version: 66.10
glider: 169
mission: 5
dive: 411
start: 1 27 112 7 25 53
data:
$ID,169
$MISSION,5
$DIVE,411
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,40
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-11396.243
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,270112,071737,2327.000,12304.970,31,1.0,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.8
$GPS2,270112,072531,2326.967,12305.121,16,1.2,33,-3.2
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2335.239,12312.695
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,43.2,20000,-15.4,-9.167
$D_GRID,3543
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.60,-175.2,0.0,0.0,0,91,0.00,0.00,-71.95,0.000,2,0.000,0.000,118,2682,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.60,-175.2,3.6,-8.1,13,124,7.18,1.85,-13.55,0.000,4,0.235,0.051,1797,3826,3697,0,0,0,0,0,0,24.76,26.01,26.54
$GC,177,-0.48,-175.2,40.7,-39.5,28,185,0.17,1.83,0.00,0.000,6,0.148,0.024,1847,2588,3698,0,0,0,0,0,0,25.68,26.13,28.83
$GC,490,-0.38,-175.2,126.5,-27.8,89,497,0.12,2.08,0.00,0.000,4,0.175,0.023,1896,1170,3697,0,0,0,0,0,0,26.06,26.22,28.83
$GC,593,-0.43,-175.2,139.7,-8.3,108,600,0.00,2.28,0.00,0.000,6,0.000,0.037,1885,2652,3698,0,0,0,0,0,0,28.83,26.13,28.83
$GC,905,-0.42,-175.2,184.8,-12.7,169,911,0.00,1.77,0.00,0.000,4,0.000,0.042,1877,3816,3697,0,0,0,0,0,0,28.83,26.13,28.83
$GC,928,-0.42,-175.2,187.9,-12.7,173,935,0.00,1.80,0.00,0.000,6,0.000,0.021,1877,2558,3697,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1244,-0.41,-175.2,227.9,-12.7,214,1252,0.00,1.98,0.00,0.000,4,0.000,0.025,1876,1169,3698,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1275,-0.42,-175.2,231.4,-11.3,217,1284,0.00,2.28,0.00,0.000,6,0.000,0.037,1867,2652,3698,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1588,-0.40,-175.2,267.9,-13.3,248,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2652,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1896,-0.40,-175.2,306.4,-11.0,279,1905,0.00,2.15,0.00,0.000,4,0.000,0.026,1867,1179,3698,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1948,-0.44,-175.2,311.2,-9.0,284,1957,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2650,3698,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2257,-0.44,-175.2,342.0,-9.5,315,2260,0.00,1.77,0.00,0.000,4,0.000,0.044,1853,3823,3697,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2279,-0.45,-175.2,343.6,-8.8,317,2287,0.00,1.80,0.00,0.000,6,0.000,0.023,1854,2564,3697,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2588,-0.45,-175.2,376.2,-10.7,348,2597,0.00,2.03,0.00,0.000,4,0.000,0.026,1853,1172,3697,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2620,-0.46,-175.2,379.5,-10.7,351,2629,0.00,2.28,0.00,0.000,6,0.000,0.038,1845,2652,3697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2929,-0.46,-175.2,411.8,-10.0,382,2933,0.00,2.17,0.00,0.000,4,0.000,0.027,1845,1183,3695,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2953,-0.46,-175.2,414.1,-10.3,384,2960,0.00,2.28,0.00,0.000,6,0.000,0.037,1837,2654,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3261,-0.46,-175.2,447.8,-9.9,415,3264,0.00,1.77,0.00,0.000,4,0.000,0.042,1827,3822,3694,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3284,-0.46,-175.2,450.0,-10.5,417,3292,0.12,1.80,0.00,0.000,6,0.122,0.021,1866,2561,3694,0,0,0,0,0,0,26.15,26.41,28.83
$GC,3593,-0.49,-175.2,471.3,-6.9,448,3602,0.00,2.03,0.00,0.000,4,0.000,0.027,1866,1172,3692,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3618,-0.53,-175.2,472.9,-6.9,450,3625,0.00,2.28,0.00,0.000,6,0.000,0.038,1866,2652,3692,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3926,-0.57,-175.2,494.3,-6.7,481,3936,0.12,2.20,0.00,0.000,4,0.076,0.025,1771,1158,3690,0,0,0,0,0,0,26.55,26.24,28.83
$GC,3962,-0.58,-175.2,497.9,-9.6,484,3970,0.20,2.30,0.00,0.000,6,0.124,0.037,1821,2652,3690,0,0,0,0,0,0,25.86,26.15,28.83
$GC,4268,-0.58,-175.2,532.6,-11.6,515,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2652,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4571,-0.58,-175.2,565.5,-10.4,545,4579,0.00,2.17,0.00,0.000,4,0.000,0.028,1822,1177,3686,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4602,-0.58,-175.2,569.1,-10.7,548,4611,0.00,2.28,0.00,0.000,6,0.000,0.038,1813,2653,3686,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4922,-0.57,-175.2,602.8,-10.8,579,4928,0.00,2.20,0.00,0.000,4,0.000,0.027,1813,1169,3683,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4975,-0.57,-175.2,606.9,-10.5,581,4982,0.00,2.30,0.00,0.000,6,0.000,0.037,1804,2654,3683,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5283,-0.56,-175.2,642.3,-11.1,597,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2654,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5582,-0.54,-175.2,676.1,-11.2,612,5588,0.00,2.22,0.00,0.000,4,0.000,0.027,1804,1169,3679,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5650,-0.55,-175.2,682.1,-10.4,615,5655,0.12,2.33,0.00,0.000,6,0.127,0.038,1834,2655,3679,0,0,0,0,0,0,25.94,26.09,28.83
$GC,5961,-0.57,-175.2,704.5,-6.5,630,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2655,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6258,-0.60,-175.2,723.4,-6.3,645,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2655,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6558,-0.62,-175.2,744.0,-7.2,660,6563,0.00,2.20,0.00,0.000,4,0.000,0.029,1835,1177,3671,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6590,-0.64,-175.2,745.5,-7.2,661,6597,0.00,2.30,0.00,0.000,6,0.000,0.039,1826,2652,3671,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6899,-0.66,-175.2,770.0,-7.6,677,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2652,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7199,-0.68,-175.2,793.5,-8.0,692,7205,0.10,2.17,0.00,0.000,4,0.091,0.026,1759,1185,3667,0,0,0,0,0,0,26.52,26.13,28.83
$GC,7226,-0.69,-175.2,795.5,-8.2,693,7231,0.15,2.28,0.00,0.000,6,0.135,0.039,1792,2654,3667,0,0,0,0,0,0,25.78,26.03,28.83
$GC,7534,-0.68,-175.2,831.8,-11.2,708,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2653,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7833,-0.66,-175.2,864.9,-10.9,723,7838,0.00,2.22,0.00,0.000,4,0.000,0.028,1792,1168,3664,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7880,-0.66,-175.2,869.0,-10.7,725,7884,0.00,2.30,0.00,0.000,6,0.000,0.040,1782,2650,3664,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8190,-0.65,-175.2,905.6,-11.8,740,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2649,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.63,-175.2,941.6,-11.8,755,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2649,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8789,-0.61,-175.2,979.0,-12.9,770,8795,0.10,2.25,0.00,0.000,4,0.161,0.028,1809,1162,3659,0,0,0,0,0,0,26.31,26.06,28.83
$GC,8829,-0.61,-175.2,983.6,-12.3,772,8834,0.00,2.33,0.00,0.000,6,0.000,0.041,1800,2649,3660,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,8905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8906,begin apogee
$GC,8911,-0.20,0.0,992.0,-10.5,776,9074,0.40,0.15,155.75,1.183,6,0.099,0.073,1940,2544,2977,0,0,0,0,0,0,25.75,24.87,23.31
$STATE,9075,end apogee,CONTROL_FINISHED_OK
$STATE,9076,begin climb
$GC,9078,0.60,175.2,1001.6,0.0,784,9258,0.70,2.15,168.68,1.187,4,0.049,0.044,2209,3810,2253,0,0,0,0,0,0,25.16,24.84,23.30
$GC,9288,0.50,175.2,988.9,15.0,795,9293,0.17,2.10,0.00,0.000,6,0.187,0.028,2177,2464,2239,0,0,0,0,0,0,25.03,25.41,28.83
$GC,9601,0.45,175.2,942.7,14.8,811,9606,0.00,2.15,0.00,0.000,4,0.000,0.044,2177,3822,2232,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9670,0.38,175.2,932.3,16.7,814,9679,0.20,2.08,0.00,0.000,6,0.164,0.031,2134,2469,2231,0,0,0,0,0,0,25.58,26.07,28.83
$GC,9981,0.36,175.2,896.5,10.5,830,9986,0.00,2.12,0.00,0.000,4,0.000,0.044,2133,3817,2230,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10042,0.33,175.2,889.1,11.8,833,10047,0.00,2.05,0.00,0.000,6,0.000,0.028,2144,2462,2228,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10361,0.31,175.2,853.5,11.2,849,10367,0.12,2.15,0.00,0.000,4,0.168,0.042,2105,3819,2228,0,0,0,0,0,0,26.03,26.00,28.83
$GC,10393,0.28,175.2,851.1,11.4,850,10400,0.00,2.05,0.00,0.000,6,0.000,0.028,2116,2462,2227,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10701,0.28,175.2,821.1,9.2,866,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2459,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11002,0.32,200.5,794.7,8.3,881,11032,0.00,2.22,19.08,0.907,4,0.000,0.044,2116,3815,2158,0,0,0,0,1,0,28.83,25.91,23.80
$GC,11081,0.32,200.5,787.3,9.4,885,11087,0.00,2.08,0.00,0.000,6,0.000,0.028,2126,2458,2160,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11400,0.32,200.5,757.5,9.3,901,11406,0.00,2.12,0.00,0.000,4,0.000,0.036,2138,1056,2160,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11433,0.32,200.5,755.6,9.5,902,11440,0.00,2.28,0.00,0.000,6,0.000,0.039,2137,2530,2160,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11742,0.31,200.5,721.3,11.3,918,11747,0.00,1.98,0.00,0.000,4,0.000,0.045,2137,3810,2160,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11788,0.29,200.5,716.2,12.1,920,11793,0.15,2.05,0.00,0.000,6,0.153,0.027,2108,2457,2159,0,0,0,0,0,0,25.76,26.16,28.83
$GC,12100,0.34,233.3,688.8,8.0,935,12147,0.00,2.25,40.67,0.930,4,0.000,0.045,2107,3807,2018,0,0,0,0,0,0,28.83,25.63,24.06
$GC,12178,0.40,260.1,682.1,8.2,939,12215,0.00,2.08,27.42,0.949,6,0.000,0.028,2118,2461,1907,0,0,0,0,0,0,28.83,25.79,23.91
$GC,12520,0.48,308.0,655.3,7.5,956,12576,0.12,2.22,46.92,0.944,4,0.077,0.038,2212,1055,1710,0,0,0,0,0,0,26.23,25.43,23.94
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$GC,14629,0.49,308.0,404.0,9.6,1141,14638,0.00,2.25,0.00,0.000,6,0.000,0.036,2168,2527,1691,0,0,0,0,0,0,28.83,26.03,28.83
$GC,14942,0.51,308.9,374.2,9.1,1172,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2527,1692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15250,0.53,311.3,344.7,9.1,1203,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2527,1692,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18185,end climb,SURFACE_DEPTH_REACHED
$STATE,18185,begin surface coast
$FINISH,0.4,1.022725
$STATE,18208,end surface coast,CONTROL_FINISHED_OK
$STATE,18208,begin surface
$SM_CCo,18284,0.00,0.000,0,0,1141,450.86
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$IRIDIUM_FIX,2316.83,12302.32,270112,020238
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.3,85.843
$10V_AH,9.9,51.247
$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,16.800,154.325,597.125,0.000,0.000,30.554,50.803,232.314,0.000,0.000,34.785,3837.125,10541.775,736.351,3210.041,402.571,0.000,2269.865,0.000,2711.041,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,72.675,1187.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1111.079,2121.049,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330388
$DATA_FILE_SIZE,107074,1637
$CAP_FILE_SIZE,193347,0
$CFSIZE,260165632,185262080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270112,123137,2328.417,12307.953,32,0.9,32,-3.3