version: 66.12
glider: 178
mission: 18
dive: 106
start: 10 17 114 19 37 32
data:
$ID,178
$MISSION,18
$DIVE,106
$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,57
$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
$GPS1,171014,193349,1215.969,14429.090,8,1.0,8,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-76.5
$GPS2,171014,193721,1215.974,14429.043,11,0.8,31,1.7
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S5
$TGT_LATLONG,1216.500,14421.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,276.4,13865,-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,-155.7,163,2140,1613,1625,0.0,0.0,0,153,0.00,0.00,-60.03,0.000,16386,0.000,0.000,162,2141,3225,3271,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.77,-155.7,163,2141,3273,3180,3.3,-12.2,10,180,10.55,2.25,-7.57,0.000,18692,0.243,0.054,2603,3563,3685,3749,3622,0,0,0,0,0,0,25.74,26.16,26.31
$GC,210,-0.61,-155.7,2604,3563,3754,3623,30.9,-40.5,20,221,0.25,2.15,0.00,0.000,3078,0.183,0.030,2666,2164,3688,3754,3623,0,0,0,0,0,0,25.84,26.20,28.83
$GC,528,-0.58,-155.7,2667,2162,3759,3625,103.3,-20.2,57,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2161,3690,3758,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-0.58,-155.7,2666,2161,3764,3623,147.9,-14.9,87,843,0.00,2.20,0.00,0.000,260,0.000,0.044,2658,3555,3692,3762,3623,0,0,0,0,0,0,28.83,26.20,28.83
$GC,852,-0.58,-155.7,2659,3555,3764,3622,151.5,-15.2,89,860,0.00,2.12,0.00,0.000,1030,0.000,0.027,2659,2143,3692,3762,3623,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1164,-0.60,-155.7,2659,2139,3766,3623,185.8,-10.7,120,1172,0.00,2.22,0.00,0.000,260,0.000,0.044,2651,3553,3694,3765,3623,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1212,-0.62,-155.7,2652,3552,3766,3623,191.8,-12.8,124,1220,0.00,2.12,0.00,0.000,1030,0.000,0.026,2651,2147,3694,3765,3623,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1527,-0.65,-155.7,2652,2145,3767,3625,223.1,-9.3,139,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2144,3694,3766,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-0.68,-155.7,2651,2143,3767,3624,253.6,-9.8,149,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2144,3695,3767,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-0.71,-155.7,2651,2144,3766,3624,280.8,-8.2,159,2133,0.00,2.15,0.00,0.000,516,0.000,0.037,2651,756,3694,3764,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2168,-0.75,-155.7,2652,757,3765,3625,283.5,-8.0,160,2176,0.00,2.17,0.00,0.000,1030,0.000,0.032,2645,2152,3694,3764,3624,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2491,-0.78,-155.7,2645,2155,3760,3625,310.9,-8.8,171,2501,0.00,2.20,0.00,0.000,516,0.000,0.037,2645,758,3692,3759,3626,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2590,-0.82,-155.7,2645,758,3758,3625,320.2,-10.0,174,2599,0.12,2.15,0.00,0.000,5126,0.090,0.033,2577,2147,3690,3757,3624,0,0,0,0,0,0,26.24,26.26,28.83
$GC,2908,-0.82,-155.7,2578,2147,3752,3624,355.9,-9.6,185,2916,0.00,2.25,0.00,0.000,260,0.000,0.047,2566,3561,3686,3750,3623,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2990,-0.82,-155.7,2567,3561,3750,3624,361.5,-9.6,187,3001,0.15,2.17,0.00,0.000,3078,0.161,0.029,2604,2141,3686,3749,3624,0,0,0,0,0,0,25.99,26.29,28.83
$GC,3296,-0.82,-155.7,2604,2138,3745,3623,395.3,-10.5,198,3304,0.00,2.15,0.00,0.000,516,0.000,0.040,2604,758,3683,3743,3624,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3353,-0.82,-155.7,2605,758,3744,3624,401.6,-10.6,200,3361,0.00,2.20,0.00,0.000,1030,0.000,0.034,2597,2160,3682,3741,3624,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3687,-0.82,-155.7,2598,2162,3737,3621,434.1,-9.6,211,3696,0.00,2.22,0.00,0.000,260,0.000,0.049,2587,3555,3678,3736,3620,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3750,-0.82,-155.7,2588,3555,3736,3620,440.1,-9.7,213,3758,0.00,2.15,0.00,0.000,1030,0.000,0.030,2586,2157,3677,3735,3620,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4077,-0.82,-155.7,2587,2153,3732,3617,473.1,-9.7,224,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2153,3673,3730,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4378,-0.82,-155.7,2587,2154,3728,3615,500.7,-9.5,234,4388,0.00,2.22,0.00,0.000,516,0.000,0.041,2587,756,3670,3726,3614,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4433,-0.82,-155.7,2587,756,3727,3615,503.8,-9.8,235,4443,0.00,2.22,0.00,0.000,1030,0.000,0.035,2579,2158,3670,3726,3614,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4738,-0.82,-155.7,2579,2158,3723,3611,540.6,-11.3,246,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2159,3667,3723,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5038,-0.82,-155.7,2580,2160,3721,3609,573.9,-11.0,256,5050,0.00,2.22,0.00,0.000,516,0.000,0.041,2578,746,3663,3719,3608,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5064,-0.82,-155.7,2579,751,3720,3608,573.9,-11.0,256,5075,0.15,2.25,0.00,0.000,3078,0.168,0.037,2608,2157,3663,3720,3607,0,0,0,0,0,0,25.89,26.15,28.83
$GC,5370,-0.84,-155.7,2608,2157,3717,3606,605.9,-9.7,267,5381,0.00,2.28,0.00,0.000,260,0.000,0.050,2599,3560,3660,3715,3606,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5415,-0.87,-155.7,2598,3560,3717,3606,608.9,-9.9,268,5424,0.00,2.20,0.00,0.000,1030,0.000,0.031,2599,2145,3660,3715,3606,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5734,-0.87,-155.7,2598,2142,3713,3605,645.5,-11.1,279,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2142,3658,3712,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,-0.87,-155.7,2600,2143,3710,3604,676.0,-9.9,289,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2142,3656,3710,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6334,-0.87,-155.7,2605,2142,3707,3601,704.6,-9.6,299,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2142,3654,3707,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6634,-0.87,-155.7,2600,2142,3705,3601,734.1,-9.9,309,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2142,3652,3704,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6934,-0.87,-155.7,2599,2141,3704,3598,764.1,-9.9,319,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2141,3650,3702,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7234,-0.87,-155.7,2599,2141,3701,3596,793.0,-9.6,329,7241,0.00,2.33,0.00,0.000,260,0.000,0.052,2588,3557,3648,3700,3596,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7280,-0.87,-155.7,2589,3557,3701,3596,795.7,-9.7,330,7288,0.00,2.20,0.00,0.000,1030,0.000,0.033,2589,2152,3647,3699,3596,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7593,-0.87,-155.7,2589,2150,3699,3595,829.8,-10.3,341,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2149,3646,3698,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7893,-0.87,-155.7,2589,2148,3697,3593,860.5,-10.2,351,7904,0.00,2.33,0.00,0.000,260,0.000,0.052,2580,3555,3644,3696,3593,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7928,-0.87,-155.7,2580,3556,3697,3594,863.8,-10.2,352,7936,0.00,2.20,0.00,0.000,1030,0.000,0.034,2580,2147,3644,3696,3593,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8251,-0.87,-155.7,2581,2145,3696,3593,898.8,-10.4,363,8259,0.00,2.22,0.00,0.000,516,0.000,0.043,2580,752,3642,3694,3591,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8313,-0.87,-155.7,2581,753,3696,3592,905.1,-10.5,365,8320,0.00,2.25,0.00,0.000,1030,0.000,0.037,2572,2153,3642,3694,3591,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8635,-0.87,-155.7,2573,2156,3694,3592,937.8,-9.7,376,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2154,3642,3693,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8935,-0.87,-155.7,2573,2155,3693,3591,964.6,-8.9,386,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2155,3641,3692,3590,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9233,begin apogee
$GC,9237,-0.13,0.0,2572,2260,3692,3589,990.3,-8.5,396,9376,0.85,0.00,129.62,1.270,10246,0.135,0.000,2826,2260,3046,3085,3008,0,0,0,0,0,0,25.70,28.83,24.13
$STATE,9377,end apogee,CONTROL_FINISHED_OK
$STATE,9377,begin climb
$GC,9378,0.77,155.7,2826,2260,3085,3007,993.5,0.0,400,9526,0.80,0.00,140.55,1.257,10758,0.044,0.000,3133,2258,2410,2454,2367,0,0,0,0,0,0,25.13,28.83,23.68
$GC,9806,0.70,155.7,3134,2261,2443,2357,937.0,16.1,415,9817,0.12,2.28,0.00,0.000,4356,0.194,0.050,3102,3645,2399,2442,2356,0,0,0,0,0,0,25.60,25.80,28.83
$GC,9838,0.63,155.7,3103,3646,2443,2357,932.1,16.0,416,9847,0.15,2.20,0.00,0.000,5126,0.184,0.031,3076,2246,2398,2441,2356,0,0,0,0,0,0,25.63,25.91,28.83
$GC,10171,0.61,155.7,3077,2244,2441,2354,891.7,11.8,427,10179,0.00,2.22,0.00,0.000,516,0.000,0.041,3084,852,2396,2440,2353,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10219,0.58,155.7,3085,853,2441,2353,887.8,11.9,428,10227,0.00,2.22,0.00,0.000,1030,0.000,0.035,3084,2247,2396,2440,2352,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10532,0.55,155.7,3085,2248,2440,2353,845.3,13.8,439,10541,0.12,2.30,0.00,0.000,4356,0.190,0.050,3053,3660,2393,2435,2351,0,0,0,0,0,0,25.84,26.06,28.83
$GC,10586,0.51,155.7,3053,3661,2439,2352,841.1,14.0,440,10598,0.00,2.22,0.00,0.000,1030,0.000,0.031,3061,2240,2394,2438,2351,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10891,0.51,155.7,3062,2237,2437,2352,794.8,14.3,451,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2235,2393,2436,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11191,0.51,155.7,3060,2237,2436,2351,751.2,14.3,461,11199,0.00,2.22,0.00,0.000,516,0.000,0.043,3072,844,2392,2434,2351,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11218,0.51,155.7,3072,845,2434,2351,747.4,14.3,462,11226,0.15,2.25,0.00,0.000,5126,0.168,0.036,3036,2251,2392,2436,2349,0,0,0,0,0,0,25.81,26.07,28.83
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$STATE,18105,end climb,SURFACE_DEPTH_REACHED
$STATE,18105,begin surface coast
$FINISH,-0.2,1.021337
$STATE,18125,end surface coast,CONTROL_FINISHED_OK
$STATE,18125,begin surface
$SM_CCo,18200,0.00,0.000,0,0,1472,386.59
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$IRIDIUM_FIX,1210.12,14432.10,171014,192928
$TT8_MAMPS,0.053179,0.053179
$HUMID,47.63
$INTERNAL_PRESSURE,9.14098
$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,18152.74 7742.07
$PA_BOOTCOUNT,109
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$PA_LOG,0.04/0.087/1.969/1.782
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.048/1.764/1.626
$24V_AH,23.68,21.933
$10V_AH,10.10,32.316
$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
$DEVICE_SECS,22.575,138.550,467.525,0.000,0.000,0.000,0.000,0.000,0.000,18144.182,34.342,0.000,14643.885,583.866,2883.659,156.068,0.000,1945.510,0.000,1692.149,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,577.340,0.000,0.000,0.000,0.000,0.000,18144.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,228584
$DATA_FILE_SIZE,36803,851
$CAP_FILE_SIZE,168038,0
$CFSIZE,260034560,249085952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,181014,004214,1215.993,14426.124,42,0.9,62,1.7