version: 66.07.10.p01
glider: 573
mission: 4
dive: 91
start: 10 17 112 20 12 20
data:
$ID,573
$MISSION,4
$DIVE,91
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$T_BOOST_BLACKOUT,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,450
$T_MISSION,520
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-4251.6978
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1863
$C_ROLL_CLIMB,1664
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.947678
$PRESSURE_SLOPE,0.00011693723
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,70
$GPS1,171012,200405,-4258.041,-839.160,144,1.0,144,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-71.2
$GPS2,171012,201125,-4258.014,-839.109,18,1.3,19,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.160,-0.147
$KALMAN_X,-95135.1,380.4,328.7,206740.1,-3331.4
$KALMAN_Y,-189178.8,-265.5,-91.3,155749.6,1029.8
$MHEAD_RNG_PITCHd_Wd,154.0,81864,-15.4,-7.407
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,63,0.00,0.00,-37.25,0.000,2,0.000,0.000,81,1878,2735,0,0,0,0,0,0
$GC,65,-0.71,-121.6,3.1,-1.6,6,103,11.35,2.20,-20.67,0.000,4,0.257,0.067,2776,3271,3357,0,0,0,0,0,0
$GC,326,-0.61,-121.6,34.9,-13.0,50,333,0.12,2.20,0.00,0.000,6,0.147,0.042,2817,1859,3358,0,0,0,0,0,0
$GC,565,-0.56,-121.6,58.0,-7.6,91,571,0.08,0.32,0.00,0.000,4,0.207,0.060,2834,2086,3359,0,0,0,0,0,0
$GC,825,-0.53,-121.6,81.1,-7.9,137,829,0.00,0.32,0.00,0.000,6,0.000,0.058,2834,1853,3359,0,0,0,0,0,0
$GC,1166,-0.53,-121.6,110.9,-9.8,185,1170,0.00,0.82,0.00,0.000,4,0.000,0.051,2830,2390,3359,0,0,0,0,0,0
$GC,1286,-0.51,-121.6,122.8,-11.0,192,1290,0.05,0.80,0.00,0.000,6,0.141,0.046,2850,1856,3359,0,0,0,0,0,0
$GC,1617,-0.51,-121.6,152.2,-9.2,213,1621,0.00,0.62,0.00,0.000,4,0.000,0.051,2847,2280,3359,0,0,0,0,0,0
$GC,1771,-0.51,-121.6,166.1,-8.8,222,1775,0.00,0.62,0.00,0.000,6,0.000,0.048,2847,1856,3359,0,0,0,0,0,0
$GC,2102,-0.51,-121.6,196.2,-9.0,243,2106,0.00,1.08,0.00,0.000,4,0.000,0.051,2842,2547,3360,0,0,0,0,0,0
$GC,2239,-0.51,-121.6,208.3,-8.4,251,2243,0.00,1.02,0.00,0.000,6,0.000,0.044,2843,1871,3360,0,0,0,0,0,0
$GC,2570,-0.51,-121.6,239.0,-9.6,272,2573,0.00,0.45,0.00,0.000,4,0.000,0.052,2841,2189,3360,0,0,0,0,0,0
$GC,2692,-0.51,-121.6,250.3,-8.6,279,2696,0.03,0.47,0.00,0.000,6,0.169,0.050,2851,1860,3360,0,0,0,0,0,0
$GC,3019,-0.51,-121.6,276.0,-7.5,295,3023,0.00,0.40,0.00,0.000,4,0.000,0.055,2849,2144,3360,0,0,0,0,0,0
$GC,3202,-0.51,-121.6,289.7,-7.8,303,3205,0.00,0.40,0.00,0.000,6,0.000,0.054,2849,1865,3360,0,0,0,0,0,0
$GC,3535,-0.51,-121.6,317.3,-8.2,319,3539,0.00,0.52,0.00,0.000,4,0.000,0.051,2847,2224,3359,0,0,0,0,0,0
$GC,3703,-0.51,-121.6,331.6,-8.8,326,3708,0.00,0.55,0.00,0.000,6,0.000,0.049,2847,1856,3360,0,0,0,0,0,0
$GC,4025,-0.51,-121.6,356.7,-7.6,342,4028,0.00,0.55,0.00,0.000,4,0.000,0.051,2844,2233,3360,0,0,0,0,0,0
$GC,4124,-0.51,-121.6,364.5,-7.8,346,4128,0.00,0.55,0.00,0.000,6,0.000,0.048,2845,1862,3360,0,0,0,0,0,0
$GC,4445,-0.51,-121.6,388.9,-8.1,362,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1862,3360,0,0,0,0,0,0
$GC,4757,-0.51,-121.6,414.1,-8.3,377,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1862,3360,0,0,0,0,0,0
$GC,5064,-0.51,-121.6,441.0,-8.8,392,5068,0.00,0.55,0.00,0.000,4,0.000,0.052,2842,2239,3360,0,0,0,0,0,0
$GC,5215,-0.51,-121.6,454.7,-8.8,398,5223,0.00,0.57,0.00,0.000,6,0.000,0.049,2842,1853,3360,0,0,0,0,0,0
$GC,5530,-0.51,-121.6,483.2,-8.9,414,5534,0.00,0.35,0.00,0.000,4,0.000,0.059,2842,1603,3360,0,0,0,0,0,0
$GC,5585,-0.51,-121.6,488.3,-9.0,416,5589,0.05,0.40,0.00,0.000,6,0.220,0.053,2853,1870,3360,0,0,0,0,0,0
$GC,5925,-0.53,-121.6,514.7,-7.6,430,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1870,3360,0,0,0,0,0,0
$GC,6231,-0.56,-121.6,537.9,-7.7,440,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1870,3360,0,0,0,0,0,0
$GC,6537,-0.58,-121.6,562.4,-8.3,450,6539,0.05,0.00,0.00,0.000,6,0.167,0.000,2817,1870,3359,0,0,0,0,0,0
$GC,6843,-0.56,-121.6,594.3,-10.6,460,6845,0.10,0.00,0.00,0.000,6,0.169,0.000,2844,1870,3358,0,0,0,0,0,0
$GC,7149,-0.56,-121.6,624.3,-10.0,470,7153,0.00,0.80,0.00,0.000,4,0.000,0.054,2844,1344,3357,0,0,0,0,0,0
$GC,7232,-0.56,-121.6,633.1,-10.0,472,7236,0.00,0.80,0.00,0.000,6,0.000,0.047,2841,1860,3357,0,0,0,0,0,0
$GC,7556,-0.56,-121.6,664.3,-9.5,483,7559,0.00,0.22,0.00,0.000,4,0.000,0.066,2839,2045,3357,0,0,0,0,0,0
$GC,7700,-0.56,-121.6,678.2,-9.1,487,7702,0.00,0.28,0.00,0.000,6,0.000,0.061,2840,1856,3356,0,0,0,0,0,0
$GC,8025,-0.56,-121.6,708.0,-8.8,498,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1856,3356,0,0,0,0,0,0
$GC,8331,-0.56,-121.6,732.9,-8.1,508,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1856,3355,0,0,0,0,0,0
$GC,8638,-0.56,-121.6,757.4,-7.9,518,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1856,3355,0,0,0,0,0,0
$GC,8944,-0.56,-121.6,784.4,-9.4,528,8947,0.00,0.25,0.00,0.000,4,0.000,0.067,2840,1670,3354,0,0,0,0,0,0
$GC,9139,-0.56,-121.6,802.7,-8.8,533,9144,0.00,0.30,0.00,0.000,6,0.000,0.060,2838,1864,3354,0,0,0,0,0,0
$GC,9451,-0.56,-121.6,829.4,-8.3,544,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1865,3353,0,0,0,0,0,0
$GC,9757,-0.56,-121.6,854.5,-8.0,554,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1864,3353,0,0,0,0,0,0
$GC,10063,-0.56,-121.6,878.6,-7.8,564,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1865,3352,0,0,0,0,0,0
$GC,10369,-0.56,-121.6,902.7,-7.8,574,10373,0.00,0.50,0.00,0.000,4,0.000,0.057,2838,1530,3351,0,0,0,0,0,0
$GC,10491,-0.56,-121.6,912.3,-8.1,577,10495,0.00,0.52,0.00,0.000,6,0.000,0.051,2836,1872,3351,0,0,0,0,0,0
$GC,10809,-0.56,-121.6,936.4,-7.7,588,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1872,3350,0,0,0,0,0,0
$GC,11115,-0.56,-121.6,961.0,-8.0,598,11119,0.00,0.32,0.00,0.000,4,0.000,0.061,2836,1648,3350,0,0,0,0,0,0
$GC,11361,-0.56,-121.6,980.2,-7.3,605,11365,0.00,0.32,0.00,0.000,6,0.000,0.060,2834,1862,3350,0,0,0,0,0,0
$STATE,11628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11628,begin apogee
$GC,11632,-0.23,0.0,1000.2,7.5,614,11734,0.35,0.00,99.22,1.310,6,0.128,0.000,2948,1664,2862,0,0,0,0,0,0
$STATE,11735,end apogee,CONTROL_FINISHED_OK
$STATE,11735,begin climb
$GC,11736,0.71,121.6,1003.3,0.0,617,11843,0.93,0.00,103.68,1.276,6,0.097,0.000,3246,1664,2365,0,0,0,0,0,0
$GC,12173,0.71,132.6,978.0,7.0,632,12187,0.00,0.38,9.62,1.115,4,0.000,0.059,3246,1896,2321,0,0,0,0,0,0
$GC,12265,0.71,138.7,971.3,7.2,634,12275,0.00,0.38,6.90,0.989,6,0.000,0.060,3248,1666,2297,0,0,0,0,0,0
$GC,12610,0.71,144.9,946.4,7.2,646,12619,0.00,0.00,7.07,1.008,6,0.000,0.000,3248,1666,2271,0,0,0,0,0,0
$GC,12917,0.71,161.1,925.0,6.7,656,12934,0.00,0.00,15.45,1.171,6,0.000,0.000,3248,1666,2205,0,0,0,0,0,0
$GC,13223,0.71,161.8,902.6,7.4,666,13227,0.00,0.25,0.00,0.000,4,0.000,0.063,3248,1846,2201,0,0,0,0,0,0
$GC,13305,0.71,161.8,896.4,7.9,668,13307,0.00,0.30,0.00,0.000,6,0.000,0.067,3249,1658,2201,0,0,0,0,0,0
$GC,13625,0.71,169.7,873.8,7.1,679,13638,0.00,0.30,8.55,1.055,4,0.000,0.063,3250,1849,2169,0,0,0,0,0,0
$GC,13699,0.71,180.1,868.3,7.0,681,13714,0.00,0.30,10.82,1.095,6,0.000,0.067,3251,1662,2127,0,0,0,0,0,0
$GC,14028,0.73,181.4,843.9,7.4,692,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1661,2123,0,0,0,0,0,0
$GC,14335,0.76,185.6,821.4,7.2,702,14344,0.00,0.73,5.97,0.925,4,0.000,0.050,3250,2150,2104,0,0,0,0,0,0
$GC,14489,0.78,213.1,810.2,6.3,706,14519,0.00,0.77,25.75,1.164,6,0.000,0.054,3254,1664,1991,0,0,0,0,0,0
$GC,14839,0.82,229.5,785.9,6.7,718,14857,0.10,0.00,15.05,1.102,6,0.103,0.000,3306,1664,1926,0,0,0,0,0,0
$GC,15145,0.80,229.5,758.4,9.5,728,15149,0.10,0.55,0.00,0.000,4,0.161,0.063,3281,1314,1923,0,0,0,0,0,0
$GC,15256,0.80,229.5,748.8,8.5,731,15260,0.00,0.52,0.00,0.000,6,0.000,0.053,3281,1655,1922,0,0,0,0,0,0
$GC,15585,0.80,229.5,719.9,8.9,742,15586,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1655,1922,0,0,0,0,0,0
$GC,15891,0.80,229.5,694.3,8.2,752,15894,0.00,0.38,0.00,0.000,4,0.000,0.065,3283,1409,1922,0,0,0,0,0,0
$GC,15979,0.80,229.5,686.9,7.7,754,15983,0.00,0.43,0.00,0.000,6,0.000,0.055,3283,1679,1921,0,0,0,0,0,0
$GC,16297,0.80,229.5,659.9,8.3,765,16300,0.00,0.38,0.00,0.000,4,0.000,0.064,3285,1433,1922,0,0,0,0,0,0
$GC,16356,0.80,229.5,655.2,7.9,766,16358,0.00,0.38,0.00,0.000,6,0.000,0.058,3284,1676,1921,0,0,0,0,0,0
$GC,16664,0.80,229.5,630.3,8.4,776,16666,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1676,1920,0,0,0,0,0,0
$GC,16971,0.80,229.5,605.6,7.9,786,16972,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1676,1921,0,0,0,0,0,0
$GC,17277,0.80,229.5,581.7,7.9,796,17280,0.00,0.30,0.00,0.000,4,0.000,0.068,3286,1474,1920,0,0,0,0,0,0
$GC,17387,0.80,234.9,573.0,7.2,799,17398,0.00,0.30,5.32,0.786,6,0.000,0.060,3286,1667,1904,0,0,0,0,0,0
$GC,17716,0.80,234.9,546.1,8.3,810,17717,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1667,1904,0,0,0,0,0,0
$GC,18022,0.80,234.9,521.1,8.0,820,18023,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1667,1904,0,0,0,0,0,0
$GC,18341,0.80,234.9,496.7,7.8,831,18342,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1667,1904,0,0,0,0,0,0
$GC,18648,0.80,234.9,472.5,8.0,846,18649,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1667,1903,0,0,0,0,0,0
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$GC,19778,0.80,234.9,373.8,8.8,899,19781,0.00,0.30,0.00,0.000,4,0.000,0.066,3288,1465,1904,0,0,0,0,0,0
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$GC,23426,0.86,234.9,13.5,11.5,1210,23432,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1667,1907,0,0,0,0,0,0
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$STATE,23561,end climb,SURFACE_DEPTH_REACHED
$STATE,23561,begin surface coast
$FINISH,1.5,1.013726
$STATE,23599,end surface coast,CONTROL_FINISHED_OK
$STATE,23599,begin surface
$SM_CCo,23614,0.82,0.073,0,0,1842,250.20
$SM_GC,3.01,0.00,0.00,0.82,0.000,0.000,0.073,90,1862,1842,-9.17,-0.03,250.20
$IRIDIUM_FIX,-4239.11,-842.31,171012,131323
$TT8_MAMPS,0.027713
$HUMID,42.08
$INTERNAL_PRESSURE,9.10857
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.8,17.992
$10V_AH,10.3,17.170
$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,21.675,32.350,319.200,0.825,0.000,27.002,40.103,256.905,0.000,0.000,21.201,3106.685,16575.166,405.073,3827.778,136.842,33.364,1751.396,0.000,3441.520,0.000,1.008,0.000
$DEVICE_MAMPS,257.040,68.850,1309.680,72.675,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.235,1451.135,799.317,95.895,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,73675,1238
$CAP_FILE_SIZE,183388,0
$CFSIZE,2097086464,2082045952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181012,024731,-4300.493,-836.701,62,1.2,62,-21.4