version: 66.09
glider: 181
mission: 6
dive: 691
start: 10 20 111 19 31 17
data:
$ID,181
$MISSION,6
$DIVE,691
$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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,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,-41467.379
$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,2355
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,49
$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
$GPS1,201011,192454,2135.477,12013.071,22,0.9,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.1
$GPS2,201011,193050,2135.467,12012.979,10,1.7,10,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,310.9,28464,-14.3,-10.312
$D_GRID,2642
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.82,0.000,2,0.000,0.000,186,2543,2352,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.5,-3.3,12,138,8.20,1.20,-31.15,0.000,4,0.220,0.065,2148,3282,3764,0,0,0,0,0,0
$GC,165,-0.39,-219.0,21.9,-29.8,24,172,0.28,0.98,0.00,0.000,6,0.168,0.024,2225,2599,3764,0,0,0,0,0,0
$GC,512,-0.30,-219.0,93.3,-17.3,85,519,0.12,1.08,0.00,0.000,4,0.159,0.039,2257,3282,3762,0,0,0,0,0,0
$GC,527,-0.22,-219.0,96.1,-17.4,87,533,0.00,1.00,0.00,0.000,6,0.000,0.024,2257,2579,3762,0,0,0,0,0,0
$GC,875,-0.36,-219.0,134.8,-9.1,148,882,0.00,1.08,0.00,0.000,4,0.000,0.035,2257,3285,3762,0,0,0,0,0,0
$GC,1137,-0.54,-219.0,161.0,-10.3,194,1144,0.20,0.98,0.00,0.000,6,0.060,0.022,2172,2589,3762,0,0,0,0,0,0
$GC,1486,-0.57,-219.0,194.8,-11.5,255,1493,0.00,1.05,0.00,0.000,4,0.000,0.036,2168,3281,3763,0,0,0,0,0,0
$GC,1560,-0.52,-219.0,204.9,-14.3,265,1567,0.00,0.98,0.00,0.000,6,0.000,0.024,2169,2590,3763,0,0,0,0,0,0
$GC,1888,-0.49,-219.0,249.0,-11.9,296,1891,0.00,0.95,0.00,0.000,4,0.000,0.023,2168,1885,3763,0,0,0,0,0,0
$GC,1938,-0.45,-219.0,255.1,-11.6,300,1945,0.12,1.05,0.00,0.000,6,0.112,0.032,2207,2582,3762,0,0,0,0,0,0
$GC,2266,-0.55,-219.0,283.2,-9.0,331,2269,0.00,1.05,0.00,0.000,4,0.000,0.037,2207,3284,3762,0,0,0,0,0,0
$GC,2485,-0.71,-219.0,303.9,-9.6,350,2492,0.20,0.98,0.00,0.000,6,0.048,0.024,2116,2595,3761,0,0,0,0,0,0
$GC,2810,-0.70,-219.0,338.1,-10.5,381,2814,0.00,1.08,0.00,0.000,4,0.000,0.037,2112,3292,3759,0,0,0,0,0,0
$GC,2929,-0.62,-219.0,353.0,-12.8,391,2937,0.12,1.00,0.00,0.000,6,0.126,0.024,2153,2589,3757,0,0,0,0,0,0
$GC,3255,-0.58,-219.0,384.1,-9.6,422,3259,0.00,0.95,0.00,0.000,4,0.000,0.024,2153,1885,3756,0,0,0,0,0,0
$GC,3303,-0.56,-219.0,388.7,-9.7,426,3307,0.00,1.08,0.00,0.000,6,0.000,0.034,2152,2591,3755,0,0,0,0,0,0
$GC,3635,-0.53,-219.0,422.0,-10.5,457,3639,0.12,1.08,0.00,0.000,4,0.148,0.041,2184,3284,3752,0,0,0,0,0,0
$GC,3660,-0.51,-219.0,424.3,-10.3,459,3663,0.00,1.00,0.00,0.000,6,0.000,0.024,2184,2591,3752,0,0,0,0,0,0
$GC,3991,-0.60,-219.0,454.8,-9.7,490,3995,0.00,1.10,0.00,0.000,4,0.000,0.039,2181,3294,3750,0,0,0,0,0,0
$GC,4050,-0.68,-219.0,460.3,-9.4,495,4055,0.10,1.02,0.00,0.000,6,0.044,0.024,2109,2589,3749,0,0,0,0,0,0
$GC,4380,-0.59,-219.0,506.2,-13.9,524,4384,0.17,1.00,0.00,0.000,4,0.140,0.026,2159,1880,3747,0,0,0,0,0,0
$GC,4487,-0.59,-219.0,517.5,-10.3,528,4494,0.00,1.08,0.00,0.000,6,0.000,0.034,2156,2585,3745,0,0,0,0,0,0
$GC,4804,-0.64,-219.0,543.1,-7.5,544,4807,0.00,1.08,0.00,0.000,4,0.000,0.041,2152,3287,3743,0,0,0,0,0,0
$GC,4822,-0.70,-219.0,544.6,-7.5,544,4828,0.00,1.02,0.00,0.000,6,0.000,0.026,2152,2586,3742,0,0,0,0,0,0
$GC,5139,-0.75,-219.0,570.8,-8.8,560,5143,0.12,1.00,0.00,0.000,4,0.084,0.026,2084,1889,3740,0,0,0,0,0,0
$GC,5231,-0.65,-219.0,583.2,-15.6,564,5235,0.17,1.08,0.00,0.000,6,0.125,0.038,2136,2580,3739,0,0,0,0,0,0
$GC,5565,-0.61,-219.0,624.3,-12.1,580,5569,0.00,1.10,0.00,0.000,4,0.000,0.042,2133,3293,3737,0,0,0,0,0,0
$GC,5598,-0.57,-219.0,628.6,-11.5,581,5603,0.10,1.02,0.00,0.000,6,0.125,0.025,2166,2595,3736,0,0,0,0,0,0
$GC,5921,-0.57,-219.0,655.6,-7.8,597,5925,0.00,0.98,0.00,0.000,4,0.000,0.027,2166,1895,3733,0,0,0,0,0,0
$GC,5990,-0.57,-219.0,661.0,-7.8,600,5994,0.00,1.08,0.00,0.000,6,0.000,0.036,2166,2590,3733,0,0,0,0,0,0
$GC,6324,-0.64,-219.0,684.2,-6.9,616,6328,0.00,1.10,0.00,0.000,4,0.000,0.042,2165,3287,3731,0,0,0,0,0,0
$GC,6380,-0.72,-219.0,688.0,-6.5,618,6384,0.10,1.02,0.00,0.000,6,0.052,0.026,2099,2596,3730,0,0,0,0,0,0
$GC,6703,-0.64,-219.0,728.1,-13.0,634,6707,0.17,1.02,0.00,0.000,4,0.144,0.028,2149,1883,3729,0,0,0,0,0,0
$GC,6752,-0.64,-219.0,733.7,-9.9,636,6756,0.00,1.10,0.00,0.000,6,0.000,0.037,2146,2589,3728,0,0,0,0,0,0
$GC,7080,-0.63,-219.0,767.5,-10.5,652,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2590,3726,0,0,0,0,0,0
$GC,7390,-0.61,-219.0,800.1,-10.5,667,7394,0.00,1.05,0.00,0.000,4,0.000,0.028,2146,1881,3724,0,0,0,0,0,0
$GC,7414,-0.60,-219.0,802.6,-10.5,668,7418,0.00,1.10,0.00,0.000,6,0.000,0.037,2142,2583,3724,0,0,0,0,0,0
$GC,7749,-0.58,-219.0,835.3,-9.4,684,7753,0.00,1.10,0.00,0.000,4,0.000,0.045,2139,3286,3722,0,0,0,0,0,0
$GC,7796,-0.56,-219.0,839.9,-9.7,686,7800,0.10,1.02,0.00,0.000,6,0.122,0.028,2173,2588,3721,0,0,0,0,0,0
$GC,8131,-0.66,-219.0,863.6,-7.0,702,8135,0.00,1.10,0.00,0.000,4,0.000,0.042,2170,3284,3721,0,0,0,0,0,0
$GC,8227,-0.77,-219.0,870.3,-6.5,706,8232,0.15,1.02,0.00,0.000,6,0.054,0.026,2096,2594,3720,0,0,0,0,0,0
$GC,8556,-0.70,-219.0,910.0,-12.9,722,8561,0.12,1.02,0.00,0.000,4,0.161,0.028,2129,1886,3718,0,0,0,0,0,0
$GC,8635,-0.68,-219.0,918.4,-9.5,725,8639,0.00,1.10,0.00,0.000,6,0.000,0.038,2126,2588,3718,0,0,0,0,0,0
$GC,8958,-0.65,-219.0,951.8,-10.3,741,8961,0.00,1.10,0.00,0.000,4,0.000,0.046,2121,3288,3716,0,0,0,0,0,0
$GC,8986,-0.61,-219.0,955.2,-10.4,742,8991,0.10,1.05,0.00,0.000,6,0.133,0.027,2153,2585,3716,0,0,0,0,0,0
$GC,9314,-0.61,-219.0,982.9,-8.4,758,9318,0.00,1.00,0.00,0.000,4,0.000,0.028,2153,1879,3714,0,0,0,0,0,0
$GC,9376,-0.61,-219.0,988.1,-8.0,760,9382,0.00,1.12,0.00,0.000,6,0.000,0.037,2152,2595,3715,0,0,0,0,0,0
$STATE,9400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9400,begin apogee
$GC,9408,-0.19,0.0,990.2,8.0,762,9580,0.43,0.00,166.88,1.065,6,0.114,0.000,2291,2155,2868,0,0,0,0,0,0
$STATE,9581,end apogee,CONTROL_FINISHED_OK
$STATE,9581,begin climb
$GC,9585,0.61,219.0,1000.1,0.0,770,9767,0.70,1.12,175.02,1.050,4,0.050,0.031,2567,1455,1976,0,0,0,0,0,0
$GC,9907,0.52,219.0,975.6,11.6,785,9911,0.12,1.12,0.00,0.000,6,0.147,0.031,2530,2181,1973,0,0,0,0,0,0
$GC,10236,0.50,235.0,942.8,9.8,801,10258,0.00,1.08,14.02,0.939,4,0.000,0.038,2530,2863,1910,0,0,0,0,0,0
$GC,10370,0.44,235.0,928.8,11.0,806,10378,0.10,1.08,0.00,0.000,6,0.154,0.028,2502,2157,1909,0,0,0,0,0,0
$GC,10689,0.49,294.1,901.8,8.4,822,10741,0.00,1.10,47.65,0.990,4,0.000,0.034,2506,1469,1669,0,0,0,0,0,0
$GC,10816,0.55,339.3,890.6,8.9,828,10859,0.00,1.08,37.03,0.961,6,0.000,0.031,2506,2164,1484,0,0,0,0,0,0
$GC,11168,0.69,405.2,861.3,8.2,845,11232,0.20,1.12,54.05,0.967,4,0.070,0.032,2597,1467,1217,0,0,0,0,0,0
$GC,11363,0.65,405.2,836.7,13.3,853,11370,0.08,1.08,0.00,0.000,6,0.135,0.034,2573,2155,1217,0,0,0,0,0,0
$GC,11679,0.64,405.2,799.8,11.3,869,11683,0.00,1.08,0.00,0.000,4,0.000,0.040,2572,2855,1217,0,0,0,0,0,0
$GC,11811,0.61,405.2,783.6,12.2,874,11818,0.00,1.05,0.00,0.000,6,0.000,0.028,2575,2161,1216,0,0,0,0,0,0
$GC,12127,0.60,405.2,745.8,11.8,890,12131,0.00,1.02,0.00,0.000,4,0.000,0.035,2580,1475,1216,0,0,0,0,0,0
$GC,12166,0.58,405.2,740.9,11.8,891,12174,0.10,1.08,0.00,0.000,6,0.124,0.032,2547,2172,1216,0,0,0,0,0,0
$GC,12486,0.60,407.3,708.6,10.2,907,12490,0.00,1.05,0.00,0.000,4,0.000,0.037,2546,2863,1215,0,0,0,0,0,0
$GC,12559,0.60,407.3,700.4,10.7,910,12562,0.00,1.05,0.00,0.000,6,0.000,0.028,2549,2167,1215,0,0,0,0,0,0
$GC,12888,0.61,410.2,666.8,10.2,926,12897,0.00,1.02,5.70,0.676,4,0.000,0.033,2554,1471,1196,0,0,0,0,0,0
$GC,12987,0.61,410.2,655.8,10.5,930,12991,0.00,1.05,0.00,0.000,6,0.000,0.031,2554,2161,1195,0,0,0,0,0,0
$GC,13311,0.68,433.4,623.7,9.6,946,13336,0.00,1.10,19.98,0.802,4,0.000,0.034,2558,1467,1101,0,0,0,0,0,0
$GC,13412,0.76,466.2,614.1,9.3,950,13446,0.10,1.08,27.08,0.798,6,0.053,0.030,2619,2162,967,0,0,0,0,0,0
$GC,13754,0.73,466.2,572.8,12.2,967,13758,0.00,1.08,0.00,0.000,4,0.000,0.039,2619,2862,971,0,0,0,0,0,0
$GC,13872,0.69,466.2,556.8,13.5,972,13876,0.12,1.05,0.00,0.000,6,0.136,0.028,2583,2169,971,0,0,0,0,0,0
$GC,14200,0.69,466.2,521.3,10.9,988,14203,0.00,1.05,0.00,0.000,4,0.000,0.036,2587,1471,971,0,0,0,0,0,0
$GC,14306,0.69,466.2,508.6,11.8,992,14313,0.00,1.08,0.00,0.000,6,0.000,0.031,2586,2176,971,0,0,0,0,0,0
$GC,14632,0.70,466.2,473.5,11.1,1019,14636,0.00,1.02,0.00,0.000,4,0.000,0.037,2587,2857,971,0,0,0,0,0,0
$GC,14660,0.70,466.2,469.7,11.3,1021,14666,0.00,1.05,0.00,0.000,6,0.000,0.027,2591,2159,971,0,0,0,0,0,0
$GC,14986,0.74,466.2,429.8,12.3,1052,14989,0.00,1.02,0.00,0.000,4,0.000,0.036,2596,1476,971,0,0,0,0,0,0
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$GC,17948,1.11,592.8,104.0,9.0,1402,17985,0.17,1.12,32.00,0.489,4,0.075,0.031,2725,1455,450,0,0,0,0,0,0
$GC,18139,1.25,623.9,86.2,9.3,1435,18146,0.00,1.08,3.97,0.344,6,0.000,0.028,2726,2170,439,0,0,0,0,0,0
$GC,18488,1.32,641.2,52.4,9.8,1496,18496,0.15,0.00,0.32,0.100,6,0.070,0.000,2810,2170,442,0,0,0,0,0,0
$GC,18837,1.26,641.2,5.5,14.0,1557,18846,0.17,1.08,2.70,0.217,4,0.147,0.033,2761,2864,439,0,0,0,0,0,0
$STATE,18856,end climb,SURFACE_DEPTH_REACHED
$STATE,18856,begin surface coast
$FINISH,0.6,1.021077
$STATE,18880,end surface coast,CONTROL_FINISHED_OK
$STATE,18880,begin surface
$SM_CCo,18958,0.00,0.000,0,0,440,596.08
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$IRIDIUM_FIX,2127.21,12011.72,201011,141427
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.48
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,23.8,114.396
$10V_AH,9.8,83.834
$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
$DEVICE_SECS,20.225,92.950,659.125,0.000,0.000,30.695,20.298,146.022,0.500,0.000,13.122,3807.188,11181.225,726.394,3109.843,475.591,0.000,2308.737,0.000,2878.854,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1081.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322760
$DATA_FILE_SIZE,90225,1564
$CAP_FILE_SIZE,211970,0
$CFSIZE,260165632,189247488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211011,004830,2135.167,12013.153,36,1.6,36,-2.6