version: 66.07.10.p01
glider: 573
mission: 4
dive: 154
start: 11 1 112 5 48 44
data:
$ID,573
$MISSION,4
$DIVE,154
$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,-4778.3999
$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,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,34
$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,133
$GPS1,011112,054105,-4233.164,-748.453,29,0.9,29,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-73.7
$GPS2,011112,054749,-4233.140,-748.458,14,0.9,16,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.200,-0.084
$KALMAN_X,-194399.2,2110.1,57.9,373505.5,-9005.4
$KALMAN_Y,-161209.6,1637.2,233.0,171593.4,-3445.0
$MHEAD_RNG_PITCHd_Wd,134.5,72808,-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,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,75,0.00,0.00,-48.40,0.000,2,0.000,0.000,84,1817,2680,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.0,-1.1,8,121,10.90,2.33,-23.95,0.000,4,0.239,0.066,2797,406,3359,0,0,0,0,0,0
$GC,229,-0.61,-121.6,17.1,-11.9,33,237,0.10,2.25,0.00,0.000,6,0.146,0.042,2820,1819,3360,0,0,0,0,0,0
$GC,310,-0.57,-121.6,25.4,-9.9,46,317,0.05,1.08,0.00,0.000,4,0.223,0.054,2828,2495,3361,0,0,0,0,0,0
$GC,481,-0.57,-121.6,42.1,-9.3,75,486,0.00,1.05,0.00,0.000,6,0.000,0.045,2829,1821,3361,0,0,0,0,0,0
$GC,715,-0.55,-121.6,65.2,-9.6,116,721,0.05,0.95,0.00,0.000,4,0.223,0.052,2835,2424,3361,0,0,0,0,0,0
$GC,813,-0.55,-121.6,74.2,-9.1,133,817,0.00,0.93,0.00,0.000,6,0.000,0.045,2836,1822,3361,0,0,0,0,0,0
$GC,1163,-0.55,-121.6,107.9,-9.7,186,1166,0.00,1.02,0.00,0.000,4,0.000,0.050,2831,2478,3361,0,0,0,0,0,0
$GC,1284,-0.55,-121.6,119.8,-10.3,193,1288,0.00,1.02,0.00,0.000,6,0.000,0.044,2831,1810,3362,0,0,0,0,0,0
$GC,1615,-0.55,-121.6,155.6,-11.3,214,1619,0.00,2.25,0.00,0.000,4,0.000,0.058,2821,3229,3362,0,0,0,0,0,0
$GC,1744,-0.55,-121.6,170.6,-11.6,222,1749,0.08,2.17,0.00,0.000,6,0.177,0.042,2840,1815,3362,0,0,0,0,0,0
$GC,2070,-0.55,-121.6,203.6,-10.0,243,2074,0.00,0.65,0.00,0.000,4,0.000,0.052,2838,2250,3362,0,0,0,0,0,0
$GC,2158,-0.55,-121.6,212.4,-9.8,248,2162,0.00,0.68,0.00,0.000,6,0.000,0.047,2838,1808,3362,0,0,0,0,0,0
$GC,2484,-0.55,-121.6,243.2,-10.1,269,2488,0.00,1.15,0.00,0.000,4,0.000,0.052,2832,2544,3362,0,0,0,0,0,0
$GC,2612,-0.55,-121.6,256.0,-9.3,276,2621,0.00,1.12,0.00,0.000,6,0.000,0.043,2832,1821,3362,0,0,0,0,0,0
$GC,2928,-0.55,-121.6,288.3,-10.7,292,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1821,3362,0,0,0,0,0,0
$GC,3240,-0.55,-121.6,321.5,-10.8,307,3244,0.00,2.20,0.00,0.000,4,0.000,0.057,2822,3220,3362,0,0,0,0,0,0
$GC,3372,-0.55,-121.6,335.6,-11.2,313,3377,0.08,2.15,0.00,0.000,6,0.181,0.041,2842,1815,3362,0,0,0,0,0,0
$GC,3700,-0.55,-121.6,368.6,-10.0,329,3704,0.00,0.52,0.00,0.000,4,0.000,0.053,2840,2175,3362,0,0,0,0,0,0
$GC,3816,-0.55,-121.6,379.9,-9.2,334,3821,0.00,0.55,0.00,0.000,6,0.000,0.049,2840,1810,3362,0,0,0,0,0,0
$GC,4132,-0.55,-121.6,408.4,-9.0,348,4135,0.00,1.23,0.00,0.000,4,0.000,0.054,2834,2589,3362,0,0,0,0,0,0
$GC,4242,-0.55,-121.6,418.6,-8.5,351,4247,0.00,1.20,0.00,0.000,6,0.000,0.043,2834,1819,3362,0,0,0,0,0,0
$GC,4572,-0.55,-121.6,446.3,-8.0,362,4576,0.00,0.35,0.00,0.000,4,0.000,0.057,2833,2069,3362,0,0,0,0,0,0
$GC,4677,-0.55,-121.6,454.5,-7.5,365,4681,0.00,0.38,0.00,0.000,6,0.000,0.054,2833,1815,3362,0,0,0,0,0,0
$GC,5012,-0.55,-121.6,479.1,-7.3,376,5016,0.00,1.08,0.00,0.000,4,0.000,0.053,2828,2503,3362,0,0,0,0,0,0
$GC,5129,-0.55,-121.6,487.7,-6.9,379,5134,0.05,1.08,0.00,0.000,6,0.216,0.044,2841,1813,3362,0,0,0,0,0,0
$GC,5453,-0.55,-121.6,510.1,-7.1,390,5456,0.00,0.73,0.00,0.000,4,0.000,0.052,2838,2295,3362,0,0,0,0,0,0
$GC,5547,-0.55,-121.6,517.2,-7.2,392,5552,0.00,0.73,0.00,0.000,6,0.000,0.047,2838,1818,3361,0,0,0,0,0,0
$GC,5859,-0.55,-121.6,541.5,-7.9,403,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1818,3361,0,0,0,0,0,0
$GC,6166,-0.55,-121.6,568.0,-8.8,413,6169,0.00,1.25,0.00,0.000,4,0.000,0.054,2832,2611,3360,0,0,0,0,0,0
$GC,6276,-0.55,-121.6,578.3,-9.0,416,6281,0.00,1.25,0.00,0.000,6,0.000,0.044,2832,1810,3360,0,0,0,0,0,0
$GC,6606,-0.55,-121.6,611.2,-10.5,427,6610,0.00,0.80,0.00,0.000,4,0.000,0.053,2829,2332,3359,0,0,0,0,0,0
$GC,6728,-0.55,-121.6,623.8,-10.4,430,6733,0.05,0.80,0.00,0.000,6,0.216,0.047,2841,1815,3359,0,0,0,0,0,0
$GC,7046,-0.55,-121.6,654.9,-9.8,441,7050,0.00,0.98,0.00,0.000,4,0.000,0.053,2837,2442,3359,0,0,0,0,0,0
$GC,7147,-0.55,-121.6,664.5,-9.2,444,7151,0.00,0.95,0.00,0.000,6,0.000,0.047,2837,1824,3358,0,0,0,0,0,0
$GC,7487,-0.55,-121.6,695.0,-8.6,455,7491,0.00,0.47,0.00,0.000,4,0.000,0.054,2834,2148,3357,0,0,0,0,0,0
$GC,7591,-0.55,-121.6,703.6,-7.9,458,7596,0.00,0.52,0.00,0.000,6,0.000,0.050,2834,1802,3357,0,0,0,0,0,0
$GC,7926,-0.55,-121.6,729.9,-7.6,469,7930,0.00,0.88,0.00,0.000,4,0.000,0.052,2831,2373,3357,0,0,0,0,0,0
$GC,8014,-0.55,-121.6,736.5,-7.3,471,8019,0.00,0.85,0.00,0.000,6,0.000,0.047,2831,1821,3356,0,0,0,0,0,0
$GC,8333,-0.55,-121.6,758.7,-7.1,482,8337,0.00,0.38,0.00,0.000,4,0.000,0.057,2830,2088,3356,0,0,0,0,0,0
$GC,8427,-0.55,-121.6,765.3,-7.4,484,8432,0.00,0.40,0.00,0.000,6,0.000,0.054,2830,1818,3356,0,0,0,0,0,0
$GC,8739,-0.55,-121.6,788.3,-7.5,495,8741,0.03,0.00,0.00,0.000,6,0.265,0.000,2837,1817,3355,0,0,0,0,0,0
$GC,9045,-0.55,-121.6,811.2,-7.6,505,9049,0.00,0.82,0.00,0.000,4,0.000,0.053,2834,2359,3355,0,0,0,0,0,0
$GC,9150,-0.55,-121.6,819.1,-7.3,508,9155,0.00,0.85,0.00,0.000,6,0.000,0.047,2834,1810,3354,0,0,0,0,0,0
$GC,9486,-0.55,-121.6,844.8,-8.3,519,9489,0.00,0.57,0.00,0.000,4,0.000,0.054,2831,2196,3354,0,0,0,0,0,0
$GC,9587,-0.55,-121.6,853.4,-8.9,522,9591,0.00,0.55,0.00,0.000,6,0.000,0.051,2831,1823,3353,0,0,0,0,0,0
$GC,9927,-0.55,-121.6,882.0,-8.3,533,9930,0.00,0.95,0.00,0.000,4,0.000,0.053,2827,2432,3353,0,0,0,0,0,0
$GC,10043,-0.55,-121.6,892.2,-9.1,536,10049,0.05,0.95,0.00,0.000,6,0.213,0.045,2840,1821,3353,0,0,0,0,0,0
$GC,10367,-0.57,-121.6,919.5,-8.6,547,10371,0.00,1.00,0.00,0.000,4,0.000,0.053,2835,2470,3353,0,0,0,0,0,0
$GC,10503,-0.60,-121.6,930.9,-8.7,551,10507,0.00,1.00,0.00,0.000,6,0.000,0.047,2836,1819,3352,0,0,0,0,0,0
$GC,10843,-0.62,-121.6,957.7,-7.5,562,10847,0.00,0.28,0.00,0.000,4,0.000,0.063,2836,1621,3352,0,0,0,0,0,0
$GC,10954,-0.62,-121.6,965.8,-6.7,565,10958,0.00,0.32,0.00,0.000,6,0.000,0.057,2834,1837,3352,0,0,0,0,0,0
$GC,11284,-0.64,-121.6,989.0,-7.1,576,11288,0.05,0.30,0.00,0.000,4,0.166,0.062,2798,2055,3351,0,0,0,0,0,0
$STATE,11410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11410,begin apogee
$GC,11414,-0.23,0.0,1000.2,8.8,579,11518,0.43,0.00,100.43,1.299,6,0.130,0.000,2941,1637,2862,0,0,0,0,0,0
$STATE,11518,end apogee,CONTROL_FINISHED_OK
$STATE,11518,begin climb
$GC,11520,0.71,121.6,1003.8,0.0,583,11628,0.93,0.00,103.50,1.264,6,0.094,0.000,3247,1637,2366,0,0,0,0,0,0
$GC,11917,0.71,164.7,984.6,5.6,596,11961,0.00,1.17,37.97,1.235,4,0.000,0.050,3247,2317,2189,0,0,0,0,0,0
$GC,12080,0.71,172.8,974.2,7.1,601,12094,0.00,1.10,7.93,1.053,6,0.000,0.048,3252,1647,2157,0,0,0,0,0,0
$GC,12418,0.71,183.8,950.6,7.0,612,12432,0.00,0.28,11.10,1.111,4,0.000,0.047,3251,1838,2112,0,0,0,0,0,0
$GC,12527,0.71,194.3,942.8,7.0,615,12543,0.00,0.32,10.68,1.098,6,0.000,0.061,3253,1637,2069,0,0,0,0,0,0
$GC,12857,0.73,208.4,919.8,6.8,626,12872,0.00,0.00,13.90,1.142,6,0.000,0.000,3253,1637,2011,0,0,0,0,0,0
$GC,13163,0.76,244.7,900.9,5.9,636,13201,0.00,0.98,33.00,1.206,4,0.000,0.050,3253,2224,1864,0,0,0,0,0,0
$GC,13293,0.80,273.9,892.8,6.2,640,13325,0.03,0.93,27.12,1.177,6,0.099,0.050,3285,1651,1745,0,0,0,0,0,0
$GC,13631,0.80,290.6,869.3,6.7,651,13650,0.00,0.28,15.38,1.125,4,0.000,0.050,3285,1837,1676,0,0,0,0,0,0
$GC,13735,0.83,321.4,862.4,6.1,654,13770,0.00,0.32,29.23,1.165,6,0.000,0.062,3287,1639,1550,0,0,0,0,0,0
$GC,14100,0.87,327.4,837.0,7.2,666,14109,0.00,0.28,5.22,0.847,4,0.000,0.055,3288,1447,1527,0,0,0,0,0,0
$GC,14167,0.91,327.7,832.3,7.4,668,14171,0.05,0.28,0.00,0.000,6,0.068,0.060,3326,1636,1526,0,0,0,0,0,0
$GC,14506,0.91,327.7,802.0,9.1,679,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1636,1525,0,0,0,0,0,0
$GC,14812,0.91,327.7,772.4,10.0,689,14816,0.00,0.38,0.00,0.000,4,0.000,0.063,3328,1389,1524,0,0,0,0,0,0
$GC,14934,0.91,327.7,759.3,10.6,692,14938,0.00,0.40,0.00,0.000,6,0.000,0.054,3328,1651,1524,0,0,0,0,0,0
$GC,15252,0.91,327.7,723.8,11.2,703,15253,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1651,1523,0,0,0,0,0,0
$GC,15558,0.91,327.7,688.6,11.5,713,15562,0.00,0.57,0.00,0.000,4,0.000,0.057,3330,1281,1523,0,0,0,0,0,0
$GC,15629,0.91,327.7,680.4,10.8,715,15634,0.05,0.57,0.00,0.000,6,0.211,0.048,3318,1651,1523,0,0,0,0,0,0
$GC,15964,0.91,327.7,644.6,10.9,726,15967,0.00,0.55,0.00,0.000,4,0.000,0.060,3320,1295,1523,0,0,0,0,0,0
$GC,16052,0.91,327.7,634.9,10.4,728,16056,0.00,0.55,0.00,0.000,6,0.000,0.049,3320,1649,1522,0,0,0,0,0,0
$GC,16370,0.91,327.7,601.8,10.4,739,16373,0.00,0.65,0.00,0.000,4,0.000,0.058,3323,1233,1522,0,0,0,0,0,0
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$GC,17165,0.91,327.7,517.1,10.1,764,17169,0.00,1.02,0.00,0.000,6,0.000,0.045,3328,1648,1522,0,0,0,0,0,0
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$GC,18701,0.91,327.7,362.4,9.5,820,18705,0.00,0.50,0.00,0.000,6,0.000,0.050,3319,1643,1522,0,0,0,0,0,0
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$STATE,22318,end climb,SURFACE_DEPTH_REACHED
$STATE,22318,begin surface coast
$FINISH,1.8,1.026633
$STATE,22344,end surface coast,CONTROL_FINISHED_OK
$STATE,22344,begin surface
$SM_CCo,22420,0.00,0.000,0,0,1519,329.19
$SM_GC,2.59,8.30,0.00,0.00,0.031,0.000,0.000,87,1823,1519,-9.10,0.14,329.19
$IRIDIUM_FIX,-4221.55,-749.20,311012,232306
$TT8_MAMPS,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.5,26.304
$10V_AH,10.2,24.779
$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,21.350,74.250,395.450,0.000,0.000,27.569,40.980,220.146,0.000,0.000,18.261,2968.808,15423.171,474.847,3788.104,161.725,33.356,1954.405,0.000,3436.135,0.000,1.008,0.000
$DEVICE_MAMPS,264.690,65.790,1298.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.645,1220.052,735.335,92.766,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,66920,1138
$CAP_FILE_SIZE,198864,0
$CFSIZE,2097086464,2074050560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011112,120335,-4233.044,-746.864,39,0.9,39,-21.7