version: 66.09
glider: 181
mission: 6
dive: 716
start: 10 26 111 11 25 9
data:
$ID,181
$MISSION,6
$DIVE,716
$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,-41507.359
$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,2375
$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,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,30
$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
$GPS1,261011,111606,2144.356,12005.478,35,1.1,46,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.5
$GPS2,261011,112444,2144.606,12005.439,12,1.6,12,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,184.4,304998,-14.3,-10.312
$D_GRID,2422
$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,18,-0.61,-219.0,0.0,0.0,0,87,0.00,0.00,-66.68,0.000,2,0.000,0.000,127,2490,2318,0,0,0,0,0,0
$GC,91,-0.61,-219.0,3.2,-2.6,12,138,8.50,0.77,-32.72,0.000,4,0.220,0.064,2170,1936,3764,0,0,0,0,0,0
$GC,183,-0.48,-219.0,22.7,-21.7,27,190,0.15,0.88,0.00,0.000,6,0.142,0.037,2214,2508,3764,0,0,0,0,0,0
$GC,530,-0.40,-219.0,86.5,-17.5,88,537,0.12,0.80,0.00,0.000,4,0.160,0.039,2247,3030,3762,0,0,0,0,0,0
$GC,731,-0.37,-219.0,113.2,-11.2,123,738,0.00,0.77,0.00,0.000,6,0.000,0.025,2247,2466,3762,0,0,0,0,0,0
$GC,1077,-0.53,-219.0,145.1,-10.7,184,1085,0.12,0.65,0.00,0.000,4,0.084,0.028,2197,1973,3762,0,0,0,0,0,0
$GC,1233,-0.64,-219.0,158.8,-7.3,211,1240,0.00,0.80,0.00,0.000,6,0.000,0.033,2197,2512,3762,0,0,0,0,0,0
$GC,1582,-0.71,-219.0,187.6,-8.4,272,1590,0.15,0.77,0.00,0.000,4,0.066,0.037,2106,3029,3762,0,0,0,0,0,0
$GC,1729,-0.59,-219.0,208.0,-16.1,292,1736,0.22,0.73,0.00,0.000,6,0.128,0.026,2177,2505,3762,0,0,0,0,0,0
$GC,2057,-0.56,-219.0,242.7,-10.1,323,2061,0.00,0.77,0.00,0.000,4,0.000,0.038,2176,3021,3762,0,0,0,0,0,0
$GC,2184,-0.53,-219.0,256.0,-10.5,334,2188,0.00,0.73,0.00,0.000,6,0.000,0.026,2176,2497,3762,0,0,0,0,0,0
$GC,2517,-0.61,-219.0,287.0,-9.0,365,2520,0.00,0.80,0.00,0.000,4,0.000,0.039,2176,3024,3760,0,0,0,0,0,0
$GC,2533,-0.69,-219.0,288.8,-9.0,366,2540,0.00,0.73,0.00,0.000,6,0.000,0.026,2176,2496,3760,0,0,0,0,0,0
$GC,2861,-0.76,-219.0,316.1,-8.3,397,2865,0.12,0.82,0.00,0.000,4,0.078,0.039,2097,3022,3758,0,0,0,0,0,0
$GC,3019,-0.64,-219.0,336.8,-14.3,411,3023,0.20,0.73,0.00,0.000,6,0.125,0.027,2161,2506,3756,0,0,0,0,0,0
$GC,3352,-0.62,-219.0,373.3,-11.1,442,3355,0.00,0.77,0.00,0.000,4,0.000,0.041,2159,3015,3754,0,0,0,0,0,0
$GC,3437,-0.59,-219.0,383.5,-11.9,449,3444,0.00,0.73,0.00,0.000,6,0.000,0.027,2159,2500,3753,0,0,0,0,0,0
$GC,3763,-0.59,-219.0,419.1,-10.9,480,3766,0.00,0.80,0.00,0.000,4,0.000,0.041,2155,3020,3750,0,0,0,0,0,0
$GC,3835,-0.63,-219.0,426.8,-10.4,486,3842,0.00,0.75,0.00,0.000,6,0.000,0.028,2155,2491,3750,0,0,0,0,0,0
$GC,4161,-0.68,-219.0,458.6,-9.9,517,4165,0.00,0.80,0.00,0.000,4,0.000,0.041,2153,3011,3747,0,0,0,0,0,0
$GC,4212,-0.74,-219.0,463.8,-10.0,521,4219,0.00,0.73,0.00,0.000,6,0.000,0.028,2153,2499,3747,0,0,0,0,0,0
$GC,4538,-0.79,-219.0,497.8,-10.8,552,4541,0.00,0.70,0.00,0.000,4,0.000,0.028,2153,1979,3745,0,0,0,0,0,0
$GC,4594,-0.82,-219.0,504.3,-11.2,555,4598,0.10,0.77,0.00,0.000,6,0.050,0.038,2088,2486,3744,0,0,0,0,0,0
$GC,4916,-0.71,-219.0,553.7,-17.2,571,4921,0.20,0.85,0.00,0.000,4,0.141,0.038,2142,3032,3741,0,0,0,0,0,0
$GC,5081,-0.68,-219.0,575.2,-12.4,578,5084,0.00,0.77,0.00,0.000,6,0.000,0.028,2142,2496,3740,0,0,0,0,0,0
$GC,5410,-0.65,-219.0,611.1,-10.4,594,5413,0.00,0.82,0.00,0.000,4,0.000,0.043,2138,3025,3737,0,0,0,0,0,0
$GC,5533,-0.62,-219.0,624.8,-11.3,599,5537,0.10,0.75,0.00,0.000,6,0.120,0.028,2173,2500,3736,0,0,0,0,0,0
$GC,5858,-0.71,-219.0,652.5,-8.4,615,5862,0.00,0.85,0.00,0.000,4,0.000,0.042,2173,3033,3733,0,0,0,0,0,0
$GC,5989,-0.79,-219.0,663.1,-7.9,620,5997,0.12,0.77,0.00,0.000,6,0.047,0.028,2098,2497,3733,0,0,0,0,0,0
$GC,6307,-0.79,-219.0,695.4,-10.2,636,6311,0.00,0.70,0.00,0.000,4,0.000,0.028,2097,1974,3730,0,0,0,0,0,0
$GC,6342,-0.78,-219.0,699.4,-10.8,637,6345,0.00,0.80,0.00,0.000,6,0.000,0.038,2095,2495,3730,0,0,0,0,0,0
$GC,6665,-0.70,-219.0,744.0,-13.8,653,6670,0.20,0.82,0.00,0.000,4,0.142,0.041,2150,3020,3728,0,0,0,0,0,0
$GC,6839,-0.68,-219.0,762.2,-9.5,660,6845,0.00,0.75,0.00,0.000,6,0.000,0.028,2149,2497,3727,0,0,0,0,0,0
$GC,7157,-0.67,-219.0,791.8,-9.3,676,7160,0.00,0.82,0.00,0.000,4,0.000,0.043,2146,3023,3725,0,0,0,0,0,0
$GC,7280,-0.66,-219.0,804.6,-10.3,681,7284,0.00,0.75,0.00,0.000,6,0.000,0.027,2146,2499,3723,0,0,0,0,0,0
$GC,7604,-0.65,-219.0,838.1,-10.7,697,7607,0.00,0.82,0.00,0.000,4,0.000,0.043,2142,3025,3722,0,0,0,0,0,0
$GC,7665,-0.63,-219.0,845.4,-11.3,699,7672,0.00,0.75,0.00,0.000,6,0.000,0.028,2142,2502,3722,0,0,0,0,0,0
$GC,7982,-0.61,-219.0,881.0,-11.4,715,7986,0.12,0.85,0.00,0.000,4,0.145,0.045,2177,3026,3720,0,0,0,0,0,0
$GC,8061,-0.68,-219.0,888.5,-9.0,718,8065,0.00,0.75,0.00,0.000,6,0.000,0.028,2177,2505,3720,0,0,0,0,0,0
$GC,8384,-0.80,-219.0,919.6,-10.1,734,8388,0.17,0.82,0.00,0.000,4,0.078,0.041,2103,3021,3719,0,0,0,0,0,0
$GC,8533,-0.74,-219.0,940.0,-14.9,740,8537,0.10,0.75,0.00,0.000,6,0.125,0.028,2136,2501,3718,0,0,0,0,0,0
$GC,8854,-0.72,-219.0,977.8,-10.9,756,8858,0.00,0.82,0.00,0.000,4,0.000,0.044,2134,3026,3716,0,0,0,0,0,0
$GC,8906,-0.70,-219.0,983.7,-11.3,758,8910,0.00,0.77,0.00,0.000,6,0.000,0.028,2134,2495,3715,0,0,0,0,0,0
$STATE,8962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8963,begin apogee
$GC,8969,-0.19,0.0,990.4,11.1,761,9140,0.52,0.00,166.07,1.066,6,0.111,0.000,2307,2086,2868,0,0,0,0,0,0
$STATE,9141,end apogee,CONTROL_FINISHED_OK
$STATE,9141,begin climb
$GC,9144,0.61,219.0,1002.1,0.0,769,9328,0.70,0.82,174.48,1.050,4,0.047,0.032,2586,2634,1975,0,0,0,0,0,0
$GC,9356,0.50,219.0,990.2,13.1,779,9361,0.17,0.80,0.00,0.000,6,0.152,0.027,2539,2103,1975,0,0,0,0,0,0
$GC,9686,0.44,219.0,953.2,11.6,795,9689,0.00,0.75,0.00,0.000,4,0.000,0.034,2542,1585,1972,0,0,0,0,0,0
$GC,9748,0.38,219.0,945.6,11.6,797,9756,0.12,0.80,0.00,0.000,6,0.143,0.031,2503,2115,1972,0,0,0,0,0,0
$GC,10065,0.38,243.9,914.9,9.5,813,10090,0.00,0.80,20.70,0.962,4,0.000,0.037,2502,2621,1874,0,0,0,0,0,0
$GC,10253,0.41,288.2,897.1,8.9,821,10294,0.00,0.77,36.08,0.972,6,0.000,0.029,2504,2094,1693,0,0,0,0,0,0
$GC,10623,0.56,390.1,869.1,7.1,839,10713,0.15,0.80,81.47,0.975,4,0.082,0.032,2574,1578,1277,0,0,0,0,0,0
$GC,10845,0.55,405.8,848.0,9.8,849,10868,0.00,0.80,14.35,0.873,6,0.000,0.031,2574,2100,1213,0,0,0,0,0,0
$GC,11179,0.53,405.8,814.0,10.8,865,11182,0.00,0.80,0.00,0.000,4,0.000,0.033,2577,1572,1212,0,0,0,0,0,0
$GC,11318,0.51,405.8,798.0,11.9,871,11322,0.10,0.80,0.00,0.000,6,0.119,0.031,2544,2102,1212,0,0,0,0,0,0
$GC,11652,0.56,405.8,762.2,10.9,887,11656,0.00,0.77,0.00,0.000,4,0.000,0.037,2543,2629,1211,0,0,0,0,0,0
$GC,11700,0.60,405.8,757.0,11.1,889,11704,0.00,0.77,0.00,0.000,6,0.000,0.031,2545,2105,1211,0,0,0,0,0,0
$GC,12034,0.66,409.2,721.9,10.2,905,12044,0.12,0.80,4.22,0.604,4,0.087,0.035,2608,1573,1200,0,0,0,0,0,0
$GC,12131,0.62,409.2,709.0,13.9,909,12136,0.10,0.80,0.00,0.000,6,0.129,0.032,2576,2102,1199,0,0,0,0,0,0
$GC,12459,0.59,409.2,671.2,11.0,925,12463,0.00,0.77,0.00,0.000,4,0.000,0.031,2577,1572,1199,0,0,0,0,0,0
$GC,12567,0.57,409.2,658.4,11.8,929,12573,0.00,0.80,0.00,0.000,6,0.000,0.031,2577,2102,1199,0,0,0,0,0,0
$GC,12883,0.56,409.2,621.5,11.5,945,12887,0.00,0.77,0.00,0.000,4,0.000,0.032,2580,1573,1199,0,0,0,0,0,0
$GC,13008,0.53,409.2,606.6,11.9,950,13012,0.10,0.80,0.00,0.000,6,0.118,0.030,2546,2111,1199,0,0,0,0,0,0
$GC,13331,0.59,409.2,573.0,10.3,966,13335,0.00,0.73,0.00,0.000,4,0.000,0.038,2547,2607,1198,0,0,0,0,0,0
$GC,13416,0.65,427.7,564.2,9.7,969,13437,0.08,0.75,15.57,0.755,6,0.061,0.031,2593,2098,1125,0,0,0,0,0,0
$GC,13754,0.67,444.9,530.0,9.8,986,13776,0.00,0.75,16.02,0.725,4,0.000,0.032,2596,1569,1054,0,0,0,0,0,0
$GC,13835,0.67,444.9,521.7,10.6,989,13839,0.00,0.80,0.00,0.000,6,0.000,0.029,2597,2103,1054,0,0,0,0,0,0
$GC,14162,0.69,444.9,487.0,11.4,1010,14166,0.00,0.75,0.00,0.000,4,0.000,0.037,2596,2618,1054,0,0,0,0,0,0
$GC,14258,0.69,444.9,475.5,12.3,1018,14265,0.00,0.77,0.00,0.000,6,0.000,0.029,2599,2091,1054,0,0,0,0,0,0
$GC,14584,0.70,444.9,438.4,11.5,1049,14588,0.00,0.77,0.00,0.000,4,0.000,0.034,2600,2616,1054,0,0,0,0,0,0
$GC,14597,0.72,444.9,436.9,11.7,1050,14601,0.00,0.75,0.00,0.000,6,0.000,0.029,2602,2104,1054,0,0,0,0,0,0
$GC,14928,0.74,444.9,399.5,10.8,1081,14932,0.00,0.75,0.00,0.000,4,0.000,0.035,2606,1585,1055,0,0,0,0,0,0
$GC,14967,0.75,444.9,395.1,10.4,1084,14976,0.00,0.77,0.00,0.000,6,0.000,0.031,2606,2106,1055,0,0,0,0,0,0
$GC,15293,0.81,477.9,364.2,9.3,1115,15327,0.00,0.77,26.62,0.656,4,0.000,0.032,2606,2619,920,0,0,0,0,0,0
$GC,15418,0.77,477.9,350.5,12.7,1126,15422,0.00,0.77,0.00,0.000,6,0.000,0.029,2610,2091,923,0,0,0,0,0,0
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$GC,16509,0.84,524.0,222.3,13.0,1227,16513,0.00,0.77,0.00,0.000,4,0.000,0.031,2664,1570,735,0,0,0,0,0,0
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$GC,18166,1.25,622.9,50.4,9.1,1500,18185,0.17,0.80,10.38,0.439,4,0.065,0.034,2811,2627,439,0,0,0,0,0,0
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$STATE,18560,end climb,SURFACE_DEPTH_REACHED
$STATE,18560,begin surface coast
$FINISH,0.7,1.021557
$STATE,18585,end surface coast,CONTROL_FINISHED_OK
$STATE,18585,begin surface
$SM_CCo,18662,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,2134.17,12002.53,261011,111141
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.24
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,118.957
$10V_AH,9.7,86.356
$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,20.400,66.575,653.175,0.000,0.000,60.022,83.010,149.459,0.000,0.000,15.414,3834.719,10835.191,716.041,3274.755,500.816,0.000,2325.615,0.000,2947.549,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,64.260,1066.410,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1085.333,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,90145,1573
$CAP_FILE_SIZE,210781,0
$CFSIZE,260165632,186839040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261011,163730,2144.621,12005.699,40,1.0,40,-2.6