5,-562.7,212599.9,890.9
$KALMAN_Y,3474.2,225.7,-171.9,-11777.5,1098.7
$MHEAD_RNG_PITCHd_Wd,145.1,16258,-17.5,-10.025
$D_GRID,800
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-85.97,0.000,6,0.000,0.000,449,2185,3656,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.5,-9.0,11,126,12.70,2.50,0.00,0.000,4,0.167,0.033,2716,634,3658,0,0,0,0,0,0
$GC,209,-1.12,-146.0,28.1,-14.1,25,219,0.17,2.50,0.00,0.000,6,0.094,0.018,2756,2226,3658,0,0,0,0,0,0
$GC,489,-1.04,-146.0,64.6,-13.4,51,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2226,3659,0,0,0,0,0,0
$GC,750,-1.01,-146.0,96.9,-11.5,76,755,0.12,2.53,0.00,0.000,4,0.113,0.035,2784,3773,3659,0,0,0,0,0,0
$GC,799,-1.07,-146.0,101.1,-9.8,79,804,0.00,2.45,0.00,0.000,6,0.000,0.021,2783,2207,3659,0,0,0,0,0,0
$GC,1066,-1.12,-146.0,123.9,-8.4,103,1071,0.10,2.60,0.00,0.000,4,0.077,0.044,2737,636,3659,0,0,0,0,0,0
$GC,1136,-1.06,-146.0,131.9,-11.7,108,1145,0.12,2.45,0.00,0.000,6,0.074,0.017,2768,2203,3659,0,0,0,0,0,0
$GC,1403,-1.06,-146.0,155.1,-8.4,133,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2204,3659,0,0,0,0,0,0
$GC,1666,-1.06,-146.0,178.2,-8.8,158,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2204,3659,0,0,0,0,0,0
$GC,1921,-1.11,-146.0,198.1,-7.9,182,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2204,3659,0,0,0,0,0,0
$GC,2177,-1.16,-146.0,218.8,-7.8,206,2181,0.00,2.58,0.00,0.000,4,0.000,0.047,2767,638,3659,0,0,0,0,0,0
$GC,2279,-1.24,-146.0,227.4,-8.1,214,2284,0.15,2.42,0.00,0.000,6,0.058,0.018,2707,2215,3659,0,0,0,0,0,0
$GC,2544,-1.20,-146.0,253.0,-9.9,238,2549,0.15,2.62,0.00,0.000,4,0.094,0.051,2741,643,3658,0,0,0,0,0,0
$GC,2566,-1.20,-146.0,255.7,-10.0,239,2572,0.00,2.42,0.00,0.000,6,0.000,0.024,2741,2198,3658,0,0,0,0,0,0
$GC,2831,-1.20,-146.0,277.4,-8.7,264,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2198,3657,0,0,0,0,0,0
$GC,3096,-1.20,-146.0,300.6,-8.5,289,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2198,3657,0,0,0,0,0,0
$GC,3360,-1.24,-146.0,321.0,-7.2,314,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2198,3655,0,0,0,0,0,0
$GC,3624,-1.28,-146.0,341.0,-7.8,339,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2198,3654,0,0,0,0,0,0
$GC,3880,-1.33,-146.0,359.6,-6.7,363,3889,0.12,0.00,0.00,0.000,6,0.066,0.000,2689,2198,3652,0,0,0,0,0,0
$GC,4147,-1.28,-146.0,382.1,-8.5,388,4153,0.15,2.70,0.00,0.000,4,0.094,0.069,2723,642,3651,0,0,0,0,0,0
$GC,4182,-1.28,-146.0,385.4,-8.1,390,4191,0.00,2.53,0.00,0.000,6,0.000,0.039,2723,2177,3650,0,0,0,0,0,0
$GC,4448,-1.28,-146.0,406.6,-8.3,415,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2178,3648,0,0,0,0,0,0
$GC,4711,-1.28,-146.0,429.5,-8.8,440,4715,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,647,3646,0,0,0,0,0,0
$GC,4732,-1.28,-146.0,431.5,-8.4,441,4742,0.00,2.60,0.00,0.000,6,0.000,0.048,2722,2205,3646,0,0,0,0,0,0
$GC,5000,-1.28,-146.0,450.9,-6.6,466,5005,0.00,2.70,0.00,0.000,4,0.000,0.058,2723,3799,3644,0,0,0,0,0,0
$GC,5079,-1.32,-146.0,456.3,-6.3,472,5083,0.00,2.55,0.00,0.000,6,0.000,0.036,2723,2237,3644,0,0,0,0,0,0
$GC,5347,-1.36,-146.0,471.9,-6.3,496,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2237,3643,0,0,0,0,0,0
$GC,5610,-1.40,-146.0,490.4,-7.4,521,5612,0.10,0.00,0.00,0.000,6,0.080,0.000,2679,2237,3640,0,0,0,0,0,0
$GC,5867,-1.36,-146.0,513.1,-8.5,545,5872,0.12,0.00,0.00,0.000,6,0.100,0.000,2706,2237,3638,0,0,0,0,0,0
$GC,6130,-1.36,-146.0,531.8,-6.6,570,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2237,3637,0,0,0,0,0,0
$GC,6384,-1.36,-146.0,547.8,-6.3,594,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2237,3636,0,0,0,0,0,0
$GC,6638,-1.36,-146.0,564.3,-6.8,618,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2237,3634,0,0,0,0,0,0
$GC,6894,-1.36,-146.0,581.9,-7.3,642,6899,0.00,2.80,0.00,0.000,4,0.000,0.090,2707,3796,3632,0,0,0,0,0,0
$GC,6939,-1.36,-146.0,585.6,-8.6,645,6948,0.00,2.72,0.00,0.000,6,0.000,0.059,2707,2228,3632,0,0,0,0,0,0
$GC,7217,-1.36,-146.0,607.5,-8.2,666,7222,0.00,2.78,0.00,0.000,4,0.000,0.078,2707,3790,3631,0,0,0,0,0,0
$GC,7274,-1.36,-146.0,612.5,-9.0,667,7278,0.00,2.75,0.00,0.000,6,0.000,0.067,2707,2224,3631,0,0,0,0,0,0
$GC,7540,-1.36,-146.0,634.2,-7.9,674,7545,0.00,2.83,0.00,0.000,4,0.000,0.093,2706,3790,3629,0,0,0,0,0,0
$GC,7574,-1.36,-146.0,636.9,-8.3,674,7580,0.00,2.78,0.00,0.000,6,0.000,0.076,2707,2234,3629,0,0,0,0,0,0
$GC,7824,-1.36,-146.0,654.2,-6.5,681,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2234,3628,0,0,0,0,0,0
$GC,8068,-1.40,-146.0,667.6,-5.5,687,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2233,3627,0,0,0,0,0,0
$GC,8312,-1.44,-146.0,680.5,-5.4,693,8317,0.00,2.90,0.00,0.000,4,0.000,0.114,2707,3787,3625,0,0,0,0,0,0
$GC,8335,-1.44,-146.0,681.8,-6.0,693,8339,0.00,2.85,0.00,0.000,6,0.000,0.097,2707,2239,3625,0,0,0,0,0,0
$GC,8590,-1.48,-146.0,697.3,-6.1,700,8596,0.10,3.33,0.00,0.000,4,0.083,0.153,2665,621,3624,0,0,0,0,0,0
$GC,8614,-1.48,-146.0,699.3,-7.8,700,8619,0.00,2.97,0.00,0.000,6,0.000,0.098,2665,2230,3624,0,0,0,0,0,0
$GC,8871,-1.43,-146.0,720.1,-8.2,707,8873,0.12,0.00,0.00,0.000,6,0.104,0.000,2692,2230,3623,0,0,0,0,0,0
$GC,9113,-1.43,-146.0,739.5,-7.9,713,9118,0.00,3.20,0.00,0.000,4,0.000,0.156,2692,3797,3621,0,0,0,0,0,0
$GC,9135,-1.43,-146.0,741.5,-8.9,713,9140,0.00,3.10,0.00,0.000,6,0.000,0.129,2692,2234,3621,0,0,0,0,0,0
$GC,9392,-1.43,-146.0,762.8,-8.3,720,9397,0.00,3.25,0.00,0.000,4,0.000,0.154,2692,3800,3620,0,0,0,0,0,0
$GC,9408,-1.43,-146.0,764.2,-8.3,720,9413,0.00,3.17,0.00,0.000,6,0.000,0.140,2692,2238,3620,0,0,0,0,0,0
$GC,9669,-1.43,-146.0,783.5,-7.1,727,9674,0.00,3.30,0.00,0.000,4,0.000,0.166,2692,3796,3620,0,0,0,0,0,0
$GC,9737,-1.43,-146.0,788.3,-7.5,728,9742,0.00,3.22,0.00,0.000,6,0.000,0.156,2692,2256,3620,0,0,1,0,0,0
$STATE,9949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9949,begin apogee
$GC,9955,-0.31,0.0,801.2,5.9,734,10078,1.08,0.00,119.00,1.173,6,0.069,0.000,2936,2369,3059,0,0,0,0,0,0
$STATE,10079,end apogee,CONTROL_FINISHED_OK
$STATE,10079,begin climb
$GC,10083,1.28,146.0,802.4,0.0,737,10223,1.45,3.50,129.77,1.149,4,0.033,0.170,3292,3938,2463,0,0,0,0,0,0
$GC,10246,1.09,146.0,789.1,13.0,741,10252,0.25,3.38,0.00,0.000,6,0.097,0.156,3241,2367,2459,0,0,1,0,0,0
$GC,10515,1.05,155.1,762.4,9.6,748,10530,0.00,3.38,8.10,0.940,4,0.000,0.154,3241,3935,2427,0,0,0,0,0,0
$GC,10609,0.98,155.1,752.2,10.2,750,10614,0.12,3.12,0.00,0.000,6,0.121,0.130,3216,2382,2425,0,0,0,0,0,0
$GC,10888,1.02,187.5,728.0,8.5,757,10921,0.00,0.00,31.00,1.086,6,0.000,0.000,3216,2383,2295,0,0,0,0,0,0
$GC,11131,1.02,187.5,703.5,10.4,763,11136,0.00,3.25,0.00,0.000,4,0.000,0.145,3216,778,2290,0,0,0,0,0,0
$GC,11158,1.02,187.5,700.4,11.5,763,11163,0.00,3.03,0.00,0.000,6,0.000,0.101,3216,2390,2289,0,0,0,0,0,0
$GC,11409,1.02,187.5,673.3,10.9,769,11414,0.00,3.12,0.00,0.000,4,0.000,0.117,3216,778,2288,0,0,0,0,0,0
$GC,11430,1.02,187.5,670.4,11.9,769,11435,0.00,2.92,0.00,0.000,6,0.000,0.082,3216,2384,2287,0,0,0,0,0,0
$GC,11686,1.02,187.5,640.5,11.8,776,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2385,2287,0,0,0,0,0,0
$GC,11931,1.02,187.5,612.9,11.1,782,11935,0.00,2.97,0.00,0.000,4,0.000,0.095,3216,769,2286,0,0,0,0,0,0
$GC,11963,1.02,187.5,609.0,11.5,782,11969,0.00,2.80,0.00,0.000,6,0.000,0.061,3216,2378,2285,0,0,0,0,0,0
$GC,12221,1.04,202.2,583.5,9.3,801,12240,0.00,0.00,13.50,0.975,6,0.000,0.000,3216,2378,2234,0,0,0,0,0,0
$GC,12499,1.08,238.8,558.5,8.3,827,12543,0.10,2.90,34.47,1.006,4,0.089,0.080,3242,3935,2084,0,0,0,0,0,0
$GC,12560,1.08,238.8,552.6,10.1,832,12565,0.00,2.67,0.00,0.000,6,0.000,0.044,3243,2366,2082,0,0,0,0,0,0
$GC,12828,1.08,238.8,525.1,10.1,856,12833,0.00,3.03,0.00,0.000,4,0.000,0.112,3244,776,2079,0,0,0,0,0,0
$GC,12871,1.08,240.1,520.3,10.0,859,12876,0.00,2.72,0.00,0.000,6,0.000,0.048,3243,2379,2079,0,0,0,0,0,0
$GC,13139,1.08,240.1,492.8,10.5,883,13144,0.00,2.67,0.00,0.000,4,0.000,0.061,3243,3936,2078,0,0,0,0,0,0
$GC,13184,1.08,240.1,486.6,11.6,886,13190,0.00,2.62,0.00,0.000,6,0.000,0.036,3243,2368,2077,0,0,0,0,0,0
$GC,13448,1.08,240.1,456.3,11.7,911,13453,0.00,2.90,0.00,0.000,4,0.000,0.097,3244,780,2077,0,0,0,0,0,0
$GC,13469,1.08,240.1,453.3,12.1,912,13479,0.00,2.70,0.00,0.000,6,0.000,0.040,3244,2384,2077,0,0,0,0,0,0
$GC,13736,1.08,240.1,423.0,11.1,937,13740,0.00,2.60,0.00,0.000,4,0.000,0.053,3243,3937,2077,0,0,0,0,0,0
$GC,13823,1.08,240.1,411.7,12.1,944,13828,0.00,2.55,0.00,0.000,6,0.000,0.031,3244,2386,2075,0,0,0,0,0,0
$GC,14085,1.08,240.1,383.7,10.4,968,14090,0.00,2.78,0.00,0.000,4,0.000,0.073,3244,785,2075,0,0,0,0,0,0
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$GC,14636,1.08,240.1,323.0,10.8,1019,14640,0.00,2.75,0.00,0.000,4,0.000,0.054,3244,777,2074,0,0,0,0,0,0
$GC,14657,1.08,240.1,320.3,11.0,1020,14667,0.00,2.65,0.00,0.000,6,0.000,0.034,3244,2397,2074,0,0,0,0,0,0
$GC,14924,1.12,266.7,294.8,8.8,1045,14959,0.00,2.65,24.67,0.803,4,0.000,0.049,3244,3924,1971,0,0,0,0,0,0
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$STATE,17589,end climb,SURFACE_DEPTH_REACHED
$STATE,17589,begin surface coast
$FINISH,-0.1,1.023786
$STATE,17625,end surface coast,CONTROL_FINISHED_OK
$STATE,17625,begin surface
$SM_CCo,17646,70.88,0.522,0,0,1509,380.21
$SM_GC,0.44,0.00,0.00,70.88,0.000,0.000,0.522,464,2201,1509,-11.68,-0.25,380.21
$IRIDIUM_FIX,2234.68,-15745.45,150703,090911
$TT8_MAMPS,0.026078
$HUMID,62.24
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.90
$XPDR_PINGS,19
$24V_AH,23.2,35.166
$10V_AH,10.1,40.395
$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,28.875,194.925,385.550,70.875,0.000,139.837,176.688,1433.316,4.750,0.000,13.099,2301.062,10571.846,616.274,4105.822,2312.091,33.380,1927.433,0.000,4136.624,0.000,0.535,0.000
$DEVICE_MAMPS,167.206,169.507,1172.743,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,895.755,948.120,1235.186,1322.819,2518.437,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,107609,1302
$CAP_FILE_SIZE,213806,0
$CFSIZE,260165632,162353152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200414,142124,2243.134,-15743.644,94,0.9,94,10.1