version: 66.07
glider: 500
mission: 5
dive: 112
start: 11 27 110 3 23 39
data:
$ID,500
$MISSION,5
$DIVE,112
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_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,366
$T_MISSION,720
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-123359.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,111
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,271110,031137,2050.256,12518.127,29,1.2,29,-2.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.0
$GPS2,271110,032244,2050.149,12517.919,11,1.3,11,-2.7
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,-0.051
$KALMAN_X,-182256.4,81.0,23.0,391418.2,-5667.2
$KALMAN_Y,-80312.8,-638.2,122.6,44686.3,1142.9
$MHEAD_RNG_PITCHd_Wd,104.0,162835,-15.3,-9.016
$D_GRID,990
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.70,-155.7,0.0,0.0,0,124,0.00,0.00,-95.20,0.000,2,0.000,0.000,128,2281,3448,0,0,0,0,0,0
$GC,127,-0.70,-155.7,3.1,-5.8,19,148,10.15,2.45,-2.20,0.000,4,0.231,0.057,2788,667,3554,0,0,0,0,0,0
$GC,154,-0.70,-155.7,12.5,-31.0,24,159,0.00,2.38,0.00,0.000,6,0.000,0.043,2776,2270,3554,0,0,0,0,0,0
$GC,353,-0.70,-155.7,69.6,-27.6,48,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2270,3556,0,0,0,0,0,0
$GC,609,-0.70,-155.7,119.5,-18.1,72,613,0.00,2.35,0.00,0.000,4,0.000,0.046,2777,676,3557,0,0,0,0,0,0
$GC,771,-0.70,-155.7,145.4,-16.6,86,776,0.00,2.35,0.00,0.000,6,0.000,0.044,2765,2282,3558,0,0,0,0,0,0
$GC,1032,-0.70,-155.7,187.1,-15.2,111,1036,0.00,2.35,0.00,0.000,4,0.000,0.044,2765,671,3559,0,0,0,0,0,0
$GC,1188,-0.70,-155.7,211.4,-15.0,121,1193,0.15,2.30,0.00,0.000,6,0.173,0.044,2794,2267,3559,0,0,0,0,0,0
$GC,1508,-0.70,-155.7,251.5,-12.5,137,1512,0.00,2.30,0.00,0.000,4,0.000,0.044,2795,667,3559,0,0,0,0,0,0
$GC,1614,-0.70,-155.7,265.0,-12.6,142,1619,0.00,2.35,0.00,0.000,6,0.000,0.044,2784,2286,3560,0,0,0,0,0,0
$GC,1941,-0.70,-155.7,302.0,-12.0,158,1945,0.00,2.30,0.00,0.000,4,0.000,0.043,2784,672,3559,0,0,0,0,0,0
$GC,2024,-0.70,-155.7,312.6,-12.1,160,2028,0.00,2.30,0.00,0.000,6,0.000,0.044,2772,2266,3559,0,0,0,0,0,0
$GC,2353,-0.70,-155.7,350.4,-11.1,168,2357,0.00,2.35,0.00,0.000,4,0.000,0.051,2760,3855,3558,0,0,0,0,0,0
$GC,2437,-0.70,-155.7,360.1,-12.1,170,2442,0.12,2.33,0.00,0.000,6,0.157,0.035,2794,2248,3557,0,0,0,0,0,0
$GC,2761,-0.70,-155.7,389.6,-8.7,178,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2248,3556,0,0,0,0,0,0
$GC,3086,-0.70,-155.7,418.5,-9.0,186,3090,0.00,2.25,0.00,0.000,4,0.000,0.043,2795,678,3554,0,0,0,0,0,0
$GC,3287,-0.70,-155.7,437.8,-8.9,190,3292,0.00,2.35,0.00,0.000,6,0.000,0.044,2784,2274,3554,0,0,0,0,0,0
$GC,3630,-0.70,-155.7,465.9,-8.0,199,3634,0.00,2.33,0.00,0.000,4,0.000,0.045,2784,692,3550,0,0,0,0,0,0
$GC,3841,-0.70,-155.7,485.1,-9.3,203,3846,0.00,2.33,0.00,0.000,6,0.000,0.044,2773,2268,3548,0,0,0,0,0,0
$GC,4179,-0.70,-155.7,512.1,-7.7,212,4183,0.00,2.33,0.00,0.000,4,0.000,0.044,2773,693,3547,0,0,0,0,0,0
$GC,4234,-0.70,-155.7,517.1,-8.9,213,4239,0.12,2.30,0.00,0.000,6,0.178,0.044,2794,2284,3545,0,0,0,0,0,0
$GC,4546,-0.70,-155.7,541.0,-7.6,221,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2286,3544,0,0,0,0,0,0
$GC,4872,-0.70,-155.7,566.7,-7.9,229,4876,0.00,2.35,0.00,0.000,4,0.000,0.052,2783,3847,3545,0,0,0,0,0,0
$GC,5100,-0.70,-155.7,588.1,-9.1,234,5105,0.00,2.33,0.00,0.000,6,0.000,0.036,2783,2269,3540,0,0,0,0,0,0
$GC,5420,-0.70,-155.7,614.0,-8.0,242,5424,0.00,2.38,0.00,0.000,4,0.000,0.051,2771,3838,3540,0,0,0,0,0,0
$GC,5446,-0.70,-155.7,616.5,-9.1,242,5451,0.00,2.30,0.00,0.000,6,0.000,0.035,2771,2271,3538,0,0,0,0,0,0
$GC,5783,-0.70,-155.7,645.9,-8.8,251,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2268,3536,0,0,0,0,0,0
$GC,6108,-0.70,-155.7,672.8,-8.0,259,6112,0.00,2.40,0.00,0.000,4,0.000,0.053,2759,3847,3533,0,0,0,0,0,0
$GC,6271,-0.70,-155.7,686.6,-8.3,262,6276,0.12,2.30,0.00,0.000,6,0.159,0.037,2794,2269,3530,0,0,0,0,0,0
$GC,6602,-0.70,-155.7,708.8,-6.6,270,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2268,3531,0,0,0,0,0,0
$GC,6926,-0.70,-155.7,729.6,-6.4,278,6930,0.00,2.40,0.00,0.000,4,0.000,0.052,2783,3844,3530,0,0,0,0,0,0
$GC,6953,-0.70,-155.7,731.7,-7.8,278,6957,0.00,2.30,0.00,0.000,6,0.000,0.036,2783,2265,3528,0,0,0,0,0,0
$GC,7291,-0.70,-155.7,754.3,-6.7,287,7295,0.00,2.30,0.00,0.000,4,0.000,0.045,2782,685,3528,0,0,0,0,0,0
$GC,7375,-0.70,-155.7,760.2,-6.7,289,7379,0.00,2.33,0.00,0.000,6,0.000,0.045,2772,2265,3526,0,0,0,0,0,0
$GC,7704,-0.70,-155.7,780.6,-5.8,297,7708,0.00,2.40,0.00,0.000,4,0.000,0.052,2759,3846,3524,0,0,0,0,0,0
$GC,7844,-0.70,-155.7,790.2,-7.2,300,7849,0.12,2.33,0.00,0.000,6,0.155,0.036,2794,2259,3523,0,0,0,0,0,0
$GC,8157,-0.70,-155.7,807.5,-5.4,308,8161,0.00,2.28,0.00,0.000,4,0.000,0.046,2794,696,3521,0,0,0,0,0,0
$GC,8252,-0.70,-155.7,813.2,-5.7,310,8256,0.00,2.30,0.00,0.000,6,0.000,0.045,2783,2269,3521,0,0,0,0,0,0
$GC,8564,-0.70,-155.7,832.4,-6.1,318,8568,0.00,2.30,0.00,0.000,4,0.000,0.045,2785,696,3519,0,0,0,0,0,0
$GC,8613,-0.70,-155.7,835.4,-6.3,319,8617,0.00,2.35,0.00,0.000,6,0.000,0.046,2773,2305,3520,0,0,0,0,0,0
$GC,8932,-0.70,-155.7,855.2,-6.2,327,8936,0.00,2.33,0.00,0.000,4,0.000,0.054,2761,3838,3516,0,0,0,0,0,0
$GC,9009,-0.70,-155.7,860.4,-6.9,328,9016,0.12,2.30,0.00,0.000,6,0.156,0.036,2796,2252,3518,0,0,0,0,0,0
$GC,9341,-0.70,-155.7,877.8,-5.2,337,9345,0.00,2.30,0.00,0.000,4,0.000,0.046,2796,694,3517,0,0,0,0,0,0
$GC,9395,-0.70,-155.7,880.9,-5.7,338,9399,0.00,2.35,0.00,0.000,6,0.000,0.046,2786,2281,3517,0,0,0,0,0,0
$GC,9708,-0.70,-155.7,896.6,-4.9,346,9712,0.00,2.35,0.00,0.000,4,0.000,0.045,2786,681,3516,0,0,0,0,0,0
$GC,9820,-0.70,-155.7,902.6,-4.8,348,9824,0.00,2.35,0.00,0.000,6,0.000,0.044,2774,2273,3515,0,0,0,0,0,0
$GC,10162,-0.70,-155.7,919.8,-5.0,357,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2273,3514,0,0,0,0,0,0
$GC,10487,-0.70,-155.7,935.5,-4.9,365,10491,0.00,2.33,0.00,0.000,4,0.000,0.045,2774,687,3513,0,0,0,0,0,0
$GC,10536,-0.70,-155.7,938.1,-5.5,366,10541,0.10,2.35,0.00,0.000,6,0.188,0.045,2788,2277,3513,0,0,0,0,0,0
$GC,10848,-0.70,-155.7,952.8,-4.7,374,10853,0.00,2.33,0.00,0.000,4,0.000,0.046,2788,688,3513,0,0,0,0,0,0
$GC,10904,-0.70,-155.7,955.8,-4.8,375,10908,0.00,2.35,0.00,0.000,6,0.000,0.046,2778,2282,3511,0,0,0,0,0,0
$GC,11216,-0.70,-155.7,971.9,-5.1,383,11220,0.00,2.35,0.00,0.000,4,0.000,0.045,2777,693,3513,0,0,0,0,0,0
$GC,11362,-0.70,-155.7,980.3,-6.0,386,11366,0.00,2.35,0.00,0.000,6,0.000,0.046,2766,2280,3511,0,0,0,0,0,0
$STATE,11550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11550,begin apogee
$GC,11555,-0.23,0.0,990.8,5.5,391,11682,0.52,0.00,124.22,1.385,6,0.132,0.000,2939,1849,2917,0,0,0,0,0,0
$STATE,11691,end apogee,CONTROL_FINISHED_OK
$STATE,11691,begin climb
$GC,11692,0.70,155.7,989.5,0.0,394,11841,0.88,2.60,138.55,1.335,4,0.073,0.054,3250,3438,2278,0,0,0,0,0,0
$GC,11879,0.70,155.7,965.4,14.8,399,11884,0.00,2.58,0.00,0.000,6,0.000,0.044,3261,1854,2273,0,0,0,0,0,0
$GC,12204,0.70,155.7,914.0,15.9,407,12208,0.00,2.47,0.00,0.000,4,0.000,0.056,3274,260,2265,0,0,0,0,0,0
$GC,12224,0.70,155.7,910.3,16.1,407,12229,0.00,2.45,0.00,0.000,6,0.000,0.044,3279,1849,2263,0,0,0,0,0,0
$GC,12567,0.70,155.7,852.3,16.9,416,12571,0.00,2.42,0.00,0.000,4,0.000,0.054,3271,3434,2260,0,0,0,0,0,0
$GC,12655,0.70,155.7,836.4,17.5,418,12660,0.12,2.42,0.00,0.000,6,0.157,0.045,3249,1840,2260,0,0,0,0,0,0
$GC,12973,0.70,155.7,788.0,15.3,426,12977,0.00,2.40,0.00,0.000,4,0.000,0.055,3258,259,2258,0,0,0,0,0,0
$GC,13015,0.70,155.7,781.1,15.2,427,13020,0.00,2.40,0.00,0.000,6,0.000,0.044,3260,1847,2258,0,0,0,0,0,0
$GC,13340,0.70,155.7,729.2,16.0,435,13345,0.00,2.42,0.00,0.000,4,0.000,0.055,3260,3434,2257,0,0,0,0,0,0
$GC,13457,0.70,155.7,709.4,16.9,437,13461,0.00,2.42,0.00,0.000,6,0.000,0.045,3272,1856,2256,0,0,0,0,0,0
$GC,13794,0.70,155.7,655.0,16.0,446,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1856,2255,0,0,0,0,0,0
$GC,14118,0.70,155.7,604.2,15.5,454,14123,0.00,2.40,0.00,0.000,4,0.000,0.055,3271,3430,2255,0,0,0,0,0,0
$GC,14151,0.70,155.7,598.9,15.8,454,14158,0.10,2.42,0.00,0.000,6,0.120,0.046,3245,1842,2255,0,0,0,0,0,0
$GC,14482,0.70,155.7,558.1,12.1,463,14487,0.00,2.40,0.00,0.000,4,0.000,0.054,3244,3432,2255,0,0,0,0,0,0
$GC,14521,0.70,155.7,553.0,13.2,464,14525,0.00,2.38,0.00,0.000,6,0.000,0.046,3255,1842,2254,0,0,0,0,0,0
$GC,14844,0.70,155.7,511.7,12.8,472,14849,0.00,2.40,0.00,0.000,4,0.000,0.056,3267,256,2254,0,0,0,0,0,0
$GC,14872,0.70,155.7,508.2,12.2,472,14876,0.00,2.35,0.00,0.000,6,0.000,0.045,3268,1856,2253,0,0,0,0,0,0
$GC,15202,0.70,155.7,463.1,13.6,480,15206,0.00,2.40,0.00,0.000,4,0.000,0.054,3268,3443,2254,0,0,0,0,0,0
$GC,15290,0.70,155.7,450.3,14.8,482,15295,0.08,2.42,0.00,0.000,6,0.123,0.047,3250,1858,2250,0,0,0,0,0,0
$GC,15614,0.70,155.7,413.8,10.9,490,15618,0.00,2.40,0.00,0.000,4,0.000,0.055,3261,259,2252,0,0,0,0,0,0
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$STATE,19850,end climb,SURFACE_DEPTH_REACHED
$STATE,19851,begin surface coast
$FINISH,0.5,1.022551
$STATE,19887,end surface coast,CONTROL_FINISHED_OK
$STATE,19887,begin surface
$SM_CCo,19905,25.10,0.572,0,0,877,500.16
$SM_GC,1.16,0.00,0.00,25.10,0.000,0.000,0.572,104,2287,877,-9.11,0.48,500.16
$IRIDIUM_FIX,2040.99,12513.50,210512,212158
$TT8_MAMPS,0.059059
$HUMID,1078621281
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$TCM_TEMP,25.20
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8307212288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57675907072
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,18.162
$10V_AH,10.2,13.473
$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,21.275,200.375,500.250,25.100,0.000,54.504,119.290,273.810,0.500,0.000,13.945,1626.398,15431.735,646.042,2637.311,255.947,33.370,1857.026,0.000,2105.773,0.000,0.541,0.000
$DEVICE_MAMPS,230.867,56.758,1385.202,572.182,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,551.088,0.000,0.000,0.000,0.000,0.000,0.000,20713.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.934,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,30009,813
$CAP_FILE_SIZE,178567,0
$CFSIZE,260165632,215212032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271110,085707,2050.929,12518.515,27,1.2,27,-2.7