version: 66.02
glider: 16
mission: 6
dive: 440
start: 2 10 108 17 43 51
data:
$ID,16
$MISSION,6
$DIVE,440
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,566.1524
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2087861.1
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,171501,6139.209,-255.391,38,1.9,38,-6.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-55.9
$GPS2,174333,6139.218,-254.859,13,2.0,13,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.202,-0.090
$KALMAN_X,109567.5,-3587.3,-866.2,330188.0,76350.7
$KALMAN_Y,54287.1,-2872.2,-674.1,-29543.7,60742.0
$MHEAD_RNG_PITCHd_Wd,249.5,46592,-11.0,-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
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,128,0.00,0.00,-101.12,0.000,2,0.000,0.000,63,2411,3076
$GC,131,-0.85,-146.6,4.1,-2.7,5,155,12.45,0.00,-7.88,0.000,6,0.176,0.000,2222,2411,3415
$GC,479,-0.85,-146.6,36.0,-9.5,22,483,0.00,2.72,0.00,0.000,4,0.000,0.071,2222,984,3417
$GC,586,-0.85,-146.6,46.2,-8.1,27,591,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2400,3417
$GC,914,-0.85,-146.6,69.7,-6.6,43,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,1222,-0.85,-146.6,91.5,-6.8,58,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,1531,-0.85,-146.6,113.9,-7.1,73,1536,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,977,3417
$GC,1598,-0.85,-146.6,119.1,-8.0,76,1603,0.00,2.67,0.00,0.000,6,0.000,0.062,2222,2404,3417
$GC,1921,-0.85,-146.6,143.7,-7.8,92,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3417
$GC,2229,-0.85,-146.6,165.1,-6.7,107,2233,0.00,2.70,0.00,0.000,4,0.000,0.073,2224,982,3417
$GC,2296,-0.85,-146.6,170.0,-7.7,110,2300,0.00,2.65,0.00,0.000,6,0.000,0.062,2223,2401,3417
$GC,2617,-0.85,-146.6,192.3,-7.4,126,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2401,3417
$GC,2926,-0.85,-146.6,215.4,-7.5,141,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3417
$GC,3236,-0.85,-146.6,238.2,-7.0,156,3241,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,981,3417
$GC,3303,-0.85,-146.6,242.9,-7.0,159,3307,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2407,3417
$GC,3623,-0.85,-146.6,268.9,-9.0,175,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3417
$GC,3933,-0.85,-146.6,292.1,-6.8,190,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3417
$GC,4242,-0.85,-146.6,313.6,-7.3,205,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3417
$GC,4551,-0.85,-146.6,336.5,-7.3,220,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3417
$GC,4861,-0.85,-146.6,357.9,-7.3,235,4866,0.00,2.75,0.00,0.000,4,0.000,0.079,2222,982,3417
$GC,4946,-0.85,-146.6,364.3,-7.3,239,4951,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2398,3418
$GC,5272,-0.85,-146.6,386.8,-6.6,255,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3418
$GC,5583,-0.85,-146.6,408.2,-6.9,270,5587,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,980,3418
$GC,5644,-0.85,-146.6,412.7,-7.2,273,5649,0.00,2.70,0.00,0.000,6,0.000,0.071,2223,2400,3417
$GC,5971,-0.85,-146.6,433.9,-6.4,289,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3416
$GC,6281,-0.85,-146.6,454.9,-7.0,304,6286,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,979,3415
$GC,6348,-0.85,-146.6,460.0,-8.0,307,6353,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2400,3415
$GC,6670,-0.85,-146.6,482.7,-7.2,323,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3414
$GC,6979,-0.85,-146.6,503.9,-6.6,338,6983,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,977,3413
$GC,7045,-0.85,-146.6,508.5,-7.1,341,7049,0.00,2.72,0.00,0.000,6,0.000,0.073,2222,2403,3413
$GC,7367,-0.85,-146.6,527.7,-5.8,357,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3412
$GC,7675,-0.85,-146.6,545.5,-5.8,372,7680,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,986,3410
$GC,7748,-0.85,-146.6,550.2,-6.7,375,7752,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2401,3410
$GC,8064,-0.85,-146.6,570.2,-6.6,390,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3410
$GC,8373,-0.85,-146.6,591.8,-7.0,405,8377,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,983,3408
$GC,8422,-0.85,-146.6,595.6,-7.9,407,8427,0.00,2.72,0.00,0.000,6,0.000,0.073,2222,2408,3408
$GC,8738,-0.85,-146.6,618.5,-7.3,422,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2408,3407
$GC,9047,-0.85,-146.6,641.5,-7.4,437,9051,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,987,3406
$GC,9124,-0.85,-146.6,647.5,-7.4,440,9131,0.00,2.70,0.00,0.000,6,0.000,0.074,2223,2401,3406
$GC,9442,-0.85,-146.6,670.0,-7.0,456,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3405
$GC,9750,-0.85,-146.6,692.0,-7.2,471,9754,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,981,3405
$GC,9805,-0.85,-146.6,696.5,-8.0,473,9811,0.00,2.72,0.00,0.000,6,0.000,0.073,2223,2407,3404
$GC,10121,-0.85,-146.6,720.4,-7.6,489,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3404
$GC,10429,-0.85,-146.6,744.1,-7.6,504,10434,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,985,3403
$GC,10496,-0.85,-146.6,749.7,-8.1,507,10500,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2400,3403
$GC,10817,-0.85,-146.6,774.2,-7.8,523,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3402
$GC,11126,-0.85,-146.6,798.2,-7.9,538,11130,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,982,3402
$GC,11189,-0.85,-146.6,803.3,-8.5,541,11193,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2400,3401
$GC,11515,-0.85,-146.6,830.0,-7.9,557,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3401
$GC,11824,-0.85,-146.6,853.5,-7.7,572,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3401
$GC,12134,-0.85,-146.6,877.2,-7.6,587,12139,0.00,2.72,0.00,0.000,4,0.000,0.082,2222,986,3401
$GC,12174,-0.85,-146.6,880.4,-8.1,589,12179,0.00,2.67,0.00,0.000,6,0.000,0.073,2222,2404,3401
$GC,12501,-0.85,-146.6,904.4,-7.3,605,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3401
$GC,12811,-0.85,-146.6,927.2,-7.3,620,12813,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3401
$GC,13120,-0.85,-146.6,949.9,-7.5,635,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3400
$GC,13429,-0.85,-146.6,973.5,-7.7,650,13433,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,986,3401
$GC,13469,-0.85,-146.6,976.6,-8.2,652,13474,0.00,2.67,0.00,0.000,6,0.000,0.069,2223,2407,3400
$STATE,13650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13650,begin apogee
$GC,13657,-0.31,0.0,990.8,7.7,661,13796,0.60,0.00,131.32,1.335,6,0.122,0.000,2338,2193,2817
$STATE,13797,end apogee,CONTROL_FINISHED_OK
$STATE,13797,begin climb
$GC,13800,0.85,146.6,998.8,0.0,668,13936,1.23,2.83,126.97,1.325,4,0.081,0.078,2590,798,2218
$GC,13991,0.92,218.4,995.1,4.0,677,14061,0.00,2.65,62.40,1.364,6,0.000,0.061,2590,2198,1925
$GC,14384,0.96,247.6,974.8,5.2,696,14413,0.12,0.00,26.42,1.311,6,0.069,0.000,2621,2198,1807
$GC,14713,0.96,247.6,951.9,6.9,712,14714,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2198,1806
$GC,15022,0.96,247.6,930.5,6.9,727,15026,0.00,2.72,0.00,0.000,4,0.000,0.081,2621,789,1805
$GC,15068,0.96,247.6,927.2,8.2,729,15073,0.00,2.65,0.00,0.000,6,0.000,0.061,2621,2201,1804
$GC,15389,0.96,247.6,904.8,6.9,745,15390,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1804
$GC,15699,0.96,247.6,883.0,7.3,760,15703,0.00,2.75,0.00,0.000,4,0.000,0.081,2621,786,1804
$GC,15743,0.96,247.6,879.8,7.2,762,15748,0.00,2.65,0.00,0.000,6,0.000,0.061,2621,2202,1803
$GC,16064,0.96,247.6,856.3,7.4,778,16066,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1803
$GC,16374,0.96,247.6,832.5,7.7,793,16378,0.00,2.75,0.00,0.000,4,0.000,0.082,2621,788,1803
$GC,16441,0.96,247.6,827.1,9.2,796,16445,0.00,2.65,0.00,0.000,6,0.000,0.064,2621,2199,1803
$GC,16761,0.96,247.6,800.8,8.4,812,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2199,1803
$GC,17071,0.96,247.6,774.1,8.7,827,17075,0.00,2.72,0.00,0.000,4,0.000,0.082,2621,792,1803
$GC,17127,0.96,247.6,768.9,9.5,829,17133,0.00,2.65,0.00,0.000,6,0.000,0.064,2621,2199,1803
$GC,17442,0.96,247.6,740.1,9.2,845,17443,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2199,1803
$GC,17751,0.96,247.6,711.9,9.2,860,17756,0.00,2.72,0.00,0.000,4,0.000,0.082,2621,792,1803
$GC,17802,0.96,247.6,707.1,10.5,862,17806,0.00,2.65,0.00,0.000,6,0.000,0.064,2621,2203,1802
$GC,18117,0.96,247.6,676.6,10.1,877,18119,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2203,1803
$GC,18427,0.96,247.6,646.3,9.5,892,18431,0.00,2.75,0.00,0.000,4,0.000,0.082,2621,787,1803
$GC,18489,0.96,247.6,639.9,10.9,895,18494,0.00,2.65,0.00,0.000,6,0.000,0.064,2621,2201,1803
$GC,18816,0.96,247.6,608.6,9.3,911,18818,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1803
$GC,19126,0.96,247.6,579.5,9.6,926,19130,0.00,2.75,0.00,0.000,4,0.000,0.083,2621,787,1803
$GC,19175,0.96,247.6,574.5,10.6,928,19180,0.00,2.67,0.00,0.000,6,0.000,0.064,2621,2206,1803
$GC,19491,0.96,247.6,546.2,8.6,943,19492,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2206,1803
$GC,19800,0.96,247.6,520.6,8.2,958,19805,0.00,2.75,0.00,0.000,4,0.000,0.082,2621,788,1803
$GC,19846,0.96,247.6,516.6,7.9,960,19851,0.00,2.67,0.00,0.000,6,0.000,0.064,2621,2206,1803
$GC,20168,0.96,247.6,490.0,8.3,976,20169,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2206,1803
$GC,20477,0.96,247.6,466.6,7.3,991,20482,0.00,2.75,0.00,0.000,4,0.000,0.083,2621,786,1803
$GC,20540,0.96,247.6,461.8,8.2,994,20544,0.00,2.65,0.00,0.000,6,0.000,0.064,2621,2200,1803
$GC,20866,0.96,247.6,437.6,7.6,1010,20867,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1803
$GC,21176,0.96,247.6,413.7,8.0,1025,21181,0.00,2.72,0.00,0.000,4,0.000,0.082,2621,791,1803
$GC,21220,0.96,247.6,409.9,7.5,1027,21224,0.00,2.65,0.00,0.000,6,0.000,0.064,2621,2200,1803
$GC,21540,0.96,247.6,383.6,8.0,1043,21542,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1803
$GC,21850,0.96,247.6,355.9,9.3,1058,21854,0.00,2.72,0.00,0.000,4,0.000,0.081,2621,791,1802
$GC,21896,0.96,247.6,351.7,9.3,1060,21900,0.00,2.65,0.00,0.000,6,0.000,0.064,2621,2200,1802
$GC,22217,0.96,247.6,321.2,9.4,1076,22218,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1803
$GC,22526,0.96,247.6,292.1,9.0,1091,22531,0.00,2.72,0.00,0.000,4,0.000,0.080,2621,787,1803
$GC,22617,0.96,247.6,284.4,9.5,1095,22621,0.00,2.67,0.00,0.000,6,0.000,0.064,2621,2207,1803
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$GC,24598,0.96,247.6,122.8,8.8,1192,24599,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2205,1806
$GC,24906,0.96,247.6,96.0,8.4,1207,24907,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2206,1807
$GC,25216,0.96,247.6,69.8,8.9,1222,25217,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2206,1808
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$STATE,26017,end climb,SURFACE_DEPTH_REACHED
$STATE,26017,begin surface coast
$FINISH,1.3,1.020046
$STATE,26039,end surface coast,CONTROL_FINISHED_OK
$STATE,26039,begin surface
$SM_CCo,26062,203.75,0.680,2,0,508,566.15
$SM_GC,1.86,0.00,0.00,203.75,0.000,0.000,0.680,64,2404,508,-10.79,0.11,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2031
$TCM_TEMP,16.30
$XPDR_PINGS,125
$24V_AH,23.0,68.780
$10V_AH,10.1,37.566
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.200,168.625,347.125,203.750,0.000,163.134,269.271,853.907,39.750,0.000,0.000,13.757,2224.012,20729.379,747.989,2534.088,1743.115,0.000,1983.072,0.000,2480.771,0.000,56.122
$DEVICE_MAMPS,175.643,93.574,1363.726,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,939.672,869.032,682.517,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63006,1262
$CFSIZE,260165632,233783296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,3,0
$GPS,110208,010308,6138.545,-258.322,42,1.6,42,-6.1