version: 66.07
glider: 500
mission: 5
dive: 441
start: 3 9 111 14 56 50
data:
$ID,500
$MISSION,5
$DIVE,441
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,550
$T_MISSION,1020
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,400
$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,-130377.79
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3090
$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,2090
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2995
$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,-66.543793
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$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,0
$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
$GPS1,090311,144909,2156.844,12850.096,29,1.2,29,-3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.9
$GPS2,090311,145555,2156.863,12850.129,8,1.4,13,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.197,-0.099
$KALMAN_X,-630971.9,259.3,-864.3,1207381.5,6969.3
$KALMAN_Y,427568.3,176.8,176.2,-340518.6,3367.7
$MHEAD_RNG_PITCHd_Wd,246.5,299229,-9.4,-6.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,3974,-0.50,-155.7,343.2,-5.9,252,3979,0.00,2.35,0.00,0.000,6,0.000,0.034,2916,2082,3638,0,0,0,0,0,0
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$GC,7584,-0.50,-155.7,516.1,-3.9,341,7589,0.00,2.38,0.00,0.000,4,0.000,0.042,2908,501,3626,0,0,0,0,0,0
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$GC,14532,-0.50,-155.7,821.5,-3.5,509,14536,0.00,2.45,0.00,0.000,4,0.000,0.053,2922,3670,3600,0,0,0,0,0,0
$GC,14670,-0.50,-155.7,826.6,-4.1,512,14675,0.00,2.38,0.00,0.000,6,0.000,0.037,2922,2086,3599,0,0,0,0,0,0
$GC,14985,-0.50,-155.7,838.3,-3.8,520,14989,0.00,2.42,0.00,0.000,4,0.000,0.053,2911,3667,3598,0,0,0,0,0,0
$GC,15075,-0.50,-155.7,841.9,-4.3,522,15079,0.00,2.35,0.00,0.000,6,0.000,0.037,2911,2089,3598,0,0,0,0,0,0
$GC,15400,-0.50,-155.7,855.4,-4.4,530,15404,0.00,2.45,0.00,0.000,4,0.000,0.053,2900,3673,3597,0,0,0,0,0,0
$GC,15453,-0.50,-155.7,857.6,-4.0,531,15457,0.00,2.38,0.00,0.000,6,0.000,0.038,2900,2090,3597,0,0,0,0,0,0
$GC,15772,-0.50,-155.7,871.0,-4.1,539,15777,0.00,2.45,0.00,0.000,4,0.000,0.052,2887,3675,3596,0,0,0,0,0,0
$GC,15818,-0.50,-155.7,872.7,-3.9,540,15823,0.12,2.40,0.00,0.000,6,0.112,0.037,2934,2079,3596,0,0,0,0,0,0
$GC,16137,-0.50,-155.7,882.9,-3.1,548,16142,0.00,2.45,0.00,0.000,4,0.000,0.054,2923,3673,3595,0,0,0,0,0,0
$GC,16311,-0.50,-155.7,888.0,-2.9,552,16315,0.00,2.38,0.00,0.000,6,0.000,0.038,2923,2086,3595,0,0,0,0,0,0
$GC,16635,-0.50,-155.7,897.0,-2.8,560,16639,0.00,2.45,0.00,0.000,4,0.000,0.052,2912,3673,3595,0,0,0,0,0,0
$GC,16709,-0.50,-155.7,899.2,-3.0,561,16713,0.00,2.38,0.00,0.000,6,0.000,0.038,2912,2088,3594,0,0,0,0,0,0
$GC,17040,-0.50,-155.7,911.3,-4.0,569,17044,0.00,2.45,0.00,0.000,4,0.000,0.053,2901,3669,3594,0,0,0,0,0,0
$GC,17090,-0.50,-155.7,913.5,-4.2,570,17094,0.00,2.38,0.00,0.000,6,0.000,0.038,2901,2090,3594,0,0,0,0,0,0
$GC,17404,-0.50,-155.7,929.0,-5.2,578,17408,0.00,2.47,0.00,0.000,4,0.000,0.052,2889,3667,3593,0,0,0,0,0,0
$GC,17483,-0.50,-155.7,933.2,-5.4,579,17488,0.12,2.40,0.00,0.000,6,0.111,0.036,2935,2080,3593,0,0,0,0,0,0
$GC,17815,-0.50,-155.7,950.4,-5.1,588,17819,0.00,2.47,0.00,0.000,4,0.000,0.054,2925,3675,3593,0,0,0,0,0,0
$GC,18050,-0.50,-155.7,961.4,-4.4,593,18054,0.00,2.40,0.00,0.000,6,0.000,0.037,2925,2081,3592,0,0,0,0,0,0
$GC,18366,-0.50,-155.7,971.9,-3.0,601,18370,0.00,2.45,0.00,0.000,4,0.000,0.054,2914,3669,3592,0,0,0,0,0,0
$GC,18505,-0.50,-155.7,975.6,-3.0,604,18509,0.00,2.38,0.00,0.000,6,0.000,0.038,2914,2085,3591,0,0,0,0,0,0
$GC,18825,-0.50,-155.7,984.0,-2.6,612,18829,0.00,2.45,0.00,0.000,4,0.000,0.053,2903,3667,3591,0,0,0,0,0,0
$GC,18944,-0.50,-155.7,987.3,-2.3,614,18949,0.00,2.38,0.00,0.000,6,0.000,0.037,2903,2087,3590,0,0,0,0,0,0
$STATE,19071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19071,begin apogee
$GC,19078,-0.23,0.0,990.6,2.6,617,19219,0.32,0.00,138.27,1.624,6,0.079,0.000,3026,1926,2995,0,0,0,0,0,0
$STATE,19220,end apogee,CONTROL_FINISHED_OK
$STATE,19220,begin climb
$GC,19223,0.50,155.7,990.2,0.0,620,19385,0.60,2.83,151.45,1.594,4,0.054,0.051,3256,3521,2360,0,0,0,0,0,0
$GC,19536,0.50,155.7,949.6,12.8,627,19540,0.00,2.45,0.00,0.000,6,0.000,0.039,3268,1950,2359,0,0,0,0,0,0
$GC,19850,0.50,155.7,907.9,13.2,635,19854,0.00,2.47,0.00,0.000,4,0.000,0.048,3281,346,2358,0,0,0,0,0,0
$GC,19888,0.50,155.7,902.4,13.9,636,19892,0.00,2.40,0.00,0.000,6,0.000,0.043,3281,1941,2359,0,0,0,0,0,0
$GC,20213,0.50,155.7,855.6,14.6,644,20218,0.00,2.47,0.00,0.000,4,0.000,0.052,3281,3533,2357,0,0,0,0,0,0
$GC,20291,0.50,155.7,843.2,14.8,645,20297,0.12,2.45,0.00,0.000,6,0.136,0.041,3253,1924,2358,0,0,0,0,0,0
$GC,20624,0.50,155.7,802.1,12.3,654,20628,0.00,2.40,0.00,0.000,4,0.000,0.051,3264,351,2357,0,0,0,0,0,0
$GC,20662,0.50,155.7,797.0,12.0,654,20667,0.00,2.40,0.00,0.000,6,0.000,0.044,3264,1945,2357,0,0,0,0,0,0
$GC,20993,0.50,155.7,752.5,13.6,663,20997,0.00,2.45,0.00,0.000,4,0.000,0.054,3264,3524,2356,0,0,0,0,0,0
$GC,21049,0.50,155.7,744.7,15.4,664,21053,0.00,2.42,0.00,0.000,6,0.000,0.041,3276,1929,2356,0,0,0,0,0,0
$GC,21397,0.50,155.7,698.7,12.8,673,21401,0.00,2.40,0.00,0.000,4,0.000,0.051,3288,360,2356,0,0,0,0,0,0
$GC,21458,0.50,155.7,690.8,11.5,674,21463,0.12,2.38,0.00,0.000,6,0.127,0.046,3246,1937,2355,0,0,0,0,0,0
$GC,21801,0.50,155.7,657.6,9.5,683,21805,0.00,2.45,0.00,0.000,4,0.000,0.054,3245,3533,2355,0,0,0,0,0,0
$GC,21874,0.50,155.7,649.6,12.0,684,21878,0.00,2.42,0.00,0.000,6,0.000,0.043,3257,1949,2356,0,0,0,0,0,0
$GC,22204,0.50,155.7,611.3,12.2,692,22208,0.00,2.45,0.00,0.000,4,0.000,0.051,3269,348,2355,0,0,0,0,0,0
$GC,22277,0.50,155.7,602.5,10.7,693,22281,0.00,2.40,0.00,0.000,6,0.000,0.044,3269,1940,2355,0,0,0,0,0,0
$GC,22607,0.50,155.7,562.1,11.6,701,22611,0.00,2.47,0.00,0.000,4,0.000,0.054,3269,3536,2354,0,0,0,0,0,0
$GC,22639,0.50,155.7,558.2,10.8,701,22644,0.00,2.45,0.00,0.000,6,0.000,0.044,3282,1930,2354,0,0,0,0,0,0
$GC,22971,0.50,155.7,521.0,11.1,710,22976,0.00,2.40,0.00,0.000,4,0.000,0.052,3294,360,2354,0,0,0,0,0,0
$GC,23015,0.50,155.7,515.7,11.7,711,23020,0.12,2.38,0.00,0.000,6,0.126,0.045,3252,1940,2354,0,0,0,0,0,0
$GC,23341,0.50,155.7,485.3,9.2,719,23345,0.00,2.47,0.00,0.000,4,0.000,0.054,3252,3534,2354,0,0,0,0,0,0
$GC,23384,0.50,155.7,480.7,11.9,720,23389,0.00,2.42,0.00,0.000,6,0.000,0.041,3262,1945,2354,0,0,0,0,0,0
$GC,23709,0.50,155.7,449.5,9.5,728,23713,0.00,2.45,0.00,0.000,4,0.000,0.051,3275,348,2355,0,0,0,0,0,0
$GC,23816,0.50,155.7,438.5,12.2,730,23820,0.00,2.40,0.00,0.000,6,0.000,0.041,3275,1948,2355,0,0,0,0,0,0
$GC,24158,0.50,155.7,406.2,9.3,739,24162,0.00,2.47,0.00,0.000,4,0.000,0.051,3275,3535,2356,0,0,0,0,0,0
$GC,24185,0.50,155.7,403.5,12.1,739,24190,0.12,2.42,0.00,0.000,6,0.130,0.041,3246,1929,2356,0,0,0,0,0,0
$GC,24518,0.50,155.7,377.1,8.2,747,24523,0.00,2.38,0.00,0.000,4,0.000,0.048,3257,355,2357,0,0,0,0,0,0
$GC,24644,0.50,155.7,365.4,9.0,749,24648,0.00,2.38,0.00,0.000,6,0.000,0.040,3257,1941,2357,0,0,0,0,0,0
$GC,24974,0.50,155.7,335.6,8.6,758,24975,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1941,2358,0,0,0,0,0,0
$GC,25300,0.50,155.7,310.4,7.5,766,25304,0.00,2.45,0.00,0.000,4,0.000,0.049,3256,3532,2360,0,0,0,0,0,0
$GC,25343,0.50,155.7,306.8,9.1,767,25348,0.00,2.40,0.00,0.000,6,0.000,0.038,3269,1941,2360,0,0,0,0,0,0
$GC,25671,0.50,155.7,280.6,8.6,780,25676,0.00,2.47,0.00,0.000,4,0.000,0.049,3269,3529,2362,0,0,0,0,0,0
$GC,25721,0.50,155.7,276.0,9.3,782,25725,0.00,2.40,0.00,0.000,6,0.000,0.038,3281,1939,2362,0,0,0,0,0,0
$GC,26043,0.50,155.7,249.6,7.7,798,26047,0.00,2.50,0.00,0.000,4,0.000,0.050,3281,3536,2363,0,0,0,0,0,0
$GC,26069,0.50,155.7,247.3,8.5,799,26074,0.12,2.45,0.00,0.000,6,0.120,0.038,3249,1930,2364,0,0,0,0,0,0
$GC,26385,0.53,173.1,229.9,5.5,814,26410,0.00,2.50,17.30,0.930,4,0.000,0.047,3260,347,2289,0,0,0,0,0,0
$GC,26479,0.53,173.1,223.8,7.4,818,26484,0.00,2.40,0.00,0.000,6,0.000,0.046,3260,1943,2289,0,0,0,0,0,0
$GC,26799,0.53,173.1,201.1,6.4,834,26804,0.00,2.47,0.00,0.000,4,0.000,0.053,3260,3529,2291,0,0,0,0,0,0
$GC,26866,0.53,173.1,196.5,7.0,838,26871,0.00,2.42,0.00,0.000,6,0.000,0.038,3272,1929,2292,0,0,0,0,0,0
$GC,27127,0.56,201.6,182.2,5.2,863,27157,0.00,2.40,25.58,0.920,4,0.000,0.044,3284,351,2171,0,0,0,0,0,0
$GC,27187,0.56,203.0,178.8,6.0,869,27191,0.00,2.38,0.00,0.000,6,0.000,0.038,3284,1958,2171,0,0,0,0,0,0
$GC,27448,0.56,203.0,160.5,7.9,893,27453,0.00,2.42,0.00,0.000,4,0.000,0.048,3284,3526,2173,0,0,0,0,0,0
$GC,27481,0.56,203.0,157.4,7.9,895,27486,0.00,2.40,0.00,0.000,6,0.000,0.043,3295,1929,2172,0,0,0,0,0,0
$GC,27742,0.56,203.0,137.5,6.7,920,27746,0.00,2.38,0.00,0.000,4,0.000,0.044,3307,351,2174,0,0,0,0,0,0
$GC,27791,0.56,203.0,133.7,7.7,924,27796,0.12,2.33,0.00,0.000,6,0.104,0.038,3258,1941,2174,0,0,0,0,0,0
$GC,28051,0.56,203.0,116.7,8.3,948,28061,0.00,2.45,3.95,0.545,4,0.000,0.047,3258,3516,2167,0,0,0,0,0,0
$GC,28085,0.56,203.0,114.1,8.1,951,28089,0.00,2.38,0.00,0.000,6,0.000,0.037,3267,1930,2167,0,0,0,0,0,0
$GC,28347,0.56,204.5,98.2,6.0,975,28351,0.00,2.35,0.00,0.000,4,0.000,0.046,3278,356,2168,0,0,0,0,0,0
$GC,28390,0.56,204.5,94.4,7.2,978,28395,0.00,2.33,0.00,0.000,6,0.000,0.038,3279,1940,2169,0,0,0,0,0,0
$GC,28651,0.58,217.8,79.0,5.6,1003,28671,0.00,2.47,14.43,0.807,4,0.000,0.050,3278,3535,2107,0,0,0,0,0,0
$GC,28700,0.58,217.8,75.8,6.3,1007,28704,0.00,2.40,0.00,0.000,6,0.000,0.037,3290,1949,2107,0,0,0,0,0,0
$GC,28961,0.74,343.5,65.4,2.7,1032,29072,0.10,2.55,101.40,0.890,4,0.097,0.045,3403,346,1593,0,0,0,0,0,0
$GC,29128,0.74,343.5,46.2,12.5,1048,29133,0.22,2.38,0.00,0.000,6,0.106,0.037,3327,1954,1594,0,0,0,0,0,0
$GC,29390,0.74,343.5,22.9,9.1,1072,29394,0.00,2.40,0.00,0.000,4,0.000,0.047,3327,3518,1595,0,0,0,0,0,0
$GC,29406,0.74,343.5,21.3,8.7,1073,29410,0.00,2.38,0.00,0.000,6,0.000,0.038,3337,1932,1595,0,0,0,0,0,0
$STATE,29589,end climb,SURFACE_DEPTH_REACHED
$STATE,29589,begin surface coast
$FINISH,0.6,NaN
$STATE,29611,end surface coast,CONTROL_FINISHED_OK
$STATE,29611,begin surface
$SM_CCo,29630,36.70,0.816,0,0,1364,400.08
$SM_GC,1.16,0.00,0.00,36.70,0.000,0.000,0.816,105,2110,1364,-9.33,0.57,400.08
$IRIDIUM_FIX,2148.09,12853.01,010912,000037
$TT8_MAMPS,0.029913
$HUMID,1078754184
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.80
$XPDR_PINGS,997
$24V_AH,21.7,78.766
$10V_AH,8.0,62.159
$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,21.925,350.900,452.375,36.700,0.000,27.252,33.511,198.310,249.250,0.000,15.846,1695.155,23872.732,695.428,3192.328,596.304,33.382,2339.673,0.000,2842.992,0.000,0.542,0.000
$DEVICE_MAMPS,216.294,65.195,1623.739,816.088,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,36725,1092
$CAP_FILE_SIZE,330715,0
$CFSIZE,260165632,181899264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090311,231236,2155.755,12849.267,37,1.2,37,-3.1