version: 66.06
glider: 148
mission: 9
dive: 561
start: 1 21 111 12 27 51
data:
$ID,148
$MISSION,9
$DIVE,561
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_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,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-870376
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,115745,2248.341,-15802.411,38,99.0,57,10.1
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.9
$GPS2,122659,2247.987,-15802.643,12,99.0,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.007,0.260
$KALMAN_X,-117119.6,322.5,37.0,129177.4,-377.1
$KALMAN_Y,-191499.9,-374.7,-31.9,318024.1,-1627.7
$MHEAD_RNG_PITCHd_Wd,348.4,3778,-17.5,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-66.95,0.000,2,0.000,0.000,411,1867,3224,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-3.5,9,123,11.27,2.50,-10.07,0.000,4,0.146,0.046,2576,3374,3719,0,0,0,0,0,0
$GC,164,-1.14,-146.0,19.2,-15.5,19,173,0.12,2.58,0.00,0.000,6,0.078,0.024,2608,1788,3720,0,0,0,0,0,0
$GC,446,-1.07,-146.0,58.1,-14.1,50,450,0.00,2.55,0.00,0.000,4,0.000,0.031,2609,3370,3721,0,0,0,0,0,0
$GC,511,-1.07,-146.0,65.8,-9.9,55,516,0.00,2.53,0.00,0.000,6,0.000,0.024,2609,1794,3721,0,0,0,0,0,0
$GC,780,-1.07,-146.0,97.2,-11.4,79,784,0.00,2.58,0.00,0.000,4,0.000,0.039,2609,212,3721,0,0,0,0,0,0
$GC,808,-1.07,-146.0,100.7,-11.5,81,812,0.00,2.47,0.00,0.000,6,0.000,0.019,2609,1816,3721,0,0,0,0,0,0
$GC,1078,-1.15,-146.0,125.6,-8.9,105,1082,0.00,2.45,0.00,0.000,4,0.000,0.030,2609,3365,3721,0,0,0,0,0,0
$GC,1146,-1.33,-146.0,132.7,-9.0,111,1151,0.17,2.50,0.00,0.000,6,0.044,0.022,2513,1794,3721,0,0,0,0,0,0
$GC,1407,-1.14,-146.0,172.0,-14.5,135,1419,0.45,2.53,0.00,0.000,4,0.083,0.030,2608,3366,3722,0,0,0,0,0,0
$GC,1430,-1.14,-146.0,175.0,-13.0,137,1434,0.00,2.47,0.00,0.000,6,0.000,0.021,2608,1808,3721,0,0,0,0,0,0
$GC,1694,-1.26,-146.0,197.4,-8.2,161,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1808,3722,0,0,0,0,0,0
$GC,1966,-1.38,-146.0,220.3,-8.2,170,1971,0.20,2.50,0.00,0.000,4,0.044,0.030,2523,3357,3722,0,0,0,0,0,0
$GC,2041,-1.29,-146.0,229.3,-12.1,171,2046,0.25,2.42,0.00,0.000,6,0.083,0.023,2579,1824,3722,0,0,0,0,0,0
$GC,2298,-1.29,-146.0,254.2,-9.7,178,2303,0.00,2.50,0.00,0.000,4,0.000,0.033,2579,3362,3722,0,0,0,0,0,0
$GC,2345,-1.39,-146.0,258.9,-9.6,179,2350,0.00,2.42,0.00,0.000,6,0.000,0.024,2579,1846,3721,0,0,0,0,0,0
$GC,2629,-1.39,-146.0,284.8,-9.2,186,2634,0.00,2.67,0.00,0.000,4,0.000,0.047,2579,217,3721,0,0,0,0,0,0
$GC,2662,-1.48,-146.0,288.4,-10.0,186,2667,0.17,2.58,0.00,0.000,6,0.048,0.023,2493,1838,3721,0,0,0,0,0,0
$GC,2912,-1.28,-146.0,324.4,-14.8,192,2914,0.40,0.00,0.00,0.000,6,0.083,0.000,2578,1839,3719,0,0,0,0,0,0
$GC,3158,-1.35,-146.0,347.2,-8.9,198,3162,0.00,2.47,0.00,0.000,4,0.000,0.038,2578,3370,3718,0,0,0,0,0,0
$GC,3205,-1.48,-146.0,351.4,-8.2,199,3210,0.17,2.45,0.00,0.000,6,0.048,0.027,2485,1843,3718,0,0,0,0,0,0
$GC,3488,-1.27,-146.0,389.9,-14.0,206,3495,0.45,2.72,0.00,0.000,4,0.084,0.051,2580,221,3716,0,0,0,0,0,0
$GC,3526,-1.41,-146.0,394.1,-9.1,206,3531,0.12,2.58,0.00,0.000,6,0.062,0.026,2516,1837,3716,0,0,0,0,0,0
$GC,3776,-1.31,-146.0,424.6,-12.4,212,3781,0.25,2.55,0.00,0.000,4,0.087,0.045,2575,3367,3714,0,0,0,0,0,0
$GC,3822,-1.44,-146.0,429.3,-10.4,213,3827,0.12,2.45,0.00,0.000,6,0.062,0.028,2496,1844,3714,0,0,0,0,0,0
$GC,4109,-1.27,-146.0,470.3,-14.7,220,4112,0.43,0.00,0.00,0.000,6,0.083,0.000,2580,1844,3712,0,0,0,0,0,0
$GC,4353,-1.38,-146.0,493.4,-9.2,226,4358,0.00,2.58,0.00,0.000,4,0.000,0.053,2580,3363,3710,0,0,0,0,0,0
$GC,4399,-1.54,-146.0,497.4,-8.3,227,4404,0.22,2.45,0.00,0.000,6,0.038,0.032,2483,1859,3710,0,0,0,0,0,0
$GC,4687,-1.37,-146.0,537.3,-14.0,234,4694,0.32,2.83,0.00,0.000,4,0.087,0.064,2558,220,3708,0,0,0,0,0,0
$GC,4735,-1.47,-146.0,542.8,-10.8,235,4739,0.00,2.67,0.00,0.000,6,0.000,0.038,2558,1843,3707,0,0,0,0,0,0
$GC,5022,-1.47,-146.0,570.1,-9.2,242,5026,0.00,2.58,0.00,0.000,4,0.000,0.059,2558,3364,3705,0,0,0,0,0,0
$GC,5086,-1.59,-146.0,575.5,-8.3,243,5091,0.17,2.47,0.00,0.000,6,0.050,0.035,2473,1868,3704,0,0,0,0,0,0
$GC,5355,-1.39,-146.0,611.0,-13.6,250,5357,0.40,0.00,0.00,0.000,6,0.087,0.000,2555,1868,3702,0,0,0,0,0,0
$GC,5599,-1.39,-146.0,635.0,-9.7,256,5603,0.00,2.55,0.00,0.000,4,0.000,0.055,2555,3370,3701,0,0,0,0,0,0
$GC,5619,-1.39,-146.0,637.0,-10.1,256,5624,0.00,2.47,0.00,0.000,6,0.000,0.036,2555,1877,3701,0,0,0,0,0,0
$GC,5884,-1.45,-146.0,662.6,-9.7,263,5888,0.00,2.53,0.00,0.000,4,0.000,0.055,2555,3361,3698,0,0,0,0,0,0
$GC,5912,-1.52,-146.0,665.5,-9.4,263,5917,0.12,2.45,0.00,0.000,6,0.065,0.038,2486,1874,3698,0,0,0,0,0,0
$GC,6169,-1.37,-146.0,697.7,-13.0,270,6177,0.32,2.92,0.00,0.000,4,0.088,0.075,2558,222,3697,0,0,0,0,0,0
$GC,6201,-1.46,-146.0,701.5,-9.9,270,6205,0.00,2.75,0.00,0.000,6,0.000,0.042,2558,1862,3697,0,0,0,0,0,0
$GC,6458,-1.55,-146.0,724.0,-8.9,277,6463,0.15,2.62,0.00,0.000,4,0.059,0.067,2501,3367,3695,0,0,0,0,0,0
$GC,6514,-1.55,-146.0,730.4,-11.1,278,6519,0.10,2.45,0.00,0.000,6,0.116,0.038,2523,1878,3694,0,0,0,0,0,0
$GC,6788,-1.55,-146.0,760.2,-10.9,285,6792,0.00,2.53,0.00,0.000,4,0.000,0.054,2523,3370,3693,0,0,0,0,0,0
$GC,6822,-1.55,-146.0,763.8,-10.7,285,6826,0.00,2.45,0.00,0.000,6,0.000,0.038,2523,1885,3692,0,0,0,0,0,0
$GC,7071,-1.55,-146.0,790.1,-10.5,291,7078,0.00,2.92,0.00,0.000,4,0.000,0.074,2523,221,3690,0,0,0,0,0,0
$GC,7089,-1.55,-146.0,792.3,-12.1,291,7094,0.00,2.75,0.00,0.000,6,0.000,0.041,2523,1870,3690,0,0,0,0,0,0
$GC,7360,-1.55,-146.0,819.2,-10.0,298,7364,0.00,2.60,0.00,0.000,4,0.000,0.069,2523,3368,3689,0,0,0,0,0,0
$GC,7383,-1.55,-146.0,821.9,-10.8,298,7387,0.00,2.42,0.00,0.000,6,0.000,0.038,2523,1894,3689,0,0,0,0,0,0
$GC,7642,-1.55,-146.0,845.5,-9.1,305,7646,0.00,2.50,0.00,0.000,4,0.000,0.054,2523,3367,3687,0,0,0,0,0,0
$GC,7661,-1.55,-146.0,847.3,-9.3,305,7665,0.00,2.45,0.00,0.000,6,0.000,0.038,2523,1894,3687,0,0,0,0,0,0
$GC,7926,-1.55,-146.0,871.3,-9.2,312,7931,0.00,2.53,0.00,0.000,4,0.000,0.055,2523,3368,3686,0,0,0,0,0,0
$GC,7945,-1.55,-146.0,873.3,-9.3,312,7950,0.00,2.42,0.00,0.000,6,0.000,0.038,2523,1904,3686,0,0,0,0,0,0
$GC,8209,-1.55,-146.0,897.3,-9.2,319,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1903,3684,0,0,0,0,0,0
$STATE,8247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8247,begin apogee
$GC,8255,-0.31,0.0,901.0,9.1,320,8381,1.20,0.00,122.32,1.180,6,0.081,0.000,2790,1691,3120,0,0,0,0,0,0
$STATE,8382,end apogee,CONTROL_FINISHED_OK
$STATE,8382,begin climb
$GC,8384,1.27,146.0,905.5,0.0,323,8527,1.42,2.75,131.68,1.158,4,0.025,0.045,3143,3264,2522,0,0,0,0,0,0
$GC,8592,0.97,146.0,899.1,10.9,327,8601,0.35,2.70,0.00,0.000,6,0.107,0.039,3072,1681,2517,0,0,0,0,0,0
$GC,8848,0.83,163.1,875.7,9.2,334,8869,0.15,2.83,15.25,1.042,4,0.115,0.086,3041,163,2454,0,0,0,0,0,0
$GC,8967,0.67,163.1,863.9,10.3,336,8972,0.17,2.50,0.00,0.000,6,0.110,0.036,3006,1667,2450,0,0,0,0,0,0
$GC,9224,0.74,218.8,844.8,7.4,343,9279,0.00,0.00,52.75,1.112,6,0.000,0.000,3006,1667,2227,0,0,0,0,0,0
$GC,9506,0.77,242.7,820.3,8.9,350,9535,0.00,2.85,23.27,1.056,4,0.000,0.064,3006,3264,2129,0,0,0,0,0,0
$GC,9556,0.87,254.1,815.8,9.5,351,9576,0.17,2.70,11.93,0.977,6,0.052,0.040,3068,1677,2084,0,0,0,0,0,0
$GC,9837,0.79,254.1,781.2,12.4,358,9844,0.17,2.70,0.00,0.000,4,0.102,0.080,3032,167,2078,0,0,0,0,0,0
$GC,9883,0.79,254.1,775.5,12.0,359,9887,0.00,2.53,0.00,0.000,6,0.000,0.040,3032,1669,2078,0,0,0,0,0,0
$GC,10175,0.79,254.1,745.5,10.4,366,10180,0.00,2.80,0.00,0.000,4,0.000,0.067,3032,3267,2076,0,0,0,0,0,0
$GC,10194,0.79,258.7,743.0,9.8,366,10206,0.00,2.67,4.28,0.688,6,0.000,0.041,3032,1676,2065,0,0,0,0,0,0
$GC,10462,0.79,258.7,716.1,10.1,373,10467,0.00,2.78,0.00,0.000,4,0.000,0.058,3032,3274,2064,0,0,0,0,0,0
$GC,10486,0.80,268.4,713.5,9.6,373,10504,0.00,2.70,11.12,0.940,6,0.000,0.044,3032,1677,2025,0,0,0,0,0,0
$GC,10747,0.81,271.6,687.6,9.9,380,10754,0.00,0.00,4.38,0.683,6,0.000,0.000,3032,1678,2012,0,0,0,0,0,0
$GC,10993,0.82,278.2,663.8,9.7,386,11008,0.00,2.75,8.07,0.861,4,0.000,0.081,3032,166,1984,0,0,0,0,0,0
$GC,11023,0.83,290.3,660.6,9.4,386,11044,0.00,2.53,14.07,0.937,6,0.000,0.037,3032,1681,1934,0,0,0,0,0,0
$GC,11327,0.83,290.3,628.7,10.6,394,11332,0.00,2.78,0.00,0.000,4,0.000,0.068,3032,3264,1930,0,0,0,0,0,0
$GC,11358,0.91,290.3,625.5,10.6,394,11363,0.10,2.67,0.00,0.000,6,0.080,0.041,3077,1676,1928,0,0,0,0,0,0
$GC,11613,0.91,290.3,592.3,13.2,401,11617,0.00,2.70,0.00,0.000,4,0.000,0.077,3077,161,1928,0,0,0,0,0,0
$GC,11648,0.82,290.3,587.6,13.6,401,11653,0.17,2.53,0.00,0.000,6,0.106,0.035,3040,1680,1928,0,0,0,0,0,0
$GC,11897,0.82,290.3,560.8,10.3,407,11902,0.00,2.75,0.00,0.000,4,0.000,0.065,3040,3264,1927,0,0,0,0,0,0
$GC,11916,0.82,291.5,558.8,9.9,407,11921,0.00,2.67,0.00,0.000,6,0.000,0.038,3040,1674,1926,0,0,0,0,0,0
$GC,12180,0.82,291.5,531.6,10.3,414,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1674,1926,0,0,0,0,0,0
$GC,12426,0.82,294.7,507.3,9.8,420,12431,0.00,2.72,0.00,0.000,4,0.000,0.052,3040,3265,1926,0,0,0,0,0,0
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$GC,14951,1.12,359.2,206.9,9.6,480,14967,0.12,2.58,8.35,0.584,6,0.066,0.031,3133,1701,1655,0,0,0,0,0,0
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$GC,16320,1.14,392.5,47.1,8.5,603,16358,0.00,2.55,31.05,0.515,6,0.000,0.024,3098,1697,1518,0,0,0,0,0,0
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$STATE,16702,end climb,SURFACE_DEPTH_REACHED
$STATE,16702,begin surface coast
$FINISH,1.0,1.011765
$STATE,16753,end surface coast,CONTROL_FINISHED_OK
$STATE,16753,begin surface
$SM_CCo,16836,0.00,0.000,0,0,1511,394.69
$SM_GC,1.84,10.85,0.00,0.00,0.021,0.000,0.000,415,1906,1511,-11.17,3.28,394.69
$IRIDIUM_FIX,2241.69,-15804.53,160400,121223
$TT8_MAMPS,0.026845
$HUMID,50.00
$INTERNAL_PRESSURE,9.7308
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.0,72.754
$10V_AH,9.9,64.750
$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,32.125,213.825,497.725,0.000,0.000,135.249,176.933,988.054,0.000,0.000,33.720,1452.867,12373.293,578.816,2399.662,1771.195,33.381,1661.092,0.000,2377.826,0.000,0.536,0.000
$DEVICE_MAMPS,145.730,85.904,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,449.608,336.766,420.020,592.952,1042.418,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,51090,660
$CAP_FILE_SIZE,194362,0
$CFSIZE,260165632,139784192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210111,170936,2249.700,-15802.828,32,1.3,32,10.1