version: 66.12
glider: 171
mission: 9
dive: 291
start: 1 18 116 22 0 58
data:
$ID,171
$MISSION,9
$DIVE,291
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$NAV_MODE,2
$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,587.06018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,180116,215335,616.5086,8220.3574,41,1.0,41,-2.5,0.0,0.0,8,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-55.2
$GPS2,180116,220046,616.4660,8220.2871,12,1.3,34,-2.5,0.0,243.8,7,8.7
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH2
$TGT_LATLONG,615.000,8215.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,239.0,10105,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.54,-175.2,169,2294,534,460,0.0,0.0,0,154,0.00,0.00,-133.38,0.000,16386,0.000,0.000,169,2295,2674,2722,2626,0,0,0,0,0,0,26.25,28.83,26.32
$GC,157,-0.54,-175.2,169,2295,2723,2624,3.3,-5.7,11,191,6.22,2.42,-21.60,0.000,18948,0.197,1.178,1816,917,3617,3558,3677,0,0,0,0,0,0,25.21,24.03,25.59
$GC,371,-0.53,-175.2,1816,917,3558,3678,67.0,-24.3,47,377,0.00,2.22,0.00,0.000,1030,0.000,0.043,1805,2299,3618,3558,3678,0,0,0,0,0,0,26.06,26.02,26.10
$GC,755,-0.52,-175.2,1805,2299,3558,3683,132.1,-13.5,66,761,0.00,2.25,0.00,0.000,260,0.000,0.054,1795,3702,3620,3558,3682,0,0,0,0,0,0,26.63,26.04,26.68
$GC,947,-0.52,-175.2,1794,3703,3559,3683,159.8,-13.3,98,954,0.08,2.15,0.00,0.000,3078,0.110,0.031,1825,2299,3621,3559,3683,0,0,0,0,0,0,26.08,26.30,26.14
$GC,1331,-0.52,-175.2,1824,2299,3559,3683,204.1,-11.6,117,1338,0.00,2.15,0.00,0.000,516,0.000,0.037,1825,916,3620,3558,3683,0,0,0,0,0,0,26.73,26.25,26.79
$GC,1355,-0.52,-175.2,1825,916,3559,3683,206.7,-10.7,121,1363,0.00,2.22,0.00,0.000,1030,0.000,0.043,1815,2304,3620,3558,3683,0,0,0,0,0,0,26.25,26.19,26.29
$GC,1740,-0.51,-175.2,1815,2305,3559,3683,250.1,-11.2,140,1746,0.00,2.20,0.00,0.000,516,0.000,0.040,1813,914,3620,3558,3682,0,0,0,0,0,0,26.77,26.25,26.83
$GC,1818,-0.51,-175.2,1814,914,3558,3682,258.5,-10.4,153,1825,0.00,2.22,0.00,0.000,1030,0.000,0.044,1805,2305,3619,3558,3681,0,0,0,0,0,0,26.26,26.21,26.31
$GC,2211,-0.51,-175.2,1804,2306,3558,3676,299.0,-10.1,168,2216,0.00,2.20,0.00,0.000,260,0.000,0.059,1794,3671,3616,3558,3674,0,0,0,0,0,0,26.80,26.11,26.86
$GC,2245,-0.51,-175.2,1794,3671,3558,3675,302.6,-10.2,174,2253,0.10,2.10,0.00,0.000,3078,0.101,0.031,1833,2307,3616,3558,3674,0,0,0,0,0,0,26.15,26.39,26.20
$GC,2642,-0.51,-175.2,1833,2306,3558,3669,332.6,-7.3,190,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2306,3613,3557,3669,0,0,0,0,0,0,26.81,26.88,26.86
$GC,3002,-0.51,-175.2,1833,2306,3558,3663,359.9,-8.2,200,3008,0.00,2.20,0.00,0.000,516,0.000,0.041,1833,908,3609,3557,3662,0,0,0,0,0,0,26.82,26.25,26.88
$GC,3080,-0.51,-175.2,1833,908,3557,3662,367.4,-9.6,213,3087,0.00,2.20,0.00,0.000,1030,0.000,0.044,1825,2317,3609,3557,3661,0,0,0,0,0,0,26.30,26.20,26.35
$GC,3471,-0.51,-175.2,1825,2317,3557,3656,409.5,-11.1,228,3477,0.00,2.17,0.00,0.000,516,0.000,0.040,1825,905,3605,3556,3655,0,0,0,0,0,0,26.82,26.23,26.88
$GC,3525,-0.51,-175.2,1824,905,3556,3655,415.4,-11.2,237,3532,0.00,2.22,0.00,0.000,1030,0.000,0.044,1814,2304,3605,3556,3655,0,0,0,0,0,0,26.25,26.20,26.30
$GC,3904,-0.51,-175.2,1814,2304,3556,3650,456.0,-10.4,250,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2304,3602,3555,3650,0,0,0,0,0,0,26.83,26.89,26.89
$GC,4263,-0.51,-175.2,1814,2304,3555,3645,489.7,-9.0,260,4269,0.00,2.22,0.00,0.000,516,0.000,0.041,1814,909,3600,3555,3645,0,0,0,0,0,0,26.83,26.20,26.89
$GC,4299,-0.51,-175.2,1814,909,3554,3645,492.8,-8.9,266,4305,0.00,2.22,0.00,0.000,1030,0.000,0.044,1805,2302,3599,3554,3645,0,0,0,0,0,0,26.23,26.18,26.28
$GC,4696,-0.51,-175.2,1804,2302,3555,3641,524.0,-7.4,282,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2302,3597,3554,3640,0,0,0,0,0,0,26.83,26.89,26.89
$GC,5056,-0.51,-175.2,1804,2302,3554,3637,547.2,-6.1,292,5061,0.00,2.22,0.00,0.000,516,0.000,0.043,1805,908,3595,3554,3637,0,0,0,0,0,0,26.83,26.18,26.89
$GC,5097,-0.50,-175.2,1804,908,3553,3637,550.1,-6.9,299,5104,0.10,2.22,0.00,0.000,3078,0.107,0.044,1833,2301,3595,3553,3637,0,0,0,0,0,0,25.96,26.17,26.03
$GC,5489,-0.51,-175.2,1833,2301,3552,3636,570.9,-5.7,314,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2301,3593,3552,3635,0,0,0,0,0,0,26.83,26.90,26.89
$GC,5847,-0.51,-175.2,1833,2301,3550,3633,594.6,-6.9,324,5853,0.00,2.22,0.00,0.000,516,0.000,0.042,1833,905,3591,3550,3632,0,0,0,0,0,0,26.83,26.15,26.89
$GC,5944,-0.51,-175.2,1833,905,3548,3633,602.1,-8.1,340,5949,0.00,2.20,0.00,0.000,1030,0.000,0.044,1825,2312,3590,3548,3632,0,0,0,0,0,0,26.25,26.14,26.29
$GC,6315,-0.51,-175.2,1824,2313,3548,3630,633.0,-8.6,352,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2312,3588,3547,3630,0,0,0,0,0,0,26.83,26.90,26.89
$GC,6675,-0.51,-175.2,1824,2313,3547,3628,664.2,-8.6,362,6681,0.00,2.22,0.00,0.000,516,0.000,0.041,1824,912,3587,3546,3628,0,0,0,0,0,0,26.82,26.15,26.89
$GC,6735,-0.51,-175.2,1824,912,3546,3628,669.1,-8.4,372,6741,0.00,2.22,0.00,0.000,1030,0.000,0.045,1814,2302,3586,3546,3627,0,0,0,0,0,0,26.17,26.12,26.21
$GC,7109,-0.51,-175.2,1814,2302,3545,3626,698.4,-7.3,384,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2302,3586,3545,3627,0,0,0,0,0,0,26.83,26.90,26.89
$GC,7467,-0.51,-175.2,1814,2302,3544,3626,722.9,-6.8,394,7473,0.00,2.22,0.00,0.000,516,0.000,0.042,1814,910,3585,3545,3625,0,0,0,0,0,0,26.83,26.11,26.89
$GC,7515,-0.51,-175.2,1814,910,3543,3625,726.2,-6.7,402,7521,0.00,2.22,0.00,0.000,1030,0.000,0.044,1805,2301,3584,3543,3625,0,0,0,0,0,0,26.14,26.09,26.19
$GC,7901,-0.51,-175.2,1805,2301,3543,3625,756.5,-8.1,416,7906,0.00,2.17,0.00,0.000,516,0.000,0.043,1805,909,3582,3541,3624,0,0,0,0,0,0,26.82,26.10,26.89
$GC,7935,-0.51,-175.2,1805,910,3542,3625,759.4,-8.5,422,7942,0.10,2.22,0.00,0.000,3078,0.104,0.046,1833,2297,3583,3542,3624,0,0,0,0,0,0,25.88,26.06,25.94
$GC,8332,-0.51,-175.2,1833,2297,3542,3623,785.8,-6.4,438,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2297,3582,3542,3623,0,0,0,0,0,0,26.82,26.90,26.89
$GC,8692,-0.51,-175.2,1832,2297,3542,3621,809.1,-6.6,448,8698,0.00,2.20,0.00,0.000,516,0.000,0.040,1833,909,3580,3541,3620,0,0,0,0,0,0,26.83,26.13,26.89
$GC,8764,-0.51,-175.2,1832,910,3541,3621,814.3,-7.5,460,8770,0.00,2.20,0.00,0.000,1030,0.000,0.045,1825,2306,3580,3540,3621,0,0,0,0,0,0,26.15,26.05,26.20
$GC,9161,-0.51,-175.2,1825,2307,3540,3620,842.8,-7.2,476,9167,0.00,2.20,0.00,0.000,516,0.000,0.042,1825,908,3579,3539,3620,0,0,0,0,0,0,26.82,26.08,26.89
$GC,9209,-0.52,-175.2,1825,908,3539,3620,846.7,-7.7,484,9214,0.00,2.20,0.00,0.000,1030,0.000,0.046,1815,2304,3579,3539,3620,0,0,0,0,0,0,26.13,26.03,26.19
$GC,9593,-0.52,-175.2,1814,2304,3539,3619,877.2,-7.8,498,9598,0.00,2.17,0.00,0.000,516,0.000,0.043,1815,909,3578,3538,3619,0,0,0,0,0,0,26.82,26.06,26.89
$GC,9646,-0.52,-175.2,1815,910,3538,3619,881.4,-8.1,507,9652,0.00,2.25,0.00,0.000,1030,0.000,0.046,1805,2305,3578,3538,3619,0,0,0,0,0,0,26.06,26.01,26.11
$GC,10025,-0.52,-175.2,1804,2307,3538,3617,911.6,-7.9,520,10030,0.00,2.20,0.00,0.000,516,0.000,0.043,1805,907,3578,3538,3618,0,0,0,0,0,0,26.82,26.05,26.89
$GC,10089,-0.52,-175.2,1805,907,3537,3618,917.2,-8.8,531,10098,0.08,2.25,0.00,0.000,3078,0.111,0.045,1826,2304,3577,3537,3617,0,0,0,0,0,0,25.82,26.01,25.89
$GC,10458,-0.52,-175.2,1826,2304,3537,3617,943.4,-7.3,542,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3577,3537,3617,0,0,0,0,0,0,26.82,26.89,26.88
$GC,10817,-0.52,-175.2,1826,2305,3535,3616,969.7,-7.4,552,10822,0.00,2.20,0.00,0.000,516,0.000,0.043,1826,902,3575,3534,3616,0,0,0,0,0,0,26.82,26.03,26.89
$GC,10882,-0.52,-175.2,1826,902,3534,3616,974.9,-7.6,563,10889,0.00,2.25,0.00,0.000,1030,0.000,0.044,1817,2304,3574,3534,3615,0,0,0,0,0,0,26.04,25.99,26.09
$STATE,11102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11102,begin apogee
$GC,11108,-0.11,0.0,1817,1955,3534,3615,991.9,-7.6,570,11258,0.43,0.00,147.57,1.006,10246,0.090,0.000,1963,1955,2898,2929,2867,0,0,0,0,0,0,25.93,24.53,23.39
$STATE,11260,end apogee,CONTROL_FINISHED_OK
$STATE,11260,begin climb
$GC,11262,0.54,175.2,1963,1955,2926,2862,997.4,0.0,574,11425,0.57,2.50,155.27,0.988,11012,0.068,0.050,2172,3382,2180,2254,2107,0,0,0,0,0,0,24.96,24.39,23.21
$GC,11461,0.55,180.5,2172,3382,2246,2106,988.3,7.7,609,11473,0.00,2.28,5.70,0.684,9222,0.000,0.034,2172,1968,2161,2233,2090,0,0,0,0,0,0,25.23,25.17,23.63
$GC,11857,0.57,192.2,2171,1968,2215,2086,959.3,7.5,625,11870,0.00,0.00,11.50,0.828,8198,0.000,0.000,2172,1968,2114,2180,2049,0,0,0,0,0,0,26.33,25.32,24.18
$GC,12216,0.57,195.5,2171,1968,2170,2043,931.5,7.8,635,12223,0.00,2.30,0.00,0.000,260,0.000,0.051,2172,3370,2105,2168,2042,0,0,0,0,0,0,26.45,25.94,26.51
$GC,12276,0.57,195.5,2172,3371,2169,2042,926.2,9.2,645,12284,0.00,2.22,0.00,0.000,1030,0.000,0.034,2172,1963,2105,2169,2042,0,0,0,0,0,0,26.14,26.10,26.17
$GC,12650,0.61,225.3,2172,1964,2168,2041,899.1,6.9,657,12691,0.00,0.00,33.47,0.855,8198,0.000,0.000,2172,1963,1979,2043,1916,0,0,0,0,1,0,26.58,25.34,24.25
$GC,13046,0.70,280.4,2171,1963,2032,1907,873.6,6.2,668,13107,0.15,2.35,52.80,0.903,10500,0.068,0.051,2266,3373,1752,1825,1679,0,0,0,0,0,0,26.26,25.06,23.97
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$GC,19093,0.64,280.4,2220,3368,1815,1669,257.6,11.1,925,19102,0.00,2.17,0.00,0.000,1030,0.000,0.029,2226,1959,1741,1814,1669,0,0,0,0,0,0,26.35,26.32,26.38
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$STATE,22204,end climb,SURFACE_DEPTH_REACHED
$STATE,22204,begin surface coast
$FINISH,-1.0,1.021081
$STATE,22229,end surface coast,CONTROL_FINISHED_OK
$STATE,22229,begin surface
$SM_CCo,22243,120.45,0.285,6,0,504,587.25
$SM_GC,-0.35,5.40,0.55,120.45,0.028,0.047,0.285,174,2313,504,-5.65,-1.05,587.25,0,0,0,0,6,0,26.37,26.25,25.10
$IRIDIUM_FIX,613.84,8222.89,180116,152756
$TT8_MAMPS,0.049434,0.049434
$HUMID,49.25
$INTERNAL_PRESSURE,9.44718
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3908320
$24V_AH,23.21,44.333
$10V_AH,9.93,27.064
$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,13.775,166.175,573.225,120.450,0.000,0.000,0.000,243.150,0.000,0.000,35.560,0.000,18792.676,1212.014,2351.817,447.188,0.000,2259.157,0.000,1693.243,0.000,0.541,0.000
$DEVICE_MAMPS,197.370,1178.100,1005.975,284.580,0.000,0.000,0.000,121.635,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22255.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.941,0.000,0.000,0.000
$MEM,261224
$DATA_FILE_SIZE,39980,1142
$CAP_FILE_SIZE,199269,0
$CFSIZE,260034560,223268864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$CURRENT,0.136,8.13,1
$GPS,190116,041708,615.553,8218.088,150,1.1,150,-2.5,0.5,117.1,10,7.1