version: 66.07
glider: 543
mission: 9
dive: 372
start: 2 5 114 10 55 23
data:
$ID,543
$MISSION,9
$DIVE,372
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$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,380
$T_MISSION,420
$T_ABORT,720
$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,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$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,-4300
$TGT_DEFAULT_LON,-800
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13697.312
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-59.073162
$PRESSURE_SLOPE,0.00011638312
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$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,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00023287861
$GPS1,050214,104458,-4300.891,816.732,36,0.9,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-68.3
$GPS2,050214,105500,-4300.919,816.688,16,1.4,16,-25.0
$SPEED_LIMITS,0.150,0.228
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,750.000
$TGT_RADIUS,500.000
$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,297.7,36188,-17.0,-8.684
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.40,-121.7,0.0,0.0,0,58,0.00,0.00,-41.03,0.000,2,0.000,0.000,51,3396,2523,0,0,0,0,0,0
$GC,61,-0.40,-121.7,3.2,-3.7,5,87,6.40,0.90,-12.27,0.000,4,0.233,0.087,1579,3942,2971,0,0,0,0,0,0
$GC,252,-0.40,-121.7,28.8,-12.7,35,259,0.00,0.85,0.00,0.000,6,0.000,0.034,1579,3378,2975,0,0,0,0,0,0
$GC,397,-0.40,-121.7,46.5,-11.4,60,406,0.00,2.15,0.00,0.000,4,0.000,0.028,1579,1964,2976,0,0,0,0,0,0
$GC,427,-0.40,-121.7,49.5,-11.0,64,434,0.00,2.28,0.00,0.000,6,0.000,0.050,1569,3383,2976,0,0,0,0,0,0
$GC,776,-0.40,-121.7,89.6,-10.2,125,783,0.00,0.90,0.00,0.000,4,0.000,0.058,1565,3947,2977,0,0,0,0,0,0
$GC,1042,-0.40,-121.7,118.6,-11.5,157,1046,0.00,0.85,0.00,0.000,6,0.000,0.033,1564,3374,2978,0,0,0,0,0,0
$GC,1372,-0.40,-121.7,155.3,-10.8,188,1376,0.00,0.90,0.00,0.000,4,0.000,0.058,1560,3941,2978,0,0,0,0,0,0
$GC,1533,-0.40,-121.7,173.7,-11.3,202,1537,0.08,0.82,0.00,0.000,6,0.143,0.034,1584,3385,2978,0,0,0,0,0,0
$GC,1865,-0.40,-121.7,202.3,-8.4,233,1869,0.00,0.90,0.00,0.000,4,0.000,0.060,1582,3953,2979,0,0,0,0,0,0
$GC,1900,-0.40,-121.7,205.6,-9.5,236,1903,0.00,0.85,0.00,0.000,6,0.000,0.034,1582,3378,2978,0,0,0,0,0,0
$GC,2231,-0.40,-121.7,233.3,-8.1,267,2234,0.00,0.90,0.00,0.000,4,0.000,0.059,1577,3943,2979,0,0,0,0,0,0
$GC,2291,-0.40,-121.7,238.8,-8.6,272,2301,0.00,0.85,0.00,0.000,6,0.000,0.034,1577,3375,2979,0,0,0,0,0,0
$GC,2616,-0.40,-121.7,266.5,-8.9,303,2620,0.00,0.90,0.00,0.000,4,0.000,0.060,1573,3941,2979,0,0,0,0,0,0
$GC,2711,-0.40,-121.7,275.6,-9.8,311,2718,0.00,0.85,0.00,0.000,6,0.000,0.034,1573,3381,2979,0,0,0,0,0,0
$GC,3037,-0.40,-121.7,304.8,-9.2,342,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,3381,2978,0,0,0,0,0,0
$GC,3357,-0.40,-121.7,332.8,-9.0,372,3360,0.00,0.90,0.00,0.000,4,0.000,0.060,1569,3943,2978,0,0,0,0,0,0
$GC,3486,-0.40,-121.7,345.1,-9.1,383,3493,0.00,0.85,0.00,0.000,6,0.000,0.034,1569,3375,2978,0,0,0,0,0,0
$GC,3811,-0.40,-121.7,375.1,-9.3,414,3814,0.00,0.93,0.00,0.000,4,0.000,0.060,1565,3954,2978,0,0,0,0,0,0
$GC,3913,-0.40,-121.7,385.2,-10.0,423,3917,0.00,0.85,0.00,0.000,6,0.000,0.035,1565,3383,2978,0,0,0,0,0,0
$GC,4239,-0.40,-121.7,416.1,-9.3,446,4242,0.00,0.90,0.00,0.000,4,0.000,0.060,1561,3942,2978,0,0,0,0,0,0
$GC,4322,-0.40,-121.7,424.4,-10.0,449,4330,0.08,0.85,0.00,0.000,6,0.139,0.034,1584,3381,2977,0,0,0,0,0,0
$GC,4638,-0.40,-121.7,446.7,-6.9,465,4642,0.00,0.90,0.00,0.000,4,0.000,0.060,1582,3943,2977,0,0,0,0,0,0
$GC,4671,-0.40,-121.7,449.1,-7.1,466,4675,0.00,0.85,0.00,0.000,6,0.000,0.035,1582,3379,2977,0,0,0,0,0,0
$GC,4994,-0.40,-121.7,471.2,-6.8,482,4997,0.00,0.90,0.00,0.000,4,0.000,0.061,1578,3938,2977,0,0,0,0,0,0
$GC,5021,-0.40,-121.7,473.3,-7.1,483,5025,0.00,0.85,0.00,0.000,6,0.000,0.034,1578,3375,2977,0,0,0,0,0,0
$GC,5349,-0.40,-121.7,495.6,-6.8,499,5352,0.00,0.93,0.00,0.000,4,0.000,0.061,1574,3952,2976,0,0,0,0,0,0
$GC,5404,-0.40,-121.7,499.7,-7.6,501,5408,0.00,0.85,0.00,0.000,6,0.000,0.035,1574,3384,2976,0,0,0,0,0,0
$GC,5727,-0.40,-121.7,525.3,-8.2,517,5731,0.00,0.90,0.00,0.000,4,0.000,0.061,1570,3944,2976,0,0,0,0,0,0
$GC,5788,-0.40,-121.7,530.3,-7.8,519,5795,0.00,0.85,0.00,0.000,6,0.000,0.035,1570,3381,2976,0,0,0,0,0,0
$GC,6106,-0.40,-121.7,554.9,-8.0,535,6109,0.00,0.93,0.00,0.000,4,0.000,0.061,1566,3956,2975,0,0,0,0,0,0
$GC,6174,-0.40,-121.7,560.9,-8.9,538,6178,0.00,0.88,0.00,0.000,6,0.000,0.036,1566,3375,2975,0,0,0,0,0,0
$GC,6507,-0.40,-121.7,588.8,-8.3,554,6511,0.00,0.93,0.00,0.000,4,0.000,0.061,1562,3950,2974,0,0,0,0,0,0
$GC,6602,-0.40,-121.7,597.5,-8.6,558,6606,0.00,0.85,0.00,0.000,6,0.000,0.035,1562,3383,2974,0,0,0,0,0,0
$GC,6932,-0.40,-121.7,624.8,-8.5,574,6935,0.00,0.90,0.00,0.000,4,0.000,0.061,1557,3945,2974,0,0,0,0,0,0
$GC,7023,-0.40,-121.7,633.4,-8.8,578,7027,0.08,0.85,0.00,0.000,6,0.137,0.037,1582,3383,2973,0,0,0,0,0,0
$GC,7356,-0.40,-121.7,657.5,-7.1,594,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,3383,2973,0,0,0,0,0,0
$GC,7666,-0.40,-121.7,679.6,-7.1,609,7670,0.00,0.90,0.00,0.000,4,0.000,0.062,1579,3942,2973,0,0,0,0,0,0
$GC,7712,-0.40,-121.7,683.2,-7.5,611,7716,0.00,0.85,0.00,0.000,6,0.000,0.036,1579,3381,2973,0,0,0,0,0,0
$GC,8046,-0.40,-121.7,709.4,-8.2,627,8049,0.00,0.93,0.00,0.000,4,0.000,0.062,1575,3954,2973,0,0,0,0,0,0
$GC,8100,-0.40,-121.7,714.4,-9.2,629,8105,0.00,0.90,0.00,0.000,6,0.000,0.035,1575,3366,2973,0,0,0,0,0,0
$GC,8422,-0.40,-121.7,742.4,-9.0,645,8426,0.00,0.93,0.00,0.000,4,0.000,0.062,1571,3939,2972,0,0,0,0,0,0
$GC,8500,-0.40,-121.7,750.0,-9.6,648,8504,0.00,0.85,0.00,0.000,6,0.000,0.036,1571,3383,2972,0,0,0,0,0,0
$GC,8823,-0.40,-121.7,778.6,-8.9,664,8826,0.00,0.90,0.00,0.000,4,0.000,0.062,1567,3941,2972,0,0,0,0,0,0
$GC,8855,-0.40,-121.7,781.8,-9.6,665,8859,0.00,0.85,0.00,0.000,6,0.000,0.037,1567,3381,2971,0,0,0,0,0,0
$GC,9178,-0.40,-121.7,811.2,-9.1,681,9182,0.00,0.90,0.00,0.000,4,0.000,0.063,1563,3936,2971,0,0,0,0,0,0
$GC,9256,-0.40,-121.7,819.0,-10.3,684,9260,0.00,0.88,0.00,0.000,6,0.000,0.036,1563,3372,2971,0,0,0,0,0,0
$GC,9579,-0.40,-121.7,848.2,-8.7,700,9582,0.00,0.93,0.00,0.000,4,0.000,0.062,1559,3946,2971,0,0,0,0,0,0
$GC,9692,-0.40,-121.7,858.3,-8.8,705,9696,0.08,0.85,0.00,0.000,6,0.133,0.037,1584,3386,2971,0,0,0,0,0,0
$GC,10026,-0.40,-121.7,878.8,-6.0,721,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,3386,2971,0,0,0,0,0,0
$GC,10333,-0.40,-121.7,897.9,-6.4,736,10337,0.00,0.90,0.00,0.000,4,0.000,0.063,1581,3943,2970,0,0,0,0,0,0
$GC,10388,-0.40,-121.7,901.6,-7.1,738,10393,0.00,0.85,0.00,0.000,6,0.000,0.037,1581,3384,2970,0,0,0,0,0,0
$GC,10711,-0.40,-121.7,921.3,-6.0,754,10714,0.00,0.90,0.00,0.000,4,0.000,0.064,1577,3942,2970,0,0,0,0,0,0
$GC,10757,-0.40,-121.7,924.3,-7.0,756,10760,0.00,0.85,0.00,0.000,6,0.000,0.037,1577,3382,2970,0,0,0,0,0,0
$GC,11092,-0.40,-121.7,943.6,-5.5,772,11095,0.00,0.90,0.00,0.000,4,0.000,0.063,1573,3939,2969,0,0,0,0,0,0
$GC,11132,-0.40,-121.7,946.1,-7.0,773,11138,0.00,0.85,0.00,0.000,6,0.000,0.037,1573,3380,2969,0,0,0,0,0,0
$GC,11448,-0.40,-121.7,963.1,-5.2,789,11451,0.00,0.93,0.00,0.000,4,0.000,0.064,1569,3935,2969,0,0,0,0,0,0
$GC,11486,-0.40,-121.7,965.5,-5.8,790,11493,0.00,0.85,0.00,0.000,6,0.000,0.038,1570,3380,2969,0,0,0,0,0,0
$GC,11804,-0.40,-121.7,983.7,-5.9,806,11808,0.00,0.90,0.00,0.000,4,0.000,0.063,1565,3935,2968,0,0,0,0,0,0
$GC,11873,-0.40,-121.7,988.1,-6.8,809,11877,0.00,0.85,0.00,0.000,6,0.000,0.037,1565,3378,2969,0,0,0,0,0,0
$STATE,11915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11915,begin apogee
$GC,11921,-0.09,0.0,990.8,6.4,811,12045,0.38,0.00,121.40,1.863,6,0.126,0.000,1683,3279,2473,0,0,0,0,0,0
$STATE,12046,end apogee,CONTROL_FINISHED_OK
$STATE,12046,begin climb
$GC,12048,0.40,121.7,993.6,0.0,817,12180,0.50,0.00,128.88,1.799,6,0.047,0.000,1864,3279,1976,0,0,0,0,0,0
$GC,12487,0.40,121.7,948.4,12.7,839,12488,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3279,1966,0,0,0,0,0,0
$GC,12796,0.40,121.7,909.8,12.4,854,12800,0.00,2.20,0.00,0.000,4,0.000,0.031,1875,1863,1962,0,0,0,0,0,0
$GC,12845,0.40,121.7,904.3,10.9,856,12849,0.00,2.33,0.00,0.000,6,0.000,0.050,1875,3288,1961,0,0,0,0,0,0
$GC,13169,0.40,121.7,864.4,12.8,872,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3288,1960,0,0,0,0,0,0
$GC,13476,0.40,121.7,824.0,13.3,887,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3288,1959,0,0,0,0,0,0
$GC,13786,0.40,121.7,784.4,12.6,902,13787,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3288,1959,0,0,0,0,0,0
$GC,14095,0.40,121.7,746.6,12.0,917,14099,0.00,2.20,0.00,0.000,4,0.000,0.031,1886,1855,1958,0,0,0,0,0,0
$GC,14166,0.40,121.7,738.7,10.8,920,14171,0.15,2.33,0.00,0.000,6,0.174,0.052,1849,3289,1957,0,0,0,0,0,0
$GC,14482,0.40,121.7,707.3,10.0,935,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,3290,1956,0,0,0,0,0,0
$GC,14793,0.40,121.7,675.5,10.5,950,14797,0.00,2.20,0.00,0.000,4,0.000,0.031,1858,1848,1956,0,0,0,0,0,0
$GC,14834,0.40,122.4,671.5,8.7,952,14839,0.00,2.33,0.00,0.000,6,0.000,0.051,1858,3288,1956,0,0,0,0,0,0
$GC,15161,0.40,122.4,634.1,11.7,968,15165,0.00,1.05,0.00,0.000,4,0.000,0.059,1858,3940,1956,0,0,0,0,0,0
$GC,15207,0.40,122.4,628.2,13.0,970,15210,0.00,1.00,0.00,0.000,6,0.000,0.036,1863,3281,1956,0,0,0,0,0,0
$GC,15540,0.40,122.4,586.7,12.3,986,15544,0.00,2.17,0.00,0.000,4,0.000,0.031,1874,1855,1956,0,0,0,0,0,0
$GC,15566,0.40,122.4,583.2,10.5,987,15571,0.08,2.33,0.00,0.000,6,0.151,0.050,1852,3283,1955,0,0,0,0,0,0
$GC,15887,0.40,122.4,546.2,11.9,1003,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3283,1955,0,0,0,0,0,0
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$GC,16231,0.40,122.4,505.2,11.8,1019,16236,0.00,1.02,0.00,0.000,6,0.000,0.034,1855,3270,1955,0,0,0,0,0,0
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$STATE,21164,end climb,SURFACE_DEPTH_REACHED
$STATE,21164,begin surface coast
$FINISH,0.8,1.020492
$STATE,21202,end surface coast,CONTROL_FINISHED_OK
$STATE,21202,begin surface
$SM_CCo,21216,20.10,0.761,0,0,1574,220.03
$SM_GC,2.60,0.00,0.00,20.10,0.000,0.000,0.761,51,3384,1574,-5.22,0.11,220.03
$IRIDIUM_FIX,-4247.91,819.47,050214,040424
$TT8_MAMPS,0.026215
$HUMID,62.04
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,21.7,53.694
$10V_AH,9.7,43.115
$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,12.925,107.750,275.450,20.100,0.000,26.633,17.659,388.973,0.000,0.000,19.036,3787.025,13297.376,456.250,3892.752,389.397,0.000,1877.663,0.000,3310.725,0.000,1.011,0.000
$DEVICE_MAMPS,233.325,98.685,1862.775,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1054.061,2586.514,992.977,472.615,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,107101,1518
$CAP_FILE_SIZE,196842,0
$CFSIZE,259252224,229933056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050214,165035,-4300.304,814.537,38,0.9,38,-25.0