version: 66.11
glider: 170
mission: 10
dive: 78
start: 11 16 112 16 0 33
data:
$ID,170
$MISSION,10
$DIVE,78
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143185.59
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,161112,155300,2139.948,12010.760,45,1.0,45,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-73.4
$GPS2,161112,160005,2139.789,12010.802,23,0.8,23,-3.0
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,309.4,20938,-15.6,-10.000,-17.73
$D_GRID,2425
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.43,-194.6,0.0,0.0,0,95,0.00,0.00,-73.00,0.000,2,0.000,0.000,143,2620,2143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.43,-194.6,3.2,-2.7,13,158,11.10,1.77,-40.47,0.000,4,0.250,0.076,2865,3701,3564,0,0,0,0,0,0,25.93,26.18,26.49
$GC,356,-0.27,-194.6,70.1,-34.8,45,362,0.17,1.62,0.00,0.000,6,0.165,0.024,2915,2576,3564,0,0,0,0,0,0,26.20,26.39,28.83
$GC,551,-0.21,-194.6,115.3,-17.5,55,556,0.00,1.77,0.00,0.000,4,0.000,0.060,2915,3689,3564,0,0,0,0,0,0,28.83,26.38,28.83
$GC,608,-0.16,-194.6,122.8,-16.6,57,616,0.10,1.60,0.00,0.000,6,0.114,0.025,2955,2564,3564,0,0,0,0,0,0,26.36,26.48,28.83
$GC,796,-0.22,-194.6,138.8,-7.3,67,801,0.00,1.92,0.00,0.000,4,0.000,0.031,2955,1239,3564,0,0,0,0,0,0,28.83,26.51,28.83
$GC,859,-0.29,-194.6,143.3,-6.9,70,865,0.12,2.10,0.00,0.000,6,0.083,0.045,2886,2604,3564,0,0,0,0,0,0,26.51,26.48,28.83
$GC,1064,-0.26,-194.6,165.5,-11.9,80,1066,0.12,0.00,0.00,0.000,6,0.153,0.000,2925,2605,3565,0,0,0,0,0,0,26.46,28.83,28.83
$GC,1244,-0.31,-194.6,176.4,-5.0,89,1249,0.00,1.70,0.00,0.000,4,0.000,0.057,2923,3696,3566,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1276,-0.35,-194.6,177.3,-4.5,90,1282,0.00,1.52,0.00,0.000,6,0.000,0.024,2923,2645,3565,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1471,-0.40,-194.6,183.1,-2.9,100,1477,0.12,2.08,0.00,0.000,4,0.091,0.028,2848,1196,3565,0,0,0,0,0,0,26.63,26.61,28.83
$GC,1515,-0.42,-194.6,186.4,-5.1,102,1520,0.00,2.17,0.00,0.000,6,0.000,0.045,2847,2608,3565,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1719,-0.37,-194.6,213.6,-14.2,112,1725,0.12,1.67,0.00,0.000,4,0.171,0.053,2889,3704,3564,0,0,0,0,0,0,26.51,26.59,28.83
$GC,1753,-0.33,-194.6,216.6,-13.7,113,1758,0.00,1.62,0.00,0.000,6,0.000,0.024,2889,2537,3564,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1946,-0.34,-194.6,235.3,-9.7,123,1952,0.00,1.83,0.00,0.000,4,0.000,0.059,2889,3693,3564,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2044,-0.37,-194.6,244.9,-11.5,127,2051,0.00,1.60,0.00,0.000,6,0.000,0.024,2892,2551,3564,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2230,-0.40,-194.6,266.2,-10.2,137,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2551,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,-0.43,-194.6,294.9,-9.3,152,2538,0.00,1.83,0.00,0.000,4,0.000,0.061,2890,3690,3562,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2580,-0.47,-194.6,299.2,-9.4,154,2586,0.00,1.52,0.00,0.000,6,0.000,0.024,2890,2610,3562,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2899,-0.51,-194.6,323.8,-5.7,170,2905,0.12,2.00,0.00,0.000,4,0.086,0.028,2810,1227,3560,0,0,0,0,0,0,26.72,26.68,28.83
$GC,2937,-0.54,-194.6,325.6,-5.9,171,2944,0.00,2.12,0.00,0.000,6,0.000,0.047,2809,2597,3560,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3243,-0.48,-194.6,362.7,-12.4,187,3249,0.12,1.73,0.00,0.000,4,0.163,0.053,2850,3709,3559,0,0,0,0,0,0,26.58,26.65,28.83
$GC,3367,-0.49,-194.6,375.5,-9.9,193,3372,0.00,1.58,0.00,0.000,6,0.000,0.026,2850,2580,3558,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3690,-0.49,-194.6,410.7,-10.8,209,3695,0.00,1.95,0.00,0.000,4,0.000,0.028,2850,1231,3556,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3732,-0.49,-194.6,414.9,-10.3,211,3738,0.00,2.12,0.00,0.000,6,0.000,0.047,2850,2605,3556,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4055,-0.49,-194.6,444.8,-9.9,227,4061,0.00,1.70,0.00,0.000,4,0.000,0.057,2850,3698,3554,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4083,-0.49,-194.6,447.4,-10.3,228,4088,0.00,1.58,0.00,0.000,6,0.000,0.027,2850,2598,3554,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4401,-0.51,-194.6,481.8,-10.5,244,4406,0.00,1.77,0.00,0.000,4,0.000,0.064,2850,3699,3551,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4444,-0.52,-194.6,486.2,-10.5,246,4449,0.00,1.55,0.00,0.000,6,0.000,0.026,2850,2611,3551,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4767,-0.54,-194.6,519.7,-10.7,262,4772,0.00,2.03,0.00,0.000,4,0.000,0.030,2850,1218,3549,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4864,-0.56,-194.6,528.0,-10.1,266,4871,0.00,2.15,0.00,0.000,6,0.000,0.044,2850,2614,3549,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5170,-0.58,-194.6,559.0,-9.6,282,5176,0.00,1.67,0.00,0.000,4,0.000,0.056,2850,3702,3547,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5248,-0.61,-194.6,564.2,-8.3,285,5256,0.12,1.60,0.00,0.000,6,0.093,0.028,2786,2571,3546,0,0,0,0,0,0,26.70,26.77,28.83
$GC,5574,-0.56,-194.6,609.8,-14.2,301,5576,0.15,0.00,0.00,0.000,6,0.160,0.000,2830,2568,3544,0,0,0,0,0,0,26.59,28.83,28.83
$GC,5873,-0.56,-194.6,643.9,-11.7,311,5879,0.00,1.95,0.00,0.000,4,0.000,0.028,2830,1225,3543,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5920,-0.56,-194.6,647.8,-11.7,312,5925,0.00,2.12,0.00,0.000,6,0.000,0.044,2834,2601,3543,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6238,-0.56,-194.6,686.3,-11.2,323,6244,0.00,1.70,0.00,0.000,4,0.000,0.056,2831,3693,3541,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6260,-0.56,-194.6,686.3,-11.2,323,6266,0.00,1.55,0.00,0.000,6,0.000,0.030,2830,2624,3539,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6575,-0.57,-194.6,717.6,-8.4,334,6581,0.00,2.08,0.00,0.000,4,0.000,0.028,2830,1196,3539,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6644,-0.59,-194.6,722.3,-7.4,336,6649,0.00,2.17,0.00,0.000,6,0.000,0.044,2830,2612,3538,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6973,-0.60,-194.6,742.2,-5.8,347,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2613,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7273,-0.61,-194.6,762.4,-7.4,357,7278,0.00,2.08,0.00,0.000,4,0.000,0.028,2830,1208,3534,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7355,-0.63,-194.6,767.5,-7.7,359,7360,0.00,2.15,0.00,0.000,6,0.000,0.044,2831,2601,3534,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7670,-0.64,-194.6,797.5,-9.3,370,7675,0.00,1.73,0.00,0.000,4,0.000,0.057,2831,3704,3532,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7733,-0.66,-194.6,803.4,-9.3,372,7739,0.00,1.62,0.00,0.000,6,0.000,0.030,2831,2592,3532,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8068,-0.68,-194.6,833.6,-9.2,383,8070,0.12,0.00,0.00,0.000,6,0.096,0.000,2776,2591,3530,0,0,0,0,0,0,26.72,28.83,28.83
$GC,8366,-0.64,-194.6,874.9,-14.1,393,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2591,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8667,-0.60,-194.6,914.5,-12.5,403,8673,0.12,2.03,0.00,0.000,4,0.180,0.027,2817,1207,3527,0,0,0,0,0,0,26.58,26.74,28.83
$GC,8710,-0.57,-194.6,917.9,-12.0,404,8715,0.00,2.17,0.00,0.000,6,0.000,0.045,2816,2609,3527,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9034,-0.57,-194.6,949.3,-9.8,415,9040,0.00,1.70,0.00,0.000,4,0.000,0.057,2817,3694,3526,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9072,-0.57,-194.6,952.6,-9.6,416,9077,0.00,1.60,0.00,0.000,6,0.000,0.031,2817,2601,3526,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9401,-0.57,-194.6,984.7,-9.5,427,9406,0.00,2.05,0.00,0.000,4,0.000,0.028,2816,1198,3525,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9423,-0.57,-194.6,984.7,-9.5,427,9428,0.00,2.17,0.00,0.000,6,0.000,0.045,2817,2599,3524,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9464,begin apogee
$GC,9470,-0.11,0.0,991.1,-9.6,429,9636,0.43,0.00,158.90,1.470,6,0.119,0.000,2967,1950,2769,0,0,0,0,0,0,26.59,28.83,23.91
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9640,0.43,194.6,998.1,0.0,434,9822,0.50,2.47,173.20,1.431,4,0.073,0.049,3148,3364,1974,0,0,0,0,0,0,24.88,24.27,23.47
$GC,9894,0.45,263.8,986.1,7.6,443,9965,0.00,2.25,61.92,1.396,6,0.000,0.028,3155,1955,1692,0,0,0,0,0,0,28.83,25.08,23.48
$GC,10283,0.50,310.5,954.5,8.4,456,10331,0.00,2.42,41.80,1.388,4,0.000,0.055,3155,3358,1503,0,0,0,0,0,0,28.83,24.84,24.06
$GC,10395,0.54,324.2,945.5,9.5,459,10415,0.00,2.22,13.38,1.274,6,0.000,0.028,3157,1947,1447,0,0,0,0,0,0,28.83,25.41,24.30
$GC,10737,0.58,324.2,909.2,10.5,471,10744,0.12,2.28,0.00,0.000,4,0.093,0.049,3230,3357,1443,0,0,0,0,0,0,25.99,25.93,28.83
$GC,10801,0.60,324.2,898.7,13.5,473,10807,0.12,2.17,0.00,0.000,6,0.158,0.028,3204,1952,1443,0,0,0,0,0,0,25.93,26.06,28.83
$GC,11135,0.60,324.2,846.7,15.2,484,11140,0.00,2.15,0.00,0.000,4,0.000,0.037,3213,544,1442,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11167,0.60,324.2,841.8,15.1,485,11173,0.00,2.17,0.00,0.000,6,0.000,0.035,3213,1954,1441,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11502,0.60,324.2,793.2,14.4,496,11508,0.00,2.20,0.00,0.000,4,0.000,0.051,3213,3357,1441,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11634,0.58,324.2,774.3,15.1,500,11640,0.00,2.15,0.00,0.000,6,0.000,0.028,3214,1936,1441,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11958,0.58,324.2,725.7,14.8,511,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1935,1440,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17351,1.41,701.0,59.3,8.1,762,17359,0.00,2.15,0.00,0.000,6,0.000,0.028,3445,1962,460,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,17551,end climb,SURFACE_DEPTH_REACHED
$STATE,17551,begin surface coast
$FINISH,1.4,1.009562
$STATE,17562,end surface coast,CONTROL_FINISHED_OK
$STATE,17562,begin surface
$SM_CCo,17642,0.00,0.000,0,0,459,566.64
$SM_GC,2.32,8.88,3.28,0.00,0.061,0.037,0.000,137,2603,459,-8.95,-0.99,566.64,0,0,0,0,0,0,25.96,26.08,28.83
$IRIDIUM_FIX,2131.85,12014.89,161112,101028
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.71
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3990176
$24V_AH,23.5,16.647
$10V_AH,9.9,6.449
$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,23.650,170.150,653.250,0.000,0.000,0.000,0.000,257.225,0.000,0.000,24.569,2700.151,11900.671,791.987,2389.277,280.169,0.000,2251.858,0.000,2016.458,0.000,0.543,0.000
$DEVICE_MAMPS,250.155,75.735,1470.330,0.000,0.000,0.000,0.000,130.050,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17585.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.135,0.000,0.000,0.000
$MEM,324316
$DATA_FILE_SIZE,30024,789
$CAP_FILE_SIZE,212732,0
$CFSIZE,260034560,244232192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.198, 92.8,1
$GPS,161112,205552,2141.189,12009.972,40,0.8,40,-3.0