version: 66.07
glider: 500
mission: 4
dive: 162
start: 7 24 110 8 40 28
data:
$ID,500
$MISSION,4
$DIVE,162
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-112247.05
$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,55
$R_STBD_OVSHOOT,50
$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,0
$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,161
$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
$GPS1,240710,082536,2054.866,-15910.751,37,1.3,42,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.5
$GPS2,240710,083934,2054.879,-15910.808,10,2.5,29,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,0.019
$KALMAN_X,-134104.7,76.8,-156.9,220841.2,-1198.6
$KALMAN_Y,151970.7,614.6,-11.0,-102769.1,748.2
$MHEAD_RNG_PITCHd_Wd,75.5,139045,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-51.12,0.000,2,0.000,0.000,132,2023,2710,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.5,-6.3,10,114,10.23,2.42,-13.00,0.000,4,0.232,0.054,2644,3610,3301,0,0,0,0,0,0
$GC,153,-0.71,-116.8,17.7,-19.7,23,158,0.00,2.28,0.00,0.000,6,0.000,0.029,2644,2026,3303,0,0,0,0,0,0
$GC,352,-0.71,-116.8,60.0,-22.2,47,357,0.00,2.28,0.00,0.000,4,0.000,0.042,2645,457,3304,0,0,0,0,0,0
$GC,407,-0.71,-116.8,70.4,-16.2,51,413,0.00,2.28,0.00,0.000,6,0.000,0.031,2632,2034,3304,0,0,0,0,0,0
$GC,668,-0.71,-116.8,105.3,-14.0,76,672,0.00,2.30,0.00,0.000,4,0.000,0.042,2629,455,3305,0,0,0,0,0,0
$GC,740,-0.71,-116.8,115.6,-15.0,82,745,0.12,2.22,0.00,0.000,6,0.150,0.031,2658,2042,3304,0,0,0,0,0,0
$GC,1001,-0.71,-116.8,146.7,-10.7,106,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2042,3305,0,0,0,0,0,0
$GC,1255,-0.71,-116.8,173.1,-10.4,130,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2042,3306,0,0,0,0,0,0
$GC,1510,-0.71,-116.8,198.1,-9.2,154,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2042,3306,0,0,0,0,0,0
$GC,1769,-0.71,-116.8,223.7,-9.9,168,1773,0.00,2.30,0.00,0.000,4,0.000,0.042,2647,3612,3306,0,0,0,0,0,0
$GC,1789,-0.71,-116.8,225.8,-9.6,169,1794,0.00,2.28,0.00,0.000,6,0.000,0.028,2646,2028,3305,0,0,0,0,0,0
$GC,2116,-0.71,-116.8,260.0,-10.1,185,2120,0.00,2.28,0.00,0.000,4,0.000,0.042,2647,442,3303,0,0,0,0,0,0
$GC,2215,-0.71,-116.8,271.4,-11.9,189,2221,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2052,3305,0,0,0,0,0,0
$GC,2531,-0.71,-116.8,300.4,-8.4,205,2535,0.00,2.28,0.00,0.000,4,0.000,0.042,2622,3616,3304,0,0,0,0,0,0
$GC,2574,-0.71,-116.8,304.4,-8.8,206,2579,0.08,2.28,0.00,0.000,6,0.104,0.028,2656,2031,3304,0,0,0,0,0,0
$GC,2898,-0.71,-116.8,332.3,-9.1,214,2902,0.00,2.30,0.00,0.000,4,0.000,0.043,2656,452,3302,0,0,0,0,0,0
$GC,2974,-0.71,-116.8,340.6,-10.7,215,2979,0.00,2.25,0.00,0.000,6,0.000,0.031,2646,2028,3304,0,0,0,0,0,0
$GC,3311,-0.71,-116.8,373.9,-9.8,224,3315,0.00,2.33,0.00,0.000,4,0.000,0.043,2633,3607,3300,0,0,0,0,0,0
$GC,3360,-0.71,-116.8,378.9,-10.0,225,3365,0.00,2.28,0.00,0.000,6,0.000,0.028,2634,2027,3299,0,0,0,0,0,0
$GC,3679,-0.71,-116.8,409.3,-9.3,233,3683,0.00,2.28,0.00,0.000,4,0.000,0.042,2633,452,3298,0,0,0,0,0,0
$GC,3750,-0.71,-116.8,416.0,-9.4,234,3755,0.10,2.28,0.00,0.000,6,0.110,0.031,2661,2039,3300,0,0,0,0,0,0
$GC,4092,-0.71,-116.8,439.5,-6.8,243,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2039,3295,0,0,0,0,0,0
$GC,4417,-0.71,-116.8,460.0,-6.1,251,4421,0.00,2.30,0.00,0.000,4,0.000,0.043,2661,451,3292,0,0,0,0,0,0
$GC,4483,-0.71,-116.8,464.6,-6.7,252,4487,0.00,2.22,0.00,0.000,6,0.000,0.032,2651,2039,3291,0,0,0,0,0,0
$GC,4825,-0.71,-116.8,489.2,-7.2,261,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2039,3287,0,0,0,0,0,0
$GC,5150,-0.71,-116.8,510.1,-6.1,269,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2039,3286,0,0,0,0,0,0
$GC,5475,-0.71,-116.8,527.4,-5.1,277,5479,0.00,2.30,0.00,0.000,4,0.000,0.044,2652,458,3283,0,0,0,0,0,0
$GC,5513,-0.71,-116.8,529.6,-6.1,278,5517,0.00,2.22,0.00,0.000,6,0.000,0.033,2640,2036,3283,0,0,0,0,0,0
$GC,5837,-0.71,-116.8,547.5,-5.5,286,5841,0.00,2.30,0.00,0.000,4,0.000,0.044,2628,3606,3281,0,0,0,0,0,0
$GC,5903,-0.71,-116.8,551.7,-6.6,287,5908,0.10,2.25,0.00,0.000,6,0.140,0.030,2660,2018,3280,0,0,0,0,0,0
$GC,6250,-0.71,-116.8,572.7,-6.5,296,6254,0.00,2.28,0.00,0.000,4,0.000,0.044,2660,457,3278,0,0,0,0,0,0
$GC,6356,-0.71,-116.8,580.7,-7.4,298,6360,0.00,2.22,0.00,0.000,6,0.000,0.033,2650,2035,3278,0,0,0,0,0,0
$GC,6704,-0.71,-116.8,605.9,-7.5,307,6708,0.00,2.33,0.00,0.000,4,0.000,0.044,2650,451,3274,0,0,0,0,0,0
$GC,6736,-0.71,-116.8,608.6,-8.4,307,6740,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2031,3275,0,0,0,0,0,0
$GC,7073,-0.71,-116.8,634.2,-7.2,316,7077,0.00,2.35,0.00,0.000,4,0.000,0.044,2627,3617,3274,0,0,0,0,0,0
$GC,7112,-0.71,-116.8,636.8,-7.1,317,7117,0.12,2.28,0.00,0.000,6,0.130,0.031,2666,2022,3274,0,0,0,0,0,0
$GC,7435,-0.71,-116.8,652.9,-4.6,325,7439,0.00,2.30,0.00,0.000,4,0.000,0.045,2663,455,3272,0,0,0,0,0,0
$GC,7473,-0.71,-116.8,654.9,-5.0,325,7479,0.00,2.28,0.00,0.000,6,0.000,0.033,2661,2047,3272,0,0,0,0,0,0
$GC,7804,-0.71,-116.8,669.2,-4.3,334,7808,0.00,2.38,0.00,0.000,4,0.000,0.045,2657,448,3270,0,0,0,0,0,0
$GC,7897,-0.71,-116.8,674.4,-5.7,336,7902,0.00,2.30,0.00,0.000,6,0.000,0.033,2645,2034,3269,0,0,0,0,0,0
$GC,8216,-0.71,-116.8,693.3,-6.3,344,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2035,3268,0,0,0,0,0,0
$GC,8541,-0.71,-116.8,714.7,-6.5,352,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2034,3267,0,0,0,0,0,0
$GC,8866,-0.71,-116.8,733.6,-5.5,360,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2035,3266,0,0,0,0,0,0
$GC,9192,-0.71,-116.8,749.8,-4.9,368,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2034,3266,0,0,0,0,0,0
$GC,9516,-0.71,-116.8,766.4,-5.2,376,9520,0.00,2.35,0.00,0.000,4,0.000,0.046,2646,456,3267,0,0,0,0,0,0
$GC,9604,-0.71,-116.8,772.1,-6.3,378,9609,0.00,2.30,0.00,0.000,6,0.000,0.034,2632,2032,3265,0,0,0,0,0,0
$GC,9929,-0.71,-116.8,792.1,-6.2,386,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2032,3263,0,0,0,0,0,0
$GC,10253,-0.71,-116.8,813.3,-6.6,394,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2032,3262,0,0,0,0,0,0
$GC,10578,-0.71,-116.8,834.0,-6.4,402,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2032,3262,0,0,0,0,0,0
$GC,10904,-0.71,-116.8,853.8,-5.9,410,10908,0.00,2.35,0.00,0.000,4,0.000,0.047,2640,457,3261,0,0,0,0,0,0
$GC,10981,-0.71,-116.8,859.3,-7.4,411,10986,0.10,2.30,0.00,0.000,6,0.111,0.034,2678,2032,3260,0,0,0,0,0,0
$GC,11318,-0.71,-116.8,874.4,-4.4,420,11322,0.00,2.35,0.00,0.000,4,0.000,0.046,2678,455,3260,0,0,0,0,0,0
$GC,11344,-0.71,-116.8,875.7,-5.5,420,11348,0.00,2.25,0.00,0.000,6,0.000,0.034,2669,2028,3260,0,0,0,0,0,0
$GC,11681,-0.71,-116.8,890.5,-4.3,429,11685,0.00,2.33,0.00,0.000,4,0.000,0.045,2669,455,3258,0,0,0,0,0,0
$GC,11713,-0.71,-116.8,892.1,-5.4,429,11719,0.00,2.28,0.00,0.000,6,0.000,0.034,2658,2035,3261,0,0,0,0,0,0
$GC,12044,-0.71,-116.8,907.1,-4.4,438,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2036,3258,0,0,0,0,0,0
$GC,12369,-0.71,-116.8,920.7,-4.2,446,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2036,3258,0,0,0,0,0,0
$GC,12694,-0.71,-116.8,935.7,-4.7,454,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2035,3257,0,0,0,0,0,0
$GC,13019,-0.71,-116.8,950.9,-4.7,462,13024,0.00,2.38,0.00,0.000,4,0.000,0.047,2658,455,3257,0,0,0,0,0,0
$GC,13104,-0.71,-116.8,955.4,-5.5,464,13108,0.00,2.28,0.00,0.000,6,0.000,0.035,2647,2029,3257,0,0,0,0,0,0
$GC,13427,-0.71,-116.8,970.8,-4.6,472,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2030,3256,0,0,0,0,0,0
$STATE,13506,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13506,begin apogee
$GC,13511,-0.23,0.0,974.3,4.5,474,13607,0.50,0.00,93.65,1.282,6,0.107,0.000,2815,2030,2822,0,0,0,0,0,0
$STATE,13652,end apogee,CONTROL_FINISHED_OK
$STATE,13652,begin climb
$GC,13653,0.71,116.8,975.1,0.0,476,13776,0.82,2.60,110.15,1.251,4,0.064,0.044,3126,3604,2341,0,0,0,0,0,0
$GC,13831,0.71,116.8,958.0,14.5,480,13836,0.00,2.47,0.00,0.000,6,0.000,0.035,3136,2042,2336,0,0,0,0,0,0
$GC,14149,0.71,116.8,913.6,13.8,488,14153,0.00,2.42,0.00,0.000,4,0.000,0.048,3150,441,2326,0,0,0,0,0,0
$GC,14220,0.71,116.8,903.0,14.4,489,14225,0.08,2.38,0.00,0.000,6,0.137,0.035,3117,2028,2326,0,0,0,0,0,0
$GC,14556,0.71,116.8,862.2,12.0,498,14560,0.00,2.40,0.00,0.000,4,0.000,0.044,3116,3616,2324,0,0,0,0,0,0
$GC,14582,0.71,116.8,858.7,12.8,498,14587,0.00,2.38,0.00,0.000,6,0.000,0.035,3126,2030,2323,0,0,0,0,0,0
$GC,14919,0.71,116.8,817.7,11.9,507,14923,0.00,2.40,0.00,0.000,4,0.000,0.048,3139,446,2323,0,0,0,0,0,0
$GC,14990,0.71,116.8,808.5,13.3,508,14994,0.00,2.35,0.00,0.000,6,0.000,0.035,3139,2032,2322,0,0,0,0,0,0
$GC,15326,0.71,116.8,766.0,12.6,517,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2036,2321,0,0,0,0,0,0
$GC,15652,0.71,116.8,724.5,12.8,525,15656,0.00,2.40,0.00,0.000,4,0.000,0.048,3151,443,2321,0,0,0,0,0,0
$GC,15672,0.71,116.8,721.6,14.1,525,15678,0.08,2.35,0.00,0.000,6,0.140,0.034,3125,2039,2321,0,0,0,0,0,0
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$STATE,23052,end climb,SURFACE_DEPTH_REACHED
$STATE,23052,begin surface coast
$FINISH,0.8,1.023003
$STATE,23087,end surface coast,CONTROL_FINISHED_OK
$STATE,23087,begin surface
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$SM_GC,1.45,0.00,0.00,64.60,0.000,0.000,0.074,132,2035,1293,-8.60,0.11,375.30
$IRIDIUM_FIX,2045.60,-15915.30,160112,202027
$TT8_MAMPS,0.25311
$HUMID,1078409668
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$TCM_TEMP,24.70
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8409284608
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50868158464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,20.558
$10V_AH,9.6,21.065
$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,20.300,171.650,314.800,64.600,0.000,29.902,29.399,559.117,0.500,0.000,32.626,1759.560,18735.004,532.470,2745.825,260.265,33.366,1643.306,0.000,1963.537,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,53.690,1281.657,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,627.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335204
$DATA_FILE_SIZE,33388,918
$CAP_FILE_SIZE,181998,0
$CFSIZE,260165632,242331648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240710,150836,2055.436,-15908.734,36,1.3,41,9.7