version: 67.00
glider: 236
mission: 2
dive: 1200
start: 4 21 121 15 26 17
data:
$ID,236
$MISSION,2
$DIVE,1200
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,150
$T_MISSION,195
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099900002
$HD_C,1.6e-05
$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,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3920
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,150
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,78.42469
$FG_AHR_24V,285.30493
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.66119
$PRESSURE_SLOPE,0.00022638284
$COMPASS_USE,4
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,210421,151831,4707.443,-12501.777,21,0.8,22,15.5
$_CALLS,1
$_SM_DEPTHo,-1.49
$_SM_ANGLEo,-64.4
$GPS2,210421,152557,4707.381,-12501.821,3,0.6,4,15.5
$SPEED_LIMITS,0.192,0.290
$TGT_NAME,HOLD
$TGT_LATLONG,4708.000,-12502.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000,0.000
$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,333.3,1168,-27.4,-11.111,-30.00
$D_GRID,593
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
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$GC,843.82,0,-74.33,-1.59,0.00,2802.2,2795.3,2809.2,1753.5,2080.4,109.04,-10.12,115,845.15,0.00,0.00,0.00,0.000,0.000,0.000,2802.66,2796.31,2809.00,1753.25,2080.12,0,0,0,30.00,30.00,30.00
$GC,903.78,260,-74.33,-1.59,80.00,2802.5,2796.0,2809.0,1753.6,2080.1,115.01,-9.95,121,909.45,0.00,0.00,3.81,0.000,0.000,0.099,2801.94,2794.56,2809.31,1753.50,3476.00,0,0,0,30.00,30.00,15.02
$GC,948.78,1028,-74.33,-1.59,0.00,2802.8,2795.8,2809.9,1753.7,3475.9,119.75,-11.54,130,953.38,0.00,0.00,3.41,0.000,0.000,0.051,2802.47,2795.88,2809.06,1754.19,2081.38,0,0,0,30.00,30.00,15.19
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$GC,1217.71,1028,-95.20,-1.65,0.00,2891.3,2889.4,2893.1,1753.4,662.6,145.71,-10.47,160,1224.52,0.00,0.00,3.54,0.000,0.000,0.044,2894.03,2892.06,2896.00,1753.38,2122.69,0,0,0,30.00,30.00,15.28
$GC,1283.80,0,-95.20,-1.65,0.00,2891.0,2889.0,2892.9,1753.8,2123.2,152.24,-10.13,167,1285.13,0.00,0.00,0.00,0.000,0.000,0.000,2891.50,2890.31,2892.69,1753.25,2123.12,0,0,0,30.00,30.00,30.00
$GC,1403.82,260,-95.20,-1.65,80.00,2891.1,2889.4,2892.8,1753.6,2123.2,163.85,-9.55,179,1409.46,0.00,0.00,3.69,0.000,0.000,0.103,2890.59,2888.50,2892.69,1753.31,3475.06,0,0,0,30.00,30.00,15.00
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$GC,3509.01,1028,-95.20,-1.65,0.00,2891.1,2889.2,2892.9,1753.6,3475.6,390.60,-10.81,358,3513.56,0.00,0.00,3.48,0.000,0.000,0.054,2891.31,2890.06,2892.56,1753.56,2082.25,0,0,0,30.00,30.00,15.05
$GC,3839.02,0,-95.20,-1.65,0.00,2891.0,2889.2,2892.8,1753.0,2082.5,426.98,-10.78,374,3840.35,0.00,0.00,0.00,0.000,0.000,0.000,2891.25,2888.69,2893.81,1753.12,2082.31,0,0,0,30.00,30.00,30.00
$GC,4138.97,260,-95.20,-1.65,80.00,2890.8,2889.7,2892.0,1753.8,2082.1,455.86,-9.48,384,4144.66,0.00,0.00,3.94,0.000,0.000,0.110,2891.50,2889.75,2893.25,1753.94,3475.06,0,0,0,30.00,30.00,14.85
$GC,4167.89,1028,-95.20,-1.65,0.00,2890.8,2889.2,2892.2,1753.1,3475.0,458.10,-9.72,390,4173.59,0.00,0.00,3.46,0.000,0.000,0.055,2891.31,2889.81,2892.81,1753.38,2084.25,0,0,0,30.00,30.00,15.01
$GC,4494.05,4129,-119.74,-1.73,0.00,2890.8,2889.6,2891.9,1753.4,2083.7,487.86,-8.64,405,4495.53,0.00,0.33,0.00,0.000,0.070,0.000,2889.03,2888.06,2890.00,1706.31,2083.25,0,0,0,30.00,15.41,30.00
$STATE,4613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4613,begin apogee
$GC,4615.15,10243,0.00,-0.25,0.00,2890.8,2889.4,2892.1,1705.5,2118.4,500.56,-10.44,409,4700.85,80.67,3.32,0.09,1.636,0.165,0.222,2496.94,2506.38,2487.50,2078.69,2083.81,0,0,0,10.93,14.73,14.84
$STATE,4703,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4704.13,10243,119.74,1.73,0.00,2498.0,2507.9,2488.2,2078.4,2083.4,503.38,0.00,411,4819.47,110.18,3.61,0.00,1.578,0.080,0.000,2012.81,2026.50,1999.12,2562.88,2083.94,0,0,0,11.27,15.01,30.00
$GC,5097.56,16966,119.74,1.77,-80.00,2000.5,2019.3,1981.6,2564.0,2083.9,470.78,9.61,425,5103.27,0.00,0.00,4.10,0.000,0.000,0.137,1999.84,2018.81,1980.88,2563.12,662.31,0,0,0,30.00,30.00,15.07
$GC,5201.50,17478,119.74,1.81,0.00,1998.8,2016.3,1981.3,2564.0,662.2,459.70,9.91,446,5207.20,0.00,0.00,3.54,0.000,0.000,0.045,1998.94,2015.69,1982.19,2563.31,2125.31,0,0,0,30.00,30.00,15.35
$GC,5512.59,10791,147.35,1.89,-80.00,1996.1,2015.8,1976.3,2564.4,2125.8,432.24,8.34,458,5544.49,24.80,0.22,4.14,1.455,0.068,0.133,1899.16,1918.12,1880.19,2611.06,660.75,0,0,0,11.48,15.49,15.12
$GC,5591.62,1092,147.35,1.94,0.00,1895.3,1913.1,1877.6,2611.1,660.9,423.16,9.40,474,5597.33,0.00,0.00,3.55,0.000,0.000,0.045,1894.91,1913.00,1876.81,2610.94,2124.12,0,0,0,30.00,30.00,15.36
$GC,5902.73,516,147.35,1.94,-80.00,1892.2,1913.0,1871.3,2611.6,2124.3,388.34,11.09,486,5908.45,0.00,0.00,4.16,0.000,0.000,0.130,1891.41,1912.88,1869.94,2610.88,661.88,0,0,0,30.00,30.00,15.11
$GC,6056.65,1028,147.35,1.94,0.00,1891.6,1912.1,1871.1,2611.5,661.8,367.96,14.29,517,6062.36,0.00,0.00,3.56,0.000,0.000,0.046,1893.97,1914.25,1873.69,2610.44,2124.19,0,0,0,30.00,30.00,15.36
$GC,6377.77,16450,147.35,1.98,0.00,1890.2,1912.1,1868.4,2612.0,2125.1,334.22,9.88,531,6379.10,0.00,0.00,0.00,0.000,0.000,0.000,1890.34,1912.31,1868.38,2611.25,2124.69,0,0,0,30.00,30.00,30.00
$GC,6677.77,16966,147.35,2.01,-80.00,1890.0,1912.1,1868.0,2611.5,2125.1,303.43,10.21,541,6683.52,0.00,0.00,4.22,0.000,0.000,0.130,1889.56,1911.25,1867.88,2611.38,661.75,0,0,0,30.00,30.00,15.01
$GC,6756.68,17478,147.35,2.03,0.00,1889.4,1911.1,1867.7,2611.8,661.8,294.34,10.35,557,6763.49,0.00,0.00,3.58,0.000,0.000,0.044,1891.12,1912.44,1869.81,2611.19,2123.31,0,0,0,30.00,30.00,15.34
$GC,7062.78,10791,170.03,2.10,-80.00,1889.3,1911.5,1867.2,2611.9,2123.8,265.77,8.83,568,7090.02,21.06,0.25,4.08,1.311,0.069,0.130,1804.97,1825.06,1784.88,2660.94,660.62,0,0,0,11.34,15.52,15.24
$GC,7162.23,1028,170.03,2.10,0.00,1803.8,1822.4,1785.1,2660.6,660.7,252.92,14.25,588,7167.93,0.00,0.00,3.56,0.000,0.000,0.044,1804.00,1823.38,1784.62,2660.94,2123.88,0,0,0,30.00,30.00,15.45
$GC,7468.34,516,170.03,2.10,-80.00,1800.7,1822.5,1778.9,2661.5,2124.4,216.08,11.52,618,7474.06,0.00,0.00,4.16,0.000,0.000,0.127,1799.31,1821.00,1777.62,2661.31,660.81,0,0,0,30.00,30.00,15.10
$GC,7603.81,1028,170.03,2.10,0.00,1800.5,1822.2,1778.9,2661.0,660.8,197.41,13.57,645,7608.99,0.00,0.00,3.59,0.000,0.000,0.045,1800.78,1822.00,1779.56,2661.88,2124.94,0,0,0,30.00,30.00,15.38
$GC,7728.38,516,170.03,2.10,-80.00,1800.3,1822.1,1778.4,2661.4,2125.4,183.10,11.24,658,7734.11,0.00,0.00,4.17,0.000,0.000,0.125,1799.62,1821.19,1778.06,2661.00,661.81,0,0,0,30.00,30.00,15.06
$GC,7813.83,1028,170.03,2.10,0.00,1800.0,1822.0,1777.9,2661.0,662.1,172.34,12.95,675,7819.02,0.00,0.00,3.58,0.000,0.000,0.044,1799.66,1821.19,1778.12,2661.38,2123.81,0,0,0,30.00,30.00,15.36
$GC,7938.44,580,170.03,2.12,-80.00,1799.6,1821.7,1777.6,2661.4,2124.7,158.92,10.46,688,7944.13,0.00,0.00,4.17,0.000,0.000,0.125,1801.47,1823.69,1779.25,2661.38,662.12,0,0,0,30.00,30.00,15.05
$GC,8053.86,1028,170.03,2.12,0.00,1799.6,1821.7,1777.5,2661.4,661.8,144.82,13.68,711,8059.06,0.00,0.00,3.58,0.000,0.000,0.043,1800.00,1822.00,1778.00,2661.19,2127.75,0,0,0,30.00,30.00,15.34
$GC,8118.43,0,170.03,2.12,0.00,1799.2,1821.7,1776.8,2661.6,2127.6,137.93,10.66,718,8119.76,0.00,0.00,0.00,0.000,0.000,0.000,1799.56,1821.94,1777.19,2661.38,2127.44,0,0,0,30.00,30.00,30.00
$GC,8178.46,580,170.03,2.16,-80.00,1799.2,1821.6,1776.8,2661.8,2126.9,132.14,9.61,724,8184.17,0.00,0.00,4.16,0.000,0.000,0.122,1798.66,1821.19,1776.12,2660.88,662.06,0,0,0,30.00,30.00,15.02
$GC,8233.90,1028,170.03,2.16,0.00,1799.2,1821.9,1776.6,2661.5,662.1,125.61,12.40,735,8239.08,0.00,0.00,3.56,0.000,0.000,0.042,1798.31,1820.88,1775.75,2661.44,2127.19,0,0,0,30.00,30.00,15.34
$GC,8298.46,260,170.03,2.16,80.00,1799.1,1821.9,1776.4,2662.0,2127.5,118.05,11.20,742,8304.12,0.00,0.00,3.72,0.000,0.000,0.107,1799.94,1821.75,1778.12,2660.94,3474.88,0,0,0,30.00,30.00,15.09
$GC,8363.49,17414,170.03,2.16,0.00,1798.4,1820.8,1776.1,2661.9,3474.1,109.65,13.35,755,8368.07,0.00,0.00,3.43,0.000,0.000,0.050,1798.78,1820.88,1776.69,2662.56,2078.19,0,0,0,30.00,30.00,15.26
$GC,8433.47,16902,170.03,2.16,-80.00,1798.4,1821.0,1775.9,2662.0,2078.4,101.85,10.93,763,8439.18,0.00,0.00,4.03,0.000,0.000,0.126,1800.62,1823.38,1777.88,2661.12,661.75,0,0,0,30.00,30.00,15.01
$GC,8538.95,17414,170.03,2.16,0.00,1798.5,1821.1,1775.9,2661.6,661.8,88.89,12.24,784,8544.14,0.00,0.00,3.53,0.000,0.000,0.042,1797.53,1820.38,1774.69,2661.69,2128.25,0,0,0,30.00,30.00,15.34
$GC,8603.51,16710,170.03,2.21,80.00,1798.3,1821.2,1775.4,2661.4,2128.7,82.46,9.48,791,8609.15,0.00,0.00,3.66,0.000,0.000,0.104,1796.88,1819.44,1774.31,2660.69,3474.38,0,0,0,30.00,30.00,15.05
$GC,8682.42,11303,199.48,2.30,0.00,1798.0,1820.4,1775.6,2661.2,3474.6,75.68,8.15,807,8723.94,34.66,0.25,3.42,1.119,0.070,0.048,1687.16,1709.50,1664.81,2707.56,2079.88,0,0,0,11.42,15.03,15.24
$GC,8788.53,8742,228.46,2.39,-80.00,1683.7,1706.9,1660.5,2707.9,2080.0,67.73,8.20,822,8830.50,34.90,0.00,3.98,1.087,0.000,0.128,1568.25,1591.56,1544.94,2707.75,660.62,0,0,0,11.49,30.00,15.03
$GC,9052.67,11303,265.38,2.50,0.00,1564.4,1586.4,1542.4,2707.1,660.6,42.71,7.40,875,9100.40,41.96,0.25,3.56,1.063,0.065,0.042,1418.50,1443.06,1393.94,2754.00,2130.38,0,0,0,11.50,15.16,15.38
$GC,9158.76,8742,287.22,2.56,-80.00,1415.7,1441.8,1389.5,2754.6,2130.4,34.29,8.92,890,9190.78,25.50,0.00,4.11,1.011,0.000,0.122,1328.94,1354.62,1303.25,2754.50,661.25,0,0,0,11.43,30.00,15.01
$GC,9229.64,1028,287.22,2.56,0.00,1328.0,1352.9,1303.1,2754.9,661.7,26.97,11.79,904,9234.63,0.00,0.00,3.57,0.000,0.000,0.042,1329.06,1353.88,1304.25,2753.00,2128.25,0,0,0,30.00,30.00,15.33
$GC,9294.02,580,287.22,2.60,-80.00,1326.5,1352.9,1300.0,2755.3,2128.8,20.29,9.94,911,9299.76,0.00,0.00,4.11,0.000,0.000,0.120,1326.38,1353.12,1299.62,2754.69,660.75,0,0,0,30.00,30.00,15.11
$GC,9402.96,3141,287.22,2.64,0.00,1325.6,1351.5,1299.8,2753.5,660.5,9.27,9.76,933,9409.81,0.00,0.16,3.55,0.000,0.079,0.041,1326.84,1352.56,1301.12,2791.69,2131.62,0,0,0,30.00,15.15,15.38
$GC,9469.04,10535,345.54,2.81,80.00,1324.8,1351.7,1298.0,2791.8,2131.9,5.90,5.25,940,9530.35,60.63,0.19,0.03,1.018,0.076,0.383,1092.62,1116.94,1068.31,2833.69,2152.81,0,0,0,11.51,15.43,15.02
$STATE,9530,end climb,SURFACE_DEPTH_REACHED
$STATE,9530,begin surface coast
$STATE,9558,end surface coast,CONTROL_FINISHED_OK
$STATE,9558,begin surface
$SM_CCo,9712.79,123.79,1.020,0,564.4,564.9,563.9,474.80
$SM_CCo,9713.90,0.00,2.561,0,564.4,561.0,567.8,474.80
$SM_CCo,9715.00,0.00,0.013,0,564.6,561.6,567.6,474.75
$SM_GC,-0.39,0.00,19.17,0.18,0.013,0.071,0.100,564.6,561.6,567.6,170.2,2059.4,0,0,0,30.36,15.03,15.29
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4708.57,-12459.52,210421,123457
$TCM_TEMP,174.69
$XPDR_PINGS,18,14.0,11.5
$SC_FREEKB,3399264
$HUMID,58.99
$TEMP,7.88
$INTERNAL_PRESSURE,7.79048
$24V_AH,13.54,326.199
$10V_AH,14.63,0.000
$FG_AHR_24Vo,285.523
$FG_AHR_10Vo,78.458
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,651.630,42.330,239.495,199.280,4.500,12.948,3602.477,6350.608,1857.384,0.000,0.000,0.000
$DEVICE_MAMPS,2561.104,249.688,382.856,195.011,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9623.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.251,0.000,0.000,0.000
$MEM,1103688,38,73460,56
$DATA_FILE_SIZE,35406,955
$CAP_FILE_SIZE,514554,0
$SDSIZE,3918848,3590656
$SDFILEDIR,6026,1
$ERRORS,0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
$GPS,210421,180839,4707.770,-12501.274,19,1.2,20,15.5