version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 157
start: 6 26 115 23 50 15
data:
$ID,574
$MISSION,20
$DIVE,157
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$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,333
$T_MISSION,343
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53162
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2377025.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2124
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.130039
$PRESSURE_SLOPE,0.0001171049
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,165
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,170816,132527,-4518.810,526.053,39,0.9,39,-23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-75.7
$GPS2,170816,133326,-4518.734,526.177,5,1.5,5,-23.9
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,-4620.000,470.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,243.5,115334,-16.4,-10.010,-19.35,2733
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-107.1,127,2096,1529,1446,0.0,0.0,0,45,0.00,0.00,-27.90,0.000,16386,0.000,0.000,127,2097,2189,2185,2194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-0.50,-107.1,127,2097,2187,2192,3.0,-2.0,3,85,10.27,2.35,-19.77,0.000,18692,0.236,0.073,2662,3540,2759,2770,2748,0,0,0,0,0,0,25.41,25.71,26.06
$GC,235,-0.50,-107.1,2662,3540,2770,2750,25.5,-15.1,28,245,0.00,2.30,0.00,0.000,1030,0.000,0.055,2669,2133,2761,2771,2751,0,0,0,0,0,0,28.83,25.84,28.83
$GC,396,-0.50,-107.1,2669,2130,2772,2750,52.8,-17.1,53,403,0.00,2.28,0.00,0.000,260,0.000,0.064,2660,3537,2761,2772,2750,0,0,0,0,0,0,28.83,25.91,28.83
$GC,423,-0.50,-107.1,2660,3537,2772,2750,57.4,-17.6,57,429,0.00,2.28,0.00,0.000,1030,0.000,0.054,2661,2114,2761,2772,2750,0,0,0,0,0,0,28.83,25.93,28.83
$GC,766,-0.50,-107.1,2660,2111,2773,2750,118.2,-18.0,109,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2111,2761,2773,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1073,-0.50,-107.1,2660,2111,2773,2750,172.3,-17.0,140,1085,0.00,2.28,0.00,0.000,260,0.000,0.062,2650,3541,2761,2773,2750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1133,-0.50,-107.1,2650,3540,2773,2750,181.5,-16.5,145,1141,0.10,2.22,0.00,0.000,3078,0.155,0.055,2680,2119,2761,2772,2750,0,0,0,0,0,0,25.98,26.13,28.83
$GC,1438,-0.50,-107.1,2680,2115,2774,2750,227.6,-14.3,176,1442,0.00,2.25,0.00,0.000,260,0.000,0.062,2672,3533,2762,2774,2750,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1534,-0.50,-107.1,2671,3533,2773,2750,239.6,-12.6,184,1545,0.00,2.28,0.00,0.000,1030,0.000,0.057,2672,2125,2762,2774,2750,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1843,-0.50,-107.1,2671,2122,2774,2750,284.3,-14.1,215,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2122,2762,2774,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2146,-0.50,-107.1,2671,2121,2775,2750,322.3,-11.7,245,2155,0.00,2.25,0.00,0.000,260,0.000,0.066,2661,3540,2762,2775,2750,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2223,-0.50,-107.1,2661,3540,2774,2750,331.6,-10.9,252,2235,0.00,2.28,0.00,0.000,1030,0.000,0.057,2661,2129,2762,2775,2750,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2532,-0.50,-107.1,2661,2125,2775,2750,374.1,-14.7,283,2541,0.00,2.25,0.00,0.000,260,0.000,0.066,2651,3537,2762,2775,2750,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2558,-0.50,-107.1,2651,3537,2775,2750,377.3,-14.3,285,2567,0.08,2.30,0.00,0.000,3078,0.154,0.060,2675,2118,2762,2775,2750,0,0,0,0,0,0,26.15,26.28,28.83
$GC,2876,-0.50,-107.1,2675,2116,2775,2750,418.0,-12.1,310,2880,0.00,2.22,0.00,0.000,516,0.000,0.059,2684,711,2762,2775,2750,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2900,-0.50,-107.1,2683,710,2775,2750,420.0,-12.1,311,2904,0.00,2.25,0.00,0.000,1030,0.000,0.054,2675,2133,2762,2775,2750,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3212,-0.50,-107.1,2675,2133,2775,2750,457.1,-11.8,327,3216,0.00,2.22,0.00,0.000,260,0.000,0.065,2664,3533,2762,2775,2750,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3291,-0.50,-107.1,2664,3533,2774,2750,465.7,-11.3,331,3295,0.00,2.25,0.00,0.000,1030,0.000,0.058,2664,2114,2762,2775,2750,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3608,-0.50,-107.1,2664,2111,2775,2749,505.0,-12.4,347,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2111,2762,2775,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3908,-0.50,-107.1,2664,2110,2774,2748,540.7,-11.7,362,3912,0.00,2.28,0.00,0.000,260,0.000,0.067,2654,3539,2761,2775,2748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3972,-0.50,-107.1,2653,3539,2774,2748,547.1,-11.6,365,3977,0.12,2.25,0.00,0.000,3078,0.167,0.060,2683,2116,2761,2774,2749,0,0,0,0,0,0,26.21,26.34,28.83
$GC,4284,-0.50,-107.1,2683,2113,2776,2746,582.6,-11.3,381,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2113,2760,2775,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4584,-0.50,-107.1,2683,2113,2775,2745,617.8,-12.1,396,4588,0.00,2.22,0.00,0.000,516,0.000,0.060,2683,711,2760,2775,2746,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4603,-0.50,-107.1,1792,710,2748,2741,619.8,-12.3,397,4608,0.00,2.25,0.00,0.000,1030,0.000,0.057,2675,2129,2760,2775,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4915,-0.50,-107.1,2675,2129,2776,2744,662.7,-13.7,413,4921,0.00,2.22,0.00,0.000,260,0.000,0.067,2664,3532,2759,2775,2744,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4978,-0.50,-107.1,2664,3532,2775,2744,670.6,-13.2,416,4982,0.00,2.28,0.00,0.000,1030,0.000,0.060,2664,2128,2759,2775,2744,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5295,-0.50,-107.1,2664,2124,2775,2743,716.8,-14.6,432,5299,0.00,2.25,0.00,0.000,260,0.000,0.070,2654,3539,2759,2775,2743,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5314,-0.50,-107.1,2653,3539,2775,2743,719.0,-14.4,433,5319,0.12,2.28,0.00,0.000,3078,0.167,0.063,2683,2115,2759,2775,2743,0,0,0,0,0,0,26.23,26.35,28.83
$GC,5626,-0.50,-107.1,2683,2112,2774,2743,757.0,-11.1,449,5632,0.00,2.25,0.00,0.000,516,0.000,0.062,2684,697,2759,2775,2743,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5673,-0.50,-107.1,2684,697,2775,2743,761.3,-11.0,451,5678,0.00,2.28,0.00,0.000,1030,0.000,0.056,2675,2132,2759,2776,2743,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5985,-0.50,-107.1,2675,2132,2775,2742,794.7,-10.2,467,5990,0.00,2.22,0.00,0.000,260,0.000,0.067,2664,3535,2758,2775,2741,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6029,-0.50,-107.1,2664,3535,2774,2741,798.3,-10.1,469,6034,0.00,2.25,0.00,0.000,1030,0.000,0.061,2664,2118,2758,2774,2742,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6342,-0.50,-107.1,2664,2115,2774,2742,830.9,-10.3,485,6348,0.00,2.25,0.00,0.000,516,0.000,0.062,2664,703,2758,2774,2742,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6389,-0.50,-107.1,2663,703,2774,2742,835.1,-10.4,487,6394,0.12,2.28,0.00,0.000,3078,0.183,0.057,2682,2128,2758,2775,2742,0,0,0,0,0,0,26.22,26.37,28.83
$GC,6702,-0.50,-107.1,2682,2129,2774,2741,862.5,-8.1,503,6708,0.00,2.22,0.00,0.000,260,0.000,0.068,2673,3531,2757,2774,2740,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6802,-0.50,-107.1,2673,3531,2773,2741,870.2,-7.7,508,6807,0.00,2.25,0.00,0.000,1030,0.000,0.063,2673,2116,2757,2773,2741,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7122,-0.50,-107.1,2673,2114,2773,2741,899.4,-9.4,524,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2114,2757,2773,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.50,-107.1,2673,2114,2773,2740,927.4,-9.6,539,7427,0.00,2.28,0.00,0.000,260,0.000,0.070,2663,3532,2757,2774,2741,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7490,-0.50,-107.1,2662,3532,2773,2741,933.2,-9.6,542,7494,0.00,2.25,0.00,0.000,1030,0.000,0.064,2663,2123,2757,2773,2741,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7797,-0.50,-107.1,2662,2119,2774,2740,965.5,-10.4,557,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2119,2757,2773,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8096,-0.50,-107.1,2662,2119,2773,2740,997.1,-10.5,572,8100,0.00,2.28,0.00,0.000,260,0.000,0.070,2652,3540,2756,2773,2740,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8120,-0.50,-107.1,2652,3540,2772,2740,998.7,-10.5,573,8125,0.12,2.28,0.00,0.000,3078,0.161,0.064,2683,2117,2756,2772,2740,0,0,0,0,0,0,26.25,26.36,28.83
$STATE,8130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8130,begin apogee
$GC,8134,-0.11,0.0,2682,2117,2773,2740,1000.7,-10.5,574,8225,0.40,0.00,88.30,1.340,10246,0.148,0.000,2801,2113,2322,2364,2280,0,0,0,0,0,0,26.22,28.83,23.81
$STATE,8226,end apogee,CONTROL_FINISHED_OK
$STATE,8226,begin climb
$GC,8228,0.50,107.1,2801,2113,2364,2279,1002.4,0.0,578,8333,0.60,0.00,96.72,1.315,10246,0.083,0.000,2999,2113,1883,1955,1812,0,0,0,0,0,0,24.68,28.83,23.42
$GC,8633,0.50,107.1,2999,2113,1945,1806,939.1,17.8,599,8639,0.00,2.33,0.00,0.000,516,0.000,0.050,3010,679,1875,1945,1806,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8675,0.50,107.1,2136,679,1915,1802,932.1,17.8,601,8679,0.00,2.33,0.00,0.000,1030,0.000,0.042,3010,2100,1873,1941,1806,0,0,0,0,0,0,28.83,25.54,28.83
$GC,8994,0.50,107.1,3010,2103,1940,1806,874.7,17.6,617,9000,0.00,2.20,0.00,0.000,260,0.000,0.053,3010,3507,1872,1940,1805,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9015,0.50,107.1,2120,3506,1912,1802,871.2,17.5,618,9019,0.00,2.28,0.00,0.000,1030,0.000,0.045,3020,2096,1871,1938,1805,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9334,0.50,107.1,3020,2096,1938,1805,815.0,17.1,634,9339,0.00,2.20,0.00,0.000,516,0.000,0.050,3031,690,1871,1937,1805,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9393,0.50,107.1,3031,690,1933,1805,804.7,17.3,637,9399,0.00,2.22,0.00,0.000,1030,0.000,0.042,3031,2110,1869,1933,1805,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9714,0.50,107.1,3031,2110,1934,1805,749.1,17.0,653,9720,0.00,2.22,0.00,0.000,516,0.000,0.048,3041,688,1869,1934,1805,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9793,0.50,107.1,3041,687,1931,1805,735.5,17.0,657,9799,0.15,2.20,0.00,0.000,5126,0.203,0.041,3009,2100,1868,1932,1805,0,0,0,0,0,0,25.89,26.11,28.83
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$GC,11656,0.50,107.1,3021,3511,1929,1805,437.6,16.5,751,11660,0.00,2.17,0.00,0.000,1030,0.000,0.044,3032,2097,1867,1929,1805,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,14350,end climb,SURFACE_DEPTH_REACHED
$STATE,14350,begin surface coast
$FINISH,1.6,1.022680
$STATE,14380,end surface coast,CONTROL_FINISHED_OK
$STATE,14380,begin surface
$SM_CCo,14395,39.03,0.055,0,0,1504,200.16
$SM_GC,2.67,7.68,0.00,39.03,0.041,0.000,0.055,127,2104,1504,-8.42,-0.57,200.16,0,0,0,0,0,0,26.38,28.83,26.34
$IRIDIUM_FIX,-4459.61,451.16,130609,222248
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.84
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,8.80
$XPDR_PINGS,0
$24V_AH,23.4,19.227
$10V_AH,10.1,16.702
$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,20.125,147.600,185.025,39.025,0.000,36.306,26.641,315.714,0.000,0.000,8.969,2808.705,8527.340,399.403,3068.526,133.333,0.000,1456.491,0.000,2637.733,0.000,0.990,0.000
$DEVICE_MAMPS,235.620,72.675,1339.515,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.227,206.417,1116.517,906.919,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352996
$DATA_FILE_SIZE,70528,1050
$CAP_FILE_SIZE,146785,0
$CFSIZE,2097086464,2073821184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.300, 35.7,1
$GPS,170816,173622,-4517.876,526.355,61,1.1,61,-23.9