version: 66.12
glider: 203
mission: 8
dive: 119
start: 8 1 115 15 21 28
data:
$ID,203
$MISSION,8
$DIVE,119
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,42
$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
$GPS1,010815,151533,5646.1772,-15001.2666,38,0.8,38,16.8,0.5,284.3,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-62.0
$GPS2,010815,152117,5646.1489,-15001.3252,22,0.9,22,16.8,0.4,261.8,10,3.0
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP8
$TGT_LATLONG,5633.536,-15002.901
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,179.4,23415,-17.4,-10.556,-19.06,2832
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.89,-194.6,205,2801,792,670,0.0,0.0,0,148,0.00,0.00,-48.30,0.000,16386,0.000,0.000,204,2801,2000,2043,1957,0,0,0,0,0,0,26.01,28.83,26.09
$GC,149,-0.89,-194.6,206,2801,2045,1963,3.1,-3.6,7,208,8.60,1.67,-41.22,0.000,18692,0.233,0.058,2340,3853,3636,3707,3565,0,0,0,0,0,0,25.65,24.56,25.93
$GC,322,-0.82,-194.6,2339,3854,3708,3569,38.2,-21.6,34,333,0.12,1.62,0.00,0.000,3078,0.158,0.021,2369,2688,3638,3707,3569,0,0,0,0,0,0,25.83,26.05,25.98
$GC,640,-0.82,-194.6,2369,2689,3708,3574,97.7,-16.3,70,647,0.00,2.00,0.00,0.000,516,0.000,0.023,2368,1340,3640,3707,3573,0,0,0,0,0,0,26.12,26.10,26.17
$GC,761,-0.82,-194.6,2369,1341,3708,3574,116.9,-15.4,81,773,0.00,2.08,0.00,0.000,1030,0.000,0.025,2363,2712,3641,3709,3573,0,0,0,0,0,0,26.16,26.12,26.17
$GC,1067,-0.82,-194.6,2362,2711,3708,3573,162.9,-14.0,112,1075,0.00,1.75,0.00,0.000,260,0.000,0.038,2356,3859,3639,3707,3572,0,0,0,0,0,0,26.12,26.08,26.18
$GC,1090,-0.82,-194.6,2355,3858,3708,3573,166.2,-14.7,114,1097,0.00,1.62,0.00,0.000,1030,0.000,0.021,2355,2714,3639,3706,3573,0,0,0,0,0,0,26.18,26.15,26.19
$GC,1402,-0.82,-194.6,2355,2716,3708,3574,212.2,-15.7,145,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2714,3640,3707,3573,0,0,0,0,0,0,26.15,26.21,26.20
$GC,1703,-0.82,-194.6,2355,2714,3708,3573,255.4,-14.0,173,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2714,3640,3707,3573,0,0,0,0,0,0,26.14,26.21,26.20
$GC,2002,-0.82,-194.6,2355,2714,3705,3572,295.7,-13.2,183,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2714,3638,3705,3572,0,0,0,0,0,0,26.13,26.20,26.18
$GC,2302,-0.82,-194.6,2355,2714,3705,3573,332.7,-12.3,193,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2714,3637,3703,3572,0,0,0,0,0,0,26.14,26.21,26.20
$GC,2602,-0.82,-194.6,2356,2716,3702,3574,369.4,-12.3,203,2609,0.08,1.75,0.00,0.000,2308,0.188,0.036,2363,3852,3637,3701,3573,0,0,0,0,0,0,25.96,26.09,26.10
$GC,2638,-0.84,-194.6,2363,3847,3702,3574,372.8,-12.4,204,2645,0.00,1.65,0.00,0.000,1030,0.000,0.022,2362,2697,3637,3701,3573,0,0,0,0,0,0,26.18,26.16,26.19
$GC,2960,-0.87,-194.6,2363,2696,3701,3572,416.0,-13.3,215,2969,0.00,1.80,0.00,0.000,260,0.000,0.040,2358,3853,3635,3698,3573,0,0,0,0,0,0,26.12,26.08,26.18
$GC,2993,-0.89,-194.6,2358,3853,3700,3572,420.3,-13.2,216,3000,0.00,1.70,0.00,0.000,1030,0.000,0.021,2358,2692,3635,3699,3572,0,0,0,0,0,0,26.18,26.15,26.19
$GC,3325,-0.92,-194.6,2358,2693,3698,3574,462.5,-12.6,227,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2692,3635,3697,3573,0,0,0,0,0,0,26.12,26.20,26.18
$GC,3624,-0.94,-194.6,2358,2693,3697,3574,499.9,-12.4,237,3632,0.00,1.80,0.00,0.000,260,0.000,0.039,2349,3849,3634,3696,3573,0,0,0,0,0,0,26.12,26.08,26.18
$GC,3656,-0.97,-194.6,2348,3849,3697,3573,503.9,-12.4,238,3664,0.00,1.70,0.00,0.000,1030,0.000,0.022,2349,2699,3633,3695,3572,0,0,0,0,0,0,26.17,26.15,26.19
$GC,3991,-0.99,-194.6,2349,2697,3695,3573,545.2,-12.2,249,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2699,3633,3694,3572,0,0,0,0,0,0,26.12,26.19,26.18
$GC,4288,-1.00,-194.6,2357,2700,3693,3573,580.6,-11.8,259,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2699,3632,3692,3573,0,0,0,0,0,0,26.13,26.20,26.20
$GC,4588,-1.03,-194.6,2349,2700,3693,3574,616.6,-12.4,269,4595,0.00,1.80,0.00,0.000,260,0.000,0.039,2348,3850,3632,3692,3573,0,0,0,0,0,0,26.11,26.07,26.17
$GC,4620,-1.05,-194.6,2348,3853,3691,3572,620.6,-12.6,270,4627,0.08,1.67,0.00,0.000,5126,0.119,0.022,2298,2679,3632,3691,3573,0,0,0,0,0,0,26.03,26.15,26.12
$GC,4951,-1.02,-194.6,2293,2677,3691,3572,673.8,-16.1,281,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2677,3631,3690,3573,0,0,0,0,0,0,26.13,26.20,26.18
$GC,5251,-0.99,-194.6,2294,2676,3690,3572,723.6,-16.9,291,5257,0.10,0.00,0.00,0.000,2054,0.172,0.000,2315,2678,3631,3689,3573,0,0,0,0,0,0,25.90,26.10,26.05
$GC,5551,-0.99,-194.6,2315,2677,3690,3573,768.8,-14.9,301,5559,0.00,1.80,0.00,0.000,260,0.000,0.037,2309,3845,3630,3688,3573,0,0,0,0,0,0,26.10,26.06,26.16
$GC,5613,-0.99,-194.6,2309,3847,3696,3573,778.4,-15.1,303,5620,0.00,1.62,0.00,0.000,1030,0.000,0.023,2310,2706,3630,3687,3573,0,0,0,0,0,0,26.17,26.14,26.18
$GC,5947,-0.99,-194.6,2309,2707,3683,3574,829.6,-15.7,314,5957,0.00,2.05,0.00,0.000,516,0.000,0.023,2309,1321,3629,3687,3572,0,0,0,0,0,0,26.11,26.10,26.17
$GC,5977,-0.99,-194.6,2309,1321,3688,3572,834.6,-15.8,315,5984,0.00,2.10,0.00,0.000,1030,0.000,0.027,2306,2702,3630,3687,3573,0,0,0,0,0,0,26.14,26.09,26.15
$GC,6303,-0.99,-194.6,2306,2702,3687,3572,885.5,-15.5,326,6312,0.00,1.80,0.00,0.000,260,0.000,0.041,2306,3854,3629,3686,3573,0,0,0,0,0,0,26.10,26.03,26.16
$GC,6366,-0.99,-194.6,2306,3855,3687,3574,895.4,-15.7,328,6374,0.00,1.65,0.00,0.000,1030,0.000,0.022,2306,2692,3629,3686,3573,0,0,0,0,0,0,26.16,26.13,26.17
$GC,6698,-0.99,-194.6,2306,2692,3687,3572,944.4,-14.7,339,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2692,3629,3686,3573,0,0,0,0,0,0,26.10,26.17,26.16
$STATE,6756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6757,begin apogee
$GC,6760,-0.25,0.0,2307,2809,3687,3572,953.3,-14.9,341,7003,0.80,0.00,233.98,0.873,10246,0.120,0.000,2555,2808,2836,2871,2802,0,0,0,0,0,0,25.86,24.41,23.81
$STATE,7003,end apogee,CONTROL_FINISHED_OK
$STATE,7003,begin climb
$GC,7005,0.89,194.6,2550,2810,2869,2800,968.8,0.0,349,7184,1.05,2.28,165.27,1.060,11012,0.057,0.019,2931,1427,2036,2070,2003,0,0,0,0,0,0,24.56,23.63,23.13
$GC,7208,0.84,489.8,2932,1428,2064,1995,971.9,-0.2,355,7493,0.00,2.22,271.62,1.014,9222,0.000,0.025,2931,2784,836,897,776,0,0,0,0,0,0,24.44,24.39,23.18
$GC,7813,0.84,489.8,2939,2784,881,754,879.1,17.0,376,7821,0.00,2.10,0.00,0.000,516,0.000,0.025,2931,1426,817,880,754,0,0,0,0,0,0,25.70,25.72,25.76
$GC,7880,0.84,489.8,2932,1425,880,754,868.9,16.6,378,7887,0.00,2.12,0.00,0.000,1030,0.000,0.026,2931,2805,817,880,754,0,0,0,0,0,0,25.86,25.82,25.88
$GC,8202,0.84,489.8,2932,2805,880,752,811.8,17.6,389,8209,0.00,2.12,0.00,0.000,516,0.000,0.025,2931,1425,816,879,753,0,0,0,0,0,0,26.05,26.06,26.11
$GC,8259,0.84,489.8,2931,1427,880,754,802.0,17.5,391,8266,0.00,2.10,0.00,0.000,1030,0.000,0.025,2930,2801,815,878,753,0,0,0,0,0,0,26.12,26.07,26.13
$GC,8585,0.84,489.8,2932,2801,879,752,743.6,17.5,402,8593,0.00,2.10,0.00,0.000,516,0.000,0.025,2931,1441,815,879,752,0,0,0,0,0,0,26.11,26.13,26.18
$GC,8622,0.84,489.8,2932,1434,879,754,738.2,17.5,403,8630,0.00,2.10,0.00,0.000,1030,0.000,0.025,2934,2812,815,878,752,0,0,0,0,0,0,26.17,26.13,26.18
$GC,8949,0.84,489.8,2932,2814,879,753,681.9,16.8,414,8957,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1430,814,878,751,0,0,0,0,0,0,26.13,26.14,26.20
$GC,9015,0.84,489.8,2932,1431,879,752,673.0,16.4,416,9024,0.00,2.10,0.00,0.000,1030,0.000,0.026,2931,2798,814,878,751,0,0,0,0,0,0,26.19,26.15,26.20
$GC,9338,0.84,489.8,2932,2800,878,753,620.7,15.5,427,9345,0.00,2.08,0.00,0.000,516,0.000,0.024,2932,1432,814,878,751,0,0,0,0,0,0,26.13,26.14,26.20
$GC,9389,0.84,489.8,2932,1431,879,751,616.6,15.3,428,9400,0.00,2.10,0.00,0.000,1030,0.000,0.025,2932,2809,814,877,751,0,0,0,0,0,0,26.20,26.14,26.20
$GC,9695,0.84,489.8,2932,2813,877,751,564.3,15.7,439,9702,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1429,814,877,751,0,0,0,0,0,0,26.13,26.14,26.20
$GC,9756,0.84,489.8,2938,1429,878,751,556.0,15.2,441,9764,0.00,2.10,0.00,0.000,1030,0.000,0.026,2932,2807,814,877,751,0,0,0,0,0,0,26.17,26.13,26.20
$GC,10078,0.84,489.8,2933,2808,878,753,505.8,15.3,452,10089,0.00,2.08,0.00,0.000,516,0.000,0.025,2932,1434,814,877,751,0,0,0,0,0,0,26.13,26.13,26.20
$GC,10138,0.85,489.8,2932,1433,878,751,497.0,15.0,454,10146,0.00,2.08,0.00,0.000,1030,0.000,0.026,2932,2799,814,877,752,0,0,0,0,0,0,26.17,26.13,26.19
$GC,10465,0.85,489.8,2932,2799,878,750,446.7,15.7,465,10473,0.00,2.08,0.00,0.000,516,0.000,0.024,2932,1434,813,876,751,0,0,0,0,0,0,26.13,26.13,26.20
$GC,10517,0.85,489.8,2932,1434,878,752,441.7,15.7,466,10525,0.00,2.08,0.00,0.000,1030,0.000,0.026,2932,2798,813,876,751,0,0,0,0,0,0,26.17,26.13,26.18
$GC,10823,0.85,489.8,2931,2798,878,751,391.7,15.7,476,10830,0.00,2.08,0.00,0.000,516,0.000,0.024,2939,1427,814,877,751,0,0,0,0,0,0,26.14,26.13,26.20
$GC,10859,0.85,489.8,2942,1426,877,750,387.7,15.5,477,10867,0.00,2.10,0.00,0.000,1030,0.000,0.025,2939,2805,814,877,751,0,0,0,0,0,0,26.17,26.12,26.18
$GC,11181,0.85,489.8,2939,2805,878,751,337.3,15.3,488,11188,0.00,2.10,0.00,0.000,516,0.000,0.024,2945,1431,813,876,751,0,0,0,0,0,0,26.13,26.13,26.19
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$STATE,13581,end climb,SURFACE_DEPTH_REACHED
$STATE,13581,begin surface coast
$FINISH,0.8,1.012306
$STATE,13596,end surface coast,CONTROL_FINISHED_OK
$STATE,13596,begin surface
$SM_CCo,13671,0.00,0.000,0,0,812,497.47
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$IRIDIUM_FIX,5625.26,-14951.41,280508,044341
$TT8_MAMPS,0.05992,0.05992
$HUMID,39.32
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.60
$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,13628.16 6558.87
$PA_BOOTCOUNT,425
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$PA_HOME,0.01/0.206/27.046/25.466
$PA_DISK_BANK,2
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$10V_AH,10.17,34.364
$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,18.450,107.400,670.875,0.000,0.000,0.000,0.000,238.500,0.000,14029.881,23.314,0.000,10452.676,691.741,2738.855,119.379,0.000,2126.597,0.000,1493.835,0.000,0.550,0.000
$DEVICE_MAMPS,233.325,104.040,1060.290,0.000,0.000,0.000,0.000,93.330,420.000,61.606,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,497.741,0.000,0.000,0.000,0.000,0.000,14030.001,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,180112
$DATA_FILE_SIZE,30073,727
$CAP_FILE_SIZE,127219,0
$CFSIZE,1024393216,984842240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$INTR,0,16619.35,0x236db2,7,5
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$GPS,010815,191003,5642.646,-15001.332,27,0.8,27,16.8,0.6,97.3,9,7.8