version: 66.07
glider: 500
mission: 4
dive: 181
start: 7 29 110 16 58 27
data:
$ID,500
$MISSION,4
$DIVE,181
$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,-112602.61
$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,60
$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,180
$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
$GPS1,290710,163807,2105.488,-15839.063,30,0.9,30,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-70.6
$GPS2,290710,165732,2105.522,-15839.403,12,1.4,12,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.212,-0.069
$KALMAN_X,-175458.5,53.5,-165.5,316724.0,-1723.9
$KALMAN_Y,178282.5,-322.0,-558.8,-107877.4,2417.3
$MHEAD_RNG_PITCHd_Wd,98.2,81538,-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,-116.8,0.0,0.0,0,74,0.00,0.00,-46.03,0.000,2,0.000,0.000,125,2039,2539,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.1,-4.8,9,113,10.18,2.38,-18.95,0.000,4,0.230,0.058,2649,455,3301,0,0,0,0,0,0
$GC,205,-0.71,-116.8,24.3,-20.1,32,210,0.00,2.30,0.00,0.000,6,0.000,0.037,2639,2030,3302,0,0,0,0,0,0
$GC,408,-0.71,-116.8,63.7,-19.7,54,412,0.00,2.33,0.00,0.000,4,0.000,0.042,2627,3608,3302,0,0,0,0,0,0
$GC,437,-0.71,-116.8,69.4,-20.8,56,441,0.12,2.25,0.00,0.000,6,0.145,0.028,2664,2036,3302,0,0,0,0,0,0
$GC,697,-0.71,-116.8,109.4,-12.1,80,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2036,3303,0,0,0,0,0,0
$GC,951,-0.71,-116.8,141.0,-13.4,104,955,0.00,2.28,0.00,0.000,4,0.000,0.044,2664,459,3303,0,0,0,0,0,0
$GC,1080,-0.71,-116.8,157.3,-12.3,115,1084,0.00,2.25,0.00,0.000,6,0.000,0.033,2653,2041,3303,0,0,0,0,0,0
$GC,1341,-0.71,-116.8,184.4,-10.3,139,1345,0.00,2.33,0.00,0.000,4,0.000,0.042,2641,3616,3304,0,0,0,0,0,0
$GC,1385,-0.71,-116.8,189.3,-10.7,142,1391,0.00,2.28,0.00,0.000,6,0.000,0.028,2641,2026,3304,0,0,0,0,0,0
$GC,1651,-0.71,-116.8,217.9,-11.0,160,1655,0.00,2.28,0.00,0.000,4,0.000,0.043,2641,456,3303,0,0,0,0,0,0
$GC,1706,-0.71,-116.8,224.7,-12.7,162,1712,0.00,2.25,0.00,0.000,6,0.000,0.032,2630,2037,3304,0,0,0,0,0,0
$GC,2022,-0.71,-116.8,260.4,-10.6,178,2026,0.10,2.33,0.00,0.000,4,0.155,0.042,2661,452,3305,0,0,0,0,0,0
$GC,2132,-0.71,-116.8,272.0,-10.2,183,2137,0.00,2.25,0.00,0.000,6,0.000,0.031,2651,2021,3304,0,0,0,0,0,0
$GC,2459,-0.71,-116.8,301.5,-7.8,199,2463,0.00,2.33,0.00,0.000,4,0.000,0.042,2636,3615,3304,0,0,0,0,0,0
$GC,2486,-0.71,-116.8,303.6,-7.7,199,2491,0.00,2.28,0.00,0.000,6,0.000,0.028,2639,2033,3307,0,0,0,0,0,0
$GC,2823,-0.71,-116.8,331.3,-8.5,208,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2036,3303,0,0,0,0,0,0
$GC,3148,-0.71,-116.8,362.0,-9.3,216,3152,0.00,2.33,0.00,0.000,4,0.000,0.043,2639,450,3302,0,0,0,0,0,0
$GC,3292,-0.71,-116.8,375.2,-8.9,219,3297,0.08,2.28,0.00,0.000,6,0.110,0.031,2658,2040,3302,0,0,0,0,0,0
$GC,3610,-0.71,-116.8,394.3,-5.7,227,3614,0.00,2.35,0.00,0.000,4,0.000,0.042,2659,446,3299,0,0,0,0,0,0
$GC,3649,-0.71,-116.8,396.9,-7.0,227,3655,0.00,2.22,0.00,0.000,6,0.000,0.032,2649,2029,3298,0,0,0,0,0,0
$GC,3979,-0.71,-116.8,419.8,-7.2,236,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2030,3297,0,0,0,0,0,0
$GC,4304,-0.71,-116.8,446.0,-8.3,244,4309,0.00,2.35,0.00,0.000,4,0.000,0.044,2637,3612,3294,0,0,0,0,0,0
$GC,4359,-0.71,-116.8,450.8,-8.9,245,4363,0.00,2.30,0.00,0.000,6,0.000,0.030,2637,2023,3294,0,0,0,0,0,0
$GC,4672,-0.71,-116.8,478.5,-8.8,253,4676,0.00,2.33,0.00,0.000,4,0.000,0.044,2637,451,3292,0,0,0,0,0,0
$GC,4794,-0.71,-116.8,489.9,-9.0,255,4800,0.08,2.28,0.00,0.000,6,0.110,0.032,2656,2037,3290,0,0,0,0,0,0
$GC,5125,-0.71,-116.8,512.0,-6.2,264,5129,0.00,2.30,0.00,0.000,4,0.000,0.043,2656,455,3288,0,0,0,0,0,0
$GC,5196,-0.71,-116.8,517.0,-7.3,265,5200,0.00,2.22,0.00,0.000,6,0.000,0.032,2647,2036,3287,0,0,0,0,0,0
$GC,5533,-0.71,-116.8,537.0,-6.2,274,5537,0.00,2.30,0.00,0.000,4,0.000,0.043,2647,455,3285,0,0,0,0,0,0
$GC,5588,-0.71,-116.8,541.3,-8.1,275,5592,0.00,2.28,0.00,0.000,6,0.000,0.032,2636,2035,3285,0,0,0,0,0,0
$GC,5901,-0.71,-116.8,561.9,-6.2,283,5905,0.00,2.30,0.00,0.000,4,0.000,0.044,2623,3614,3283,0,0,0,0,0,0
$GC,5933,-0.71,-116.8,564.1,-7.3,283,5940,0.12,2.25,0.00,0.000,6,0.127,0.030,2665,2029,3283,0,0,0,0,0,0
$GC,6264,-0.71,-116.8,584.9,-6.7,292,6268,0.00,2.30,0.00,0.000,4,0.000,0.044,2665,451,3281,0,0,0,0,0,0
$GC,6352,-0.71,-116.8,591.9,-8.5,294,6357,0.00,2.28,0.00,0.000,6,0.000,0.032,2655,2028,3281,0,0,0,0,0,0
$GC,6677,-0.71,-116.8,614.8,-6.8,302,6681,0.00,2.30,0.00,0.000,4,0.000,0.044,2655,453,3278,0,0,0,0,0,0
$GC,6737,-0.71,-116.8,619.2,-7.3,303,6741,0.00,2.30,0.00,0.000,6,0.000,0.032,2644,2043,3281,0,0,0,0,0,0
$GC,7085,-0.71,-116.8,641.8,-6.5,312,7089,0.00,2.30,0.00,0.000,4,0.000,0.044,2632,3608,3276,0,0,0,0,0,0
$GC,7156,-0.71,-116.8,647.0,-7.3,313,7161,0.00,2.30,0.00,0.000,6,0.000,0.031,2632,2022,3276,0,0,0,0,0,0
$GC,7499,-0.71,-116.8,671.8,-7.4,322,7503,0.00,2.30,0.00,0.000,4,0.000,0.044,2632,451,3273,0,0,0,0,0,0
$GC,7547,-0.71,-116.8,675.9,-9.0,323,7552,0.08,2.28,0.00,0.000,6,0.114,0.032,2661,2020,3274,0,0,0,0,0,0
$GC,7866,-0.71,-116.8,696.7,-6.5,331,7870,0.00,2.30,0.00,0.000,4,0.000,0.045,2663,460,3273,0,0,0,0,0,0
$GC,7904,-0.71,-116.8,699.4,-7.4,331,7910,0.00,2.28,0.00,0.000,6,0.000,0.033,2652,2033,3272,0,0,0,0,0,0
$GC,8236,-0.71,-116.8,721.2,-6.4,340,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2034,3271,0,0,0,0,0,0
$GC,8560,-0.71,-116.8,742.4,-6.5,348,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2034,3270,0,0,0,0,0,0
$GC,8885,-0.71,-116.8,762.3,-6.0,356,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2034,3269,0,0,0,0,0,0
$GC,9211,-0.71,-116.8,780.9,-5.7,364,9215,0.00,2.35,0.00,0.000,4,0.000,0.046,2640,3612,3268,0,0,0,0,0,0
$GC,9271,-0.71,-116.8,784.4,-6.1,365,9275,0.00,2.33,0.00,0.000,6,0.000,0.031,2640,2027,3268,0,0,0,0,0,0
$GC,9619,-0.71,-116.8,804.7,-5.9,374,9623,0.00,2.35,0.00,0.000,4,0.000,0.046,2640,447,3267,0,0,0,0,0,0
$GC,9651,-0.71,-116.8,806.9,-7.1,374,9656,0.10,2.28,0.00,0.000,6,0.150,0.034,2659,2042,3264,0,0,0,0,0,0
$GC,9987,-0.71,-116.8,825.0,-5.5,383,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2042,3265,0,0,0,0,0,0
$GC,10312,-0.71,-116.8,842.5,-5.2,391,10316,0.00,2.35,0.00,0.000,4,0.000,0.046,2657,456,3265,0,0,0,0,0,0
$GC,10373,-0.71,-116.8,846.2,-5.6,392,10377,0.00,2.25,0.00,0.000,6,0.000,0.034,2650,2032,3263,0,0,0,0,0,0
$GC,10721,-0.71,-116.8,861.8,-4.1,401,10725,0.00,2.35,0.00,0.000,4,0.000,0.045,2650,457,3265,0,0,0,0,0,0
$GC,10753,-0.71,-116.8,863.4,-5.0,401,10757,0.00,2.30,0.00,0.000,6,0.000,0.033,2636,2030,3264,0,0,0,0,0,0
$GC,11090,-0.71,-116.8,877.9,-4.2,410,11094,0.00,2.35,0.00,0.000,4,0.000,0.045,2627,3619,3264,0,0,0,0,0,0
$GC,11122,-0.71,-116.8,879.4,-5.2,410,11129,0.08,2.33,0.00,0.000,6,0.104,0.031,2668,2038,3263,0,0,0,0,0,0
$GC,11453,-0.71,-116.8,891.2,-3.6,419,11457,0.00,2.35,0.00,0.000,4,0.000,0.046,2668,447,3260,0,0,0,0,0,0
$GC,11492,-0.71,-116.8,893.0,-5.2,420,11496,0.00,2.28,0.00,0.000,6,0.000,0.033,2664,2043,3262,0,0,0,0,0,0
$GC,11815,-0.71,-116.8,908.0,-4.7,428,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2043,3261,0,0,0,0,0,0
$GC,12140,-0.71,-116.8,922.9,-4.7,436,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2043,3261,0,0,0,0,0,0
$GC,12465,-0.71,-116.8,939.8,-5.3,444,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2043,3261,0,0,0,0,0,0
$GC,12790,-0.71,-116.8,957.5,-5.4,452,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2043,3260,0,0,0,0,0,0
$GC,13115,-0.71,-116.8,975.1,-5.5,460,13119,0.00,2.38,0.00,0.000,4,0.000,0.048,2659,449,3258,0,0,0,0,0,0
$GC,13153,-0.71,-116.8,977.4,-6.4,461,13158,0.00,2.28,0.00,0.000,6,0.000,0.035,2648,2039,3260,0,0,0,0,0,0
$STATE,13394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13394,begin apogee
$GC,13398,-0.23,0.0,991.9,6.0,467,13496,0.50,0.00,94.65,1.295,6,0.104,0.000,2816,2039,2823,0,0,0,0,0,0
$STATE,13498,end apogee,CONTROL_FINISHED_OK
$STATE,13498,begin climb
$GC,13500,0.71,116.8,994.4,0.0,469,13616,0.80,0.00,112.07,1.260,6,0.058,0.000,3119,2040,2347,0,0,0,0,0,0
$GC,13907,0.71,116.8,955.2,12.2,479,13911,0.00,2.45,0.00,0.000,4,0.000,0.049,3130,457,2331,0,0,0,0,0,0
$GC,13955,0.71,116.8,948.4,14.5,480,13960,0.00,2.35,0.00,0.000,6,0.000,0.035,3131,2009,2330,0,0,0,0,0,0
$GC,14274,0.71,116.8,906.6,13.1,488,14278,0.00,2.42,0.00,0.000,4,0.000,0.044,3131,3619,2328,0,0,0,0,0,0
$GC,14306,0.71,116.8,902.0,13.6,488,14312,0.00,2.38,0.00,0.000,6,0.000,0.035,3142,2035,2327,0,0,0,0,0,0
$GC,14637,0.71,116.8,854.6,14.3,497,14638,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2032,2327,0,0,0,0,0,0
$GC,14962,0.71,116.8,809.8,13.7,505,14966,0.00,2.35,0.00,0.000,4,0.000,0.049,3155,459,2326,0,0,0,0,0,0
$GC,15061,0.71,116.8,795.4,14.6,507,15066,0.10,2.35,0.00,0.000,6,0.137,0.035,3122,2042,2326,0,0,0,0,0,0
$GC,15373,0.71,116.8,759.0,11.7,515,15378,0.00,2.33,0.00,0.000,4,0.000,0.046,3122,3614,2325,0,0,0,0,0,0
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$STATE,22878,end climb,SURFACE_DEPTH_REACHED
$STATE,22878,begin surface coast
$FINISH,0.9,1.022843
$STATE,22906,end surface coast,CONTROL_FINISHED_OK
$STATE,22906,begin surface
$SM_CCo,22923,58.45,0.429,1,0,1293,375.30
$SM_GC,1.72,0.00,0.00,58.45,0.000,0.000,0.429,122,2042,1293,-8.65,0.31,375.30
$IRIDIUM_FIX,2057.14,-15840.66,220112,111112
$TT8_MAMPS,0.161837
$HUMID,1078394184
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$TCM_TEMP,25.00
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8414330880
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49317969920
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.5,23.291
$10V_AH,9.5,27.353
$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,20.475,213.225,331.250,58.450,0.000,99.924,88.925,631.380,0.250,0.000,14.032,1791.821,18488.133,575.056,3017.536,283.292,33.372,1759.356,0.000,2088.564,0.000,0.541,0.000
$DEVICE_MAMPS,230.100,58.292,1294.696,428.753,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,613.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335128
$DATA_FILE_SIZE,33345,899
$CAP_FILE_SIZE,198024,0
$CFSIZE,260165632,239648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290710,232307,2105.571,-15837.339,38,0.9,38,9.8