version: 66.09
glider: 181
mission: 6
dive: 495
start: 9 14 111 11 42 16
data:
$ID,181
$MISSION,6
$DIVE,495
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,170
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-41208.891
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,20
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,1
$ALTIM_PING_DEPTH,0
$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
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,140911,113531,1848.519,12025.409,40,1.2,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.4
$GPS2,140911,114120,1848.624,12025.411,10,1.3,10,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,HEADING
$TGT_LATLONG,1837.989,12027.390
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.169,-0.263
$KALMAN_X,16493.0,59.4,1797.9,29054.6,-2242.7
$KALMAN_Y,65831.4,467.9,245.5,-114589.8,1055.9
$MHEAD_RNG_PITCHd_Wd,172.0,20000,-17.4,-11.786
$D_GRID,3326
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,69,0.00,0.00,-50.83,0.000,2,0.000,0.000,187,2489,1923,0,0,0,0,0,0
$GC,72,-0.53,-194.6,3.0,-3.7,9,126,8.30,1.10,-37.20,0.000,4,0.231,0.057,2120,3208,3663,0,0,0,0,0,0
$GC,352,-0.53,-194.6,99.2,-18.4,58,359,0.00,1.05,0.00,0.000,6,0.000,0.024,2120,2480,3663,0,0,0,0,0,0
$GC,495,-0.53,-194.6,121.5,-13.8,83,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2476,3663,0,0,0,0,0,0
$GC,637,-0.53,-194.6,140.8,-14.2,108,644,0.00,1.10,0.00,0.000,4,0.000,0.037,2115,3194,3663,0,0,0,0,0,0
$GC,723,-0.53,-194.6,153.8,-16.0,123,730,0.00,1.00,0.00,0.000,6,0.000,0.024,2115,2493,3663,0,0,0,0,0,0
$GC,867,-0.53,-194.6,176.5,-14.3,148,874,0.00,1.08,0.00,0.000,4,0.000,0.038,2111,3194,3663,0,0,0,0,0,0
$GC,936,-0.53,-194.6,186.6,-13.7,160,943,0.00,1.00,0.00,0.000,6,0.000,0.024,2112,2493,3663,0,0,0,0,0,0
$GC,1077,-0.53,-194.6,204.8,-13.1,182,1081,0.00,1.08,0.00,0.000,4,0.000,0.039,2111,3194,3663,0,0,0,0,0,0
$GC,1140,-0.53,-194.6,213.7,-14.2,187,1146,0.00,1.00,0.00,0.000,6,0.000,0.024,2111,2491,3663,0,0,0,0,0,0
$GC,1465,-0.53,-194.6,260.9,-15.2,218,1469,0.00,1.08,0.00,0.000,4,0.000,0.039,2107,3193,3662,0,0,0,0,0,0
$GC,1582,-0.53,-194.6,279.0,-14.1,228,1589,0.00,0.98,0.00,0.000,6,0.000,0.024,2107,2504,3662,0,0,0,0,0,0
$GC,1908,-0.53,-194.6,315.7,-9.6,259,1911,0.00,1.05,0.00,0.000,4,0.000,0.039,2101,3190,3660,0,0,0,0,0,0
$GC,1947,-0.53,-194.6,319.8,-10.0,262,1954,0.00,1.00,0.00,0.000,6,0.000,0.025,2101,2496,3659,0,0,0,0,0,0
$GC,2272,-0.53,-194.6,350.0,-10.7,293,2276,0.00,1.08,0.00,0.000,4,0.000,0.041,2097,3189,3656,0,0,0,0,0,0
$GC,2363,-0.53,-194.6,359.7,-11.0,301,2368,0.08,1.00,0.00,0.000,6,0.132,0.025,2123,2496,3655,0,0,0,0,0,0
$GC,2694,-0.53,-194.6,391.3,-9.4,332,2698,0.00,1.08,0.00,0.000,4,0.000,0.041,2120,3189,3653,0,0,0,0,0,0
$GC,2808,-0.53,-194.6,402.2,-9.6,342,2811,0.00,1.00,0.00,0.000,6,0.000,0.026,2120,2498,3652,0,0,0,0,0,0
$GC,3139,-0.53,-194.6,433.3,-9.2,373,3142,0.00,1.08,0.00,0.000,4,0.000,0.041,2115,3187,3648,0,0,0,0,0,0
$GC,3252,-0.53,-194.6,444.8,-10.4,383,3256,0.00,1.00,0.00,0.000,6,0.000,0.027,2115,2500,3647,0,0,0,0,0,0
$GC,3583,-0.53,-194.6,478.8,-10.0,414,3587,0.00,1.08,0.00,0.000,4,0.000,0.042,2112,3187,3644,0,0,0,0,0,0
$GC,3663,-0.53,-194.6,486.9,-10.1,421,3667,0.00,1.00,0.00,0.000,6,0.000,0.027,2112,2501,3643,0,0,0,0,0,0
$GC,3990,-0.53,-194.6,517.3,-9.4,443,3994,0.00,1.08,0.00,0.000,4,0.000,0.042,2112,3186,3641,0,0,0,0,0,0
$GC,4126,-0.53,-194.6,530.8,-9.9,449,4130,0.00,1.00,0.00,0.000,6,0.000,0.027,2112,2501,3640,0,0,0,0,0,0
$GC,4460,-0.53,-194.6,562.3,-9.1,465,4463,0.00,1.08,0.00,0.000,4,0.000,0.042,2112,3186,3638,0,0,0,0,0,0
$GC,4565,-0.53,-194.6,572.1,-9.0,469,4572,0.00,1.00,0.00,0.000,6,0.000,0.027,2112,2498,3637,0,0,0,0,0,0
$GC,4882,-0.53,-194.6,600.5,-9.1,485,4886,0.00,1.08,0.00,0.000,4,0.000,0.042,2112,3183,3635,0,0,0,0,0,0
$GC,4983,-0.53,-194.6,609.7,-8.7,489,4987,0.00,1.00,0.00,0.000,6,0.000,0.026,2112,2499,3634,0,0,0,0,0,0
$GC,5304,-0.53,-194.6,637.4,-8.7,505,5308,0.00,1.08,0.00,0.000,4,0.000,0.044,2112,3180,3632,0,0,0,0,0,0
$GC,5389,-0.53,-194.6,644.9,-8.7,508,5395,0.00,1.00,0.00,0.000,6,0.000,0.027,2112,2498,3632,0,0,0,0,0,0
$GC,5705,-0.53,-194.6,671.0,-8.4,524,5709,0.00,1.08,0.00,0.000,4,0.000,0.044,2112,3180,3629,0,0,0,0,0,0
$GC,5843,-0.53,-194.6,682.5,-8.7,530,5847,0.00,1.00,0.00,0.000,6,0.000,0.027,2112,2500,3629,0,0,0,0,0,0
$GC,6176,-0.53,-194.6,711.5,-8.8,546,6180,0.00,1.08,0.00,0.000,4,0.000,0.045,2112,3180,3627,0,0,0,0,0,0
$GC,6272,-0.53,-194.6,719.8,-8.4,550,6276,0.00,1.00,0.00,0.000,6,0.000,0.028,2112,2502,3626,0,0,0,0,0,0
$GC,6599,-0.53,-194.6,746.7,-8.0,566,6603,0.00,1.08,0.00,0.000,4,0.000,0.044,2112,3181,3624,0,0,0,0,0,0
$GC,6695,-0.53,-194.6,754.8,-8.4,570,6699,0.00,1.00,0.00,0.000,6,0.000,0.028,2112,2501,3624,0,0,0,0,0,0
$GC,7022,-0.53,-194.6,782.6,-8.8,586,7026,0.00,1.08,0.00,0.000,4,0.000,0.044,2112,3180,3623,0,0,0,0,0,0
$GC,7068,-0.53,-194.6,786.8,-9.2,588,7072,0.00,1.00,0.00,0.000,6,0.000,0.028,2112,2502,3623,0,0,0,0,0,0
$GC,7402,-0.53,-194.6,817.3,-9.4,604,7405,0.00,1.08,0.00,0.000,4,0.000,0.044,2112,3180,3621,0,0,0,0,0,0
$GC,7463,-0.53,-194.6,823.5,-9.7,606,7470,0.00,1.00,0.00,0.000,6,0.000,0.028,2111,2497,3621,0,0,0,0,0,0
$GC,7780,-0.53,-194.6,852.9,-9.2,622,7784,0.00,1.08,0.00,0.000,4,0.000,0.044,2112,3178,3619,0,0,0,0,0,0
$GC,7835,-0.53,-194.6,858.3,-9.3,624,7839,0.00,1.00,0.00,0.000,6,0.000,0.028,2112,2499,3620,0,0,0,0,0,0
$GC,8157,-0.53,-194.6,886.8,-9.2,640,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3618,0,0,0,0,0,0
$GC,8467,-0.53,-194.6,915.3,-9.1,655,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3617,0,0,0,0,0,0
$GC,8776,-0.53,-194.6,943.5,-8.7,670,8779,0.00,1.10,0.00,0.000,4,0.000,0.044,2111,3190,3616,0,0,0,0,0,0
$GC,8844,-0.53,-194.6,949.1,-8.5,673,8848,0.00,1.02,0.00,0.000,6,0.000,0.028,2112,2498,3615,0,0,0,0,0,0
$GC,9178,-0.53,-194.6,978.1,-8.6,689,9181,0.00,1.10,0.00,0.000,4,0.000,0.046,2112,3189,3615,0,0,0,0,0,0
$GC,9285,-0.53,-194.6,987.2,-8.3,693,9292,0.00,1.02,0.00,0.000,6,0.000,0.028,2112,2502,3614,0,0,0,0,0,0
$STATE,9331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9331,begin apogee
$GC,9338,-0.13,0.0,991.5,9.2,696,9494,0.43,0.00,149.52,1.082,6,0.115,0.000,2253,2111,2868,0,0,0,0,0,0
$STATE,9494,end apogee,CONTROL_FINISHED_OK
$STATE,9494,begin climb
$GC,9498,0.53,194.6,999.4,0.0,703,9661,0.60,0.00,160.10,1.056,6,0.058,0.000,2481,2111,2075,0,0,0,0,0,0
$GC,9959,0.53,198.0,958.3,11.6,726,9968,0.00,1.12,4.68,0.731,4,0.000,0.040,2481,2817,2061,0,0,0,0,0,0
$GC,10036,0.53,198.0,948.3,12.8,729,10040,0.00,1.02,0.00,0.000,6,0.000,0.028,2486,2138,2060,0,0,0,0,0,0
$GC,10358,0.55,209.5,910.9,11.3,745,10372,0.00,1.08,10.38,0.901,4,0.000,0.032,2491,1401,2015,0,0,0,0,0,0
$GC,10483,0.55,215.1,897.1,11.6,750,10496,0.00,1.10,6.50,0.773,6,0.000,0.032,2491,2114,1991,0,0,0,0,0,0
$GC,10804,0.58,238.1,859.8,10.8,766,10826,0.00,0.00,19.55,0.939,6,0.000,0.000,2491,2113,1898,0,0,0,0,0,0
$GC,11134,0.66,298.6,826.8,9.3,782,11187,0.00,1.15,48.60,0.960,4,0.000,0.039,2491,2820,1650,0,0,0,0,0,0
$GC,11311,0.72,352.1,809.9,9.6,790,11359,0.08,1.05,43.17,0.936,6,0.063,0.027,2540,2120,1433,0,0,0,0,0,0
$GC,11675,0.73,359.8,768.4,11.5,808,11689,0.00,1.15,8.25,0.789,4,0.000,0.039,2540,2824,1402,0,0,0,0,0,0
$GC,11723,0.74,368.9,762.6,11.4,810,11740,0.00,1.05,9.18,0.781,6,0.000,0.028,2544,2124,1365,0,0,0,0,0,0
$GC,12051,0.75,377.9,725.4,11.4,826,12063,0.00,0.00,9.45,0.789,6,0.000,0.000,2544,2124,1328,0,0,0,0,0,0
$GC,12358,0.75,377.9,690.1,11.9,841,12362,0.00,1.08,0.00,0.000,4,0.000,0.038,2544,2821,1327,0,0,0,0,0,0
$GC,12420,0.75,377.9,682.1,13.4,843,12427,0.00,1.02,0.00,0.000,6,0.000,0.027,2548,2134,1327,0,0,0,0,0,0
$GC,12736,0.75,377.9,643.0,12.3,859,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2134,1326,0,0,0,0,0,0
$GC,13045,0.76,382.0,607.2,11.6,874,13055,0.00,1.10,5.05,0.653,4,0.000,0.039,2549,2821,1311,0,0,0,0,0,0
$GC,13123,0.76,382.0,597.3,12.6,877,13127,0.00,1.05,0.00,0.000,6,0.000,0.028,2553,2114,1310,0,0,0,0,0,0
$GC,13445,0.76,382.0,558.2,12.4,893,13448,0.00,1.10,0.00,0.000,4,0.000,0.037,2553,2828,1310,0,0,0,0,0,0
$GC,13491,0.76,382.0,552.1,13.8,895,13495,0.00,1.05,0.00,0.000,6,0.000,0.028,2557,2120,1310,0,0,0,0,0,0
$GC,13824,0.76,382.0,507.0,13.6,911,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2120,1310,0,0,0,0,0,0
$GC,14142,0.76,382.0,464.3,13.1,938,14143,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2120,1310,0,0,0,0,0,0
$GC,14463,0.76,382.0,424.0,12.7,968,14469,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2120,1311,0,0,0,0,0,0
$GC,14790,0.76,382.0,382.1,12.3,999,14794,0.00,1.08,0.00,0.000,4,0.000,0.037,2557,2821,1311,0,0,0,0,0,0
$GC,14858,0.76,382.0,373.2,12.9,1005,14862,0.00,1.02,0.00,0.000,6,0.000,0.028,2562,2127,1311,0,0,0,0,0,0
$GC,15189,0.76,382.0,333.6,12.2,1036,15190,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2126,1311,0,0,0,0,0,0
$GC,15510,0.78,395.6,296.5,11.2,1066,15528,0.00,0.00,12.43,0.629,6,0.000,0.000,2562,2126,1255,0,0,0,0,0,0
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$GC,17796,1.25,782.7,43.3,9.5,1396,17803,0.00,1.00,0.00,0.000,4,0.000,0.034,2697,1433,440,0,0,0,0,0,0
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$GC,18027,1.39,892.3,20.9,9.3,1436,18035,0.12,1.05,0.03,0.321,4,0.081,0.034,2765,2829,440,0,0,0,0,0,0
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$STATE,18160,end climb,SURFACE_DEPTH_REACHED
$STATE,18160,begin surface coast
$FINISH,0.4,1.003961
$STATE,18191,end surface coast,CONTROL_FINISHED_OK
$STATE,18191,begin surface
$SM_CCo,18268,0.00,0.000,0,0,441,595.34
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$IRIDIUM_FIX,1839.59,12024.24,140911,060638
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.29
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.4,81.186
$10V_AH,9.8,67.268
$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,16.600,80.925,649.550,0.000,0.000,28.106,21.261,150.069,0.000,0.000,13.446,3510.526,11120.796,752.017,2842.108,376.040,33.359,2184.191,0.000,2613.151,0.000,0.539,0.000
$DEVICE_MAMPS,231.030,56.610,1081.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1019.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322548
$DATA_FILE_SIZE,83665,1464
$CAP_FILE_SIZE,189550,0
$CFSIZE,260165632,205066240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140911,164801,1846.710,12025.562,39,1.1,39,-2.0