version: 66.12
glider: 178
mission: 18
dive: 56
start: 10 7 114 3 58 2
data:
$ID,178
$MISSION,18
$DIVE,56
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,370
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$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,350
$N_FILEKB,4
$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,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,48
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,071014,035050,1309.542,14514.604,44,0.8,64,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-76.4
$GPS2,071014,035751,1309.607,14514.570,11,0.8,31,1.7
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,158.0,115065,-18.8,-10.000,-21.60,2227
$D_GRID,1000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-155.7,150,2141,1610,1617,0.0,0.0,0,78,0.00,0.00,-61.58,0.000,16386,0.000,0.000,147,2139,3244,3294,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.77,-155.7,148,2139,3294,3197,3.3,-12.6,10,105,10.45,2.22,-7.35,0.000,18692,0.246,0.057,2602,3555,3686,3748,3625,0,0,0,0,0,0,26.10,26.49,26.82
$GC,151,-0.63,-155.7,2601,3556,3753,3627,35.2,-34.8,23,162,0.25,2.10,0.00,0.000,3078,0.185,0.031,2664,2154,3689,3754,3625,0,0,0,0,0,0,26.27,26.59,28.83
$GC,466,-0.58,-155.7,2665,2152,3759,3627,117.7,-22.7,58,480,0.00,2.12,0.00,0.000,516,0.000,0.039,2665,750,3692,3758,3626,0,0,0,0,0,0,28.83,26.75,28.83
$GC,530,-0.55,-155.7,2665,750,3761,3626,129.9,-19.0,64,538,0.12,2.12,0.00,0.000,3078,0.171,0.035,2689,2156,3693,3760,3626,0,0,0,0,0,0,26.59,26.78,28.83
$GC,834,-0.55,-155.7,2689,2156,3767,3626,170.9,-12.0,94,840,0.00,2.20,0.00,0.000,260,0.000,0.047,2680,3557,3697,3766,3629,0,0,0,0,0,0,28.83,26.84,28.83
$GC,920,-0.58,-155.7,2680,3557,3769,3626,179.6,-11.2,102,928,0.00,2.12,0.00,0.000,1030,0.000,0.028,2680,2134,3696,3767,3626,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1226,-0.62,-155.7,2681,2132,3772,3627,212.2,-9.7,125,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2132,3702,3777,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-0.66,-155.7,2681,2131,3769,3628,241.0,-9.8,135,1530,0.00,2.17,0.00,0.000,260,0.000,0.047,2669,3555,3700,3772,3628,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1570,-0.71,-155.7,2670,3554,3773,3628,243.6,-9.5,136,1576,0.00,2.10,0.00,0.000,1030,0.000,0.028,2670,2144,3699,3771,3628,0,0,0,0,0,0,28.83,27.08,28.83
$GC,1886,-0.75,-155.7,2669,2142,3773,3630,270.9,-8.1,147,1892,0.12,2.08,0.00,0.000,4612,0.093,0.037,2600,757,3700,3772,3628,0,0,0,0,0,0,27.14,27.05,28.83
$GC,1976,-0.75,-155.7,2601,758,3773,3629,281.4,-10.7,150,1982,0.10,2.12,0.00,0.000,3078,0.143,0.034,2624,2144,3703,3772,3635,0,0,0,0,0,0,26.84,27.07,28.83
$GC,2306,-0.75,-155.7,2624,2146,3770,3630,316.8,-10.2,161,2312,0.00,2.20,0.00,0.000,260,0.000,0.049,2616,3550,3698,3768,3628,0,0,0,0,0,0,28.83,27.02,28.83
$GC,2337,-0.75,-155.7,2617,3554,3765,3630,319.9,-10.0,162,2342,0.00,2.10,0.00,0.000,1030,0.000,0.030,2616,2147,3698,3768,3629,0,0,0,0,0,0,28.83,27.13,28.83
$GC,2667,-0.75,-155.7,2617,2143,3763,3628,355.5,-11.2,173,2673,0.00,2.12,0.00,0.000,516,0.000,0.040,2616,757,3696,3765,3628,0,0,0,0,0,0,28.83,27.09,28.83
$GC,2686,-0.75,-155.7,2616,759,3766,3630,355.5,-11.2,173,2693,0.00,2.15,0.00,0.000,1030,0.000,0.034,2608,2157,3696,3764,3628,0,0,0,0,0,0,28.83,27.10,28.83
$GC,2997,-0.75,-155.7,2608,2158,3762,3628,394.1,-11.6,184,3003,0.00,2.17,0.00,0.000,260,0.000,0.050,2597,3545,3694,3760,3628,0,0,0,0,0,0,28.83,27.03,28.83
$GC,3017,-0.75,-155.7,2598,3546,3760,3630,394.1,-11.6,184,3023,0.00,2.10,0.00,0.000,1030,0.000,0.031,2597,2151,3693,3759,3628,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3327,-0.75,-155.7,2597,2148,3754,3630,432.0,-11.9,195,3333,0.12,2.15,0.00,0.000,2564,0.172,0.041,2629,752,3691,3754,3628,0,0,0,0,0,0,26.98,27.10,28.83
$GC,3392,-0.75,-155.7,2629,752,3754,3628,438.6,-11.5,197,3399,0.00,2.15,0.00,0.000,1030,0.000,0.035,2623,2145,3690,3753,3628,0,0,0,0,0,0,28.83,27.12,28.83
$GC,3718,-0.78,-155.7,2623,2146,3748,3629,471.9,-9.8,208,3724,0.00,2.15,0.00,0.000,516,0.000,0.041,2623,744,3687,3747,3628,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3758,-0.80,-155.7,2623,745,3747,3629,474.8,-9.8,209,3764,0.00,2.17,0.00,0.000,1030,0.000,0.036,2614,2154,3687,3746,3628,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4079,-0.82,-155.7,2615,2154,3743,3628,502.7,-8.0,220,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2154,3684,3742,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4379,-0.84,-155.7,2615,2153,3740,3625,526.7,-8.2,230,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2154,3682,3739,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4679,-0.86,-155.7,2615,2155,3736,3624,553.8,-9.2,240,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2154,3678,3735,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,-0.89,-155.7,2615,2155,3733,3621,581.5,-9.1,250,4985,0.00,2.17,0.00,0.000,260,0.000,0.054,2604,3551,3675,3731,3620,0,0,0,0,0,0,28.83,27.03,28.83
$GC,5009,-0.91,-155.7,2604,3552,3730,3621,584.3,-9.1,251,5015,0.00,2.12,0.00,0.000,1030,0.000,0.034,2603,2153,3675,3730,3620,0,0,0,0,0,0,28.83,27.17,28.83
$GC,5340,-0.91,-155.7,2604,2150,3730,3617,615.0,-9.2,262,5345,0.00,2.17,0.00,0.000,516,0.000,0.044,2604,736,3672,3727,3617,0,0,0,0,0,0,28.83,27.08,28.83
$GC,5375,-0.91,-155.7,2604,733,3729,3616,618.0,-9.2,263,5381,0.00,2.20,0.00,0.000,1030,0.000,0.038,2595,2145,3672,3728,3617,0,0,0,0,0,0,28.83,27.10,28.83
$GC,5700,-0.91,-155.7,2596,2146,3725,3617,648.1,-9.1,274,5706,0.00,2.17,0.00,0.000,516,0.000,0.044,2595,753,3670,3725,3616,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5725,-0.91,-155.7,2596,755,3726,3617,648.1,-9.1,274,5734,0.00,2.17,0.00,0.000,1030,0.000,0.039,2586,2148,3669,3724,3615,0,0,0,0,0,0,28.83,27.10,28.83
$GC,6030,-0.91,-155.7,2587,2148,3723,3614,679.6,-9.8,285,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2148,3668,3722,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6331,-0.91,-155.7,2587,2147,3721,3612,708.8,-9.9,295,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2148,3666,3720,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,-0.91,-155.7,2586,2148,3719,3612,738.3,-9.7,305,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2148,3664,3718,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6931,-0.91,-155.7,2586,2148,3717,3609,767.9,-10.0,315,6937,0.00,2.17,0.00,0.000,516,0.000,0.044,2586,755,3663,3716,3610,0,0,0,0,0,0,28.83,27.07,28.83
$GC,6956,-0.91,-155.7,2587,756,3717,3611,767.9,-10.0,315,6965,0.00,2.17,0.00,0.000,1030,0.000,0.041,2578,2148,3662,3715,3609,0,0,0,0,0,0,28.83,27.08,28.83
$GC,7261,-0.91,-155.7,2578,2147,3715,3608,802.1,-10.6,326,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2147,3661,3714,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7561,-0.91,-155.7,2578,2149,3713,3608,834.5,-10.8,336,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2148,3659,3712,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7861,-0.91,-155.7,2578,2148,3712,3606,867.6,-10.9,346,7867,0.00,2.25,0.00,0.000,260,0.000,0.057,2567,3553,3656,3710,3602,0,0,0,0,0,0,28.83,26.96,28.83
$GC,7901,-0.91,-155.7,2567,3553,3711,3605,871.1,-10.9,347,7908,0.00,2.15,0.00,0.000,1030,0.000,0.035,2567,2147,3657,3709,3605,0,0,0,0,0,0,28.83,27.12,28.83
$GC,8222,-0.91,-155.7,2568,2144,3710,3606,907.0,-10.7,358,8228,0.00,2.17,0.00,0.000,516,0.000,0.045,2567,750,3657,3709,3605,0,0,0,0,0,0,28.83,27.03,28.83
$GC,8272,-0.91,-155.7,2565,750,3709,3605,910.3,-10.5,359,8278,0.00,2.17,0.00,0.000,1030,0.000,0.041,2559,2135,3656,3708,3605,0,0,0,0,0,0,28.83,27.05,28.83
$GC,8583,-0.91,-155.7,2560,2136,3708,3606,946.1,-10.7,370,8588,0.00,2.28,0.00,0.000,260,0.000,0.057,2548,3559,3655,3707,3604,0,0,0,0,0,0,28.83,26.94,28.83
$GC,8637,-0.91,-155.7,2548,3560,3708,3603,949.4,-10.8,371,8647,0.08,2.15,0.00,0.000,3078,0.154,0.035,2572,2150,3656,3709,3603,0,0,0,0,0,0,26.80,27.12,28.83
$GC,8943,-0.91,-155.7,2572,2149,3707,3602,980.5,-9.1,382,8948,0.00,2.15,0.00,0.000,516,0.000,0.045,2572,755,3653,3705,3602,0,0,0,0,0,0,28.83,27.01,28.83
$GC,8973,-0.91,-155.7,2572,756,3706,3604,983.4,-9.1,383,8979,0.00,2.20,0.00,0.000,1030,0.000,0.041,2566,2160,3653,3705,3602,0,0,0,0,0,0,28.83,27.02,28.83
$STATE,9062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9062,begin apogee
$GC,9065,-0.13,0.0,2566,2271,3705,3603,991.6,-9.1,386,9199,0.85,0.00,128.50,1.275,10246,0.145,0.000,2825,2270,3047,3086,3008,0,0,0,0,0,0,26.58,28.83,24.40
$STATE,9200,end apogee,CONTROL_FINISHED_OK
$STATE,9200,begin climb
$GC,9201,0.77,155.7,2825,2270,3086,3006,993.1,0.0,390,9350,0.82,2.40,137.00,1.260,10500,0.042,0.054,3135,3636,2412,2455,2369,0,0,0,0,0,0,25.44,24.95,24.11
$GC,9389,0.67,155.7,3136,3638,2446,2367,976.2,13.2,396,9399,0.20,2.25,0.00,0.000,5126,0.174,0.031,3092,2251,2406,2446,2366,0,0,0,0,0,0,25.35,25.53,28.83
$GC,9695,0.63,155.7,3092,2249,2443,2357,922.9,15.5,407,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2248,2399,2442,2357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9995,0.59,155.7,3093,2250,2442,2358,878.6,14.6,417,10001,0.12,2.25,0.00,0.000,4356,0.210,0.054,3063,3644,2399,2442,2356,0,0,0,0,0,0,26.36,26.52,28.83
$GC,10055,0.54,155.7,3064,3644,2442,2356,870.1,14.3,419,10061,0.00,2.17,0.00,0.000,1030,0.000,0.033,3072,2247,2398,2440,2356,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10386,0.51,155.7,3072,2245,2439,2357,828.1,12.5,430,10392,0.15,2.25,0.00,0.000,4356,0.194,0.054,3036,3645,2397,2439,2356,0,0,0,0,0,0,26.51,26.67,28.83
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$STATE,17851,end climb,SURFACE_DEPTH_REACHED
$STATE,17851,begin surface coast
$FINISH,0.0,1.021657
$STATE,17876,end surface coast,CONTROL_FINISHED_OK
$STATE,17876,begin surface
$SM_CCo,17891,16.45,0.072,0,0,1617,350.04
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$IRIDIUM_FIX,1303.16,14514.09,061014,225446
$TT8_MAMPS,0.161784,0.161784
$HUMID,47.08
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.90
$XPDR_PINGS,1
$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,220223.55 109771.52
$PA_BOOTCOUNT,64
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$PA_LOG,0.04/0.071/1.969/1.797
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.02/0.037/1.764/1.637
$24V_AH,24.11,6.866
$10V_AH,10.04,11.745
$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
$DEVICE_SECS,22.150,139.750,411.650,16.450,0.000,0.000,0.000,296.100,0.250,0.000,34.398,0.000,14786.728,574.213,2786.583,168.806,0.000,2001.895,0.000,1690.375,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,572.315,0.000,0.000,0.000,0.000,0.000,18396.850,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,109.563,0.000,0.000,0.000
$MEM,228556
$DATA_FILE_SIZE,36695,844
$CAP_FILE_SIZE,155598,0
$CFSIZE,260034560,253505536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,071014,085814,1307.026,14514.727,63,1.0,83,1.7