version: 66.07
glider: 500
mission: 4
dive: 54
start: 6 25 110 15 20 10
data:
$ID,500
$MISSION,4
$DIVE,54
$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,120
$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,-110550.77
$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,2890
$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,48
$R_STBD_OVSHOOT,47
$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,53
$AR_SAMPLENUM,11
$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
$GPS1,250610,151006,2037.491,-15825.527,35,1.1,40,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.2
$GPS2,250610,151914,2037.695,-15825.627,11,1.2,11,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.050,-0.217
$KALMAN_X,-60691.1,-89.4,-32.8,10258.7,-1758.4
$KALMAN_Y,75679.9,19.0,-36.0,-137758.0,3931.4
$MHEAD_RNG_PITCHd_Wd,157.3,16144,-17.0,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-46.80,0.000,2,0.000,0.000,131,2037,2578,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-5.2,9,112,10.20,2.40,-17.77,0.000,4,0.239,0.058,2653,450,3301,0,0,0,0,0,0
$GC,230,-0.71,-116.8,29.7,-19.8,37,235,0.00,2.28,0.00,0.000,6,0.000,0.035,2646,2034,3302,0,0,0,0,0,0
$GC,426,-0.71,-116.8,67.1,-18.3,56,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2034,3303,0,0,0,0,0,0
$GC,681,-0.71,-116.8,104.3,-13.9,80,685,0.00,2.30,0.00,0.000,4,0.000,0.044,2643,451,3306,0,0,0,0,0,0
$GC,702,-0.71,-116.8,107.4,-14.3,81,708,0.00,2.30,0.00,0.000,6,0.000,0.033,2632,2038,3303,0,0,0,0,0,0
$GC,963,-0.71,-116.8,144.7,-13.1,106,967,0.00,2.33,0.00,0.000,4,0.000,0.045,2619,3610,3305,0,0,0,0,0,0
$GC,989,-0.71,-116.8,148.6,-15.0,108,997,0.10,2.28,0.00,0.000,6,0.115,0.032,2657,2039,3308,0,0,0,0,0,0
$GC,1251,-0.71,-116.8,180.5,-12.3,133,1255,0.00,2.30,0.00,0.000,4,0.000,0.046,2657,449,3306,0,0,0,0,0,0
$GC,1300,-0.71,-116.8,186.9,-13.5,137,1304,0.00,2.25,0.00,0.000,6,0.000,0.035,2647,2045,3305,0,0,0,0,0,0
$GC,1561,-0.71,-116.8,216.6,-10.6,155,1565,0.00,2.30,0.00,0.000,4,0.000,0.045,2635,3614,3306,0,0,0,0,0,0
$GC,1622,-0.71,-116.8,223.3,-11.0,158,1626,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2017,3307,0,0,0,0,0,0
$GC,1954,-0.71,-116.8,258.5,-10.3,174,1958,0.00,2.28,0.00,0.000,4,0.000,0.045,2635,448,3307,0,0,0,0,0,0
$GC,2120,-0.71,-116.8,278.7,-12.2,181,2128,0.10,2.28,0.00,0.000,6,0.123,0.034,2660,2030,3306,0,0,0,0,0,0
$GC,2435,-0.71,-116.8,308.9,-9.1,195,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2030,3306,0,0,0,0,0,0
$GC,2760,-0.71,-116.8,334.5,-7.2,203,2764,0.00,2.30,0.00,0.000,4,0.000,0.046,2650,3616,3304,0,0,0,0,0,0
$GC,2792,-0.71,-116.8,336.6,-7.1,203,2799,0.00,2.28,0.00,0.000,6,0.000,0.032,2650,2041,3304,0,0,0,0,0,0
$GC,3123,-0.71,-116.8,361.3,-8.0,212,3127,0.00,2.30,0.00,0.000,4,0.000,0.047,2649,448,3302,0,0,0,0,0,0
$GC,3155,-0.71,-116.8,364.3,-9.1,212,3162,0.00,2.30,0.00,0.000,6,0.000,0.035,2638,2050,3302,0,0,0,0,0,0
$GC,3486,-0.71,-116.8,395.6,-9.8,221,3490,0.00,2.30,0.00,0.000,4,0.000,0.048,2625,3611,3299,0,0,0,0,0,0
$GC,3514,-0.71,-116.8,398.4,-10.2,221,3519,0.12,2.28,0.00,0.000,6,0.134,0.035,2665,2022,3299,0,0,0,0,0,0
$GC,3849,-0.71,-116.8,427.8,-8.7,230,3853,0.00,2.30,0.00,0.000,4,0.000,0.048,2666,450,3296,0,0,0,0,0,0
$GC,3978,-0.71,-116.8,439.8,-9.2,233,3982,0.00,2.25,0.00,0.000,6,0.000,0.036,2655,2032,3296,0,0,0,0,0,0
$GC,4307,-0.71,-116.8,466.8,-8.1,241,4311,0.00,2.33,0.00,0.000,4,0.000,0.048,2643,3610,3293,0,0,0,0,0,0
$GC,4338,-0.71,-116.8,469.6,-8.5,241,4343,0.00,2.30,0.00,0.000,6,0.000,0.035,2644,2028,3294,0,0,0,0,0,0
$GC,4675,-0.71,-116.8,495.7,-7.4,250,4679,0.00,2.30,0.00,0.000,4,0.000,0.049,2644,456,3290,0,0,0,0,0,0
$GC,4785,-0.71,-116.8,505.0,-8.1,252,4790,0.00,2.28,0.00,0.000,6,0.000,0.037,2632,2023,3288,0,0,0,0,0,0
$GC,5128,-0.71,-116.8,530.9,-7.5,261,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2023,3287,0,0,0,0,0,0
$GC,5453,-0.71,-116.8,555.3,-7.5,269,5457,0.00,2.30,0.00,0.000,4,0.000,0.050,2632,452,3284,0,0,0,0,0,0
$GC,5564,-0.71,-116.8,564.7,-8.2,271,5568,0.10,2.30,0.00,0.000,6,0.122,0.038,2658,2034,3283,0,0,0,0,0,0
$GC,5906,-0.71,-116.8,585.7,-6.1,280,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2035,3282,0,0,0,0,0,0
$GC,6231,-0.71,-116.8,606.2,-6.3,288,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2035,3280,0,0,0,0,0,0
$GC,6556,-0.71,-116.8,626.5,-6.4,296,6560,0.00,2.33,0.00,0.000,4,0.000,0.050,2647,3613,3278,0,0,0,0,0,0
$GC,6594,-0.71,-116.8,629.1,-6.6,297,6598,0.00,2.30,0.00,0.000,6,0.000,0.037,2647,2023,3276,0,0,0,0,0,0
$GC,6917,-0.71,-116.8,652.0,-7.2,305,6921,0.00,2.33,0.00,0.000,4,0.000,0.051,2645,452,3275,0,0,0,0,0,0
$GC,6956,-0.71,-116.8,655.1,-8.5,306,6960,0.00,2.28,0.00,0.000,6,0.000,0.038,2636,2043,3275,0,0,0,0,0,0
$GC,7279,-0.71,-116.8,680.9,-8.0,314,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2045,3274,0,0,0,0,0,0
$GC,7604,-0.71,-116.8,705.8,-7.5,322,7608,0.00,2.33,0.00,0.000,4,0.000,0.051,2624,3619,3273,0,0,0,0,0,0
$GC,7636,-0.71,-116.8,708.4,-7.7,322,7643,0.08,2.33,0.00,0.000,6,0.116,0.038,2654,2037,3276,0,0,0,0,0,0
$GC,7967,-0.71,-116.8,730.8,-6.9,331,7971,0.00,2.33,0.00,0.000,4,0.000,0.052,2655,453,3272,0,0,0,0,0,0
$GC,8005,-0.71,-116.8,733.9,-7.8,332,8009,0.00,2.28,0.00,0.000,6,0.000,0.039,2645,2045,3271,0,0,0,0,0,0
$GC,8328,-0.71,-116.8,759.2,-7.9,340,8332,0.00,2.35,0.00,0.000,4,0.000,0.051,2645,454,3269,0,0,0,0,0,0
$GC,8359,-0.71,-116.8,762.0,-9.1,340,8366,0.00,2.30,0.00,0.000,6,0.000,0.038,2632,2025,3269,0,0,0,0,0,0
$GC,8691,-0.71,-116.8,786.9,-7.2,349,8695,0.00,2.35,0.00,0.000,4,0.000,0.051,2622,3614,3270,0,0,0,0,0,0
$GC,8723,-0.71,-116.8,789.2,-7.6,349,8730,0.10,2.33,0.00,0.000,6,0.110,0.038,2660,2034,3268,0,0,0,0,0,0
$GC,9054,-0.71,-116.8,805.8,-4.7,358,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2034,3266,0,0,0,0,0,0
$GC,9379,-0.71,-116.8,817.7,-3.5,366,9383,0.00,2.35,0.00,0.000,4,0.000,0.053,2661,446,3270,0,0,0,0,0,0
$GC,9450,-0.71,-116.8,820.8,-4.1,367,9454,0.00,2.33,0.00,0.000,6,0.000,0.040,2651,2025,3267,0,0,0,0,0,0
$GC,9786,-0.71,-116.8,835.1,-4.5,376,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2025,3266,0,0,0,0,0,0
$GC,10112,-0.71,-116.8,852.4,-5.6,384,10113,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2023,3265,0,0,0,0,0,0
$GC,10436,-0.71,-116.8,873.1,-6.6,392,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2025,3265,0,0,0,0,0,0
$GC,10761,-0.71,-116.8,895.2,-6.9,400,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2025,3265,0,0,0,0,0,0
$GC,11086,-0.71,-116.8,919.7,-7.9,408,11090,0.00,2.38,0.00,0.000,4,0.000,0.054,2651,447,3264,0,0,0,0,0,0
$GC,11158,-0.71,-116.8,926.3,-8.9,409,11162,0.00,2.35,0.00,0.000,6,0.000,0.040,2640,2042,3263,0,0,0,0,0,0
$GC,11494,-0.71,-116.8,955.5,-8.8,418,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2042,3262,0,0,0,0,0,0
$GC,11819,-0.71,-116.8,983.5,-8.5,426,11824,0.00,2.33,0.00,0.000,4,0.000,0.054,2628,3609,3262,0,0,0,0,0,0
$GC,11851,-0.71,-116.8,986.4,-8.9,426,11858,0.08,2.35,0.00,0.000,6,0.116,0.038,2658,2023,3262,0,0,0,0,0,0
$STATE,11898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11898,begin apogee
$GC,11902,-0.23,0.0,990.1,8.2,428,11998,0.47,0.00,93.80,1.303,6,0.114,0.000,2818,2022,2823,0,0,0,0,0,0
$STATE,12045,end apogee,CONTROL_FINISHED_OK
$STATE,12045,begin climb
$GC,12046,0.71,116.8,993.3,0.0,430,12164,0.80,2.62,109.32,1.266,4,0.068,0.051,3118,3607,2345,0,0,0,0,0,0
$GC,12191,0.71,116.8,986.4,11.9,434,12196,0.00,2.53,0.00,0.000,6,0.000,0.041,3130,2030,2338,0,0,0,0,0,0
$GC,12539,0.71,116.8,943.2,12.5,443,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2027,2328,0,0,0,0,0,0
$GC,12864,0.71,116.8,901.9,12.7,451,12868,0.00,2.40,0.00,0.000,4,0.000,0.054,3142,446,2326,0,0,0,0,0,0
$GC,12929,0.71,116.8,893.0,13.0,452,12934,0.00,2.38,0.00,0.000,6,0.000,0.041,3142,2025,2325,0,0,0,0,0,0
$GC,13271,0.71,116.8,844.7,14.5,461,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2026,2324,0,0,0,0,0,0
$GC,13596,0.71,116.8,798.7,14.1,469,13600,0.00,2.38,0.00,0.000,4,0.000,0.055,3154,454,2323,0,0,0,0,0,0
$GC,13628,0.71,116.8,793.8,15.4,469,13636,0.10,2.35,0.00,0.000,6,0.147,0.041,3122,2033,2323,0,0,0,0,0,0
$GC,13960,0.71,116.8,752.2,12.4,478,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2033,2322,0,0,0,0,0,0
$GC,14284,0.71,116.8,712.1,12.4,486,14289,0.00,2.40,0.00,0.000,4,0.000,0.054,3133,440,2322,0,0,0,0,0,0
$GC,14316,0.71,116.8,707.9,12.5,486,14323,0.00,2.38,0.00,0.000,6,0.000,0.040,3133,2037,2321,0,0,0,0,0,0
$GC,14647,0.71,116.8,666.5,12.6,495,14649,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2037,2321,0,0,0,0,0,0
$GC,14973,0.71,116.8,628.5,11.5,503,14977,0.00,2.38,0.00,0.000,4,0.000,0.052,3133,3611,2320,0,0,0,0,0,0
$GC,14993,0.71,116.8,625.8,11.8,503,14998,0.00,2.38,0.00,0.000,6,0.000,0.041,3144,2018,2320,0,0,0,0,0,0
$GC,15341,0.71,116.8,588.3,10.8,512,15342,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2018,2320,0,0,0,0,0,0
$GC,15666,0.71,116.8,554.1,10.6,520,15671,0.00,2.38,0.00,0.000,4,0.000,0.054,3162,454,2319,0,0,0,0,0,0
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$GC,17228,0.71,116.8,368.3,12.2,558,17234,0.10,2.33,0.00,0.000,6,0.143,0.038,3129,2024,2319,0,0,0,0,0,0
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$STATE,21258,end climb,SURFACE_DEPTH_REACHED
$STATE,21258,begin surface coast
$FINISH,0.7,1.023069
$STATE,21293,end surface coast,CONTROL_FINISHED_OK
$STATE,21293,begin surface
$SM_CCo,21374,78.55,0.074,0,0,1294,375.06
$SM_GC,1.45,0.00,0.00,78.55,0.000,0.000,0.074,130,2038,1294,-8.63,0.17,375.06
$IRIDIUM_FIX,2031.77,-15823.03,191211,030355
$TT8_MAMPS,0.251576
$HUMID,1078351603
$INTERNAL_PRESSURE,9.40344
$TCM_TEMP,24.60
$XPDR_PINGS,12
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$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8437202944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56008867840
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,6.074
$10V_AH,9.9,7.117
$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
$DEVICE_SECS,20.300,181.950,292.175,78.550,0.000,28.849,33.260,348.489,5.500,0.000,13.652,1668.984,17149.008,535.833,2495.130,157.444,33.372,1611.514,0.000,1894.889,0.000,17.861,0.000
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$SENSOR_SECS,584.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334964
$DATA_FILE_SIZE,30042,856
$CAP_FILE_SIZE,173949,0
$CFSIZE,260165632,254033920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250610,211907,2036.986,-15825.983,31,1.0,31,9.7