version: 66.08
glider: 502
mission: 3
dive: 214
start: 12 12 110 16 28 27
data:
$ID,502
$MISSION,3
$DIVE,214
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$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,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28605.396
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,121210,162207,-7642.067,16756.805,34,0.9,34,137.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-71.7
$GPS2,121210,162802,-7642.066,16756.830,13,0.9,13,137.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7640.000,17000.000
$TGT_RADIUS,5000.000
$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,308.7,52745,-17.5,-10.000
$D_GRID,731
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,108,0.00,0.00,-91.12,0.000,2,0.000,0.000,419,2666,3012,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.1,-1.2,14,152,8.73,2.33,-24.83,0.000,4,0.193,0.062,2807,1229,3556,0,0,0,0,0,0
$GC,336,-0.76,-146.0,30.6,-13.8,54,344,0.00,2.35,0.00,0.000,6,0.000,0.059,2798,2638,3558,0,0,0,0,0,0
$GC,476,-0.76,-146.0,52.0,-17.2,79,482,0.00,1.83,0.00,0.000,4,0.000,0.065,2790,3769,3559,0,0,0,0,0,0
$GC,534,-0.76,-146.0,62.0,-17.4,89,541,0.00,1.75,0.00,0.000,6,0.000,0.044,2789,2676,3558,0,0,0,0,0,0
$GC,672,-0.76,-146.0,85.5,-16.8,114,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2674,3559,0,0,0,0,0,0
$GC,816,-0.76,-146.0,109.3,-17.4,135,820,0.00,1.77,0.00,0.000,4,0.000,0.065,2782,3767,3559,0,0,0,0,0,0
$GC,850,-0.76,-146.0,115.7,-18.6,138,855,0.12,1.70,0.00,0.000,6,0.170,0.044,2815,2675,3559,0,0,0,0,0,0
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$GC,1153,-0.76,-146.0,163.8,-15.6,166,1162,0.00,1.73,0.00,0.000,6,0.000,0.044,2808,2688,3559,0,0,0,0,0,0
$GC,1289,-0.76,-146.0,184.6,-15.7,179,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2687,3559,0,0,0,0,0,0
$GC,1416,-0.76,-146.0,204.7,-15.5,191,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2687,3559,0,0,0,0,0,0
$GC,1544,-0.76,-146.0,225.0,-16.1,203,1547,0.00,1.75,0.00,0.000,4,0.000,0.064,2800,3769,3559,0,0,0,0,0,0
$GC,1569,-0.76,-146.0,229.8,-16.9,205,1578,0.00,1.73,0.00,0.000,6,0.000,0.044,2800,2686,3559,0,0,0,0,0,0
$GC,1706,-0.76,-146.0,251.4,-16.2,218,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2686,3559,0,0,0,0,0,0
$GC,1896,-0.76,-146.0,282.4,-16.0,236,1900,0.00,1.75,0.00,0.000,4,0.000,0.064,2793,3770,3559,0,0,0,0,0,0
$GC,1933,-0.76,-146.0,289.2,-17.0,239,1941,0.00,1.70,0.00,0.000,6,0.000,0.044,2793,2700,3559,0,0,0,0,0,0
$GC,2133,-0.76,-146.0,321.2,-16.0,258,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2699,3559,0,0,0,0,0,0
$GC,2322,-0.76,-146.0,351.7,-16.2,276,2326,0.00,1.75,0.00,0.000,4,0.000,0.066,2785,3773,3559,0,0,0,0,0,0
$GC,2360,-0.76,-146.0,358.3,-16.4,279,2368,0.08,1.70,0.00,0.000,6,0.151,0.044,2810,2704,3558,0,0,0,0,0,0
$GC,2560,-0.76,-146.0,387.0,-14.4,298,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2705,3559,0,0,0,0,0,0
$GC,2749,-0.76,-146.0,415.2,-14.6,316,2753,0.00,1.73,0.00,0.000,4,0.000,0.066,2803,3767,3559,0,0,0,0,0,0
$GC,2783,-0.76,-146.0,420.4,-15.9,319,2787,0.00,1.65,0.00,0.000,6,0.000,0.045,2803,2701,3558,0,0,0,0,0,0
$GC,2989,-0.76,-146.0,451.2,-15.3,338,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2700,3558,0,0,0,0,0,0
$GC,3176,-0.76,-146.0,479.7,-15.1,356,3180,0.00,1.73,0.00,0.000,4,0.000,0.066,2796,3764,3558,0,0,0,0,0,0
$GC,3203,-0.76,-146.0,484.1,-15.8,358,3210,0.00,1.67,0.00,0.000,6,0.000,0.044,2796,2711,3558,0,0,0,0,0,0
$GC,3408,-0.76,-146.0,515.2,-15.3,372,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2711,3558,0,0,0,0,0,0
$GC,3592,-0.76,-146.0,543.0,-15.1,378,3595,0.00,1.70,0.00,0.000,4,0.000,0.064,2788,3766,3558,0,0,0,0,0,0
$GC,3612,-0.76,-146.0,546.5,-16.1,378,3617,0.08,1.65,0.00,0.000,6,0.151,0.044,2812,2725,3558,0,0,0,0,0,0
$GC,3809,-0.76,-146.0,574.0,-14.0,385,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2724,3558,0,0,0,0,0,0
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$GC,4176,-0.76,-146.0,623.8,-13.6,397,4180,0.00,1.70,0.00,0.000,4,0.000,0.066,2805,3774,3558,0,0,0,0,0,0
$GC,4203,-0.76,-146.0,627.9,-15.3,397,4210,0.00,1.67,0.00,0.000,6,0.000,0.044,2805,2724,3558,0,0,0,0,0,0
$GC,4396,-0.76,-146.0,654.1,-13.8,404,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2724,3558,0,0,0,0,0,0
$GC,4577,-0.76,-146.0,679.1,-13.5,410,4580,0.00,1.70,0.00,0.000,4,0.000,0.066,2798,3773,3558,0,0,0,0,0,0
$GC,4603,-0.76,-146.0,683.0,-14.2,410,4611,0.00,1.65,0.00,0.000,6,0.000,0.044,2798,2737,3558,0,0,0,0,0,0
$GC,4795,-0.76,-146.0,709.0,-13.7,417,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2737,3558,0,0,0,0,0,0
$STATE,4976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4976,begin apogee
$GC,4981,-0.17,0.0,733.7,13.3,423,5124,0.65,0.00,137.50,1.250,4,0.132,0.000,3006,2480,2963,0,0,0,0,0,0
$STATE,5125,end apogee,CONTROL_FINISHED_OK
$STATE,5125,begin climb
$GC,5126,0.76,146.0,738.0,0.0,427,5287,0.98,2.55,152.32,1.165,4,0.070,0.050,3314,1097,2365,0,0,0,0,0,0
$GC,5387,0.76,146.0,711.9,13.3,435,5395,0.00,2.50,0.00,0.000,6,0.000,0.053,3314,2493,2353,0,0,0,0,0,0
$GC,5579,0.76,146.0,685.7,14.0,442,5583,0.00,2.30,0.00,0.000,4,0.000,0.051,3324,1099,2350,0,0,0,0,0,0
$GC,5694,0.76,146.0,669.8,12.9,445,5699,0.00,2.38,0.00,0.000,6,0.000,0.056,3324,2516,2346,0,0,0,0,0,0
$GC,5896,0.76,146.0,641.2,14.2,452,5900,0.00,2.00,0.00,0.000,4,0.000,0.061,3324,3765,2346,0,0,0,0,0,0
$GC,5998,0.76,146.0,624.9,16.6,455,6001,0.00,1.92,0.00,0.000,6,0.000,0.044,3333,2538,2346,0,0,0,0,0,0
$GC,6216,0.76,146.0,592.4,14.9,462,6220,0.00,2.03,0.00,0.000,4,0.000,0.060,3333,3764,2344,0,0,0,0,0,0
$GC,6265,0.76,146.0,584.0,17.3,463,6270,0.08,1.95,0.00,0.000,6,0.151,0.044,3318,2543,2344,0,0,0,0,0,0
$GC,6466,0.76,146.0,556.4,13.4,470,6470,0.00,1.98,0.00,0.000,4,0.000,0.062,3318,3768,2343,0,0,0,0,0,0
$GC,6501,0.76,146.0,551.3,15.9,471,6505,0.00,1.90,0.00,0.000,6,0.000,0.044,3326,2545,2343,0,0,0,0,0,0
$GC,6719,0.76,146.0,520.7,13.7,478,6722,0.00,1.98,0.00,0.000,4,0.000,0.060,3326,3774,2343,0,0,0,0,0,0
$GC,6745,0.76,146.0,516.5,15.4,478,6753,0.00,1.95,0.00,0.000,6,0.000,0.044,3336,2554,2342,0,0,0,0,0,0
$GC,6939,0.76,146.0,488.1,14.6,489,6943,0.00,1.95,0.00,0.000,4,0.000,0.061,3336,3766,2342,0,0,0,0,0,0
$GC,6984,0.76,146.0,480.7,16.8,493,6988,0.10,1.92,0.00,0.000,6,0.146,0.044,3301,2557,2342,0,0,0,0,0,0
$GC,7186,0.76,146.0,455.4,12.2,512,7190,0.00,1.95,0.00,0.000,4,0.000,0.061,3301,3771,2342,0,0,0,0,0,0
$GC,7208,0.76,146.0,452.5,13.5,514,7212,0.00,1.88,0.00,0.000,6,0.000,0.044,3308,2563,2342,0,0,0,0,0,0
$GC,7411,0.76,146.0,426.9,12.3,533,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2561,2342,0,0,0,0,0,0
$GC,7602,0.76,146.0,403.0,12.7,551,7606,0.00,1.98,0.00,0.000,4,0.000,0.062,3309,3758,2342,0,0,0,0,0,0
$GC,7641,0.76,146.0,397.3,14.3,554,7648,0.00,1.85,0.00,0.000,6,0.000,0.044,3317,2569,2341,0,0,0,0,0,0
$GC,7839,0.76,146.0,371.4,13.0,573,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2567,2341,0,0,0,0,0,0
$GC,8030,0.76,146.0,346.4,13.1,591,8034,0.00,1.92,0.00,0.000,4,0.000,0.062,3317,3765,2341,0,0,0,0,0,0
$GC,8053,0.76,146.0,343.1,14.3,593,8056,0.00,1.85,0.00,0.000,6,0.000,0.043,3327,2569,2341,0,0,0,0,0,0
$GC,8255,0.76,146.0,315.7,13.5,612,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2566,2341,0,0,0,0,0,0
$GC,8449,0.76,146.0,290.1,13.3,630,8452,0.00,1.92,0.00,0.000,4,0.000,0.062,3327,3767,2341,0,0,0,0,0,0
$GC,8483,0.76,146.0,284.9,14.8,633,8486,0.00,1.83,0.00,0.000,6,0.000,0.044,3336,2580,2340,0,0,0,0,0,0
$GC,8685,0.76,146.0,256.4,14.1,652,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2577,2340,0,0,0,0,0,0
$GC,8879,0.76,146.0,229.6,13.9,670,8882,0.00,1.92,0.00,0.000,4,0.000,0.061,3336,3777,2340,0,0,0,0,0,0
$GC,8915,0.76,146.0,223.4,15.5,673,8925,0.10,1.88,0.00,0.000,6,0.144,0.044,3312,2596,2340,0,0,0,0,0,0
$GC,9053,0.76,146.0,206.4,12.5,686,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2596,2341,0,0,0,0,0,0
$GC,9188,0.76,146.0,189.3,12.5,699,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2596,2340,0,0,0,0,0,0
$GC,9315,0.76,146.0,173.2,12.6,711,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2595,2340,0,0,0,0,0,0
$GC,9443,0.76,146.0,157.5,12.1,723,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2596,2341,0,0,0,0,0,0
$GC,9570,0.76,146.0,142.2,12.0,735,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2596,2340,0,0,0,0,0,0
$GC,9697,0.76,146.0,126.8,11.8,747,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2596,2340,0,0,0,0,0,0
$GC,9825,0.76,146.0,111.5,12.0,759,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2595,2340,0,0,0,0,0,0
$GC,9953,0.76,146.0,96.5,11.6,773,9960,0.00,1.90,0.00,0.000,4,0.000,0.063,3312,3764,2340,0,0,0,0,0,0
$GC,9983,0.76,146.0,92.5,12.6,778,9990,0.00,1.88,0.00,0.000,6,0.000,0.044,3319,2581,2340,0,0,0,0,0,0
$GC,10125,0.76,146.0,75.8,12.2,803,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2580,2340,0,0,0,0,0,0
$GC,10262,0.76,146.0,59.3,12.1,828,10270,0.00,2.40,0.00,0.000,4,0.000,0.052,3329,1081,2340,0,0,0,0,0,0
$GC,10283,0.76,146.0,56.8,12.5,831,10290,0.00,2.45,0.00,0.000,6,0.000,0.055,3329,2591,2339,0,0,0,0,0,0
$GC,10424,0.76,146.0,39.8,12.0,856,10432,0.00,1.90,0.00,0.000,4,0.000,0.062,3329,3757,2339,0,0,0,0,0,0
$GC,10471,0.76,146.0,33.1,13.3,864,10479,0.00,1.85,0.00,0.000,6,0.000,0.044,3337,2592,2339,0,0,0,0,0,0
$GC,10611,0.76,146.0,15.6,12.7,889,10619,0.00,1.92,0.00,0.000,4,0.000,0.060,3338,3758,2339,0,0,0,0,0,0
$STATE,10636,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10636,begin subsurface finish
$FINISH1,11.6,1.027747,-12
$GC,10643,-0.01,-12.1,11.6,-15.3,893,10671,0.90,2.12,-19.45,0.000,4,0.145,0.079,3065,3773,3014,0,0,0,0,0,0
$FINISH2,8.1
$STATE,10672,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10672,begin surface
$IRIDIUM_FIX,-7554.21,16744.51,121210,131347
$TT8_MAMPS,0.028462
$HUMID,52.79
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,12.7
$ALTIM_BOTTOM_PING,700.7,61.6
$24V_AH,20.5,43.531
$10V_AH,9.9,26.792
$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,11.800,109.550,289.825,0.000,0.000,23.619,37.740,187.878,3.750,0.000,14.650,2232.411,5784.356,455.357,2356.540,194.751,0.000,1408.155,0.000,1559.258,0.000,22.662,0.000
$DEVICE_MAMPS,192.780,78.795,1250.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.385,1119.405,918.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276684
$DATA_FILE_SIZE,60284,897
$CAP_FILE_SIZE,133323,0
$CFSIZE,260165632,240402432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121210,162802,-7642.066,16756.830,13,0.9,13,137.1