version: 66.04
glider: 144
mission: 15
dive: 814
start: 3 11 110 23 29 6
data:
$ID,144
$MISSION,15
$DIVE,814
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-78175.953
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,232111,4901.440,-13135.402,49,2.4,68,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-63.5
$GPS2,232813,4901.436,-13135.490,13,1.3,30,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,-0.050
$KALMAN_X,-41125.7,-160.5,-373.0,1004905.4,1993.0
$KALMAN_Y,71238.8,-161.5,-59.0,-218326.7,1086.3
$MHEAD_RNG_PITCHd_Wd,87.8,67728,-12.3,-5.500
$D_GRID,1001
$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
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-39.58,0.000,2,0.000,0.000,97,2300,2540
$GC,67,-0.68,-117.3,3.5,-4.1,2,103,7.05,2.38,-23.70,0.000,4,0.225,0.065,1837,3713,3411
$GC,264,-0.64,-117.3,24.9,-11.5,10,269,0.10,2.22,0.00,0.000,6,0.119,0.029,1861,2294,3413
$GC,593,-0.64,-117.3,57.8,-9.8,26,597,0.00,2.25,0.00,0.000,4,0.000,0.040,1862,891,3413
$GC,696,-0.64,-117.3,67.6,-9.2,30,702,0.00,2.28,0.00,0.000,6,0.000,0.036,1856,2303,3413
$GC,1019,-0.64,-117.3,98.6,-8.7,55,1023,0.00,2.25,0.00,0.000,4,0.000,0.039,1856,891,3413
$GC,1111,-0.64,-117.3,107.5,-9.5,63,1115,0.00,2.30,0.00,0.000,6,0.000,0.037,1850,2308,3413
$GC,1443,-0.64,-117.3,136.5,-8.1,93,1447,0.00,2.28,0.00,0.000,4,0.000,0.039,1849,896,3413
$GC,1495,-0.67,-117.3,141.5,-8.5,97,1501,0.00,2.30,0.00,0.000,6,0.000,0.038,1850,2311,3413
$GC,1835,-0.67,-117.3,166.9,-8.0,116,1839,0.00,2.30,0.00,0.000,4,0.000,0.052,1840,3708,3414
$GC,1915,-0.70,-117.3,173.5,-7.6,118,1919,0.00,2.17,0.00,0.000,6,0.000,0.028,1839,2301,3414
$GC,2242,-0.72,-117.3,197.5,-7.4,129,2245,0.00,2.25,0.00,0.000,4,0.000,0.040,1839,898,3414
$GC,2380,-0.74,-117.3,208.4,-7.3,133,2384,0.00,2.28,0.00,0.000,6,0.000,0.043,1836,2303,3413
$GC,2717,-0.74,-117.3,232.0,-6.8,144,2721,0.00,2.25,0.00,0.000,4,0.000,0.047,1836,904,3413
$GC,2782,-0.77,-117.3,236.7,-7.7,145,2789,0.00,2.28,0.00,0.000,6,0.000,0.038,1836,2311,3414
$GC,3098,-0.77,-117.3,259.1,-7.1,156,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2312,3414
$GC,3403,-0.79,-117.3,280.3,-6.8,166,3407,0.00,2.28,0.00,0.000,4,0.000,0.041,1836,891,3413
$GC,3483,-0.82,-117.3,286.0,-7.6,168,3487,0.00,2.28,0.00,0.000,6,0.000,0.039,1835,2305,3413
$GC,3847,-0.85,-117.3,310.2,-6.8,178,3851,0.00,2.25,0.00,0.000,4,0.000,0.041,1835,902,3413
$GC,3893,-0.88,-117.3,314.2,-7.9,178,3897,0.00,2.28,0.00,0.000,6,0.000,0.044,1827,2306,3413
$GC,4209,-0.88,-117.3,338.4,-7.7,184,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2307,3413
$GC,4513,-0.88,-117.3,361.8,-7.7,189,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2307,3412
$GC,4815,-0.88,-117.3,384.4,-7.5,194,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2307,3412
$GC,5118,-0.88,-117.3,406.2,-7.1,199,5122,0.00,2.30,0.00,0.000,4,0.000,0.043,1827,905,3411
$GC,5159,-0.91,-117.3,409.0,-6.8,199,5163,0.00,2.33,0.00,0.000,6,0.000,0.038,1822,2305,3411
$GC,5481,-0.91,-117.3,429.9,-6.5,205,5485,0.00,2.35,0.00,0.000,4,0.000,0.048,1812,3707,3411
$GC,5505,-0.91,-117.3,431.6,-6.7,205,5509,0.00,2.20,0.00,0.000,6,0.000,0.030,1812,2300,3411
$GC,5850,-0.91,-117.3,453.9,-6.4,211,5854,0.00,2.28,0.00,0.000,4,0.000,0.044,1812,902,3411
$GC,5890,-0.91,-117.3,456.7,-6.9,211,5894,0.00,2.30,0.00,0.000,6,0.000,0.045,1804,2307,3411
$GC,6213,-0.88,-117.3,479.8,-7.2,217,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2308,3410
$GC,6515,-0.86,-117.3,504.9,-8.4,222,6519,0.00,2.33,0.00,0.000,4,0.000,0.044,1804,892,3410
$GC,6566,-0.86,-117.3,509.7,-8.9,222,6570,0.00,2.33,0.00,0.000,6,0.000,0.038,1794,2310,3410
$GC,6878,-0.82,-117.3,539.2,-9.6,227,6882,0.10,2.35,0.00,0.000,4,0.134,0.044,1823,901,3409
$GC,6925,-0.86,-117.3,543.4,-8.2,227,6929,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2306,3409
$GC,7241,-0.86,-117.3,567.5,-7.5,233,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3409
$GC,7544,-0.86,-117.3,588.2,-6.7,238,7548,0.00,2.33,0.00,0.000,4,0.000,0.048,1821,892,3409
$GC,7613,-0.89,-117.3,593.1,-7.1,239,7618,0.00,2.33,0.00,0.000,6,0.000,0.042,1820,2306,3409
$GC,7975,-0.91,-117.3,619.4,-7.3,245,7979,0.00,2.35,0.00,0.000,4,0.000,0.044,1820,894,3409
$GC,8011,-0.94,-117.3,622.2,-8.0,245,8015,0.00,2.33,0.00,0.000,6,0.000,0.041,1811,2305,3408
$GC,8339,-0.94,-117.3,646.6,-7.5,251,8343,0.00,2.33,0.00,0.000,4,0.000,0.043,1811,901,3408
$GC,8391,-0.94,-117.3,651.0,-8.2,251,8395,0.00,2.30,0.00,0.000,6,0.000,0.047,1808,2308,3408
$GC,8713,-0.94,-117.3,675.9,-7.7,257,8716,0.00,2.33,0.00,0.000,4,0.000,0.049,1808,898,3408
$GC,8771,-0.94,-117.3,680.3,-8.0,257,8775,0.00,2.33,0.00,0.000,6,0.000,0.039,1806,2310,3408
$GC,9083,-0.94,-117.3,701.2,-6.6,262,9087,0.00,2.30,0.00,0.000,4,0.000,0.050,1807,898,3408
$GC,9118,-0.94,-117.3,703.9,-7.5,262,9123,0.00,2.33,0.00,0.000,6,0.000,0.044,1800,2306,3407
$GC,9446,-0.94,-117.3,726.9,-7.0,268,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2306,3407
$GC,9749,-0.94,-117.3,747.3,-6.7,273,9753,0.00,2.33,0.00,0.000,4,0.000,0.046,1800,895,3407
$GC,9791,-0.94,-117.3,750.2,-8.0,273,9795,0.00,2.33,0.00,0.000,6,0.000,0.038,1794,2302,3407
$GC,10113,-0.94,-117.3,771.9,-6.6,279,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3407
$GC,10416,-0.94,-117.3,789.6,-5.9,284,10420,0.00,2.30,0.00,0.000,4,0.000,0.045,1794,895,3406
$GC,10480,-0.94,-117.3,793.6,-6.4,285,10484,0.00,2.33,0.00,0.000,6,0.000,0.041,1788,2303,3406
$GC,10848,-0.91,-117.3,817.8,-6.7,291,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2303,3406
$GC,11150,-0.88,-117.3,838.7,-6.9,296,11154,0.00,2.33,0.00,0.000,4,0.000,0.044,1788,895,3406
$GC,11191,-0.86,-117.3,841.7,-7.5,296,11196,0.12,2.33,0.00,0.000,6,0.124,0.039,1815,2304,3406
$GC,11515,-0.89,-117.3,859.9,-5.6,302,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2305,3406
$GC,11817,-0.93,-117.3,877.3,-5.7,307,11821,0.00,2.30,0.00,0.000,4,0.000,0.051,1815,903,3406
$GC,11874,-0.96,-117.3,881.3,-6.3,307,11880,0.00,2.33,0.00,0.000,6,0.000,0.044,1809,2304,3406
$GC,12186,-0.96,-117.3,902.9,-7.0,313,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3406
$GC,12490,-0.99,-117.3,922.9,-6.5,318,12494,0.10,2.38,0.00,0.000,4,0.077,0.048,1756,895,3406
$GC,12558,-0.91,-117.3,929.0,-10.0,319,12563,0.17,2.38,0.00,0.000,6,0.127,0.047,1803,2305,3406
$GC,12920,-0.91,-117.3,951.9,-6.2,325,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2305,3405
$GC,13222,-0.91,-117.3,970.5,-6.2,330,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2305,3405
$STATE,13521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13521,begin apogee
$GC,13531,-0.22,0.0,990.1,6.5,335,13631,0.47,0.00,97.40,1.276,6,0.106,0.000,1958,2305,2930
$STATE,13632,end apogee,CONTROL_FINISHED_OK
$STATE,13632,begin climb
$GC,13636,0.68,117.3,991.8,0.0,336,13748,0.55,2.65,103.60,1.251,4,0.067,0.054,2154,3703,2451
$GC,13790,0.49,117.3,989.8,6.8,338,13795,0.25,2.42,0.00,0.000,6,0.156,0.034,2104,2304,2447
$GC,14129,0.48,134.6,973.2,4.9,344,14146,0.00,0.00,14.55,1.138,6,0.000,0.000,2104,2304,2382
$GC,14433,0.49,138.8,957.1,5.4,349,14442,0.00,2.35,4.70,0.823,4,0.000,0.053,2104,3714,2365
$GC,14478,0.44,138.8,954.1,7.1,349,14483,0.00,2.25,0.00,0.000,6,0.000,0.033,2113,2298,2363
$GC,14801,0.40,138.8,934.5,6.1,355,14806,0.10,2.33,0.00,0.000,4,0.159,0.050,2086,3717,2363
$GC,14859,0.40,138.8,930.7,5.7,355,14865,0.00,2.25,0.00,0.000,6,0.000,0.035,2094,2301,2362
$GC,15170,0.40,138.8,912.8,5.7,361,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2301,2362
$GC,15475,0.42,150.6,897.2,5.1,366,15491,0.00,2.33,11.15,1.077,4,0.000,0.054,2094,3710,2318
$GC,15532,0.41,157.9,894.1,5.3,366,15547,0.00,2.22,8.15,0.999,6,0.000,0.032,2104,2302,2287
$GC,15911,0.42,166.9,874.4,5.2,373,15922,0.00,0.00,9.45,1.029,6,0.000,0.000,2104,2302,2250
$GC,16213,0.42,170.4,858.1,5.4,378,16222,0.00,2.30,4.25,0.749,4,0.000,0.054,2104,3714,2236
$GC,16265,0.40,170.4,854.8,6.9,378,16269,0.12,2.22,0.00,0.000,6,0.146,0.037,2083,2303,2235
$GC,16582,0.52,170.4,837.2,5.8,384,16587,0.10,2.30,0.00,0.000,4,0.076,0.051,2145,890,2234
$GC,16678,0.47,170.4,830.4,7.1,385,16683,0.17,2.30,0.00,0.000,6,0.136,0.038,2098,2311,2234
$GC,17014,0.50,170.4,811.0,5.8,391,17018,0.00,2.30,0.00,0.000,4,0.000,0.054,2098,3712,2234
$GC,17065,0.50,170.4,807.2,6.9,391,17069,0.00,2.22,0.00,0.000,6,0.000,0.032,2107,2291,2233
$GC,17377,0.50,170.4,788.6,6.0,396,17378,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2291,2233
$GC,17679,0.50,171.1,771.9,5.5,401,17683,0.00,2.38,0.00,0.000,4,0.000,0.051,2106,3717,2233
$GC,17704,0.50,171.1,770.3,5.6,401,17708,0.00,2.22,0.00,0.000,6,0.000,0.031,2117,2302,2233
$GC,18048,0.50,171.1,750.3,5.9,407,18049,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2302,2233
$GC,18351,0.50,171.1,732.7,5.8,412,18355,0.00,2.35,0.00,0.000,4,0.000,0.050,2117,3718,2233
$GC,18391,0.45,171.1,730.1,6.0,412,18396,0.12,2.25,0.00,0.000,6,0.142,0.039,2096,2299,2232
$GC,18714,0.54,208.8,716.3,4.2,418,18750,0.00,0.00,34.50,1.071,6,0.000,0.000,2096,2299,2078
$GC,19017,0.69,218.8,701.3,5.2,423,19032,0.17,2.30,9.80,0.937,4,0.053,0.054,2184,3713,2038
$GC,19198,0.52,218.8,683.8,10.6,425,19203,0.30,2.20,0.00,0.000,6,0.143,0.032,2111,2302,2036
$GC,19527,0.59,235.3,666.9,4.9,431,19547,0.00,2.33,15.45,0.980,4,0.000,0.045,2120,894,1969
$GC,19572,0.65,235.3,664.4,5.7,431,19577,0.08,2.30,0.00,0.000,6,0.079,0.038,2181,2315,1968
$GC,19889,0.54,235.3,635.2,9.5,437,19894,0.20,2.33,0.00,0.000,4,0.131,0.048,2120,3717,1966
$GC,19969,0.54,235.3,629.1,6.1,438,19973,0.00,2.22,0.00,0.000,6,0.000,0.031,2127,2302,1966
$GC,20320,0.56,235.3,608.8,5.7,444,20322,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2302,1965
$GC,20622,0.56,235.3,591.6,5.7,449,20623,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2302,1965
$GC,20926,0.59,242.7,575.5,5.3,454,20935,0.00,0.00,7.10,0.815,6,0.000,0.000,2127,2302,1941
$GC,21229,0.63,247.5,559.2,5.3,459,21239,0.00,2.33,5.70,0.746,4,0.000,0.045,2137,892,1922
$GC,21259,0.67,247.5,557.4,6.1,459,21263,0.00,2.30,0.00,0.000,6,0.000,0.037,2137,2310,1921
$GC,21592,0.67,247.5,537.2,6.1,465,21596,0.00,2.30,0.00,0.000,4,0.000,0.053,2136,3711,1919
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$GC,23531,0.71,251.7,410.2,5.4,496,23537,0.00,0.00,4.97,0.639,6,0.000,0.000,2133,2302,1905
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$STATE,29664,end climb,SURFACE_DEPTH_REACHED
$STATE,29664,begin surface coast
$FINISH,1.5,1.025275
$STATE,29671,end surface coast,CONTROL_FINISHED_OK
$STATE,29671,begin surface
$SM_CCo,29754,0.00,0.000,0,0,1650,314.23
$SM_GC,2.23,5.60,0.00,0.00,0.035,0.000,0.000,97,2295,1650,-8.62,-0.23,314.23
$IRIDIUM_FIX,4846.86,-13140.19,050699,151547
$TT8_MAMPS,0.029146
$HUMID,1769
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,18.50
$XPDR_PINGS,76
$24V_AH,21.8,117.403
$10V_AH,10.3,99.197
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$DEVICE_SECS,17.200,238.550,391.425,0.000,0.000,24.670,26.402,167.717,19.000,0.000,0.000,31.754,1713.055,24600.584,551.680,2292.566,1000.298,33.387,1749.995,0.000,2250.191,0.000,0.528,0.000
$DEVICE_MAMPS,225.498,65.195,1276.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,520.657,605.904,767.282,794.628,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44299,742
$CAP_FILE_SIZE,187779,0
$CFSIZE,260165632,195342336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120310,074636,4900.793,-13130.023,51,1.5,51,19.5