version: 66.12
glider: 178
mission: 18
dive: 82
start: 10 12 114 14 51 2
data:
$ID,178
$MISSION,18
$DIVE,82
$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,66
$R_STBD_OVSHOOT,36
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,121014,144326,1218.735,14529.991,55,0.9,75,2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-74.4
$GPS2,121014,145051,1218.789,14529.903,10,0.9,30,2.0
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,169.4,16942,-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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,151,2125,1588,1563,0.0,0.0,0,156,0.00,0.00,-63.15,0.000,16386,0.000,0.000,150,2125,3249,3295,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-0.77,-155.7,151,2127,3296,3205,3.1,-11.3,10,183,10.50,2.12,-7.20,0.000,18948,0.246,0.051,2615,759,3685,3748,3623,0,0,0,0,0,0,25.96,26.32,26.43
$GC,223,-0.63,-155.7,2616,760,3752,3626,33.1,-36.3,22,234,0.22,2.17,0.00,0.000,3078,0.194,0.034,2660,2151,3688,3751,3626,0,0,0,0,0,0,25.99,26.29,28.83
$GC,533,-0.56,-155.7,2661,2151,3758,3626,116.5,-23.5,57,541,0.00,2.15,0.00,0.000,516,0.000,0.036,2660,761,3691,3757,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,615,-0.56,-155.7,2661,760,3759,3626,129.1,-14.6,64,626,0.12,2.17,0.00,0.000,3078,0.163,0.033,2684,2161,3692,3758,3626,0,0,0,0,0,0,26.11,26.28,28.83
$GC,920,-0.58,-155.7,2684,2162,3765,3626,165.6,-11.6,95,929,0.00,2.20,0.00,0.000,260,0.000,0.046,2677,3551,3695,3764,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1074,-0.61,-155.7,2677,3552,3767,3627,183.6,-11.4,110,1088,0.00,2.10,0.00,0.000,1030,0.000,0.027,2677,2158,3695,3765,3626,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1404,-0.65,-155.7,2677,2157,3769,3628,218.0,-8.9,131,1412,0.00,2.15,0.00,0.000,516,0.000,0.036,2676,752,3697,3768,3626,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1558,-0.69,-155.7,2677,752,3769,3627,232.9,-9.7,136,1569,0.00,2.12,0.00,0.000,1030,0.000,0.031,2669,2146,3697,3767,3627,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1888,-0.73,-155.7,2670,2148,3769,3628,262.8,-9.0,147,1898,0.12,2.22,0.00,0.000,4356,0.092,0.044,2588,3555,3698,3769,3627,0,0,0,0,0,0,26.31,26.27,28.83
$GC,1943,-0.76,-155.7,2587,3555,3769,3627,266.4,-9.7,148,1954,0.15,2.12,0.00,0.000,3078,0.155,0.028,2627,2139,3697,3768,3627,0,0,0,0,0,0,26.12,26.34,28.83
$GC,2248,-0.76,-155.7,2627,2136,3769,3633,300.0,-9.8,159,2256,0.00,2.12,0.00,0.000,516,0.000,0.037,2626,760,3697,3768,3627,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2285,-0.76,-155.7,2627,760,3769,3627,303.5,-10.2,160,2293,0.00,2.15,0.00,0.000,1030,0.000,0.032,2620,2158,3697,3767,3627,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2608,-0.76,-155.7,2620,2160,3765,3628,332.6,-8.0,171,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2158,3695,3763,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2908,-0.76,-155.7,2620,2159,3762,3627,359.2,-9.5,181,2920,0.00,2.20,0.00,0.000,516,0.000,0.038,2620,757,3693,3760,3627,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2944,-0.76,-155.7,2620,757,3761,3627,362.4,-9.8,182,2954,0.00,2.17,0.00,0.000,1030,0.000,0.033,2610,2151,3693,3759,3627,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3269,-0.76,-155.7,2610,2151,3755,3627,398.4,-10.8,193,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2151,3690,3753,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3569,-0.76,-155.7,2610,2150,3749,3627,429.5,-10.1,203,3577,0.00,2.25,0.00,0.000,260,0.000,0.050,2599,3555,3687,3748,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3666,-0.76,-155.7,2601,3557,3746,3628,438.4,-10.1,206,3674,0.00,2.12,0.00,0.000,1030,0.000,0.030,2599,2156,3686,3745,3628,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3983,-0.76,-155.7,2599,2153,3742,3626,471.2,-10.1,217,3995,0.00,2.20,0.00,0.000,516,0.000,0.040,2598,749,3683,3740,3626,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4009,-0.76,-155.7,2600,750,3741,3627,471.2,-10.1,217,4022,0.12,2.20,0.00,0.000,3078,0.168,0.034,2621,2159,3683,3740,3626,0,0,0,0,0,0,26.10,26.27,28.83
$GC,4315,-0.79,-155.7,2621,2160,3738,3629,502.2,-9.2,228,4323,0.00,2.22,0.00,0.000,516,0.000,0.040,2620,753,3679,3736,3623,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4352,-0.82,-155.7,2622,754,3737,3623,504.8,-9.1,229,4360,0.00,2.22,0.00,0.000,1030,0.000,0.035,2613,2167,3678,3735,3622,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4670,-0.84,-155.7,2614,2161,3733,3619,535.1,-9.3,240,4678,0.00,2.22,0.00,0.000,260,0.000,0.052,2603,3545,3673,3732,3615,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4697,-0.87,-155.7,2604,3544,3732,3619,537.8,-9.4,241,4707,0.00,2.15,0.00,0.000,1030,0.000,0.031,2603,2142,3674,3730,3619,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5031,-0.87,-155.7,2603,2139,3729,3617,573.4,-10.8,252,5040,0.00,2.20,0.00,0.000,516,0.000,0.041,2603,752,3672,3728,3617,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5084,-0.87,-155.7,2604,753,3728,3618,577.3,-11.1,253,5092,0.00,2.17,0.00,0.000,1030,0.000,0.035,2593,2141,3672,3727,3617,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5390,-0.87,-155.7,2594,2142,3726,3615,614.2,-11.2,263,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2142,3669,3724,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5689,-0.87,-155.7,2594,2141,3722,3613,645.2,-10.1,273,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2142,3667,3721,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,-0.87,-155.7,2593,2142,3721,3612,673.0,-8.9,283,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2142,3665,3719,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6290,-0.87,-155.7,2594,2142,3718,3610,698.4,-8.5,293,6297,0.00,2.22,0.00,0.000,516,0.000,0.042,2593,756,3663,3716,3610,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6321,-0.87,-155.7,2594,757,3717,3611,700.6,-8.5,294,6332,0.00,2.20,0.00,0.000,1030,0.000,0.038,2585,2149,3662,3716,3609,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6647,-0.87,-155.7,2585,2151,3715,3609,729.3,-8.8,305,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2149,3660,3713,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6947,-0.87,-155.7,2585,2149,3713,3606,756.7,-9.3,315,6955,0.00,2.25,0.00,0.000,516,0.000,0.041,2584,752,3658,3711,3606,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6999,-0.87,-155.7,2585,758,3712,3614,759.5,-9.4,316,7010,0.00,2.22,0.00,0.000,1030,0.000,0.039,2576,2156,3658,3711,3605,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7304,-0.87,-155.7,2577,2157,3710,3606,794.1,-10.7,327,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2156,3657,3709,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7604,-0.87,-155.7,2576,2156,3709,3604,828.6,-11.7,337,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2160,3656,3708,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7904,-0.87,-155.7,2576,2157,3707,3602,864.7,-12.0,347,7912,0.00,2.25,0.00,0.000,516,0.000,0.044,2576,755,3654,3706,3602,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7946,-0.87,-155.7,2576,756,3706,3603,868.3,-12.2,348,7954,0.00,2.22,0.00,0.000,1030,0.000,0.039,2567,2154,3654,3706,3602,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8258,-0.87,-155.7,2568,2154,3705,3600,907.8,-11.8,359,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2154,3652,3704,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8559,-0.87,-155.7,2568,2154,3704,3600,941.3,-11.0,369,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2154,3654,3709,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8859,-0.87,-155.7,2569,2155,3702,3600,973.4,-10.6,379,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2154,3649,3700,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9037,begin apogee
$GC,9041,-0.13,0.0,2567,2261,3701,3599,992.3,-10.4,385,9181,0.88,0.00,130.85,1.287,10246,0.143,0.000,2825,2261,3047,3085,3009,0,0,0,0,0,0,25.94,28.83,24.20
$STATE,9182,end apogee,CONTROL_FINISHED_OK
$STATE,9182,begin climb
$GC,9183,0.77,155.7,2825,2261,3085,3007,995.9,0.0,389,9333,0.82,2.42,138.60,1.274,10500,0.044,0.051,3135,3650,2409,2453,2366,0,0,0,0,0,0,25.16,24.65,23.86
$GC,9397,0.68,155.7,3136,3651,2443,2364,972.0,16.8,397,9406,0.22,2.25,0.00,0.000,5126,0.183,0.031,3092,2246,2402,2442,2362,0,0,0,0,0,0,25.23,25.38,28.83
$GC,9730,0.64,155.7,3093,2245,2441,2357,922.0,14.7,408,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2244,2397,2440,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10030,0.60,155.7,3093,2244,2439,2355,878.2,14.4,418,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2243,2396,2439,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10330,0.56,155.7,3092,2243,2438,2352,835.3,14.3,428,10337,0.17,0.00,0.00,0.000,4102,0.189,0.000,3049,2243,2394,2437,2352,0,0,0,0,0,0,25.98,28.83,28.83
$GC,10630,0.56,155.7,3049,2244,2437,2352,798.7,12.2,438,10638,0.00,2.33,0.00,0.000,260,0.000,0.054,3047,3656,2393,2436,2351,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10667,0.56,155.7,3048,3655,2436,2351,795.1,12.4,439,10676,0.00,2.17,0.00,0.000,1030,0.000,0.033,3057,2250,2392,2435,2350,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10985,0.56,155.7,3057,2248,2433,2352,753.2,12.8,450,10995,0.00,2.22,0.00,0.000,516,0.000,0.042,3067,849,2391,2433,2350,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11015,0.56,155.7,3067,849,2436,2349,749.3,12.7,451,11023,0.00,2.22,0.00,0.000,1030,0.000,0.037,3067,2254,2391,2433,2349,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11348,0.54,155.7,3068,2250,2434,2351,704.5,13.6,462,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2249,2391,2433,2349,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17728,end climb,SURFACE_DEPTH_REACHED
$STATE,17728,begin surface coast
$FINISH,0.0,1.021540
$STATE,17744,end surface coast,CONTROL_FINISHED_OK
$STATE,17744,begin surface
$SM_CCo,17819,0.00,0.000,0,0,1480,384.14
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$IRIDIUM_FIX,1214.53,14530.85,121014,092749
$TT8_MAMPS,0.051681,0.051681
$HUMID,46.22
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.80
$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,17771.67 8232.53
$PA_BOOTCOUNT,83
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$PA_LOG,0.04/0.079/1.969/1.790
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$PA_DATA0,0.47/54.704/117.199/56.542
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.02/0.043/1.764/1.632
$24V_AH,23.86,10.747
$10V_AH,10.15,30.533
$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
$DEVICE_SECS,22.425,137.675,462.775,0.000,0.000,0.000,0.000,315.100,0.000,17679.670,33.273,0.000,14369.612,551.547,3152.625,171.505,0.000,2255.117,0.000,1738.322,0.000,0.553,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,565.059,0.000,0.000,0.000,0.000,0.000,18315.730,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,108.713,0.000,0.000,0.000
$MEM,228616
$DATA_FILE_SIZE,36728,834
$CAP_FILE_SIZE,155306,0
$CFSIZE,260034560,251326464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,121014,194919,1216.506,14529.683,38,0.9,58,2.0