version: 66.11
glider: 189
mission: 7
dive: 570
start: 3 10 113 0 56 43
data:
$ID,189
$MISSION,7
$DIVE,570
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48371.27
$T_RSLEEP,28
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,100313,004524,2430.868,-3746.498,38,1.1,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-60.7
$GPS2,100313,005541,2430.904,-3746.561,16,1.1,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.077,-0.086
$KALMAN_X,91015.0,-135.5,658.6,-65718.2,-4645.8
$KALMAN_Y,95894.8,330.3,-303.9,-104657.0,2165.1
$MHEAD_RNG_PITCHd_Wd,151.9,2822,-21.1,-6.667,-30.00
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.02,0.000,2,0.000,0.000,153,2174,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.2,0.0,1,105,9.05,2.65,-51.58,0.000,4,0.182,0.054,2566,3753,2721,0,0,0,0,0,0,25.19,25.87,26.69
$GC,285,-1.29,-97.7,9.0,-10.3,26,292,0.00,2.47,0.00,0.000,6,0.000,0.021,2566,2096,2721,0,0,0,0,0,0,28.83,26.28,28.83
$GC,595,-1.24,-97.7,35.7,-7.9,57,603,0.12,2.65,0.00,0.000,4,0.157,0.040,2584,3756,2721,0,0,0,0,0,0,26.25,25.96,28.83
$GC,708,-1.22,-97.7,44.6,-8.3,68,714,0.00,2.42,0.00,0.000,6,0.000,0.021,2586,2101,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1015,-1.22,-97.7,69.0,-7.6,99,1023,0.00,2.45,0.00,0.000,4,0.000,0.037,2586,544,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1055,-1.18,-97.7,72.3,-8.2,103,1063,0.12,2.47,0.00,0.000,6,0.132,0.024,2615,2190,2723,0,0,0,0,0,0,25.79,26.30,28.83
$GC,1368,-1.18,-97.7,95.5,-7.2,116,1373,0.00,2.55,0.00,0.000,4,0.000,0.036,2615,543,2723,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1414,-1.18,-97.7,97.5,-7.1,117,1423,0.00,2.47,0.00,0.000,6,0.000,0.023,2604,2194,2723,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1725,-1.18,-97.7,119.2,-6.5,128,1731,0.00,2.58,0.00,0.000,4,0.000,0.035,2604,549,2724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1785,-1.18,-97.7,123.1,-6.5,130,1792,0.00,2.47,0.00,0.000,6,0.000,0.023,2592,2195,2723,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2119,-1.18,-97.7,143.2,-6.2,141,2124,0.00,2.55,0.00,0.000,4,0.000,0.034,2590,544,2727,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2145,-1.18,-97.7,144.9,-6.1,142,2152,0.10,2.47,0.00,0.000,6,0.135,0.023,2614,2190,2724,0,0,0,0,0,0,25.88,26.32,28.83
$GC,2476,-1.20,-97.7,165.3,-6.1,149,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2189,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2775,-1.23,-97.7,185.0,-6.7,154,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2189,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,-1.26,-97.7,208.7,-8.0,159,3081,0.00,2.55,0.00,0.000,4,0.000,0.035,2614,544,2725,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3185,-1.29,-97.7,214.0,-8.3,160,3193,0.00,2.47,0.00,0.000,6,0.000,0.024,2603,2191,2725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3495,-1.31,-97.7,243.6,-8.1,166,3501,0.00,2.55,0.00,0.000,4,0.000,0.035,2603,535,2725,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3574,-1.33,-97.7,248.3,-7.9,167,3581,0.00,2.47,0.00,0.000,6,0.000,0.023,2591,2188,2725,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3916,-1.33,-97.7,270.0,-5.7,173,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2188,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4215,-1.33,-97.7,286.4,-5.5,178,4221,0.00,2.53,0.00,0.000,4,0.000,0.035,2591,543,2725,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4294,-1.33,-97.7,290.0,-5.7,179,4301,0.00,2.47,0.00,0.000,6,0.000,0.023,2579,2189,2725,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4636,-1.33,-97.7,316.0,-7.6,185,4641,0.00,2.55,0.00,0.000,4,0.000,0.035,2579,536,2725,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4744,-1.33,-97.7,321.1,-8.0,186,4752,0.00,2.47,0.00,0.000,6,0.000,0.024,2567,2183,2725,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5055,-1.33,-97.7,354.7,-9.5,192,5061,0.00,2.58,0.00,0.000,4,0.000,0.035,2567,543,2725,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5135,-1.33,-97.7,360.6,-9.5,193,5141,0.00,2.53,0.00,0.000,6,0.000,0.024,2555,2189,2724,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5475,-1.33,-97.7,394.5,-9.2,199,5481,0.00,2.53,0.00,0.000,4,0.000,0.036,2555,546,2724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5554,-1.33,-97.7,400.3,-9.2,200,5561,0.00,2.50,0.00,0.000,6,0.000,0.024,2543,2192,2724,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5896,-1.33,-97.7,431.5,-8.7,206,5901,0.00,2.55,0.00,0.000,4,0.000,0.036,2543,542,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5964,-1.31,-97.7,436.5,-8.5,207,5972,0.12,2.47,0.00,0.000,6,0.135,0.024,2571,2184,2723,0,0,0,0,0,0,25.79,26.31,28.83
$GC,6316,-1.33,-97.7,462.1,-7.0,213,6321,0.00,2.55,0.00,0.000,4,0.000,0.037,2572,542,2722,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6394,-1.33,-97.7,466.2,-6.9,214,6401,0.00,2.55,0.00,0.000,6,0.000,0.024,2562,2187,2722,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6735,-1.33,-97.7,491.2,-7.1,220,6741,0.00,2.58,0.00,0.000,4,0.000,0.037,2562,549,2720,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6824,-1.33,-97.7,495.9,-7.2,221,6831,0.00,2.50,0.00,0.000,6,0.000,0.024,2550,2195,2720,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7215,-1.33,-97.7,533.0,-8.8,225,7221,0.00,2.60,0.00,0.000,4,0.000,0.037,2549,549,2719,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7335,-1.33,-97.7,544.9,-9.2,226,7342,0.10,2.47,0.00,0.000,6,0.135,0.024,2570,2184,2718,0,0,0,0,0,0,25.87,26.30,28.83
$GC,7696,-1.33,-97.7,578.6,-9.5,229,7702,0.00,2.55,0.00,0.000,4,0.000,0.037,2570,545,2718,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7754,-1.33,-97.7,578.6,-9.5,229,7762,0.00,2.50,0.00,0.000,6,0.000,0.024,2560,2190,2717,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8175,-1.35,-97.7,617.2,-8.0,233,8181,0.00,2.60,0.00,0.000,4,0.000,0.037,2560,544,2716,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8315,-1.35,-97.7,626.2,-7.6,234,8321,0.00,2.55,0.00,0.000,6,0.000,0.024,2548,2189,2715,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8655,-1.35,-97.7,653.2,-7.5,237,8661,0.00,2.60,0.00,0.000,4,0.000,0.038,2548,547,2714,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8824,-1.35,-97.7,663.0,-7.7,238,8831,0.00,2.50,0.00,0.000,6,0.000,0.025,2536,2186,2713,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9136,-1.35,-97.7,694.7,-8.6,241,9142,0.00,2.58,0.00,0.000,4,0.000,0.038,2536,542,2712,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9234,-1.35,-97.7,694.7,-8.6,241,9242,0.12,2.53,0.00,0.000,6,0.163,0.024,2559,2195,2712,0,0,0,0,0,0,25.84,26.28,28.83
$GC,9615,-1.38,-97.7,743.6,-10.2,245,9621,0.00,2.62,0.00,0.000,4,0.000,0.039,2560,545,2711,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9725,-1.40,-97.7,743.6,-10.2,245,9733,0.00,2.50,0.00,0.000,6,0.000,0.025,2549,2189,2711,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10095,-1.43,-97.7,796.1,-10.9,249,10102,0.00,2.62,0.00,0.000,4,0.000,0.039,2549,547,2710,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10204,-1.45,-97.7,796.1,-10.9,249,10213,0.00,2.50,0.00,0.000,6,0.000,0.025,2537,2185,2710,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10576,-1.45,-97.7,837.3,-8.6,253,10582,0.00,2.58,0.00,0.000,4,0.000,0.040,2537,540,2708,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10724,-1.45,-97.7,845.2,-7.7,254,10732,0.00,2.53,0.00,0.000,6,0.000,0.024,2525,2192,2707,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11056,-1.45,-97.7,865.2,-5.8,257,11062,0.00,2.58,0.00,0.000,4,0.000,0.040,2525,547,2707,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11175,-1.45,-97.7,872.6,-5.6,258,11181,0.00,2.55,0.00,0.000,6,0.000,0.026,2513,2184,2706,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11535,-1.45,-97.7,899.4,-7.1,261,11541,0.00,2.62,0.00,0.000,4,0.000,0.040,2513,549,2705,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11665,-1.43,-97.7,910.9,-8.0,262,11672,0.10,2.50,0.00,0.000,6,0.141,0.026,2532,2183,2705,0,0,0,0,0,0,25.75,26.21,28.83
$GC,12015,-1.43,-97.7,946.8,-9.8,265,12021,0.00,2.62,0.00,0.000,4,0.000,0.040,2533,546,2704,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12175,-1.43,-97.7,959.6,-10.1,266,12181,0.00,2.50,0.00,0.000,6,0.000,0.026,2522,2186,2701,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,12492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12492,begin apogee
$GC,12501,-0.29,0.0,994.0,-9.8,269,12593,1.23,0.00,86.20,1.643,6,0.125,0.000,2901,1579,2320,0,0,0,0,0,0,24.86,28.83,22.96
$STATE,12595,end apogee,CONTROL_FINISHED_OK
$STATE,12595,begin climb
$GC,12600,1.33,97.7,998.2,0.0,274,12702,1.50,2.08,92.78,1.642,4,0.060,0.047,3446,361,1920,0,0,0,0,0,0,25.32,24.97,22.94
$GC,12775,1.16,97.7,992.6,7.2,283,12782,0.22,1.95,0.00,0.000,6,0.157,0.024,3380,1659,1914,0,0,0,0,0,0,25.40,25.97,28.83
$GC,13116,1.08,97.7,965.9,7.8,290,13122,0.12,2.42,0.00,0.000,4,0.179,0.034,3349,3205,1909,0,0,0,0,0,0,26.06,26.13,28.83
$GC,13224,1.00,97.7,965.9,7.8,290,13233,0.10,2.55,0.00,0.000,6,0.155,0.031,3329,1581,1906,0,0,0,0,0,0,25.79,26.20,28.83
$GC,13595,0.96,97.7,932.7,6.9,294,13601,0.00,2.60,0.00,0.000,4,0.000,0.034,3329,3211,1905,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13797,0.93,104.8,926.2,6.3,295,13808,0.15,2.50,4.95,1.253,6,0.171,0.031,3303,1573,1891,0,0,0,0,0,0,25.76,26.21,24.02
$GC,14187,1.00,159.4,907.5,3.9,299,14245,0.00,2.67,51.78,1.599,4,0.000,0.034,3302,3200,1670,0,0,0,0,0,0,28.83,25.32,23.25
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$GC,18659,1.19,232.3,485.8,8.5,337,18665,0.00,2.10,0.00,0.000,4,0.000,0.047,3387,358,1373,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,23325,end climb,SURFACE_DEPTH_REACHED
$STATE,23325,begin surface coast
$FINISH,1.4,1.007116
$STATE,23346,end surface coast,CONTROL_FINISHED_OK
$STATE,23346,begin surface
$SM_CCo,23372,32.20,0.125,0,0,1096,300.00
$SM_GC,2.36,8.75,0.80,32.20,0.038,0.035,0.125,151,2187,1096,-8.83,-0.62,300.00,0,0,0,0,0,0,26.14,26.29,25.22
$IRIDIUM_FIX,2420.48,-3748.55,090313,171732
$TT8_MAMPS,0.029211,0.029211
$HUMID,64.53
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.30
$XPDR_PINGS,358
$SC_FREEKB,7550944
$TM_FREEKB,4185632
$24V_AH,22.9,94.828
$10V_AH,8.0,84.482
$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,22.525,229.275,303.550,32.200,0.000,25.953,42.873,226.926,89.500,0.000,17.599,2052.964,18618.213,710.892,1976.920,647.586,33.261,1654.952,0.000,1581.092,0.000,0.535,0.000
$DEVICE_MAMPS,182.070,53.550,1643.220,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23360.000,2389.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.546,14.366,0.000,0.000
$MEM,343748
$DATA_FILE_SIZE,13466,485
$CAP_FILE_SIZE,184078,0
$CFSIZE,260034560,199385088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100313,072804,2430.191,-3746.552,35,0.8,35,-13.9