version: 66.12
glider: 203
mission: 8
dive: 86
start: 7 26 115 8 11 16
data:
$ID,203
$MISSION,8
$DIVE,86
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,103
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22.5
$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,-62.66111
$PRESSURE_SLOPE,0.0001160131
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,260715,080557,5724.7749,-14836.9668,38,0.9,38,17.3,0.0,0.0,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.0
$GPS2,260715,081105,5724.7651,-14836.9766,6,1.0,9,17.3,0.0,210.9,10,9.2
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,146.9,31435,-18.0,-11.000,-19.55,2718
$D_GRID,3430
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.92,-194.6,195,2713,768,648,0.0,0.0,0,151,0.00,0.00,-55.97,0.000,16386,0.000,0.000,194,2713,2154,2193,2116,0,0,0,0,0,0,25.94,28.83,26.01
$GC,153,-0.92,-194.6,195,2713,2195,2116,3.2,-4.5,9,202,8.55,1.80,-36.05,0.000,18692,0.233,0.057,2329,3839,3635,3703,3568,0,0,0,0,0,0,25.67,24.77,25.93
$GC,309,-0.84,-194.6,2329,3840,3704,3572,37.0,-21.6,38,319,0.15,1.60,0.00,0.000,3078,0.154,0.022,2366,2700,3638,3704,3572,0,0,0,0,0,0,25.86,26.04,26.01
$GC,624,-0.84,-194.6,2365,2700,3705,3575,96.0,-16.5,75,631,0.00,2.03,0.00,0.000,516,0.000,0.024,2366,1339,3639,3703,3576,0,0,0,0,0,0,26.05,26.07,26.10
$GC,685,-0.84,-194.6,2366,1340,3705,3577,105.2,-15.6,80,696,0.00,2.05,0.00,0.000,1030,0.000,0.026,2362,2693,3640,3704,3576,0,0,0,0,0,0,26.11,26.07,26.13
$GC,991,-0.84,-194.6,2362,2693,3705,3576,148.0,-13.8,111,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2693,3640,3704,3577,0,0,0,0,0,0,26.08,26.14,26.13
$GC,1292,-0.86,-194.6,2362,2693,3705,3576,190.5,-14.3,141,1299,0.00,1.77,0.00,0.000,260,0.000,0.040,2359,3856,3640,3704,3576,0,0,0,0,0,0,26.08,26.08,26.15
$GC,1339,-0.88,-194.6,2359,3857,3704,3578,197.0,-14.9,145,1350,0.00,1.62,0.00,0.000,1030,0.000,0.022,2359,2705,3640,3704,3577,0,0,0,0,0,0,26.15,26.12,26.15
$GC,1644,-0.90,-194.6,2359,2705,3705,3576,243.3,-14.7,176,1652,0.00,1.80,0.00,0.000,260,0.000,0.038,2349,3854,3640,3704,3577,0,0,0,0,0,0,26.08,26.08,26.14
$GC,1686,-0.90,-194.6,2350,3859,3705,3580,249.8,-15.4,180,1693,0.00,1.65,0.00,0.000,1030,0.000,0.022,2349,2694,3637,3704,3571,0,0,0,0,0,0,26.15,26.12,26.16
$GC,1997,-0.90,-194.6,2349,2690,3702,3573,295.6,-14.2,191,2004,0.00,1.80,0.00,0.000,260,0.000,0.039,2341,3848,3639,3702,3576,0,0,0,0,0,0,26.08,26.08,26.13
$GC,2028,-0.90,-194.6,2341,3850,3702,3576,299.9,-14.0,192,2035,0.00,1.65,0.00,0.000,1030,0.000,0.022,2341,2694,3638,3701,3576,0,0,0,0,0,0,26.15,26.12,26.16
$GC,2359,-0.90,-194.6,2341,2694,3701,3575,347.4,-14.6,203,2369,0.00,1.83,0.00,0.000,260,0.000,0.039,2333,3853,3639,3701,3577,0,0,0,0,0,0,26.08,26.08,26.13
$GC,2413,-0.90,-194.6,2334,3854,3700,3578,352.4,-14.6,204,2420,0.00,1.65,0.00,0.000,1030,0.000,0.021,2334,2696,3637,3699,3576,0,0,0,0,0,0,26.13,26.10,26.14
$GC,2725,-0.90,-194.6,2334,2693,3699,3577,400.2,-14.5,215,2733,0.00,1.80,0.00,0.000,260,0.000,0.040,2325,3844,3637,3699,3576,0,0,0,0,0,0,26.08,26.06,26.14
$GC,2782,-0.90,-194.6,2325,3847,3698,3578,405.0,-14.5,216,2792,0.10,1.65,0.00,0.000,3078,0.158,0.022,2347,2707,3637,3698,3576,0,0,0,0,0,0,25.96,26.12,26.09
$GC,3087,-0.92,-194.6,2347,2706,3698,3576,449.6,-13.1,227,3095,0.00,1.77,0.00,0.000,260,0.000,0.040,2343,3845,3636,3696,3576,0,0,0,0,0,0,26.08,26.06,26.14
$GC,3159,-0.94,-194.6,2343,3844,3696,3576,457.9,-13.3,229,3166,0.00,1.70,0.00,0.000,1030,0.000,0.022,2342,2690,3635,3695,3576,0,0,0,0,0,0,26.14,26.12,26.14
$GC,3480,-0.95,-194.6,2342,2691,3695,3578,499.6,-12.3,240,3488,0.00,1.80,0.00,0.000,260,0.000,0.040,2335,3843,3635,3694,3577,0,0,0,0,0,0,26.08,26.06,26.13
$GC,3512,-0.97,-194.6,2336,3845,3695,3578,503.6,-12.4,241,3519,0.00,1.65,0.00,0.000,1030,0.000,0.023,2336,2702,3634,3693,3576,0,0,0,0,0,0,26.14,26.11,26.15
$GC,3843,-0.97,-194.6,2336,2703,3694,3578,547.6,-13.3,252,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2702,3634,3693,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,4143,-0.97,-194.6,2336,2702,3693,3576,587.7,-13.4,262,4150,0.00,1.77,0.00,0.000,260,0.000,0.039,2327,3846,3633,3691,3576,0,0,0,0,0,0,26.08,26.06,26.13
$GC,4205,-0.97,-194.6,2327,3846,3692,3576,596.2,-13.6,264,4212,0.00,1.65,0.00,0.000,1030,0.000,0.023,2326,2693,3633,3691,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,4539,-0.97,-194.6,2327,2694,3690,3577,641.9,-13.8,275,4546,0.00,1.80,0.00,0.000,260,0.000,0.039,2322,3847,3633,3690,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,4594,-0.97,-194.6,2322,3844,3691,3576,646.7,-13.8,276,4605,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2694,3632,3689,3576,0,0,0,0,0,0,26.14,26.11,26.14
$GC,4900,-0.97,-194.6,2322,2694,3690,3576,695.1,-14.9,287,4907,0.00,1.80,0.00,0.000,260,0.000,0.039,2319,3846,3632,3688,3576,0,0,0,0,0,0,26.06,26.07,26.13
$GC,4946,-0.97,-194.6,2319,3845,3689,3577,699.9,-15.0,288,4954,0.00,1.65,0.00,0.000,1030,0.000,0.022,2320,2696,3632,3688,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,5263,-0.97,-194.6,2319,2695,3688,3575,748.6,-14.7,299,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3631,3687,3576,0,0,0,0,0,0,26.07,26.14,26.15
$GC,5563,-0.97,-194.6,2319,2695,3688,3576,792.9,-14.8,309,5570,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3846,3631,3686,3576,0,0,0,0,0,0,26.06,26.06,26.13
$GC,5635,-0.97,-194.6,2319,3846,3687,3576,802.2,-14.9,311,5642,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2699,3631,3686,3576,0,0,0,0,0,0,26.13,26.10,26.14
$GC,5956,-0.97,-194.6,2319,2697,3687,3576,850.3,-14.3,322,5963,0.00,1.83,0.00,0.000,260,0.000,0.041,2319,3848,3631,3686,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,5997,-0.97,-194.6,2319,3850,3687,3578,854.9,-14.3,323,6004,0.00,1.70,0.00,0.000,1030,0.000,0.023,2319,2701,3631,3686,3576,0,0,0,0,0,0,26.12,26.10,26.13
$GC,6318,-0.97,-194.6,2320,2702,3686,3578,900.3,-13.7,334,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2701,3630,3685,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,6618,-0.97,-194.6,2319,2702,3685,3578,941.1,-13.5,344,6626,0.00,1.77,0.00,0.000,260,0.000,0.041,2319,3843,3630,3685,3576,0,0,0,0,0,0,26.06,26.06,26.12
$GC,6650,-0.97,-194.6,2320,3845,3685,3578,945.3,-13.4,345,6657,0.00,1.65,0.00,0.000,1030,0.000,0.023,2320,2694,3630,3684,3576,0,0,0,0,0,0,26.13,26.10,26.13
$GC,6981,-0.97,-194.6,2319,2693,3686,3578,988.3,-13.0,356,6990,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3845,3629,3683,3576,0,0,0,0,0,0,26.06,26.04,26.13
$STATE,7013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7013,begin apogee
$GC,7018,-0.25,0.0,2319,2798,3684,3576,992.7,-13.0,357,7262,0.75,0.00,237.00,0.890,10246,0.117,0.000,2554,2797,2838,2876,2800,0,0,0,0,0,0,25.92,24.40,23.83
$STATE,7263,end apogee,CONTROL_FINISHED_OK
$STATE,7263,begin climb
$GC,7264,0.92,194.6,2556,2799,2871,2796,1006.6,0.0,365,7443,1.08,2.35,165.85,1.090,11012,0.054,0.023,2933,1416,2037,2077,1998,0,0,0,0,0,0,24.54,23.63,22.99
$GC,7492,0.85,385.6,2933,1415,2067,1988,1005.8,3.8,372,7674,0.00,2.25,170.73,1.069,9222,0.000,0.025,2932,2797,1266,1314,1218,0,0,0,0,0,0,24.50,24.46,22.96
$GC,7979,0.85,385.6,2933,2797,1296,1192,936.0,14.7,389,7986,0.00,2.17,0.00,0.000,516,0.000,0.025,2933,1415,1243,1294,1192,0,0,0,0,0,0,25.44,25.46,25.50
$GC,8015,0.85,385.6,2933,1415,1296,1192,932.1,14.6,390,8023,0.00,2.20,0.00,0.000,1030,0.000,0.026,2933,2811,1243,1294,1192,0,0,0,0,0,0,25.56,25.53,25.58
$GC,8332,0.85,385.6,2933,2812,1295,1192,883.8,14.7,401,8340,0.00,2.15,0.00,0.000,516,0.000,0.025,2932,1411,1242,1294,1191,0,0,0,0,0,0,25.86,25.88,25.92
$GC,8383,0.85,385.6,2932,1411,1294,1190,880.0,14.5,402,8394,0.00,2.15,0.00,0.000,1030,0.000,0.027,2933,2808,1242,1294,1190,0,0,0,0,0,0,25.94,25.91,25.96
$GC,8689,0.85,385.6,2933,2809,1295,1191,831.3,15.1,413,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2808,1241,1293,1190,0,0,0,0,0,0,26.00,26.07,26.07
$GC,8989,0.85,385.6,2933,2807,1294,1189,786.1,14.9,423,8996,0.00,2.12,0.00,0.000,516,0.000,0.026,2932,1413,1241,1293,1190,0,0,0,0,0,0,26.03,26.07,26.10
$GC,9021,0.85,385.6,2933,1414,1294,1191,782.1,15.0,424,9029,0.00,2.12,0.00,0.000,1030,0.000,0.028,2933,2802,1241,1293,1190,0,0,0,0,0,0,26.10,26.06,26.11
$GC,9348,0.85,385.6,2933,2803,1294,1189,731.0,16.1,435,9355,0.00,2.10,0.00,0.000,516,0.000,0.025,2933,1418,1241,1293,1190,0,0,0,0,0,0,26.06,26.08,26.13
$GC,9384,0.85,385.6,2933,1419,1294,1191,727.0,15.4,436,9392,0.00,2.10,0.00,0.000,1030,0.000,0.028,2935,2800,1241,1292,1190,0,0,0,0,0,0,26.13,26.08,26.14
$GC,9701,0.85,385.6,2933,2799,1293,1189,678.1,14.9,447,9708,0.00,2.12,0.00,0.000,516,0.000,0.025,2939,1426,1240,1291,1189,0,0,0,0,0,0,26.07,26.09,26.13
$GC,9727,0.85,385.6,2939,1415,1293,1191,678.1,14.9,447,9738,0.00,2.12,0.00,0.000,1030,0.000,0.028,2939,2804,1241,1293,1189,0,0,0,0,0,0,26.13,26.09,26.15
$GC,10033,0.85,385.6,2939,2806,1293,1190,628.2,15.2,458,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2804,1241,1293,1189,0,0,0,0,0,0,26.08,26.15,26.15
$GC,10333,0.85,385.6,2940,2805,1294,1190,583.9,14.7,468,10340,0.00,2.12,0.00,0.000,516,0.000,0.025,2945,1408,1240,1292,1189,0,0,0,0,0,0,26.07,26.10,26.13
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$STATE,14803,end climb,SURFACE_DEPTH_REACHED
$STATE,14803,begin surface coast
$FINISH,0.5,1.023966
$STATE,14817,end surface coast,CONTROL_FINISHED_OK
$STATE,14817,begin surface
$SM_CCo,14891,0.00,0.000,0,0,912,472.45
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$IRIDIUM_FIX,5700.63,-14841.61,210508,213353
$TT8_MAMPS,0.05992,0.05992
$HUMID,39.21
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.40
$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,1654118
$PA_UPTIME,14847.44 7200.58
$PA_BOOTCOUNT,392
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$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.200/27.046/25.472
$PA_DISK_BANK,2
$24V_AH,22.96,25.463
$10V_AH,10.18,32.070
$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
$DEVICE_SECS,18.175,118.675,632.700,0.000,0.000,0.000,0.000,215.825,0.000,15220.281,10.772,0.000,11565.639,688.426,2807.495,125.216,0.000,2152.807,0.000,1583.910,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,545.447,0.000,0.000,0.000,0.000,0.000,15220.230,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,180048
$DATA_FILE_SIZE,33364,797
$CAP_FILE_SIZE,133858,0
$CFSIZE,1024393216,988020736
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$INTR,1,14821.91,0x236db2,7,5
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$GPS,260715,122027,5721.708,-14836.270,39,0.8,39,17.3,0.0,0.0,10,9.3