version: 66.07
glider: 543
mission: 9
dive: 375
start: 2 6 114 5 12 58
data:
$ID,543
$MISSION,9
$DIVE,375
$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,-13705.603
$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,55
$R_STBD_OVSHOOT,21
$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
$GPS1,060214,050159,-4259.883,810.185,38,1.4,38,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-67.0
$GPS2,060214,051235,-4259.875,810.284,18,1.2,18,-24.9
$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,294.4,27475,-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,-121.7,0.0,0.0,0,67,0.00,0.00,-49.72,0.000,2,0.000,0.000,51,3368,2742,0,0,0,0,0,0
$GC,70,-0.40,-121.7,3.6,-4.2,6,88,6.50,0.90,-5.18,0.000,4,0.239,0.080,1580,3959,2970,0,0,0,0,0,0
$GC,267,-0.40,-121.7,36.3,-11.3,38,276,0.00,0.88,0.00,0.000,6,0.000,0.034,1580,3382,2973,0,0,0,0,0,0
$GC,415,-0.40,-121.7,54.4,-13.3,63,423,0.00,2.15,0.00,0.000,4,0.000,0.028,1580,1966,2974,0,0,0,0,0,0
$GC,461,-0.40,-121.7,59.5,-11.0,70,468,0.00,2.28,0.00,0.000,6,0.000,0.050,1570,3385,2974,0,0,0,0,0,0
$GC,811,-0.40,-121.7,100.4,-9.5,131,815,0.00,0.90,0.00,0.000,4,0.000,0.057,1566,3950,2975,0,0,0,0,0,0
$GC,987,-0.40,-121.7,118.7,-10.8,146,994,0.00,0.85,0.00,0.000,6,0.000,0.033,1566,3378,2976,0,0,0,0,0,0
$GC,1314,-0.40,-121.7,152.4,-10.3,177,1318,0.00,0.90,0.00,0.000,4,0.000,0.058,1561,3946,2977,0,0,0,0,0,0
$GC,1396,-0.40,-121.7,162.4,-11.2,184,1407,0.10,0.88,0.00,0.000,6,0.170,0.032,1586,3367,2977,0,0,0,0,0,0
$GC,1722,-0.40,-121.7,190.3,-8.4,215,1726,0.00,0.93,0.00,0.000,4,0.000,0.059,1582,3949,2977,0,0,0,0,0,0
$GC,1793,-0.40,-121.7,196.3,-8.4,221,1796,0.00,0.85,0.00,0.000,6,0.000,0.034,1582,3377,2977,0,0,0,0,0,0
$GC,2123,-0.40,-121.7,224.2,-8.3,252,2128,0.00,0.90,0.00,0.000,4,0.000,0.060,1578,3941,2977,0,0,0,0,0,0
$GC,2169,-0.40,-121.7,228.3,-9.3,256,2173,0.00,0.82,0.00,0.000,6,0.000,0.034,1579,3385,2977,0,0,0,0,0,0
$GC,2500,-0.40,-121.7,258.0,-8.6,287,2504,0.00,0.90,0.00,0.000,4,0.000,0.059,1574,3951,2977,0,0,0,0,0,0
$GC,2571,-0.40,-121.7,264.4,-9.3,293,2574,0.00,0.85,0.00,0.000,6,0.000,0.034,1574,3380,2977,0,0,0,0,0,0
$GC,2901,-0.40,-121.7,294.3,-9.2,324,2905,0.00,0.90,0.00,0.000,4,0.000,0.060,1570,3945,2977,0,0,0,0,0,0
$GC,2981,-0.40,-121.7,301.9,-9.7,331,2985,0.00,0.85,0.00,0.000,6,0.000,0.034,1570,3377,2977,0,0,0,0,0,0
$GC,3312,-0.40,-121.7,332.1,-9.1,362,3315,0.00,0.90,0.00,0.000,4,0.000,0.060,1566,3938,2976,0,0,0,0,0,0
$GC,3403,-0.40,-121.7,341.0,-10.2,370,3407,0.00,0.85,0.00,0.000,6,0.000,0.034,1566,3371,2976,0,0,0,0,0,0
$GC,3736,-0.40,-121.7,371.7,-9.3,401,3739,0.00,0.93,0.00,0.000,4,0.000,0.060,1562,3949,2976,0,0,0,0,0,0
$GC,3865,-0.40,-121.7,385.0,-9.8,412,3874,0.00,0.85,0.00,0.000,6,0.000,0.034,1562,3380,2976,0,0,0,0,0,0
$GC,4196,-0.40,-121.7,416.8,-9.6,436,4199,0.00,0.93,0.00,0.000,4,0.000,0.061,1558,3939,2976,0,0,0,0,0,0
$GC,4245,-0.40,-121.7,422.2,-10.2,438,4250,0.08,0.85,0.00,0.000,6,0.141,0.034,1582,3381,2976,0,0,0,0,0,0
$GC,4572,-0.40,-121.7,449.8,-8.7,454,4575,0.00,0.93,0.00,0.000,4,0.000,0.062,1580,3943,2975,0,0,0,0,0,0
$GC,4640,-0.40,-121.7,456.1,-9.2,457,4644,0.00,0.85,0.00,0.000,6,0.000,0.034,1580,3375,2975,0,0,0,0,0,0
$GC,4973,-0.40,-121.7,486.7,-9.3,473,4976,0.00,0.93,0.00,0.000,4,0.000,0.060,1576,3950,2975,0,0,0,0,0,0
$GC,5063,-0.40,-121.7,495.2,-9.2,477,5067,0.00,0.85,0.00,0.000,6,0.000,0.035,1576,3383,2975,0,0,0,0,0,0
$GC,5398,-0.40,-121.7,524.3,-8.8,493,5401,0.00,0.90,0.00,0.000,4,0.000,0.061,1572,3943,2974,0,0,0,0,0,0
$GC,5458,-0.40,-121.7,530.0,-8.8,495,5466,0.00,0.88,0.00,0.000,6,0.000,0.034,1572,3373,2974,0,0,0,0,0,0
$GC,5775,-0.40,-121.7,557.0,-8.6,511,5779,0.00,0.93,0.00,0.000,4,0.000,0.061,1568,3949,2973,0,0,0,0,0,0
$GC,5836,-0.40,-121.7,562.7,-9.3,513,5843,0.00,0.85,0.00,0.000,6,0.000,0.035,1568,3384,2973,0,0,0,0,0,0
$GC,6152,-0.40,-121.7,590.5,-9.0,529,6156,0.00,0.90,0.00,0.000,4,0.000,0.061,1563,3945,2973,0,0,0,0,0,0
$GC,6198,-0.40,-121.7,594.9,-9.6,531,6202,0.00,0.85,0.00,0.000,6,0.000,0.036,1563,3382,2973,0,0,0,0,0,0
$GC,6531,-0.40,-121.7,625.5,-8.7,547,6535,0.00,0.90,0.00,0.000,4,0.000,0.062,1559,3941,2972,0,0,0,0,0,0
$GC,6580,-0.40,-121.7,630.0,-9.0,549,6585,0.12,0.88,0.00,0.000,6,0.157,0.035,1591,3372,2972,0,0,0,0,0,0
$GC,6909,-0.40,-121.7,649.6,-5.7,565,6913,0.00,0.93,0.00,0.000,4,0.000,0.062,1589,3946,2972,0,0,0,0,0,0
$GC,6987,-0.40,-121.7,654.7,-6.4,568,6991,0.00,0.85,0.00,0.000,6,0.000,0.036,1588,3381,2972,0,0,0,0,0,0
$GC,7309,-0.40,-121.7,673.9,-6.3,584,7313,0.00,0.90,0.00,0.000,4,0.000,0.063,1585,3936,2971,0,0,0,0,0,0
$GC,7381,-0.40,-121.7,678.8,-6.6,587,7386,0.00,0.85,0.00,0.000,6,0.000,0.036,1584,3380,2971,0,0,0,0,0,0
$GC,7709,-0.40,-121.7,701.0,-6.7,603,7713,0.00,0.95,0.00,0.000,4,0.000,0.064,1581,3954,2971,0,0,0,0,0,0
$GC,7736,-0.40,-121.7,703.1,-7.6,604,7740,0.00,0.88,0.00,0.000,6,0.000,0.036,1580,3372,2971,0,0,0,0,0,0
$GC,8064,-0.40,-121.7,728.4,-8.1,620,8067,0.00,0.93,0.00,0.000,4,0.000,0.063,1577,3946,2971,0,0,0,0,0,0
$GC,8155,-0.40,-121.7,736.0,-8.0,624,8159,0.00,0.85,0.00,0.000,6,0.000,0.037,1576,3383,2970,0,0,0,0,0,0
$GC,8488,-0.40,-121.7,764.7,-8.6,640,8491,0.00,0.90,0.00,0.000,4,0.000,0.063,1572,3940,2970,0,0,0,0,0,0
$GC,8533,-0.40,-121.7,768.7,-9.2,642,8536,0.00,0.85,0.00,0.000,6,0.000,0.037,1573,3379,2970,0,0,0,0,0,0
$GC,8868,-0.40,-121.7,797.7,-8.5,658,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,3380,2970,0,0,0,0,0,0
$GC,9175,-0.40,-121.7,823.2,-8.2,673,9178,0.00,0.95,0.00,0.000,4,0.000,0.063,1568,3953,2969,0,0,0,0,0,0
$GC,9270,-0.40,-121.7,831.5,-8.9,677,9273,0.00,0.88,0.00,0.000,6,0.000,0.037,1569,3375,2969,0,0,0,0,0,0
$GC,9597,-0.40,-121.7,857.9,-8.4,693,9601,0.00,0.93,0.00,0.000,4,0.000,0.063,1564,3946,2969,0,0,0,0,0,0
$GC,9635,-0.40,-121.7,861.6,-10.2,694,9642,0.00,0.88,0.00,0.000,6,0.000,0.036,1564,3378,2968,0,0,0,0,0,0
$GC,9954,-0.40,-121.7,888.6,-8.2,710,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,3377,2968,0,0,0,0,0,0
$GC,10261,-0.40,-121.7,913.6,-7.9,725,10265,0.00,0.93,0.00,0.000,4,0.000,0.062,1560,3952,2969,0,0,0,0,0,0
$GC,10362,-0.40,-121.7,922.0,-8.1,729,10366,0.08,0.88,0.00,0.000,6,0.131,0.036,1585,3377,2968,0,0,0,0,0,0
$GC,10684,-0.40,-121.7,941.3,-5.8,745,10688,0.00,0.93,0.00,0.000,4,0.000,0.063,1582,3948,2968,0,0,0,0,0,0
$GC,10768,-0.40,-121.7,946.7,-6.3,748,10775,0.00,0.88,0.00,0.000,6,0.000,0.037,1582,3373,2968,0,0,0,0,0,0
$GC,11085,-0.40,-121.7,965.0,-5.7,764,11088,0.00,0.93,0.00,0.000,4,0.000,0.063,1578,3946,2967,0,0,0,0,0,0
$GC,11202,-0.40,-121.7,972.5,-6.2,769,11206,0.00,0.85,0.00,0.000,6,0.000,0.037,1578,3384,2967,0,0,0,0,0,0
$STATE,11527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11527,begin apogee
$GC,11533,-0.09,0.0,990.6,5.7,785,11658,0.35,0.00,121.72,1.852,6,0.122,0.000,1688,3285,2473,0,0,0,0,0,0
$STATE,11659,end apogee,CONTROL_FINISHED_OK
$STATE,11659,begin climb
$GC,11661,0.40,121.7,993.9,0.0,791,11797,0.45,2.45,128.70,1.798,4,0.056,0.030,1863,1865,1976,0,0,0,0,0,0
$GC,11871,0.40,121.7,979.0,10.5,801,11876,0.00,2.47,0.00,0.000,6,0.000,0.050,1863,3285,1969,0,0,0,0,0,0
$GC,12198,0.40,121.7,935.1,13.3,817,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,3285,1964,0,0,0,0,0,0
$GC,12507,0.40,121.7,894.4,13.2,832,12511,0.00,2.20,0.00,0.000,4,0.000,0.031,1874,1856,1962,0,0,0,0,0,0
$GC,12551,0.40,121.7,889.1,11.1,834,12555,0.00,2.35,0.00,0.000,6,0.000,0.050,1874,3283,1961,0,0,0,0,0,0
$GC,12881,0.40,121.7,844.3,13.7,850,12885,0.00,2.20,0.00,0.000,4,0.000,0.031,1885,1856,1960,0,0,0,0,0,0
$GC,12930,0.40,121.7,837.8,11.7,852,12935,0.10,2.35,0.00,0.000,6,0.152,0.051,1855,3290,1959,0,0,0,0,0,0
$GC,13252,0.40,121.7,798.4,12.5,868,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3290,1958,0,0,0,0,0,0
$GC,13563,0.40,121.7,761.2,12.0,883,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3290,1958,0,0,0,0,0,0
$GC,13870,0.40,121.7,723.5,12.1,898,13874,0.00,2.20,0.00,0.000,4,0.000,0.031,1864,1852,1957,0,0,0,0,0,0
$GC,13914,0.40,121.7,718.5,11.1,900,13919,0.00,2.33,0.00,0.000,6,0.000,0.050,1864,3296,1956,0,0,0,0,0,0
$GC,14243,0.40,121.7,678.3,12.4,916,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3296,1956,0,0,0,0,0,0
$GC,14551,0.40,121.7,640.0,12.7,931,14553,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3296,1956,0,0,0,0,0,0
$GC,14860,0.40,121.7,601.1,12.3,946,14864,0.00,2.17,0.00,0.000,4,0.000,0.031,1875,1856,1956,0,0,0,0,0,0
$GC,14945,0.40,121.7,591.7,10.7,950,14949,0.00,2.30,0.00,0.000,6,0.000,0.050,1875,3285,1955,0,0,0,0,0,0
$GC,15272,0.40,121.7,550.8,12.0,966,15273,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3286,1955,0,0,0,0,0,0
$GC,15582,0.40,121.7,514.2,11.9,981,15583,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3286,1955,0,0,0,0,0,0
$GC,15890,0.40,121.7,480.0,10.9,996,15894,0.00,2.17,0.00,0.000,4,0.000,0.031,1886,1851,1955,0,0,0,0,0,0
$GC,15908,0.40,121.7,478.0,11.2,997,15913,0.15,2.33,0.00,0.000,6,0.175,0.050,1849,3291,1955,0,0,0,0,0,0
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$GC,17176,0.40,123.8,364.8,8.6,1076,17180,0.00,2.20,0.00,0.000,4,0.000,0.032,1858,1852,1954,0,0,0,0,0,0
$GC,17199,0.41,145.0,362.7,7.7,1078,17223,0.00,2.33,18.48,1.493,6,0.000,0.051,1859,3289,1882,0,0,0,0,0,0
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$STATE,20734,end climb,SURFACE_DEPTH_REACHED
$STATE,20734,begin surface coast
$FINISH,0.9,1.026131
$STATE,20769,end surface coast,CONTROL_FINISHED_OK
$STATE,20769,begin surface
$SM_CCo,20782,13.62,0.751,0,0,1573,220.03
$SM_GC,2.66,0.00,0.00,13.62,0.000,0.000,0.751,69,3410,1573,-5.16,0.85,220.03
$IRIDIUM_FIX,-4244.98,810.30,050214,232300
$TT8_MAMPS,0.026215
$HUMID,62.36
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.50
$XPDR_PINGS,0
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$10V_AH,9.7,43.565
$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,12.900,116.350,286.450,13.625,0.000,27.525,42.678,397.964,0.000,0.000,21.317,3731.654,12960.002,423.861,3934.070,368.758,0.000,1867.699,0.000,3303.401,0.000,1.011,0.000
$DEVICE_MAMPS,238.680,79.560,1852.065,751.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354448
$DATA_FILE_SIZE,107171,1496
$CAP_FILE_SIZE,195246,0
$CFSIZE,259252224,229638144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060214,110052,-4259.128,808.102,41,1.0,41,-24.9