version: 66.11
glider: 167
mission: 16
dive: 492
start: 9 19 113 23 16 37
data:
$ID,167
$MISSION,16
$DIVE,492
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,-1
$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,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975993.31
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-15.330984
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,190913,230134,1924.123,12325.137,46,1.1,50,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-63.9
$GPS2,190913,231605,1924.009,12324.893,31,1.8,31,-2.7
$SPEED_LIMITS,0.179,0.233
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,147.3,213516,-18.3,-10.312,-23.85,2851
$D_GRID,4984
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.05,-194.6,108,2242,723,630,0.0,0.0,0,110,0.00,0.00,-81.53,0.000,16386,0.000,0.000,108,2242,2678,2658,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.05,-194.6,108,2242,2660,2700,3.4,-4.9,15,158,10.88,2.17,-21.00,0.000,18948,0.234,0.039,2653,793,3766,3764,3768,0,0,0,0,0,0,24.75,26.05,26.48
$GC,240,-1.05,-194.6,2653,793,3765,3768,38.7,-27.8,32,246,0.00,2.05,0.00,0.000,1030,0.000,0.030,2645,2184,3766,3765,3768,0,0,0,0,0,0,28.83,26.10,28.83
$GC,546,-1.05,-194.6,2645,2184,3764,3768,116.5,-24.6,50,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2184,3766,3765,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,849,-1.05,-194.6,2645,2185,3765,3768,175.2,-19.1,65,855,0.00,2.03,0.00,0.000,516,0.000,0.028,2645,800,3766,3764,3768,0,0,0,0,0,0,28.83,26.24,28.83
$GC,868,-1.05,-194.6,2645,800,3765,3768,175.2,-19.1,65,875,0.00,2.05,0.00,0.000,1030,0.000,0.028,2636,2206,3766,3765,3768,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1175,-1.05,-194.6,2636,2205,3765,3768,233.0,-17.3,81,1181,0.00,2.08,0.00,0.000,260,0.000,0.037,2625,3599,3766,3764,3768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1244,-1.05,-194.6,2625,3599,3765,3768,244.4,-17.2,84,1250,0.12,2.00,0.00,0.000,3078,0.177,0.017,2655,2175,3766,3764,3768,0,0,0,0,0,0,25.96,26.40,28.83
$GC,1565,-1.05,-194.6,2654,2175,3765,3769,293.4,-14.2,100,1570,0.00,1.95,0.00,0.000,516,0.000,0.030,2655,823,3766,3765,3768,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1629,-1.05,-194.6,2654,823,3765,3768,302.3,-14.1,103,1635,0.00,2.03,0.00,0.000,1030,0.000,0.029,2655,2202,3766,3765,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1954,-1.05,-194.6,2655,2202,3765,3767,351.1,-15.6,119,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2202,3766,3765,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2257,-1.05,-194.6,2655,2202,3765,3764,397.9,-15.1,134,2262,0.00,2.03,0.00,0.000,516,0.000,0.028,2655,822,3764,3765,3763,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2317,-1.05,-194.6,2655,821,3765,3762,405.1,-14.9,136,2323,0.00,2.03,0.00,0.000,1030,0.000,0.029,2655,2209,3763,3764,3762,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2622,-1.05,-194.6,2655,2209,3764,3759,449.8,-14.1,152,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2209,3762,3765,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,-1.05,-194.6,2655,2209,3764,3755,492.7,-14.4,167,2931,0.00,2.05,0.00,0.000,516,0.000,0.030,2655,819,3759,3764,3754,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3014,-1.05,-194.6,1632,818,3760,3752,505.6,-14.7,171,3019,0.00,2.03,0.00,0.000,1030,0.000,0.030,2652,2198,3758,3764,3753,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3334,-1.05,-194.6,2652,2198,3764,3748,552.5,-14.8,187,3339,0.00,2.03,0.00,0.000,516,0.000,0.030,2652,824,3756,3764,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3373,-1.05,-194.6,2652,824,3764,3747,556.3,-14.9,188,3380,0.00,2.03,0.00,0.000,1030,0.000,0.029,2643,2208,3755,3764,3747,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3689,-1.05,-194.6,2643,2208,3764,3742,605.6,-15.3,204,3694,0.00,2.08,0.00,0.000,260,0.000,0.038,2633,3597,3752,3764,3741,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3702,-1.05,-194.6,2633,3597,3764,3742,605.6,-15.3,204,3707,0.00,2.00,0.00,0.000,1030,0.000,0.018,2633,2193,3753,3764,3742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4030,-1.05,-194.6,2632,2192,3764,3736,657.1,-15.1,215,4036,0.00,2.00,0.00,0.000,516,0.000,0.032,2633,824,3749,3763,3736,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4089,-1.05,-194.6,2632,825,3764,3735,662.9,-15.2,216,4097,0.12,2.05,0.00,0.000,3078,0.181,0.030,2658,2205,3749,3764,3734,0,0,0,0,0,0,25.89,26.26,28.83
$GC,4400,-1.05,-194.6,2657,2205,3763,3730,708.3,-13.6,227,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2205,3746,3763,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4695,-1.05,-194.6,2657,2206,3759,3727,749.0,-13.6,237,4701,0.00,2.05,0.00,0.000,516,0.000,0.031,2657,826,3743,3759,3727,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4719,-1.05,-194.6,2657,826,3759,3727,749.0,-13.6,237,4725,0.00,2.05,0.00,0.000,1030,0.000,0.031,2656,2208,3743,3759,3727,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5035,-1.05,-194.6,2656,2208,3756,3723,796.6,-14.1,248,5040,0.00,2.12,0.00,0.000,260,0.000,0.042,2656,3602,3739,3756,3723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5085,-1.05,-194.6,2655,3603,3755,3723,801.8,-14.2,249,5090,0.00,2.03,0.00,0.000,1030,0.000,0.021,2656,2193,3739,3755,3723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5406,-1.05,-194.6,2656,2193,3753,3719,850.2,-14.7,260,5411,0.00,2.03,0.00,0.000,516,0.000,0.033,2656,819,3736,3753,3719,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5441,-1.05,-194.6,2655,819,3753,3719,855.7,-14.7,261,5446,0.00,2.08,0.00,0.000,1030,0.000,0.032,2656,2205,3736,3753,3719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5780,-1.05,-194.6,2656,2205,3751,3715,903.7,-14.4,272,5785,0.00,2.12,0.00,0.000,260,0.000,0.043,2656,3596,3732,3751,3714,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5890,-1.05,-194.6,2656,3597,3749,3715,917.5,-14.0,275,5895,0.00,2.03,0.00,0.000,1030,0.000,0.021,2656,2186,3731,3749,3714,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6212,-1.05,-194.6,2655,2186,3748,3711,963.0,-13.4,286,6217,0.00,2.00,0.00,0.000,516,0.000,0.033,2656,833,3729,3748,3710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6248,-1.05,-194.6,2656,833,3747,3711,967.8,-13.3,287,6253,0.00,2.05,0.00,0.000,1030,0.000,0.032,2656,2198,3728,3747,3710,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,6429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6429,begin apogee
$GC,6438,-0.21,0.0,2655,1947,3746,3708,991.9,-12.9,293,6623,0.85,0.00,173.00,1.694,10246,0.134,0.000,2922,1948,2972,3037,2908,0,0,0,0,1,0,25.37,28.83,22.56
$STATE,6626,end apogee,CONTROL_FINISHED_OK
$STATE,6626,begin climb
$GC,6629,1.05,194.6,2922,1948,3037,2913,1001.7,0.0,299,6822,1.17,0.00,183.38,1.145,10758,0.056,0.000,3338,1947,2174,2262,2086,0,0,0,0,0,0,24.71,28.83,23.58
$GC,7123,1.05,194.6,3337,1947,2246,2051,962.2,11.0,316,7128,0.00,2.20,0.00,0.000,260,0.000,0.041,3338,3360,2148,2246,2051,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7201,1.05,194.6,3338,3360,2244,2051,954.9,11.1,318,7207,0.00,2.05,0.00,0.000,1030,0.000,0.026,3347,1985,2147,2244,2051,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7525,1.05,194.6,3347,1984,2243,2047,919.0,10.7,329,7530,0.00,2.17,0.00,0.000,516,0.000,0.041,3357,555,2145,2243,2048,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7615,1.05,194.6,3357,556,2240,2048,911.3,10.9,331,7621,0.00,2.10,0.00,0.000,1030,0.000,0.031,3357,1955,2143,2240,2047,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7922,1.06,201.4,3357,1955,2239,2047,876.9,10.1,342,7927,0.00,2.12,0.00,0.000,260,0.000,0.042,3358,3353,2142,2239,2046,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8006,1.06,201.4,3358,3351,2238,2046,869.4,10.7,344,8011,0.00,2.08,0.00,0.000,1030,0.000,0.026,3367,1947,2142,2238,2046,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8321,1.06,201.4,3367,1947,2239,2045,834.5,10.3,355,8327,0.00,2.17,0.00,0.000,260,0.000,0.041,3367,3358,2142,2239,2045,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8345,1.06,201.4,3367,3358,2239,2045,834.5,10.3,355,8351,0.12,2.10,0.00,0.000,5126,0.172,0.027,3346,1942,2141,2238,2045,0,0,0,0,0,0,25.88,26.25,28.83
$GC,8664,1.06,201.4,3346,1942,2238,2043,798.1,10.8,366,8670,0.00,2.20,0.00,0.000,260,0.000,0.041,3347,3362,2140,2238,2043,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8703,1.06,201.4,2384,3360,2160,2030,793.6,11.1,367,8708,0.00,2.10,0.00,0.000,1030,0.000,0.026,3355,1946,2140,2238,2042,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9035,1.06,201.4,3355,1946,2238,2042,757.4,10.6,378,9040,0.00,2.12,0.00,0.000,516,0.000,0.041,3366,552,2140,2238,2042,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9065,1.06,201.4,3366,552,2238,2042,757.4,10.6,378,9071,0.00,2.10,0.00,0.000,1030,0.000,0.032,3366,1951,2138,2235,2042,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9370,1.09,217.7,3365,1951,2235,2042,723.2,9.7,389,9399,0.00,2.17,20.17,1.033,8452,0.000,0.043,3367,3348,2069,2163,1975,0,0,0,0,0,0,28.83,25.86,24.02
$GC,9470,1.09,217.7,2352,3346,2075,1951,712.7,10.9,392,9476,0.00,2.10,0.00,0.000,1030,0.000,0.026,3375,1948,2060,2156,1965,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9803,1.11,232.0,3375,1947,2156,1960,679.0,9.8,403,9825,0.00,2.22,13.38,1.004,8708,0.000,0.042,3386,545,2013,2107,1920,0,0,0,0,0,0,28.83,25.91,24.14
$GC,9859,1.13,244.5,3385,545,2097,1913,675.6,9.9,404,9879,0.00,2.15,11.95,0.997,9222,0.000,0.032,3385,1961,1966,2060,1872,0,0,0,0,0,0,28.83,25.96,24.08
$GC,10198,1.13,244.5,3385,1961,2052,1856,634.7,11.1,416,10204,0.00,2.15,0.00,0.000,260,0.000,0.043,3385,3353,1954,2052,1856,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10248,1.13,244.5,3386,3353,2051,1855,630.7,11.1,417,10253,0.00,2.10,0.00,0.000,1030,0.000,0.026,3395,1944,1953,2051,1855,0,0,0,0,0,0,28.83,26.10,28.83
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$GC,13020,1.22,307.5,3416,1953,1775,1593,336.8,10.6,549,13025,0.00,2.15,0.00,0.000,260,0.000,0.041,3415,3356,1684,1775,1594,0,0,0,0,0,0,28.83,25.99,28.83
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$GC,13928,1.35,389.4,3405,3356,1433,1258,245.7,12.1,593,13933,0.00,2.10,0.00,0.000,1030,0.000,0.025,3414,1949,1346,1434,1259,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,16364,end climb,SURFACE_DEPTH_REACHED
$STATE,16364,begin surface coast
$FINISH,1.3,1.021367
$STATE,16376,end surface coast,CONTROL_FINISHED_OK
$STATE,16376,begin surface
$SM_CCo,16459,0.00,0.000,0,0,467,613.99
$SM_GC,1.66,9.15,0.30,0.00,0.039,0.044,0.000,150,2208,467,-8.86,-1.67,613.99,0,0,0,0,0,0,25.78,26.25,28.83
$IRIDIUM_FIX,1918.37,12328.73,190913,232323
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.12
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,26.30
$XPDR_PINGS,5
$SC_FREEKB,7576992
$24V_AH,22.6,81.570
$10V_AH,9.9,49.956
$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
$DEVICE_SECS,23.275,160.125,689.475,0.000,0.000,0.000,0.000,561.000,1.250,0.000,32.171,2284.452,11097.030,784.023,2485.073,669.082,0.000,2473.986,0.000,1868.121,0.000,0.545,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.218,0.000,0.000,0.000
$MEM,327776
$DATA_FILE_SIZE,29987,753
$CAP_FILE_SIZE,192352,0
$CFSIZE,260034560,206946304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,200913,035227,1923.697,12324.732,29,2.4,48,-2.7