version: 66.09
glider: 181
mission: 6
dive: 439
start: 9 2 111 17 44 51
data:
$ID,181
$MISSION,6
$DIVE,439
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,280
$T_MISSION,320
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-41116.953
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,020911,173806,1958.226,12010.920,31,1.0,31,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.6
$GPS2,020911,174426,1958.189,12010.960,14,1.1,14,-2.2
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,192.3,109462,-16.3,-11.786
$D_GRID,3846
$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
$GC,17,-0.54,-219.0,0.0,0.0,0,82,0.00,0.00,-63.10,0.000,2,0.000,0.000,206,2612,2219,0,0,0,0,0,0
$GC,85,-0.54,-219.0,3.1,-3.1,11,133,8.07,0.00,-35.58,0.000,6,0.227,0.000,2137,2612,3764,0,0,0,0,0,0
$GC,269,-0.54,-219.0,61.6,-33.9,43,276,0.00,1.77,0.00,0.000,4,0.000,0.042,2130,3776,3765,0,0,0,0,0,0
$GC,367,-0.54,-219.0,86.4,-20.2,60,373,0.00,1.75,0.00,0.000,6,0.000,0.024,2130,2568,3764,0,0,0,0,0,0
$GC,510,-0.54,-219.0,110.4,-16.1,85,517,0.00,1.98,0.00,0.000,4,0.000,0.028,2130,1209,3764,0,0,0,0,0,0
$GC,541,-0.54,-219.0,115.2,-15.4,90,548,0.00,2.10,0.00,0.000,6,0.000,0.034,2124,2578,3764,0,0,0,0,0,0
$GC,686,-0.54,-219.0,138.7,-18.7,115,694,0.00,2.03,0.00,0.000,4,0.000,0.028,2125,1200,3764,0,0,0,0,0,0
$GC,707,-0.54,-219.0,142.2,-16.4,118,713,0.00,2.08,0.00,0.000,6,0.000,0.034,2124,2564,3765,0,0,0,0,0,0
$GC,850,-0.54,-219.0,161.9,-14.2,143,856,0.00,1.85,0.00,0.000,4,0.000,0.042,2115,3789,3765,0,0,0,0,0,0
$GC,948,-0.54,-219.0,176.3,-14.1,160,955,0.00,1.73,0.00,0.000,6,0.000,0.024,2115,2587,3765,0,0,0,0,0,0
$GC,1092,-0.54,-219.0,197.0,-15.1,185,1099,0.00,2.00,0.00,0.000,4,0.000,0.028,2115,1210,3765,0,0,0,0,0,0
$GC,1105,-0.54,-219.0,199.3,-15.4,187,1113,0.12,2.15,0.00,0.000,6,0.147,0.034,2147,2622,3765,0,0,0,0,0,0
$GC,1241,-0.54,-219.0,212.3,-9.1,200,1244,0.00,1.75,0.00,0.000,4,0.000,0.043,2141,3783,3766,0,0,0,0,0,0
$GC,1257,-0.54,-219.0,214.3,-9.4,201,1264,0.00,1.75,0.00,0.000,6,0.000,0.024,2140,2564,3765,0,0,0,0,0,0
$GC,1583,-0.54,-219.0,246.9,-9.7,232,1586,0.00,1.98,0.00,0.000,4,0.000,0.030,2141,1210,3765,0,0,0,0,0,0
$GC,1617,-0.54,-219.0,250.1,-9.4,235,1621,0.00,2.10,0.00,0.000,6,0.000,0.034,2140,2596,3765,0,0,0,0,0,0
$GC,1942,-0.54,-219.0,273.2,-6.5,265,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2596,3763,0,0,0,0,0,0
$GC,2264,-0.54,-219.0,303.0,-10.4,295,2268,0.00,2.05,0.00,0.000,4,0.000,0.031,2140,1219,3761,0,0,0,0,0,0
$GC,2287,-0.54,-219.0,305.7,-10.2,296,2294,0.00,2.08,0.00,0.000,6,0.000,0.036,2139,2575,3761,0,0,0,0,0,0
$GC,2612,-0.54,-219.0,332.3,-7.5,327,2616,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3784,3757,0,0,0,0,0,0
$GC,2659,-0.54,-219.0,335.5,-7.3,331,2662,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2590,3757,0,0,0,0,0,0
$GC,2990,-0.54,-219.0,357.3,-6.2,362,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2586,3754,0,0,0,0,0,0
$GC,3312,-0.54,-219.0,377.3,-6.9,392,3316,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1208,3751,0,0,0,0,0,0
$GC,3351,-0.54,-219.0,381.1,-8.3,395,3358,0.00,1.98,0.00,0.000,6,0.000,0.037,2138,2483,3751,0,0,0,0,0,0
$GC,3678,-0.54,-219.0,406.9,-7.9,426,3681,0.00,1.92,0.00,0.000,4,0.000,0.033,2138,1197,3748,0,0,0,0,0,0
$GC,3746,-0.54,-219.0,413.4,-9.7,432,3750,0.00,1.88,0.00,0.000,6,0.000,0.036,2138,2426,3748,0,0,0,0,0,0
$GC,4078,-0.54,-219.0,448.0,-10.0,463,4082,0.00,1.83,0.00,0.000,4,0.000,0.034,2138,1203,3744,0,0,0,0,0,0
$GC,4136,-0.54,-219.0,453.3,-9.2,468,4140,0.00,1.85,0.00,0.000,6,0.000,0.035,2138,2387,3744,0,0,0,0,0,0
$GC,4468,-0.54,-219.0,476.1,-6.0,499,4471,0.00,1.77,0.00,0.000,4,0.000,0.034,2138,1200,3741,0,0,0,0,0,0
$GC,4495,-0.54,-219.0,478.1,-6.2,501,4502,0.00,1.73,0.00,0.000,6,0.000,0.035,2138,2334,3741,0,0,0,0,0,0
$GC,4821,-0.54,-219.0,497.3,-5.6,532,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2334,3739,0,0,0,0,0,0
$GC,5133,-0.54,-219.0,512.2,-4.7,550,5136,0.00,1.70,0.00,0.000,4,0.000,0.034,2138,1200,3737,0,0,0,0,0,0
$GC,5224,-0.54,-219.0,517.4,-5.6,554,5227,0.00,1.70,0.00,0.000,6,0.000,0.034,2138,2322,3736,0,0,0,0,0,0
$GC,5558,-0.54,-219.0,540.9,-7.2,570,5561,0.00,1.67,0.00,0.000,4,0.000,0.034,2138,1202,3734,0,0,0,0,0,0
$GC,5596,-0.54,-219.0,543.9,-7.0,571,5603,0.00,1.77,0.00,0.000,6,0.000,0.034,2138,2370,3734,0,0,0,0,0,0
$GC,5913,-0.54,-219.0,564.1,-6.0,587,5917,0.00,2.20,0.00,0.000,4,0.000,0.046,2138,3783,3732,0,0,0,0,0,0
$GC,6170,-0.54,-219.0,584.7,-8.5,598,6177,0.00,2.15,0.00,0.000,6,0.000,0.028,2138,2345,3730,0,0,0,0,0,0
$GC,6487,-0.54,-219.0,607.1,-7.1,614,6491,0.00,1.70,0.00,0.000,4,0.000,0.036,2138,1200,3729,0,0,0,0,0,0
$GC,6691,-0.54,-219.0,623.3,-8.7,623,6694,0.00,1.85,0.00,0.000,6,0.000,0.035,2138,2408,3729,0,0,0,0,0,0
$GC,7025,-0.54,-219.0,652.2,-9.4,639,7028,0.00,1.83,0.00,0.000,4,0.000,0.035,2138,1200,3727,0,0,0,0,0,0
$GC,7115,-0.54,-219.0,661.8,-10.5,643,7119,0.00,1.95,0.00,0.000,6,0.000,0.036,2138,2469,3726,0,0,0,0,0,0
$GC,7449,-0.54,-219.0,693.3,-9.3,659,7453,0.00,1.92,0.00,0.000,4,0.000,0.035,2138,1199,3725,0,0,0,0,0,0
$GC,7707,-0.54,-219.0,716.7,-8.9,670,7711,0.00,2.03,0.00,0.000,6,0.000,0.037,2138,2508,3724,0,0,0,0,0,0
$GC,8030,-0.54,-219.0,741.8,-8.0,686,8034,0.00,1.98,0.00,0.000,4,0.000,0.047,2138,3781,3722,0,0,0,0,0,0
$GC,8289,-0.54,-219.0,766.2,-9.7,697,8293,0.00,1.83,0.00,0.000,6,0.000,0.028,2139,2559,3721,0,0,0,0,0,0
$GC,8611,-0.54,-219.0,793.1,-8.2,713,8615,0.00,2.05,0.00,0.000,4,0.000,0.036,2146,1196,3720,0,0,0,0,0,0
$GC,8868,-0.54,-219.0,814.5,-8.1,724,8875,0.00,2.17,0.00,0.000,6,0.000,0.037,2145,2595,3719,0,0,0,0,0,0
$GC,9185,-0.54,-219.0,839.8,-8.3,740,9188,0.00,1.85,0.00,0.000,4,0.000,0.049,2145,3787,3718,0,0,0,0,0,0
$GC,9314,-0.54,-219.0,851.2,-9.5,745,9321,0.00,1.77,0.00,0.000,6,0.000,0.028,2147,2591,3718,0,0,0,0,0,0
$STATE,9607,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9607,begin apogee
$GC,9614,-0.13,0.0,877.4,9.0,760,9785,0.32,0.00,166.35,1.004,4,0.060,0.000,2296,2110,2869,0,0,0,0,0,0
$STATE,9786,end apogee,CONTROL_FINISHED_OK
$STATE,9786,begin climb
$GC,9788,0.54,219.0,888.6,0.0,768,9975,0.55,2.38,174.62,0.986,4,0.046,0.043,2511,3544,1976,0,0,0,0,0,0
$GC,10003,0.54,219.0,876.0,12.9,778,10007,0.00,2.22,0.00,0.000,6,0.000,0.029,2521,2139,1975,0,0,0,0,0,0
$GC,10331,0.54,219.0,834.5,12.8,794,10335,0.00,2.17,0.00,0.000,4,0.000,0.039,2532,720,1973,0,0,0,0,0,0
$GC,10472,0.54,219.0,816.6,12.6,800,10477,0.15,2.15,0.00,0.000,6,0.162,0.034,2493,2112,1973,0,0,0,0,0,0
$GC,10791,0.56,232.0,780.5,11.3,815,10812,0.00,2.30,11.52,0.864,4,0.000,0.044,2493,3535,1922,0,0,0,0,0,0
$GC,10905,0.56,232.0,766.6,11.9,820,10909,0.00,2.17,0.00,0.000,6,0.000,0.030,2501,2128,1922,0,0,0,0,0,0
$GC,11233,0.58,253.8,730.0,11.0,836,11258,0.00,2.25,18.52,0.871,4,0.000,0.040,2512,721,1833,0,0,0,0,0,0
$GC,11346,0.63,289.7,717.8,10.5,841,11381,0.00,2.17,29.05,0.870,6,0.000,0.035,2512,2120,1686,0,0,0,0,0,0
$GC,11698,0.68,335.1,680.3,10.1,858,11741,0.00,2.28,35.75,0.862,4,0.000,0.044,2512,3541,1502,0,0,0,0,0,0
$GC,11780,0.69,339.4,671.1,11.6,861,11791,0.00,2.22,5.05,0.596,6,0.000,0.030,2521,2111,1486,0,0,0,0,0,0
$GC,12121,0.69,340.0,633.2,11.8,878,12125,0.00,2.28,0.00,0.000,4,0.000,0.044,2521,3544,1489,0,0,0,0,0,0
$GC,12144,0.69,340.0,630.1,12.3,879,12148,0.00,2.20,0.00,0.000,6,0.000,0.031,2531,2109,1489,0,0,0,0,0,0
$GC,12472,0.69,340.0,588.4,12.6,895,12476,0.00,2.12,0.00,0.000,4,0.000,0.040,2541,716,1490,0,0,0,0,0,0
$GC,12499,0.69,340.0,584.6,12.7,896,12503,0.00,2.17,0.00,0.000,6,0.000,0.034,2542,2124,1490,0,0,0,0,0,0
$GC,12821,0.70,344.2,544.8,11.6,912,12835,0.00,2.30,6.88,0.701,4,0.000,0.045,2542,3543,1464,0,0,0,0,0,0
$GC,12939,0.70,344.2,530.1,12.7,917,12943,0.00,2.15,0.00,0.000,6,0.000,0.031,2551,2148,1464,0,0,0,0,0,0
$GC,13257,0.70,344.3,492.3,11.8,935,13261,0.00,2.20,0.00,0.000,4,0.000,0.040,2562,720,1464,0,0,0,0,0,0
$GC,13289,0.70,344.3,488.7,12.0,937,13293,0.00,2.25,0.00,0.000,6,0.000,0.036,2562,2180,1464,0,0,0,0,0,0
$GC,13614,0.70,344.3,443.3,15.3,967,13618,0.00,2.12,0.00,0.000,4,0.000,0.046,2561,3544,1464,0,0,0,0,0,0
$GC,13665,0.70,344.3,434.8,17.3,971,13669,0.00,2.10,0.00,0.000,6,0.000,0.031,2571,2171,1463,0,0,0,0,0,0
$GC,13996,0.70,344.3,378.3,16.7,1002,14000,0.00,2.22,0.00,0.000,4,0.000,0.041,2582,715,1464,0,0,0,0,0,0
$GC,14108,0.70,344.3,358.9,17.2,1011,14116,0.15,2.22,0.00,0.000,6,0.149,0.036,2542,2155,1464,0,0,0,0,0,0
$GC,14434,0.70,344.3,311.2,13.5,1042,14438,0.00,2.15,0.00,0.000,4,0.000,0.046,2542,3540,1464,0,0,0,0,0,0
$GC,14523,0.70,344.3,298.2,14.0,1049,14530,0.00,2.08,0.00,0.000,6,0.000,0.031,2550,2170,1464,0,0,0,0,0,0
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$GC,16658,1.27,811.7,37.2,9.8,1349,16665,0.00,2.38,0.00,0.000,6,0.000,0.031,2720,2273,440,0,0,0,0,0,0
$GC,16802,1.27,811.7,20.9,12.5,1374,16808,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2274,441,0,0,0,0,0,0
$GC,16945,1.28,819.7,3.9,11.5,1399,16952,0.00,0.00,0.62,0.089,6,0.000,0.000,2720,2273,441,0,0,0,0,0,0
$STATE,16957,end climb,SURFACE_DEPTH_REACHED
$STATE,16957,begin surface coast
$FINISH,0.2,1.020984
$STATE,16980,end surface coast,CONTROL_FINISHED_OK
$STATE,16981,begin surface
$SM_CCo,17057,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1948.12,12016.54,020911,121235
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.85
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.5,71.787
$10V_AH,9.8,62.008
$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,16.250,164.700,646.050,0.000,0.000,25.027,51.236,151.152,0.000,0.000,17.075,3395.663,9960.149,751.064,2933.053,385.268,0.000,2240.839,0.000,2665.564,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,48.960,1003.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,973.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323024
$DATA_FILE_SIZE,80361,1405
$CAP_FILE_SIZE,191357,0
$CFSIZE,260165632,210182144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,223025,1957.355,12011.186,39,1.5,39,-2.2