version: 66.12
glider: 187
mission: 8
dive: 376
start: 9 25 115 11 48 38
data:
$ID,187
$MISSION,8
$DIVE,376
$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,450
$T_MISSION,510
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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,48
$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
$GPS1,250915,113401,4748.0698,-12524.1162,36,1.8,36,16.5,0.4,0.0,6,8.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-78.0
$GPS2,250915,114809,4748.1074,-12523.9688,2,0.8,4,16.5,0.5,93.7,11,4.3
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,90.8,18435,-14.8,-7.333,-19.49,2243
$D_GRID,686
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,31,-0.39,-107.1,85,1884,1217,1407,0.0,0.0,0,107,0.00,0.00,-71.38,0.000,16390,0.000,0.000,85,1884,3379,3376,3382,0,0,0,0,0,0,14.44,12.58,14.42
$GC,114,-0.39,-107.1,85,1884,3376,3383,2.8,-5.8,2,140,14.07,2.65,0.00,0.000,2308,0.359,0.100,3251,3309,3381,3377,3386,0,0,0,0,0,0,13.83,14.12,14.17
$GC,373,-0.39,-107.1,3251,3309,3376,3390,60.5,-10.9,52,381,0.00,2.58,0.00,0.000,1030,0.000,0.090,3252,1892,3384,3376,3392,0,0,0,0,0,0,14.23,14.10,14.26
$GC,582,-0.39,-107.1,3251,1895,3374,3397,85.8,-12.6,62,591,0.00,2.62,0.00,0.000,260,0.000,0.102,3251,3306,3385,3374,3396,0,0,0,0,0,0,14.52,14.09,14.52
$GC,678,-0.39,-107.1,3249,3306,3370,3398,96.8,-11.0,79,687,0.00,2.55,0.00,0.000,1030,0.000,0.090,3251,1908,3385,3374,3397,0,0,0,0,0,0,14.24,14.10,14.28
$GC,862,-0.39,-107.1,3251,1907,3375,3397,116.2,-9.7,86,866,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1905,3385,3374,3397,0,0,0,0,0,0,14.54,14.55,14.56
$GC,1042,-0.39,-107.1,3251,1907,3374,3397,133.0,-9.2,92,1050,0.00,2.60,0.00,0.000,260,0.000,0.100,3251,3318,3384,3374,3394,0,0,0,0,0,0,14.56,14.04,14.57
$GC,1115,-0.39,-107.1,3251,3318,3373,3397,139.6,-8.7,105,1123,0.00,2.58,0.00,0.000,1030,0.000,0.088,3251,1891,3385,3373,3397,0,0,0,0,0,0,14.26,14.14,14.31
$GC,1329,-0.39,-107.1,3251,1890,3373,3395,160.6,-9.9,116,1337,0.00,2.55,0.00,0.000,516,0.000,0.103,3251,481,3387,3373,3402,0,0,0,0,0,0,14.59,14.10,14.60
$GC,1383,-0.39,-107.1,3251,481,3373,3397,166.1,-10.6,125,1390,0.00,2.55,0.00,0.000,1030,0.000,0.087,3251,1897,3385,3372,3398,0,0,0,0,0,0,14.28,14.14,14.33
$GC,1587,-0.39,-107.1,3251,1897,3371,3398,185.5,-9.5,134,1595,0.00,2.62,0.00,0.000,260,0.000,0.100,3251,3322,3384,3371,3397,0,0,0,0,0,0,14.55,14.02,14.58
$GC,1645,-0.39,-107.1,3251,3322,3370,3398,191.0,-9.0,144,1653,0.00,2.58,0.00,0.000,1030,0.000,0.089,3251,1901,3383,3370,3397,0,0,0,0,0,0,14.28,14.16,14.33
$GC,1845,-0.39,-107.1,3251,1900,3370,3397,208.6,-8.7,152,1853,0.00,2.60,0.00,0.000,516,0.000,0.103,3251,474,3387,3370,3404,0,0,0,0,0,0,14.57,14.07,14.59
$GC,1923,-0.39,-107.1,3252,474,3370,3398,216.1,-9.9,166,1931,0.00,2.55,0.00,0.000,1030,0.000,0.088,3251,1902,3383,3369,3398,0,0,0,0,0,0,14.28,14.15,14.33
$GC,2133,-0.39,-107.1,3252,1902,3371,3398,234.4,-8.8,176,2141,0.00,2.60,0.00,0.000,260,0.000,0.103,3250,3322,3382,3367,3397,0,0,0,0,0,0,14.58,14.06,14.60
$GC,2247,-0.39,-107.1,3251,3322,3368,3398,243.7,-8.0,196,2254,0.00,2.60,0.00,0.000,1030,0.000,0.091,3257,1889,3382,3367,3398,0,0,0,0,0,0,14.20,14.06,14.24
$GC,2456,-0.39,-107.1,3251,1888,3366,3397,262.2,-8.9,204,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1885,3381,3366,3397,0,0,0,0,0,0,14.59,14.62,14.61
$GC,2755,-0.39,-107.1,3251,1888,3365,3397,288.4,-8.7,209,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1888,3381,3365,3397,0,0,0,0,0,0,14.61,14.63,14.62
$GC,3055,-0.39,-107.1,3253,1888,3364,3398,312.8,-8.0,214,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1888,3380,3363,3397,0,0,0,0,0,0,14.60,14.62,14.61
$GC,3356,-0.39,-107.1,3251,1887,3361,3397,337.3,-8.2,219,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1890,3379,3361,3397,0,0,0,0,0,0,14.59,14.61,14.61
$GC,3655,-0.39,-107.1,3256,1888,3360,3393,361.0,-7.9,224,3663,0.00,2.67,0.00,0.000,260,0.000,0.104,3251,3321,3381,3366,3397,0,0,0,0,0,0,14.62,14.07,14.63
$GC,3724,-0.39,-107.1,3251,3320,3359,3397,366.0,-7.2,236,3732,0.00,2.60,0.00,0.000,1030,0.000,0.093,3251,1892,3379,3359,3399,0,0,0,0,0,0,14.26,14.12,14.31
$GC,4098,-0.39,-107.1,3250,1891,3357,3397,392.7,-7.2,253,4106,0.00,2.67,0.00,0.000,260,0.000,0.104,3251,3323,3375,3357,3393,0,0,0,0,0,0,14.57,14.03,14.59
$GC,4137,-0.39,-107.1,3251,3323,3358,3397,395.8,-7.0,259,4144,0.00,2.58,0.00,0.000,1030,0.000,0.091,3251,1911,3377,3354,3400,0,0,0,0,0,0,14.26,14.11,14.29
$GC,4476,-0.39,-107.1,3251,1907,3354,3397,421.0,-7.5,270,4485,0.00,2.65,0.00,0.000,260,0.000,0.105,3251,3323,3376,3356,3397,0,0,0,0,0,0,14.60,14.04,14.59
$GC,4521,-0.39,-107.1,3251,3323,3356,3397,424.4,-7.2,277,4528,0.00,2.60,0.00,0.000,1030,0.000,0.091,3251,1890,3376,3356,3397,0,0,0,0,0,0,14.25,14.12,14.30
$GC,4856,-0.39,-107.1,3251,1889,3354,3395,449.3,-7.5,287,4863,0.00,2.65,0.00,0.000,260,0.000,0.103,3251,3320,3375,3354,3397,0,0,0,0,0,0,14.58,14.07,14.61
$GC,4915,-0.39,-107.1,3251,3320,3353,3397,453.7,-7.3,297,4923,0.00,2.58,0.00,0.000,1030,0.000,0.092,3251,1905,3373,3349,3397,0,0,0,0,0,0,14.26,14.12,14.31
$GC,5234,-0.39,-107.1,3251,1905,3353,3396,478.0,-7.7,304,5242,0.00,2.62,0.00,0.000,260,0.000,0.104,3251,3319,3375,3353,3397,0,0,0,0,0,0,14.59,14.04,14.60
$GC,5287,-0.39,-107.1,3251,3319,3353,3397,482.2,-7.7,313,5295,0.00,2.60,0.00,0.000,1030,0.000,0.092,3251,1890,3373,3352,3395,0,0,0,0,0,0,14.19,14.06,14.23
$GC,5612,-0.39,-107.1,3251,1890,3351,3397,508.1,-8.1,321,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1890,3374,3351,3397,0,0,0,0,0,0,14.58,14.60,14.59
$GC,5911,-0.39,-107.1,3251,1889,3350,3397,532.1,-8.0,326,5919,0.00,2.65,0.00,0.000,260,0.000,0.104,3251,3318,3373,3350,3397,0,0,0,0,0,0,14.59,14.06,14.61
$GC,5990,-0.39,-107.1,3251,3318,3350,3397,538.2,-7.5,340,5998,0.00,2.58,0.00,0.000,1030,0.000,0.094,3251,1907,3373,3349,3397,0,0,0,0,0,0,14.25,14.10,14.29
$GC,6350,-0.39,-107.1,3251,1907,3348,3397,565.7,-7.7,355,6357,0.00,2.65,0.00,0.000,260,0.000,0.106,3251,3322,3373,3349,3397,0,0,0,0,0,0,14.60,14.03,14.59
$GC,6403,-0.39,-107.1,3251,3321,3348,3397,569.7,-7.3,364,6410,0.00,2.60,0.00,0.000,1030,0.000,0.092,3251,1891,3373,3349,3397,0,0,0,0,0,0,14.25,14.11,14.30
$GC,6727,-0.39,-107.1,3248,1891,3346,3397,593.9,-7.5,372,6735,0.00,2.65,0.00,0.000,260,0.000,0.104,3248,3320,3372,3347,3397,0,0,0,0,0,0,14.58,14.04,14.59
$GC,6780,-0.39,-107.1,3251,3320,3347,3397,597.9,-7.3,381,6788,0.00,2.60,0.00,0.000,1030,0.000,0.094,3251,1904,3372,3347,3397,0,0,0,0,0,0,14.25,14.11,14.30
$GC,7105,-0.39,-107.1,3256,1904,3345,3397,621.4,-7.2,389,7112,0.00,2.65,0.00,0.000,260,0.000,0.106,3251,3322,3371,3345,3397,0,0,0,0,0,0,14.59,14.04,14.60
$GC,7152,-0.39,-107.1,3251,3322,3345,3397,625.0,-7.1,397,7160,0.00,2.62,0.00,0.000,1030,0.000,0.093,3251,1885,3370,3344,3397,0,0,0,0,0,0,14.23,14.08,14.28
$GC,7481,-0.39,-107.1,3251,1885,3344,3397,647.3,-6.6,406,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1882,3370,3344,3397,0,0,0,0,0,0,14.57,14.58,14.59
$GC,7782,-0.39,-107.1,3251,1885,3349,3396,667.1,-6.7,411,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1885,3374,3350,3398,0,0,0,0,0,0,14.57,14.59,14.59
$STATE,8076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8076,begin apogee
$GC,8088,-0.16,0.0,3251,2265,3342,3396,686.5,-6.4,416,8176,0.30,0.00,83.90,1.538,10246,0.155,0.000,3345,2267,2941,2884,2998,0,0,0,0,0,0,14.02,13.97,13.23
$STATE,8180,end apogee,CONTROL_FINISHED_OK
$STATE,8180,begin climb
$GC,8185,0.39,107.1,3344,2265,2882,2996,688.3,0.0,417,8289,0.47,2.65,85.62,1.519,10500,0.105,0.103,3516,3660,2497,2373,2621,0,0,0,0,0,0,13.96,13.61,13.04
$GC,8350,0.41,107.1,3516,3660,2376,2617,683.0,6.5,447,8361,0.00,2.65,0.00,0.000,1030,0.000,0.092,3517,2252,2497,2377,2617,0,0,0,0,0,0,13.97,13.85,14.00
$GC,8699,0.44,107.1,3517,2251,2376,2617,663.0,5.8,458,8711,0.00,2.62,0.00,0.000,516,0.000,0.103,3523,822,2496,2376,2617,0,0,0,0,0,0,14.47,14.05,14.51
$GC,8860,0.48,107.1,3516,822,2376,2617,654.0,5.4,487,8871,0.00,2.58,0.00,0.000,1030,0.000,0.092,3517,2245,2497,2376,2618,0,0,0,0,0,0,14.25,14.12,14.29
$GC,9213,0.50,162.2,3516,2245,2374,2617,637.0,4.8,499,9267,0.10,0.00,43.33,1.459,10246,0.124,0.000,3585,2245,2276,2138,2414,0,0,0,0,0,0,14.31,14.16,13.44
$GC,9568,0.50,162.2,3586,2245,2140,2414,602.8,10.2,505,9579,0.00,2.65,0.00,0.000,260,0.000,0.106,3586,3665,2277,2140,2414,0,0,0,0,0,0,14.51,14.11,14.52
$GC,9625,0.50,162.2,3586,3664,2146,2414,596.2,12.1,514,9637,0.17,2.60,0.00,0.000,5126,0.225,0.093,3552,2236,2277,2140,2414,0,0,0,0,0,0,14.00,14.14,14.22
$GC,9957,0.50,162.2,3554,2236,2140,2414,567.8,8.4,522,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2236,2277,2140,2414,0,0,0,0,0,0,14.56,14.59,14.59
$GC,10255,0.50,162.2,3554,2241,2140,2414,542.5,8.4,527,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2236,2280,2147,2414,0,0,0,0,0,0,14.64,14.64,14.63
$GC,10553,0.50,162.2,3554,2236,2140,2418,516.9,8.5,532,10564,0.00,2.67,0.00,0.000,260,0.000,0.106,3556,3663,2279,2144,2414,0,0,0,0,0,0,14.64,14.13,14.65
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$GC,15068,0.50,162.2,3582,2266,2140,2410,125.2,8.4,767,15080,0.00,2.65,0.00,0.000,516,0.000,0.103,3583,821,2277,2140,2414,0,0,0,0,0,0,14.62,14.06,14.63
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$STATE,17122,end climb,SURFACE_DEPTH_REACHED
$STATE,17122,begin surface coast
$FINISH,-0.2,1.012717
$STATE,17159,end surface coast,CONTROL_FINISHED_OK
$STATE,17160,begin surface
$SM_CCo,17191,5.95,0.086,0,0,1310,400.08
$SM_GC,2.48,9.82,0.68,5.95,0.035,0.096,0.086,87,1901,1310,-10.27,0.65,400.08,0,0,0,0,0,0,14.27,14.18,14.19
$IRIDIUM_FIX,4729.30,-12523.69,250915,055833
$TT8_MAMPS,0.021721,0.021721
$HUMID,49.96
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,13.10
$XPDR_PINGS,0
$SC_FREEKB,3787840
$24V_AH,12.58,103.742
$10V_AH,12.93,0.000
$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,25.125,173.300,344.800,5.950,0.000,0.000,0.000,487.675,0.000,0.000,6.237,1869.646,12450.961,591.459,2257.403,854.143,0.000,2230.203,0.000,1296.619,0.000,0.537,0.000
$DEVICE_MAMPS,358.785,106.335,1537.650,86.445,0.000,0.000,0.000,155.295,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17238.000,8385.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.161,9.153,0.000,0.000
$MEM,286376
$DATA_FILE_SIZE,30012,883
$CAP_FILE_SIZE,180220,0
$CFSIZE,260034560,212008960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,0.33,1
$GPS,250915,163708,4748.434,-12521.389,54,1.4,55,16.5,0.2,0.0,7,7.7