version: 66.12
glider: 178
mission: 20
dive: 168
start: 4 4 115 14 36 34
data:
$ID,178
$MISSION,20
$DIVE,168
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$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,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$PRESSURE_SLOPE,0.0001161899
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,040415,142435,1151.8481,14335.9170,24,1.1,24,1.7,0.3,346.0,7,8.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-71.6
$GPS2,040415,143623,1151.8375,14335.7920,10,1.3,50,1.7,1.3,251.1,6,10.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.5,201478,-16.5,-10.000,-23.13,2699
$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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.68,-175.2,119,2466,1250,1227,0.0,0.0,0,182,0.00,0.00,-80.30,0.000,16386,0.000,0.000,120,2467,3279,3322,3236,0,0,0,0,0,0,26.26,28.83,26.32
$GC,184,-0.68,-175.2,120,2467,3325,3238,3.3,-8.9,12,216,10.65,2.17,-10.80,0.000,18948,0.245,0.041,2555,1040,3963,3998,3929,0,0,0,0,0,0,25.61,25.45,25.82
$GC,235,-0.68,-175.2,2555,1039,3996,3934,29.9,-43.5,19,246,0.00,2.22,0.00,0.000,1030,0.000,0.037,2547,2443,3965,3996,3934,0,0,0,0,0,0,26.19,26.11,26.22
$GC,546,-0.68,-175.2,2548,2444,3995,3938,129.5,-27.4,55,560,0.00,2.15,0.00,0.000,260,0.000,0.047,2537,3779,3966,3994,3938,0,0,0,0,0,0,26.18,26.01,26.25
$GC,630,-0.68,-175.2,2536,3780,3996,3940,150.7,-24.9,63,638,0.00,2.03,0.00,0.000,1030,0.000,0.024,2542,2422,3966,3994,3939,0,0,0,0,0,0,26.27,26.23,26.29
$GC,962,-0.68,-175.2,2542,2420,3995,3945,211.8,-17.7,92,974,0.00,2.03,0.00,0.000,516,0.000,0.031,2545,1072,3969,3994,3945,0,0,0,0,0,0,26.29,26.16,26.35
$GC,994,-0.68,-175.2,2544,1073,3996,3946,217.0,-17.2,93,1002,0.00,2.17,0.00,0.000,1030,0.000,0.033,2538,2459,3970,3995,3945,0,0,0,0,0,0,26.23,26.16,26.26
$GC,1322,-0.68,-175.2,2538,2460,3994,3947,262.3,-13.9,104,1330,0.00,2.10,0.00,0.000,260,0.000,0.047,2528,3770,3970,3994,3946,0,0,0,0,0,0,26.28,26.06,26.34
$GC,1425,-0.68,-175.2,2527,3771,3996,3947,274.6,-13.5,107,1433,0.12,1.98,0.00,0.000,3078,0.152,0.024,2558,2434,3970,3995,3946,0,0,0,0,0,0,25.97,26.25,26.10
$GC,1748,-0.68,-175.2,2558,2435,3996,3947,309.2,-10.9,118,1756,0.00,2.10,0.00,0.000,516,0.000,0.032,2561,1068,3970,3995,3946,0,0,0,0,0,0,26.27,26.15,26.34
$GC,1790,-0.68,-175.2,2561,1069,3994,3947,312.3,-11.0,119,1798,0.00,2.17,0.00,0.000,1030,0.000,0.033,2554,2450,3970,3995,3946,0,0,0,0,0,0,26.22,26.15,26.25
$GC,2102,-0.68,-175.2,2555,2451,3994,3945,347.3,-10.5,130,2110,0.00,2.15,0.00,0.000,260,0.000,0.050,2550,3773,3969,3995,3944,0,0,0,0,0,0,26.28,26.05,26.34
$GC,2134,-0.68,-175.2,2544,3774,3996,3944,350.1,-10.4,131,2142,0.00,1.98,0.00,0.000,1030,0.000,0.025,2544,2448,3968,3994,3942,0,0,0,0,0,0,26.25,26.21,26.25
$GC,2462,-0.68,-175.2,2543,2447,3996,3939,387.6,-11.9,142,2472,0.00,2.15,0.00,0.000,516,0.000,0.031,2544,1062,3966,3994,3938,0,0,0,0,0,0,26.26,26.13,26.32
$GC,2496,-0.68,-175.2,2545,1063,3994,3938,391.9,-12.1,143,2504,0.00,2.20,0.00,0.000,1030,0.000,0.034,2538,2455,3966,3994,3938,0,0,0,0,0,0,26.17,26.10,26.21
$GC,2824,-0.68,-175.2,2537,2456,3995,3931,430.3,-11.3,154,2832,0.00,2.15,0.00,0.000,516,0.000,0.031,2538,1070,3962,3994,3931,0,0,0,0,0,0,26.25,26.06,26.31
$GC,2851,-0.68,-175.2,2539,1073,3993,3931,430.3,-11.3,154,2862,0.00,2.17,0.00,0.000,1030,0.000,0.035,2531,2451,3962,3994,3930,0,0,0,0,0,0,26.17,26.10,26.20
$GC,3157,-0.68,-175.2,2531,2452,3993,3925,468.7,-11.8,165,3165,0.00,2.15,0.00,0.000,260,0.000,0.049,2521,3771,3959,3994,3924,0,0,0,0,0,0,26.26,26.00,26.32
$GC,3184,-0.68,-175.2,2521,3771,3993,3924,468.7,-11.8,165,3194,0.15,1.98,0.00,0.000,3078,0.142,0.025,2559,2450,3959,3994,3924,0,0,0,0,0,0,25.89,26.22,26.02
$GC,3489,-0.68,-175.2,2558,2450,3995,3919,503.8,-10.7,176,3497,0.00,2.12,0.00,0.000,516,0.000,0.031,2561,1069,3956,3994,3918,0,0,0,0,0,0,26.22,26.10,26.29
$GC,3527,-0.68,-175.2,2561,1070,3994,3918,507.4,-10.8,177,3535,0.00,2.20,0.00,0.000,1030,0.000,0.033,2555,2456,3955,3994,3917,0,0,0,0,0,0,26.15,26.08,26.17
$GC,3850,-0.68,-175.2,2556,2457,3995,3911,543.4,-11.2,188,3857,0.00,2.17,0.00,0.000,516,0.000,0.031,2557,1074,3952,3994,3910,0,0,0,0,0,0,26.24,26.07,26.29
$GC,3892,-0.68,-175.2,2556,1071,3995,3910,546.9,-11.1,189,3900,0.00,2.20,0.00,0.000,1030,0.000,0.034,2551,2451,3951,3993,3909,0,0,0,0,0,0,26.12,26.04,26.15
$GC,4209,-0.68,-175.2,2550,2452,3993,3907,578.5,-9.1,200,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2453,3948,3991,3906,0,0,0,0,0,0,26.22,26.29,26.29
$GC,4510,-0.68,-175.2,2552,2452,3989,3904,602.2,-7.4,210,4518,0.00,2.17,0.00,0.000,516,0.000,0.032,2551,1065,3946,3989,3904,0,0,0,0,0,0,26.23,26.05,26.28
$GC,4543,-0.68,-175.2,2550,1066,3989,3905,604.7,-7.4,211,4551,0.00,2.22,0.00,0.000,1030,0.000,0.035,2544,2453,3946,3988,3904,0,0,0,0,0,0,26.10,26.02,26.13
$GC,4871,-0.68,-175.2,2544,2453,3986,3902,627.6,-6.7,222,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2453,3943,3986,3901,0,0,0,0,0,0,26.19,26.26,26.25
$GC,5171,-0.68,-175.2,2544,2453,3983,3899,647.3,-6.5,232,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2453,3941,3984,3898,0,0,0,0,0,0,26.18,26.26,26.25
$GC,5470,-0.68,-175.2,2545,2454,3982,3897,666.2,-6.2,242,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2453,3939,3982,3896,0,0,0,0,0,0,26.20,26.27,26.25
$GC,5770,-0.68,-175.2,2543,2454,3982,3895,684.5,-6.3,252,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2453,3938,3981,3895,0,0,0,0,0,0,26.19,26.26,26.25
$GC,6071,-0.68,-175.2,2544,2454,3978,3893,705.3,-7.2,262,6080,0.00,2.17,0.00,0.000,516,0.000,0.031,2544,1069,3936,3979,3893,0,0,0,0,0,0,26.20,26.00,26.25
$GC,6115,-0.68,-175.2,2543,1070,3980,3894,707.6,-7.4,263,6123,0.00,2.22,0.00,0.000,1030,0.000,0.036,2544,2450,3935,3978,3893,0,0,0,0,0,0,26.06,25.98,26.10
$GC,6428,-0.68,-175.2,2544,2451,3977,3891,733.5,-8.4,274,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2450,3933,3977,3890,0,0,0,0,0,0,26.15,26.22,26.21
$GC,6728,-0.68,-175.2,2551,2451,3972,3889,761.4,-9.7,284,6736,0.00,2.17,0.00,0.000,516,0.000,0.032,2544,1069,3932,3976,3888,0,0,0,0,0,0,26.20,25.98,26.26
$GC,6765,-0.68,-175.2,2543,1070,3977,3889,764.6,-9.8,285,6773,0.00,2.22,0.00,0.000,1030,0.000,0.037,2544,2458,3931,3975,3888,0,0,0,0,0,0,26.01,25.94,26.03
$GC,7088,-0.68,-175.2,2544,2459,3974,3887,797.5,-10.2,296,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2458,3930,3974,3887,0,0,0,0,0,0,26.16,26.24,26.22
$GC,7388,-0.68,-175.2,2543,2459,3975,3887,827.1,-9.7,306,7398,0.00,2.17,0.00,0.000,516,0.000,0.032,2543,1075,3929,3973,3886,0,0,0,0,0,0,26.18,25.98,26.24
$GC,7418,-0.68,-175.2,2545,1076,3979,3886,830.1,-9.8,307,7427,0.00,2.20,0.00,0.000,1030,0.000,0.037,2542,2450,3929,3973,3886,0,0,0,0,0,0,26.04,25.96,26.08
$GC,7748,-0.68,-175.2,2540,2451,3972,3885,861.1,-9.2,318,7757,0.00,2.17,0.00,0.000,516,0.000,0.032,2541,1076,3927,3971,3884,0,0,0,0,0,0,26.13,25.98,26.19
$GC,7807,-0.68,-175.2,2541,1074,3972,3884,864.1,-9.1,319,7818,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2452,3926,3970,3883,0,0,0,0,0,0,26.03,25.95,26.08
$GC,8112,-0.68,-175.2,2542,2453,3970,3882,891.0,-8.0,330,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2453,3926,3970,3882,0,0,0,0,0,0,26.14,26.20,26.20
$GC,8412,-0.68,-175.2,2542,2453,3969,3882,915.0,-8.0,340,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3925,3969,3881,0,0,0,0,0,0,26.12,26.19,26.17
$GC,8712,-0.68,-175.2,2541,2453,3969,3881,939.8,-8.3,350,8723,0.00,2.17,0.00,0.000,516,0.000,0.033,2541,1075,3924,3968,3880,0,0,0,0,0,0,26.15,25.97,26.20
$GC,8737,-0.68,-175.2,2540,1076,3969,3882,939.8,-8.3,350,8748,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2452,3923,3967,3880,0,0,0,0,0,0,26.03,25.95,26.06
$GC,9042,-0.68,-175.2,2542,2453,3966,3880,966.6,-8.0,361,9050,0.00,2.17,0.00,0.000,516,0.000,0.032,2541,1074,3922,3966,3879,0,0,0,0,0,0,26.12,25.96,26.17
$GC,9080,-0.68,-175.2,2542,1074,3966,3880,968.8,-7.9,362,9088,0.00,2.22,0.00,0.000,1030,0.000,0.035,2542,2453,3922,3966,3879,0,0,0,0,0,0,26.03,25.95,26.06
$STATE,9365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9365,begin apogee
$GC,9370,-0.11,0.0,2543,2097,3965,3879,990.3,-7.0,372,9521,0.65,0.00,138.05,1.297,10246,0.116,0.000,2741,2092,3279,3319,3239,0,0,0,0,0,0,25.63,24.31,23.65
$STATE,9522,end apogee,CONTROL_FINISHED_OK
$STATE,9522,begin climb
$GC,9524,0.68,175.2,2742,2093,3319,3239,996.2,0.0,377,9696,0.70,2.47,159.45,1.284,11012,0.044,0.043,3005,3503,2563,2610,2517,0,0,0,0,0,0,24.80,23.92,23.30
$GC,9795,0.68,175.2,3006,3504,2601,2515,983.4,11.0,385,9806,0.00,2.22,0.00,0.000,1030,0.000,0.024,3016,2105,2556,2600,2513,0,0,0,0,0,0,25.49,25.43,25.51
$GC,10120,0.68,175.2,3015,2106,2599,2515,938.3,13.4,396,10128,0.00,2.22,0.00,0.000,516,0.000,0.034,3026,705,2553,2597,2509,0,0,0,0,0,0,26.18,26.08,26.25
$GC,10172,0.68,175.2,3025,705,2598,2509,934.5,13.3,397,10184,0.00,2.20,0.00,0.000,1030,0.000,0.028,3026,2113,2551,2596,2507,0,0,0,0,0,0,26.19,26.13,26.22
$GC,10478,0.68,175.2,3027,2116,2595,2507,890.0,13.1,408,10490,0.00,2.20,0.00,0.000,260,0.000,0.044,3026,3500,2551,2595,2507,0,0,0,0,0,0,26.24,26.11,26.30
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$STATE,18332,end climb,SURFACE_DEPTH_REACHED
$STATE,18332,begin surface coast
$FINISH,0.6,1.022075
$STATE,18348,end surface coast,CONTROL_FINISHED_OK
$STATE,18348,begin surface
$SM_CCo,18364,39.72,0.063,0,0,1239,500.17
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$IRIDIUM_FIX,1145.87,14332.92,300108,035448
$TT8_MAMPS,0.051681,0.051681
$HUMID,42.24
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.50
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18358.94 7985.19
$PA_BOOTCOUNT,387
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$PA_HOME,0.04/0.073/1.764/1.601
$PA_DISK_BANK,2
$24V_AH,23.30,60.262
$10V_AH,10.14,31.370
$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,20.950,167.575,498.525,39.725,0.000,0.000,0.000,429.900,0.000,19097.619,52.602,0.000,14760.550,645.246,3465.584,226.640,0.000,2580.909,0.000,1803.198,0.000,0.552,0.000
$DEVICE_MAMPS,244.800,49.725,1296.675,63.495,0.000,0.000,0.000,98.685,420.000,65.117,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,557.753,0.000,0.000,0.000,0.000,0.000,19097.871,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229928
$DATA_FILE_SIZE,36752,820
$CAP_FILE_SIZE,165023,0
$CFSIZE,260034560,244051968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,040415,194436,1153.779,14337.507,55,0.9,55,1.7,0.6,219.1,9,6.8