version: 66.11
glider: 615
mission: 5
dive: 48
start: 9 11 115 20 7 38
data:
$ID,615
$MISSION,5
$DIVE,48
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,579.63446
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11620.234
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$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,3
$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,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,100915,065035,1759.653,8918.934,301,99.0,301,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.71
$_SM_ANGLEo,-76.4
$GPS2,100915,065035,1759.653,8918.934,301,99.0,301,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$TGT_RADIUS,3000.000
$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,20.8,13800,-21.4,-9.167,-25.88,2022
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-126.5,193,2226,562,491,0.0,0.0,0,42,0.00,0.00,-25.38,0.000,16386,0.000,0.000,193,2225,1264,1277,1251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-0.82,-126.5,193,2225,1277,1251,3.1,-4.9,4,108,10.50,2.17,-45.35,0.000,18692,0.362,0.079,2664,3584,3386,3401,3372,0,0,0,0,0,0,14.54,14.76,14.97
$GC,244,-0.82,-126.5,2664,3584,3402,3372,61.0,-25.6,40,252,0.03,2.20,0.00,0.000,3078,0.303,0.038,2670,2194,3387,3402,3372,0,0,0,0,0,0,14.59,14.75,28.83
$GC,442,-0.82,-126.5,2670,2192,3402,3372,95.5,-15.1,77,448,0.00,2.20,0.00,0.000,516,0.000,0.054,2670,800,3387,3402,3372,0,0,0,0,0,0,28.83,14.78,28.83
$GC,552,-0.82,-126.5,2670,800,3402,3372,111.6,-13.3,98,561,0.05,2.20,0.00,0.000,3078,0.292,0.042,2675,2175,3386,3401,3372,0,0,0,0,0,0,14.58,14.76,28.83
$GC,750,-0.82,-126.5,2675,2176,3402,3372,138.5,-14.0,135,756,0.00,2.17,0.00,0.000,516,0.000,0.056,2675,806,3387,3402,3372,0,0,0,0,0,0,28.83,14.78,28.83
$GC,767,-0.82,-126.5,1728,806,3388,3370,141.2,-14.3,138,776,0.00,2.25,0.00,0.000,1030,0.000,0.042,2667,2213,3387,3402,3372,0,0,0,0,0,0,28.83,14.76,28.83
$GC,963,-0.82,-126.5,2667,2213,3401,3372,169.1,-14.6,175,970,0.00,2.22,0.00,0.000,516,0.000,0.057,2667,812,3387,3402,3372,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1018,-0.82,-126.5,2667,812,3401,3372,177.5,-15.1,185,1025,0.10,2.17,0.00,0.000,3078,0.297,0.042,2676,2207,3386,3400,3372,0,0,0,0,0,0,14.65,14.82,28.83
$GC,1214,-0.82,-126.5,2676,2207,3401,3371,204.4,-13.3,219,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,3386,3401,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.82,-126.5,2677,2207,3401,3368,245.4,-13.6,249,1524,0.00,2.25,0.00,0.000,260,0.000,0.066,2667,3606,3384,3401,3368,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1548,-0.82,-126.5,2667,3606,3402,3367,250.6,-13.9,256,1557,0.00,2.22,0.00,0.000,1030,0.000,0.037,2667,2203,3384,3401,3367,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1857,-0.82,-126.5,2667,2202,3401,3362,294.1,-14.0,287,1867,0.00,2.22,0.00,0.000,516,0.000,0.058,2667,804,3381,3401,3362,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1912,-0.82,-126.5,2667,803,3401,3361,302.4,-14.6,298,1921,0.05,2.22,0.00,0.000,3078,0.272,0.044,2671,2192,3381,3401,3361,0,0,0,0,0,0,14.60,14.76,28.83
$GC,2221,-0.82,-126.5,2671,2192,3401,3355,345.2,-14.3,329,2230,0.00,2.20,0.00,0.000,516,0.000,0.058,2671,809,3378,3401,3355,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2265,-0.82,-126.5,2671,809,3401,3355,351.5,-14.6,337,2271,0.05,2.20,0.00,0.000,3078,0.265,0.047,2677,2208,3377,3400,3354,0,0,0,0,0,0,14.67,14.85,28.83
$GC,2584,-0.82,-126.5,2677,2209,3399,3351,395.3,-13.6,356,2590,0.00,2.25,0.00,0.000,516,0.000,0.060,2677,803,3375,3399,3351,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2624,-0.82,-126.5,2677,803,3398,3351,401.1,-14.0,364,2630,0.00,2.20,0.00,0.000,1030,0.000,0.047,2669,2199,3374,3397,3351,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2944,-0.82,-126.5,2669,2200,3396,3347,445.1,-13.8,383,2950,0.00,2.22,0.00,0.000,516,0.000,0.061,2669,810,3371,3396,3347,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3017,-0.82,-126.5,2669,810,3394,3347,455.9,-14.2,398,3026,0.05,2.25,0.00,0.000,3078,0.275,0.050,2673,2194,3370,3394,3347,0,0,0,0,0,0,14.63,14.78,28.83
$GC,3325,-0.82,-126.5,2673,2194,3393,3344,495.6,-13.1,414,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2194,3368,3393,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3635,-0.82,-126.5,2673,2194,3390,3342,536.7,-13.5,425,3639,0.00,2.25,0.00,0.000,516,0.000,0.064,2673,806,3365,3390,3341,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3668,-0.82,-126.5,2673,806,3389,3341,541.8,-14.1,432,3674,0.00,2.25,0.00,0.000,1030,0.000,0.051,2665,2191,3365,3389,3341,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3997,-0.82,-126.5,2665,2191,3388,3338,586.3,-13.5,447,4003,0.00,2.22,0.00,0.000,516,0.000,0.065,2665,811,3363,3388,3338,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4028,-0.82,-126.5,2665,811,3388,3338,590.4,-14.0,453,4035,0.08,2.20,0.00,0.000,3078,0.248,0.051,2677,2200,3362,3387,3338,0,0,0,0,0,0,14.71,14.88,28.83
$GC,4357,-0.82,-126.5,2676,2199,3385,3337,631.6,-12.2,469,4363,0.00,2.25,0.00,0.000,516,0.000,0.066,2677,806,3360,3384,3336,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4380,-0.82,-126.5,2677,806,3384,3336,634.7,-12.4,474,4387,0.00,2.28,0.00,0.000,1030,0.000,0.053,2669,2197,3360,3385,3336,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4687,-0.82,-126.5,2669,2198,3383,3335,673.4,-12.8,485,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2198,3359,3383,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.82,-126.5,2669,2198,3380,3334,712.0,-12.9,495,4993,0.00,2.28,0.00,0.000,516,0.000,0.069,2669,805,3357,3380,3334,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5024,-0.82,-126.5,2669,804,3380,3334,717.3,-13.3,503,5029,0.10,2.25,0.00,0.000,3078,0.304,0.054,2679,2209,3356,3379,3333,0,0,0,0,0,0,14.70,14.88,28.83
$GC,5347,-0.82,-126.5,2679,2210,3379,3332,756.6,-12.2,517,5353,0.00,2.28,0.00,0.000,516,0.000,0.069,2679,807,3355,3378,3332,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5377,-0.82,-126.5,2679,807,3378,3332,760.4,-12.7,523,5383,0.00,2.22,0.00,0.000,1030,0.000,0.054,2671,2204,3355,3378,3332,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5707,-0.82,-126.5,2671,2203,3378,3330,801.7,-12.6,539,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3354,3378,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,-0.82,-126.5,2671,2204,3377,3329,839.3,-12.5,549,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2204,3353,3377,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6307,-0.82,-126.5,2671,2204,3376,3327,876.8,-12.4,559,6311,0.00,2.28,0.00,0.000,516,0.000,0.070,2671,812,3351,3376,3327,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6331,-0.82,-126.5,2671,812,3376,3327,880.2,-13.4,564,6339,0.05,2.28,0.00,0.000,3078,0.282,0.055,2675,2195,3351,3375,3327,0,0,0,0,0,0,14.58,14.78,28.83
$GC,6639,-0.82,-126.5,2675,2195,3375,3326,917.2,-12.2,575,6645,0.00,2.25,0.00,0.000,516,0.000,0.070,2675,813,3350,3375,3326,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6661,-0.82,-126.5,2675,813,3375,3326,920.4,-13.3,580,6669,0.00,2.28,0.00,0.000,1030,0.000,0.055,2667,2196,3350,3375,3326,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6970,-0.82,-126.5,2668,2197,3374,3325,958.5,-12.5,591,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2197,3349,3374,3325,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7237,begin apogee
$GC,7240,-0.16,0.0,2667,2196,3373,3323,991.4,-12.1,600,7393,0.80,0.00,146.88,2.195,10246,0.272,0.000,2886,2198,2872,2915,2829,0,0,0,0,0,0,14.59,28.83,13.26
$STATE,7394,end apogee,CONTROL_FINISHED_OK
$STATE,7394,begin climb
$GC,7395,0.82,126.5,2886,2198,2911,2823,996.1,0.0,631,7517,1.08,2.45,111.20,2.328,10500,0.178,0.075,3203,3542,2346,2402,2290,0,0,0,0,0,0,13.98,13.94,13.24
$GC,7577,0.82,126.5,3203,3542,2396,2283,984.2,10.9,668,7581,0.00,2.33,0.00,0.000,1030,0.000,0.049,3211,2156,2339,2396,2283,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7895,0.82,126.5,3212,2155,2396,2279,948.0,11.4,681,7901,0.00,2.40,0.00,0.000,516,0.000,0.078,3219,734,2338,2396,2280,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8015,0.82,126.5,3219,735,2395,2280,934.2,11.3,705,8022,0.00,2.30,0.00,0.000,1030,0.000,0.054,3218,2144,2337,2395,2280,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8345,0.82,126.5,3219,2144,2394,2278,896.8,11.3,721,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2144,2336,2394,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8645,0.82,126.5,3219,2144,2394,2277,863.3,11.2,731,8651,0.00,2.35,0.00,0.000,516,0.000,0.078,3229,736,2335,2393,2277,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8713,0.82,126.5,3229,736,2393,2277,855.3,11.4,745,8718,0.00,2.28,0.00,0.000,1030,0.000,0.053,3229,2141,2335,2394,2277,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9037,0.82,126.5,3229,2142,2393,2276,820.1,10.8,759,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2142,2334,2393,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9336,0.82,126.5,3229,2142,2392,2275,788.1,10.5,769,9342,0.00,2.35,0.00,0.000,516,0.000,0.079,3238,733,2334,2392,2276,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9419,0.82,126.5,3238,733,2392,2276,778.9,10.8,786,9427,0.00,2.33,0.00,0.000,1030,0.000,0.054,3238,2140,2334,2392,2276,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9727,0.82,126.5,3238,2140,2391,2276,746.7,10.5,797,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2140,2333,2391,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10027,0.82,126.5,3238,2139,2391,2275,714.2,10.9,807,10033,0.00,2.35,0.00,0.000,516,0.000,0.079,3245,728,2333,2391,2275,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10088,0.82,126.5,3244,728,2391,2275,707.2,11.1,820,10093,0.00,2.33,0.00,0.000,1030,0.000,0.054,3245,2141,2332,2390,2275,0,0,0,0,0,0,28.83,14.80,28.83
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$GC,15845,0.92,206.4,3274,736,2068,1955,134.6,11.4,1362,15853,0.00,2.33,0.00,0.000,1030,0.000,0.047,3274,2140,2011,2067,1955,0,0,0,0,0,0,28.83,14.57,28.83
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$GC,17427,1.54,711.8,3374,2138,804,686,7.4,-0.3,1660,17466,0.17,2.35,33.12,0.155,10500,0.130,0.059,3447,3544,510,573,447,0,0,0,0,0,0,14.52,14.62,14.53
$STATE,17658,end climb,NO_VERTICAL_VELOCITY
$STATE,17658,begin surface
$SM_CCo,17924,1.40,0.165,0,0,508,579.63
$SM_GC,5.94,9.45,2.17,1.40,0.101,0.036,0.165,194,2183,508,-8.59,1.07,579.63,0,0,0,0,0,0,14.73,14.78,14.69
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.80
$INTERNAL_PRESSURE,6.71901
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,13.2,28.706
$10V_AH,12.9,0.000
$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,23.125,177.925,555.000,1.400,0.000,165.560,26.213,0.000,0.000,0.000,301.662,3511.417,10875.391,666.732,3554.552,163.714,0.000,2107.466,0.000,2502.583,0.000,0.554,0.000
$DEVICE_MAMPS,361.845,78.795,2327.895,165.240,0.000,29.840,160.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.821,646.059,1679.325,1026.062,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322308
$DATA_FILE_SIZE,140571,1704
$CAP_FILE_SIZE,181920,0
$CFSIZE,2097086464,2083586048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024, 21.6,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9