version: 66.07
glider: 500
mission: 4
dive: 166
start: 7 25 110 12 19 20
data:
$ID,500
$MISSION,4
$DIVE,166
$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,-112307.27
$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,53
$R_STBD_OVSHOOT,51
$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,165
$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
$GPS1,250710,113607,2057.027,-15904.063,37,1.2,37,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.2
$GPS2,250710,121825,2057.450,-15904.460,8,1.0,13,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.211,0.070
$KALMAN_X,-143369.7,61.4,-285.7,241274.8,-1400.7
$KALMAN_Y,158188.2,526.4,482.3,-104631.7,-617.1
$MHEAD_RNG_PITCHd_Wd,62.0,127192,-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,25,-0.71,-116.8,0.0,0.0,0,104,0.00,0.00,-75.95,0.000,2,0.000,0.000,131,2045,2591,0,0,0,0,0,0
$GC,106,-0.71,-116.8,3.2,-5.5,15,143,10.18,2.38,-17.73,0.000,4,0.233,0.058,2641,3603,3302,0,0,0,0,0,0
$GC,217,-0.71,-116.8,18.8,-16.7,35,222,0.00,2.28,0.00,0.000,6,0.000,0.031,2641,2039,3301,0,0,0,0,0,0
$GC,421,-0.71,-116.8,58.5,-17.3,59,425,0.00,2.33,0.00,0.000,4,0.000,0.043,2630,3614,3301,0,0,0,0,0,0
$GC,471,-0.71,-116.8,66.5,-15.4,63,476,0.10,2.30,0.00,0.000,6,0.153,0.030,2658,2011,3300,0,0,0,0,0,0
$GC,731,-0.71,-116.8,98.9,-12.7,87,735,0.00,2.25,0.00,0.000,4,0.000,0.044,2660,448,3301,0,0,0,0,0,0
$GC,770,-0.71,-116.8,104.3,-14.0,90,774,0.00,2.22,0.00,0.000,6,0.000,0.032,2649,2028,3301,0,0,0,0,0,0
$GC,1031,-0.71,-116.8,138.2,-13.9,114,1035,0.00,2.28,0.00,0.000,4,0.000,0.043,2637,3610,3301,0,0,0,0,0,0
$GC,1063,-0.71,-116.8,142.6,-13.5,116,1069,0.00,2.28,0.00,0.000,6,0.000,0.030,2637,2026,3301,0,0,0,0,0,0
$GC,1325,-0.71,-116.8,176.2,-12.1,141,1329,0.00,2.25,0.00,0.000,4,0.000,0.042,2637,451,3301,0,0,0,0,0,0
$GC,1367,-0.71,-116.8,181.9,-12.8,144,1374,0.08,2.25,0.00,0.000,6,0.119,0.031,2656,2030,3300,0,0,0,0,0,0
$GC,1626,-0.71,-116.8,207.8,-9.4,165,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2027,3301,0,0,0,0,0,0
$GC,1937,-0.71,-116.8,233.3,-7.7,180,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2027,3300,0,0,0,0,0,0
$GC,2245,-0.71,-116.8,258.7,-9.2,195,2249,0.00,2.33,0.00,0.000,4,0.000,0.044,2644,3619,3300,0,0,0,0,0,0
$GC,2316,-0.71,-116.8,265.7,-9.6,198,2320,0.00,2.25,0.00,0.000,6,0.000,0.030,2645,2017,3299,0,0,0,0,0,0
$GC,2637,-0.71,-116.8,297.1,-9.4,214,2641,0.00,2.25,0.00,0.000,4,0.000,0.042,2649,447,3298,0,0,0,0,0,0
$GC,2794,-0.71,-116.8,311.8,-9.0,218,2798,0.00,2.25,0.00,0.000,6,0.000,0.032,2634,2041,3296,0,0,0,0,0,0
$GC,3129,-0.71,-116.8,341.3,-9.2,227,3133,0.00,2.28,0.00,0.000,4,0.000,0.042,2634,452,3295,0,0,0,0,0,0
$GC,3161,-0.71,-116.8,344.5,-9.9,227,3168,0.08,2.22,0.00,0.000,6,0.114,0.031,2654,2006,3295,0,0,0,0,0,0
$GC,3492,-0.71,-116.8,371.7,-8.0,236,3497,0.00,2.35,0.00,0.000,4,0.000,0.042,2643,3628,3293,0,0,0,0,0,0
$GC,3531,-0.71,-116.8,375.0,-8.3,237,3536,0.00,2.28,0.00,0.000,6,0.000,0.029,2644,2027,3293,0,0,0,0,0,0
$GC,3855,-0.71,-116.8,401.7,-8.3,245,3859,0.00,2.25,0.00,0.000,4,0.000,0.043,2643,458,3290,0,0,0,0,0,0
$GC,3887,-0.71,-116.8,404.4,-8.6,245,3894,0.08,2.28,0.00,0.000,6,0.114,0.031,2662,2048,3290,0,0,0,0,0,0
$GC,4218,-0.71,-116.8,425.1,-6.0,254,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2048,3289,0,0,0,0,0,0
$GC,4543,-0.71,-116.8,447.2,-7.1,262,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2048,3285,0,0,0,0,0,0
$GC,4868,-0.71,-116.8,471.4,-7.4,270,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2048,3282,0,0,0,0,0,0
$GC,5193,-0.71,-116.8,494.1,-6.8,278,5197,0.00,2.33,0.00,0.000,4,0.000,0.044,2662,456,3280,0,0,0,0,0,0
$GC,5238,-0.71,-116.8,497.3,-7.6,279,5242,0.00,2.22,0.00,0.000,6,0.000,0.033,2655,2026,3280,0,0,0,0,0,0
$GC,5567,-0.71,-116.8,520.1,-7.0,287,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2026,3277,0,0,0,0,0,0
$GC,5892,-0.71,-116.8,542.7,-7.0,295,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2026,3275,0,0,0,0,0,0
$GC,6217,-0.71,-116.8,564.7,-6.5,303,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2026,3273,0,0,0,0,0,0
$GC,6542,-0.71,-116.8,583.6,-5.5,311,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2026,3271,0,0,0,0,0,0
$GC,6867,-0.71,-116.8,601.1,-5.4,319,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2026,3268,0,0,0,0,0,0
$GC,7192,-0.71,-116.8,617.7,-5.0,327,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2027,3267,0,0,0,0,0,0
$GC,7517,-0.71,-116.8,634.9,-5.4,335,7520,0.00,2.33,0.00,0.000,4,0.000,0.048,2652,462,3266,0,0,0,0,0,0
$GC,7611,-0.71,-116.8,641.3,-6.2,337,7615,0.00,2.25,0.00,0.000,6,0.000,0.035,2642,2041,3268,0,0,0,0,0,0
$GC,7935,-0.71,-116.8,659.3,-5.4,345,7939,0.00,2.33,0.00,0.000,4,0.000,0.046,2630,3612,3265,0,0,0,0,0,0
$GC,7967,-0.71,-116.8,661.2,-5.8,345,7972,0.10,2.25,0.00,0.000,6,0.140,0.031,2662,2035,3265,0,0,0,0,0,0
$GC,8303,-0.71,-116.8,676.7,-4.5,354,8307,0.00,2.33,0.00,0.000,4,0.000,0.046,2662,451,3263,0,0,0,0,0,0
$GC,8369,-0.71,-116.8,680.3,-5.3,355,8373,0.00,2.28,0.00,0.000,6,0.000,0.034,2652,2037,3262,0,0,0,0,0,0
$GC,8711,-0.71,-116.8,696.0,-4.4,364,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2037,3261,0,0,0,0,0,0
$GC,9036,-0.71,-116.8,711.8,-5.3,372,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2037,3260,0,0,0,0,0,0
$GC,9361,-0.71,-116.8,732.0,-6.4,380,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2037,3259,0,0,0,0,0,0
$GC,9686,-0.71,-116.8,753.8,-6.6,388,9690,0.00,2.35,0.00,0.000,4,0.000,0.047,2652,459,3258,0,0,0,0,0,0
$GC,9737,-0.71,-116.8,757.5,-7.6,389,9741,0.00,2.25,0.00,0.000,6,0.000,0.034,2641,2032,3257,0,0,0,0,0,0
$GC,10054,-0.71,-116.8,777.7,-6.3,397,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2036,3254,0,0,0,0,0,0
$GC,10379,-0.71,-116.8,797.0,-6.0,405,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2033,3256,0,0,0,0,0,0
$GC,10705,-0.71,-116.8,816.0,-5.8,413,10709,0.00,2.33,0.00,0.000,4,0.000,0.047,2641,459,3256,0,0,0,0,0,0
$GC,10770,-0.71,-116.8,820.6,-7.0,414,10775,0.00,2.28,0.00,0.000,6,0.000,0.035,2630,2021,3255,0,0,0,0,0,0
$GC,11112,-0.71,-116.8,843.4,-6.8,423,11114,0.10,0.00,0.00,0.000,6,0.153,0.000,2661,2022,3254,0,0,0,0,0,0
$GC,11437,-0.71,-116.8,861.5,-5.5,431,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2022,3253,0,0,0,0,0,0
$GC,11762,-0.71,-116.8,880.1,-5.8,439,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2020,3253,0,0,0,0,0,0
$GC,12087,-0.71,-116.8,899.9,-6.2,447,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2024,3252,0,0,0,0,0,0
$GC,12412,-0.71,-116.8,919.3,-5.9,455,12417,0.00,2.35,0.00,0.000,4,0.000,0.049,2662,459,3252,0,0,0,0,0,0
$GC,12451,-0.71,-116.8,921.9,-7.3,456,12456,0.00,2.28,0.00,0.000,6,0.000,0.035,2651,2032,3251,0,0,0,0,0,0
$GC,12775,-0.71,-116.8,940.8,-5.8,464,12779,0.00,2.35,0.00,0.000,4,0.000,0.048,2642,3613,3251,0,0,0,0,0,0
$GC,12802,-0.71,-116.8,942.4,-6.6,464,12805,0.00,2.30,0.00,0.000,6,0.000,0.033,2640,2030,3251,0,0,0,0,0,0
$GC,13138,-0.71,-116.8,961.9,-5.8,473,13142,0.00,2.35,0.00,0.000,4,0.000,0.047,2640,457,3254,0,0,0,0,0,0
$GC,13204,-0.71,-116.8,966.3,-7.3,474,13209,0.10,2.30,0.00,0.000,6,0.153,0.034,2659,2048,3251,0,0,0,0,0,0
$STATE,13538,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13538,begin apogee
$GC,13542,-0.23,0.0,984.9,5.6,483,13637,0.47,0.00,92.12,1.289,6,0.104,0.000,2822,2049,2823,0,0,0,0,0,0
$STATE,13684,end apogee,CONTROL_FINISHED_OK
$STATE,13684,begin climb
$GC,13686,0.71,116.8,986.8,0.0,485,13809,0.77,2.60,110.28,1.262,4,0.057,0.045,3124,3600,2343,0,0,0,0,0,0
$GC,13864,0.71,116.8,974.2,12.8,489,13869,0.00,2.45,0.00,0.000,6,0.000,0.035,3135,2045,2337,0,0,0,0,0,0
$GC,14182,0.71,116.8,933.4,12.9,497,14186,0.00,2.42,0.00,0.000,4,0.000,0.048,3148,442,2330,0,0,0,0,0,0
$GC,14231,0.71,116.8,926.5,13.2,498,14236,0.00,2.38,0.00,0.000,6,0.000,0.035,3153,2027,2329,0,0,0,0,0,0
$GC,14550,0.71,116.8,883.3,13.8,506,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2026,2328,0,0,0,0,0,0
$GC,14875,0.71,116.8,838.1,13.8,514,14876,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2026,2327,0,0,0,0,0,0
$GC,15200,0.71,116.8,794.1,13.6,522,15205,0.10,2.38,0.00,0.000,4,0.180,0.050,3133,445,2330,0,0,0,0,0,0
$GC,15238,0.71,116.8,789.1,13.7,523,15242,0.00,2.30,0.00,0.000,6,0.000,0.036,3132,2035,2327,0,0,0,0,0,0
$GC,15562,0.71,116.8,747.8,12.7,531,15563,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2034,2327,0,0,0,0,0,0
$GC,15886,0.71,116.8,707.2,12.5,539,15890,0.00,2.40,0.00,0.000,4,0.000,0.048,3145,448,2327,0,0,0,0,0,0
$GC,15918,0.71,116.8,702.8,12.4,539,15925,0.00,2.33,0.00,0.000,6,0.000,0.034,3145,2034,2325,0,0,0,0,0,0
$GC,16250,0.71,116.8,659.5,12.8,548,16254,0.00,2.35,0.00,0.000,4,0.000,0.046,3144,3611,2327,0,0,0,0,0,0
$GC,16270,0.71,116.8,656.6,13.4,548,16276,0.10,2.35,0.00,0.000,6,0.146,0.035,3124,2025,2327,0,0,0,0,0,0
$GC,16612,0.71,116.8,617.4,11.2,557,16616,0.00,2.35,0.00,0.000,4,0.000,0.048,3134,449,2326,0,0,0,0,0,0
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$STATE,22879,end climb,SURFACE_DEPTH_REACHED
$STATE,22879,begin surface coast
$FINISH,1.1,1.022914
$STATE,22910,end surface coast,CONTROL_FINISHED_OK
$STATE,22910,begin surface
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$SM_GC,1.67,0.00,0.00,60.45,0.000,0.000,0.074,134,2039,1293,-8.61,0.23,375.06
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$HUMID,1078417410
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$TCM_TEMP,24.90
$XPDR_PINGS,4
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$AR_CDRIVE_FREE,8416428032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50501812224
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,21.217
$10V_AH,9.6,26.159
$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,20.425,180.750,319.725,60.450,0.000,114.205,142.422,1870.061,1.000,0.000,15.426,1725.409,18764.746,551.059,4159.341,393.504,33.367,1667.369,0.000,1937.398,0.000,0.545,0.000
$DEVICE_MAMPS,233.168,57.525,1288.560,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,613.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335248
$DATA_FILE_SIZE,29996,899
$CAP_FILE_SIZE,214685,0
$CFSIZE,260165632,241704960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250710,184507,2058.104,-15903.049,39,0.9,39,9.7