version: 66.10
glider: 165
mission: 5
dive: 161
start: 12 24 111 12 23 46
data:
$ID,165
$MISSION,5
$DIVE,161
$N_DIVES,0
$D_SURF,11
$D_FLARE,11
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$T_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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51872
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,60
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-271613.75
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2786
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-57.316994
$PRESSURE_SLOPE,0.000116182
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0043567759
$SEABIRD_T_H,0.00062679156
$SEABIRD_T_I,2.4204959e-05
$SEABIRD_T_J,2.6176024e-06
$SEABIRD_C_G,-10.134539
$SEABIRD_C_H,1.1435308
$SEABIRD_C_I,-0.0010041125
$SEABIRD_C_J,0.00016055659
$GPS1,241211,121655,2046.058,11940.893,37,1.5,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.74
$_SM_ANGLEo,-56.6
$GPS2,241211,122322,2045.980,11940.588,14,2.5,33,-2.4
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2051.379,11950.596
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.084,-0.266
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,62.4,20000,-15.2,-11.000
$D_GRID,3171
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-243.3,0.0,0.0,0,117,0.00,0.00,-98.50,0.000,2,0.000,0.000,134,1984,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.80,-243.3,11.3,-8.5,16,156,10.02,2.12,-15.23,0.000,4,0.233,0.050,2674,3347,3779,0,0,0,0,0,0,25.46,26.10,26.50
$GC,256,-0.72,-243.3,57.2,-29.3,39,264,0.15,2.12,0.00,0.000,6,0.169,0.032,2712,1944,3780,0,0,0,0,0,0,25.85,26.19,28.83
$GC,585,-0.63,-243.3,160.7,-26.1,100,593,0.12,0.00,0.00,0.000,6,0.178,0.000,2750,1944,3780,0,0,0,0,0,0,26.08,28.83,28.83
$GC,911,-0.61,-243.3,227.3,-13.0,146,921,0.00,2.17,0.00,0.000,4,0.000,0.048,2749,3341,3780,0,0,0,0,0,0,28.83,26.23,28.83
$GC,967,-0.61,-243.3,234.2,-12.3,151,974,0.00,2.10,0.00,0.000,6,0.000,0.031,2750,1944,3780,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1275,-0.59,-243.3,287.6,-17.4,182,1285,0.00,2.17,0.00,0.000,4,0.000,0.050,2750,3339,3781,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1319,-0.59,-243.3,294.1,-14.9,186,1329,0.00,2.08,0.00,0.000,6,0.000,0.032,2750,1948,3781,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1628,-0.59,-243.3,331.4,-13.3,217,1637,0.00,2.15,0.00,0.000,4,0.000,0.049,2750,554,3781,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1651,-0.59,-243.3,334.2,-13.3,219,1659,0.00,2.08,0.00,0.000,6,0.000,0.035,2750,1934,3781,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1961,-0.60,-243.3,375.7,-14.6,250,1964,0.00,2.20,0.00,0.000,4,0.000,0.050,2750,3361,3781,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2052,-0.63,-243.3,389.8,-15.0,259,2061,0.00,2.12,0.00,0.000,6,0.000,0.033,2750,1944,3781,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2362,-0.65,-243.3,437.5,-14.7,290,2371,0.00,2.20,0.00,0.000,4,0.000,0.050,2750,3353,3780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2426,-0.68,-243.3,445.8,-12.8,296,2434,0.00,2.08,0.00,0.000,6,0.000,0.033,2750,1962,3780,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2736,-0.70,-243.3,479.5,-8.9,327,2744,0.00,2.15,0.00,0.000,4,0.000,0.049,2750,560,3779,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2780,-0.73,-243.3,482.9,-8.4,331,2788,0.12,2.12,0.00,0.000,6,0.088,0.035,2680,1960,3778,0,0,0,0,0,0,26.36,26.38,28.83
$GC,3087,-0.70,-243.3,514.9,-9.1,362,3097,0.12,2.17,0.00,0.000,4,0.161,0.050,2713,3366,3776,0,0,0,0,0,0,26.27,26.27,28.83
$GC,3231,-0.71,-243.3,521.5,-3.5,376,3239,0.00,2.15,0.00,0.000,6,0.000,0.033,2712,1943,3775,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3540,-0.71,-243.3,538.1,-5.9,407,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1943,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3842,-0.71,-243.3,560.6,-9.1,437,3846,0.00,2.15,0.00,0.000,4,0.000,0.050,2713,558,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3867,-0.71,-243.3,562.7,-9.0,439,3874,0.00,2.15,0.00,0.000,6,0.000,0.037,2713,1962,3771,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4173,-0.71,-243.3,592.7,-10.1,470,4182,0.00,2.17,0.00,0.000,4,0.000,0.053,2710,3359,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4260,-0.73,-243.3,600.9,-9.8,478,4265,0.00,2.12,0.00,0.000,6,0.000,0.033,2710,1952,3767,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4575,-0.73,-243.3,637.5,-11.5,494,4580,0.00,2.22,0.00,0.000,4,0.000,0.051,2700,3365,3765,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4629,-0.73,-243.3,642.3,-11.6,496,4636,0.00,2.15,0.00,0.000,6,0.000,0.034,2701,1951,3764,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4935,-0.73,-243.3,681.8,-12.9,512,4940,0.00,2.17,0.00,0.000,4,0.000,0.051,2700,545,3762,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4968,-0.73,-243.3,684.4,-12.9,513,4974,0.00,2.17,0.00,0.000,6,0.000,0.037,2700,1958,3762,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5276,-0.73,-243.3,723.3,-12.0,529,5281,0.00,2.17,0.00,0.000,4,0.000,0.054,2698,3359,3759,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5303,-0.73,-243.3,725.6,-11.9,530,5307,0.00,2.15,0.00,0.000,6,0.000,0.034,2698,1946,3759,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5610,-0.73,-243.3,758.9,-10.1,545,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1946,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5911,-0.73,-243.3,785.5,-8.5,560,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1946,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,-0.73,-243.3,810.5,-8.5,575,6216,0.00,2.28,0.00,0.000,4,0.000,0.056,2698,3359,3754,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6258,-0.73,-243.3,813.7,-8.4,577,6263,0.00,2.15,0.00,0.000,6,0.000,0.035,2698,1955,3754,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6566,-0.73,-243.3,840.0,-8.9,592,6572,0.00,2.17,0.00,0.000,4,0.000,0.054,2698,564,3752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6588,-0.73,-243.3,841.9,-9.1,593,6592,0.00,2.15,0.00,0.000,6,0.000,0.039,2698,1954,3752,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6901,-0.73,-243.3,869.6,-8.5,609,6907,0.00,2.20,0.00,0.000,4,0.000,0.055,2698,3362,3750,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7001,-0.75,-243.3,878.3,-8.5,614,7007,0.00,2.15,0.00,0.000,6,0.000,0.034,2698,1954,3749,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7322,-0.75,-243.3,906.6,-9.1,630,7328,0.00,2.25,0.00,0.000,4,0.000,0.054,2698,3359,3747,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7354,-0.76,-243.3,908.4,-9.0,631,7361,0.00,2.15,0.00,0.000,6,0.000,0.035,2698,1956,3747,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7661,-0.76,-243.3,938.3,-9.5,647,7667,0.00,2.25,0.00,0.000,4,0.000,0.055,2698,3365,3746,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7723,-0.77,-243.3,943.9,-9.6,650,7728,0.00,2.15,0.00,0.000,6,0.000,0.035,2698,1957,3745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8042,-0.78,-243.3,976.8,-10.8,666,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1957,3744,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8179,begin apogee
$GC,8184,-0.17,0.0,991.6,-10.4,673,8386,0.57,0.00,194.45,1.313,6,0.117,0.000,2889,1956,2785,0,0,0,0,0,0,25.81,28.83,23.49
$STATE,8387,end apogee,CONTROL_FINISHED_OK
$STATE,8387,begin climb
$GC,8390,0.80,243.3,1002.2,0.0,683,8617,0.88,2.58,216.88,1.271,4,0.051,0.052,3219,3390,1792,0,0,0,0,0,0,24.64,23.82,22.84
$GC,8635,0.70,243.3,970.7,20.7,695,8643,0.20,2.38,0.00,0.000,6,0.176,0.041,3181,2001,1790,0,0,0,0,0,0,24.11,24.29,28.83
$GC,8942,0.63,243.3,904.0,19.6,711,8948,0.00,2.25,0.00,0.000,4,0.000,0.050,3181,3397,1786,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9004,0.55,243.3,891.7,20.3,714,9010,0.17,2.22,0.00,0.000,6,0.152,0.039,3136,1975,1786,0,0,0,0,0,0,25.55,25.85,28.83
$GC,9324,0.51,243.3,841.0,15.2,730,9329,0.00,2.25,0.00,0.000,4,0.000,0.048,3135,3392,1784,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9372,0.47,243.3,834.7,15.4,732,9381,0.15,2.15,0.00,0.000,6,0.159,0.037,3103,1985,1784,0,0,0,0,0,0,25.86,26.10,28.83
$GC,9683,0.46,243.3,794.4,12.0,748,9688,0.00,2.20,0.00,0.000,4,0.000,0.052,3112,592,1783,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9742,0.44,243.3,787.1,11.9,751,9748,0.00,2.17,0.00,0.000,6,0.000,0.034,3112,2000,1782,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10064,0.42,243.3,747.0,12.3,767,10069,0.00,2.15,0.00,0.000,4,0.000,0.047,3112,3386,1781,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10142,0.40,243.3,736.6,13.0,771,10149,0.15,2.15,0.00,0.000,6,0.155,0.035,3081,1984,1781,0,0,0,0,0,0,25.99,26.26,28.83
$GC,10464,0.44,277.3,705.0,10.0,787,10502,0.00,2.25,29.38,1.120,4,0.000,0.050,3089,601,1654,0,0,0,0,0,0,28.83,25.75,24.72
$GC,10555,0.50,313.4,696.9,9.9,791,10594,0.00,2.17,33.15,1.098,6,0.000,0.033,3089,1998,1508,0,0,0,0,0,0,28.83,25.89,24.36
$GC,10902,0.60,389.2,663.6,8.7,809,10975,0.15,2.33,66.72,1.089,4,0.083,0.051,3171,599,1198,0,0,0,0,0,0,26.10,25.12,24.21
$GC,10986,0.59,389.2,655.4,12.5,812,10991,0.12,2.22,0.00,0.000,6,0.161,0.032,3141,1997,1197,0,0,0,0,0,0,25.18,25.33,28.83
$GC,11295,0.57,389.2,606.3,15.0,827,11301,0.00,2.15,0.00,0.000,4,0.000,0.044,3141,3387,1193,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11316,0.56,389.2,603.1,15.2,828,11320,0.00,2.17,0.00,0.000,6,0.000,0.036,3148,1991,1193,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11628,0.54,389.2,553.2,16.2,858,11637,0.00,2.20,0.00,0.000,4,0.000,0.051,3159,593,1193,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11763,0.54,389.2,532.8,14.6,871,11772,0.10,2.12,0.00,0.000,6,0.124,0.033,3124,1985,1192,0,0,0,0,0,0,25.98,26.22,28.83
$GC,12070,0.55,389.2,492.6,12.6,902,12079,0.00,2.20,0.00,0.000,4,0.000,0.048,3132,583,1191,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12115,0.56,389.2,487.3,12.8,906,12122,0.00,2.15,0.00,0.000,6,0.000,0.032,3132,1994,1191,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12421,0.56,389.2,446.4,13.2,937,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1994,1190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12723,0.56,389.2,408.6,13.5,967,12731,0.00,2.17,0.00,0.000,4,0.000,0.048,3141,587,1190,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12768,0.57,389.2,402.8,13.7,971,12775,0.00,2.15,0.00,0.000,6,0.000,0.031,3141,1997,1190,0,0,0,0,0,0,28.83,26.33,28.83
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$GC,13458,0.58,394.7,315.9,10.8,1040,13469,0.00,2.12,4.90,0.619,6,0.000,0.031,3160,2000,1175,0,0,0,0,0,0,28.83,26.36,24.89
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$GC,15367,1.03,645.9,83.0,8.6,1303,15374,0.12,2.15,0.00,0.000,4,0.086,0.041,3334,584,482,0,0,0,0,0,0,26.32,26.13,28.83
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$STATE,15748,end climb,SURFACE_DEPTH_REACHED
$STATE,15748,begin surface coast
$FINISH,7.5,1.006732
$STATE,15814,end surface coast,CONTROL_FINISHED_OK
$STATE,15814,begin surface
$SM_CCo,15892,0.00,0.000,0,0,482,564.93
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$IRIDIUM_FIX,2038.68,11942.69,241211,070724
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.53
$INTERNAL_PRESSURE,9.40502
$TCM_TEMP,25.20
$XPDR_PINGS,11
$24V_AH,22.8,37.773
$10V_AH,10.2,34.843
$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,21.900,156.825,700.175,0.000,0.000,24.556,20.361,181.371,2.750,0.000,37.469,3229.681,8803.235,824.211,3045.998,360.451,0.000,2246.776,0.000,2764.531,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,55.845,1312.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,934.869,1215.587,669.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324732
$DATA_FILE_SIZE,80149,1382
$CAP_FILE_SIZE,173061,0
$CFSIZE,260165632,184856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241211,164955,2046.705,11941.086,39,1.2,39,-2.4