version: 66.10
glider: 169
mission: 5
dive: 262
start: 12 29 111 14 30 28
data:
$ID,169
$MISSION,5
$DIVE,262
$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,320
$T_MISSION,360
$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,225
$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,-1
$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,-11051.556
$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
$GPS1,291211,141606,2216.699,12413.673,30,1.0,30,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.3
$GPS2,291211,143007,2216.490,12413.885,14,1.7,14,-3.0
$SPEED_LIMITS,0.179,0.315
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$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,198.5,89361,-15.1,-10.312
$D_GRID,5115
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.65,-219.0,0.0,0.0,0,128,0.00,0.00,-107.35,0.000,2,0.000,0.000,126,2687,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-0.65,-219.0,3.6,-7.9,19,162,6.65,2.30,-13.82,0.000,4,0.223,0.041,1802,1178,3874,0,0,0,0,0,0,25.17,26.09,26.50
$GC,311,-0.60,-219.0,61.4,-23.2,53,317,0.00,2.28,0.00,0.000,6,0.000,0.041,1792,2659,3874,0,0,0,0,0,0,28.83,26.09,28.83
$GC,623,-0.46,-219.0,183.8,-37.3,114,630,0.20,2.17,0.00,0.000,4,0.164,0.024,1862,1179,3873,0,0,0,0,0,0,25.87,26.27,28.83
$GC,698,-0.51,-219.0,199.3,-11.1,128,705,0.00,2.22,0.00,0.000,6,0.000,0.039,1857,2655,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1013,-0.48,-219.0,247.3,-13.7,160,1016,0.00,1.80,0.00,0.000,4,0.000,0.044,1848,3822,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1095,-0.51,-219.0,255.6,-8.3,168,1099,0.00,1.77,0.00,0.000,6,0.000,0.023,1848,2563,3874,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1407,-0.50,-219.0,296.9,-13.9,199,1416,0.00,1.98,0.00,0.000,4,0.000,0.028,1847,1164,3874,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1441,-0.50,-219.0,301.0,-13.3,202,1448,0.00,2.25,0.00,0.000,6,0.000,0.038,1838,2656,3874,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1749,-0.47,-219.0,345.3,-14.1,233,1753,0.00,1.80,0.00,0.000,4,0.000,0.044,1830,3809,3872,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1793,-0.47,-219.0,350.7,-13.0,237,1800,0.00,1.77,0.00,0.000,6,0.000,0.023,1830,2561,3872,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2101,-0.45,-219.0,388.3,-10.4,268,2105,0.12,2.00,0.00,0.000,4,0.134,0.025,1875,1168,3871,0,0,0,0,0,0,26.35,26.37,28.83
$GC,2126,-0.45,-219.0,390.3,-9.6,270,2132,0.00,2.25,0.00,0.000,6,0.000,0.038,1866,2660,3871,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2434,-0.50,-219.0,407.2,-5.8,301,2437,0.00,1.77,0.00,0.000,4,0.000,0.045,1858,3819,3870,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2465,-0.55,-219.0,408.9,-5.9,304,2469,0.00,1.77,0.00,0.000,6,0.000,0.024,1858,2562,3869,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2777,-0.66,-219.0,431.6,-7.9,335,2786,0.15,1.98,0.00,0.000,4,0.077,0.041,1768,3823,3867,0,0,0,0,0,0,26.54,26.26,28.83
$GC,2802,-0.77,-219.0,433.7,-8.6,337,2809,0.00,1.80,0.00,0.000,6,0.000,0.023,1768,2542,3867,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3109,-0.70,-219.0,490.6,-21.1,368,3113,0.00,1.95,0.00,0.000,4,0.000,0.027,1768,1177,3866,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3190,-0.70,-219.0,503.1,-12.7,376,3199,0.00,2.25,0.00,0.000,6,0.000,0.040,1757,2661,3865,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3501,-0.64,-219.0,563.2,-20.9,407,3505,0.12,1.80,0.00,0.000,4,0.161,0.044,1789,3842,3862,0,0,0,0,0,0,26.23,26.22,28.83
$GC,3536,-0.58,-219.0,569.5,-19.4,410,3543,0.12,1.83,0.00,0.000,6,0.129,0.023,1827,2559,3862,0,0,0,0,0,0,26.19,26.46,28.83
$GC,3844,-0.60,-219.0,600.2,-10.2,441,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2559,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4143,-0.62,-219.0,633.2,-11.4,456,4147,0.00,1.98,0.00,0.000,4,0.000,0.044,1818,3814,3858,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4187,-0.65,-219.0,637.7,-11.3,458,4191,0.00,1.83,0.00,0.000,6,0.000,0.024,1818,2558,3858,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4509,-0.66,-219.0,671.3,-9.2,474,4515,0.00,1.98,0.00,0.000,4,0.000,0.029,1818,1181,3855,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4532,-0.68,-219.0,673.2,-9.2,475,4536,0.00,2.25,0.00,0.000,6,0.000,0.039,1812,2659,3854,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4845,-0.69,-219.0,703.1,-9.1,491,4849,0.00,1.80,0.00,0.000,4,0.000,0.046,1804,3820,3852,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4875,-0.70,-219.0,705.1,-9.1,492,4879,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2558,3852,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5182,-0.70,-219.0,737.8,-11.2,507,5187,0.00,2.00,0.00,0.000,4,0.000,0.028,1804,1164,3849,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5221,-0.71,-219.0,742.4,-11.5,509,5227,0.00,2.28,0.00,0.000,6,0.000,0.039,1796,2660,3849,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5541,-0.71,-219.0,781.9,-12.1,525,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2659,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5842,-0.71,-219.0,810.0,-7.9,540,5848,0.00,2.15,0.00,0.000,4,0.000,0.029,1796,1178,3845,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5904,-0.72,-219.0,813.9,-6.6,543,5908,0.00,2.25,0.00,0.000,6,0.000,0.041,1787,2654,3844,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6219,-0.72,-219.0,839.2,-9.1,559,6222,0.00,1.77,0.00,0.000,4,0.000,0.047,1778,3820,3842,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6260,-0.72,-219.0,843.6,-9.6,561,6264,0.00,1.83,0.00,0.000,6,0.000,0.026,1778,2570,3842,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6583,-0.71,-219.0,880.8,-11.7,577,6588,0.00,2.00,0.00,0.000,4,0.000,0.049,1769,3826,3840,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6605,-0.70,-219.0,883.3,-11.8,578,6608,0.00,1.85,0.00,0.000,6,0.000,0.026,1769,2577,3840,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6922,-0.67,-219.0,919.5,-11.0,594,6928,0.00,2.05,0.00,0.000,4,0.000,0.030,1769,1182,3838,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6955,-0.66,-219.0,921.7,-11.1,595,6962,0.15,2.25,0.00,0.000,6,0.124,0.041,1805,2656,3838,0,0,0,0,0,0,25.94,26.13,28.83
$GC,7263,-0.67,-219.0,948.9,-8.7,611,7267,0.00,1.80,0.00,0.000,4,0.000,0.051,1797,3811,3836,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7290,-0.69,-219.0,950.9,-8.8,612,7295,0.00,1.83,0.00,0.000,6,0.000,0.026,1797,2558,3836,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7606,-0.70,-219.0,981.3,-9.3,628,7610,0.00,1.98,0.00,0.000,4,0.000,0.047,1787,3812,3834,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7631,-0.70,-219.0,983.4,-9.3,629,7635,0.00,1.80,0.00,0.000,6,0.000,0.025,1788,2562,3834,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,7700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7701,begin apogee
$GC,7706,-0.20,0.0,990.6,-9.6,633,7906,0.43,0.12,189.93,1.175,6,0.097,0.086,1939,2538,2971,0,0,0,0,0,0,25.87,24.65,23.58
$STATE,7907,end apogee,CONTROL_FINISHED_OK
$STATE,7907,begin climb
$GC,7909,0.65,219.0,1000.2,0.0,643,8126,0.75,2.47,208.18,1.177,4,0.048,0.038,2235,1079,2076,0,0,0,0,0,0,24.87,24.14,23.02
$GC,8137,0.54,219.0,981.0,18.0,654,8144,0.20,2.38,0.00,0.000,6,0.161,0.038,2185,2524,2060,0,0,0,0,0,0,24.21,24.41,28.83
$GC,8445,0.49,219.0,926.3,15.7,670,8449,0.00,2.03,0.00,0.000,4,0.000,0.047,2185,3820,2052,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8549,0.43,219.0,908.2,17.7,675,8554,0.17,2.08,0.00,0.000,6,0.168,0.029,2149,2462,2047,0,0,0,0,0,0,25.63,25.99,28.83
$GC,8864,0.40,219.0,866.9,13.0,691,8869,0.00,2.12,0.00,0.000,4,0.000,0.047,2149,3815,2046,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8930,0.37,219.0,857.6,14.9,694,8934,0.00,2.05,0.00,0.000,6,0.000,0.028,2159,2456,2045,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9242,0.34,219.0,811.4,14.0,710,9248,0.12,2.15,0.00,0.000,4,0.171,0.044,2121,3813,2044,0,0,0,0,0,0,25.99,26.06,28.83
$GC,9316,0.32,219.0,803.1,13.8,713,9323,0.00,2.03,0.00,0.000,6,0.000,0.028,2131,2465,2044,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9623,0.32,219.0,765.6,12.2,729,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2464,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9923,0.32,219.0,730.4,10.9,744,9928,0.00,2.08,0.00,0.000,4,0.000,0.035,2142,1059,2043,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9962,0.32,219.0,726.5,10.4,746,9967,0.00,2.25,0.00,0.000,6,0.000,0.040,2142,2525,2042,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10282,0.36,255.1,696.2,9.2,762,10322,0.00,2.05,26.83,0.933,4,0.000,0.047,2142,3817,1935,0,0,0,0,1,0,28.83,25.88,24.44
$GC,10366,0.36,262.4,687.8,10.1,766,10387,0.00,2.05,14.93,0.916,6,0.000,0.029,2153,2462,1906,0,0,0,0,0,0,28.83,25.95,24.65
$GC,10707,0.35,262.4,652.0,10.7,783,10712,0.00,2.12,0.00,0.000,4,0.000,0.047,2153,3818,1892,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10748,0.34,262.4,647.2,11.6,785,10753,0.15,2.05,0.00,0.000,6,0.151,0.028,2122,2460,1892,0,0,0,0,0,0,25.75,26.08,28.83
$GC,11062,0.40,293.3,619.7,9.3,801,11101,0.00,0.00,35.65,0.865,6,0.000,0.000,2123,2458,1781,0,0,0,0,0,0,28.83,28.83,24.58
$GC,11401,0.53,379.7,589.1,7.6,824,11492,0.15,2.22,82.15,0.895,4,0.066,0.045,2216,3813,1419,0,0,0,0,0,0,26.20,25.22,24.25
$GC,11526,0.49,379.7,567.5,20.4,836,11536,0.20,2.10,0.00,0.000,6,0.145,0.029,2170,2468,1406,0,0,0,0,0,0,25.25,25.51,28.83
$GC,11835,0.49,379.7,525.2,14.1,867,11844,0.00,2.12,0.00,0.000,4,0.000,0.036,2180,1059,1402,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11870,0.50,379.7,521.0,13.8,870,11876,0.00,2.25,0.00,0.000,6,0.000,0.039,2179,2523,1401,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12178,0.50,379.7,475.6,14.7,901,12186,0.00,2.00,0.00,0.000,4,0.000,0.046,2180,3810,1400,0,0,0,0,0,0,28.83,26.00,28.83
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$GC,12947,0.51,379.7,368.4,12.0,977,12956,0.00,2.05,0.00,0.000,6,0.000,0.026,2171,2448,1398,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13257,0.54,379.7,334.0,11.4,1008,13266,0.00,2.08,0.00,0.000,4,0.000,0.037,2181,1059,1397,0,0,0,0,0,0,28.83,26.16,28.83
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$GC,15910,0.73,447.9,11.5,9.6,1431,15930,0.00,2.08,14.45,0.138,4,0.000,0.041,2238,3821,1151,0,0,0,0,0,0,28.83,26.17,25.53
$GC,15947,0.75,447.9,7.1,11.6,1437,15954,0.00,2.03,1.70,0.165,6,0.000,0.025,2248,2450,1150,0,0,0,0,0,0,28.83,26.33,25.65
$STATE,15986,end climb,SURFACE_DEPTH_REACHED
$STATE,15986,begin surface coast
$FINISH,0.2,1.000303
$STATE,16012,end surface coast,CONTROL_FINISHED_OK
$STATE,16012,begin surface
$SM_CCo,16087,0.00,0.000,0,0,1161,446.20
$SM_GC,1.10,5.25,0.32,0.00,0.024,0.044,0.000,123,2684,1161,-5.78,-0.20,446.20,0,0,0,0,0,0
$IRIDIUM_FIX,2206.70,12333.65,291211,141413
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.59
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.0,56.168
$10V_AH,10.1,35.054
$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
$DEVICE_SECS,15.425,155.975,607.250,0.000,0.000,147.871,90.185,217.071,0.000,0.000,14.972,3442.759,9278.802,699.534,3125.132,356.730,0.000,2158.313,0.000,2510.908,0.000,0.543,0.000
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$SENSOR_SECS,983.966,1841.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330408
$DATA_FILE_SIZE,97202,1449
$CAP_FILE_SIZE,185281,0
$CFSIZE,260165632,198889472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291211,185936,2212.556,12415.891,34,0.9,34,-3.0