version: 66.12
glider: 203
mission: 8
dive: 97
start: 7 28 115 10 31 45
data:
$ID,203
$MISSION,8
$DIVE,97
$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,95
$R_STBD_OVSHOOT,47
$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,21
$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
$GPS1,280715,102603,5709.3613,-14855.6846,39,0.7,39,17.2,0.0,0.0,11,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.1
$GPS2,280715,103134,5709.3574,-14855.5938,14,0.8,14,17.2,0.0,103.2,9,5.6
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP7
$TGT_LATLONG,5714.387,-15006.126
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,277.0,71296,-18.0,-11.000,-19.55,2718
$D_GRID,4261
$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,-194.6,204,2699,553,440,0.0,0.0,0,160,0.00,0.00,-60.35,0.000,16386,0.000,0.000,203,2699,2059,2106,2012,0,0,0,0,0,0,25.97,28.83,26.04
$GC,162,-0.92,-194.6,203,2701,2108,2013,3.1,-3.4,9,216,8.73,2.05,-39.35,0.000,18948,0.241,0.035,2330,1328,3634,3710,3559,0,0,0,0,0,0,25.65,25.34,25.82
$GC,296,-0.85,-194.6,2330,1329,3711,3564,29.9,-21.9,33,307,0.15,2.08,0.00,0.000,3078,0.161,0.024,2360,2704,3636,3710,3563,0,0,0,0,0,0,25.87,26.05,26.02
$GC,606,-0.83,-194.6,2360,2706,3711,3569,86.8,-16.7,74,614,0.00,2.05,0.00,0.000,516,0.000,0.021,2360,1339,3638,3710,3567,0,0,0,0,0,0,26.08,26.08,26.14
$GC,648,-0.83,-194.6,2360,1329,3712,3567,93.9,-16.9,78,655,0.00,2.08,0.00,0.000,1030,0.000,0.024,2354,2710,3638,3710,3567,0,0,0,0,0,0,26.13,26.09,26.14
$GC,953,-0.83,-194.6,2354,2710,3712,3568,140.3,-16.6,108,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2711,3639,3710,3568,0,0,0,0,0,0,26.09,26.16,26.15
$GC,1254,-0.83,-194.6,2354,2713,3711,3569,186.7,-14.6,138,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2710,3639,3710,3568,0,0,0,0,0,0,26.08,26.14,26.13
$GC,1555,-0.83,-194.6,2354,2711,3711,3569,229.9,-14.0,168,1563,0.00,1.75,0.00,0.000,260,0.000,0.039,2347,3856,3639,3711,3568,0,0,0,0,0,0,26.10,26.08,26.16
$GC,1582,-0.83,-194.6,2348,3856,3711,3568,233.3,-14.2,170,1592,0.10,1.65,0.00,0.000,3078,0.156,0.021,2370,2683,3639,3710,3568,0,0,0,0,0,0,25.97,26.13,26.10
$GC,1898,-0.87,-194.6,2370,2683,3710,3568,272.6,-11.9,190,1905,0.00,1.80,0.00,0.000,260,0.000,0.037,2364,3847,3638,3709,3568,0,0,0,0,0,0,26.10,26.08,26.16
$GC,1939,-0.90,-194.6,2364,3847,3710,3568,276.4,-11.9,191,1947,0.00,1.67,0.00,0.000,1030,0.000,0.022,2364,2714,3638,3708,3568,0,0,0,0,0,0,26.16,26.14,26.17
$GC,2261,-0.93,-194.6,2364,2711,3708,3570,317.0,-12.5,202,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2714,3637,3706,3568,0,0,0,0,0,0,26.10,26.17,26.16
$GC,2561,-0.96,-194.6,2364,2715,3706,3569,354.9,-12.3,212,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2714,3636,3704,3568,0,0,0,0,0,0,26.10,26.17,26.16
$GC,2861,-0.99,-194.6,2364,2716,3704,3569,389.8,-11.5,222,2869,0.00,2.08,0.00,0.000,516,0.000,0.022,2364,1316,3635,3703,3568,0,0,0,0,0,0,26.10,26.11,26.17
$GC,2898,-1.03,-194.6,2364,1317,3704,3571,393.0,-11.6,223,2906,0.10,2.10,0.00,0.000,5126,0.095,0.027,2296,2699,3635,3702,3568,0,0,0,0,0,0,26.08,26.12,26.15
$GC,3215,-0.99,-194.6,2296,2700,3702,3569,445.2,-16.3,234,3223,0.10,1.77,0.00,0.000,2308,0.177,0.037,2311,3846,3634,3701,3568,0,0,0,0,0,0,25.93,26.08,26.08
$GC,3252,-0.96,-194.6,2310,3847,3701,3569,450.4,-16.4,235,3259,0.00,1.70,0.00,0.000,1030,0.000,0.022,2310,2693,3634,3700,3568,0,0,0,0,0,0,26.16,26.13,26.20
$GC,3578,-0.94,-194.6,2310,2693,3701,3568,501.1,-15.2,246,3586,0.10,2.05,0.00,0.000,2564,0.173,0.021,2331,1317,3633,3698,3568,0,0,0,0,0,0,25.94,26.10,26.08
$GC,3610,-0.94,-194.6,2332,1318,3699,3569,505.0,-15.1,247,3618,0.00,2.10,0.00,0.000,1030,0.000,0.026,2325,2704,3633,3698,3568,0,0,0,0,0,0,26.15,26.10,26.16
$GC,3932,-0.94,-194.6,2325,2705,3699,3569,550.7,-13.9,258,3939,0.00,1.75,0.00,0.000,260,0.000,0.040,2320,3849,3632,3697,3568,0,0,0,0,0,0,26.10,26.08,26.16
$GC,3968,-0.94,-194.6,2320,3850,3698,3569,555.4,-14.1,259,3976,0.00,1.70,0.00,0.000,1030,0.000,0.022,2320,2698,3632,3697,3568,0,0,0,0,0,0,26.15,26.13,26.17
$GC,4295,-0.94,-194.6,2326,2699,3698,3569,605.0,-15.2,270,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2698,3632,3696,3568,0,0,0,0,0,0,26.06,26.12,26.12
$GC,4595,-0.94,-194.6,2315,2698,3696,3567,650.9,-15.4,280,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2698,3631,3695,3568,0,0,0,0,0,0,26.10,26.17,26.17
$GC,4895,-0.94,-194.6,2320,2698,3695,3568,695.6,-14.6,290,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2698,3631,3694,3568,0,0,0,0,0,0,26.10,26.17,26.16
$GC,5195,-0.94,-194.6,2320,2699,3694,3570,740.0,-14.9,300,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2698,3630,3693,3567,0,0,0,0,0,0,26.05,26.12,26.11
$GC,5495,-0.94,-194.6,2320,2700,3693,3569,785.3,-14.9,310,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2698,3630,3692,3568,0,0,0,0,0,0,26.09,26.17,26.15
$GC,5795,-0.94,-194.6,2320,2699,3692,3569,828.8,-14.2,320,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2698,3629,3691,3568,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6095,-0.94,-194.6,2320,2699,3691,3569,869.6,-13.4,330,6104,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3847,3629,3690,3568,0,0,0,0,0,0,26.09,26.07,26.15
$GC,6133,-0.94,-194.6,2319,3849,3691,3569,874.0,-13.4,331,6140,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2700,3629,3690,3568,0,0,0,0,0,0,26.17,26.12,26.17
$GC,6459,-0.94,-194.6,2320,2700,3690,3569,918.5,-13.6,342,6466,0.00,2.05,0.00,0.000,516,0.000,0.024,2319,1326,3628,3689,3568,0,0,0,0,0,0,26.08,26.08,26.15
$GC,6505,-0.94,-194.6,2320,1327,3690,3569,922.1,-13.6,343,6513,0.00,2.10,0.00,0.000,1030,0.000,0.026,2319,2704,3628,3689,3568,0,0,0,0,0,0,26.13,26.09,26.15
$GC,6811,-0.94,-194.6,2320,2705,3689,3569,964.6,-12.9,353,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2704,3628,3688,3568,0,0,0,0,0,0,26.08,26.15,26.14
$STATE,7019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7019,begin apogee
$GC,7023,-0.25,0.0,2320,2811,3689,3568,991.7,-13.0,360,7212,0.75,0.00,176.50,1.512,10246,0.122,0.000,2551,2812,2840,2870,2810,0,0,0,0,1,0,25.90,23.58,22.69
$STATE,7212,end apogee,CONTROL_FINISHED_OK
$STATE,7212,begin climb
$GC,7214,0.92,194.6,2552,2813,2882,2811,1002.1,0.0,366,7399,1.12,2.33,171.88,1.088,11012,0.052,0.021,2944,1425,2041,2071,2011,0,0,0,0,0,0,23.80,23.41,22.92
$GC,7553,0.88,255.0,2945,1426,2064,2002,993.5,8.7,377,7614,0.00,2.17,52.20,1.081,9222,0.000,0.026,2944,2791,1797,1830,1765,0,0,0,0,0,0,25.12,25.08,23.72
$GC,7919,0.84,255.0,2945,2792,1817,1747,947.8,12.3,390,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2791,1781,1816,1746,0,0,0,0,0,0,25.63,25.70,25.71
$GC,8218,0.79,255.0,2945,2791,1816,1744,913.0,11.5,400,8227,0.10,1.65,0.00,0.000,4356,0.171,0.037,2923,3851,1779,1815,1744,0,0,0,0,0,0,25.80,25.93,25.94
$GC,8286,0.75,255.0,2923,3851,1817,1744,905.8,11.4,402,8295,0.10,1.50,0.00,0.000,5126,0.174,0.024,2908,2788,1779,1815,1744,0,0,0,0,0,0,25.84,25.99,26.00
$GC,8614,0.75,287.1,2908,2789,1816,1745,872.6,9.8,413,8651,0.00,1.75,26.62,1.030,8452,0.000,0.040,2908,3853,1663,1699,1627,0,0,0,0,0,0,26.04,25.50,24.77
$GC,8711,0.73,288.8,2906,3854,1695,1620,862.3,10.9,416,8718,0.00,1.50,0.00,0.000,1030,0.000,0.023,2908,2800,1656,1693,1619,0,0,0,0,0,0,25.80,25.77,25.81
$GC,9037,0.73,300.4,2908,2802,1694,1618,827.1,10.6,427,9058,0.00,1.70,12.30,1.011,8452,0.000,0.041,2908,3849,1608,1646,1571,0,0,0,0,0,0,26.00,25.72,24.96
$GC,9102,0.73,300.4,2905,3849,1641,1566,820.0,11.1,429,9109,0.00,1.55,0.00,0.000,1030,0.000,0.023,2913,2799,1603,1641,1565,0,0,0,0,0,0,25.89,25.86,25.89
$GC,9428,0.73,300.4,2912,2799,1641,1561,781.8,11.5,440,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2799,1601,1640,1563,0,0,0,0,0,0,26.03,26.10,26.09
$GC,9728,0.73,300.4,2912,2800,1640,1563,747.9,11.2,450,9737,0.00,1.62,0.00,0.000,260,0.000,0.040,2912,3852,1600,1639,1562,0,0,0,0,0,0,26.08,26.07,26.14
$GC,9766,0.73,300.4,2912,3850,1640,1561,744.1,11.3,451,9773,0.08,1.50,0.00,0.000,5126,0.202,0.024,2906,2786,1600,1639,1561,0,0,0,0,0,0,25.94,26.11,26.08
$GC,10092,0.74,311.6,2905,2785,1640,1560,708.9,10.6,462,10109,0.00,0.00,9.90,0.959,8454,0.000,0.000,2905,2786,1566,1605,1528,0,0,0,0,0,0,26.08,25.81,25.10
$GC,10423,0.74,332.2,2906,2787,1599,1522,674.6,10.2,473,10452,0.00,1.67,19.95,0.926,8452,0.000,0.037,2905,3850,1480,1518,1442,0,0,0,0,0,0,26.04,25.45,24.94
$GC,10495,0.74,344.2,2905,3851,1514,1435,668.2,10.5,474,10515,0.00,1.55,11.62,0.926,9222,0.000,0.024,2910,2801,1432,1471,1393,0,0,0,0,0,0,25.86,25.82,24.87
$GC,10811,0.74,344.2,2910,2801,1464,1382,629.7,11.5,485,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2806,1422,1463,1381,0,0,0,0,0,0,25.97,26.03,26.03
$GC,11111,0.74,344.2,2910,2803,1463,1383,595.4,11.8,495,11118,0.00,1.62,0.00,0.000,260,0.000,0.039,2910,3851,1422,1462,1382,0,0,0,0,0,0,26.06,26.05,26.12
$GC,11142,0.74,344.2,2910,3851,1464,1381,591.4,12.0,496,11149,0.00,1.50,0.00,0.000,1030,0.000,0.024,2914,2788,1421,1462,1381,0,0,0,0,0,0,26.13,26.10,26.14
$GC,11473,0.74,344.2,2918,2790,1463,1382,550.5,12.4,507,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2789,1421,1462,1381,0,0,0,0,0,0,26.08,26.16,26.15
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$STATE,16096,end climb,SURFACE_DEPTH_REACHED
$STATE,16096,begin surface coast
$FINISH,0.6,1.019980
$STATE,16112,end surface coast,CONTROL_FINISHED_OK
$STATE,16112,begin surface
$SM_CCo,16187,0.00,0.000,0,0,864,484.47
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$IRIDIUM_FIX,5644.84,-14858.09,230508,235404
$TT8_MAMPS,0.059171,0.059171
$HUMID,39.09
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.50
$XPDR_PINGS,2
$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,16141.89 7656.08
$PA_BOOTCOUNT,403
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$PA_HOME,0.01/0.202/27.046/25.470
$PA_DISK_BANK,2
$24V_AH,22.69,30.408
$10V_AH,10.17,32.827
$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,19.350,87.725,566.925,0.000,0.000,0.000,0.000,233.500,0.500,16532.141,15.422,0.000,12875.886,603.588,2897.638,129.238,0.000,2100.483,0.000,1604.045,0.000,0.550,0.000
$DEVICE_MAMPS,240.975,87.975,1512.405,0.000,0.000,0.000,0.000,94.860,420.000,61.841,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,579.659,0.000,0.000,0.000,0.000,0.000,16532.301,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,180124
$DATA_FILE_SIZE,36806,845
$CAP_FILE_SIZE,139127,0
$CFSIZE,1024393216,986939392
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$INTR,0,16735.38,0x236db2,7,5
$INTR,1,16116.85,0x236db2,7,5
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$GPS,280715,150227,5709.774,-14900.019,38,0.8,38,17.2,0.0,0.0,10,7.1