version: 66.06
glider: 140
mission: 8
dive: 301
start: 12 31 109 5 25 13
data:
$ID,140
$MISSION,8
$DIVE,301
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_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,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$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,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,602.45679
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-55217.625
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-16.173029
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-61.9
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$TGT_RADIUS,4000.000
$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,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.62,0.000,2,0.000,0.000,215,2287,713,0,0,0,0,0,0
$GC,28,-0.80,-116.7,3.3,-0.0,1,182,8.20,2.08,-136.73,0.000,4,0.202,0.051,2502,914,3482,0,0,0,0,0,0
$GC,397,-0.47,-116.7,31.1,-12.4,67,404,0.38,2.08,0.00,0.000,6,0.197,0.029,2604,2313,3483,0,0,0,0,0,0
$GC,732,-0.43,-116.7,54.0,-6.5,128,740,0.00,2.10,0.00,0.000,4,0.000,0.041,2604,3691,3483,0,0,0,0,0,0
$GC,753,-0.38,-116.7,55.3,-6.4,131,760,0.12,2.00,0.00,0.000,6,0.187,0.024,2637,2280,3483,0,0,0,0,0,0
$GC,1091,-0.56,-116.7,77.0,-6.9,192,1099,0.17,2.05,0.00,0.000,4,0.109,0.035,2572,929,3483,0,0,0,0,0,0
$GC,1213,-0.53,-116.7,86.9,-8.4,213,1218,0.00,2.03,0.00,0.000,6,0.000,0.028,2572,2313,3483,0,0,0,0,0,0
$GC,1547,-0.58,-116.7,116.5,-8.1,274,1553,0.00,2.05,0.00,0.000,4,0.000,0.041,2572,3703,3483,0,0,0,0,0,0
$GC,1630,-0.58,-116.7,123.0,-7.7,284,1638,0.00,2.03,0.00,0.000,6,0.000,0.023,2572,2299,3483,0,0,0,0,0,0
$GC,1946,-0.64,-116.7,145.1,-6.7,300,1950,0.00,2.12,0.00,0.000,4,0.000,0.039,2572,3702,3483,0,0,0,0,0,0
$GC,2000,-0.64,-116.7,148.7,-6.2,302,2004,0.00,2.03,0.00,0.000,6,0.000,0.022,2572,2301,3483,0,0,0,0,0,0
$GC,2322,-0.69,-116.7,169.6,-6.8,318,2326,0.00,2.12,0.00,0.000,4,0.000,0.040,2572,3698,3483,0,0,0,0,0,0
$GC,2367,-0.69,-116.7,172.5,-6.4,320,2370,0.00,2.00,0.00,0.000,6,0.000,0.023,2573,2294,3483,0,0,0,0,0,0
$GC,2699,-0.73,-116.7,194.6,-6.9,336,2703,0.12,2.17,0.00,0.000,4,0.134,0.040,2529,3704,3483,0,0,0,0,0,0
$GC,2782,-0.51,-116.7,201.6,-9.1,339,2788,0.17,2.05,0.00,0.000,6,0.179,0.022,2593,2275,3483,0,0,0,0,0,0
$GC,3098,-0.45,-116.7,223.0,-7.1,355,3102,0.00,2.15,0.00,0.000,4,0.000,0.040,2593,3700,3483,0,0,0,0,0,0
$GC,3160,-0.39,-116.7,227.7,-7.9,358,3164,0.15,1.98,0.00,0.000,6,0.184,0.023,2635,2295,3483,0,0,0,0,0,0
$GC,3487,-0.58,-116.7,249.5,-7.2,374,3491,0.17,2.15,0.00,0.000,4,0.104,0.040,2570,3698,3483,0,0,0,0,0,0
$GC,3496,-0.74,-116.7,250.5,-7.5,374,3501,0.10,2.00,0.00,0.000,6,0.098,0.023,2529,2309,3482,0,0,0,0,0,0
$GC,3817,-0.69,-116.7,281.0,-9.8,390,3821,0.00,2.10,0.00,0.000,4,0.000,0.039,2528,3705,3483,0,0,0,0,0,0
$GC,4018,-0.45,-116.7,302.2,-10.9,399,4023,0.25,2.03,0.00,0.000,6,0.179,0.022,2613,2281,3483,0,0,0,0,0,0
$GC,4352,-0.61,-116.7,328.3,-7.6,410,4357,0.15,2.15,0.00,0.000,4,0.117,0.040,2560,3701,3482,0,0,0,0,0,0
$GC,4488,-0.61,-116.7,338.4,-7.4,414,4492,0.00,1.95,0.00,0.000,6,0.000,0.022,2560,2314,3482,0,0,0,0,0,0
$GC,4829,-0.65,-116.7,362.5,-6.8,425,4832,0.00,2.03,0.00,0.000,4,0.000,0.035,2560,928,3482,0,0,0,0,0,0
$GC,4845,-0.65,-116.7,363.7,-6.6,425,4849,0.00,2.03,0.00,0.000,6,0.000,0.028,2559,2311,3482,0,0,0,0,0,0
$GC,5169,-0.69,-116.7,385.0,-6.6,436,5172,0.00,2.05,0.00,0.000,4,0.000,0.040,2560,3706,3483,0,0,0,0,0,0
$GC,5212,-0.69,-116.7,387.9,-6.0,437,5217,0.00,2.03,0.00,0.000,6,0.000,0.022,2560,2305,3482,0,0,0,0,0,0
$GC,5537,-0.72,-116.7,408.0,-6.1,448,5541,0.00,2.12,0.00,0.000,4,0.000,0.039,2560,3704,3482,0,0,0,0,0,0
$GC,5580,-0.72,-116.7,410.8,-5.9,449,5584,0.00,2.03,0.00,0.000,6,0.000,0.022,2559,2302,3482,0,0,0,0,0,0
$GC,5905,-0.77,-116.7,431.1,-6.4,460,5909,0.12,2.12,0.00,0.000,4,0.132,0.040,2515,3698,3482,0,0,0,0,0,0
$GC,5971,-0.63,-116.7,436.3,-8.2,462,5975,0.10,2.03,0.00,0.000,6,0.179,0.022,2557,2281,3482,0,0,0,0,0,0
$GC,6306,-0.51,-116.7,463.0,-8.6,473,6311,0.15,2.17,0.00,0.000,4,0.201,0.041,2596,3705,3482,0,0,0,0,0,0
$GC,6377,-0.55,-116.7,469.0,-7.8,475,6382,0.00,2.00,0.00,0.000,6,0.000,0.023,2596,2312,3482,0,0,0,0,0,0
$GC,6707,-0.69,-116.7,493.8,-7.1,486,6711,0.17,2.10,0.00,0.000,4,0.103,0.039,2533,3700,3482,0,0,0,0,0,0
$GC,6717,-0.79,-116.7,494.5,-6.9,486,6721,0.00,1.98,0.00,0.000,6,0.000,0.023,2533,2305,3482,0,0,0,0,0,0
$GC,7068,-0.79,-116.7,518.4,-6.7,494,7072,0.00,2.05,0.00,0.000,4,0.000,0.035,2533,908,3482,0,0,0,0,0,0
$GC,7235,-0.63,-116.7,530.8,-7.8,496,7239,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2300,3481,0,0,0,0,0,0
$GC,7567,-0.46,-116.7,559.8,-9.1,502,7572,0.25,2.10,0.00,0.000,4,0.186,0.039,2607,3709,3481,0,0,0,0,0,0
$GC,7593,-0.46,-116.7,562.0,-7.7,502,7597,0.00,2.05,0.00,0.000,6,0.000,0.023,2608,2297,3481,0,0,0,0,0,0
$GC,7931,-0.64,-116.7,588.5,-8.0,508,7936,0.15,2.15,0.00,0.000,4,0.112,0.041,2552,3705,3481,0,0,0,0,0,0
$GC,8065,-0.64,-116.7,598.5,-7.2,510,8069,0.00,2.00,0.00,0.000,6,0.000,0.024,2552,2301,3480,0,0,0,0,0,0
$GC,8431,-0.68,-116.7,620.7,-5.9,516,8435,0.00,2.12,0.00,0.000,4,0.000,0.041,2552,3702,3479,0,0,0,0,0,0
$GC,8565,-0.68,-116.7,628.0,-5.4,518,8569,0.00,2.00,0.00,0.000,6,0.000,0.024,2552,2291,3478,0,0,0,0,0,0
$GC,8926,-0.73,-116.7,648.2,-5.6,524,8929,0.00,2.15,0.00,0.000,4,0.000,0.041,2552,3705,3477,0,0,0,0,0,0
$GC,9002,-0.73,-116.7,652.6,-5.8,525,9007,0.00,2.05,0.00,0.000,6,0.000,0.024,2552,2300,3476,0,0,0,0,0,0
$GC,9363,-0.78,-116.7,674.9,-6.4,531,9367,0.12,2.15,0.00,0.000,4,0.132,0.042,2510,3705,3475,0,0,0,0,0,0
$GC,9503,-0.67,-116.7,686.2,-7.9,533,9508,0.12,2.03,0.00,0.000,6,0.193,0.025,2541,2286,3475,0,0,0,0,0,0
$GC,9857,-0.67,-116.7,715.1,-8.2,539,9861,0.00,2.15,0.00,0.000,4,0.000,0.041,2541,3702,3474,0,0,0,0,0,0
$GC,9934,-0.67,-116.7,721.6,-7.8,540,9939,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2314,3473,0,0,0,0,0,0
$GC,10288,-0.67,-116.7,751.2,-8.4,546,10292,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3708,3472,0,0,0,0,0,0
$GC,10388,-0.67,-116.7,759.2,-8.3,547,10392,0.00,2.08,0.00,0.000,6,0.000,0.025,2541,2301,3472,0,0,0,0,0,0
$GC,10720,-0.71,-116.7,786.3,-8.3,553,10724,0.00,2.15,0.00,0.000,4,0.000,0.043,2541,3705,3470,0,0,0,0,0,0
$GC,10819,-0.71,-116.7,794.5,-8.0,554,10824,0.00,2.08,0.00,0.000,6,0.000,0.025,2541,2290,3470,0,0,0,0,0,0
$GC,11158,-0.75,-116.7,821.4,-8.0,560,11162,0.00,2.15,0.00,0.000,4,0.000,0.042,2541,3702,3469,0,0,0,0,0,0
$GC,11263,-0.75,-116.7,829.8,-8.1,561,11268,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2302,3469,0,0,0,0,0,0
$GC,11590,-0.78,-116.7,855.0,-7.8,567,11594,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3698,3468,0,0,0,0,0,0
$GC,11701,-0.78,-116.7,863.6,-8.1,568,11705,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2302,3467,0,0,0,0,0,0
$GC,12022,-0.82,-116.7,887.6,-7.6,574,12027,0.12,2.15,0.00,0.000,4,0.134,0.044,2501,3697,3467,0,0,0,0,0,0
$GC,12123,-0.67,-116.7,895.8,-8.4,575,12128,0.17,2.03,0.00,0.000,6,0.192,0.025,2545,2291,3466,0,0,0,0,0,0
$GC,12455,-0.71,-116.7,920.4,-7.4,581,12459,0.00,2.15,0.00,0.000,4,0.000,0.044,2545,3704,3465,0,0,0,0,0,0
$GC,12566,-0.71,-116.7,928.6,-8.0,582,12570,0.00,2.05,0.00,0.000,6,0.000,0.025,2545,2311,3465,0,0,0,0,0,0
$GC,12892,-0.76,-116.7,952.0,-7.2,588,12896,0.00,2.12,0.00,0.000,4,0.000,0.043,2545,3701,3464,0,0,0,0,0,0
$GC,13003,-0.76,-116.7,959.8,-7.1,589,13007,0.00,2.03,0.00,0.000,6,0.000,0.025,2546,2294,3463,0,0,0,0,0,0
$GC,13324,-0.81,-116.7,981.2,-6.7,595,13328,0.12,2.17,0.00,0.000,4,0.140,0.044,2504,3702,3463,0,0,0,0,0,0
$STATE,13445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13445,begin apogee
$GC,13452,-0.24,0.0,990.0,6.7,596,13554,0.60,0.00,99.35,1.539,6,0.176,0.000,2678,2628,3006,0,0,0,0,0,0
$STATE,13555,end apogee,CONTROL_FINISHED_OK
$STATE,13555,begin climb
$GC,13557,0.80,116.7,993.3,0.0,598,13674,1.08,2.47,107.38,1.447,4,0.123,0.046,3010,4025,2529,0,0,0,0,0,0
$GC,13780,0.71,122.4,984.9,6.6,601,13791,0.00,2.10,5.57,1.131,6,0.000,0.025,3020,2663,2507,0,0,0,0,0,0
$GC,14111,0.71,124.9,963.1,6.8,607,14115,0.00,2.12,0.00,0.000,4,0.000,0.036,3030,1258,2502,0,0,0,0,0,0
$GC,14222,0.73,138.2,955.9,6.3,608,14243,0.12,2.12,15.00,1.403,6,0.169,0.034,2998,2650,2441,0,0,0,0,0,0
$GC,14603,0.80,141.0,930.5,6.8,615,14607,0.00,2.17,0.00,0.000,4,0.000,0.047,2998,4049,2438,0,0,0,0,0,0
$GC,14715,0.78,147.4,923.0,6.6,616,14733,0.00,2.05,9.32,1.363,6,0.000,0.027,3005,2648,2403,0,0,0,0,0,0
$GC,15035,0.85,154.1,902.2,6.6,622,15049,0.10,2.17,7.38,1.305,4,0.117,0.037,3056,1259,2376,0,0,0,0,0,0
$GC,15112,0.81,161.4,896.7,6.6,623,15126,0.00,2.12,8.12,1.274,6,0.000,0.035,3057,2645,2348,0,0,0,0,0,0
$GC,15470,0.81,161.4,870.2,7.5,629,15474,0.00,2.17,0.00,0.000,4,0.000,0.047,3056,4059,2345,0,0,0,0,0,0
$GC,15622,0.71,161.4,858.1,8.4,631,15627,0.25,2.08,0.00,0.000,6,0.163,0.026,2994,2641,2344,0,0,0,0,0,0
$GC,15971,0.82,161.4,834.2,7.0,637,15976,0.10,2.20,0.00,0.000,4,0.130,0.047,3029,4049,2343,0,0,0,0,0,0
$GC,16027,0.75,161.4,830.0,7.3,637,16031,0.00,2.05,0.00,0.000,6,0.000,0.027,3038,2651,2343,0,0,0,0,0,0
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$GC,23635,0.99,243.0,248.3,5.8,823,23661,0.00,0.00,24.30,0.927,6,0.000,0.000,3073,2647,2015,0,0,0,0,0,0
$GC,23964,1.04,243.0,223.5,7.9,839,23968,0.00,2.08,0.00,0.000,4,0.000,0.035,3073,1270,2011,0,0,0,0,0,0
$GC,24019,1.09,243.0,219.3,7.7,841,24026,0.12,2.08,0.00,0.000,6,0.114,0.031,3118,2655,2010,0,0,0,0,0,0
$GC,24336,1.09,243.0,192.3,7.8,857,24340,0.00,2.10,0.00,0.000,4,0.000,0.044,3119,4041,2010,0,0,0,0,0,0
$GC,24401,1.01,243.0,186.3,8.3,860,24406,0.08,2.05,0.00,0.000,6,0.154,0.023,3088,2639,2010,0,0,0,0,0,0
$GC,24727,1.01,243.0,162.6,7.4,876,24731,0.00,2.03,0.00,0.000,4,0.000,0.036,3088,1271,2010,0,0,0,0,0,0
$GC,24819,1.05,243.0,156.2,7.6,880,24823,0.00,2.08,0.00,0.000,6,0.000,0.031,3087,2658,2010,0,0,0,0,0,0
$GC,25145,1.05,243.0,132.7,7.2,896,25146,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2659,2010,0,0,0,0,0,0
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$GC,25799,1.05,243.0,83.6,7.7,990,25804,0.00,2.08,0.00,0.000,4,0.000,0.035,3087,1271,2011,0,0,0,0,0,0
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$STATE,26747,end climb,SURFACE_DEPTH_REACHED
$STATE,26748,begin surface coast
$FINISH,2.9,1.027224
$STATE,26780,end surface coast,CONTROL_FINISHED_OK
$STATE,26780,begin surface
$SM_CCo,26798,229.43,0.705,0,0,550,602.46
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$TCM_TEMP,20.20
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$10V_AH,9.7,33.358
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,235276
$DATA_FILE_SIZE,66503,1166
$CAP_FILE_SIZE,249973,0
$CFSIZE,260165632,229502976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7