version: 66.12
glider: 141
mission: 23
dive: 133
start: 9 17 115 16 9 11
data:
$ID,141
$MISSION,23
$DIVE,133
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$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,0
$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,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170915,160009,739.0581,8613.9482,195,2.0,235,-1.9,1.1,186.3,5,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.22
$_SM_ANGLEo,-70.0
$GPS2,170915,160840,738.8100,8614.0303,42,1.9,82,-1.9,1.6,124.8,5,13.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HOLDING
$TGT_LATLONG,830.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,315.6,165453,-14.9,-10.000,-18.74,2959
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.62,-194.6,1,2688,889,997,0.0,0.0,0,122,0.00,0.00,-89.05,0.000,16386,0.000,0.000,1,2689,3505,3572,3439,0,0,0,0,0,0,14.90,28.83,14.93
$GC,128,-0.62,-194.6,1,2688,3572,3441,6.4,-7.2,9,151,12.10,2.38,-5.10,0.000,18948,0.417,0.072,2507,1245,3924,3997,3851,0,0,0,0,0,0,14.40,13.57,14.73
$GC,252,-0.62,-194.6,2506,1245,3998,3855,56.5,-20.7,32,259,0.00,2.22,0.00,0.000,1030,0.000,0.057,2499,2615,3926,3998,3855,0,0,0,0,0,0,14.79,14.71,14.82
$GC,558,-0.62,-194.6,2499,2615,3998,3858,117.9,-16.1,48,564,0.00,2.35,0.00,0.000,260,0.000,0.080,2488,4037,3928,3998,3858,0,0,0,0,0,0,15.02,14.74,15.05
$GC,604,-0.62,-194.6,2487,4037,3998,3859,126.1,-16.7,56,610,0.00,2.15,0.00,0.000,1030,0.000,0.033,2487,2644,3928,3998,3859,0,0,0,0,0,0,14.87,14.81,14.88
$GC,934,-0.62,-194.6,2487,2644,3998,3860,178.6,-13.6,75,939,0.00,2.35,0.00,0.000,260,0.000,0.080,2477,4039,3929,3998,3860,0,0,0,0,0,0,15.05,14.76,15.09
$GC,954,-0.62,-194.6,2477,4039,3998,3860,181.7,-12.8,78,961,0.15,2.15,0.00,0.000,3078,0.251,0.032,2512,2642,3929,3998,3860,0,0,0,0,0,0,14.63,14.83,14.85
$GC,1265,-0.62,-194.6,2512,2642,3998,3860,210.8,-10.4,94,1270,0.00,2.33,0.00,0.000,260,0.000,0.080,2504,4039,3928,3997,3860,0,0,0,0,0,0,15.08,14.80,15.11
$GC,1325,-0.62,-194.6,2504,4040,3992,3860,218.2,-11.4,105,1331,0.00,2.15,0.00,0.000,1030,0.000,0.032,2504,2640,3928,3997,3860,0,0,0,0,0,0,14.95,14.89,14.96
$GC,1650,-0.62,-194.6,2504,2639,3992,3860,257.6,-11.8,120,1656,0.00,2.33,0.00,0.000,260,0.000,0.080,2495,4039,3925,3991,3860,0,0,0,0,0,0,15.11,14.82,15.13
$GC,1691,-0.62,-194.6,2495,4039,3991,3860,262.5,-11.9,127,1696,0.00,2.15,0.00,0.000,1030,0.000,0.032,2495,2640,3925,3991,3860,0,0,0,0,0,0,14.97,14.91,14.99
$GC,2025,-0.62,-194.6,2495,2640,3985,3860,298.6,-10.9,137,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2640,3922,3984,3860,0,0,0,0,0,0,15.11,15.16,15.15
$GC,2321,-0.62,-194.6,2494,2640,3980,3860,330.2,-10.4,142,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2640,3918,3976,3860,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2622,-0.62,-194.6,2495,2640,3973,3860,360.9,-10.2,147,2627,0.00,2.20,0.00,0.000,516,0.000,0.055,2495,1250,3916,3973,3860,0,0,0,0,0,0,15.14,14.87,15.17
$GC,2646,-0.62,-194.6,2495,1249,3973,3860,363.7,-10.6,151,2651,0.00,2.25,0.00,0.000,1030,0.000,0.055,2487,2660,3916,3973,3860,0,0,0,0,0,0,14.97,14.87,14.99
$GC,2995,-0.62,-194.6,2486,2655,3967,3859,401.9,-11.1,164,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2656,3913,3967,3859,0,0,0,0,0,0,15.14,15.18,15.17
$GC,3292,-0.62,-194.6,2487,2655,3963,3857,437.0,-11.7,169,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2655,3910,3963,3857,0,0,0,0,0,0,15.14,15.18,15.18
$GC,3592,-0.62,-194.6,2486,2656,3960,3855,472.3,-11.7,174,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2655,3907,3960,3855,0,0,0,0,0,0,15.15,15.19,15.18
$GC,3892,-0.62,-194.6,2487,2656,3958,3853,504.1,-10.5,179,3897,0.00,2.30,0.00,0.000,260,0.000,0.086,2478,4032,3905,3958,3852,0,0,0,0,0,0,15.14,14.81,15.18
$GC,3916,-0.62,-194.6,2478,4032,3958,3852,506.7,-10.3,183,3922,0.15,2.15,0.00,0.000,3078,0.235,0.036,2515,2647,3905,3958,3852,0,0,0,0,0,0,14.68,14.91,14.89
$GC,4263,-0.62,-194.6,2514,2646,3953,3851,535.3,-8.2,196,4269,0.00,2.22,0.00,0.000,516,0.000,0.058,2515,1256,3902,3953,3851,0,0,0,0,0,0,15.14,14.84,15.17
$GC,4299,-0.62,-194.6,2514,1256,3952,3851,538.5,-8.9,202,4305,0.00,2.28,0.00,0.000,1030,0.000,0.058,2515,2652,3902,3953,3851,0,0,0,0,0,0,14.95,14.84,14.97
$GC,4639,-0.62,-194.6,2515,2652,3949,3849,564.5,-7.7,213,4645,0.00,2.33,0.00,0.000,260,0.000,0.086,2505,4039,3898,3949,3848,0,0,0,0,0,0,15.13,14.81,15.16
$GC,4674,-0.62,-194.6,2505,4039,3949,3847,567.6,-8.8,219,4680,0.00,2.17,0.00,0.000,1030,0.000,0.037,2505,2648,3898,3949,3847,0,0,0,0,0,0,14.93,14.85,14.96
$GC,5014,-0.62,-194.6,2505,2648,3947,3847,594.0,-7.8,230,5019,0.00,2.25,0.00,0.000,516,0.000,0.060,2505,1247,3897,3947,3847,0,0,0,0,0,0,15.14,14.82,15.16
$GC,5059,-0.62,-194.6,2505,1247,3947,3847,597.9,-8.0,238,5065,0.00,2.28,0.00,0.000,1030,0.000,0.060,2503,2647,3896,3946,3847,0,0,0,0,0,0,14.93,14.83,14.94
$GC,5389,-0.62,-194.6,2502,2648,3944,3847,624.2,-8.1,247,5394,0.00,2.35,0.00,0.000,260,0.000,0.090,2492,4040,3894,3943,3845,0,0,0,0,0,0,15.13,14.76,15.15
$GC,5429,-0.62,-194.6,2492,4038,3943,3844,628.1,-9.0,254,5435,0.00,2.17,0.00,0.000,1030,0.000,0.039,2492,2653,3894,3944,3844,0,0,0,0,0,0,14.94,14.87,14.96
$GC,5764,-0.62,-194.6,2492,2653,3942,3844,656.9,-8.7,264,5770,0.00,2.25,0.00,0.000,516,0.000,0.061,2492,1251,3892,3941,3843,0,0,0,0,0,0,15.12,14.81,15.16
$GC,5816,-0.62,-194.6,2492,1252,3941,3843,662.0,-9.3,273,5821,0.00,2.30,0.00,0.000,1030,0.000,0.063,2488,2658,3892,3941,3844,0,0,0,0,0,0,14.92,14.81,14.95
$GC,6141,-0.62,-194.6,2487,2658,3940,3842,692.7,-9.7,281,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2659,3891,3940,3842,0,0,0,0,0,0,15.12,15.16,15.19
$GC,6495,-0.62,-194.6,2487,2658,3938,3840,728.4,-9.9,285,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2658,3889,3938,3841,0,0,0,0,0,0,15.13,15.16,15.16
$GC,7095,-0.62,-194.6,2487,2658,3935,3838,787.6,-9.9,290,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2658,3886,3935,3838,0,0,0,0,0,0,15.13,15.16,15.16
$GC,7695,-0.62,-194.6,2488,2659,3932,3836,850.4,-10.6,295,7701,0.00,2.30,0.00,0.000,516,0.000,0.064,2487,1251,3884,3932,3836,0,0,0,0,0,0,15.13,14.77,15.16
$GC,7725,-0.62,-194.6,2488,1251,3931,3836,853.6,-11.3,301,7732,0.12,2.30,0.00,0.000,3078,0.253,0.066,2512,2649,3884,3931,3837,0,0,0,0,0,0,14.61,14.78,14.83
$GC,8415,-0.62,-194.6,2512,2649,3929,3833,918.2,-9.3,324,8421,0.00,2.35,0.00,0.000,260,0.000,0.096,2505,4030,3881,3928,3835,0,0,0,0,0,0,15.13,14.66,15.16
$GC,8441,-0.62,-194.6,2503,4030,3928,3834,920.5,-9.8,329,8446,0.00,2.20,0.00,0.000,1030,0.000,0.043,2504,2639,3881,3928,3834,0,0,0,0,0,0,14.83,14.80,14.86
$GC,9135,-0.62,-194.6,2503,2639,3925,3833,984.9,-9.1,353,9141,0.00,2.28,0.00,0.000,516,0.000,0.068,2503,1244,3879,3925,3833,0,0,0,0,0,0,15.13,14.69,15.16
$GC,9190,-0.62,-194.6,2503,1244,3925,3833,989.9,-9.0,363,9194,0.00,1.88,0.00,0.000,1027,0.000,0.066,2500,2376,3879,3925,3833,0,0,0,0,0,0,28.83,15.14,28.83
$STATE,9196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9196,begin apogee
$GC,9205,-0.20,0.0,2499,2493,3925,3833,990.5,-9.2,364,9355,0.52,0.00,146.30,2.032,10246,0.190,0.000,2651,2493,3126,3060,3193,0,0,0,0,0,0,14.62,14.14,13.40
$STATE,9357,end apogee,CONTROL_FINISHED_OK
$STATE,9358,begin climb
$GC,9362,0.62,194.6,2651,2492,3059,3190,995.9,0.0,365,9527,0.77,2.55,152.73,1.972,10756,0.119,0.078,2913,1080,2329,2246,2412,0,0,0,0,0,0,14.15,13.96,13.28
$GC,9582,0.62,194.6,2913,1081,2250,2405,980.0,12.1,417,9587,0.00,2.40,0.00,0.000,1030,0.000,0.066,2913,2467,2327,2250,2405,0,0,0,0,0,0,14.31,14.22,14.33
$GC,10288,0.62,194.6,2913,2468,2256,2393,889.9,12.7,442,10295,0.00,2.42,0.00,0.000,260,0.000,0.096,2913,3876,2324,2257,2392,0,0,0,0,0,0,14.92,14.57,14.95
$GC,10413,0.62,194.6,2913,3877,2264,2384,871.8,14.7,466,10419,0.00,2.33,0.00,0.000,1030,0.000,0.057,2922,2473,2324,2264,2384,0,0,0,0,0,0,14.76,14.66,14.80
$GC,11133,0.62,194.6,2922,2473,2262,2383,777.9,13.0,495,11139,0.00,2.45,0.00,0.000,260,0.000,0.095,2922,3886,2323,2263,2383,0,0,0,0,0,0,15.02,14.66,15.07
$GC,11193,0.62,194.6,2922,3885,2266,2375,769.4,14.1,507,11199,0.00,2.33,0.00,0.000,1030,0.000,0.058,2932,2468,2323,2267,2379,0,0,0,0,0,0,14.84,14.73,14.88
$GC,11854,0.62,194.6,2932,2468,2266,2378,679.3,13.6,525,11859,0.00,2.45,0.00,0.000,260,0.000,0.095,2932,3883,2322,2266,2378,0,0,0,0,0,0,15.05,14.67,15.09
$GC,11888,0.62,194.6,2932,3883,2269,2376,674.1,15.3,532,11896,0.00,2.30,0.00,0.000,1030,0.000,0.057,2940,2478,2322,2269,2376,0,0,0,0,0,0,14.85,14.76,14.90
$GC,12218,0.62,194.6,2940,2478,2269,2376,628.3,14.1,542,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2478,2322,2269,2376,0,0,0,0,0,0,15.05,15.10,15.09
$GC,12514,0.62,194.6,2940,2478,2268,2383,586.3,14.0,547,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2478,2322,2269,2376,0,0,0,0,0,0,15.07,15.11,15.11
$GC,12815,0.62,194.6,2940,2478,2269,2376,545.1,13.7,552,12821,0.00,2.42,0.00,0.000,260,0.000,0.095,2940,3884,2322,2269,2376,0,0,0,0,0,0,15.08,14.64,15.11
$GC,12844,0.62,194.6,2941,3885,2270,2374,540.7,15.0,558,12851,0.17,2.33,0.00,0.000,5126,0.303,0.056,2914,2463,2325,2270,2381,0,0,0,0,0,0,14.47,14.76,14.79
$GC,13174,0.62,194.6,2914,2463,2270,2374,500.4,12.1,569,13176,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2463,2323,2270,2376,0,0,0,0,0,0,15.08,15.11,15.11
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$GC,15094,0.62,194.6,2926,2473,2274,2373,258.1,13.5,623,15096,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2473,2322,2272,2373,0,0,0,0,0,0,15.11,15.14,15.14
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$STATE,17876,end climb,SURFACE_DEPTH_REACHED
$STATE,17876,begin surface coast
$FINISH,2.3,0.000000
$STATE,17900,end surface coast,CONTROL_FINISHED_OK
$STATE,17900,begin surface
$SM_CCo,17986,0.00,0.000,0,0,1001,521.51
$SM_GC,3.22,8.02,2.00,0.00,0.059,0.036,0.000,42,2630,1001,-8.29,1.10,521.51,0,0,0,0,0,0,14.70,14.74,14.78
$IRIDIUM_FIX,734.22,8613.62,170915,103518
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.73
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3993760
$24V_AH,13.28,46.397
$10V_AH,13.05,0.000
$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,22.175,128.825,520.075,0.000,0.000,0.000,0.000,240.125,0.000,0.000,88.026,1014.605,14519.647,600.281,1693.037,656.491,0.000,1676.047,0.000,1399.778,0.000,0.545,0.000
$DEVICE_MAMPS,416.925,130.815,2031.840,0.000,0.000,0.000,0.000,223.380,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17901.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.298,0.000,0.000,0.000
$MEM,260692
$DATA_FILE_SIZE,30072,876
$CAP_FILE_SIZE,179162,0
$CFSIZE,260034560,237985792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,187.77,1
$GPS,170915,211245,737.706,8613.052,142,99.0,182,-1.9,0.2,173.5,3,-1.0