version: 66.13
glider: 128
mission: 4
dive: 246
start: 3 16 118 14 51 57
data:
$ID,128
$MISSION,4
$DIVE,246
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,160318,144555,-334.4975,5546.0537,40,0.8,42,-4.7,0.6,115.9,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-73.3
$GPS2,160318,145117,-334.5499,5546.1401,16,0.8,19,-4.7,0.6,117.0,10,9.0
$SPEED_LIMITS,0.171,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,294.7,66678,-16.8,-11.000,-22.00,2952
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.75,-214.1,248,2395,1296,1239,0.0,0.0,0,88,0.00,0.00,-78.28,0.003,16386,0.000,0.000,248,2396,3651,3636,3667,0,0,0,0,0,0,14.86,28.83,14.88
$GC,90,-0.75,-214.1,247,2396,3637,3668,4.0,-10.9,13,112,11.25,2.55,-4.07,0.022,18948,0.415,0.073,2507,942,3904,3899,3909,0,0,0,0,0,0,14.23,13.40,14.62
$GC,219,-0.75,-214.1,2507,942,3904,3910,36.9,-18.5,37,226,0.00,2.42,0.00,0.000,1030,0.000,0.054,2507,2345,3907,3904,3910,0,0,0,0,0,0,14.68,14.58,14.71
$GC,528,-0.75,-214.1,2507,2345,3906,3910,94.0,-13.8,74,532,0.00,2.38,0.00,0.000,516,0.000,0.044,2507,942,3908,3906,3910,0,0,0,0,0,0,14.99,14.64,15.01
$GC,630,-0.75,-214.1,2507,940,3907,3911,107.9,-13.5,94,640,0.00,2.42,0.00,0.000,1030,0.000,0.051,2507,2359,3909,3907,3911,0,0,0,0,0,0,14.76,14.66,14.79
$GC,940,-0.75,-214.1,2507,2358,3909,3914,142.1,-10.0,126,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2359,3911,3909,3914,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1241,-0.75,-214.1,2507,2358,3910,3915,178.5,-12.1,156,1245,0.00,2.40,0.00,0.000,516,0.000,0.047,2507,939,3912,3910,3915,0,0,0,0,0,0,15.07,14.72,15.08
$GC,1272,-0.75,-214.1,2507,938,3911,3916,182.6,-12.6,162,1283,0.00,2.42,0.00,0.000,1030,0.000,0.054,2507,2356,3913,3911,3916,0,0,0,0,0,0,14.82,14.72,14.85
$GC,1582,-0.75,-214.1,2507,2356,3911,3916,215.9,-10.2,194,1586,0.00,2.40,0.00,0.000,516,0.000,0.047,2507,939,3913,3911,3915,0,0,0,0,0,0,15.09,14.73,15.11
$GC,1626,-0.75,-214.1,2507,936,3910,3916,221.0,-11.0,203,1634,0.00,2.42,0.00,0.000,1030,0.000,0.052,2508,2353,3913,3911,3916,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1935,-0.75,-214.1,2507,2352,3910,3915,258.0,-12.7,230,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2352,3913,3910,3916,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2234,-0.75,-214.1,2507,2352,3909,3915,295.5,-12.6,240,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2352,3912,3910,3915,0,0,0,0,0,0,15.12,15.14,15.14
$GC,2534,-0.75,-214.1,2507,2351,3909,3914,332.7,-12.7,250,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2351,3911,3909,3914,0,0,0,0,0,0,15.13,15.15,15.15
$GC,2834,-0.75,-214.1,2507,2351,3907,3911,372.5,-13.3,260,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2352,3908,3908,3909,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3133,-0.75,-214.1,2507,2352,3906,3908,411.4,-12.8,270,3140,0.00,2.42,0.00,0.000,516,0.000,0.050,2507,934,3907,3906,3909,0,0,0,0,0,0,15.14,14.75,15.16
$GC,3171,-0.75,-214.1,2507,935,3906,3908,416.5,-12.6,278,3176,0.00,2.45,0.00,0.000,1030,0.000,0.057,2507,2355,3907,3906,3908,0,0,0,0,0,0,14.85,14.74,14.88
$GC,3494,-0.75,-214.1,2507,2354,3903,3905,452.3,-10.4,292,3498,0.00,2.22,0.00,0.000,260,0.000,0.079,2507,3701,3903,3902,3905,0,0,0,0,0,0,15.14,14.69,15.16
$GC,3543,-0.75,-214.1,2507,3700,3901,3905,457.7,-10.3,302,3548,0.00,2.15,0.00,0.000,1030,0.000,0.038,2507,2331,3903,3901,3905,0,0,0,0,0,0,14.89,14.83,14.91
$GC,3856,-0.75,-214.1,2507,2327,3900,3902,488.3,-9.8,314,3860,0.00,2.33,0.00,0.000,516,0.000,0.049,2507,944,3901,3901,3902,0,0,0,0,0,0,15.14,14.74,15.16
$GC,3906,-0.75,-214.1,2507,943,3901,3902,493.4,-9.7,324,3910,0.00,2.42,0.00,0.000,1030,0.000,0.054,2508,2353,3901,3901,3902,0,0,0,0,0,0,14.85,14.74,14.88
$GC,4212,-0.75,-214.1,2507,2352,3899,3900,522.6,-9.7,335,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2352,3899,3898,3900,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4512,-0.75,-214.1,2507,2352,3898,3897,553.5,-11.1,345,4516,0.00,2.40,0.00,0.000,516,0.000,0.049,2507,948,3897,3898,3897,0,0,0,0,0,0,15.14,14.74,15.16
$GC,4545,-0.75,-214.1,2507,945,3898,3897,557.2,-11.8,351,4550,0.00,2.42,0.00,0.000,1030,0.000,0.055,2507,2351,3897,3897,3898,0,0,0,0,0,0,14.85,14.73,14.88
$GC,4877,-0.75,-214.1,2507,2351,3897,3896,598.1,-12.4,367,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2351,3896,3897,3896,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5177,-0.75,-214.1,2507,2351,3895,3892,630.9,-11.6,377,5181,0.00,2.40,0.00,0.000,516,0.000,0.050,2507,950,3893,3895,3892,0,0,0,0,0,0,15.14,14.73,15.16
$GC,5246,-0.75,-214.1,2507,945,3894,3892,639.3,-11.5,391,5251,0.00,2.45,0.00,0.000,1030,0.000,0.057,2508,2356,3893,3895,3892,0,0,0,0,0,0,14.83,14.71,14.87
$GC,5569,-0.75,-214.1,2507,2355,3894,3889,675.6,-10.9,405,5573,0.00,2.25,0.00,0.000,260,0.000,0.082,2507,3702,3891,3893,3889,0,0,0,0,0,0,15.14,14.66,15.16
$GC,5608,-0.75,-214.1,2507,3702,3891,3889,680.0,-10.6,413,5612,0.00,2.12,0.00,0.000,1030,0.000,0.041,2507,2349,3890,3891,3889,0,0,0,0,0,0,14.88,14.81,14.90
$GC,5930,-0.75,-214.1,2508,2345,3891,3887,712.3,-9.8,427,5935,0.00,2.35,0.00,0.000,516,0.000,0.050,2507,954,3888,3891,3886,0,0,0,0,0,0,15.14,14.71,15.16
$GC,5992,-0.75,-214.1,2506,954,3891,3887,718.4,-9.5,439,5997,0.00,2.42,0.00,0.000,1030,0.000,0.057,2507,2350,3888,3891,3886,0,0,0,0,0,0,14.83,14.71,14.86
$GC,6325,-0.75,-214.1,2506,2350,3890,3884,751.1,-9.8,455,6329,0.00,2.25,0.00,0.000,260,0.000,0.080,2507,3700,3886,3889,3884,0,0,0,0,0,0,15.14,14.64,15.15
$GC,6345,-0.75,-214.1,2506,3700,3888,3884,753.3,-10.1,459,6350,0.00,2.15,0.00,0.000,1030,0.000,0.041,2507,2345,3886,3889,3884,0,0,0,0,0,0,14.87,14.81,14.89
$GC,6657,-0.75,-214.1,2506,2342,3888,3882,785.3,-10.5,471,6663,0.00,2.35,0.00,0.000,516,0.000,0.050,2507,954,3885,3888,3882,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6704,-0.75,-214.1,2507,954,3889,3882,790.4,-10.5,480,6709,0.00,2.45,0.00,0.000,1030,0.000,0.058,2507,2355,3884,3888,3881,0,0,0,0,0,0,14.82,14.71,14.85
$GC,7021,-0.75,-214.1,2507,2354,3887,3880,825.5,-11.5,493,7025,0.00,2.25,0.00,0.000,260,0.000,0.083,2507,3694,3883,3886,3880,0,0,0,0,0,0,15.13,14.63,15.16
$GC,7085,-0.75,-214.1,2507,3694,3885,3880,833.5,-11.9,506,7089,0.00,2.15,0.00,0.000,1030,0.000,0.044,2507,2342,3882,3885,3880,0,0,0,0,0,0,14.85,14.78,14.88
$GC,7413,-0.75,-214.1,2507,2338,3885,3878,873.8,-12.4,521,7417,0.00,2.35,0.00,0.000,516,0.000,0.054,2506,957,3881,3885,3878,0,0,0,0,0,0,15.13,14.69,15.15
$GC,7488,-0.75,-214.1,2506,957,3885,3878,883.5,-12.8,536,7492,0.00,2.42,0.00,0.000,1030,0.000,0.059,2506,2349,3881,3885,3878,0,0,0,0,0,0,14.81,14.69,14.84
$GC,7800,-0.75,-214.1,2506,2348,3884,3877,923.0,-12.6,548,7804,0.00,2.28,0.00,0.000,260,0.000,0.087,2507,3695,3880,3883,3877,0,0,0,0,0,0,15.12,14.61,15.14
$GC,7870,-0.75,-214.1,2506,3695,3883,3877,931.9,-12.0,562,7874,0.00,2.15,0.00,0.000,1030,0.000,0.045,2507,2349,3880,3883,3877,0,0,0,0,0,0,14.84,14.76,14.87
$GC,8192,-0.75,-214.1,2506,2344,3883,3876,967.4,-10.7,576,8196,0.00,2.38,0.00,0.000,516,0.000,0.051,2507,953,3879,3883,3875,0,0,0,0,0,0,15.13,14.69,15.15
$GC,8248,-0.75,-214.1,2506,953,3883,3876,973.5,-10.3,587,8256,0.00,2.45,0.00,0.000,1030,0.000,0.061,2507,2349,3879,3883,3875,0,0,0,0,0,0,14.80,14.67,14.83
$STATE,8432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8432,begin apogee
$GC,8437,-0.15,0.0,2507,2423,3883,3874,992.6,-10.3,594,8577,0.73,0.00,136.73,1.933,10246,0.231,0.000,2705,2423,3344,3367,3322,0,0,0,0,0,0,14.45,14.09,13.30
$STATE,8578,end apogee,CONTROL_FINISHED_OK
$STATE,8578,begin climb
$GC,8580,0.75,214.1,2705,2423,3361,3317,998.1,0.0,598,8803,0.95,2.22,212.27,1.939,10500,0.144,0.079,2994,3680,2466,2515,2417,0,0,0,0,0,0,14.05,13.88,13.14
$GC,8840,0.75,214.1,2993,3680,2506,2417,981.3,13.0,655,8845,0.00,2.15,0.00,0.000,1030,0.000,0.044,2997,2404,2461,2506,2417,0,0,0,0,0,0,14.17,14.11,14.20
$GC,9158,0.75,214.1,2998,2405,2496,2411,943.7,11.9,668,9164,0.00,2.50,0.00,0.000,516,0.000,0.063,3000,986,2453,2496,2411,0,0,0,0,0,0,14.80,14.47,14.82
$GC,9256,0.75,214.1,2999,986,2496,2408,931.8,11.7,688,9261,0.00,2.42,0.00,0.000,1030,0.000,0.054,3000,2381,2451,2495,2408,0,0,0,0,0,0,14.57,14.52,14.62
$GC,9578,0.75,214.1,2999,2380,2493,2407,896.0,10.7,702,9582,0.00,2.45,0.00,0.000,516,0.000,0.062,3001,999,2450,2493,2407,0,0,0,0,0,0,14.95,14.60,14.97
$GC,9597,0.75,214.1,3001,999,2492,2407,893.7,10.9,706,9601,0.00,2.45,0.00,0.000,1030,0.000,0.055,3001,2399,2450,2493,2407,0,0,0,0,0,0,14.73,14.62,14.76
$GC,9909,0.79,214.1,3001,2399,2490,2406,863.2,9.4,718,9913,0.00,2.17,0.00,0.000,324,0.000,0.077,3002,3706,2447,2489,2406,0,0,0,0,0,0,15.01,14.62,15.02
$GC,9925,0.82,214.1,3001,3706,2489,2406,861.6,9.2,721,9929,0.00,2.12,0.00,0.000,1094,0.000,0.047,3001,2388,2447,2489,2406,0,0,0,0,0,0,14.78,14.69,14.81
$GC,10241,0.91,284.3,3001,2386,2487,2406,833.5,8.6,734,10345,0.12,2.53,94.43,1.535,10788,0.143,0.060,3063,998,2181,2224,2139,0,0,0,0,0,0,14.69,14.23,13.63
$GC,10432,0.91,284.3,3063,998,2219,2135,808.4,13.4,772,10436,0.00,2.50,0.00,0.000,1030,0.000,0.053,3063,2405,2177,2219,2135,0,0,0,0,0,0,14.47,14.39,14.50
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$GC,13337,0.91,284.3,3070,996,2204,2130,395.3,12.5,951,13342,0.00,2.45,0.00,0.000,1030,0.000,0.054,3071,2401,2166,2203,2130,0,0,0,0,0,0,14.79,14.69,14.83
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$STATE,16849,end climb,SURFACE_DEPTH_REACHED
$STATE,16849,begin surface coast
$FINISH,-0.3,1.022395
$STATE,16872,end surface coast,CONTROL_FINISHED_OK
$STATE,16872,begin surface
$SM_CCo,16951,0.00,0.000,0,0,1503,451.84
$SM_GC,0.71,8.80,2.20,0.00,0.103,0.039,0.000,246,2334,1503,-7.81,1.30,451.84,0,0,0,0,0,0,14.52,14.64,14.64
$IRIDIUM_FIX,-335.04,5543.84,160318,095427
$TT8_MAMPS,0.018725,0.15729
$HUMID,60.39
$INTERNAL_PRESSURE,8.48279
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.14,80.497
$10V_AH,13.45,0.000
$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,22.225,182.150,604.975,0.000,0.000,0.000,0.000,224.325,0.000,0.000,20.032,2711.792,11499.731,704.180,2184.538,183.257,0.000,2084.347,0.000,1922.260,0.000,0.548,0.000
$DEVICE_MAMPS,415.395,166.770,1938.510,0.000,0.000,0.000,0.000,133.110,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303848
$DATA_FILE_SIZE,60019,1350
$CAP_FILE_SIZE,154978,0
$CFSIZE,260034560,237907968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.277,91.19,1
$GPS,160318,193537,-333.962,5547.141,34,0.9,36,-4.7,0.5,155.1,8,9.5