version: 66.13
glider: 171
mission: 11
dive: 86
start: 8 11 119 20 33 39
data:
$ID,171
$MISSION,11
$DIVE,86
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.0163117
$HD_C,5.7000002e-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,580.87036
$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
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,110819,202508,1316.1283,8700.4102,20,1.2,20,-0.9,1.6,40.7,7,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.5
$GPS2,110819,203247,1316.1306,8700.4395,2,0.6,3,-0.9,0.3,89.7,12,5.9
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,357.6,55787,-17.5,-10.000,-26.22,2202
$D_GRID,990
$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
$WARN,HPMAR logging already started
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.66,-146.0,114,2505,629,567,0.0,0.0,0,119,0.00,0.00,-97.28,0.005,16386,0.000,0.000,110,2505,2870,2864,2877,0,0,0,0,0,0,14.84,28.83,14.87
$GC,122,-0.66,-146.0,110,2505,2865,2877,4.7,-12.1,20,152,8.75,2.30,-12.90,0.012,18948,0.361,0.069,2112,1093,3566,3567,3566,0,0,0,0,0,0,14.44,14.02,14.62
$GC,216,-0.66,-146.0,2112,1094,3563,3566,36.8,-28.2,38,224,0.00,2.40,0.00,0.000,1030,0.000,0.065,2104,2490,3564,3563,3566,0,0,0,0,0,0,14.71,14.65,14.73
$GC,412,-0.66,-146.0,2103,2490,3563,3566,93.5,-21.7,61,422,0.00,2.38,0.00,0.000,260,0.000,0.091,2092,3896,3565,3564,3566,0,0,0,0,0,0,14.92,14.71,14.95
$GC,507,-0.66,-146.0,2092,3896,3564,3566,110.3,-16.7,79,513,0.00,2.22,0.00,0.000,1030,0.000,0.039,2092,2491,3565,3564,3566,0,0,0,0,0,0,14.83,14.79,14.85
$GC,702,-0.66,-146.0,2092,2490,3564,3566,140.9,-15.0,99,707,0.00,2.22,0.00,0.000,516,0.000,0.050,2092,1097,3566,3567,3566,0,0,0,0,0,0,14.97,14.78,15.00
$GC,735,-0.66,-146.0,2092,1098,3564,3565,145.7,-14.4,105,746,0.12,2.35,0.00,0.000,3078,0.244,0.065,2110,2505,3565,3564,3566,0,0,0,0,0,0,14.65,14.75,14.76
$GC,925,-0.66,-146.0,2109,2505,3565,3566,169.3,-11.2,125,931,0.00,2.33,0.00,0.000,260,0.000,0.090,2101,3891,3565,3565,3566,0,0,0,0,0,0,14.99,14.76,15.02
$GC,1003,-0.66,-146.0,2101,3892,3565,3565,179.1,-12.7,140,1010,0.00,2.22,0.00,0.000,1030,0.000,0.035,2101,2493,3565,3565,3566,0,0,0,0,0,0,14.83,14.82,14.85
$GC,1189,-0.66,-146.0,2100,2491,3565,3565,202.1,-13.0,159,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2491,3565,3566,3565,0,0,0,0,0,0,15.01,15.05,15.04
$GC,1379,-0.66,-146.0,2100,2491,3565,3564,227.2,-13.1,178,1385,0.00,2.38,0.00,0.000,260,0.000,0.090,2090,3896,3564,3565,3564,0,0,0,0,0,0,15.02,14.81,15.05
$GC,1413,-0.66,-146.0,2089,3896,3565,3564,231.9,-14.3,184,1419,0.00,2.17,0.00,0.000,1030,0.000,0.036,2090,2496,3564,3565,3564,0,0,0,0,0,0,14.92,14.88,14.94
$GC,1617,-0.66,-146.0,2089,2494,3565,3561,259.2,-13.2,202,1624,0.00,2.22,0.00,0.000,516,0.000,0.053,2090,1104,3563,3565,3561,0,0,0,0,0,0,15.04,14.85,15.07
$GC,1655,-0.66,-146.0,2089,1105,3565,3561,264.4,-12.8,209,1662,0.10,2.35,0.00,0.000,3078,0.200,0.060,2110,2499,3562,3564,3561,0,0,0,0,0,0,14.73,14.82,14.83
$GC,1961,-0.66,-146.0,2109,2498,3565,3557,299.5,-11.3,225,1967,0.00,2.33,0.00,0.000,260,0.000,0.092,2101,3890,3561,3565,3557,0,0,0,0,0,0,15.06,14.84,15.09
$GC,2014,-0.66,-146.0,2101,3890,3564,3558,305.7,-12.1,235,2019,0.00,2.17,0.00,0.000,1030,0.000,0.037,2101,2493,3560,3564,3556,0,0,0,0,0,0,14.96,14.91,14.97
$GC,2327,-0.66,-146.0,2100,2492,3563,3552,342.3,-11.7,252,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3557,3563,3552,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2628,-0.66,-146.0,2100,2492,3562,3550,375.2,-10.6,267,2634,0.00,2.22,0.00,0.000,516,0.000,0.053,2101,1099,3557,3561,3553,0,0,0,0,0,0,15.08,14.90,15.11
$GC,2652,-0.66,-146.0,2100,1099,3561,3549,377.8,-10.6,271,2660,0.00,2.33,0.00,0.000,1030,0.000,0.062,2090,2504,3555,3561,3549,0,0,0,0,0,0,14.96,14.88,14.98
$GC,2973,-0.66,-146.0,2089,2504,3559,3547,417.2,-13.0,290,2979,0.00,2.35,0.00,0.000,260,0.000,0.093,2079,3893,3553,3559,3547,0,0,0,0,0,0,15.09,14.87,15.11
$GC,3012,-0.66,-146.0,2079,3893,3558,3547,422.6,-13.9,297,3020,0.10,2.22,0.00,0.000,3078,0.194,0.038,2110,2497,3552,3558,3547,0,0,0,0,0,0,14.77,14.89,14.87
$GC,3317,-0.66,-146.0,2108,2497,3556,3544,459.0,-11.7,313,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3550,3556,3544,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3617,-0.66,-146.0,2109,2497,3554,3542,493.9,-11.6,328,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3548,3554,3542,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3918,-0.66,-146.0,2110,2497,3552,3540,527.8,-11.2,343,3923,0.00,2.22,0.00,0.000,516,0.000,0.054,2110,1107,3546,3553,3540,0,0,0,0,0,0,15.09,14.90,15.11
$GC,3969,-0.66,-146.0,2109,1106,3552,3540,533.7,-10.8,353,3975,0.00,2.33,0.00,0.000,1030,0.000,0.064,2104,2499,3546,3552,3541,0,0,0,0,0,0,14.97,14.89,14.99
$GC,4283,-0.66,-146.0,2101,2500,3550,3536,567.6,-10.6,370,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3544,3550,3538,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4583,-0.66,-146.0,2101,2499,3549,3536,598.7,-10.3,385,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2499,3542,3549,3536,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4883,-0.66,-146.0,2100,2500,3547,3535,629.1,-10.1,400,4891,0.00,2.35,0.00,0.000,260,0.000,0.096,2090,3892,3541,3547,3535,0,0,0,0,0,0,15.09,14.85,15.13
$GC,4912,-0.66,-146.0,2089,3893,3545,3535,632.3,-11.0,406,4919,0.00,2.17,0.00,0.000,1030,0.000,0.040,2092,2505,3540,3546,3534,0,0,0,0,0,0,14.98,14.92,15.00
$GC,5227,-0.66,-146.0,2089,2504,3545,3534,664.4,-10.0,423,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2504,3539,3545,3534,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5527,-0.66,-146.0,2089,2504,3543,3533,693.8,-9.8,438,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2504,3538,3543,3533,0,0,0,0,0,0,15.08,15.11,15.11
$GC,5827,-0.66,-146.0,2088,2504,3542,3532,724.3,-10.5,453,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2504,3536,3542,3531,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6126,-0.66,-146.0,2089,2504,3541,3530,756.4,-10.7,468,6132,0.00,2.25,0.00,0.000,516,0.000,0.054,2090,1108,3535,3540,3530,0,0,0,0,0,0,15.08,14.89,15.11
$GC,6170,-0.66,-146.0,2089,1107,3540,3530,761.1,-10.9,476,6179,0.15,2.33,0.00,0.000,3078,0.224,0.063,2115,2501,3534,3539,3529,0,0,0,0,0,0,14.78,14.87,14.91
$GC,6492,-0.66,-146.0,2115,2501,3539,3528,790.9,-9.2,495,6498,0.00,2.35,0.00,0.000,260,0.000,0.096,2107,3894,3533,3539,3528,0,0,0,0,0,0,15.07,14.84,15.11
$GC,6524,-0.66,-146.0,2106,3894,3536,3528,794.2,-9.8,501,6530,0.00,2.20,0.00,0.000,1030,0.000,0.041,2107,2496,3534,3540,3528,0,0,0,0,0,0,14.97,14.91,14.98
$GC,6837,-0.66,-146.0,2106,2494,3538,3527,825.1,-10.2,518,6844,0.00,2.25,0.00,0.000,516,0.000,0.054,2107,1106,3531,3537,3526,0,0,0,0,0,0,15.07,14.88,15.09
$GC,6882,-0.66,-146.0,2106,1106,3537,3527,829.8,-10.5,526,6889,0.00,2.33,0.00,0.000,1030,0.000,0.064,2095,2500,3532,3537,3527,0,0,0,0,0,0,14.95,14.86,14.97
$GC,7206,-0.66,-146.0,2095,2500,3537,3526,865.1,-10.8,545,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2500,3531,3537,3526,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7506,-0.66,-146.0,2096,2500,3536,3524,896.9,-10.2,560,7514,0.00,2.38,0.00,0.000,260,0.000,0.097,2085,3900,3530,3536,3525,0,0,0,0,0,0,15.07,14.83,15.09
$GC,7555,-0.66,-146.0,2084,3900,3536,3525,902.4,-11.1,570,7562,0.00,2.22,0.00,0.000,1030,0.000,0.042,2085,2503,3530,3536,3524,0,0,0,0,0,0,14.95,14.90,14.97
$GC,7871,-0.66,-146.0,2084,2504,3536,3522,935.1,-10.2,587,7877,0.12,2.28,0.00,0.000,2564,0.236,0.052,2114,1098,3529,3535,3524,0,0,0,0,0,0,14.76,14.88,14.88
$GC,7908,-0.66,-146.0,2114,1098,3535,3524,938.8,-8.8,594,7917,0.00,2.40,0.00,0.000,1030,0.000,0.066,2105,2497,3529,3535,3524,0,0,0,0,0,0,14.85,14.81,14.89
$GC,8215,-0.66,-146.0,2104,2497,3534,3522,965.4,-8.7,610,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3528,3534,3522,0,0,0,0,0,0,15.06,15.09,15.09
$STATE,8492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8492,begin apogee
$GC,8498,-0.15,0.0,2105,2497,3533,3521,990.1,-8.9,624,8635,0.60,0.00,127.03,2.044,10246,0.179,0.000,2280,2496,2967,2995,2939,0,0,0,0,0,0,14.76,14.14,13.31
$STATE,8637,end apogee,CONTROL_FINISHED_OK
$STATE,8637,begin climb
$GC,8639,0.66,146.0,2280,2497,2994,2938,993.0,0.0,631,8785,0.82,0.00,134.00,2.025,10246,0.106,0.000,2547,2497,2372,2411,2334,0,0,0,0,0,0,14.21,14.02,13.22
$GC,9076,0.66,146.0,2547,2497,2399,2326,946.8,12.9,653,9085,0.00,2.45,0.00,0.000,516,0.000,0.058,2558,1045,2362,2399,2325,0,0,0,0,0,0,14.75,14.57,14.78
$GC,9147,0.66,146.0,2557,1045,2397,2325,937.3,12.7,667,9153,0.00,2.38,0.00,0.000,1030,0.000,0.059,2558,2444,2360,2397,2324,0,0,0,0,0,0,14.69,14.59,14.71
$GC,9461,0.66,146.0,2557,2446,2397,2324,895.3,13.3,684,9466,0.00,2.33,0.00,0.000,516,0.000,0.056,2569,1048,2360,2397,2324,0,0,0,0,0,0,14.90,14.72,14.93
$GC,9492,0.66,146.0,2568,1047,2397,2323,890.8,13.5,690,9499,0.00,2.35,0.00,0.000,1030,0.000,0.059,2569,2446,2359,2396,2323,0,0,0,0,0,0,14.80,14.72,14.83
$GC,9808,0.66,146.0,2569,2446,2397,2323,846.8,14.5,707,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2446,2359,2396,2323,0,0,0,0,0,0,14.96,15.00,15.00
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$STATE,17466,end climb,SURFACE_DEPTH_REACHED
$STATE,17466,begin surface coast
$STATE,17493,end surface coast,CONTROL_FINISHED_OK
$STATE,17493,begin surface
$SM_CCo,17519,157.98,0.669,1,0,599,580.87
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$IRIDIUM_FIX,1310.72,8700.51,110819,152711
$TT8_MAMPS,0.018725,0.271887
$HUMID,39.48
$INTERNAL_PRESSURE,9.46823
$TCM_TEMP,24.70
$XPDR_PINGS,2
$SC_FREEKB,3871584
$PM_FREEKB_00,57800768
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.22,34.315
$10V_AH,13.42,0.000
$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,18.700,167.000,477.325,157.975,0.000,0.000,0.000,248.225,0.500,0.000,14.902,1275.388,11393.068,700.946,4316.266,469.596,0.000,2363.392,0.000,3765.564,0.000,0.541,0.000
$DEVICE_MAMPS,361.080,154.530,2044.080,669.375,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3557.967,0.000,0.000,0.000,0.000,0.000,17495.000,0.000,17512.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.626,0.000,3.547,0.000
$MEM,251880
$DATA_FILE_SIZE,59917,1381
$CAP_FILE_SIZE,256330,0
$CFSIZE,260034560,186146816
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,145.35,0x235770,0,24
$INTR,1,15736.71,0x23576e,1,24
$CURRENT,0.121,15.38,1
$GPS,120819,012955,1319.111,8700.823,13,0.7,30,-0.9,0.7,278.6,12,3.1