version: 66.07
glider: 500
mission: 4
dive: 36
start: 6 20 110 19 22 51
data:
$ID,500
$MISSION,4
$DIVE,36
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$D_NO_BLEED,200
$D_BOOST,4
$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,388
$T_MISSION,450
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$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,-110265.86
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$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,-65.916748
$PRESSURE_SLOPE,0.00011603366
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,35
$AR_SAMPLENUM,12
$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
$GPS1,200610,190907,2056.600,-15812.728,23,1.6,23,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.2
$GPS2,200610,192156,2056.754,-15812.956,12,1.9,12,9.8
$SPEED_LIMITS,0.147,0.214
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.055,-0.207
$KALMAN_X,-20527.7,-169.2,-399.6,-7575.7,-798.3
$KALMAN_Y,21802.4,67.3,423.7,-49096.5,1326.5
$MHEAD_RNG_PITCHd_Wd,185.0,57700,-17.9,-8.505
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.73,-107.1,0.0,0.0,0,77,0.00,0.00,-51.42,0.000,2,0.000,0.000,136,2035,2723,0,0,0,0,0,0
$GC,80,-0.73,-107.1,3.3,-5.7,10,111,10.23,2.42,-12.32,0.000,4,0.241,0.061,2654,454,3261,0,0,0,0,0,0
$GC,303,-0.73,-107.1,45.9,-20.3,43,308,0.00,2.30,0.00,0.000,6,0.000,0.038,2645,2043,3261,0,0,0,0,0,0
$GC,563,-0.73,-107.1,89.2,-14.8,67,567,0.00,2.35,0.00,0.000,4,0.000,0.046,2633,3620,3263,0,0,0,0,0,0
$GC,585,-0.73,-107.1,92.4,-14.9,69,589,0.12,2.28,0.00,0.000,6,0.144,0.035,2669,2030,3264,0,0,0,0,0,0
$GC,850,-0.73,-107.1,126.1,-11.1,94,854,0.00,2.33,0.00,0.000,4,0.000,0.046,2669,450,3265,0,0,0,0,0,0
$GC,1041,-0.73,-107.1,147.5,-12.2,111,1045,0.00,2.25,0.00,0.000,6,0.000,0.035,2659,2035,3265,0,0,0,0,0,0
$GC,1307,-0.73,-107.1,174.4,-9.7,136,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2036,3266,0,0,0,0,0,0
$GC,1562,-0.73,-107.1,200.0,-10.4,160,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2036,3268,0,0,0,0,0,0
$GC,1871,-0.73,-107.1,233.2,-11.5,175,1875,0.00,2.33,0.00,0.000,4,0.000,0.048,2659,448,3266,0,0,0,0,0,0
$GC,1942,-0.73,-107.1,242.1,-12.6,178,1947,0.00,2.28,0.00,0.000,6,0.000,0.035,2648,2026,3266,0,0,0,0,0,0
$GC,2269,-0.73,-107.1,273.3,-8.1,194,2273,0.00,2.28,0.00,0.000,4,0.000,0.047,2648,451,3266,0,0,0,0,0,0
$GC,2346,-0.73,-107.1,280.3,-8.9,197,2353,0.00,2.28,0.00,0.000,6,0.000,0.035,2636,2030,3265,0,0,0,0,0,0
$GC,2660,-0.73,-107.1,307.6,-8.7,211,2664,0.00,2.35,0.00,0.000,4,0.000,0.048,2624,3619,3265,0,0,0,0,0,0
$GC,2699,-0.73,-107.1,311.2,-9.4,212,2704,0.15,2.28,0.00,0.000,6,0.131,0.035,2671,2029,3266,0,0,0,0,0,0
$GC,3028,-0.73,-107.1,335.7,-7.6,220,3032,0.00,2.28,0.00,0.000,4,0.000,0.047,2671,452,3263,0,0,0,0,0,0
$GC,3082,-0.73,-107.1,340.5,-8.5,221,3087,0.00,2.28,0.00,0.000,6,0.000,0.035,2662,2027,3263,0,0,0,0,0,0
$GC,3395,-0.73,-107.1,364.4,-7.5,229,3399,0.00,2.30,0.00,0.000,4,0.000,0.048,2649,3612,3260,0,0,0,0,0,0
$GC,3415,-0.73,-107.1,365.9,-7.4,229,3420,0.00,2.30,0.00,0.000,6,0.000,0.035,2649,2023,3260,0,0,0,0,0,0
$GC,3757,-0.73,-107.1,394.3,-8.7,238,3761,0.00,2.28,0.00,0.000,4,0.000,0.048,2649,449,3258,0,0,0,0,0,0
$GC,3857,-0.73,-107.1,404.0,-9.4,240,3862,0.00,2.30,0.00,0.000,6,0.000,0.036,2638,2036,3256,0,0,0,0,0,0
$GC,4170,-0.73,-107.1,430.2,-8.1,248,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2034,3254,0,0,0,0,0,0
$GC,4495,-0.73,-107.1,452.6,-6.5,256,4499,0.00,2.33,0.00,0.000,4,0.000,0.049,2638,454,3252,0,0,0,0,0,0
$GC,4555,-0.73,-107.1,457.3,-7.8,257,4560,0.10,2.30,0.00,0.000,6,0.123,0.038,2663,2037,3251,0,0,0,0,0,0
$GC,4868,-0.73,-107.1,474.7,-5.5,265,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2038,3252,0,0,0,0,0,0
$GC,5193,-0.73,-107.1,492.5,-5.5,273,5197,0.00,2.35,0.00,0.000,4,0.000,0.051,2663,447,3247,0,0,0,0,0,0
$GC,5265,-0.73,-107.1,497.5,-7.1,274,5269,0.00,2.33,0.00,0.000,6,0.000,0.039,2653,2038,3246,0,0,0,0,0,0
$GC,5607,-0.73,-107.1,520.3,-6.6,283,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2038,3243,0,0,0,0,0,0
$GC,5932,-0.73,-107.1,541.5,-6.5,291,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2039,3242,0,0,0,0,0,0
$GC,6257,-0.73,-107.1,565.4,-7.7,299,6261,0.00,2.33,0.00,0.000,4,0.000,0.053,2641,3611,3240,0,0,0,0,0,0
$GC,6283,-0.73,-107.1,567.7,-8.3,299,6288,0.00,2.33,0.00,0.000,6,0.000,0.038,2641,2027,3238,0,0,0,0,0,0
$GC,6620,-0.73,-107.1,596.1,-8.3,308,6624,0.00,2.33,0.00,0.000,4,0.000,0.052,2641,444,3237,0,0,0,0,0,0
$GC,6752,-0.73,-107.1,608.3,-8.9,311,6758,0.08,2.33,0.00,0.000,6,0.129,0.040,2659,2030,3237,0,0,0,0,0,0
$GC,7076,-0.73,-107.1,630.9,-6.8,319,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2030,3235,0,0,0,0,0,0
$GC,7401,-0.73,-107.1,652.1,-6.5,327,7405,0.00,2.35,0.00,0.000,4,0.000,0.054,2648,3616,3232,0,0,0,0,0,0
$GC,7422,-0.73,-107.1,653.6,-6.9,327,7427,0.00,2.33,0.00,0.000,6,0.000,0.038,2648,2032,3236,0,0,0,0,0,0
$GC,7764,-0.73,-107.1,675.2,-6.2,336,7769,0.00,2.33,0.00,0.000,4,0.000,0.053,2648,454,3232,0,0,0,0,0,0
$GC,7830,-0.73,-107.1,679.9,-7.4,337,7835,0.00,2.33,0.00,0.000,6,0.000,0.041,2637,2036,3231,0,0,0,0,0,0
$GC,8172,-0.73,-107.1,703.3,-6.7,346,8174,0.10,0.00,0.00,0.000,6,0.164,0.000,2666,2037,3230,0,0,0,0,0,0
$GC,8498,-0.73,-107.1,721.6,-5.5,354,8502,0.00,2.35,0.00,0.000,4,0.000,0.054,2666,451,3229,0,0,0,0,0,0
$GC,8536,-0.73,-107.1,724.1,-6.8,355,8540,0.00,2.28,0.00,0.000,6,0.000,0.042,2656,2033,3229,0,0,0,0,0,0
$GC,8858,-0.73,-107.1,745.2,-6.8,363,8862,0.00,2.38,0.00,0.000,4,0.000,0.054,2644,3615,3228,0,0,0,0,0,0
$GC,8897,-0.73,-107.1,748.2,-7.8,364,8901,0.00,2.30,0.00,0.000,6,0.000,0.040,2644,2025,3227,0,0,0,0,0,0
$GC,9220,-0.73,-107.1,773.5,-8.0,372,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2025,3226,0,0,0,0,0,0
$GC,9545,-0.73,-107.1,798.7,-7.5,380,9549,0.00,2.33,0.00,0.000,4,0.000,0.054,2643,451,3226,0,0,0,0,0,0
$GC,9573,-0.73,-107.1,800.9,-8.9,380,9578,0.12,2.28,0.00,0.000,6,0.153,0.041,2668,2030,3226,0,0,0,0,0,0
$GC,9903,-0.73,-107.1,821.4,-6.1,388,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2031,3225,0,0,0,0,0,0
$GC,10228,-0.73,-107.1,840.0,-5.3,396,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2031,3224,0,0,0,0,0,0
$GC,10553,-0.73,-107.1,855.5,-4.7,404,10557,0.00,2.38,0.00,0.000,4,0.000,0.055,2669,454,3223,0,0,0,0,0,0
$GC,10584,-0.73,-107.1,857.3,-5.3,404,10591,0.00,2.33,0.00,0.000,6,0.000,0.041,2660,2029,3223,0,0,0,0,0,0
$GC,10916,-0.73,-107.1,873.2,-4.7,413,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2027,3223,0,0,0,0,0,0
$GC,11241,-0.73,-107.1,886.8,-4.0,421,11245,0.00,2.35,0.00,0.000,4,0.000,0.055,2660,453,3221,0,0,0,0,0,0
$GC,11289,-0.73,-107.1,889.1,-4.8,422,11294,0.00,2.33,0.00,0.000,6,0.000,0.041,2649,2023,3219,0,0,0,0,0,0
$GC,11608,-0.73,-107.1,903.3,-4.6,430,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2024,3221,0,0,0,0,0,0
$GC,11933,-0.73,-107.1,920.4,-5.5,438,11937,0.00,2.38,0.00,0.000,4,0.000,0.054,2636,3614,3220,0,0,0,0,0,0
$GC,11971,-0.73,-107.1,922.8,-6.6,439,11975,0.00,2.30,0.00,0.000,6,0.000,0.041,2636,2027,3220,0,0,0,0,0,0
$GC,12293,-0.73,-107.1,944.7,-7.0,447,12298,0.00,2.35,0.00,0.000,4,0.000,0.054,2637,457,3219,0,0,0,0,0,0
$GC,12320,-0.73,-107.1,946.9,-8.3,447,12325,0.10,2.33,0.00,0.000,6,0.123,0.041,2661,2031,3220,0,0,0,0,0,0
$GC,12656,-0.73,-107.1,969.1,-6.6,456,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2032,3217,0,0,0,0,0,0
$STATE,12980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12980,begin apogee
$GC,12983,-0.23,0.0,991.6,7.0,464,13070,0.47,0.00,84.35,1.312,6,0.117,0.000,2821,2032,2822,0,0,0,0,0,0
$STATE,13073,end apogee,CONTROL_FINISHED_OK
$STATE,13073,begin climb
$GC,13074,0.73,107.1,994.3,0.0,466,13179,0.85,0.00,100.57,1.269,6,0.068,0.000,3134,2032,2387,0,0,0,0,0,0
$GC,13479,0.73,107.1,953.8,12.8,476,13480,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2032,2369,0,0,0,0,0,0
$GC,13805,0.73,107.1,912.3,12.9,484,13809,0.00,2.42,0.00,0.000,4,0.000,0.053,3135,3618,2367,0,0,0,0,0,0
$GC,13843,0.73,107.1,906.9,14.5,485,13847,0.00,2.40,0.00,0.000,6,0.000,0.041,3146,2021,2366,0,0,0,0,0,0
$GC,14165,0.73,107.1,863.9,13.2,493,14169,0.00,2.38,0.00,0.000,4,0.000,0.056,3158,457,2365,0,0,0,0,0,0
$GC,14255,0.73,107.1,851.9,13.4,495,14259,0.00,2.33,0.00,0.000,6,0.000,0.042,3158,2032,2364,0,0,0,0,0,0
$GC,14577,0.73,107.1,810.8,12.6,503,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2032,2366,0,0,0,0,0,0
$GC,14902,0.73,107.1,771.5,12.0,511,14903,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2034,2361,0,0,0,0,0,0
$GC,15227,0.73,107.1,731.5,12.2,519,15231,0.00,2.40,0.00,0.000,4,0.000,0.052,3158,3623,2359,0,0,0,0,0,0
$GC,15270,0.73,107.1,725.7,13.4,520,15276,0.10,2.40,0.00,0.000,6,0.164,0.043,3137,2034,2360,0,0,0,0,0,0
$GC,15594,0.73,107.1,688.9,11.1,528,15598,0.00,2.42,0.00,0.000,4,0.000,0.057,3148,440,2360,0,0,0,0,0,0
$GC,15637,0.73,107.1,684.0,11.4,529,15642,0.00,2.38,0.00,0.000,6,0.000,0.041,3150,2034,2360,0,0,0,0,0,0
$GC,15961,0.73,107.1,647.7,11.4,537,15966,0.00,2.40,0.00,0.000,4,0.000,0.052,3150,3622,2360,0,0,0,0,0,0
$GC,16021,0.73,107.1,640.1,12.3,538,16027,0.00,2.40,0.00,0.000,6,0.000,0.042,3162,2024,2362,0,0,0,0,0,0
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$STATE,22305,end climb,SURFACE_DEPTH_REACHED
$STATE,22305,begin surface coast
$FINISH,0.7,1.009860
$STATE,22328,end surface coast,CONTROL_FINISHED_OK
$STATE,22328,begin surface
$SM_CCo,22347,83.65,0.474,1,0,1296,375.55
$SM_GC,1.25,0.00,0.00,83.65,0.000,0.000,0.474,145,2038,1296,-8.62,0.20,375.55
$IRIDIUM_FIX,2050.21,-15810.20,141211,131305
$TT8_MAMPS,0.255411
$HUMID,1078359345
$INTERNAL_PRESSURE,9.38391
$TCM_TEMP,24.40
$XPDR_PINGS,52
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$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8439070720
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57629933568
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,3.798
$10V_AH,9.9,4.434
$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,20.725,191.900,277.900,83.650,0.000,60.444,55.498,437.545,15.750,0.000,14.766,1752.332,18079.213,526.425,2712.469,145.764,33.347,1667.479,0.000,2044.317,0.000,21.253,0.000
$DEVICE_MAMPS,240.838,60.593,1311.570,474.006,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
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$SENSOR_SECS,597.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334804
$DATA_FILE_SIZE,30041,872
$CAP_FILE_SIZE,185146,0
$CFSIZE,260165632,255967232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210610,013825,2055.413,-15814.382,41,1.1,41,9.8