version: 66.07
glider: 543
mission: 6
dive: 325
start: 2 7 113 10 31 49
data:
$ID,543
$MISSION,6
$DIVE,325
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$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,400
$T_MISSION,420
$T_ABORT,1440
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$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,-8766.3887
$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,1628
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,3400
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,17
$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,-55.913475
$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,0.0043127281
$SEABIRD_T_H,0.00062185986
$SEABIRD_T_I,2.2048062e-05
$SEABIRD_T_J,2.2117231e-06
$SEABIRD_C_G,-10.303595
$SEABIRD_C_H,1.1762303
$SEABIRD_C_I,-0.001936322
$SEABIRD_C_J,0.00024357962
$GPS1,070213,102021,-4228.521,858.176,26,2.0,41,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-59.9
$GPS2,070213,103048,-4228.513,858.327,18,1.3,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.239,-0.047
$KALMAN_X,23079.1,-740.2,-181.6,55223.8,4593.1
$KALMAN_Y,221605.7,-1647.9,-612.4,-216511.1,8410.9
$MHEAD_RNG_PITCHd_Wd,284.1,52406,-14.7,-8.333
$D_GRID,1000
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.55,0.000,2,0.000,0.000,56,3403,2513,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-3.0,5,94,5.88,0.00,-16.70,0.000,6,0.230,0.000,1469,3403,3071,0,0,0,0,0,0
$GC,174,-0.47,-146.1,13.1,-10.9,20,183,0.00,2.17,0.00,0.000,4,0.000,0.031,1469,1988,3074,0,0,0,0,0,0
$GC,206,-0.47,-146.1,16.8,-11.1,24,216,0.00,2.35,0.00,0.000,6,0.000,0.057,1460,3402,3074,0,0,0,0,0,0
$GC,301,-0.47,-146.1,26.7,-11.4,37,309,0.00,0.88,0.00,0.000,4,0.000,0.060,1455,3946,3075,0,0,0,0,0,0
$GC,363,-0.47,-146.1,34.6,-12.3,46,372,0.00,0.82,0.00,0.000,6,0.000,0.035,1455,3409,3075,0,0,0,0,0,0
$GC,615,-0.47,-146.1,62.8,-11.1,87,622,0.00,2.17,0.00,0.000,4,0.000,0.030,1456,1980,3075,0,0,0,0,0,0
$GC,676,-0.47,-146.1,69.0,-10.2,97,682,0.12,2.33,0.00,0.000,6,0.149,0.058,1477,3402,3076,0,0,0,0,0,0
$GC,1025,-0.47,-146.1,103.4,-9.4,154,1029,0.00,0.88,0.00,0.000,4,0.000,0.060,1474,3952,3076,0,0,0,0,0,0
$GC,1139,-0.47,-146.1,114.9,-9.1,160,1150,0.00,0.85,0.00,0.000,6,0.000,0.035,1475,3392,3076,0,0,0,0,0,0
$GC,1463,-0.47,-146.1,141.8,-7.9,181,1466,0.00,0.90,0.00,0.000,4,0.000,0.059,1470,3956,3077,0,0,0,0,0,0
$GC,1552,-0.47,-146.1,149.5,-8.1,186,1555,0.00,0.85,0.00,0.000,6,0.000,0.035,1470,3396,3077,0,0,0,0,0,0
$GC,1881,-0.47,-146.1,172.6,-7.1,207,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3396,3077,0,0,0,0,0,0
$GC,2193,-0.47,-146.1,195.5,-7.6,227,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3396,3077,0,0,0,0,0,0
$GC,2504,-0.47,-146.1,219.5,-7.9,247,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3396,3077,0,0,0,0,0,0
$GC,2817,-0.47,-146.1,244.1,-7.9,267,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3396,3077,0,0,0,0,0,0
$GC,3141,-0.47,-146.1,270.1,-8.3,284,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3396,3077,0,0,0,0,0,0
$GC,3451,-0.47,-146.1,297.4,-8.9,299,3456,0.00,2.15,0.00,0.000,4,0.000,0.029,1470,1975,3077,0,0,0,0,0,0
$GC,3485,-0.47,-146.1,300.8,-8.2,300,3489,0.00,2.33,0.00,0.000,6,0.000,0.054,1460,3410,3077,0,0,0,0,0,0
$GC,3803,-0.47,-146.1,330.3,-9.4,315,3809,0.00,0.85,0.00,0.000,4,0.000,0.059,1456,3948,3077,0,0,0,0,0,0
$GC,3915,-0.47,-146.1,341.4,-9.8,319,3922,0.00,0.82,0.00,0.000,6,0.000,0.034,1456,3403,3077,0,0,0,0,0,0
$GC,4234,-0.47,-146.1,368.7,-8.2,335,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3403,3077,0,0,0,0,0,0
$GC,4543,-0.47,-146.1,391.7,-7.0,350,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3402,3077,0,0,0,0,0,0
$GC,4849,-0.47,-146.1,412.6,-6.7,362,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3403,3077,0,0,0,0,0,0
$GC,5156,-0.47,-146.1,434.3,-7.4,372,5159,0.00,0.88,0.00,0.000,4,0.000,0.060,1452,3949,3076,0,0,0,0,0,0
$GC,5211,-0.47,-146.1,439.0,-8.3,373,5215,0.00,0.85,0.00,0.000,6,0.000,0.035,1452,3390,3076,0,0,0,0,0,0
$GC,5530,-0.47,-146.1,465.2,-8.5,384,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3390,3076,0,0,0,0,0,0
$GC,5837,-0.47,-146.1,493.6,-9.6,394,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3390,3075,0,0,0,0,0,0
$GC,6144,-0.47,-146.1,523.1,-9.8,404,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3390,3075,0,0,0,0,0,0
$GC,6449,-0.47,-146.1,552.6,-9.5,414,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3390,3074,0,0,0,0,0,0
$GC,6755,-0.47,-146.1,581.1,-9.2,424,6759,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3949,3074,0,0,0,0,0,0
$GC,6805,-0.47,-146.1,586.0,-9.7,425,6809,0.00,0.82,0.00,0.000,6,0.000,0.037,1448,3408,3074,0,0,0,0,0,0
$GC,7129,-0.47,-146.1,613.8,-8.4,436,7133,0.00,0.88,0.00,0.000,4,0.000,0.060,1444,3952,3073,0,0,0,0,0,0
$GC,7173,-0.47,-146.1,618.0,-9.5,437,7177,0.08,0.85,0.00,0.000,6,0.136,0.036,1469,3395,3073,0,0,0,0,0,0
$GC,7503,-0.47,-146.1,639.4,-6.4,448,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3395,3072,0,0,0,0,0,0
$GC,7809,-0.47,-146.1,659.4,-6.7,458,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3072,0,0,0,0,0,0
$GC,8116,-0.47,-146.1,681.2,-7.3,468,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3071,0,0,0,0,0,0
$GC,8422,-0.47,-146.1,704.5,-7.7,478,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3071,0,0,0,0,0,0
$GC,8728,-0.47,-146.1,728.4,-7.8,488,8731,0.00,0.90,0.00,0.000,4,0.000,0.060,1466,3952,3070,0,0,0,0,0,0
$GC,8806,-0.47,-146.1,734.9,-7.4,490,8809,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3401,3070,0,0,0,0,0,0
$GC,9136,-0.47,-146.1,760.0,-7.4,501,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3401,3070,0,0,0,0,0,0
$GC,9444,-0.47,-146.1,782.0,-7.0,511,9447,0.00,2.17,0.00,0.000,4,0.000,0.031,1466,1973,3069,0,0,0,0,0,0
$GC,9488,-0.47,-146.1,785.2,-6.9,512,9492,0.00,2.33,0.00,0.000,6,0.000,0.054,1456,3401,3069,0,0,0,0,0,0
$GC,9807,-0.47,-146.1,808.7,-7.6,523,9811,0.00,0.88,0.00,0.000,4,0.000,0.060,1452,3950,3069,0,0,0,0,0,0
$GC,9869,-0.47,-146.1,813.8,-7.9,524,9877,0.00,0.85,0.00,0.000,6,0.000,0.037,1451,3390,3068,0,0,0,0,0,0
$GC,10183,-0.47,-146.1,837.5,-7.6,535,10188,0.00,2.15,0.00,0.000,4,0.000,0.031,1452,1973,3068,0,0,0,0,0,0
$GC,10212,-0.47,-146.1,840.0,-7.9,535,10219,0.12,2.33,0.00,0.000,6,0.148,0.054,1473,3406,3068,0,0,0,0,0,0
$GC,10525,-0.47,-146.1,859.4,-6.2,546,10529,0.00,0.88,0.00,0.000,4,0.000,0.060,1471,3954,3068,0,0,0,0,0,0
$GC,10599,-0.47,-146.1,864.0,-6.7,548,10603,0.00,0.85,0.00,0.000,6,0.000,0.037,1471,3395,3068,0,0,0,0,0,0
$GC,10940,-0.47,-146.1,885.9,-6.4,559,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3395,3067,0,0,0,0,0,0
$GC,11247,-0.47,-146.1,905.8,-6.5,569,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3395,3067,0,0,0,0,0,0
$GC,11553,-0.47,-146.1,926.0,-6.7,579,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3395,3066,0,0,0,0,0,0
$GC,11859,-0.47,-146.1,946.3,-6.7,589,11862,0.00,0.90,0.00,0.000,4,0.000,0.061,1467,3953,3066,0,0,0,0,0,0
$GC,11897,-0.47,-146.1,949.3,-7.1,590,11901,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3399,3066,0,0,0,0,0,0
$GC,12234,-0.47,-146.1,972.7,-7.0,601,12238,0.00,2.15,0.00,0.000,4,0.000,0.031,1467,1971,3066,0,0,0,0,0,0
$GC,12267,-0.47,-146.1,975.1,-6.1,602,12271,0.00,2.35,0.00,0.000,6,0.000,0.054,1456,3408,3066,0,0,0,0,0,0
$GC,12597,-0.47,-146.1,999.0,-7.2,613,12602,0.00,0.85,0.00,0.000,4,0.000,0.060,1452,3940,3065,0,0,0,0,0,0
$STATE,12606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12606,begin apogee
$GC,12614,-0.13,0.0,999.9,7.0,613,12768,0.40,0.00,150.27,1.256,6,0.131,0.000,1577,3264,2473,0,0,0,0,0,0
$STATE,12769,end apogee,CONTROL_FINISHED_OK
$STATE,12769,begin climb
$GC,12772,0.47,146.1,1003.2,0.0,618,12933,0.60,2.42,151.77,1.235,4,0.086,0.031,1786,1873,1872,0,0,0,0,0,0
$GC,12972,0.47,146.1,982.3,11.8,624,12977,0.00,2.47,0.00,0.000,6,0.000,0.050,1786,3275,1863,0,0,0,0,0,0
$GC,13297,0.47,146.1,933.7,15.1,635,13300,0.00,1.12,0.00,0.000,4,0.000,0.057,1786,3954,1856,0,0,0,0,0,0
$GC,13374,0.47,146.1,921.0,15.8,637,13378,0.00,1.05,0.00,0.000,6,0.000,0.032,1791,3271,1855,0,0,0,0,0,0
$GC,13703,0.47,146.1,870.8,14.9,648,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3271,1854,0,0,0,0,0,0
$GC,14010,0.47,146.1,827.2,14.4,658,14011,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3271,1852,0,0,0,0,0,0
$GC,14317,0.47,146.1,783.0,14.3,668,14321,0.00,1.10,0.00,0.000,4,0.000,0.058,1791,3951,1852,0,0,0,0,0,0
$GC,14355,0.47,146.1,776.8,16.4,669,14358,0.00,1.02,0.00,0.000,6,0.000,0.033,1796,3271,1852,0,0,0,0,0,0
$GC,14690,0.47,146.1,725.7,15.1,680,14694,0.00,1.10,0.00,0.000,4,0.000,0.057,1796,3952,1852,0,0,0,0,0,0
$GC,14735,0.47,146.1,718.2,16.4,681,14738,0.00,1.00,0.00,0.000,6,0.000,0.032,1801,3284,1851,0,0,0,0,0,0
$GC,15065,0.47,146.1,668.2,14.9,692,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3283,1851,0,0,0,0,0,0
$GC,15371,0.47,146.1,625.6,13.4,702,15375,0.00,1.08,0.00,0.000,4,0.000,0.057,1801,3951,1851,0,0,0,0,0,0
$GC,15443,0.47,146.1,615.0,16.0,704,15447,0.00,1.00,0.00,0.000,6,0.000,0.031,1806,3277,1851,0,0,0,0,0,0
$GC,15785,0.47,146.1,567.7,13.2,715,15786,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3277,1850,0,0,0,0,0,0
$GC,16092,0.47,146.1,526.6,13.6,725,16096,0.00,1.10,0.00,0.000,4,0.000,0.057,1806,3958,1849,0,0,0,0,0,0
$GC,16136,0.47,146.1,519.6,15.2,726,16140,0.08,1.00,0.00,0.000,6,0.166,0.031,1789,3284,1849,0,0,0,0,0,0
$GC,16466,0.47,146.1,478.7,12.5,737,16469,0.00,1.08,0.00,0.000,4,0.000,0.056,1789,3951,1849,0,0,0,0,0,0
$GC,16521,0.47,146.1,470.8,15.4,738,16527,0.00,1.00,0.00,0.000,6,0.000,0.031,1792,3278,1849,0,0,0,0,0,0
$GC,16841,0.47,146.1,429.0,13.0,749,16846,0.00,1.08,0.00,0.000,4,0.000,0.055,1792,3951,1849,0,0,0,0,0,0
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$GC,20029,0.47,146.1,23.7,9.8,998,20039,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3273,1849,0,0,0,0,0,0
$GC,20119,0.47,146.1,14.9,9.7,1011,20129,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3274,1849,0,0,0,0,0,0
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$STATE,20242,end climb,SURFACE_DEPTH_REACHED
$STATE,20242,begin surface coast
$FINISH,1.2,1.025994
$STATE,20277,end surface coast,CONTROL_FINISHED_OK
$STATE,20277,begin surface
$SM_CCo,20293,40.25,0.695,1,0,1533,230.09
$SM_GC,2.35,0.00,0.00,40.25,0.000,0.000,0.695,48,3420,1533,-4.94,0.57,230.09
$IRIDIUM_FIX,-4212.81,859.42,070213,040448
$TT8_MAMPS,0.025466
$HUMID,56.73
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.3,54.711
$10V_AH,10.0,37.271
$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,11.950,80.225,302.050,40.250,0.000,28.686,42.975,360.437,0.000,0.000,21.306,2593.597,13811.806,425.548,3010.753,1119.749,33.372,1572.104,0.000,2829.487,0.000,1.011,0.000
$DEVICE_MAMPS,230.265,73.440,1256.130,695.385,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.698,2266.135,1053.419,471.734,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,73839,1033
$CAP_FILE_SIZE,159528,0
$CFSIZE,259252224,236908544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070213,161215,-4228.017,856.279,46,0.8,46,-25.1