version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 214
start: 4 13 119 8 22 0
data:
$ID,573
$MISSION,30
$DIVE,214
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,0
$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,335
$T_MISSION,345
$T_ABORT,360
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,542.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.97279
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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,-0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,130419,081139,-3037.1274,3042.7017,21,1.0,21,-25.4,2.0,215.5,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-63.2
$GPS2,130419,082135,-3037.6099,3042.4912,20,0.8,21,-25.4,1.7,202.8,10,9.0
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3037.610,3029.941
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,295.4,20000,-18.2,-9.950,-20.98,2247
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.0,84,2006,581,587,0.0,0.0,0,116,0.00,0.00,-92.47,0.000,16386,0.000,0.000,75,2005,3101,3097,3105,0,0,0,0,0,0,14.98,28.83,14.99
$GC,120,-0.85,-146.0,75,2005,3098,3105,3.1,-6.8,17,145,12.70,2.53,-5.50,0.000,18692,0.308,0.089,2202,3417,3409,3441,3378,0,0,0,0,0,0,14.33,13.11,14.67
$GC,363,-0.85,-146.0,2201,3417,3445,3378,49.7,-14.6,64,369,0.00,2.33,0.00,0.000,3078,0.000,0.038,2202,2008,3411,3446,3377,0,0,0,0,0,0,14.90,14.81,14.92
$GC,432,-0.85,-146.0,2201,2008,3446,3378,58.3,-12.3,77,439,0.00,2.45,0.00,0.000,2308,0.000,0.068,2200,3416,3412,3446,3378,0,0,0,0,0,0,15.07,14.75,15.08
$GC,581,-0.85,-146.0,2200,3416,3447,3378,77.0,-11.8,106,589,0.05,2.33,0.00,0.000,3078,0.330,0.037,2212,2008,3412,3447,3377,0,0,0,0,0,0,14.61,14.85,14.82
$GC,651,-0.85,-146.0,2211,2008,3447,3377,83.9,-9.7,119,657,0.00,2.38,0.00,0.000,2564,0.000,0.066,2212,614,3412,3447,3378,0,0,0,0,0,0,15.09,14.78,15.09
$GC,690,-0.85,-146.0,2212,614,3447,3378,88.4,-12.1,126,696,0.00,2.30,0.00,0.000,3078,0.000,0.044,2210,2017,3413,3448,3378,0,0,0,0,0,0,14.79,14.69,14.81
$GC,759,-0.85,-146.0,2210,2017,3448,3378,96.3,-11.1,139,766,0.00,2.40,0.00,0.000,2308,0.000,0.070,2210,3408,3413,3448,3379,0,0,0,0,0,0,15.09,14.61,15.09
$GC,989,-0.85,-146.0,2210,3408,3448,3378,121.3,-11.0,184,995,0.00,2.30,0.00,0.000,3078,0.000,0.038,2210,2006,3416,3448,3385,0,0,0,0,0,0,14.90,14.85,14.92
$GC,1058,-0.85,-146.0,2210,2006,3448,3377,129.0,-10.6,197,1064,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,2006,3412,3448,3377,0,0,0,0,0,0,15.10,15.10,15.11
$GC,1128,-0.85,-146.0,2210,2006,3448,3378,135.7,-8.0,210,1134,0.00,2.45,0.00,0.000,2308,0.000,0.069,2210,3416,3412,3448,3377,0,0,0,0,0,0,15.10,14.77,15.10
$GC,1212,-0.85,-146.0,2210,3416,3448,3378,143.8,-10.1,226,1219,0.00,2.33,0.00,0.000,3078,0.000,0.038,2211,2006,3413,3448,3378,0,0,0,0,0,0,14.95,14.85,14.95
$GC,1282,-0.85,-146.0,2210,2005,3449,3377,149.0,-8.1,239,1288,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2005,3412,3448,3377,0,0,0,0,0,0,15.10,15.10,15.11
$GC,1352,-0.85,-146.0,2210,2005,3448,3378,155.0,-9.9,252,1358,0.00,2.45,0.00,0.000,2308,0.000,0.068,2211,3409,3412,3448,3377,0,0,0,0,0,0,15.09,14.77,15.09
$GC,1391,-0.85,-146.0,2210,3409,3448,3378,158.5,-8.0,259,1398,0.00,2.33,0.00,0.000,3078,0.000,0.038,2210,2006,3413,3449,3377,0,0,0,0,0,0,14.94,14.84,14.96
$GC,1461,-0.85,-146.0,2210,2007,3448,3378,164.3,-8.4,272,1467,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2007,3413,3448,3378,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1530,-0.85,-146.0,2210,2007,3448,3378,169.6,-7.9,285,1540,0.00,2.45,0.00,0.000,2308,0.000,0.068,2210,3406,3413,3448,3378,0,0,0,0,0,0,15.10,14.69,15.10
$GC,1593,-0.85,-146.0,2210,3406,3448,3377,174.6,-7.2,296,1600,0.00,2.30,0.00,0.000,3078,0.000,0.039,2210,2013,3412,3448,3377,0,0,0,0,0,0,14.94,14.84,14.96
$GC,1663,-0.85,-146.0,2210,2014,3448,3376,179.8,-8.2,309,1670,0.00,2.38,0.00,0.000,2564,0.000,0.067,2211,613,3412,3447,3377,0,0,0,0,0,0,15.10,14.76,15.10
$GC,1687,-0.85,-146.0,2210,613,3448,3377,182.2,-9.6,313,1694,0.00,2.30,0.00,0.000,3078,0.000,0.045,2210,2009,3412,3448,3377,0,0,0,0,0,0,14.95,14.84,14.97
$GC,1758,-0.85,-146.0,2210,2009,3448,3376,187.3,-7.8,326,1765,0.00,2.42,0.00,0.000,2308,0.000,0.071,2210,3410,3412,3448,3376,0,0,0,0,0,0,15.10,14.75,15.11
$GC,1842,-0.85,-146.0,2210,3410,3448,3375,194.6,-9.3,342,1849,0.00,2.33,0.00,0.000,3078,0.000,0.040,2210,2014,3411,3448,3375,0,0,0,0,0,0,14.95,14.85,14.96
$GC,1913,-0.85,-146.0,2210,2014,3448,3375,200.5,-9.2,355,1919,0.00,2.42,0.00,0.000,2308,0.000,0.070,2210,3413,3411,3447,3375,0,0,0,0,0,0,15.11,14.76,15.11
$GC,1961,-0.85,-146.0,2210,3413,3447,3374,205.4,-10.0,364,1968,0.00,2.33,0.00,0.000,3078,0.000,0.039,2210,2005,3411,3447,3375,0,0,0,0,0,0,14.95,14.84,14.96
$STATE,1973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1973,begin apogee
$GC,1977,-0.19,0.0,2210,2005,3447,3374,206.7,-10.5,366,2100,1.08,0.00,113.05,1.152,10246,0.163,0.000,2422,2004,2813,2854,2772,0,0,0,0,0,0,14.56,14.31,13.80
$STATE,2101,end apogee,CONTROL_FINISHED_OK
$STATE,2101,begin climb
$GC,2103,0.85,146.0,2422,2004,2852,2772,208.3,0.0,388,2227,1.52,2.50,114.72,1.138,11012,0.080,0.066,2751,3368,2214,2261,2167,0,0,0,0,0,0,14.47,14.35,13.72
$GC,2285,0.85,146.0,2750,3369,2255,2166,199.0,10.4,420,2291,0.00,2.40,0.00,0.000,3078,0.000,0.044,2755,1957,2209,2255,2163,0,0,0,0,0,0,14.63,14.52,14.64
$GC,2355,0.90,184.2,2756,1957,2253,2165,192.8,8.2,433,2389,0.00,0.00,31.12,1.099,10246,0.000,0.000,2755,1957,2060,2109,2011,0,0,0,0,0,0,14.89,14.49,13.84
$GC,2452,0.92,198.4,2755,1957,2104,2009,183.0,9.3,451,2471,0.00,2.55,12.57,1.028,10500,0.000,0.065,2756,3370,2001,2051,1952,0,0,0,0,0,0,14.88,14.56,13.88
$GC,2498,0.92,198.4,2755,3370,2049,1951,177.2,13.4,459,2505,0.00,2.38,0.00,0.000,3078,0.000,0.045,2756,1966,1999,2049,1950,0,0,0,0,0,0,14.74,14.64,14.76
$GC,2567,0.92,198.4,2755,1967,2047,1950,169.9,10.7,472,2573,0.00,0.00,0.00,0.000,2054,0.000,0.000,2756,1966,1999,2048,1950,0,0,0,0,0,0,14.94,14.94,14.95
$GC,2636,0.93,205.6,2754,1966,2046,1949,162.7,9.6,485,2649,0.05,2.47,6.88,0.933,10756,0.251,0.076,2797,563,1972,2022,1923,0,0,0,0,0,0,14.61,14.68,13.92
$GC,2662,0.93,205.6,2797,563,2021,1923,160.2,10.4,489,2668,0.00,2.33,0.00,0.000,5126,0.000,0.044,2797,1965,1971,2020,1923,0,0,0,0,0,0,14.83,14.73,14.84
$GC,2731,0.93,205.6,2797,1965,2019,1922,151.9,11.9,502,2737,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1966,1971,2019,1923,0,0,0,0,0,0,14.98,14.99,14.99
$GC,2799,0.93,205.6,2796,1965,2018,1922,143.2,12.6,515,2806,0.00,2.45,0.00,0.000,4356,0.000,0.069,2797,3362,1969,2017,1922,0,0,0,0,0,0,15.01,14.64,15.01
$GC,2838,0.93,205.6,2796,3362,2017,1921,138.1,13.2,522,2846,0.08,2.35,0.00,0.000,5126,0.300,0.046,2790,1963,1969,2017,1921,0,0,0,0,0,0,14.45,14.66,14.64
$GC,2908,0.93,205.6,2790,1962,2017,1921,130.3,10.7,535,2913,0.00,0.00,0.00,0.000,4102,0.000,0.000,2789,1963,1969,2017,1921,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2975,0.93,205.6,2789,1963,2017,1921,122.1,11.1,548,2982,0.00,2.47,0.00,0.000,4356,0.000,0.067,2790,3370,1968,2016,1920,0,0,0,0,0,0,15.06,14.74,15.06
$GC,2999,0.93,205.6,2789,3371,2016,1920,119.2,12.8,552,3005,0.00,2.38,0.00,0.000,5126,0.000,0.047,2790,1957,1968,2016,1920,0,0,0,0,0,0,14.76,14.63,14.76
$GC,3069,0.93,205.6,2790,1957,2016,1919,111.8,10.5,565,3074,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1957,1967,2016,1919,0,0,0,0,0,0,15.06,15.07,15.06
$GC,3136,0.93,205.6,2790,1957,2016,1919,105.1,10.0,578,3143,0.00,2.47,0.00,0.000,4356,0.000,0.067,2790,3362,1966,2016,1917,0,0,0,0,0,0,15.07,14.74,15.07
$GC,3180,0.93,205.6,2790,3363,2015,1918,100.0,11.4,586,3187,0.00,2.38,0.00,0.000,5126,0.000,0.047,2791,1963,1967,2016,1918,0,0,0,0,0,0,14.90,14.77,14.92
$GC,3250,0.93,205.6,2794,1963,2016,1918,92.5,10.5,599,3257,0.00,2.45,0.00,0.000,4356,0.000,0.066,2791,3364,1966,2015,1917,0,0,0,0,0,0,15.09,14.75,15.07
$GC,3350,0.93,205.6,2791,3364,2014,1917,80.0,13.3,618,3356,0.00,2.35,0.00,0.000,5126,0.000,0.047,2797,1961,1966,2016,1917,0,0,0,0,0,0,14.85,14.72,14.86
$GC,3420,0.93,205.6,2797,1961,2015,1917,71.2,12.6,631,3426,0.00,2.45,0.00,0.000,4612,0.000,0.077,2797,560,1965,2014,1917,0,0,0,0,0,0,15.09,14.67,15.09
$GC,3433,0.93,205.6,2797,560,2014,1917,69.6,12.1,633,3440,0.00,2.33,0.00,0.000,5126,0.000,0.043,2797,1976,1965,2014,1917,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3503,1.00,265.4,2797,1976,2014,1917,63.6,7.2,646,3560,0.00,2.40,48.40,1.028,10500,0.000,0.067,2797,3359,1727,1782,1672,0,0,0,0,0,0,15.07,14.63,14.00
$GC,3592,1.00,265.4,2797,3360,1780,1670,54.6,12.2,662,3599,0.00,2.38,0.00,0.000,3078,0.000,0.049,2797,1961,1724,1779,1669,0,0,0,0,0,0,14.77,14.64,14.78
$GC,3662,1.00,265.4,2797,1962,1779,1669,46.5,12.4,675,3669,0.00,2.45,0.00,0.000,2564,0.000,0.080,2797,560,1723,1778,1669,0,0,0,0,0,0,14.95,14.63,14.95
$GC,3681,1.00,265.4,2797,560,1778,1669,44.2,12.2,678,3688,0.00,2.33,0.00,0.000,3078,0.000,0.043,2797,1963,1722,1777,1668,0,0,0,0,0,0,14.83,14.72,14.84
$GC,3752,1.05,308.1,2797,1963,1776,1668,37.8,8.0,691,3792,0.00,2.47,34.90,0.973,10500,0.000,0.066,2797,3360,1554,1611,1498,0,0,0,0,0,0,14.98,14.62,13.99
$GC,3921,1.14,380.8,2797,3360,1605,1495,27.8,6.6,723,3978,0.17,2.38,49.03,0.954,11270,0.101,0.045,2862,1957,1259,1320,1198,0,0,0,0,0,0,14.73,14.71,13.97
$GC,4041,1.14,380.8,2861,1957,1321,1198,16.3,12.1,745,4047,0.00,0.00,0.00,0.000,4102,0.000,0.000,2862,1957,1259,1321,1198,0,0,0,0,0,0,14.88,14.89,14.89
$GC,4110,1.14,380.8,2861,1957,1319,1196,8.1,11.5,758,4115,0.00,0.00,0.00,0.000,4102,0.000,0.000,2862,1957,1258,1318,1198,0,0,0,0,0,0,14.94,14.94,14.94
$STATE,4155,end climb,SURFACE_DEPTH_REACHED
$STATE,4156,begin surface coast
$FINISH,0.3,1.023438
$STATE,4183,end surface coast,CONTROL_FINISHED_OK
$STATE,4183,begin surface
$SM_CCo,4206,89.72,0.749,0,0,599,542.59
$SM_GC,0.47,12.75,0.08,89.72,0.057,0.147,0.749,149,2024,599,-7.26,-1.10,542.59,0,0,0,0,0,0,14.74,14.76,14.04
$IRIDIUM_FIX,-3024.96,3048.38,130419,064920
$TT8_MAMPS,0.019474,0.901796
$HUMID,57.79
$INTERNAL_PRESSURE,9.22851
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,170.1,50.4
$SC_FREEKB,3812480
$24V_AH,13.11,139.158
$10V_AH,13.40,0.000
$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,28.400,100.650,410.675,89.725,0.000,23.399,16.173,317.204,3.000,0.000,22.957,1633.987,729.749,667.856,1675.085,189.219,0.000,1380.805,0.000,1164.952,0.000,21.182,0.000
$DEVICE_MAMPS,330.480,146.880,1152.090,748.935,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.371,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,26720,772
$CAP_FILE_SIZE,143106,0
$CFSIZE,1023623168,992444416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130419,093455,-3038.650,3041.344,21,0.8,42,-25.4,1.5,193.4,10,7.8