version: 66.12
glider: 178
mission: 20
dive: 50
start: 3 10 115 6 54 53
data:
$ID,178
$MISSION,20
$DIVE,50
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$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,148
$AH0_10V,95
$MINV_24V,22
$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,-46.597843
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,100315,064753,1306.6470,14516.3496,39,1.2,39,1.7,0.8,152.4,7,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-72.1
$GPS2,100315,065441,1306.5804,14516.3135,8,1.5,30,1.7,1.2,241.3,7,8.7
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,165.2,107944,-17.8,-10.000,-20.71,2479
$D_GRID,1020
$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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.71,-175.2,122,2466,903,890,0.0,0.0,0,197,0.00,0.00,-94.97,0.000,16386,0.000,0.000,122,2464,3308,3358,3259,0,0,0,0,0,0,26.92,28.83,26.99
$GC,199,-0.71,-175.2,124,2464,3357,3261,3.8,-13.0,15,224,9.98,2.17,-5.93,0.000,18948,0.246,0.044,2547,1033,3659,3726,3592,0,0,0,0,0,0,26.47,25.71,26.72
$GC,334,-0.71,-175.2,2546,1033,3732,3593,54.0,-29.8,40,341,0.00,2.15,0.00,0.000,1030,0.000,0.035,2540,2437,3661,3730,3592,0,0,0,0,0,0,26.89,26.82,26.91
$GC,639,-0.71,-175.2,2539,2438,3734,3593,151.1,-25.4,70,652,0.00,2.03,0.00,0.000,260,0.000,0.048,2530,3767,3661,3731,3592,0,0,0,0,0,0,27.17,26.94,27.23
$GC,737,-0.71,-175.2,2527,3768,3735,3594,170.7,-18.8,79,748,0.00,1.92,0.00,0.000,1030,0.000,0.026,2528,2423,3663,3734,3593,0,0,0,0,0,0,27.10,27.04,27.10
$GC,1053,-0.71,-175.2,2530,2421,3742,3594,223.3,-15.1,101,1062,0.00,2.00,0.00,0.000,516,0.000,0.032,2534,1064,3666,3740,3593,0,0,0,0,0,0,27.28,27.08,27.34
$GC,1122,-0.71,-175.2,2534,1064,3740,3595,231.3,-13.1,103,1130,0.00,2.10,0.00,0.000,1030,0.000,0.034,2526,2464,3667,3740,3594,0,0,0,0,0,0,27.15,27.08,27.17
$GC,1450,-0.71,-175.2,2525,2465,3743,3595,281.4,-15.7,114,1459,0.00,2.00,0.00,0.000,260,0.000,0.049,2515,3769,3668,3742,3594,0,0,0,0,0,0,27.34,27.11,27.41
$GC,1483,-0.71,-175.2,2517,3770,3742,3595,286.0,-14.8,115,1491,0.12,1.90,0.00,0.000,3078,0.174,0.028,2546,2447,3668,3742,3594,0,0,0,0,0,0,27.01,27.19,27.15
$GC,1816,-0.71,-175.2,2547,2447,3742,3595,320.8,-9.6,126,1827,0.00,2.03,0.00,0.000,516,0.000,0.034,2547,1066,3668,3742,3594,0,0,0,0,0,0,27.39,27.19,27.44
$GC,2001,-0.71,-175.2,2546,1067,3743,3595,338.2,-9.5,132,2009,0.00,2.08,0.00,0.000,1030,0.000,0.037,2540,2448,3667,3741,3594,0,0,0,0,0,0,27.25,27.19,27.27
$GC,2324,-0.71,-175.2,2541,2448,3736,3595,369.2,-9.6,143,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2448,3665,3736,3594,0,0,0,0,0,0,27.42,27.49,27.48
$GC,2624,-0.71,-175.2,2541,2448,3730,3593,398.3,-10.0,153,2633,0.00,2.08,0.00,0.000,260,0.000,0.054,2529,3776,3662,3730,3594,0,0,0,0,0,0,27.43,27.21,27.51
$GC,2703,-0.71,-175.2,2531,3777,3729,3594,405.0,-10.6,155,2711,0.00,1.90,0.00,0.000,1030,0.000,0.028,2530,2460,3661,3729,3594,0,0,0,0,0,0,27.33,27.29,27.35
$GC,3009,-0.71,-175.2,2529,2458,3728,3592,441.0,-11.0,165,3019,0.00,2.08,0.00,0.000,516,0.000,0.035,2530,1059,3658,3726,3591,0,0,0,0,0,0,27.45,27.26,27.52
$GC,3103,-0.71,-175.2,2529,1060,3727,3591,451.0,-11.1,168,3113,0.00,2.10,0.00,0.000,1030,0.000,0.038,2524,2449,3656,3724,3589,0,0,0,0,0,0,27.31,27.24,27.34
$GC,3433,-0.71,-175.2,2523,2450,3723,3587,488.7,-11.1,179,3440,0.00,2.05,0.00,0.000,260,0.000,0.054,2513,3770,3653,3721,3586,0,0,0,0,0,0,27.46,27.23,27.53
$GC,3465,-0.71,-175.2,2513,3771,3720,3587,492.5,-11.2,180,3473,0.15,1.92,0.00,0.000,3078,0.168,0.029,2551,2442,3653,3720,3586,0,0,0,0,0,0,27.13,27.32,27.27
$GC,3798,-0.71,-175.2,2552,2443,3713,3583,522.4,-8.5,191,3808,0.00,2.05,0.00,0.000,516,0.000,0.036,2555,1062,3649,3717,3582,0,0,0,0,0,0,27.48,27.28,27.54
$GC,3893,-0.71,-175.2,2555,1063,3715,3582,530.4,-8.8,194,3903,0.00,2.10,0.00,0.000,1030,0.000,0.037,2548,2454,3648,3716,3581,0,0,0,0,0,0,27.33,27.27,27.36
$GC,4222,-0.71,-175.2,2549,2455,3711,3579,560.3,-9.2,205,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2454,3646,3715,3578,0,0,0,0,0,0,27.48,27.55,27.55
$GC,4522,-0.71,-175.2,2549,2454,3708,3577,587.3,-9.4,215,4530,0.00,2.10,0.00,0.000,516,0.000,0.035,2548,1064,3643,3709,3577,0,0,0,0,0,0,27.48,27.29,27.55
$GC,4560,-0.71,-175.2,2548,1064,3709,3578,590.1,-9.5,216,4567,0.00,2.10,0.00,0.000,1030,0.000,0.037,2541,2450,3642,3708,3577,0,0,0,0,0,0,27.34,27.27,27.36
$GC,4882,-0.71,-175.2,2541,2451,3705,3575,627.0,-11.6,227,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3640,3705,3575,0,0,0,0,0,0,27.49,27.56,27.55
$GC,5182,-0.71,-175.2,2542,2452,3711,3573,659.2,-10.3,237,5190,0.00,2.08,0.00,0.000,516,0.000,0.036,2541,1064,3637,3703,3572,0,0,0,0,0,0,27.49,27.29,27.56
$GC,5245,-0.71,-175.2,2540,1065,3704,3573,665.1,-9.6,239,5253,0.00,2.12,0.00,0.000,1030,0.000,0.039,2531,2457,3637,3702,3572,0,0,0,0,0,0,27.35,27.28,27.37
$GC,5578,-0.71,-175.2,2531,2458,3701,3571,696.1,-9.1,250,5588,0.00,2.10,0.00,0.000,516,0.000,0.036,2532,1068,3634,3699,3570,0,0,0,0,0,0,27.49,27.29,27.56
$GC,5627,-0.71,-175.2,2533,1069,3698,3570,699.5,-9.1,251,5635,0.00,2.10,0.00,0.000,1030,0.000,0.040,2524,2452,3634,3699,3570,0,0,0,0,0,0,27.35,27.28,27.37
$GC,5940,-0.71,-175.2,2523,2453,3699,3568,730.9,-9.7,262,5949,0.00,2.05,0.00,0.000,260,0.000,0.054,2514,3772,3632,3698,3567,0,0,0,0,0,0,27.50,27.25,27.56
$GC,5978,-0.71,-175.2,2514,3772,3696,3568,734.1,-9.9,263,5987,0.15,1.92,0.00,0.000,3078,0.169,0.030,2552,2437,3632,3697,3567,0,0,0,0,0,0,27.14,27.35,27.29
$GC,6306,-0.71,-175.2,2551,2438,3696,3566,758.9,-7.1,274,6318,0.00,2.00,0.00,0.000,516,0.000,0.035,2552,1078,3630,3695,3565,0,0,0,0,0,0,27.50,27.33,27.56
$GC,6357,-0.71,-175.2,2553,1076,3695,3566,761.1,-7.0,275,6370,0.00,2.10,0.00,0.000,1030,0.000,0.038,2546,2460,3629,3694,3565,0,0,0,0,0,0,27.38,27.28,27.37
$GC,6668,-0.71,-175.2,2551,2460,3695,3564,785.4,-7.5,286,6677,0.00,2.08,0.00,0.000,516,0.000,0.035,2546,1071,3629,3694,3564,0,0,0,0,0,0,27.49,27.29,27.56
$GC,6717,-0.71,-175.2,2547,1071,3692,3564,787.9,-7.7,287,6725,0.00,2.10,0.00,0.000,1030,0.000,0.040,2538,2453,3628,3693,3563,0,0,0,0,0,0,27.35,27.28,27.37
$GC,7023,-0.71,-175.2,2539,2453,3690,3562,815.9,-9.0,297,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2453,3626,3690,3562,0,0,0,0,0,0,27.50,27.58,27.56
$GC,7323,-0.71,-175.2,2539,2453,3689,3563,844.9,-9.9,307,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2452,3625,3689,3562,0,0,0,0,0,0,27.50,27.58,27.56
$GC,7623,-0.71,-175.2,2539,2453,3688,3561,873.0,-9.0,317,7630,0.00,2.10,0.00,0.000,516,0.000,0.037,2538,1068,3624,3687,3561,0,0,0,0,0,0,27.50,27.30,27.57
$GC,7690,-0.71,-175.2,2537,1068,3689,3562,878.0,-8.8,319,7698,0.00,2.10,0.00,0.000,1030,0.000,0.040,2530,2448,3624,3687,3561,0,0,0,0,0,0,27.35,27.28,27.37
$GC,8008,-0.71,-175.2,2529,2449,3687,3561,903.8,-7.6,330,8016,0.00,2.08,0.00,0.000,516,0.000,0.037,2529,1065,3623,3686,3560,0,0,0,0,0,0,27.50,27.29,27.56
$GC,8041,-0.71,-175.2,2532,1066,3685,3561,906.3,-7.5,331,8048,0.00,2.10,0.00,0.000,1030,0.000,0.041,2522,2451,3623,3687,3559,0,0,0,0,0,0,27.35,27.27,27.37
$GC,8368,-0.71,-175.2,2523,2451,3684,3559,930.0,-7.0,342,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2451,3621,3685,3557,0,0,0,0,0,0,27.50,27.57,27.56
$GC,8668,-0.71,-175.2,2521,2457,3683,3557,953.0,-8.0,352,8676,0.00,2.10,0.00,0.000,516,0.000,0.038,2521,1069,3620,3684,3557,0,0,0,0,0,0,27.50,27.29,27.57
$GC,8710,-0.71,-175.2,2520,1070,3693,3557,955.5,-8.1,353,8718,0.15,2.10,0.00,0.000,3078,0.167,0.040,2552,2451,3619,3684,3555,0,0,0,0,0,0,27.13,27.28,27.27
$GC,9023,-0.71,-175.2,2553,2451,3683,3556,977.8,-6.8,364,9030,0.00,2.10,0.00,0.000,516,0.000,0.038,2552,1071,3619,3682,3556,0,0,0,0,0,0,27.50,27.28,27.56
$GC,9049,-0.71,-175.2,2551,1071,3685,3556,977.8,-6.8,364,9060,0.00,2.10,0.00,0.000,1030,0.000,0.039,2546,2452,3619,3682,3556,0,0,0,0,0,0,27.34,27.27,27.37
$STATE,9204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9204,begin apogee
$GC,9208,-0.11,0.0,2546,2102,3683,3557,990.8,-7.2,370,9359,0.62,0.00,143.23,1.316,10246,0.126,0.000,2747,2102,2941,2987,2895,0,0,0,0,0,0,27.14,25.18,24.41
$STATE,9360,end apogee,CONTROL_FINISHED_OK
$STATE,9360,begin climb
$GC,9362,0.71,175.2,2746,2102,2988,2894,994.6,0.0,375,9527,0.73,2.33,152.88,1.299,10756,0.048,0.041,3033,720,2226,2277,2175,0,0,0,0,0,0,25.49,24.91,24.17
$GC,9591,0.71,175.2,3034,721,2270,2171,973.5,14.2,382,9603,0.00,2.20,0.00,0.000,1030,0.000,0.031,3033,2103,2219,2269,2169,0,0,0,0,0,0,25.83,25.77,25.84
$GC,9896,0.71,175.2,3032,2103,2267,2165,920.3,15.8,393,9904,0.00,2.25,0.00,0.000,260,0.000,0.048,3033,3501,2215,2266,2164,0,0,0,0,0,0,26.67,26.46,26.74
$GC,9924,0.71,175.2,3034,3502,2264,2164,915.7,15.8,394,9932,0.15,2.10,0.00,0.000,5126,0.189,0.027,3009,2116,2214,2265,2163,0,0,0,0,0,0,26.36,26.54,26.53
$GC,10257,0.71,175.2,3010,2117,2268,2161,868.6,13.9,405,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2116,2212,2263,2161,0,0,0,0,0,0,26.96,27.03,27.03
$GC,10557,0.71,175.2,3010,2117,2262,2161,826.1,14.3,415,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2116,2211,2262,2160,0,0,0,0,0,0,27.08,27.16,27.15
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$STATE,16972,end climb,SURFACE_DEPTH_REACHED
$STATE,16972,begin surface coast
$FINISH,-0.3,1.022112
$STATE,16998,end surface coast,CONTROL_FINISHED_OK
$STATE,16999,begin surface
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$IRIDIUM_FIX,1305.38,14509.19,040108,151700
$TT8_MAMPS,0.159537,0.159537
$HUMID,39.44
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$TCM_TEMP,24.80
$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,1649996
$PA_UPTIME,17048.82 7390.70
$PA_BOOTCOUNT,266
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.048/1.764/1.626
$PA_DISK_BANK,0
$24V_AH,24.17,7.536
$10V_AH,9.95,13.782
$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,19.900,113.675,400.300,80.300,0.000,0.000,0.000,274.850,0.000,0.000,32.708,0.000,13648.431,583.681,3073.760,183.759,0.000,2181.420,0.000,1680.229,0.000,0.552,0.000
$DEVICE_MAMPS,245.565,54.315,1315.800,62.730,0.000,0.000,0.000,92.565,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,533.534,0.000,0.000,0.000,0.000,0.000,17502.631,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,142.314,0.000,0.000,0.000
$MEM,229940
$DATA_FILE_SIZE,33376,784
$CAP_FILE_SIZE,143220,0
$CFSIZE,260034560,253784064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,100315,114036,1303.439,14516.476,27,1.0,27,1.7,0.3,219.6,8,7.4