version: 66.13
glider: 221
mission: 7
dive: 783
start: 1 3 119 19 27 41
data:
$ID,221
$MISSION,7
$DIVE,783
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,280
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,350
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,20
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0042300001
$HD_B,0.0085000005
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,399.91037
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3492
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.68855
$PRESSURE_SLOPE,0.000108275
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.80000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044198656
$SEABIRD_T_H,0.00064431952
$SEABIRD_T_I,2.6320724e-05
$SEABIRD_T_J,3.2746798e-06
$SEABIRD_C_G,-9.9022408
$SEABIRD_C_H,1.1403944
$SEABIRD_C_I,-0.0013212307
$SEABIRD_C_J,0.00017705678
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,030119,181424,-7429.1274,-11308.5713,0,4084.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,278.41
$_SM_ANGLEo,3.7
$GPS2,030119,181424,-7429.1274,-11308.5713,0,4084.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideC1
$TGT_LATLONG,-7430.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,41.4,19158,-19.3,-9.429,-21.50,1737
$D_GRID,990
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.01,-107.1,2795,2817,3513,3505,0.0,0.0,0,14,0.00,0.00,-2.08,0.044,16390,0.000,0.000,2793,2817,3935,3929,3942,0,0,0,0,0,0,14.69,12.55,14.58
$GC,17,-1.01,-107.1,2794,2818,3937,3953,0.0,0.0,0,24,1.12,2.00,0.00,0.000,4356,0.145,0.088,2453,3907,3946,3939,3953,0,0,0,0,0,0,14.00,14.00,14.15
$GC,35,-1.01,-107.1,2454,3908,3944,3954,280.1,-8.3,3,41,0.00,1.92,0.00,0.000,1030,0.000,0.048,2453,2794,3949,3943,3956,0,0,0,0,0,0,14.42,14.34,14.45
$GC,340,-1.01,-107.1,2454,2794,3952,3963,309.8,-9.4,34,345,0.00,2.47,0.00,0.000,516,0.000,0.047,2457,1385,3956,3951,3961,0,0,0,0,0,0,14.77,14.19,14.77
$GC,441,-1.01,-107.1,2454,1385,3954,3962,318.7,-9.1,54,446,0.00,2.58,0.00,0.000,1030,0.000,0.063,2453,2807,3957,3953,3962,0,0,0,0,0,0,14.31,14.16,14.36
$GC,752,-1.01,-107.1,2453,2808,3953,3964,345.1,-8.1,86,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2807,3958,3953,3963,0,0,0,0,0,0,14.71,14.71,14.71
$GC,1053,-1.01,-107.1,2453,2807,3955,3964,370.7,-8.4,116,1058,0.00,2.05,0.00,0.000,260,0.000,0.088,2452,3909,3958,3953,3963,0,0,0,0,0,0,14.61,13.99,14.60
$GC,1099,-1.01,-107.1,2453,3912,3955,3964,374.5,-8.1,125,1106,0.00,1.95,0.00,0.000,1030,0.000,0.047,2453,2789,3958,3953,3964,0,0,0,0,0,0,14.36,14.29,14.40
$GC,1404,-1.01,-107.1,2453,2790,3954,3966,398.1,-7.6,156,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2789,3959,3954,3965,0,0,0,0,0,0,14.77,14.77,14.77
$GC,1704,-1.01,-107.1,2453,2789,3955,3965,422.0,-8.0,186,1709,0.00,2.42,0.00,0.000,516,0.000,0.047,2451,1393,3959,3954,3965,0,0,0,0,0,0,14.76,14.04,14.76
$GC,1801,-1.01,-107.1,2453,1394,3956,3966,429.5,-7.5,205,1808,0.00,2.58,0.00,0.000,1030,0.000,0.064,2452,2807,3959,3954,3965,0,0,0,0,0,0,14.27,14.12,14.33
$GC,2106,-1.01,-107.1,2452,2808,3955,3966,453.7,-7.7,236,2111,0.00,2.05,0.00,0.000,260,0.000,0.088,2453,3911,3959,3954,3965,0,0,0,0,0,0,14.75,14.05,14.74
$GC,2240,-1.01,-107.1,2452,3911,3956,3962,464.5,-8.3,262,2248,0.00,1.92,0.00,0.000,1030,0.000,0.047,2452,2793,3959,3954,3964,0,0,0,0,0,0,14.36,14.29,14.39
$GC,2554,-1.01,-107.1,2452,2794,3955,3966,489.7,-8.1,294,2560,0.00,2.47,0.00,0.000,516,0.000,0.047,2452,1385,3959,3954,3965,0,0,0,0,0,0,14.72,14.13,14.72
$GC,2607,-1.01,-107.1,2452,1386,3955,3966,494.0,-7.9,304,2611,0.00,2.60,0.00,0.000,1030,0.000,0.063,2451,2812,3959,3954,3965,0,0,0,0,0,0,14.26,14.12,14.32
$GC,2918,-1.01,-107.1,2451,2813,3955,3966,518.5,-8.0,336,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2812,3959,3954,3964,0,0,0,0,0,0,14.78,14.78,14.78
$GC,3218,-1.01,-107.1,2451,2813,3955,3966,542.1,-7.7,366,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2812,3960,3956,3965,0,0,0,0,0,0,14.78,14.76,14.77
$GC,3518,-1.01,-107.1,2452,2812,3956,3965,564.6,-7.5,396,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2812,3959,3954,3965,0,0,0,0,0,0,14.77,14.77,14.78
$GC,3818,-1.01,-107.1,2451,2813,3955,3966,586.8,-7.3,426,3823,0.00,2.53,0.00,0.000,548,0.000,0.047,2451,1389,3959,3954,3965,0,0,0,0,0,0,14.78,14.05,14.77
$GC,3874,-1.01,-107.1,2451,1390,3955,3966,591.0,-7.4,437,3881,0.00,2.60,0.00,0.000,1030,0.000,0.065,2450,2809,3959,3954,3965,0,0,0,0,0,0,14.23,14.09,14.27
$GC,4179,-1.01,-107.1,2451,2810,3955,3966,612.4,-7.1,468,4180,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2808,3959,3954,3965,0,0,0,0,0,0,14.77,14.77,14.77
$GC,4479,-1.01,-107.1,2451,2809,3955,3964,633.5,-7.0,498,4480,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2809,3958,3953,3963,0,0,0,0,0,0,14.76,14.76,14.76
$GC,4779,-1.01,-107.1,2451,2810,3955,3966,654.8,-7.2,528,4787,0.00,2.05,0.00,0.000,292,0.000,0.088,2447,3915,3959,3954,3964,0,0,0,0,0,0,14.77,14.00,14.77
$GC,4823,-1.01,-107.1,2447,3916,3955,3965,658.2,-7.7,536,4828,0.00,1.95,0.00,0.000,1030,0.000,0.047,2447,2794,3959,3954,3964,0,0,0,0,0,0,14.23,14.16,14.26
$GC,5135,-1.01,-107.1,2447,2794,3955,3964,679.9,-7.0,568,5135,0.00,0.00,0.00,0.000,38,0.000,0.000,2447,2794,3959,3954,3964,0,0,0,0,0,0,14.76,14.76,14.76
$GC,5455,-1.01,-107.1,2448,2796,3955,3965,702.9,-7.3,598,5460,0.00,2.47,0.00,0.000,548,0.000,0.047,2447,1388,3959,3954,3964,0,0,0,0,0,0,14.72,14.11,14.72
$GC,5486,-1.01,-107.1,2447,1389,3952,3965,705.2,-8.3,604,5491,0.00,2.62,0.00,0.000,1030,0.000,0.065,2444,2814,3961,3954,3968,0,0,0,0,0,0,14.22,14.07,14.26
$GC,5882,-1.01,-107.1,2444,2816,3955,3964,733.8,-7.3,622,5883,0.00,0.00,0.00,0.000,38,0.000,0.000,2444,2815,3959,3954,3964,0,0,0,0,0,0,14.57,14.58,14.59
$GC,6242,-1.01,-107.1,2444,2816,3954,3964,760.3,-7.0,634,6242,0.00,0.00,0.00,0.000,38,0.000,0.000,2444,2816,3959,3954,3964,0,0,0,0,0,0,14.57,14.57,14.57
$GC,6598,-1.01,-107.1,2444,2815,3955,3964,784.5,-6.7,646,6604,0.00,2.53,0.00,0.000,548,0.000,0.046,2444,1389,3959,3954,3964,0,0,0,0,0,0,14.69,14.02,14.70
$GC,6635,-1.01,-107.1,2444,1390,3955,3962,787.0,-7.4,653,6641,0.00,2.60,0.00,0.000,1062,0.000,0.064,2443,2809,3959,3954,3964,0,0,0,0,0,0,14.20,14.04,14.24
$GC,7025,-1.01,-107.1,2443,2810,3955,3965,813.2,-6.8,670,7030,0.00,2.05,0.00,0.000,292,0.000,0.088,2441,3910,3959,3954,3964,0,0,0,0,0,0,14.70,13.93,14.69
$GC,7061,-1.01,-107.1,2441,3911,3955,3964,815.7,-7.1,677,7066,0.00,1.92,0.00,0.000,1062,0.000,0.047,2441,2795,3958,3954,3963,0,0,0,0,0,0,14.29,14.22,14.31
$GC,7451,-1.01,-107.1,2441,2796,3955,3963,842.1,-6.8,694,7451,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2795,3958,3954,3963,0,0,0,0,0,0,14.71,14.72,14.72
$GC,7808,-1.01,-107.1,2441,2797,3955,3964,866.1,-6.7,706,7813,0.00,2.47,0.00,0.000,548,0.000,0.047,2441,1392,3958,3954,3963,0,0,0,0,0,0,14.74,14.05,14.74
$GC,7859,-1.01,-107.1,2441,1392,3956,3968,869.4,-6.9,716,7864,0.00,2.60,0.00,0.000,1062,0.000,0.064,2441,2809,3958,3954,3963,0,0,0,0,0,0,14.18,14.02,14.21
$GC,8231,-1.01,-107.1,2440,2810,3955,3964,894.5,-6.5,730,8231,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2809,3958,3954,3963,0,0,0,0,0,0,14.72,14.73,14.73
$GC,8590,-1.01,-107.1,2440,2810,3955,3964,917.8,-6.5,742,8591,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2810,3958,3954,3963,0,0,0,0,0,0,14.73,14.73,14.73
$GC,8950,-1.01,-107.1,2440,2810,3955,3965,940.7,-6.3,754,8955,0.00,2.53,0.00,0.000,548,0.000,0.046,2440,1388,3958,3954,3963,0,0,0,0,0,0,14.73,14.06,14.73
$GC,9002,-1.01,-107.1,2440,1388,3954,3963,943.1,-6.4,764,9007,0.00,2.60,0.00,0.000,1062,0.000,0.065,2437,2806,3959,3955,3963,0,0,0,0,0,0,14.09,13.95,14.14
$GC,9377,-1.01,-107.1,2440,2803,3955,3964,966.2,-6.2,778,9378,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2802,3958,3954,3963,0,0,0,0,0,0,14.73,14.73,14.73
$GC,9734,-1.01,-107.1,2440,2803,3955,3964,988.6,-6.2,790,9735,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2802,3959,3955,3963,0,0,0,0,0,0,14.76,14.76,14.76
$STATE,9760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9760,begin apogee
$GC,9768,-0.23,0.0,2440,2537,3955,3964,990.6,-6.2,791,9914,0.98,0.00,140.07,3.097,10246,0.209,0.000,2697,2536,3492,3499,3485,0,0,0,0,0,0,13.73,12.78,11.53
$STATE,9915,end apogee,CONTROL_FINISHED_OK
$STATE,9915,begin climb
$GC,9918,1.01,107.1,2697,2536,3500,3483,991.7,0.0,796,10070,1.45,2.97,144.57,3.097,10500,0.110,0.086,3103,3906,3064,3080,3048,0,0,0,0,0,0,12.74,12.19,11.09
$GC,10095,1.01,107.1,3104,3906,3079,3044,972.1,16.5,811,10101,0.00,2.70,0.00,0.000,1030,0.000,0.047,3114,2557,3061,3078,3044,0,0,0,0,0,0,12.66,12.60,12.67
$GC,10463,1.01,107.1,3114,2557,3070,3037,915.1,15.5,824,10468,0.00,2.75,0.00,0.000,516,0.000,0.060,3125,1143,3053,3070,3036,0,0,0,0,0,0,13.46,13.12,13.46
$GC,10495,1.01,107.1,3125,1142,3071,3035,909.5,16.3,830,10501,0.00,2.75,0.00,0.000,1030,0.000,0.063,3124,2551,3052,3070,3035,0,0,0,0,0,0,13.09,12.90,13.16
$GC,10887,1.01,107.1,3125,2551,3070,3033,847.5,15.8,848,10892,0.00,2.62,0.00,0.000,260,0.000,0.089,3124,3917,3051,3069,3033,0,0,0,0,0,0,14.27,13.74,14.27
$GC,10913,1.01,107.1,3125,3917,3070,3033,842.8,17.2,853,10921,0.17,2.47,0.00,0.000,5126,0.285,0.047,3098,2530,3051,3069,3033,0,0,0,0,0,0,13.52,13.93,13.87
$GC,11278,1.01,107.1,3097,2531,3068,3033,790.7,13.9,866,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2530,3049,3067,3032,0,0,0,0,0,0,14.59,14.59,14.59
$GC,11641,1.01,107.1,3098,2530,3068,3029,740.3,14.3,878,11642,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2530,3049,3067,3032,0,0,0,0,0,0,14.68,14.68,14.68
$GC,11998,1.01,107.1,3098,2531,3067,3033,691.4,13.1,894,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2530,3049,3067,3031,0,0,0,0,0,0,14.77,14.77,14.76
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$STATE,15218,end climb,FINISH_DEPTH_REACHED
$STATE,15219,begin subsurface finish
$FINISH1,280.0,1.027330,9
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$FINISH2,278.5
$STATE,15238,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15238,begin surface
$RAFOS_CLK,614
$RAFOS,2,1546549986,21.232241,21.218334,126,59,55,53,52,52,671,208,175,163,218,185
$RAFOS,1,1546549627,21.132666,21.118610,164,71,63,63,62,53,613,220,168,208,182,150
$RAFOS,0,1546549266,21.032354,21.018333,153,63,62,55,55,55,638,224,196,215,187,150
$RAFOS_FIX,-7429.249512,-11300.593750,030119,212144,3,148,0.36
$IRIDIUM_FIX,-7410.06,-11230.52,311218,020608
$TT8_MAMPS,0.038948,0.402213
$HUMID,51.41
$INTERNAL_PRESSURE,7.92918
$TCM_TEMP,13.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,283.4,15.1
$24V_AH,11.09,246.294
$10V_AH,11.40,0.000
$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,5.100,102.850,284.650,0.000,0.000,0.000,0.000,0.000,51.750,0.000,0.000,0.000,11979.523,417.356,2581.979,386.315,0.000,1307.037,0.000,1766.963,720.000,382.594,0.000
$DEVICE_MAMPS,285.345,110.160,3097.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15253.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.053,0.000,0.000,0.000
$MEM,279680
$DATA_FILE_SIZE,43341,1232
$CAP_FILE_SIZE,150849,0
$CFSIZE,1024409600,926760960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.6
$GPS,030119,211544,-7429.250,-11300.594,0,4147.7,0,53.5,0.0,0.0,0,0.0