version: 66.12
glider: 178
mission: 18
dive: 166
start: 10 30 114 1 0 2
data:
$ID,178
$MISSION,18
$DIVE,166
$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,300
$T_MISSION,330
$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,220
$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,61
$R_STBD_OVSHOOT,39
$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
$GPS1,301014,005226,1147.437,14404.524,25,1.0,45,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-76.4
$GPS2,301014,005951,1147.495,14404.511,14,1.0,34,1.8
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1324.700,14434.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,34.7,187699,-17.3,-11.000,-20.18,2764
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.84,-214.1,152,2130,1431,1410,0.0,0.0,0,175,0.00,0.00,-75.70,0.000,16386,0.000,0.000,151,2131,3542,3606,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,177,-0.84,-214.1,151,2131,3609,3478,4.0,-12.0,11,202,10.65,2.30,-5.35,0.000,18692,0.243,0.055,2584,3556,3925,3984,3867,0,0,0,0,0,0,25.57,26.15,26.34
$GC,416,-0.75,-214.1,2584,3557,3992,3870,94.4,-28.1,43,432,0.12,2.10,0.00,0.000,3078,0.161,0.028,2620,2159,3931,3993,3869,0,0,0,0,0,0,25.84,26.24,28.83
$GC,726,-0.72,-214.1,2619,2159,3999,3870,153.6,-15.3,74,733,0.00,2.17,0.00,0.000,516,0.000,0.036,2619,759,3934,3999,3869,0,0,0,0,0,0,28.83,26.19,28.83
$GC,748,-0.69,-214.1,2620,759,4000,3872,157.1,-15.5,76,756,0.12,2.17,0.00,0.000,3078,0.154,0.031,2643,2155,3935,3999,3871,0,0,0,0,0,0,25.98,26.19,28.83
$GC,1053,-0.69,-214.1,2643,2153,4003,3874,195.3,-12.1,106,1067,0.00,2.22,0.00,0.000,260,0.000,0.046,2635,3559,3937,4002,3873,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1136,-0.72,-214.1,2635,3559,4003,3877,202.7,-11.8,111,1144,0.00,2.12,0.00,0.000,1030,0.000,0.026,2635,2144,3937,4002,3873,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1449,-0.74,-214.1,2636,2142,4004,3876,237.0,-10.0,122,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2141,3938,4002,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1748,-0.77,-214.1,2635,2141,4004,3874,268.3,-11.0,132,1756,0.00,2.12,0.00,0.000,516,0.000,0.037,2635,765,3938,4002,3874,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1786,-0.80,-214.1,2636,766,4003,3875,271.6,-10.7,133,1793,0.00,2.15,0.00,0.000,1030,0.000,0.032,2627,2156,3938,4002,3874,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2109,-0.82,-214.1,2626,2158,3999,3876,296.9,-7.0,144,2119,0.00,2.22,0.00,0.000,260,0.000,0.047,2620,3554,3936,3998,3874,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2169,-0.86,-214.1,2620,3556,3998,3875,301.0,-6.8,146,2177,0.00,2.12,0.00,0.000,1030,0.000,0.028,2620,2145,3935,3997,3873,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2496,-0.88,-214.1,2620,2142,3994,3874,332.3,-11.4,157,2507,0.00,2.17,0.00,0.000,516,0.000,0.037,2620,761,3933,3992,3874,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2547,-0.91,-214.1,2620,760,3993,3868,336.4,-11.6,158,2557,0.12,2.17,0.00,0.000,5126,0.085,0.033,2556,2160,3932,3991,3874,0,0,0,0,0,0,26.13,26.14,28.83
$GC,2862,-0.89,-214.1,2555,2160,3986,3874,378.6,-13.1,169,2870,0.00,2.25,0.00,0.000,260,0.000,0.049,2546,3555,3929,3984,3874,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2930,-0.86,-214.1,2546,3555,3984,3874,385.9,-12.6,171,2940,0.17,2.15,0.00,0.000,3078,0.149,0.029,2590,2143,3928,3983,3874,0,0,0,0,0,0,25.85,26.21,28.83
$GC,3250,-0.86,-214.1,2591,2139,3982,3871,420.0,-10.1,182,3259,0.00,2.28,0.00,0.000,260,0.000,0.048,2582,3559,3925,3979,3871,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3295,-0.86,-214.1,2582,3559,3980,3871,423.2,-10.1,183,3303,0.00,2.17,0.00,0.000,1030,0.000,0.030,2582,2148,3924,3978,3871,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3607,-0.86,-214.1,2582,2145,3977,3870,455.4,-9.8,194,3615,0.00,2.28,0.00,0.000,260,0.000,0.049,2572,3551,3921,3975,3868,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3629,-0.86,-214.1,2572,3554,3976,3870,455.4,-9.8,194,3640,0.00,2.17,0.00,0.000,1030,0.000,0.033,2572,2155,3921,3974,3868,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3935,-0.86,-214.1,2573,2153,3972,3867,493.5,-12.5,205,3943,0.00,2.22,0.00,0.000,516,0.000,0.041,2572,747,3918,3970,3866,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3963,-0.86,-214.1,2572,747,3972,3866,497.2,-12.8,206,3972,0.00,2.20,0.00,0.000,1030,0.000,0.036,2564,2144,3917,3970,3865,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4293,-0.86,-214.1,2564,2144,3967,3862,542.9,-13.7,217,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2144,3914,3966,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4593,-0.86,-214.1,2565,2145,3965,3861,579.9,-11.8,227,4601,0.00,2.30,0.00,0.000,260,0.000,0.051,2554,3560,3911,3963,3860,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4614,-0.86,-214.1,2554,3560,3964,3860,579.9,-11.8,227,4623,0.12,2.20,0.00,0.000,3078,0.161,0.031,2585,2147,3911,3963,3860,0,0,0,0,0,0,25.80,26.13,28.83
$GC,4928,-0.86,-214.1,2586,2144,3962,3858,613.7,-9.9,238,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2147,3909,3961,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5228,-0.86,-214.1,2587,2145,3958,3856,644.2,-10.3,248,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2144,3906,3957,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5528,-0.86,-214.1,2586,2145,3955,3855,674.2,-9.9,258,5536,0.00,2.30,0.00,0.000,260,0.000,0.052,2577,3555,3903,3954,3853,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5581,-0.86,-214.1,2577,3555,3955,3853,677.5,-9.7,259,5588,0.00,2.20,0.00,0.000,1030,0.000,0.031,2578,2148,3904,3954,3854,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5893,-0.86,-214.1,2578,2143,3953,3850,710.2,-9.5,270,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2144,3901,3952,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6193,-0.86,-214.1,2578,2143,3951,3849,738.7,-9.6,280,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2144,3899,3950,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6493,-0.86,-214.1,2578,2144,3950,3847,768.5,-10.2,290,6501,0.00,2.33,0.00,0.000,260,0.000,0.053,2566,3556,3897,3948,3847,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6560,-0.86,-214.1,2568,3557,3948,3847,774.6,-10.3,292,6568,0.00,2.20,0.00,0.000,1030,0.000,0.033,2568,2143,3897,3947,3847,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6877,-0.86,-214.1,2568,2140,3948,3845,810.4,-11.1,303,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2139,3895,3946,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7177,-0.86,-214.1,2568,2140,3946,3845,845.1,-11.7,313,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2139,3893,3944,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7478,-0.86,-214.1,2568,2139,3943,3843,880.2,-11.6,323,7486,0.00,2.33,0.00,0.000,260,0.000,0.054,2559,3555,3892,3941,3843,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7515,-0.86,-214.1,2559,3555,3943,3843,883.8,-11.5,324,7523,0.12,2.20,0.00,0.000,3078,0.158,0.033,2588,2144,3889,3936,3843,0,0,0,0,0,0,25.70,26.00,28.83
$GC,7839,-0.89,-214.1,2588,2140,3941,3841,917.4,-10.0,335,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2140,3890,3939,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8138,-0.91,-214.1,2589,2141,3939,3842,947.2,-10.0,345,8146,0.00,2.35,0.00,0.000,260,0.000,0.054,2580,3555,3889,3938,3840,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8186,-0.93,-214.1,2580,3555,3939,3840,950.1,-10.2,346,8194,0.00,2.20,0.00,0.000,1030,0.000,0.033,2580,2145,3889,3938,3840,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8499,-0.93,-214.1,2580,2141,3938,3839,984.8,-10.4,357,8507,0.00,2.38,0.00,0.000,260,0.000,0.054,2572,3563,3887,3936,3839,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8521,-0.93,-214.1,2573,3562,3937,3839,984.8,-10.4,357,8529,0.00,2.25,0.00,0.000,1030,0.000,0.034,2572,2143,3885,3935,3836,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,8562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8562,begin apogee
$GC,8566,-0.13,0.0,2573,2259,3936,3841,991.8,-10.6,359,8757,0.82,0.00,184.00,1.286,10246,0.125,0.000,2821,2258,3046,3085,3008,0,0,0,0,0,0,25.51,28.83,23.33
$STATE,8758,end apogee,CONTROL_FINISHED_OK
$STATE,8758,begin climb
$GC,8760,0.84,214.1,2822,2265,3085,3011,1001.0,0.0,365,8969,0.90,2.53,195.62,1.267,10500,0.044,0.051,3153,3645,2172,2212,2132,0,0,0,0,0,0,24.56,24.22,23.18
$GC,9158,0.75,214.1,3154,3646,2199,2130,945.3,21.4,378,9170,0.20,2.22,0.00,0.000,5126,0.181,0.031,3116,2250,2163,2197,2129,0,0,0,0,0,0,25.51,25.82,28.83
$GC,9464,0.70,214.1,3117,2248,2198,2126,886.2,17.6,389,9472,0.00,2.25,0.00,0.000,516,0.000,0.044,3125,847,2161,2197,2125,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9512,0.64,214.1,3126,849,2197,2125,881.2,17.7,390,9520,0.17,2.25,0.00,0.000,5126,0.170,0.037,3078,2254,2160,2197,2123,0,0,0,0,0,0,25.86,26.15,28.83
$GC,9825,0.62,214.1,3083,2255,2197,2124,829.3,15.6,401,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2254,2159,2196,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10125,0.59,214.1,3082,2254,2196,2123,783.5,15.2,411,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2254,2158,2195,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10424,0.57,214.1,3082,2255,2194,2124,738.5,15.2,421,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2254,2158,2194,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10725,0.55,214.1,3083,2255,2194,2123,693.6,14.7,431,10731,0.12,0.00,0.00,0.000,4102,0.191,0.000,3052,2255,2157,2193,2122,0,0,0,0,0,0,25.84,28.83,28.83
$GC,11025,0.55,214.1,3052,2254,2194,2121,656.2,12.1,441,11033,0.00,2.25,0.00,0.000,516,0.000,0.043,3060,852,2156,2192,2120,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11057,0.55,214.1,3060,851,2193,2120,652.3,12.0,442,11065,0.00,2.25,0.00,0.000,1030,0.000,0.037,3060,2252,2156,2192,2120,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,16418,end climb,SURFACE_DEPTH_REACHED
$STATE,16418,begin surface coast
$FINISH,0.5,1.021333
$STATE,16433,end surface coast,CONTROL_FINISHED_OK
$STATE,16433,begin surface
$SM_CCo,16509,0.00,0.000,0,0,1341,417.99
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$IRIDIUM_FIX,1139.26,14401.11,291014,193228
$TT8_MAMPS,0.054677,0.054677
$HUMID,50.23
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.10
$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,16463.15 7325.63
$PA_BOOTCOUNT,169
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.062/1.764/1.613
$PA_DISK_BANK,2
$24V_AH,23.18,49.013
$10V_AH,9.99,36.640
$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
$DEVICE_SECS,22.925,134.525,552.050,0.000,0.000,0.000,0.000,303.475,0.250,16977.301,36.570,0.000,13150.141,614.325,2974.892,194.851,0.000,2232.567,0.000,1574.369,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,510.677,0.000,0.000,0.000,0.000,0.000,16977.449,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,228480
$DATA_FILE_SIZE,33418,754
$CAP_FILE_SIZE,145693,0
$CFSIZE,260034560,244129792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,301014,053626,1149.503,14405.556,35,0.8,55,1.8