version: 66.07
glider: 543
mission: 14
dive: 111
start: 8 18 115 2 24 57
data:
$ID,543
$MISSION,14
$DIVE,111
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$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,390
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$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,200
$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,-24452.857
$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,1905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3230
$C_ROLL_CLIMB,3060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.001
$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,-55.053406
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$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,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,117
$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,0.00012677554
$GPS1,180815,020427,-4259.146,826.009,90,0.8,90,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-71.7
$GPS2,180815,022435,-4259.121,826.035,14,0.9,14,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$TGT_RADIUS,1000.000
$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,359.5,6405,-17.1,-8.547
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.43,-116.8,0.0,0.0,0,74,0.00,0.00,-56.62,0.000,2,0.000,0.000,60,3251,1932,0,0,0,0,0,0
$GC,76,-0.43,-116.8,3.5,-2.8,7,94,6.90,1.38,-1.15,0.000,4,0.231,0.054,1764,2343,1978,0,0,0,0,0,0
$GC,214,-0.40,-116.8,27.8,-14.7,29,222,0.00,1.45,0.00,0.000,6,0.000,0.052,1759,3226,1982,0,0,0,0,0,0
$GC,363,-0.30,-116.8,43.1,-10.7,54,372,0.17,1.17,0.00,0.000,4,0.168,0.059,1801,3950,1982,0,0,0,0,0,0
$GC,385,-0.23,-116.8,44.9,-8.6,57,394,0.00,1.05,0.00,0.000,6,0.000,0.034,1802,3246,1983,0,0,0,0,0,0
$GC,737,-0.23,-116.8,76.3,-10.0,118,744,0.00,1.35,0.00,0.000,4,0.000,0.030,1801,2316,1983,0,0,0,0,0,0
$GC,758,-0.23,-116.8,79.1,-11.9,121,765,0.08,1.50,0.00,0.000,6,0.128,0.054,1823,3239,1983,0,0,0,0,0,0
$GC,1100,-0.30,-116.8,108.6,-5.9,169,1103,0.00,1.12,0.00,0.000,4,0.000,0.060,1819,3951,1983,0,0,0,0,0,0
$GC,1149,-0.37,-116.8,111.7,-5.4,173,1157,0.08,1.08,0.00,0.000,6,0.061,0.034,1764,3226,1983,0,0,0,0,0,0
$GC,1475,-0.30,-116.8,145.2,-10.9,204,1479,0.15,1.33,0.00,0.000,4,0.162,0.031,1804,2320,1983,0,0,0,0,0,0
$GC,1509,-0.33,-116.8,148.1,-7.9,207,1512,0.00,1.48,0.00,0.000,6,0.000,0.053,1799,3233,1983,0,0,0,0,0,0
$GC,1839,-0.35,-116.8,174.2,-8.1,238,1843,0.00,1.12,0.00,0.000,4,0.000,0.058,1794,3948,1982,0,0,0,0,0,0
$GC,1966,-0.36,-116.8,185.2,-8.6,249,1970,0.00,1.05,0.00,0.000,6,0.000,0.034,1794,3230,1983,0,0,0,0,0,0
$GC,2296,-0.36,-116.8,213.5,-9.0,280,2300,0.00,1.33,0.00,0.000,4,0.000,0.030,1794,2322,1982,0,0,0,0,0,0
$GC,2346,-0.41,-116.8,217.9,-8.4,284,2355,0.00,1.45,0.00,0.000,6,0.000,0.052,1788,3226,1982,0,0,0,0,0,0
$GC,2672,-0.41,-116.8,249.6,-9.9,315,2676,0.00,1.12,0.00,0.000,4,0.000,0.057,1782,3949,1982,0,0,0,0,0,0
$GC,2762,-0.41,-116.8,259.4,-10.4,323,2766,0.00,1.05,0.00,0.000,6,0.000,0.034,1782,3227,1982,0,0,0,0,0,0
$GC,3092,-0.41,-116.8,291.9,-9.5,354,3096,0.00,1.15,0.00,0.000,4,0.000,0.058,1776,3959,1982,0,0,0,0,0,0
$GC,3138,-0.39,-116.8,296.2,-9.7,358,3141,0.00,1.08,0.00,0.000,6,0.000,0.034,1776,3223,1983,0,0,0,0,0,0
$GC,3471,-0.37,-116.8,326.2,-8.8,389,3475,0.00,1.15,0.00,0.000,4,0.000,0.058,1772,3955,1982,0,0,0,0,0,0
$GC,3520,-0.35,-116.8,331.4,-9.5,393,3528,0.00,1.08,0.00,0.000,6,0.000,0.034,1771,3229,1982,0,0,0,0,0,0
$GC,3846,-0.32,-116.8,360.0,-9.1,424,3850,0.10,1.33,0.00,0.000,4,0.177,0.030,1796,2317,1982,0,0,0,0,0,0
$GC,3880,-0.36,-116.8,362.6,-7.7,427,3884,0.00,1.48,0.00,0.000,6,0.000,0.053,1791,3236,1982,0,0,0,0,0,0
$GC,4211,-0.38,-116.8,385.7,-7.0,458,4214,0.00,1.12,0.00,0.000,4,0.000,0.058,1786,3958,1982,0,0,0,0,0,0
$GC,4233,-0.38,-116.8,387.4,-7.1,460,4237,0.00,1.05,0.00,0.000,6,0.000,0.034,1786,3234,1982,0,0,0,0,0,0
$GC,4570,-0.38,-116.8,413.5,-7.8,484,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3234,1982,0,0,0,0,0,0
$GC,4879,-0.38,-116.8,438.1,-8.0,499,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3234,1983,0,0,0,0,0,0
$GC,5188,-0.38,-116.8,463.7,-8.2,514,5192,0.00,1.12,0.00,0.000,4,0.000,0.060,1781,3948,1983,0,0,0,0,0,0
$GC,5203,-0.38,-116.8,465.2,-8.2,514,5212,0.00,1.08,0.00,0.000,6,0.000,0.034,1781,3227,1983,0,0,0,0,0,0
$GC,5520,-0.38,-116.8,491.7,-8.3,530,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3227,1983,0,0,0,0,0,0
$GC,5829,-0.38,-116.8,517.2,-8.4,545,5833,0.00,1.12,0.00,0.000,4,0.000,0.060,1776,3942,1982,0,0,0,0,0,0
$GC,5861,-0.38,-116.8,520.3,-9.6,546,5866,0.00,1.08,0.00,0.000,6,0.000,0.034,1776,3223,1982,0,0,0,0,0,0
$GC,6182,-0.38,-116.8,547.7,-8.4,562,6186,0.00,1.15,0.00,0.000,4,0.000,0.060,1770,3952,1983,0,0,0,0,0,0
$GC,6220,-0.36,-116.8,551.3,-9.3,563,6228,0.00,1.05,0.00,0.000,6,0.000,0.034,1771,3234,1982,0,0,0,0,0,0
$GC,6537,-0.34,-116.8,577.2,-8.1,579,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3234,1982,0,0,0,0,0,0
$GC,6846,-0.32,-116.8,600.8,-7.5,594,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3234,1982,0,0,0,0,0,0
$GC,7155,-0.32,-116.8,623.0,-7.2,609,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3234,1982,0,0,0,0,0,0
$GC,7464,-0.32,-116.8,646.1,-7.9,624,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3234,1983,0,0,0,0,0,0
$GC,7774,-0.32,-116.8,671.1,-8.4,639,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3234,1982,0,0,0,0,0,0
$GC,8083,-0.32,-116.8,697.8,-8.7,654,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3234,1982,0,0,0,0,0,0
$GC,8392,-0.32,-116.8,724.9,-8.8,669,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3234,1983,0,0,0,0,0,0
$GC,8702,-0.32,-116.8,750.6,-7.8,684,8705,0.00,1.33,0.00,0.000,4,0.000,0.031,1771,2332,1982,0,0,0,0,0,0
$GC,8748,-0.35,-116.8,754.0,-7.5,686,8751,0.00,1.45,0.00,0.000,6,0.000,0.055,1765,3229,1982,0,0,0,0,0,0
$GC,9080,-0.33,-116.8,780.2,-7.8,702,9084,0.12,1.15,0.00,0.000,4,0.171,0.063,1793,3947,1982,0,0,0,0,0,0
$GC,9113,-0.37,-116.8,782.7,-6.8,703,9116,0.00,1.05,0.00,0.000,6,0.000,0.037,1793,3241,1982,0,0,0,0,0,0
$GC,9434,-0.42,-116.8,802.5,-6.7,719,9438,0.00,1.35,0.00,0.000,4,0.000,0.031,1793,2311,1982,0,0,0,0,0,0
$GC,9457,-0.48,-116.8,804.0,-7.2,720,9461,0.08,1.48,0.00,0.000,6,0.066,0.056,1738,3226,1982,0,0,0,0,0,0
$GC,9788,-0.41,-116.8,840.6,-11.5,736,9793,0.12,1.15,0.00,0.000,4,0.171,0.061,1766,3945,1982,0,0,0,0,0,0
$GC,9878,-0.41,-116.8,849.9,-9.6,740,9882,0.00,1.08,0.00,0.000,6,0.000,0.036,1766,3222,1982,0,0,0,0,0,0
$GC,10211,-0.41,-116.8,881.6,-9.7,756,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,3222,1982,0,0,0,0,0,0
$GC,10519,-0.41,-116.8,909.9,-9.0,771,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,3222,1982,0,0,0,0,0,0
$GC,10829,-0.41,-116.8,935.4,-7.8,786,10833,0.00,1.30,0.00,0.000,4,0.000,0.032,1766,2327,1982,0,0,0,0,0,0
$GC,10852,-0.41,-116.8,937.0,-7.1,787,10855,0.00,1.45,0.00,0.000,6,0.000,0.056,1760,3225,1982,0,0,0,0,0,0
$GC,11184,-0.41,-116.8,960.5,-6.8,803,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3225,1982,0,0,0,0,0,0
$GC,11494,-0.39,-116.8,980.6,-6.4,818,11498,0.00,1.15,0.00,0.000,4,0.000,0.061,1754,3955,1982,0,0,0,0,0,0
$GC,11544,-0.37,-116.8,984.1,-6.8,820,11548,0.08,1.08,0.00,0.000,6,0.147,0.036,1778,3235,1982,0,0,0,0,0,0
$STATE,11848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11848,begin apogee
$GC,11853,-0.09,0.0,1000.2,5.4,835,11979,0.30,0.00,123.25,1.929,6,0.132,0.000,1872,3059,1499,0,0,0,0,0,0
$STATE,11980,end apogee,CONTROL_FINISHED_OK
$STATE,11980,begin climb
$GC,11981,0.43,116.8,1002.0,0.0,841,12109,0.50,1.48,117.93,1.877,4,0.096,0.031,2042,2182,1022,0,0,0,0,0,0
$GC,12177,0.39,116.8,985.8,10.0,850,12181,0.00,1.52,0.00,0.000,6,0.000,0.051,2042,3057,1020,0,0,0,0,0,0
$GC,12509,0.30,116.8,945.8,11.7,866,12511,0.15,0.00,0.00,0.000,6,0.176,0.000,2005,3056,1017,0,0,0,0,0,0
$GC,12818,0.29,116.8,917.3,8.8,881,12822,0.00,1.35,0.00,0.000,4,0.000,0.034,2010,2175,1016,0,0,0,0,0,0
$GC,12886,0.30,130.6,911.7,7.9,884,12908,0.00,1.45,12.77,1.764,6,0.000,0.054,2010,3057,965,0,0,0,0,0,0
$GC,13217,0.28,130.6,881.7,9.0,900,13220,0.00,1.35,0.00,0.000,4,0.000,0.034,2017,2178,964,0,0,0,0,0,0
$GC,13248,0.29,135.6,878.7,8.3,901,13262,0.00,1.42,6.15,1.542,6,0.000,0.052,2017,3049,946,0,0,0,0,0,0
$GC,13571,0.26,135.6,848.5,9.4,917,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,3050,945,0,0,0,0,0,0
$GC,13880,0.24,135.6,819.1,9.7,932,13884,0.12,1.35,0.00,0.000,4,0.178,0.035,1991,2177,945,0,0,0,0,0,0
$GC,13925,0.33,162.6,815.6,7.2,934,13955,0.00,1.45,26.30,1.800,6,0.000,0.054,1991,3065,836,0,0,0,0,0,0
$GC,14277,0.38,165.9,786.8,8.4,951,14287,0.10,1.40,4.30,1.332,4,0.106,0.034,2042,2176,823,0,0,0,0,0,0
$GC,14325,0.38,165.9,781.8,10.7,953,14329,0.00,1.45,0.00,0.000,6,0.000,0.052,2042,3057,823,0,0,0,0,0,0
$GC,14652,0.33,165.9,742.6,11.9,969,14656,0.00,1.35,0.00,0.000,4,0.000,0.035,2048,2179,823,0,0,0,0,0,0
$GC,14713,0.31,165.9,736.0,10.7,971,14721,0.12,1.45,0.00,0.000,6,0.149,0.052,2009,3069,823,0,0,0,0,0,0
$GC,15029,0.33,165.9,706.2,9.5,987,15033,0.00,1.38,0.00,0.000,4,0.000,0.034,2015,2169,823,0,0,0,0,0,0
$GC,15084,0.37,175.4,701.2,8.1,989,15100,0.00,1.45,10.38,1.639,6,0.000,0.053,2015,3058,785,0,0,0,0,0,0
$GC,15427,0.37,175.4,666.6,10.2,1006,15431,0.00,1.35,0.00,0.000,4,0.000,0.034,2022,2175,784,0,0,0,0,0,0
$GC,15465,0.41,175.4,662.9,9.6,1007,15473,0.00,1.45,0.00,0.000,6,0.000,0.053,2022,3063,785,0,0,0,0,0,0
$GC,15781,0.41,175.4,628.6,11.4,1023,15785,0.00,1.35,0.00,0.000,4,0.000,0.034,2028,2175,784,0,0,0,0,0,0
$GC,15819,0.43,175.4,624.4,10.2,1024,15826,0.00,1.45,0.00,0.000,6,0.000,0.053,2028,3065,784,0,0,0,0,0,0
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$GC,17153,0.36,175.4,476.2,10.6,1089,17157,0.00,1.35,0.00,0.000,4,0.000,0.034,2042,2170,784,0,0,0,0,0,0
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$GC,17531,0.33,175.4,437.1,10.4,1107,17534,0.00,1.33,0.00,0.000,4,0.000,0.034,2048,2174,784,0,0,0,0,0,0
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$STATE,21715,end climb,SURFACE_DEPTH_REACHED
$STATE,21715,begin surface coast
$FINISH,1.4,1.026539
$STATE,21746,end surface coast,CONTROL_FINISHED_OK
$STATE,21746,begin surface
$SM_CCo,21819,0.00,0.000,0,0,675,202.37
$SM_GC,2.58,5.30,0.00,0.00,0.051,0.000,0.000,76,3249,675,-5.64,0.54,202.37
$IRIDIUM_FIX,-4242.04,824.86,130608,151541
$TT8_MAMPS,0.027713
$HUMID,62.36
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.3,23.568
$10V_AH,10.2,12.918
$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,14.975,110.375,317.650,0.000,0.000,211.571,264.719,367.563,0.000,0.000,16.955,3809.573,14408.623,457.546,4133.023,208.766,0.000,1886.870,0.000,3260.990,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,67.320,1929.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.451,1095.956,1028.844,89.676,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,90193,1544
$CAP_FILE_SIZE,208284,0
$CFSIZE,259252224,250208256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180815,082951,-4256.721,825.683,42,0.8,43,-25.0