version: 66.07.10.p01
glider: 573
mission: 4
dive: 500
start: 1 21 113 23 40 59
data:
$ID,573
$MISSION,4
$DIVE,500
$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,340
$T_MISSION,355
$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,170
$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,0
$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,601.71112
$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,-5882.8706
$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,3049
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1910
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$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,479
$GPS1,210113,232435,-4246.863,-334.122,33,1.2,33,-22.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-68.4
$GPS2,210113,234005,-4246.760,-334.115,33,1.1,33,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.251,-0.109
$KALMAN_X,-284256.4,-6.9,1080.4,485691.9,-4355.9
$KALMAN_Y,-66434.9,88.8,743.4,-29921.0,1547.4
$MHEAD_RNG_PITCHd_Wd,135.8,117608,-16.8,-9.804
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.00,-165.4,0.0,0.0,0,52,0.00,0.00,-24.92,0.000,2,0.000,0.000,87,1913,1406,0,0,0,0,0,0
$GC,55,-1.00,-165.4,3.1,-0.6,4,171,10.38,2.33,-93.47,0.000,4,0.209,0.073,2713,3311,3538,0,0,0,0,0,0
$GC,262,-1.00,-165.4,15.1,-10.2,38,270,0.00,2.25,0.00,0.000,6,0.000,0.047,2713,1908,3539,0,0,0,0,0,0
$GC,343,-1.00,-165.4,23.6,-10.8,51,350,0.00,0.60,0.00,0.000,4,0.000,0.057,2713,1515,3539,0,0,0,0,0,0
$GC,388,-1.00,-165.4,28.5,-10.9,58,396,0.03,0.62,0.00,0.000,6,0.180,0.053,2721,1920,3539,0,0,0,0,0,0
$GC,468,-1.00,-165.4,36.1,-8.9,71,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1920,3539,0,0,0,0,0,0
$GC,704,-1.00,-165.4,59.1,-10.6,112,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1920,3539,0,0,0,0,0,0
$GC,928,-1.02,-165.4,84.0,-10.6,134,932,0.00,0.77,0.00,0.000,4,0.000,0.054,2721,1419,3540,0,0,0,0,0,0
$GC,972,-1.02,-165.4,88.4,-9.7,138,975,0.00,0.75,0.00,0.000,6,0.000,0.050,2717,1902,3540,0,0,0,0,0,0
$GC,1295,-1.05,-165.4,120.8,-9.9,162,1298,0.00,0.73,0.00,0.000,4,0.000,0.054,2718,1437,3540,0,0,0,0,0,0
$GC,1402,-1.07,-165.4,131.7,-9.4,168,1406,0.00,0.73,0.00,0.000,6,0.000,0.051,2714,1907,3540,0,0,0,0,0,0
$GC,1731,-1.11,-165.4,163.1,-9.6,189,1735,0.08,1.20,0.00,0.000,4,0.119,0.054,2663,1168,3540,0,0,0,0,0,0
$GC,1801,-1.04,-165.4,170.4,-10.3,193,1805,0.15,1.17,0.00,0.000,6,0.134,0.047,2708,1915,3540,0,0,0,0,0,0
$GC,2122,-1.04,-165.4,202.8,-10.4,213,2126,0.00,0.65,0.00,0.000,4,0.000,0.057,2705,2346,3540,0,0,0,0,0,0
$GC,2199,-1.04,-165.4,211.4,-10.7,216,2204,0.00,0.70,0.00,0.000,6,0.000,0.050,2705,1898,3540,0,0,0,0,0,0
$GC,2523,-1.06,-165.4,246.1,-11.0,232,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1899,3540,0,0,0,0,0,0
$GC,2832,-1.08,-165.4,280.3,-11.2,247,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1898,3540,0,0,0,0,0,0
$GC,3138,-1.10,-165.4,314.3,-11.0,260,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1899,3540,0,0,0,0,0,0
$GC,3445,-1.13,-165.4,347.8,-10.9,270,3449,0.05,1.60,0.00,0.000,4,0.168,0.055,2661,920,3540,0,0,0,0,0,0
$GC,3533,-1.05,-165.4,358.4,-11.9,272,3538,0.15,1.58,0.00,0.000,6,0.137,0.046,2704,1907,3540,0,0,0,0,0,0
$GC,3852,-1.07,-165.4,392.5,-10.7,283,3856,0.00,0.90,0.00,0.000,4,0.000,0.053,2704,1329,3540,0,0,0,0,0,0
$GC,4046,-1.07,-165.4,413.8,-11.2,288,4052,0.00,0.93,0.00,0.000,6,0.000,0.048,2700,1914,3539,0,0,0,0,0,0
$GC,4359,-1.07,-165.4,446.4,-10.3,299,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1914,3539,0,0,0,0,0,0
$GC,4666,-1.07,-165.4,476.5,-9.8,309,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1914,3539,0,0,0,0,0,0
$GC,4972,-1.07,-165.4,506.7,-10.0,319,4975,0.00,0.93,0.00,0.000,4,0.000,0.054,2700,1326,3538,0,0,0,0,0,0
$GC,5040,-1.07,-165.4,513.5,-10.2,321,5044,0.00,0.90,0.00,0.000,6,0.000,0.049,2696,1905,3538,0,0,0,0,0,0
$GC,5381,-1.07,-165.4,548.3,-10.2,332,5384,0.00,0.73,0.00,0.000,4,0.000,0.057,2692,2378,3538,0,0,0,0,0,0
$GC,5516,-1.07,-165.4,562.7,-10.6,336,5520,0.00,0.73,0.00,0.000,6,0.000,0.052,2692,1909,3538,0,0,0,0,0,0
$GC,5857,-1.07,-165.4,599.8,-11.0,347,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1909,3537,0,0,0,0,0,0
$GC,6163,-1.07,-165.4,633.1,-10.8,357,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1909,3537,0,0,0,0,0,0
$GC,6469,-1.07,-165.4,665.4,-10.5,367,6473,0.00,1.42,0.00,0.000,4,0.000,0.057,2692,1025,3536,0,0,0,0,0,0
$GC,6537,-1.07,-165.4,672.5,-10.1,369,6542,0.03,1.42,0.00,0.000,6,0.181,0.048,2697,1912,3536,0,0,0,0,0,0
$GC,6878,-1.10,-165.4,707.9,-10.2,380,6882,0.00,0.68,0.00,0.000,4,0.000,0.056,2697,1472,3534,0,0,0,0,0,0
$GC,7014,-1.10,-165.4,721.3,-9.4,384,7018,0.00,0.68,0.00,0.000,6,0.000,0.054,2694,1908,3534,0,0,0,0,0,0
$GC,7355,-1.10,-165.4,753.1,-9.0,395,7359,0.00,1.62,0.00,0.000,4,0.000,0.056,2693,918,3533,0,0,0,0,0,0
$GC,7433,-1.10,-165.4,760.4,-9.0,397,7437,0.00,1.60,0.00,0.000,6,0.000,0.048,2686,1911,3533,0,0,0,0,0,0
$GC,7763,-1.10,-165.4,789.3,-8.8,408,7767,0.00,1.52,0.00,0.000,4,0.000,0.056,2686,984,3533,0,0,0,0,0,0
$GC,7852,-1.10,-165.4,797.5,-9.7,410,7856,0.00,1.50,0.00,0.000,6,0.000,0.048,2680,1916,3532,0,0,0,0,0,0
$GC,8171,-1.10,-165.4,827.3,-9.7,421,8175,0.03,0.57,0.00,0.000,4,0.275,0.058,2690,1553,3531,0,0,0,0,0,0
$GC,8307,-1.10,-165.4,840.8,-10.0,425,8311,0.00,0.55,0.00,0.000,6,0.000,0.055,2687,1909,3531,0,0,0,0,0,0
$GC,8648,-1.10,-165.4,876.7,-10.6,436,8651,0.00,1.08,0.00,0.000,4,0.000,0.055,2688,1237,3530,0,0,0,0,0,0
$GC,8731,-1.10,-165.4,885.8,-11.1,438,8735,0.00,1.05,0.00,0.000,6,0.000,0.050,2683,1903,3530,0,0,0,0,0,0
$GC,9055,-1.10,-165.4,920.2,-10.6,449,9059,0.00,0.85,0.00,0.000,4,0.000,0.057,2683,1372,3529,0,0,0,0,0,0
$GC,9123,-1.10,-165.4,927.3,-9.8,451,9128,0.03,0.85,0.00,0.000,6,0.180,0.053,2689,1911,3529,0,0,0,0,0,0
$GC,9464,-1.12,-165.4,962.0,-10.2,462,9467,0.00,1.23,0.00,0.000,4,0.000,0.057,2689,1148,3528,0,0,0,0,0,0
$GC,9541,-1.12,-165.4,970.1,-10.2,464,9546,0.00,1.23,0.00,0.000,6,0.000,0.050,2683,1912,3528,0,0,0,0,0,0
$STATE,9839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9839,begin apogee
$GC,9844,-0.29,0.0,1000.0,9.8,474,9992,0.82,0.00,144.55,1.251,6,0.113,0.000,2948,1587,2861,0,0,0,0,0,0
$STATE,9993,end apogee,CONTROL_FINISHED_OK
$STATE,9993,begin climb
$GC,9995,1.00,165.4,1011.5,0.0,479,10156,1.20,2.62,150.90,1.220,4,0.060,0.061,3381,178,2186,0,0,0,0,0,0
$GC,10274,0.78,260.1,1010.3,6.0,487,10371,0.30,2.35,86.00,1.208,6,0.164,0.044,3302,1601,1800,0,0,0,0,0,0
$GC,10677,0.76,329.5,983.0,7.0,501,10744,0.00,0.43,63.25,1.202,4,0.000,0.050,3302,1875,1519,0,0,0,0,0,0
$GC,10809,0.79,387.8,973.0,7.5,505,10869,0.00,0.47,54.70,1.186,6,0.000,0.063,3303,1585,1280,0,0,0,0,0,0
$GC,11205,0.86,415.0,938.1,8.7,518,11236,0.05,0.45,25.38,1.153,4,0.166,0.050,3342,1870,1170,0,0,0,0,0,0
$GC,11319,0.88,415.0,927.2,10.4,521,11323,0.00,0.47,0.00,0.000,6,0.000,0.062,3344,1582,1165,0,0,0,0,0,0
$GC,11644,0.92,431.8,896.9,9.1,532,11664,0.00,0.85,16.48,1.116,4,0.000,0.054,3345,2099,1100,0,0,0,0,0,0
$GC,11733,0.96,449.8,888.4,9.1,534,11757,0.00,0.82,18.60,1.104,6,0.000,0.057,3349,1587,1028,0,0,0,0,0,0
$GC,12077,1.02,449.8,854.9,9.9,546,12082,0.08,0.52,0.00,0.000,4,0.122,0.057,3390,1918,1021,0,0,0,0,0,0
$GC,12250,1.02,449.8,837.1,10.4,551,12255,0.05,0.55,0.00,0.000,6,0.222,0.060,3381,1580,1020,0,0,0,0,0,0
$GC,12585,1.02,449.8,802.2,10.5,562,12589,0.00,1.17,0.00,0.000,4,0.000,0.056,3380,2312,1019,0,0,0,0,0,0
$GC,12688,1.02,449.8,791.3,11.3,565,12691,0.00,1.17,0.00,0.000,6,0.000,0.055,3385,1586,1019,0,0,0,0,0,0
$GC,13028,1.02,449.8,753.5,11.3,576,13032,0.00,0.95,0.00,0.000,4,0.000,0.057,3386,2183,1018,0,0,0,0,0,0
$GC,13097,1.02,449.8,745.9,12.0,578,13101,0.03,0.98,0.00,0.000,6,0.188,0.057,3380,1575,1018,0,0,0,0,0,0
$GC,13437,1.02,449.8,708.3,11.1,589,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1575,1017,0,0,0,0,0,0
$GC,13743,1.02,449.8,674.2,11.1,599,13746,0.00,0.55,0.00,0.000,4,0.000,0.058,3380,1931,1017,0,0,0,0,0,0
$GC,13798,1.02,449.8,668.0,10.7,600,13802,0.00,0.57,0.00,0.000,6,0.000,0.060,3383,1579,1017,0,0,0,0,0,0
$GC,14117,1.02,449.8,632.9,11.0,611,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1579,1017,0,0,0,0,0,0
$GC,14423,1.02,449.8,599.1,11.0,621,14424,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1579,1017,0,0,0,0,0,0
$GC,14729,1.02,449.8,567.9,9.9,631,14733,0.00,0.62,0.00,0.000,4,0.000,0.056,3383,1981,1017,0,0,0,0,0,0
$GC,14840,1.02,449.8,556.7,10.2,634,14844,0.00,0.65,0.00,0.000,6,0.000,0.060,3385,1583,1017,0,0,0,0,0,0
$GC,15170,1.02,449.8,523.1,10.4,645,15174,0.00,1.73,0.00,0.000,4,0.000,0.059,3385,2669,1017,0,0,0,0,0,0
$GC,15231,1.02,449.8,516.6,9.8,646,15237,0.03,1.75,0.00,0.000,6,0.186,0.055,3383,1590,1016,0,0,0,0,0,0
$GC,15544,1.02,449.8,485.8,9.8,657,15548,0.00,0.90,0.00,0.000,4,0.000,0.057,3383,2158,1017,0,0,0,0,0,0
$GC,15622,1.02,462.8,478.3,9.3,659,15637,0.00,0.93,11.57,0.874,6,0.000,0.059,3387,1581,974,0,0,0,0,0,0
$GC,15945,1.02,469.6,447.5,9.5,669,15959,0.00,1.45,8.32,0.803,4,0.000,0.055,3387,2448,947,0,0,0,0,0,0
$GC,16021,1.02,484.1,440.0,9.2,671,16043,0.03,1.42,15.60,0.868,6,0.186,0.057,3383,1582,888,0,0,0,0,0,0
$GC,16351,1.02,492.8,408.7,9.5,682,16365,0.00,1.42,9.38,0.791,4,0.000,0.057,3383,2444,852,0,0,0,0,0,0
$GC,16444,1.05,492.8,399.6,10.4,684,16449,0.00,1.40,0.00,0.000,6,0.000,0.057,3389,1583,851,0,0,0,0,0,0
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$GC,17187,1.12,508.2,325.6,10.8,708,17191,0.00,0.75,0.00,0.000,4,0.000,0.056,3396,2049,787,0,0,0,0,0,0
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$GC,20002,1.11,512.6,25.1,11.5,908,20010,0.10,0.77,0.00,0.000,4,0.177,0.062,3408,1098,771,0,0,0,0,0,0
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$STATE,20206,end climb,SURFACE_DEPTH_REACHED
$STATE,20206,begin surface coast
$FINISH,2.3,1.026081
$STATE,20237,end surface coast,CONTROL_FINISHED_OK
$STATE,20237,begin surface
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$SM_GC,3.01,0.00,0.00,44.00,0.000,0.000,0.522,71,1915,407,-9.31,0.14,601.71
$IRIDIUM_FIX,-4230.32,-334.21,210113,232304
$TT8_MAMPS,0.026964
$HUMID,47.51
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,16.60
$XPDR_PINGS,2
$24V_AH,22.2,86.703
$10V_AH,9.9,65.970
$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
$DEVICE_SECS,22.350,87.675,627.175,44.000,0.000,133.707,400.415,0.000,0.500,0.000,35.742,2487.835,14349.119,704.723,3414.851,270.147,33.372,2048.147,0.000,2817.697,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.890,888.733,642.713,75.064,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,56955,946
$CAP_FILE_SIZE,178361,0
$CFSIZE,2097086464,2028109824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,220113,052037,-4247.035,-333.104,40,1.1,40,-22.2