version: 66.12
glider: 204
mission: 15
dive: 178
start: 4 3 115 20 5 42
data:
$ID,204
$MISSION,15
$DIVE,178
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,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,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,030415,195434,1429.2386,14531.4316,27,0.9,27,1.0,1.0,287.0,9,10.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.4
$GPS2,030415,200531,1429.1421,14531.2334,11,0.8,11,0.9,0.9,282.9,11,8.2
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,182.1,103248,-16.9,-10.000,-20.51,2373
$D_GRID,1030
$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,-0.81,-155.7,180,2629,809,806,0.0,0.0,0,153,0.00,0.00,-52.35,0.000,16386,0.000,0.000,181,2628,2227,2189,2265,0,0,0,0,0,0,26.17,28.83,26.23
$GC,154,-0.81,-155.7,182,2630,2189,2266,3.5,-5.6,8,200,11.88,2.12,-28.73,0.000,18948,0.226,0.040,3008,1209,3475,3448,3503,0,0,0,0,0,0,25.49,24.18,25.67
$GC,353,-0.81,-155.7,3007,1209,3451,3506,45.9,-21.0,44,370,0.00,2.12,0.00,0.000,1030,0.000,0.033,3000,2591,3476,3448,3504,0,0,0,0,0,0,26.01,25.95,26.04
$GC,674,-0.81,-155.7,3001,2597,3448,3506,121.4,-22.5,76,681,0.00,2.05,0.00,0.000,516,0.000,0.025,3008,1215,3477,3449,3505,0,0,0,0,0,0,26.20,26.09,26.25
$GC,735,-0.81,-155.7,3009,1216,3449,3506,133.0,-19.7,81,746,0.00,2.12,0.00,0.000,1030,0.000,0.033,3000,2602,3477,3449,3505,0,0,0,0,0,0,26.12,26.05,26.15
$GC,1040,-0.81,-155.7,3000,2603,3451,3508,186.8,-16.4,112,1050,0.00,1.70,0.00,0.000,260,0.000,0.046,2991,3703,3478,3451,3506,0,0,0,0,0,0,26.12,25.91,26.17
$GC,1220,-0.81,-155.7,2990,3703,3453,3508,214.3,-17.2,122,1233,0.00,1.55,0.00,0.000,1030,0.000,0.022,2998,2593,3479,3451,3508,0,0,0,0,0,0,26.22,26.20,26.24
$GC,1526,-0.81,-155.7,2997,2594,3455,3508,263.3,-14.9,133,1533,0.00,2.03,0.00,0.000,516,0.000,0.027,3008,1227,3480,3453,3507,0,0,0,0,0,0,26.22,26.10,26.27
$GC,1572,-0.81,-155.7,3009,1227,3453,3508,266.9,-14.3,134,1580,0.00,2.10,0.00,0.000,1030,0.000,0.029,2999,2613,3480,3453,3507,0,0,0,0,0,0,26.15,26.09,26.18
$GC,1884,-0.81,-155.7,2998,2613,3455,3508,307.1,-11.1,145,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2613,3480,3452,3508,0,0,0,0,0,0,26.20,26.26,26.25
$GC,2184,-0.81,-155.7,2999,2614,3455,3507,347.6,-14.5,155,2193,0.00,1.65,0.00,0.000,260,0.000,0.044,2991,3692,3479,3453,3506,0,0,0,0,0,0,26.21,26.01,26.27
$GC,2262,-0.81,-155.7,2992,3692,3453,3506,356.5,-14.2,157,2269,0.00,1.52,0.00,0.000,1030,0.000,0.022,2995,2601,3479,3452,3506,0,0,0,0,0,0,26.20,26.19,26.21
$GC,2578,-0.81,-155.7,2994,2602,3455,3501,399.0,-12.1,168,2586,0.00,2.05,0.00,0.000,516,0.000,0.025,3004,1215,3476,3453,3500,0,0,0,0,0,0,26.20,26.10,26.26
$GC,2655,-0.81,-155.7,3005,1216,3453,3499,405.7,-11.9,170,2662,0.00,2.12,0.00,0.000,1030,0.000,0.031,2996,2602,3473,3453,3494,0,0,0,0,0,0,26.11,26.06,26.14
$GC,2960,-0.81,-155.7,2995,2603,3455,3496,441.6,-11.1,180,2968,0.00,2.08,0.00,0.000,516,0.000,0.024,3004,1207,3474,3453,3495,0,0,0,0,0,0,26.20,26.09,26.26
$GC,2982,-0.81,-155.7,3005,1207,3452,3495,441.6,-11.1,180,2989,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2609,3474,3453,3495,0,0,0,0,0,0,26.12,26.05,26.15
$GC,3294,-0.81,-155.7,2997,2609,3450,3492,477.1,-10.9,191,3302,0.00,1.70,0.00,0.000,260,0.000,0.046,2987,3701,3470,3449,3492,0,0,0,0,0,0,26.19,25.91,26.25
$GC,3330,-0.81,-155.7,2987,3702,3449,3491,480.8,-11.1,192,3337,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2609,3470,3450,3490,0,0,0,0,0,0,26.17,26.15,26.19
$GC,3656,-0.81,-155.7,2993,2609,3448,3489,518.1,-11.2,203,3664,0.00,2.12,0.00,0.000,516,0.000,0.025,3003,1200,3467,3447,3488,0,0,0,0,0,0,26.16,26.06,26.22
$GC,3728,-0.81,-155.7,3002,1196,3447,3495,524.7,-10.9,205,3736,0.00,2.17,0.00,0.000,1030,0.000,0.031,2994,2605,3466,3445,3488,0,0,0,0,0,0,26.08,26.01,26.11
$GC,4050,-0.81,-155.7,2995,2605,3441,3485,560.6,-10.6,216,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2605,3463,3442,3484,0,0,0,0,0,0,26.17,26.24,26.22
$GC,4350,-0.81,-155.7,2994,2606,3440,3483,590.2,-9.6,226,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3460,3439,3482,0,0,0,0,0,0,26.14,26.21,26.20
$GC,4650,-0.81,-155.7,2994,2606,3437,3480,618.9,-9.9,236,4657,0.00,1.70,0.00,0.000,260,0.000,0.047,2986,3692,3457,3436,3479,0,0,0,0,0,0,26.14,25.88,26.20
$GC,4686,-0.81,-155.7,2985,3694,3437,3479,622.5,-10.2,237,4693,0.00,1.60,0.00,0.000,1030,0.000,0.024,2993,2585,3456,3435,3478,0,0,0,0,0,0,26.11,26.08,26.13
$GC,5012,-0.81,-155.7,2993,2586,3431,3477,660.2,-11.9,248,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3454,3433,3476,0,0,0,0,0,0,26.10,26.17,26.17
$GC,5312,-0.81,-155.7,2991,2586,3431,3475,693.2,-10.4,258,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3451,3429,3474,0,0,0,0,0,0,26.10,26.16,26.15
$GC,5612,-0.81,-155.7,2994,2586,3426,3472,721.6,-9.2,268,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3449,3426,3472,0,0,0,0,0,0,26.08,26.15,26.13
$GC,5912,-0.81,-155.7,2994,2586,3424,3472,748.7,-8.8,278,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3447,3424,3471,0,0,0,0,0,0,26.10,26.17,26.15
$GC,6212,-0.81,-155.7,2992,2586,3425,3469,776.6,-9.7,288,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3445,3423,3468,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6512,-0.81,-155.7,2992,2586,3423,3467,805.7,-9.7,298,6519,0.00,1.75,0.00,0.000,260,0.000,0.045,2986,3692,3444,3421,3467,0,0,0,0,0,0,26.07,25.79,26.12
$GC,6543,-0.81,-155.7,2984,3693,3423,3467,808.9,-9.7,299,6551,0.00,1.60,0.00,0.000,1030,0.000,0.024,2992,2589,3443,3420,3466,0,0,0,0,0,0,26.06,26.02,26.07
$GC,6875,-0.81,-155.7,2993,2588,3418,3465,840.9,-9.4,310,6885,0.00,2.08,0.00,0.000,516,0.000,0.028,2999,1213,3442,3419,3465,0,0,0,0,0,0,26.06,25.89,26.11
$GC,6914,-0.81,-155.7,2998,1213,3420,3466,844.1,-9.4,311,6922,0.00,2.17,0.00,0.000,1030,0.000,0.031,2991,2603,3441,3418,3465,0,0,0,0,0,0,25.94,25.86,25.97
$GC,7236,-0.81,-155.7,2991,2604,3416,3464,875.8,-9.8,322,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2603,3439,3416,3463,0,0,0,0,0,0,26.03,26.10,26.09
$GC,7536,-0.81,-155.7,2991,2604,3414,3463,904.1,-9.5,332,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2603,3438,3414,3462,0,0,0,0,0,0,26.03,26.10,26.09
$GC,7837,-0.81,-155.7,2990,2604,3416,3462,933.2,-9.8,342,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2603,3437,3413,3461,0,0,0,0,0,0,26.03,26.12,26.10
$GC,8136,-0.81,-155.7,2990,2604,3415,3461,962.4,-9.7,352,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2603,3436,3412,3460,0,0,0,0,0,0,26.04,26.10,26.10
$GC,8436,-0.81,-155.7,2990,2604,3412,3460,989.0,-8.8,362,8443,0.00,1.77,0.00,0.000,260,0.000,0.046,2982,3721,3433,3410,3457,0,0,0,0,0,0,26.03,25.70,26.09
$STATE,8466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8466,begin apogee
$GC,8471,-0.17,0.0,2990,2422,3412,3460,992.0,-8.9,363,8603,0.77,0.00,124.53,1.264,10246,0.148,0.000,3210,2419,2838,2811,2866,0,0,0,0,0,0,25.36,24.53,23.59
$STATE,8603,end apogee,CONTROL_FINISHED_OK
$STATE,8603,begin climb
$GC,8605,0.81,155.7,3210,2420,2810,2863,996.4,0.0,367,8752,1.05,2.35,134.68,1.241,10756,0.128,0.028,3530,1033,2198,2190,2206,0,0,0,0,0,0,24.70,24.04,23.11
$GC,8955,0.93,238.4,3531,1033,2182,2198,985.8,6.4,379,9041,0.15,2.20,70.00,1.239,11270,0.164,0.030,3569,2435,1860,1859,1861,0,0,0,0,0,0,25.52,25.81,23.87
$GC,9336,0.93,238.4,3568,2436,1854,1851,946.2,10.4,392,9344,0.00,1.98,0.00,0.000,260,0.000,0.045,3560,3689,1854,1852,1856,0,0,0,0,0,0,26.10,25.96,26.17
$GC,9428,0.93,238.4,3559,3689,1853,1850,936.2,10.8,395,9439,0.00,1.88,0.00,0.000,1030,0.000,0.024,3569,2405,1850,1851,1849,0,0,0,0,0,0,26.17,26.10,26.19
$GC,9758,0.96,261.3,3569,2403,1849,1849,905.7,9.0,406,9792,0.00,2.12,18.73,1.190,8452,0.000,0.044,3560,3691,1767,1769,1766,0,0,0,0,0,0,26.09,25.72,24.71
$GC,9811,0.99,279.9,3558,3692,1770,1764,902.9,9.2,407,9838,0.00,1.88,17.23,1.186,9222,0.000,0.024,3569,2421,1693,1694,1692,0,0,0,0,0,0,25.94,25.92,24.44
$GC,10152,0.99,279.9,3568,2422,1689,1684,861.4,12.2,419,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2421,1685,1687,1683,0,0,0,0,0,0,26.14,26.21,26.20
$GC,10452,0.99,279.9,3568,2422,1688,1683,821.6,13.7,429,10461,0.00,2.12,0.00,0.000,516,0.000,0.031,3579,1035,1683,1685,1682,0,0,0,0,0,0,26.16,26.08,26.22
$GC,10485,0.99,279.9,3580,1035,1684,1682,816.9,14.0,430,10492,0.00,2.15,0.00,0.000,1030,0.000,0.031,3570,2418,1683,1685,1682,0,0,0,0,0,0,26.10,26.03,26.14
$GC,10811,0.99,279.9,3571,2419,1684,1682,769.2,14.6,441,10819,0.00,2.03,0.00,0.000,260,0.000,0.047,3560,3695,1682,1684,1681,0,0,0,0,0,0,26.15,25.94,26.21
$GC,10908,0.99,279.9,3559,3696,1686,1683,755.9,15.2,444,10916,0.00,1.88,0.00,0.000,1030,0.000,0.024,3569,2420,1683,1684,1682,0,0,0,0,0,0,26.15,26.10,26.16
$GC,11230,0.99,279.9,3568,2421,1686,1681,712.5,12.4,455,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2420,1682,1684,1680,0,0,0,0,0,0,26.13,26.19,26.18
$GC,11531,0.99,279.9,3570,2420,1684,1680,678.2,11.1,465,11539,0.00,2.03,0.00,0.000,260,0.000,0.046,3560,3695,1682,1684,1680,0,0,0,0,0,0,26.10,25.88,26.15
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$STATE,17434,end climb,SURFACE_DEPTH_REACHED
$STATE,17434,begin surface coast
$FINISH,1.0,1.022257
$STATE,17449,end surface coast,CONTROL_FINISHED_OK
$STATE,17449,begin surface
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$IRIDIUM_FIX,1420.86,14533.50,290108,092733
$TT8_MAMPS,0.053928,0.053928
$HUMID,36.76
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.70
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17438.67 7373.78
$PA_BOOTCOUNT,983
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$PA_DATA0,0.47/55.180/117.199/56.065
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.06/0.104/1.856/1.658
$PA_DISK_BANK,2
$24V_AH,23.11,63.621
$10V_AH,9.97,37.259
$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,24.375,119.500,514.325,16.475,0.000,0.000,0.000,435.925,0.000,18132.980,12.607,0.000,14000.483,590.504,3405.553,131.144,0.000,2445.467,0.000,1812.532,0.000,0.548,0.000
$DEVICE_MAMPS,225.675,55.080,1263.780,119.340,0.000,0.000,0.000,89.505,420.000,63.422,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,561.561,0.000,0.000,0.000,0.000,0.000,18133.102,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,237856
$DATA_FILE_SIZE,36752,833
$CAP_FILE_SIZE,152477,0
$CFSIZE,1024393216,1000833024
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,19028.31,0x236db2,7,5
$INTR,1,198.48,0x212970,0,24
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$GPS,040415,005804,1427.306,14530.730,39,1.0,39,1.0,0.9,280.7,7,16.5