version: 66.12
glider: 178
mission: 20
dive: 154
start: 4 1 115 13 37 35
data:
$ID,178
$MISSION,20
$DIVE,154
$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,81
$R_STBD_OVSHOOT,38
$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
$GPS1,010415,133034,1134.0273,14347.3604,36,1.7,40,1.8,0.4,99.9,7,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-75.5
$GPS2,010415,133724,1133.9333,14347.3711,13,1.2,18,1.8,0.6,153.3,7,8.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,299.1,34678,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.68,-175.2,121,2408,1241,1228,0.0,0.0,0,176,0.00,0.00,-78.95,0.000,16386,0.000,0.000,121,2414,3288,3327,3250,0,0,0,0,0,0,26.19,28.83,26.26
$GC,178,-0.68,-175.2,121,2409,3330,3245,4.1,-14.3,13,203,10.57,2.20,-10.68,0.000,18692,0.243,0.059,2545,3779,3966,3998,3934,0,0,0,0,0,0,25.61,24.49,25.99
$GC,360,-0.68,-175.2,2542,3779,3997,3943,71.4,-28.9,40,374,0.00,2.00,0.00,0.000,1030,0.000,0.024,2550,2449,3968,3994,3942,0,0,0,0,0,0,26.13,26.10,26.15
$GC,668,-0.68,-175.2,2551,2443,3995,3945,156.6,-21.9,71,677,0.00,2.15,0.00,0.000,260,0.000,0.044,2543,3770,3969,3995,3944,0,0,0,0,0,0,26.27,26.08,26.32
$GC,796,-0.68,-175.2,2542,3771,3995,3947,176.6,-15.1,83,808,0.00,1.98,0.00,0.000,1030,0.000,0.024,2544,2443,3970,3995,3946,0,0,0,0,0,0,26.27,26.24,26.29
$GC,1113,-0.68,-175.2,2543,2441,3997,3952,223.1,-15.2,105,1121,0.00,2.10,0.00,0.000,516,0.000,0.030,2544,1071,3973,3995,3951,0,0,0,0,0,0,26.27,24.87,26.34
$GC,1140,-0.68,-175.2,2543,1072,3997,3953,223.1,-15.2,105,1152,0.00,2.15,0.00,0.000,1030,0.000,0.030,2537,2451,3973,3995,3951,0,0,0,0,0,0,26.24,26.17,26.26
$GC,1445,-0.68,-175.2,2537,2452,3995,3953,270.5,-13.8,116,1452,0.00,2.12,0.00,0.000,516,0.000,0.029,2537,1075,3973,3995,3952,0,0,0,0,0,0,26.30,26.20,26.36
$GC,1477,-0.68,-175.2,2537,1072,3995,3953,275.0,-13.8,117,1487,0.12,2.15,0.00,0.000,3078,0.149,0.031,2557,2452,3973,3995,3952,0,0,0,0,0,0,25.95,26.15,26.09
$GC,1808,-0.68,-175.2,2558,2452,3995,3953,307.0,-9.2,128,1819,0.00,2.10,0.00,0.000,260,0.000,0.046,2550,3764,3973,3995,3952,0,0,0,0,0,0,26.18,25.99,26.24
$GC,1843,-0.68,-175.2,2550,3765,3996,3953,309.8,-9.2,129,1851,0.00,1.98,0.00,0.000,1030,0.000,0.024,2550,2453,3973,3995,3952,0,0,0,0,0,0,26.29,26.27,26.31
$GC,2171,-0.68,-175.2,2550,2451,3997,3950,344.6,-10.9,140,2183,0.00,2.12,0.00,0.000,516,0.000,0.031,2550,1071,3971,3995,3948,0,0,0,0,0,0,26.23,26.15,26.29
$GC,2207,-0.68,-175.2,2549,1071,3997,3949,348.0,-10.8,141,2215,0.00,2.15,0.00,0.000,1030,0.000,0.031,2542,2449,3971,3995,3948,0,0,0,0,0,0,26.22,26.17,26.23
$GC,2529,-0.68,-175.2,2540,2450,3996,3943,384.6,-10.9,152,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2449,3969,3995,3943,0,0,0,0,0,0,26.26,26.33,26.32
$GC,2830,-0.68,-175.2,2540,2446,3996,3939,415.2,-10.1,162,2837,0.00,2.15,0.00,0.000,260,0.000,0.048,2531,3771,3966,3994,3938,0,0,0,0,0,0,26.27,26.03,26.30
$GC,2867,-0.68,-175.2,2532,3771,3993,3938,418.1,-10.2,163,2874,0.00,2.00,0.00,0.000,1030,0.000,0.025,2531,2453,3965,3993,3937,0,0,0,0,0,0,26.21,26.18,26.22
$GC,3184,-0.68,-175.2,2530,2451,3995,3930,452.9,-10.8,174,3192,0.00,2.12,0.00,0.000,516,0.000,0.031,2531,1069,3962,3994,3930,0,0,0,0,0,0,26.23,26.10,26.29
$GC,3236,-0.68,-175.2,2532,1069,3993,3930,455.9,-10.9,175,3248,0.15,2.17,0.00,0.000,3078,0.145,0.032,2561,2449,3961,3993,3929,0,0,0,0,0,0,25.84,26.08,26.00
$GC,3541,-0.68,-175.2,2560,2450,3995,3924,487.6,-9.6,186,3553,0.00,2.12,0.00,0.000,260,0.000,0.047,2553,3765,3958,3994,3923,0,0,0,0,0,0,26.19,26.00,26.25
$GC,3573,-0.68,-175.2,2554,3767,3994,3923,490.7,-9.7,187,3580,0.00,2.00,0.00,0.000,1030,0.000,0.026,2554,2430,3957,3993,3922,0,0,0,0,0,0,26.19,26.15,26.21
$GC,3900,-0.68,-175.2,2554,2430,3993,3918,522.9,-9.5,198,3910,0.00,2.12,0.00,0.000,516,0.000,0.032,2553,1069,3953,3994,3912,0,0,0,0,0,0,26.13,25.98,26.19
$GC,3929,-0.68,-175.2,2552,1069,3995,3916,522.9,-9.5,198,3939,0.00,2.20,0.00,0.000,1030,0.000,0.032,2544,2457,3954,3994,3915,0,0,0,0,0,0,26.15,26.07,26.17
$GC,4234,-0.68,-175.2,2545,2458,3993,3916,554.3,-9.1,209,4243,0.00,2.15,0.00,0.000,260,0.000,0.049,2535,3772,3952,3993,3911,0,0,0,0,0,0,26.22,25.99,26.27
$GC,4268,-0.68,-175.2,2535,3773,3994,3912,557.4,-9.1,210,4277,0.00,1.98,0.00,0.000,1030,0.000,0.026,2535,2451,3951,3992,3911,0,0,0,0,0,0,26.20,26.17,26.21
$GC,4597,-0.68,-175.2,2534,2452,3992,3909,587.9,-9.1,221,4605,0.00,2.15,0.00,0.000,516,0.000,0.032,2536,1074,3949,3990,3908,0,0,0,0,0,0,26.18,26.05,26.25
$GC,4639,-0.68,-175.2,2535,1073,3991,3909,591.0,-9.2,222,4647,0.12,2.17,0.00,0.000,3078,0.154,0.032,2556,2449,3948,3989,3907,0,0,0,0,0,0,25.83,26.05,25.97
$GC,4957,-0.68,-175.2,2557,2450,3987,3906,615.9,-7.5,233,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2450,3946,3988,3905,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5257,-0.68,-175.2,2556,2450,3987,3905,639.9,-8.1,243,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2449,3944,3986,3903,0,0,0,0,0,0,26.17,26.23,26.23
$GC,5558,-0.68,-175.2,2556,2450,3986,3902,666.1,-9.1,253,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2449,3943,3984,3902,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5857,-0.68,-175.2,2557,2450,3983,3900,694.4,-9.5,263,5867,0.00,2.15,0.00,0.000,516,0.000,0.032,2557,1080,3940,3982,3899,0,0,0,0,0,0,26.20,26.03,26.25
$GC,5887,-0.68,-175.2,2556,1081,3983,3900,697.1,-9.4,264,5895,0.00,2.17,0.00,0.000,1030,0.000,0.034,2552,2451,3940,3982,3899,0,0,0,0,0,0,26.09,26.01,26.13
$GC,6215,-0.68,-175.2,2553,2451,3981,3897,726.0,-8.4,275,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2450,3939,3981,3897,0,0,0,0,0,0,26.08,26.14,26.13
$GC,6514,-0.68,-175.2,2551,2452,3979,3897,748.6,-7.1,285,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2451,3937,3979,3896,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6814,-0.68,-175.2,2552,2452,3980,3896,770.5,-7.4,295,6822,0.00,2.15,0.00,0.000,516,0.000,0.032,2552,1080,3936,3978,3894,0,0,0,0,0,0,26.16,26.01,26.22
$GC,6857,-0.68,-175.2,2553,1080,3977,3896,772.6,-7.5,296,6865,0.00,2.20,0.00,0.000,1030,0.000,0.035,2546,2448,3935,3977,3894,0,0,0,0,0,0,26.08,25.98,26.11
$GC,7170,-0.68,-175.2,2546,2448,3976,3894,800.9,-9.0,307,7178,0.00,2.17,0.00,0.000,260,0.000,0.053,2537,3775,3935,3977,3893,0,0,0,0,0,0,26.17,25.90,26.23
$GC,7208,-0.68,-175.2,2537,3776,3977,3894,803.4,-9.1,308,7215,0.00,2.00,0.00,0.000,1030,0.000,0.026,2537,2453,3934,3976,3893,0,0,0,0,0,0,26.17,26.15,26.19
$GC,7530,-0.68,-175.2,2538,2451,3975,3892,834.5,-9.1,319,7540,0.00,2.17,0.00,0.000,516,0.000,0.032,2537,1072,3933,3975,3891,0,0,0,0,0,0,26.15,26.01,26.22
$GC,7565,-0.68,-175.2,2536,1073,3976,3892,837.3,-9.1,320,7573,0.12,2.20,0.00,0.000,3078,0.152,0.034,2561,2456,3930,3970,3891,0,0,0,0,0,0,25.78,25.98,25.92
$GC,7888,-0.68,-175.2,2561,2457,3974,3890,859.5,-6.6,331,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2456,3931,3974,3889,0,0,0,0,0,0,26.13,26.20,26.20
$GC,8187,-0.68,-175.2,2561,2457,3973,3888,880.1,-6.9,341,8195,0.00,2.17,0.00,0.000,516,0.000,0.032,2561,1073,3931,3973,3889,0,0,0,0,0,0,26.14,26.00,26.20
$GC,8219,-0.68,-175.2,2560,1073,3975,3889,882.0,-6.8,342,8227,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2456,3930,3973,3888,0,0,0,0,0,0,26.06,25.98,26.09
$GC,8547,-0.68,-175.2,2559,2457,3974,3888,906.9,-7.8,353,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2456,3929,3972,3887,0,0,0,0,0,0,26.10,26.17,26.17
$GC,8847,-0.68,-175.2,2559,2457,3975,3887,931.1,-8.1,363,8857,0.00,2.17,0.00,0.000,516,0.000,0.032,2559,1073,3928,3971,3886,0,0,0,0,0,0,26.17,25.99,26.22
$GC,8877,-0.68,-175.2,2558,1074,3973,3887,933.6,-8.2,364,8884,0.00,2.22,0.00,0.000,1030,0.000,0.035,2559,2454,3927,3971,3883,0,0,0,0,0,0,26.05,25.97,26.08
$GC,9204,-0.68,-175.2,2560,2454,3970,3886,959.6,-7.8,375,9214,0.00,2.20,0.00,0.000,516,0.000,0.032,2559,1069,3927,3970,3885,0,0,0,0,0,0,26.03,25.90,26.10
$GC,9229,-0.68,-175.2,2560,1070,3970,3886,959.6,-7.8,375,9239,0.00,2.22,0.00,0.000,1030,0.000,0.036,2559,2449,3927,3970,3885,0,0,0,0,0,0,26.03,25.94,26.06
$GC,9534,-0.68,-175.2,2558,2455,3971,3882,984.5,-7.4,386,9545,0.00,2.17,0.00,0.000,516,0.000,0.033,2558,1076,3925,3969,3882,0,0,0,0,0,0,26.09,25.97,26.15
$GC,9565,-0.68,-175.2,2565,1076,3969,3882,986.7,-7.5,387,9574,0.00,2.22,0.00,0.000,1030,0.000,0.036,2558,2453,3926,3970,3882,0,0,0,0,0,0,26.01,25.93,26.04
$STATE,9627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9627,begin apogee
$GC,9631,-0.11,0.0,2558,2104,3970,3883,991.3,-7.3,389,9782,0.60,0.00,139.50,1.294,10246,0.110,0.000,2746,2099,3278,3318,3238,0,0,0,0,0,0,25.70,24.51,23.68
$STATE,9783,end apogee,CONTROL_FINISHED_OK
$STATE,9783,begin climb
$GC,9785,0.68,175.2,2747,2099,3317,3237,999.0,0.0,394,9956,0.70,2.47,159.35,1.286,11012,0.048,0.042,3010,3514,2564,2611,2517,0,0,0,0,0,0,24.79,24.04,23.33
$GC,10181,0.68,175.2,3010,3515,2598,2514,973.1,13.6,406,10192,0.00,2.20,0.00,0.000,1030,0.000,0.025,3020,2108,2557,2603,2512,0,0,0,0,0,0,25.92,25.86,25.94
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$STATE,18677,end climb,SURFACE_DEPTH_REACHED
$STATE,18677,begin surface coast
$FINISH,0.1,1.022059
$STATE,18697,end surface coast,CONTROL_FINISHED_OK
$STATE,18697,begin surface
$SM_CCo,18713,47.53,0.063,0,0,1239,500.17
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$IRIDIUM_FIX,1126.06,14346.54,260108,214028
$TT8_MAMPS,0.053179,0.053179
$HUMID,40.90
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.60
$XPDR_PINGS,2
$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,18715.48 8088.77
$PA_BOOTCOUNT,373
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$PA_DATA0,0.15/17.920/117.199/93.325
$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.04/0.070/1.764/1.604
$PA_DISK_BANK,2
$24V_AH,23.33,53.285
$10V_AH,10.14,30.330
$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,21.125,153.675,479.075,47.525,0.000,0.000,0.000,282.650,0.500,19200.930,20.662,0.000,14972.913,623.059,3334.468,224.601,0.000,2400.391,0.000,1843.081,0.000,0.552,0.000
$DEVICE_MAMPS,242.505,58.905,1293.615,63.495,0.000,0.000,0.000,96.390,420.000,65.186,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,566.185,0.000,0.000,0.000,0.000,0.000,19200.881,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229976
$DATA_FILE_SIZE,36727,831
$CAP_FILE_SIZE,162448,0
$CFSIZE,260034560,245235712
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$GPS,010415,185105,1134.900,14345.144,26,1.1,26,1.8,0.9,216.9,7,8.8