version: 66.12
glider: 204
mission: 15
dive: 49
start: 3 9 115 14 7 48
data:
$ID,204
$MISSION,15
$DIVE,49
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$T_MISSION,360
$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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,500
$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_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,91
$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,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,150
$AH0_10V,97
$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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,090315,140159,1326.2919,14526.8057,37,0.9,37,1.2,1.2,271.6,10,16.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.1
$GPS2,090315,140738,1326.2972,14526.7031,6,0.9,6,1.2,0.8,224.2,10,14.7
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,93.4,96376,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,93,-0.80,-175.2,184,2623,812,804,0.0,0.0,0,147,0.00,0.00,-47.65,0.000,16386,0.000,0.000,183,2624,2111,2075,2148,0,0,0,0,0,0,26.79,28.83,26.86
$GC,149,-0.80,-175.2,184,2625,2077,2149,3.2,-5.4,8,202,11.40,2.08,-34.00,0.000,18948,0.233,0.041,3018,1230,3555,3526,3585,0,0,0,0,0,0,26.29,25.29,26.41
$GC,281,-0.80,-175.2,3019,1231,3528,3586,30.6,-23.1,33,293,0.00,2.03,0.00,0.000,1030,0.000,0.034,3009,2590,3556,3528,3585,0,0,0,0,0,0,26.70,26.63,26.73
$GC,591,-0.80,-175.2,3010,2590,3529,3585,116.6,-24.5,70,601,0.00,1.67,0.00,0.000,260,0.000,0.042,3000,3695,3556,3528,3585,0,0,0,0,0,0,27.02,26.77,27.08
$GC,620,-0.80,-175.2,3001,3695,3529,3585,122.3,-24.5,72,632,0.00,1.50,0.00,0.000,1030,0.000,0.021,3005,2581,3556,3528,3585,0,0,0,0,0,0,26.91,26.89,26.92
$GC,926,-0.80,-175.2,3005,2581,3531,3587,180.4,-15.7,103,934,0.00,1.92,0.00,0.000,516,0.000,0.027,3011,1227,3559,3530,3588,0,0,0,0,0,0,27.10,26.91,27.17
$GC,983,-0.80,-175.2,3010,1226,3534,3588,188.7,-16.0,108,993,0.00,2.03,0.00,0.000,1030,0.000,0.032,3002,2608,3557,3531,3584,0,0,0,0,0,0,26.95,26.89,26.98
$GC,1308,-0.80,-175.2,3002,2608,3534,3591,233.0,-13.1,125,1317,0.00,1.60,0.00,0.000,260,0.000,0.044,2994,3698,3561,3533,3590,0,0,0,0,0,0,27.18,26.92,27.24
$GC,1335,-0.80,-175.2,2995,3699,3533,3592,233.0,-13.1,125,1345,0.00,1.50,0.00,0.000,1030,0.000,0.023,3001,2582,3562,3533,3591,0,0,0,0,0,0,27.07,27.04,27.09
$GC,1640,-0.80,-175.2,3001,2583,3533,3592,281.4,-14.2,136,1648,0.00,1.92,0.00,0.000,516,0.000,0.025,3009,1215,3561,3532,3590,0,0,0,0,0,0,27.22,27.02,27.28
$GC,1682,-0.80,-175.2,3008,1214,3534,3590,285.3,-13.5,137,1689,0.00,2.03,0.00,0.000,1030,0.000,0.031,3000,2607,3561,3533,3590,0,0,0,0,0,0,27.06,27.00,27.08
$GC,2003,-0.80,-175.2,3000,2609,3533,3590,324.4,-12.1,148,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2607,3560,3532,3589,0,0,0,0,0,0,27.24,27.32,27.31
$GC,2303,-0.80,-175.2,2999,2608,3533,3587,366.9,-13.8,158,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2606,3558,3533,3584,0,0,0,0,0,0,27.29,27.34,27.33
$GC,2603,-0.80,-175.2,3000,2608,3533,3581,403.0,-12.1,168,2611,0.00,1.60,0.00,0.000,260,0.000,0.045,2992,3691,3555,3532,3579,0,0,0,0,0,0,27.28,27.02,27.34
$GC,2629,-0.80,-175.2,2992,3692,3533,3580,403.0,-12.1,168,2639,0.00,1.50,0.00,0.000,1030,0.000,0.023,2994,2567,3553,3532,3575,0,0,0,0,0,0,27.17,27.15,27.19
$GC,2934,-0.80,-175.2,2995,2567,3529,3575,444.3,-12.1,179,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2567,3552,3528,3576,0,0,0,0,0,0,27.29,27.36,27.36
$GC,3234,-0.80,-175.2,2995,2568,3526,3574,477.6,-11.1,189,3242,0.00,1.90,0.00,0.000,516,0.000,0.027,3004,1226,3549,3525,3573,0,0,0,0,0,0,27.30,27.09,27.36
$GC,3268,-0.80,-175.2,3004,1226,3525,3572,480.9,-10.8,190,3277,0.00,2.00,0.00,0.000,1030,0.000,0.031,2995,2603,3548,3524,3572,0,0,0,0,0,0,27.13,27.08,27.16
$GC,3596,-0.80,-175.2,2995,2604,3521,3571,516.7,-11.1,201,3604,0.00,1.65,0.00,0.000,260,0.000,0.044,2987,3692,3545,3521,3570,0,0,0,0,0,0,27.31,27.05,27.37
$GC,3632,-0.80,-175.2,2987,3693,3522,3569,520.3,-11.1,202,3641,0.00,1.50,0.00,0.000,1030,0.000,0.024,2993,2611,3542,3520,3565,0,0,0,0,0,0,27.19,27.17,27.20
$GC,3959,-0.80,-175.2,2994,2611,3518,3565,558.3,-11.7,213,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2611,3541,3517,3565,0,0,0,0,0,0,27.31,27.39,27.38
$GC,4260,-0.80,-175.2,2993,2610,3515,3563,594.8,-12.2,223,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2616,3538,3513,3563,0,0,0,0,0,0,27.32,27.39,27.38
$GC,4559,-0.80,-175.2,2994,2616,3513,3561,631.5,-12.2,233,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2611,3536,3511,3561,0,0,0,0,0,0,27.33,27.39,27.39
$GC,4859,-0.80,-175.2,2994,2611,3510,3558,667.4,-11.7,243,4868,0.00,1.98,0.00,0.000,516,0.000,0.027,3006,1224,3533,3508,3558,0,0,0,0,0,0,27.32,27.10,27.39
$GC,4896,-0.80,-175.2,3004,1225,3509,3559,670.5,-11.7,244,4904,0.00,2.03,0.00,0.000,1030,0.000,0.031,2994,2607,3533,3508,3558,0,0,0,0,0,0,27.15,27.08,27.17
$GC,5213,-0.80,-175.2,2994,2607,3507,3554,707.3,-11.1,255,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2608,3530,3505,3555,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5513,-0.80,-175.2,2995,2609,3505,3555,737.7,-9.8,265,5521,0.00,1.60,0.00,0.000,260,0.000,0.046,2986,3692,3529,3504,3554,0,0,0,0,0,0,27.33,27.03,27.39
$GC,5559,-0.80,-175.2,2986,3693,3503,3555,740.8,-9.7,266,5566,0.00,1.50,0.00,0.000,1030,0.000,0.024,2993,2584,3528,3503,3553,0,0,0,0,0,0,27.20,27.17,27.22
$GC,5875,-0.80,-175.2,2993,2583,3503,3551,775.3,-10.9,277,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2583,3526,3502,3551,0,0,0,0,0,0,27.32,27.40,27.39
$GC,6175,-0.80,-175.2,2992,2584,3501,3550,808.7,-11.2,287,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2583,3525,3501,3550,0,0,0,0,0,0,27.33,27.40,27.39
$GC,6475,-0.80,-175.2,2992,2584,3500,3549,843.7,-11.8,297,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2584,3523,3498,3548,0,0,0,0,0,0,27.33,27.41,27.39
$GC,6775,-0.80,-175.2,2993,2585,3499,3549,879.2,-11.6,307,6783,0.00,1.95,0.00,0.000,516,0.000,0.028,3003,1217,3521,3497,3546,0,0,0,0,0,0,27.33,27.08,27.39
$GC,6802,-0.80,-175.2,3002,1217,3499,3547,879.2,-11.6,307,6812,0.00,2.03,0.00,0.000,1030,0.000,0.032,2994,2601,3522,3497,3547,0,0,0,0,0,0,27.13,27.06,27.16
$GC,7107,-0.80,-175.2,2993,2601,3497,3546,916.5,-11.0,318,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2601,3520,3496,3545,0,0,0,0,0,0,27.32,27.43,27.39
$GC,7407,-0.80,-175.2,2994,2602,3495,3545,948.6,-10.7,328,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2601,3519,3494,3544,0,0,0,0,0,0,27.33,27.40,27.39
$GC,7707,-0.80,-175.2,2994,2602,3493,3544,981.3,-11.1,338,7717,0.00,1.98,0.00,0.000,516,0.000,0.027,3002,1225,3518,3493,3543,0,0,0,0,0,0,27.33,27.08,27.39
$GC,7755,-0.80,-175.2,3003,1227,3493,3544,985.0,-11.1,339,7763,0.00,2.03,0.00,0.000,1030,0.000,0.032,2993,2602,3517,3492,3543,0,0,0,0,0,0,27.13,27.06,27.15
$STATE,7796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7796,begin apogee
$GC,7799,-0.17,0.0,2994,2420,3494,3542,991.1,-10.9,341,7942,0.75,0.00,134.55,1.298,10246,0.157,0.000,3214,2419,2838,2813,2864,0,0,0,0,0,0,26.74,25.11,24.43
$STATE,7943,end apogee,CONTROL_FINISHED_OK
$STATE,7943,begin climb
$GC,7944,0.80,175.2,3215,2420,2808,2858,997.0,0.0,345,8102,1.02,2.28,141.95,1.277,10756,0.142,0.029,3526,1030,2116,2112,2121,0,0,0,0,0,0,25.29,24.75,24.02
$GC,8170,1.02,330.6,3527,1030,2109,2112,997.6,4.0,353,8316,0.25,2.17,131.05,1.279,11270,0.142,0.030,3601,2421,1483,1492,1475,0,0,0,0,0,0,25.51,25.60,23.80
$GC,8610,1.02,330.6,3601,2421,1481,1458,935.9,15.4,368,8619,0.00,2.00,0.00,0.000,260,0.000,0.047,3601,3700,1470,1481,1459,0,0,0,0,0,0,26.33,26.10,26.40
$GC,8642,1.02,330.6,3602,3701,1481,1460,930.7,15.6,369,8650,0.00,1.88,0.00,0.000,1030,0.000,0.024,3611,2406,1469,1480,1458,0,0,0,0,0,0,26.29,26.26,26.30
$GC,8973,1.02,330.6,3611,2405,1479,1457,875.8,17.0,380,8984,0.00,2.00,0.00,0.000,260,0.000,0.045,3611,3702,1467,1478,1456,0,0,0,0,0,0,26.74,26.51,26.82
$GC,9023,1.02,330.6,3611,3697,1479,1456,870.2,17.4,381,9031,0.00,1.83,0.00,0.000,1030,0.000,0.024,3619,2407,1467,1478,1456,0,0,0,0,0,0,26.67,26.64,26.69
$GC,9335,1.02,330.6,3620,2404,1478,1455,810.2,17.9,392,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,2404,1466,1477,1455,0,0,0,0,0,0,26.92,26.99,26.99
$GC,9635,1.02,330.6,3619,2404,1477,1455,758.5,16.9,402,9642,0.00,1.95,0.00,0.000,260,0.000,0.045,3614,3693,1464,1475,1454,0,0,0,0,0,0,27.01,26.76,27.08
$GC,9680,1.02,330.6,3614,3693,1477,1456,753.8,17.1,403,9687,0.00,1.80,0.00,0.000,1030,0.000,0.024,3622,2409,1465,1476,1455,0,0,0,0,0,0,26.91,26.88,26.92
$GC,9986,1.02,330.6,3622,2404,1476,1455,699.1,16.4,413,9993,0.00,1.98,0.00,0.000,260,0.000,0.045,3616,3702,1465,1475,1455,0,0,0,0,0,0,27.08,26.82,27.15
$GC,10031,1.02,330.6,3616,3701,1476,1455,694.4,16.7,414,10039,0.00,1.80,0.00,0.000,1030,0.000,0.025,3624,2423,1465,1475,1455,0,0,0,0,0,0,26.97,26.94,26.98
$GC,10337,1.02,330.6,3625,2424,1475,1456,638.4,17.4,424,10345,0.00,1.95,0.00,0.000,260,0.000,0.044,3616,3700,1464,1474,1454,0,0,0,0,0,0,27.13,26.86,27.19
$GC,10368,1.02,330.6,3616,3702,1475,1456,633.7,17.6,425,10377,0.00,1.80,0.00,0.000,1030,0.000,0.025,3625,2420,1464,1474,1455,0,0,0,0,0,0,27.01,26.97,27.03
$GC,10696,1.02,330.6,3624,2418,1475,1455,575.6,17.3,436,10704,0.00,2.05,0.00,0.000,516,0.000,0.031,3635,1030,1464,1474,1454,0,0,0,0,0,0,27.16,26.96,27.22
$GC,10722,1.02,330.6,3635,1031,1475,1455,575.6,17.3,436,10733,0.00,2.05,0.00,0.000,1030,0.000,0.030,3626,2423,1462,1472,1453,0,0,0,0,0,0,27.00,26.94,27.03
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$STATE,15158,end climb,SURFACE_DEPTH_REACHED
$STATE,15158,begin surface coast
$FINISH,0.9,1.005889
$STATE,15173,end surface coast,CONTROL_FINISHED_OK
$STATE,15173,begin surface
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$IRIDIUM_FIX,1323.10,14527.55,040108,032942
$TT8_MAMPS,0.152047,0.152047
$HUMID,35.58
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.70
$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,1651515
$PA_UPTIME,15153.04 6512.84
$PA_BOOTCOUNT,854
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$PA_DATA0,0.47/54.637/117.199/56.608
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.078/1.856/1.683
$PA_DISK_BANK,0
$24V_AH,23.80,9.787
$10V_AH,9.96,15.293
$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
$DEVICE_SECS,23.400,105.725,519.900,8.075,0.000,0.000,0.000,258.900,0.000,0.000,7.754,0.000,12090.532,612.806,2751.693,72.171,0.000,2090.510,0.000,1500.334,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,502.534,0.000,0.000,0.000,0.000,0.000,15549.991,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.058,0.000,0.000,0.000
$MEM,229116
$DATA_FILE_SIZE,33449,748
$CAP_FILE_SIZE,130425,0
$CFSIZE,1024393216,1013415936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,17010.95,0x236db2,7,5
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$GPS,090315,182137,1325.371,14529.245,15,0.8,15,1.2,0.0,0.0,10,85.3