version: 66.03
glider: 120
mission: 9
dive: 217
start: 11 17 108 19 48 41
data:
$ID,120
$MISSION,9
$DIVE,217
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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_GPS_CHARGE,-22178.059
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,194238,5019.850,-14507.420,34,1.8,34,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-77.2
$GPS2,194745,5019.894,-14507.373,12,1.9,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.126,0.055
$KALMAN_X,40410.9,176.8,357.8,-61924.7,-424.5
$KALMAN_Y,160157.7,236.1,336.5,-134171.1,-101.1
$MHEAD_RNG_PITCHd_Wd,275.0,5783,-16.8,-5.000
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.81,-65.3,0.0,0.0,0,54,0.00,0.00,-31.35,0.000,2,0.000,0.000,148,2410,2427
$GC,57,-0.81,-65.3,3.4,-6.1,3,100,13.80,2.47,-19.15,0.000,4,0.287,0.094,3042,3816,3144
$GC,351,-0.51,-65.3,48.1,-16.0,29,359,0.40,2.35,0.00,0.000,6,0.177,0.056,3150,2389,3146
$GC,679,-0.62,-65.3,73.4,-7.0,60,686,0.12,0.00,0.00,0.000,6,0.087,0.000,3096,2389,3147
$GC,1007,-0.62,-65.3,104.2,-9.6,80,1012,0.00,2.38,0.00,0.000,4,0.000,0.067,3096,983,3148
$GC,1092,-0.62,-65.3,112.9,-10.6,84,1096,0.00,2.33,0.00,0.000,6,0.000,0.062,3096,2407,3148
$GC,1418,-0.62,-65.3,144.3,-8.5,100,1422,0.00,2.38,0.00,0.000,4,0.000,0.080,3096,3815,3148
$GC,1466,-0.62,-65.3,148.5,-8.2,102,1471,0.00,2.35,0.00,0.000,6,0.000,0.054,3096,2396,3148
$GC,1806,-0.62,-65.3,173.3,-7.0,114,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3147
$GC,2112,-0.62,-65.3,194.5,-6.9,124,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3148
$GC,2419,-0.67,-65.3,216.7,-7.3,134,2423,0.00,2.38,0.00,0.000,4,0.000,0.071,3096,994,3148
$GC,2451,-0.72,-65.3,219.5,-8.5,135,2455,0.00,2.30,0.00,0.000,6,0.000,0.064,3096,2400,3148
$GC,2787,-0.76,-65.3,243.8,-7.1,146,2791,0.00,2.40,0.00,0.000,4,0.000,0.071,3096,990,3147
$GC,2837,-0.82,-65.3,247.6,-7.6,147,2842,0.12,2.35,0.00,0.000,6,0.084,0.064,3042,2412,3147
$GC,3150,-0.72,-65.3,274.9,-8.9,157,3151,0.15,0.00,0.00,0.000,6,0.173,0.000,3080,2412,3147
$GC,3456,-0.72,-65.3,297.7,-7.4,167,3459,0.00,2.40,0.00,0.000,4,0.000,0.071,3079,993,3147
$GC,3510,-0.72,-65.3,302.2,-8.2,168,3515,0.00,2.33,0.00,0.000,6,0.000,0.064,3080,2398,3147
$GC,3826,-0.72,-65.3,326.7,-7.9,174,3830,0.00,2.38,0.00,0.000,4,0.000,0.071,3080,991,3146
$GC,3870,-0.72,-65.3,330.7,-9.0,174,3873,0.00,2.30,0.00,0.000,6,0.000,0.065,3080,2400,3146
$GC,4190,-0.72,-65.3,356.3,-8.0,180,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3146
$GC,4493,-0.72,-65.3,379.6,-7.6,185,4497,0.00,2.40,0.00,0.000,4,0.000,0.072,3080,985,3146
$GC,4519,-0.72,-65.3,381.8,-7.8,185,4523,0.00,2.35,0.00,0.000,6,0.000,0.066,3079,2410,3146
$GC,4857,-0.72,-65.3,405.9,-7.1,191,4861,0.00,2.42,0.00,0.000,4,0.000,0.072,3080,986,3146
$GC,4900,-0.72,-65.3,409.2,-7.5,191,4904,0.00,2.33,0.00,0.000,6,0.000,0.066,3080,2402,3145
$GC,5221,-0.76,-65.3,431.3,-6.9,197,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3145
$GC,5524,-0.81,-65.3,451.8,-6.8,202,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3145
$GC,5828,-0.85,-65.3,473.6,-7.2,207,5832,0.12,2.42,0.00,0.000,4,0.084,0.071,3027,988,3144
$GC,5905,-0.73,-65.3,481.1,-10.8,208,5910,0.20,2.33,0.00,0.000,6,0.185,0.066,3078,2406,3144
$GC,6254,-0.78,-65.3,507.2,-7.4,214,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2407,3144
$GC,6558,-0.82,-65.3,528.6,-7.0,219,6562,0.00,2.42,0.00,0.000,4,0.000,0.073,3078,991,3144
$GC,6596,-0.82,-65.3,531.5,-7.1,219,6600,0.00,2.33,0.00,0.000,6,0.000,0.066,3073,2399,3144
$GC,6923,-0.82,-65.3,553.8,-6.9,225,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3144
$GC,7225,-0.82,-65.3,572.9,-6.2,230,7229,0.00,2.40,0.00,0.000,4,0.000,0.072,3073,987,3144
$GC,7280,-0.82,-65.3,576.6,-6.8,230,7287,0.00,2.35,0.00,0.000,6,0.000,0.067,3073,2401,3144
$GC,7590,-0.82,-65.3,597.0,-6.7,236,7594,0.00,2.38,0.00,0.000,4,0.000,0.073,3073,991,3143
$GC,7639,-0.82,-65.3,600.9,-7.6,236,7643,0.00,2.35,0.00,0.000,6,0.000,0.066,3073,2402,3144
$GC,7955,-0.86,-65.3,622.3,-6.9,242,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3143
$GC,8258,-0.90,-65.3,642.3,-6.5,247,8260,0.15,0.00,0.00,0.000,6,0.085,0.000,3009,2402,3143
$GC,8561,-0.76,-65.3,667.6,-8.5,252,8565,0.20,2.38,0.00,0.000,4,0.179,0.082,3059,3815,3143
$GC,8604,-0.76,-65.3,670.8,-6.8,252,8608,0.00,2.35,0.00,0.000,6,0.000,0.059,3059,2397,3142
$GC,8925,-0.76,-65.3,690.6,-6.1,258,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2397,3143
$GC,9228,-0.76,-65.3,708.0,-5.7,263,9232,0.00,2.35,0.00,0.000,4,0.000,0.074,3059,992,3143
$GC,9290,-0.76,-65.3,711.8,-6.0,264,9294,0.00,2.33,0.00,0.000,6,0.000,0.067,3059,2401,3143
$GC,9655,-0.76,-65.3,734.2,-6.2,270,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3143
$GC,9959,-0.76,-65.3,753.9,-6.5,275,9963,0.00,2.40,0.00,0.000,4,0.000,0.074,3059,987,3143
$GC,10002,-0.76,-65.3,757.1,-7.2,275,10006,0.00,2.35,0.00,0.000,6,0.000,0.067,3059,2418,3142
$GC,10323,-0.76,-65.3,779.1,-6.9,281,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2418,3143
$GC,10626,-0.76,-65.3,800.5,-7.1,286,10630,0.00,2.42,0.00,0.000,4,0.000,0.074,3059,992,3142
$GC,10658,-0.76,-65.3,802.9,-7.2,286,10662,0.00,2.35,0.00,0.000,6,0.000,0.067,3059,2424,3142
$GC,10990,-0.76,-65.3,825.2,-6.7,292,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2424,3142
$GC,11293,-0.76,-65.3,844.7,-6.4,297,11297,0.00,2.45,0.00,0.000,4,0.000,0.074,3059,987,3142
$GC,11325,-0.76,-65.3,846.8,-6.5,297,11329,0.00,2.35,0.00,0.000,6,0.000,0.067,3059,2416,3142
$GC,11657,-0.76,-65.3,867.9,-6.4,303,11661,0.00,2.40,0.00,0.000,4,0.000,0.075,3059,991,3142
$GC,11711,-0.76,-65.3,871.7,-6.2,303,11718,0.00,2.35,0.00,0.000,6,0.000,0.067,3059,2408,3142
$GC,12021,-0.76,-65.3,891.8,-6.5,309,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2408,3142
$GC,12324,-0.76,-65.3,911.9,-6.6,314,12328,0.00,2.40,0.00,0.000,4,0.000,0.075,3059,987,3141
$GC,12373,-0.76,-65.3,915.5,-7.3,314,12377,0.00,2.35,0.00,0.000,6,0.000,0.069,3059,2408,3141
$GC,12688,-0.76,-65.3,936.6,-6.7,320,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2408,3141
$GC,12991,-0.76,-65.3,956.4,-6.5,325,12995,0.00,2.42,0.00,0.000,4,0.000,0.075,3059,987,3141
$GC,13028,-0.76,-65.3,959.0,-6.9,325,13033,0.00,2.35,0.00,0.000,6,0.000,0.068,3059,2396,3141
$GC,13355,-0.76,-65.3,980.8,-6.6,331,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2396,3141
$STATE,13535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13535,begin apogee
$GC,13540,-0.22,0.0,992.5,6.5,334,13601,0.62,0.00,58.38,1.502,6,0.158,0.000,3242,2200,2876
$STATE,13602,end apogee,CONTROL_FINISHED_OK
$STATE,13602,begin climb
$GC,13604,0.81,65.3,994.1,0.0,335,13671,1.00,2.60,59.92,1.460,4,0.098,0.081,3575,795,2608
$GC,13738,0.50,109.7,993.8,2.7,337,13790,0.40,2.45,41.38,1.436,6,0.204,0.064,3479,2203,2428
$GC,14093,0.46,109.7,973.0,6.5,343,14097,0.00,2.42,0.00,0.000,4,0.000,0.081,3479,3615,2426
$GC,14137,0.34,109.7,969.8,6.8,343,14142,0.20,2.42,0.00,0.000,6,0.190,0.066,3429,2199,2426
$GC,14452,0.46,112.4,954.3,4.9,349,14462,0.12,2.45,3.97,0.909,4,0.087,0.080,3478,780,2417
$GC,14495,0.46,112.4,951.7,5.6,349,14499,0.00,2.35,0.00,0.000,6,0.000,0.063,3477,2205,2417
$GC,14822,0.46,112.4,931.9,6.1,355,14826,0.00,2.42,0.00,0.000,4,0.000,0.081,3478,786,2417
$GC,14871,0.46,112.4,928.7,6.1,355,14875,0.00,2.35,0.00,0.000,6,0.000,0.065,3478,2206,2417
$GC,15186,0.46,112.4,908.3,6.5,361,15187,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2206,2417
$GC,15489,0.46,112.4,887.6,6.9,366,15490,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2206,2416
$GC,15793,0.46,112.4,866.8,6.9,371,15794,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2206,2416
$GC,16095,0.46,112.4,845.9,6.9,376,16096,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2206,2416
$GC,16398,0.46,112.4,825.4,6.7,381,16403,0.00,2.45,0.00,0.000,4,0.000,0.081,3478,789,2416
$GC,16453,0.46,112.4,821.8,6.9,381,16460,0.00,2.35,0.00,0.000,6,0.000,0.065,3478,2205,2416
$GC,16763,0.46,112.4,803.3,6.0,387,16764,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2205,2416
$GC,17066,0.46,112.4,786.5,5.5,392,17070,0.00,2.35,0.00,0.000,4,0.000,0.082,3478,3612,2415
$GC,17110,0.36,112.4,784.0,5.0,392,17115,0.17,2.35,0.00,0.000,6,0.190,0.067,3434,2199,2415
$GC,17425,0.49,125.3,770.3,4.3,398,17445,0.12,2.45,12.45,1.287,4,0.093,0.080,3490,790,2365
$GC,17517,0.49,125.3,764.7,6.4,399,17521,0.00,2.33,0.00,0.000,6,0.000,0.064,3489,2206,2364
$GC,17861,0.49,125.3,742.0,6.6,405,17865,0.00,2.42,0.00,0.000,4,0.000,0.081,3490,786,2364
$GC,17910,0.49,125.3,738.5,5.9,405,17914,0.00,2.35,0.00,0.000,6,0.000,0.064,3490,2200,2364
$GC,18225,0.49,125.3,716.6,7.0,411,18227,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2200,2364
$GC,18528,0.49,125.3,694.7,7.2,416,18529,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2200,2363
$GC,18832,0.49,125.3,673.8,6.9,421,18836,0.00,2.45,0.00,0.000,4,0.000,0.080,3490,786,2364
$GC,18864,0.49,125.3,671.6,6.3,421,18868,0.00,2.35,0.00,0.000,6,0.000,0.064,3490,2199,2364
$GC,19197,0.49,125.3,650.1,6.5,427,19198,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2199,2364
$GC,19499,0.49,125.3,630.9,6.3,432,19500,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2198,2363
$GC,19802,0.49,125.3,609.9,7.0,437,19803,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2198,2363
$GC,20106,0.49,125.3,589.2,6.8,442,20110,0.00,2.38,0.00,0.000,4,0.000,0.083,3490,3617,2363
$GC,20138,0.39,125.3,586.9,6.5,442,20143,0.17,2.35,0.00,0.000,6,0.187,0.066,3446,2196,2363
$GC,20471,0.50,131.5,570.8,4.7,448,20480,0.10,0.00,6.75,1.054,6,0.105,0.000,3488,2196,2340
$GC,20773,0.50,131.5,553.0,5.9,453,20774,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2196,2339
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$GC,28779,0.82,224.4,85.6,5.8,661,28784,0.10,2.38,0.00,0.000,4,0.099,0.079,3586,3615,1955
$GC,28897,0.64,224.4,77.7,6.2,668,28902,0.22,2.40,0.00,0.000,6,0.193,0.064,3531,2189,1954
$GC,29222,0.77,224.4,58.7,5.2,698,29226,0.00,2.45,0.00,0.000,4,0.000,0.078,3531,3610,1954
$GC,29457,0.83,229.4,45.1,4.7,718,29467,0.15,2.35,5.00,0.716,6,0.085,0.064,3589,2193,1940
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$STATE,30020,end climb,SURFACE_DEPTH_REACHED
$STATE,30020,begin surface coast
$FINISH,1.8,1.025194
$STATE,30100,end surface coast,CONTROL_FINISHED_OK
$STATE,30100,begin surface
$SM_CCo,30121,56.22,0.850,0,0,1652,300.00
$SM_GC,3.30,0.00,0.00,56.22,0.000,0.000,0.850,149,2401,1652,-9.90,0.03,300.00
$IRIDIUM_FIX,4959.75,-14505.72,110298,101053
$TT8_MAMPS,0.026845
$HUMID,2124
$INTERNAL_PRESSURE,9.05552
$TCM_TEMP,16.00
$XPDR_PINGS,971
$24V_AH,22.6,44.204
$10V_AH,10.6,28.944
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,30.250,224.325,273.075,56.225,0.000,27.488,25.590,142.668,242.750,0.000,0.000,12.087,1735.975,25318.934,499.808,2424.711,502.218,33.371,1692.038,0.000,2392.426,0.000,0.465
$DEVICE_MAMPS,286.858,93.574,1501.786,849.836,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,593.158,581.089,1320.814,798.873,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44393,777
$CAP_FILE_SIZE,182259,0
$CFSIZE,260165632,241733632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,181108,041301,5021.678,-14512.215,39,1.3,44,18.5