version: 66.09
glider: 181
mission: 6
dive: 783
start: 11 8 111 15 29 51
data:
$ID,181
$MISSION,6
$DIVE,783
$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,-8
$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,1
$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,-41838.57
$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,58
$R_STBD_OVSHOOT,48
$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
$GPS1,081111,152301,2133.024,12031.071,38,1.3,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.4
$GPS2,081111,152926,2133.051,12031.169,14,1.1,14,-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,295.0,58003,-14.3,-10.312
$D_GRID,1462
$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,-219.0,0.0,0.0,0,81,0.00,0.00,-61.85,0.000,2,0.000,0.000,175,2514,2362,0,0,0,0,0,0
$GC,84,-0.61,-219.0,3.2,-3.2,11,132,8.25,0.75,-32.25,0.000,4,0.221,0.071,2169,3022,3763,0,0,0,0,0,0
$GC,298,-0.45,-219.0,48.4,-21.4,48,306,0.17,0.77,0.00,0.000,6,0.143,0.024,2221,2463,3763,0,0,0,0,0,0
$GC,646,-0.38,-219.0,104.3,-15.0,109,654,0.10,0.65,0.00,0.000,4,0.168,0.025,2249,1960,3762,0,0,0,0,0,0
$GC,799,-0.49,-219.0,120.3,-10.0,135,806,0.00,0.80,0.00,0.000,6,0.000,0.032,2248,2499,3762,0,0,0,0,0,0
$GC,1147,-0.63,-219.0,156.6,-9.5,196,1154,0.22,0.70,0.00,0.000,4,0.061,0.019,2153,1973,3762,0,0,0,0,0,0
$GC,1235,-0.61,-219.0,165.7,-10.5,211,1241,0.00,0.77,0.00,0.000,6,0.000,0.032,2152,2498,3762,0,0,0,0,0,0
$GC,1581,-0.63,-219.0,203.1,-12.6,270,1584,0.00,0.77,0.00,0.000,4,0.000,0.036,2152,3025,3763,0,0,0,0,0,0
$GC,1665,-0.61,-219.0,213.7,-12.5,277,1671,0.00,0.73,0.00,0.000,6,0.000,0.024,2152,2495,3763,0,0,0,0,0,0
$GC,1991,-0.65,-219.0,246.4,-9.0,308,1995,0.00,0.80,0.00,0.000,4,0.000,0.035,2152,3030,3763,0,0,0,0,0,0
$GC,2049,-0.67,-219.0,251.7,-9.2,313,2053,0.00,0.73,0.00,0.000,6,0.000,0.024,2152,2504,3763,0,0,0,0,0,0
$GC,2381,-0.70,-219.0,282.8,-8.5,344,2384,0.00,0.70,0.00,0.000,4,0.000,0.025,2152,1960,3762,0,0,0,0,0,0
$GC,2488,-0.70,-219.0,292.1,-8.6,353,2495,0.00,0.80,0.00,0.000,6,0.000,0.033,2152,2498,3761,0,0,0,0,0,0
$GC,2815,-0.75,-219.0,319.7,-8.9,384,2818,0.00,0.77,0.00,0.000,4,0.000,0.037,2152,3022,3759,0,0,0,0,0,0
$GC,2833,-0.81,-219.0,321.4,-9.3,385,2840,0.08,0.73,0.00,0.000,6,0.050,0.024,2090,2499,3759,0,0,0,0,0,0
$GC,3159,-0.79,-219.0,357.6,-10.8,416,3163,0.12,0.82,0.00,0.000,4,0.135,0.037,2125,3025,3756,0,0,0,0,0,0
$GC,3242,-0.76,-219.0,365.5,-9.8,423,3246,0.00,0.73,0.00,0.000,6,0.000,0.024,2125,2503,3756,0,0,0,0,0,0
$GC,3574,-0.79,-219.0,398.8,-10.4,454,3578,0.00,0.82,0.00,0.000,4,0.000,0.039,2125,3023,3753,0,0,0,0,0,0
$GC,3633,-0.79,-219.0,404.7,-10.2,459,3636,0.00,0.73,0.00,0.000,6,0.000,0.024,2124,2501,3753,0,0,0,0,0,0
$GC,3964,-0.81,-219.0,438.6,-10.7,490,3968,0.00,0.80,0.00,0.000,4,0.000,0.037,2125,3024,3750,0,0,0,0,0,0
$GC,4079,-0.81,-219.0,450.8,-10.6,500,4083,0.00,0.73,0.00,0.000,6,0.000,0.024,2125,2503,3749,0,0,0,0,0,0
$GC,4410,-0.83,-219.0,482.2,-8.8,531,4414,0.00,0.82,0.00,0.000,4,0.000,0.040,2124,3021,3746,0,0,0,0,0,0
$GC,4462,-0.83,-219.0,486.7,-9.2,535,4469,0.00,0.73,0.00,0.000,6,0.000,0.024,2124,2502,3746,0,0,0,0,0,0
$GC,4785,-0.85,-219.0,514.7,-8.8,558,4789,0.00,0.80,0.00,0.000,4,0.000,0.038,2124,3024,3743,0,0,0,0,0,0
$GC,4887,-0.85,-219.0,523.9,-8.5,562,4891,0.00,0.75,0.00,0.000,6,0.000,0.024,2124,2495,3742,0,0,0,0,0,0
$GC,5210,-0.87,-219.0,550.6,-8.2,578,5214,0.00,0.82,0.00,0.000,4,0.000,0.038,2124,3026,3740,0,0,0,0,0,0
$GC,5266,-0.87,-219.0,555.8,-8.9,580,5270,0.00,0.75,0.00,0.000,6,0.000,0.024,2124,2500,3739,0,0,0,0,0,0
$GC,5589,-0.89,-219.0,586.0,-9.5,596,5594,0.12,0.82,0.00,0.000,4,0.083,0.037,2058,3024,3736,0,0,0,0,0,0
$GC,5720,-0.76,-219.0,606.1,-17.1,601,5727,0.22,0.75,0.00,0.000,6,0.147,0.024,2126,2494,3735,0,0,0,0,0,0
$GC,6038,-0.78,-219.0,641.1,-10.4,617,6042,0.00,0.70,0.00,0.000,4,0.000,0.027,2126,1970,3733,0,0,0,0,0,0
$GC,6144,-0.78,-219.0,652.4,-10.3,621,6151,0.00,0.80,0.00,0.000,6,0.000,0.035,2125,2494,3732,0,0,0,0,0,0
$GC,6463,-0.80,-219.0,681.6,-8.4,637,6466,0.00,0.73,0.00,0.000,4,0.000,0.026,2125,1970,3730,0,0,0,0,0,0
$GC,6580,-0.80,-219.0,691.7,-8.4,642,6584,0.00,0.80,0.00,0.000,6,0.000,0.036,2125,2493,3729,0,0,0,0,0,0
$GC,6909,-0.83,-219.0,716.1,-7.4,658,6913,0.00,0.70,0.00,0.000,4,0.000,0.026,2125,1982,3727,0,0,0,0,0,0
$GC,6955,-0.84,-219.0,719.6,-7.4,660,6959,0.00,0.80,0.00,0.000,6,0.000,0.037,2125,2502,3727,0,0,0,0,0,0
$GC,7291,-0.87,-219.0,744.1,-7.6,676,7295,0.00,0.73,0.00,0.000,4,0.000,0.026,2125,1976,3725,0,0,0,0,0,0
$GC,7405,-0.87,-219.0,753.5,-8.4,681,7408,0.00,0.80,0.00,0.000,6,0.000,0.036,2125,2498,3724,0,0,0,0,0,0
$GC,7740,-0.90,-219.0,783.5,-9.4,697,7744,0.12,0.75,0.00,0.000,4,0.086,0.028,2065,1975,3722,0,0,0,0,0,0
$GC,7908,-0.79,-219.0,808.1,-15.7,704,7912,0.17,0.82,0.00,0.000,6,0.137,0.038,2115,2503,3721,0,0,0,0,0,0
$GC,8231,-0.73,-219.0,848.3,-12.4,720,8234,0.00,0.80,0.00,0.000,4,0.000,0.042,2112,3026,3720,0,0,0,0,0,0
$GC,8354,-0.67,-219.0,864.4,-12.4,725,8358,0.12,0.75,0.00,0.000,6,0.131,0.026,2152,2504,3720,0,0,0,0,0,0
$GC,8680,-0.74,-219.0,891.8,-8.1,741,8684,0.00,0.82,0.00,0.000,4,0.000,0.040,2152,3032,3719,0,0,0,0,0,0
$GC,8795,-0.79,-219.0,900.6,-7.7,746,8799,0.00,0.77,0.00,0.000,6,0.000,0.026,2152,2504,3717,0,0,0,0,0,0
$GC,9130,-0.86,-219.0,924.3,-7.3,762,9134,0.15,0.85,0.00,0.000,4,0.078,0.041,2079,3029,3716,0,0,0,0,0,0
$GC,9245,-0.76,-219.0,937.8,-12.8,767,9250,0.15,0.77,0.00,0.000,6,0.135,0.027,2126,2492,3714,0,0,0,0,0,0
$GC,9582,-0.73,-219.0,973.2,-10.5,783,9586,0.00,0.85,0.00,0.000,4,0.000,0.042,2123,3030,3713,0,0,0,0,0,0
$GC,9665,-0.69,-219.0,983.3,-11.6,786,9672,0.00,0.77,0.00,0.000,6,0.000,0.027,2123,2497,3713,0,0,0,0,0,0
$STATE,9731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9731,begin apogee
$GC,9740,-0.19,0.0,990.7,11.2,790,9915,0.57,0.00,168.52,1.065,6,0.117,0.000,2306,2089,2869,0,0,0,0,0,0
$STATE,9916,end apogee,CONTROL_FINISHED_OK
$STATE,9916,begin climb
$GC,9919,0.61,219.0,1004.8,0.0,798,10116,0.75,0.00,187.57,1.042,6,0.047,0.000,2584,2089,1976,0,0,0,0,0,0
$GC,10428,0.53,242.8,970.4,9.6,823,10454,0.15,0.88,20.70,0.971,4,0.170,0.032,2547,2640,1879,0,0,0,0,0,0
$GC,10502,0.56,318.1,964.3,7.9,826,10569,0.00,0.80,61.88,1.008,6,0.000,0.027,2549,2105,1571,0,0,0,0,0,0
$GC,10892,0.54,324.7,926.7,10.1,845,10902,0.00,0.80,6.28,0.776,4,0.000,0.028,2549,2647,1546,0,0,0,0,0,0
$GC,10942,0.51,324.7,921.1,10.4,847,10945,0.00,0.80,0.00,0.000,6,0.000,0.027,2552,2104,1546,0,0,0,0,0,0
$GC,11271,0.48,324.7,885.5,11.3,863,11274,0.00,0.75,0.00,0.000,4,0.000,0.033,2556,1583,1548,0,0,0,0,0,0
$GC,11295,0.45,324.7,882.5,11.7,864,11299,0.10,0.80,0.00,0.000,6,0.133,0.029,2524,2120,1548,0,0,0,0,0,0
$GC,11630,0.48,324.7,847.1,10.8,880,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2120,1551,0,0,0,0,0,0
$GC,11938,0.51,324.7,812.8,11.3,895,11942,0.00,0.80,0.00,0.000,4,0.000,0.031,2526,1581,1551,0,0,0,0,0,0
$GC,11949,0.55,324.7,811.4,11.5,895,11953,0.00,0.77,0.00,0.000,6,0.000,0.029,2526,2096,1551,0,0,0,0,0,0
$GC,12273,0.57,324.7,775.1,10.9,911,12277,0.10,0.80,0.00,0.000,4,0.109,0.037,2570,2624,1551,0,0,0,0,0,0
$GC,12343,0.53,324.7,766.4,12.4,914,12347,0.08,0.77,0.00,0.000,6,0.141,0.028,2550,2100,1551,0,0,0,0,0,0
$GC,12679,0.55,330.6,730.0,10.1,930,12690,0.00,0.82,7.53,0.750,4,0.000,0.034,2550,2625,1520,0,0,0,0,0,0
$GC,12782,0.51,330.6,719.1,10.4,934,12789,0.00,0.77,0.00,0.000,6,0.000,0.027,2552,2095,1520,0,0,0,0,0,0
$GC,13100,0.57,377.4,690.4,8.8,950,13143,0.00,0.80,37.33,0.867,4,0.000,0.034,2555,1576,1330,0,0,0,0,0,0
$GC,13168,0.63,424.2,684.1,8.8,953,13211,0.00,0.80,37.42,0.848,6,0.000,0.028,2555,2105,1138,0,0,0,0,0,0
$GC,13521,0.72,445.3,651.3,9.6,970,13544,0.15,0.80,18.80,0.802,4,0.082,0.035,2624,2622,1053,0,0,0,0,0,0
$GC,13653,0.66,445.3,633.2,14.8,975,13660,0.10,0.77,0.00,0.000,6,0.142,0.029,2595,2101,1053,0,0,0,0,0,0
$GC,13971,0.70,445.3,595.2,11.4,991,13975,0.00,0.75,0.00,0.000,4,0.000,0.034,2597,1586,1053,0,0,0,0,0,0
$GC,13998,0.72,445.3,591.8,11.2,992,14002,0.00,0.77,0.00,0.000,6,0.000,0.028,2597,2103,1053,0,0,0,0,0,0
$GC,14326,0.72,445.3,556.3,10.3,1008,14329,0.00,0.75,0.00,0.000,4,0.000,0.035,2597,2616,1053,0,0,0,0,0,0
$GC,14422,0.70,445.3,546.4,10.5,1012,14426,0.00,0.77,0.00,0.000,6,0.000,0.028,2600,2091,1053,0,0,0,0,0,0
$GC,14750,0.77,479.6,514.1,9.2,1028,14782,0.00,0.80,27.80,0.746,4,0.000,0.034,2604,1572,913,0,0,0,0,0,0
$GC,14816,0.84,520.6,507.9,9.0,1031,14855,0.08,0.80,32.90,0.735,6,0.060,0.028,2650,2104,746,0,0,0,0,0,0
$GC,15173,0.83,520.6,467.2,12.2,1061,15176,0.00,0.75,0.00,0.000,4,0.000,0.035,2650,2618,752,0,0,0,0,0,0
$GC,15275,0.76,520.6,453.1,14.7,1070,15280,0.08,0.77,0.00,0.000,6,0.150,0.029,2629,2098,753,0,0,0,0,0,0
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$GC,18506,1.14,601.6,91.3,8.0,1452,18566,0.15,0.80,51.28,0.472,4,0.073,0.028,2765,1574,439,0,0,0,0,0,0
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$GC,18949,1.17,611.7,43.4,10.9,1528,18956,0.00,0.80,2.72,0.236,4,0.000,0.031,2769,1576,440,0,0,0,0,0,0
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$STATE,19280,end climb,SURFACE_DEPTH_REACHED
$STATE,19280,begin surface coast
$FINISH,0.7,1.021780
$STATE,19307,end surface coast,CONTROL_FINISHED_OK
$STATE,19307,begin surface
$SM_CCo,19386,0.00,0.000,0,0,443,595.34
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$IRIDIUM_FIX,2122.58,12032.40,081111,090908
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.84
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,10
$24V_AH,22.2,130.578
$10V_AH,9.1,92.607
$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,19.550,69.450,670.025,0.000,0.000,23.283,21.006,171.873,2.500,0.000,16.923,3880.401,11444.384,732.287,3167.638,527.566,0.000,2333.295,0.000,2923.439,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,71.145,1064.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1101.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321692
$DATA_FILE_SIZE,90297,1590
$CAP_FILE_SIZE,214146,0
$CFSIZE,260165632,180858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081111,205406,2133.373,12032.826,29,1.1,29,-2.6