version: 66.12
glider: 187
mission: 8
dive: 10
start: 6 17 115 9 46 37
data:
$ID,187
$MISSION,8
$DIVE,10
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$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,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53361
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3455
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,170615,093803,4742.4600,-12512.4199,43,0.8,43,16.5,0.3,208.7,12,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-78.3
$GPS2,170615,094603,4742.4297,-12512.3154,2,0.8,3,16.5,0.2,73.2,12,7.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,214.9,157080,-16.9,-10.000,-20.75,2244
$D_GRID,717
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.57,-146.6,90,1892,976,1163,0.0,0.0,0,110,0.00,0.00,-77.03,0.000,16386,0.000,0.000,90,1889,3093,3062,3124,0,0,0,0,0,0,14.58,28.83,14.60
$GC,117,-0.57,-146.6,95,1892,3061,3124,3.2,-4.0,8,144,14.05,2.85,-3.42,0.000,18692,0.387,2.240,3255,3312,3298,3262,3335,0,0,0,0,0,0,14.21,13.57,14.45
$GC,371,-0.49,-146.6,3255,3312,3263,3340,52.4,-14.1,55,382,0.15,2.55,0.00,0.000,3078,0.234,0.102,3297,1902,3301,3262,3340,0,0,0,0,0,0,14.33,14.40,14.46
$GC,564,-0.54,-146.6,3294,1902,3268,3341,72.1,-10.0,74,571,0.00,2.55,0.00,0.000,260,0.000,0.109,3295,3314,3302,3263,3341,0,0,0,0,0,0,14.64,14.41,14.66
$GC,692,-0.63,-146.6,3297,3313,3263,3341,82.7,-7.4,97,701,0.12,2.55,0.00,0.000,5126,0.119,0.099,3234,1884,3301,3262,3341,0,0,0,0,0,0,14.48,14.42,14.54
$GC,883,-0.52,-146.6,3233,1883,3263,3342,104.7,-12.5,116,891,0.15,2.50,0.00,0.000,2564,0.246,0.114,3280,492,3303,3264,3342,0,0,0,0,0,0,14.40,14.48,14.50
$GC,960,-0.52,-146.6,3280,493,3268,3342,112.7,-9.7,129,969,0.00,2.47,0.00,0.000,1030,0.000,0.096,3281,1895,3302,3263,3342,0,0,0,0,0,0,14.57,14.48,14.58
$GC,1151,-0.58,-146.6,3280,1895,3263,3344,128.9,-7.9,148,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1895,3303,3264,3343,0,0,0,0,0,0,14.67,14.71,14.69
$GC,1341,-0.65,-146.6,3280,1900,3263,3343,143.3,-8.0,167,1350,0.08,2.55,0.00,0.000,4356,0.170,0.106,3229,3317,3301,3259,3343,0,0,0,0,0,0,14.53,14.50,14.57
$GC,1469,-0.59,-146.6,3229,3317,3264,3342,157.8,-11.0,190,1479,0.10,2.53,0.00,0.000,3078,0.257,0.102,3257,1903,3302,3263,3342,0,0,0,0,0,0,14.44,14.50,14.58
$GC,1661,-0.59,-146.6,3257,1903,3262,3342,176.7,-9.8,209,1668,0.00,2.55,0.00,0.000,260,0.000,0.109,3257,3324,3303,3265,3342,0,0,0,0,0,0,14.71,14.51,14.73
$GC,1720,-0.64,-146.6,3257,3324,3263,3342,182.7,-9.6,219,1729,0.00,2.55,0.00,0.000,1030,0.000,0.099,3257,1901,3305,3269,3342,0,0,0,0,0,0,14.63,14.52,14.62
$GC,1921,-0.67,-146.6,3257,1901,3263,3342,201.3,-9.2,239,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1901,3302,3263,3341,0,0,0,0,0,0,14.72,14.74,14.73
$GC,2111,-0.70,-146.6,3257,1901,3263,3342,218.1,-8.6,258,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1901,3302,3263,3342,0,0,0,0,0,0,14.73,14.75,14.74
$GC,2300,-0.70,-146.6,3258,1901,3263,3343,233.9,-7.8,277,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1901,3302,3263,3342,0,0,0,0,0,0,14.73,14.76,14.75
$GC,2491,-0.73,-146.6,3263,1901,3270,3345,247.7,-7.3,296,2500,0.08,0.00,0.00,0.000,4102,0.170,0.000,3206,1900,3302,3263,3342,0,0,0,0,0,0,14.57,14.63,14.61
$GC,2701,-0.62,-146.6,3206,1900,3262,3342,269.8,-10.8,305,2709,0.15,2.53,0.00,0.000,2564,0.250,0.116,3247,488,3302,3262,3342,0,0,0,0,0,0,14.47,14.54,14.57
$GC,2780,-0.62,-146.6,3247,488,3262,3342,278.4,-10.4,319,2788,0.00,2.50,0.00,0.000,1030,0.000,0.102,3246,1910,3302,3262,3342,0,0,0,0,0,0,14.64,14.55,14.65
$GC,3114,-0.62,-146.6,3246,1909,3261,3342,308.3,-9.0,333,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1910,3301,3261,3342,0,0,0,0,0,0,14.76,14.78,14.77
$GC,3410,-0.62,-146.6,3246,1909,3259,3342,335.0,-8.8,343,3418,0.00,2.50,0.00,0.000,260,0.000,0.114,3245,3312,3300,3259,3342,0,0,0,0,0,0,14.76,14.54,14.78
$GC,3439,-0.62,-146.6,3246,3312,3258,3342,337.5,-8.8,347,3447,0.00,2.53,0.00,0.000,1030,0.000,0.102,3246,1899,3300,3258,3342,0,0,0,0,0,0,14.64,14.56,14.66
$GC,3763,-0.62,-146.6,3246,1899,3258,3342,362.6,-7.6,359,3771,0.00,2.53,0.00,0.000,516,0.000,0.119,3247,485,3299,3257,3342,0,0,0,0,0,0,14.76,14.54,14.78
$GC,3833,-0.62,-146.6,3246,485,3254,3342,369.1,-9.0,371,3841,0.00,2.50,0.00,0.000,1030,0.000,0.102,3247,1895,3299,3257,3342,0,0,0,0,0,0,14.64,14.56,14.66
$GC,4177,-0.62,-146.6,3246,1897,3251,3346,399.6,-9.4,387,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1907,3299,3256,3342,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4473,-0.66,-146.6,3246,1894,3255,3342,427.7,-9.4,397,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1897,3299,3256,3342,0,0,0,0,0,0,14.77,14.78,14.78
$GC,4773,-0.70,-146.6,3246,1898,3254,3342,455.5,-9.2,407,4781,0.00,2.58,0.00,0.000,260,0.000,0.117,3247,3316,3297,3253,3342,0,0,0,0,0,0,14.78,14.56,14.79
$GC,4872,-0.74,-146.6,3246,3315,3254,3342,463.8,-9.0,424,4882,0.10,2.55,0.00,0.000,5126,0.143,0.104,3190,1895,3297,3253,3342,0,0,0,0,0,0,14.59,14.59,14.66
$GC,5178,-0.63,-146.6,3190,1895,3253,3342,501.3,-12.2,435,5187,0.17,2.53,0.00,0.000,2564,0.241,0.119,3246,485,3297,3253,3342,0,0,0,0,0,0,14.49,14.54,14.59
$GC,5238,-0.66,-146.6,3246,483,3253,3345,508.6,-10.0,445,5246,0.00,2.53,0.00,0.000,1030,0.000,0.105,3246,1914,3297,3252,3342,0,0,0,0,0,0,14.64,14.54,14.66
$GC,5562,-0.71,-146.6,3246,1913,3252,3344,534.7,-7.9,457,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1913,3300,3259,3342,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5858,-0.76,-146.6,3246,1913,3249,3342,558.0,-7.8,467,5861,0.10,0.00,0.00,0.000,4102,0.148,0.000,3192,1913,3297,3252,3342,0,0,0,0,0,0,14.59,14.67,14.67
$GC,6161,-0.67,-146.6,3191,1913,3251,3342,590.7,-11.5,477,6169,0.12,2.60,0.00,0.000,2564,0.249,0.119,3232,474,3297,3252,3342,0,0,0,0,0,0,14.50,14.52,14.59
$GC,6230,-0.67,-146.6,3233,474,3251,3342,598.5,-10.1,489,6239,0.00,2.55,0.00,0.000,1030,0.000,0.103,3233,1905,3296,3251,3342,0,0,0,0,0,0,14.65,14.56,14.66
$GC,6575,-0.71,-146.6,3232,1909,3249,3342,628.6,-8.7,505,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1904,3298,3249,3348,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6870,-0.74,-146.6,3232,1904,3249,3342,654.0,-8.1,515,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1904,3295,3249,3342,0,0,0,0,0,0,14.75,14.78,14.78
$GC,7170,-0.74,-146.6,3232,1904,3249,3342,677.4,-7.8,525,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1904,3295,3248,3342,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7470,-0.77,-146.6,3232,1904,3247,3342,701.1,-7.6,535,7479,0.00,2.55,0.00,0.000,260,0.000,0.119,3232,3315,3294,3247,3342,0,0,0,0,0,0,14.77,14.54,14.78
$GC,7530,-0.82,-146.6,3232,3315,3247,3342,705.5,-7.2,545,7538,0.12,2.58,0.00,0.000,5126,0.125,0.106,3168,1885,3294,3247,3342,0,0,0,0,0,0,14.59,14.54,14.66
$STATE,7664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7665,begin apogee
$GC,7676,-0.19,0.0,3168,2102,3248,3342,719.9,-10.6,551,7797,0.73,0.00,115.85,1.564,10246,0.220,0.000,3384,2099,2699,2612,2786,0,0,0,0,0,0,14.48,13.88,13.32
$STATE,7801,end apogee,CONTROL_FINISHED_OK
$STATE,7801,begin climb
$GC,7806,0.57,146.6,3384,2102,2605,2784,722.1,0.0,555,7933,0.80,0.00,117.97,1.515,10502,0.123,0.000,3636,2102,2099,1952,2246,0,0,0,0,0,0,13.90,13.74,13.19
$GC,8245,0.37,146.6,3637,2102,1947,2240,654.1,17.6,575,8256,0.20,2.60,0.00,0.000,4356,0.244,0.113,3577,3511,2094,1947,2241,0,0,0,0,0,0,14.20,14.25,14.31
$GC,8381,0.32,146.6,3577,3512,1946,2240,634.6,13.3,599,8392,0.00,2.60,0.00,0.000,1030,0.000,0.103,3583,2098,2093,1947,2239,0,0,0,0,0,0,14.42,14.33,14.45
$GC,8723,0.27,146.6,3579,2098,1946,2237,593.3,12.0,615,8734,0.12,0.00,0.00,0.000,4102,0.248,0.000,3547,2101,2093,1947,2240,0,0,0,0,0,0,14.40,14.55,14.53
$GC,9028,0.36,178.3,3547,2094,1946,2240,566.1,8.6,625,9066,0.00,2.62,25.60,1.354,8452,0.000,0.117,3547,3514,1964,1822,2107,0,0,0,0,0,0,14.69,14.29,13.85
$GC,9145,0.44,178.3,3547,3514,1825,2104,554.1,11.0,646,9156,0.15,2.58,0.00,0.000,3078,0.125,0.104,3622,2104,1964,1825,2104,0,0,0,0,0,0,14.40,14.38,14.46
$GC,9473,0.32,178.3,3621,2105,1827,2104,501.4,16.7,659,9484,0.17,2.60,0.00,0.000,4356,0.238,0.112,3566,3515,1965,1826,2104,0,0,0,0,0,0,14.39,14.44,14.50
$GC,9525,0.36,178.3,3566,3515,1826,2104,493.5,13.8,667,9536,0.00,2.58,0.00,0.000,1030,0.000,0.105,3570,2088,1965,1826,2104,0,0,0,0,0,0,14.54,14.45,14.57
$GC,9858,0.39,178.3,3569,2087,1827,2104,454.4,11.5,681,9869,0.00,2.60,0.00,0.000,260,0.000,0.114,3569,3515,1965,1826,2104,0,0,0,0,0,0,14.73,14.49,14.73
$GC,9944,0.39,178.3,3569,3515,1826,2105,443.1,12.9,696,9956,0.00,2.55,0.00,0.000,1030,0.000,0.105,3568,2090,1964,1826,2103,0,0,0,0,0,0,14.63,14.52,14.63
$GC,10273,0.43,178.3,3569,2090,1826,2103,403.7,12.1,709,10284,0.00,2.60,0.00,0.000,260,0.000,0.116,3570,3516,1968,1833,2103,0,0,0,0,0,0,14.75,14.52,14.76
$GC,10320,0.46,178.3,3569,3515,1826,2103,397.6,13.1,716,10332,0.08,2.55,0.00,0.000,3078,0.168,0.106,3619,2092,1964,1826,2103,0,0,0,0,0,0,14.57,14.55,14.63
$GC,10658,0.37,178.3,3619,2092,1826,2103,349.5,14.2,731,10670,0.12,2.53,0.00,0.000,4612,0.250,0.119,3582,695,1964,1826,2103,0,0,0,0,0,0,14.50,14.56,14.59
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$GC,11583,0.37,178.3,3583,3515,1826,2102,249.2,12.5,802,11594,0.00,2.55,0.00,0.000,1030,0.000,0.108,3583,2089,1964,1826,2102,0,0,0,0,0,0,14.66,14.57,14.69
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$STATE,13774,end climb,SURFACE_DEPTH_REACHED
$STATE,13774,begin surface coast
$FINISH,0.3,1.022374
$STATE,13816,end surface coast,CONTROL_FINISHED_OK
$STATE,13816,begin surface
$SM_CCo,13847,49.78,0.086,0,0,1068,400.08
$SM_GC,1.09,9.85,0.35,49.78,0.053,0.129,0.086,87,1900,1068,-10.46,0.54,400.08,0,0,0,0,0,0,14.52,14.50,14.50
$IRIDIUM_FIX,4722.92,-12511.06,170615,053610
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.21
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3934208
$24V_AH,13.19,3.461
$10V_AH,12.99,0.000
$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,28.250,123.700,330.375,49.775,0.000,0.000,0.000,237.450,0.000,0.000,5.249,2377.253,8525.734,601.722,2103.988,757.856,0.000,1938.911,0.000,1640.098,0.000,0.536,0.000
$DEVICE_MAMPS,387.090,2239.920,1563.660,86.445,0.000,0.000,0.000,150.705,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13832.000,7908.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.141,8.950,0.000,0.000
$MEM,286444
$DATA_FILE_SIZE,36671,1053
$CAP_FILE_SIZE,187105,0
$CFSIZE,260034560,255414272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,100.77,1
$GPS,170615,133932,4741.109,-12514.211,23,0.8,23,16.5,0.1,0.0,11,4.1