version: 66.12
glider: 203
mission: 6
dive: 18
start: 12 14 114 12 7 37
data:
$ID,203
$MISSION,6
$DIVE,18
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,15
$N_GPS,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$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,-63.024231
$PRESSURE_SLOPE,0.0001160131
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,141214,120323,2047.1687,-15803.6182,35,1.1,35,9.6,0.0,0.0,7,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-59.3
$GPS2,141214,120727,2047.1779,-15803.6562,7,0.8,7,9.6,1.1,316.0,9,18.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,150.9,62987,-16.8,-10.000,-19.73,2606
$D_GRID,3878
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.94,-170.3,199,2813,1033,896,0.0,0.0,0,52,0.00,0.00,-38.70,0.000,16386,0.000,0.000,198,2813,2117,2139,2095,0,0,0,0,0,0,26.85,28.83,26.93
$GC,53,-0.94,-170.3,199,2813,2140,2097,3.1,-4.8,6,106,8.65,2.08,-36.72,0.000,18948,0.223,0.045,2492,1399,3536,3590,3482,0,0,0,0,0,0,26.44,25.72,26.65
$GC,244,-0.71,-170.3,2493,1399,3592,3483,41.6,-23.5,43,252,0.25,2.15,0.00,0.000,3078,0.135,0.035,2566,2801,3537,3592,3482,0,0,0,0,0,0,26.64,26.76,26.72
$GC,556,-0.63,-170.3,2566,2802,3594,3483,103.2,-17.2,78,560,0.12,1.60,0.00,0.000,2308,0.162,0.050,2596,3848,3538,3594,3482,0,0,0,0,0,0,26.80,26.86,26.91
$GC,595,-0.63,-170.3,2596,3847,3593,3482,108.8,-14.0,82,600,0.00,1.55,0.00,0.000,1030,0.000,0.026,2596,2786,3537,3593,3482,0,0,0,0,0,0,26.98,26.95,27.00
$GC,905,-0.63,-170.3,2596,2788,3597,3483,152.5,-14.2,113,910,0.00,2.03,0.00,0.000,516,0.000,0.026,2596,1390,3539,3596,3482,0,0,0,0,0,0,27.19,27.01,27.25
$GC,960,-0.63,-170.3,2596,1391,3598,3484,159.4,-13.4,118,968,0.00,2.12,0.00,0.000,1030,0.000,0.035,2592,2799,3539,3596,3482,0,0,0,0,0,0,27.02,26.99,27.05
$GC,1265,-0.63,-170.3,2592,2800,3601,3485,195.7,-11.5,149,1270,0.00,1.62,0.00,0.000,260,0.000,0.050,2584,3866,3541,3600,3483,0,0,0,0,0,0,27.25,27.05,27.32
$GC,1310,-0.63,-170.3,2584,3866,3601,3484,200.8,-12.8,153,1318,0.00,1.55,0.00,0.000,1030,0.000,0.026,2584,2792,3542,3600,3484,0,0,0,0,0,0,27.13,27.10,27.15
$GC,1616,-0.70,-170.3,2584,2793,3601,3487,238.2,-11.4,184,1620,0.00,2.00,0.00,0.000,516,0.000,0.026,2584,1401,3543,3600,3486,0,0,0,0,0,0,27.29,27.10,27.36
$GC,1676,-0.79,-170.3,2584,1401,3601,3486,244.8,-10.9,190,1680,0.00,2.08,0.00,0.000,1030,0.000,0.034,2579,2777,3543,3600,3486,0,0,0,0,0,0,27.13,27.09,27.14
$GC,1996,-0.86,-170.3,2579,2776,3601,3486,280.4,-11.2,204,2000,0.10,1.62,0.00,0.000,4356,0.103,0.050,2505,3850,3542,3600,3485,0,0,0,0,0,0,27.17,27.10,27.20
$GC,2080,-0.86,-170.3,2505,3851,3601,3487,288.9,-12.5,206,2088,0.08,1.58,0.00,0.000,3078,0.190,0.026,2519,2758,3542,3600,3484,0,0,0,0,0,0,27.03,27.18,27.14
$GC,2385,-0.86,-170.3,2519,2758,3600,3486,336.0,-14.6,217,2390,0.00,1.67,0.00,0.000,260,0.000,0.051,2514,3846,3542,3599,3485,0,0,0,0,0,0,27.34,27.13,27.41
$GC,2455,-0.86,-170.3,2514,3846,3599,3485,344.5,-14.3,219,2460,0.00,1.55,0.00,0.000,1030,0.000,0.027,2514,2776,3541,3597,3485,0,0,0,0,0,0,27.23,27.20,27.24
$GC,2776,-0.86,-170.3,2514,2777,3595,3486,387.7,-12.5,230,2780,0.00,1.65,0.00,0.000,260,0.000,0.051,2507,3846,3539,3594,3485,0,0,0,0,0,0,27.36,27.15,27.43
$GC,2810,-0.86,-170.3,2507,3847,3594,3485,391.9,-12.7,231,2814,0.00,1.55,0.00,0.000,1030,0.000,0.028,2507,2780,3539,3594,3485,0,0,0,0,0,0,27.25,27.22,27.27
$GC,3135,-0.86,-170.3,2506,2782,3591,3486,437.8,-14.3,242,3137,0.08,0.00,0.00,0.000,2054,0.206,0.000,2520,2781,3537,3590,3485,0,0,0,0,0,0,27.14,27.24,27.21
$GC,3436,-0.86,-170.3,2520,2782,3588,3486,476.0,-12.5,252,3440,0.00,1.65,0.00,0.000,260,0.000,0.054,2515,3848,3534,3585,3484,0,0,0,0,0,0,27.39,27.16,27.46
$GC,3480,-0.86,-170.3,2515,3849,3585,3485,480.0,-12.6,253,3484,0.00,1.52,0.00,0.000,1030,0.000,0.028,2515,2795,3534,3584,3484,0,0,0,0,0,0,27.27,27.24,27.29
$GC,3795,-0.86,-170.3,2515,2796,3582,3483,523.0,-12.8,264,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2795,3531,3581,3482,0,0,0,0,0,0,27.39,27.47,27.46
$GC,4095,-0.86,-170.3,2514,2796,3577,3481,560.4,-12.5,274,4100,0.00,1.65,0.00,0.000,260,0.000,0.055,2511,3859,3528,3577,3479,0,0,0,0,0,0,27.40,27.17,27.47
$GC,4135,-0.86,-170.3,2511,3860,3578,3480,564.4,-12.8,275,4139,0.00,1.55,0.00,0.000,1030,0.000,0.029,2510,2796,3528,3577,3479,0,0,0,0,0,0,27.29,27.24,27.29
$GC,4455,-0.86,-170.3,2509,2796,3575,3478,608.1,-13.3,286,4460,0.00,2.03,0.00,0.000,516,0.000,0.028,2510,1395,3526,3575,3478,0,0,0,0,0,0,27.40,27.22,27.47
$GC,4490,-0.86,-170.3,2511,1397,3576,3479,611.9,-13.2,287,4495,0.00,2.12,0.00,0.000,1030,0.000,0.039,2511,2791,3525,3574,3477,0,0,0,0,0,0,27.22,27.18,27.25
$GC,4815,-0.86,-170.3,2511,2791,3573,3475,656.5,-13.6,298,4820,0.00,1.62,0.00,0.000,260,0.000,0.055,2503,3852,3523,3571,3475,0,0,0,0,0,0,27.40,27.18,27.48
$GC,4885,-0.86,-170.3,2503,3852,3571,3474,664.7,-13.6,300,4891,0.10,1.52,0.00,0.000,3078,0.189,0.029,2524,2804,3522,3570,3474,0,0,0,0,0,0,27.08,27.25,27.21
$GC,5205,-0.86,-170.3,2524,2804,3568,3473,701.3,-10.6,311,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2804,3520,3567,3473,0,0,0,0,0,0,27.41,27.49,27.48
$GC,5505,-0.86,-170.3,2524,2805,3566,3472,733.5,-11.0,321,5511,0.00,1.62,0.00,0.000,260,0.000,0.057,2519,3846,3518,3565,3471,0,0,0,0,0,0,27.41,27.17,27.48
$GC,5540,-0.86,-170.3,2519,3847,3566,3472,736.8,-11.0,322,5544,0.00,1.50,0.00,0.000,1030,0.000,0.030,2519,2816,3518,3565,3471,0,0,0,0,0,0,27.29,27.26,27.31
$GC,5865,-0.86,-170.3,2519,2816,3564,3470,772.5,-10.8,333,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2816,3515,3563,3468,0,0,0,0,0,0,27.41,27.49,27.47
$GC,6165,-0.86,-170.3,2519,2817,3562,3469,804.4,-10.6,343,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2816,3514,3561,3467,0,0,0,0,0,0,27.41,27.50,27.48
$GC,6465,-0.86,-170.3,2519,2817,3560,3466,836.2,-10.7,353,6470,0.00,1.65,0.00,0.000,260,0.000,0.057,2512,3869,3512,3559,3465,0,0,0,0,0,0,27.41,27.19,27.48
$GC,6515,-0.86,-170.3,2512,3870,3561,3465,839.4,-10.7,354,6520,0.00,1.55,0.00,0.000,1030,0.000,0.030,2512,2811,3512,3559,3465,0,0,0,0,0,0,27.29,27.26,27.32
$GC,6825,-0.86,-170.3,2512,2813,3556,3466,875.0,-10.7,365,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2811,3510,3556,3465,0,0,0,0,0,0,27.41,27.50,27.48
$GC,7125,-0.86,-170.3,2512,2811,3556,3463,907.4,-11.0,375,7130,0.00,1.65,0.00,0.000,260,0.000,0.058,2511,3860,3509,3555,3463,0,0,0,0,0,0,27.41,27.18,27.48
$GC,7180,-0.86,-170.3,2511,3860,3556,3463,910.7,-11.0,376,7187,0.00,1.55,0.00,0.000,1030,0.000,0.031,2511,2806,3509,3554,3464,0,0,0,0,0,0,27.30,27.25,27.32
$GC,7485,-0.86,-170.3,2510,2805,3554,3461,945.7,-10.6,387,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2806,3507,3554,3461,0,0,0,0,0,0,27.41,27.50,27.48
$GC,7786,-0.86,-170.3,2511,2807,3553,3462,977.1,-10.4,397,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2806,3505,3552,3459,0,0,0,0,0,0,27.41,27.50,27.48
$STATE,7934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7935,begin apogee
$GC,7937,-0.23,0.0,2511,2950,3551,3461,993.0,-10.6,402,8080,0.68,0.00,135.30,1.554,10244,0.141,0.000,2725,2949,2839,2891,2787,0,0,0,0,1,0,27.08,24.92,24.00
$STATE,8080,end apogee,CONTROL_FINISHED_OK
$STATE,8080,begin climb
$GC,8081,0.94,170.3,2725,2948,2900,2787,998.7,0.0,406,8239,1.08,1.55,144.60,1.647,10500,0.091,0.060,3096,3850,2144,2195,2094,0,0,0,0,1,0,25.12,25.13,23.71
$GC,8463,0.80,201.6,3096,3851,2200,2102,987.0,8.8,419,8498,0.10,1.38,30.40,1.037,13318,0.205,0.029,3078,2941,2011,2061,1961,0,0,0,0,0,0,25.98,26.15,24.84
$GC,8809,0.75,223.9,3078,2941,2053,1951,955.5,9.1,431,8832,0.00,1.52,18.48,1.030,8452,0.000,0.054,3077,3856,1919,1971,1868,0,0,0,0,0,0,26.58,25.93,25.27
$GC,9003,0.65,223.9,3078,3856,1966,1862,936.3,10.9,437,9008,0.17,1.38,0.00,0.000,5126,0.176,0.030,3037,2939,1914,1965,1863,0,0,0,0,0,0,26.24,26.41,26.36
$GC,9318,0.68,251.4,3036,2939,1966,1861,906.1,8.9,448,9350,0.00,2.15,23.85,0.998,8708,0.000,0.029,3040,1549,1804,1855,1753,0,0,0,0,0,0,26.83,26.07,25.41
$GC,9384,0.70,279.3,3040,1550,1852,1753,900.5,8.9,450,9414,0.00,2.17,24.83,0.985,9222,0.000,0.037,3040,2926,1694,1747,1641,0,0,0,0,0,0,26.28,26.25,25.09
$GC,9739,0.70,279.3,3039,2926,1736,1630,863.3,10.5,462,9743,0.00,1.48,0.00,0.000,260,0.000,0.055,3040,3854,1682,1735,1630,0,0,0,0,0,0,26.71,26.50,26.78
$GC,9769,0.70,279.3,3040,3854,1736,1630,860.1,10.6,463,9773,0.00,1.38,0.00,0.000,1030,0.000,0.029,3040,2927,1682,1734,1630,0,0,0,0,0,0,26.63,26.59,26.65
$GC,10099,0.70,279.3,3040,2927,1734,1629,823.3,11.2,474,10103,0.00,2.03,0.00,0.000,516,0.000,0.028,3040,1563,1680,1733,1628,0,0,0,0,0,0,26.93,26.75,27.01
$GC,10174,0.70,279.3,3040,1565,1734,1629,816.9,10.9,476,10179,0.00,2.12,0.00,0.000,1030,0.000,0.037,3039,2937,1681,1734,1628,0,0,0,0,0,0,26.79,26.76,26.82
$GC,10489,0.70,279.3,3040,2938,1733,1629,782.1,10.2,487,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2937,1680,1733,1627,0,0,0,0,0,0,27.05,27.13,27.13
$GC,10789,0.74,310.4,3040,2937,1733,1628,754.2,8.8,497,10822,0.00,2.08,26.15,0.909,8708,0.000,0.030,3039,1549,1563,1618,1509,0,0,0,0,0,0,27.12,26.33,25.70
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$GC,13367,0.85,357.6,3108,2901,1422,1308,422.1,14.2,583,13372,0.00,2.00,0.00,0.000,516,0.000,0.028,3115,1543,1364,1421,1307,0,0,0,0,0,0,27.22,27.03,27.30
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$STATE,17124,end climb,SURFACE_DEPTH_REACHED
$STATE,17124,begin surface coast
$FINISH,1.1,1.009086
$STATE,17139,end surface coast,CONTROL_FINISHED_OK
$STATE,17139,begin surface
$SM_CCo,17150,3.80,0.144,0,0,1206,400.08
$SM_GC,3.03,7.50,0.00,3.80,0.041,0.000,0.144,206,2874,1206,-8.08,2.09,400.08,0,0,0,0,0,0,27.08,27.36,26.94
$IRIDIUM_FIX,2040.99,-15805.92,141214,070308
$TT8_MAMPS,0.056924,0.056924
$HUMID,39.88
$INTERNAL_PRESSURE,9.1463
$TCM_TEMP,25.20
$XPDR_PINGS,9
$24V_AH,23.71,6.757
$10V_AH,10.40,6.559
$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,19.175,119.375,465.850,3.800,0.000,0.000,0.000,187.275,2.250,0.000,7.940,0.000,14037.037,639.840,2643.323,67.584,0.000,1879.213,0.000,1920.370,0.000,0.554,0.000
$DEVICE_MAMPS,223.380,76.500,1647.045,143.820,0.000,0.000,0.000,91.800,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,617.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273216
$DATA_FILE_SIZE,40050,914
$CAP_FILE_SIZE,154557,0
$CFSIZE,1024393216,1018298368
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,18066.31,0x236d6a,7,5
$INTR,1,17141.49,0x236d6a,7,5
$CURRENT,0.000,265.72,1
$GPS,141214,165423,2044.548,-15802.668,34,1.2,34,9.6,0.6,340.7,6,94.6