version: 66.12
glider: 178
mission: 20
dive: 67
start: 3 13 115 18 50 34
data:
$ID,178
$MISSION,20
$DIVE,67
$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,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,50
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,130315,184130,1226.5063,14528.6689,53,1.2,53,1.9,1.1,208.5,8,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-67.7
$GPS2,130315,185023,1226.4769,14528.5918,9,1.5,14,1.9,0.3,270.1,7,9.5
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,172.6,30466,-16.5,-10.000,-23.13,2699
$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,-0.68,-175.2,120,2459,1247,1226,0.0,0.0,0,188,0.00,0.00,-86.25,0.000,16386,0.000,0.000,120,2459,3519,3580,3458,0,0,0,0,0,0,26.27,28.83,26.34
$GC,190,-0.68,-175.2,120,2460,3583,3459,4.5,-13.0,12,216,10.57,2.15,-6.47,0.000,18948,0.251,0.041,2557,1041,3964,3998,3931,0,0,0,0,0,0,26.01,25.72,26.17
$GC,327,-0.68,-175.2,2556,1042,3997,3940,62.1,-29.1,30,337,0.00,2.20,0.00,0.000,1030,0.000,0.037,2549,2454,3967,3996,3939,0,0,0,0,0,0,26.39,26.34,26.41
$GC,634,-0.68,-175.2,2548,2454,3998,3942,156.3,-23.1,61,644,0.00,2.17,0.00,0.000,516,0.000,0.030,2549,1040,3968,3996,3941,0,0,0,0,0,0,26.40,26.42,26.46
$GC,653,-0.68,-175.2,2548,1040,3997,3942,159.5,-21.5,62,664,0.00,2.20,0.00,0.000,1030,0.000,0.036,2541,2457,3968,3995,3941,0,0,0,0,0,0,26.45,26.39,26.46
$GC,970,-0.68,-175.2,2540,2458,3997,3947,216.6,-16.9,88,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2458,3969,3992,3946,0,0,0,0,0,0,26.43,26.50,26.49
$GC,1269,-0.68,-175.2,2541,2458,3995,3950,262.0,-15.0,98,1277,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1045,3972,3996,3949,0,0,0,0,0,0,26.44,26.46,26.50
$GC,1316,-0.68,-175.2,2540,1045,3997,3950,266.0,-14.8,99,1324,0.00,2.17,0.00,0.000,1030,0.000,0.034,2530,2452,3972,3995,3949,0,0,0,0,0,0,26.51,26.46,26.51
$GC,1629,-0.68,-175.2,2531,2455,3996,3950,310.4,-13.1,110,1637,0.00,2.17,0.00,0.000,516,0.000,0.032,2531,1039,3972,3995,3950,0,0,0,0,0,0,26.44,26.46,26.51
$GC,1657,-0.68,-175.2,2530,1040,3997,3950,310.4,-13.1,110,1667,0.15,2.20,0.00,0.000,3078,0.148,0.035,2559,2459,3972,3996,3949,0,0,0,0,0,0,26.34,26.44,26.46
$GC,1962,-0.68,-175.2,2559,2460,3996,3950,346.2,-10.3,121,1970,0.00,2.10,0.00,0.000,260,0.000,0.051,2552,3781,3970,3996,3945,0,0,0,0,0,0,26.46,26.44,26.52
$GC,2027,-0.68,-175.2,2551,3781,3997,3949,353.0,-10.6,123,2035,0.00,2.00,0.00,0.000,1030,0.000,0.027,2549,2427,3971,3995,3948,0,0,0,0,0,0,26.52,26.48,26.53
$GC,2360,-0.68,-175.2,2551,2427,3997,3944,391.1,-10.9,134,2369,0.00,2.08,0.00,0.000,516,0.000,0.034,2552,1066,3967,3993,3942,0,0,0,0,0,0,26.45,26.46,26.51
$GC,2399,-0.68,-175.2,2552,1066,3995,3943,394.7,-10.7,135,2406,0.00,2.15,0.00,0.000,1030,0.000,0.035,2542,2452,3968,3995,3942,0,0,0,0,0,0,26.49,26.46,26.52
$GC,2726,-0.68,-175.2,2541,2453,3997,3936,430.4,-11.2,146,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2452,3965,3995,3935,0,0,0,0,0,0,26.44,26.51,26.51
$GC,3026,-0.68,-175.2,2542,2453,3996,3929,463.3,-10.6,156,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3961,3995,3928,0,0,0,0,0,0,26.45,26.52,26.51
$GC,3326,-0.68,-175.2,2541,2453,3997,3922,493.4,-10.3,166,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2452,3958,3995,3921,0,0,0,0,0,0,26.44,26.51,26.51
$GC,3626,-0.68,-175.2,2543,2453,3994,3916,525.4,-11.0,176,3634,0.00,2.17,0.00,0.000,516,0.000,0.034,2542,1063,3955,3995,3915,0,0,0,0,0,0,26.42,26.44,26.48
$GC,3659,-0.68,-175.2,2541,1064,3996,3916,529.1,-11.0,177,3667,0.00,2.20,0.00,0.000,1030,0.000,0.037,2535,2452,3954,3995,3914,0,0,0,0,0,0,26.48,26.43,26.50
$GC,3986,-0.68,-175.2,2536,2452,3993,3909,566.1,-11.3,188,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2452,3950,3993,3908,0,0,0,0,0,0,26.39,26.46,26.46
$GC,4286,-0.68,-175.2,2536,2452,3991,3906,600.5,-11.4,198,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2452,3948,3992,3905,0,0,0,0,0,0,26.44,26.51,26.50
$GC,4587,-0.68,-175.2,2534,2452,3991,3904,634.2,-10.8,208,4596,0.00,2.15,0.00,0.000,516,0.000,0.034,2535,1064,3946,3989,3903,0,0,0,0,0,0,26.40,26.42,26.46
$GC,4616,-0.68,-175.2,2535,1065,3987,3904,637.4,-10.8,209,4624,0.12,2.17,0.00,0.000,3078,0.161,0.038,2557,2448,3945,3988,3903,0,0,0,0,0,0,26.29,26.40,26.42
$GC,4944,-0.68,-175.2,2557,2449,3986,3899,665.2,-8.3,220,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2448,3943,3987,3900,0,0,0,0,0,0,26.40,26.48,26.46
$GC,5244,-0.68,-175.2,2557,2446,3984,3895,689.7,-8.2,230,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2448,3940,3984,3897,0,0,0,0,0,0,26.40,26.48,26.47
$GC,5544,-0.68,-175.2,2558,2449,3982,3896,713.7,-7.9,240,5552,0.00,2.17,0.00,0.000,260,0.000,0.056,2549,3776,3938,3982,3895,0,0,0,0,0,0,26.40,26.35,26.46
$GC,5586,-0.68,-175.2,2549,3777,3984,3896,715.9,-7.9,241,5594,0.00,2.00,0.00,0.000,1030,0.000,0.028,2549,2442,3938,3982,3895,0,0,0,0,0,0,26.46,26.44,26.47
$GC,5899,-0.68,-175.2,2550,2443,3981,3893,744.0,-8.7,252,5907,0.00,2.12,0.00,0.000,516,0.000,0.034,2550,1068,3937,3981,3893,0,0,0,0,0,0,26.38,26.38,26.44
$GC,5937,-0.68,-175.2,2550,1068,3980,3893,747.0,-8.8,253,5944,0.00,2.20,0.00,0.000,1030,0.000,0.037,2542,2449,3936,3979,3893,0,0,0,0,0,0,26.43,26.36,26.45
$GC,6259,-0.68,-175.2,2541,2450,3978,3891,776.2,-8.9,264,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2449,3934,3978,3890,0,0,0,0,0,0,26.38,26.45,26.44
$GC,6559,-0.68,-175.2,2541,2450,3979,3889,801.4,-8.0,274,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2449,3932,3977,3888,0,0,0,0,0,0,26.39,26.45,26.44
$GC,6859,-0.68,-175.2,2541,2450,3972,3888,824.6,-7.5,284,6867,0.00,2.15,0.00,0.000,516,0.000,0.034,2542,1069,3931,3976,3887,0,0,0,0,0,0,26.38,26.35,26.44
$GC,6886,-0.68,-175.2,2540,1070,3972,3888,826.7,-7.5,285,6894,0.00,2.20,0.00,0.000,1030,0.000,0.040,2541,2455,3931,3975,3887,0,0,0,0,0,0,26.41,26.35,26.43
$GC,7223,-0.68,-175.2,2542,2456,3973,3886,851.4,-7.5,296,7232,0.00,2.15,0.00,0.000,516,0.000,0.035,2542,1073,3930,3974,3886,0,0,0,0,0,0,26.36,26.34,26.42
$GC,7246,-0.68,-175.2,2542,1073,3973,3886,851.4,-7.5,296,7254,0.00,2.20,0.00,0.000,1030,0.000,0.039,2541,2452,3929,3973,3885,0,0,0,0,0,0,26.39,26.33,26.41
$GC,7559,-0.68,-175.2,2540,2452,3973,3885,878.0,-8.3,307,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3928,3973,3883,0,0,0,0,0,0,26.35,26.42,26.41
$GC,7859,-0.68,-175.2,2540,2452,3973,3883,903.6,-8.7,317,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3926,3971,3882,0,0,0,0,0,0,26.34,26.41,26.40
$GC,8159,-0.68,-175.2,2541,2452,3972,3882,931.8,-9.5,327,8168,0.00,2.15,0.00,0.000,516,0.000,0.034,2541,1071,3925,3970,3881,0,0,0,0,0,0,26.32,26.32,26.39
$GC,8182,-0.68,-175.2,2542,1072,3970,3888,931.8,-9.5,327,8190,0.00,2.20,0.00,0.000,1030,0.000,0.040,2541,2460,3925,3970,3881,0,0,0,0,0,0,26.37,26.30,26.39
$GC,8495,-0.68,-175.2,2542,2455,3969,3881,965.3,-10.3,338,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2455,3924,3969,3880,0,0,0,0,0,0,26.33,26.41,26.39
$STATE,8733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8733,begin apogee
$GC,8737,-0.11,0.0,2541,2112,3968,3879,990.3,-10.5,346,8882,0.65,0.00,137.18,1.297,10246,0.120,0.000,2744,2110,3281,3322,3240,0,0,0,0,0,0,26.17,24.98,24.26
$STATE,8882,end apogee,CONTROL_FINISHED_OK
$STATE,8882,begin climb
$GC,8884,0.68,175.2,2743,2110,3322,3238,998.3,0.0,350,9052,0.70,2.42,154.88,1.293,11012,0.044,0.041,3023,718,2563,2610,2517,0,0,0,0,0,0,25.22,24.65,23.96
$GC,9247,0.68,175.2,3022,719,2600,2509,979.7,12.4,363,9254,0.00,2.22,0.00,0.000,1030,0.000,0.031,3022,2101,2554,2601,2508,0,0,0,0,0,0,25.91,25.87,25.93
$GC,9574,0.68,175.2,3021,2102,2600,2506,935.2,13.9,374,9583,0.00,2.28,0.00,0.000,260,0.000,0.047,3022,3503,2552,2599,2505,0,0,0,0,0,0,26.16,26.16,26.23
$GC,9613,0.68,175.2,3021,3504,2601,2506,930.2,14.2,375,9621,0.15,2.15,0.00,0.000,5126,0.196,0.025,3000,2108,2551,2598,2505,0,0,0,0,0,0,26.06,26.25,26.24
$GC,9935,0.68,175.2,3001,2109,2597,2505,886.6,13.0,386,9943,0.00,2.22,0.00,0.000,516,0.000,0.037,3009,703,2550,2596,2504,0,0,0,0,0,0,26.30,26.29,26.38
$GC,9988,0.68,175.2,3009,704,2595,2503,883.0,13.0,387,9998,0.00,2.20,0.00,0.000,1030,0.000,0.029,3009,2105,2548,2595,2502,0,0,0,0,0,0,26.36,26.32,26.38
$GC,10293,0.68,175.2,3009,2106,2595,2503,839.5,13.2,398,10301,0.00,2.25,0.00,0.000,260,0.000,0.047,3008,3512,2548,2595,2502,0,0,0,0,0,0,26.32,26.30,26.39
$GC,10320,0.68,175.2,3008,3513,2597,2503,839.5,13.2,398,10330,0.00,2.17,0.00,0.000,1030,0.000,0.026,3019,2091,2546,2590,2502,0,0,0,0,0,0,26.39,26.34,26.39
$GC,10626,0.68,175.2,3018,2092,2596,2503,794.6,13.0,409,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2091,2548,2595,2501,0,0,0,0,0,0,26.32,26.40,26.39
$GC,10927,0.68,175.2,3020,2092,2593,2502,757.8,12.0,419,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2092,2547,2593,2502,0,0,0,0,0,0,26.32,26.40,26.39
$GC,11225,0.68,175.2,3020,2092,2591,2502,723.3,11.1,429,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2096,2547,2592,2502,0,0,0,0,0,0,26.32,26.39,26.39
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$STATE,17710,end climb,SURFACE_DEPTH_REACHED
$STATE,17710,begin surface coast
$FINISH,-0.3,1.022094
$STATE,17726,end surface coast,CONTROL_FINISHED_OK
$STATE,17726,begin surface
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$IRIDIUM_FIX,1221.16,14526.53,080108,080948
$TT8_MAMPS,0.05243,0.05243
$HUMID,39.32
$INTERNAL_PRESSURE,9.46325
$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,17740.24 7646.35
$PA_BOOTCOUNT,284
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$PA_LOG,0.07/0.137/1.969/1.732
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$PA_HOME,0.03/0.051/1.764/1.623
$PA_DISK_BANK,0
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$10V_AH,10.26,23.880
$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
$DEVICE_SECS,20.675,123.600,485.675,43.600,0.000,0.000,0.000,356.850,0.000,18355.160,16.892,0.000,14385.438,585.638,3124.655,208.816,0.000,2291.472,0.000,1626.141,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,545.053,0.000,0.000,0.000,0.000,0.000,18355.281,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229956
$DATA_FILE_SIZE,33488,800
$CAP_FILE_SIZE,147929,0
$CFSIZE,260034560,252411904
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$INTR,0,18814.35,0x236db2,7,5
$INTR,1,14135.87,0x233784,1,24
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$GPS,130315,234806,1223.714,14529.358,44,0.9,44,1.9,0.7,152.9,10,6.7