version: 66.04
glider: 144
mission: 15
dive: 586
start: 12 24 109 19 35 50
data:
$ID,144
$MISSION,15
$DIVE,586
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$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,300
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-73556.758
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,192837,5011.562,-14509.137,40,1.1,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-57.0
$GPS2,193456,5011.621,-14509.158,13,1.6,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.070,-0.152
$KALMAN_X,-92443.9,-458.0,25.5,94542.1,1966.3
$KALMAN_Y,32541.9,165.7,27.2,-50075.5,-41.4
$MHEAD_RNG_PITCHd_Wd,186.2,32781,-12.3,-5.500
$D_GRID,1001
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-41.12,0.000,2,0.000,0.000,99,2305,2650
$GC,66,-0.68,-117.3,3.6,-6.3,2,101,7.18,2.38,-20.55,0.000,4,0.234,0.063,1845,888,3412
$GC,155,-0.65,-117.3,12.0,-10.1,6,160,0.10,2.28,0.00,0.000,6,0.130,0.044,1864,2299,3413
$GC,482,-0.65,-117.3,40.6,-8.7,22,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2299,3413
$GC,791,-0.65,-117.3,66.7,-8.8,37,795,0.00,2.28,0.00,0.000,4,0.000,0.042,1864,892,3413
$GC,832,-0.67,-117.3,70.4,-9.5,38,838,0.00,2.25,0.00,0.000,6,0.000,0.038,1860,2305,3413
$GC,1155,-0.67,-117.3,100.8,-9.0,64,1159,0.00,2.28,0.00,0.000,4,0.000,0.042,1860,888,3413
$GC,1184,-0.67,-117.3,103.6,-9.6,66,1188,0.00,2.28,0.00,0.000,6,0.000,0.041,1851,2308,3414
$GC,1513,-0.67,-117.3,131.9,-7.9,96,1517,0.00,2.30,0.00,0.000,4,0.000,0.041,1851,886,3413
$GC,1560,-0.70,-117.3,135.8,-8.6,100,1564,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2302,3414
$GC,1899,-0.73,-117.3,159.3,-7.1,124,1903,0.00,2.30,0.00,0.000,4,0.000,0.049,1840,3714,3414
$GC,1933,-0.76,-117.3,161.9,-7.2,125,1937,0.00,2.22,0.00,0.000,6,0.000,0.030,1840,2291,3414
$GC,2263,-0.78,-117.3,183.0,-7.0,136,2267,0.00,2.25,0.00,0.000,4,0.000,0.042,1839,892,3414
$GC,2334,-0.81,-117.3,188.3,-8.0,138,2338,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2302,3414
$GC,2670,-0.81,-117.3,212.0,-7.1,149,2674,0.00,2.28,0.00,0.000,4,0.000,0.044,1836,897,3413
$GC,2726,-0.84,-117.3,216.5,-7.8,150,2733,0.00,2.22,0.00,0.000,6,0.000,0.038,1828,2305,3414
$GC,3041,-0.84,-117.3,240.0,-7.3,161,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2305,3413
$GC,3346,-0.84,-117.3,262.8,-7.8,171,3350,0.00,2.25,0.00,0.000,4,0.000,0.043,1828,897,3413
$GC,3381,-0.84,-117.3,265.6,-8.3,172,3386,0.00,2.25,0.00,0.000,6,0.000,0.039,1820,2305,3413
$GC,3717,-0.84,-117.3,293.9,-8.3,183,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2305,3413
$GC,4052,-0.84,-117.3,320.0,-7.7,190,4056,0.00,2.28,0.00,0.000,4,0.000,0.049,1820,894,3413
$GC,4080,-0.84,-117.3,322.4,-8.0,190,4084,0.00,2.25,0.00,0.000,6,0.000,0.038,1810,2311,3413
$GC,4418,-0.84,-117.3,348.8,-7.8,196,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2312,3413
$GC,4721,-0.84,-117.3,371.7,-7.6,201,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2312,3412
$GC,5025,-0.84,-117.3,396.2,-8.2,206,5029,0.00,2.30,0.00,0.000,4,0.000,0.044,1810,900,3412
$GC,5070,-0.84,-117.3,400.2,-8.8,206,5074,0.00,2.28,0.00,0.000,6,0.000,0.044,1801,2305,3412
$GC,5386,-0.81,-117.3,427.5,-8.6,212,5387,0.10,0.00,0.00,0.000,6,0.138,0.000,1828,2306,3412
$GC,5689,-0.84,-117.3,448.6,-6.8,217,5693,0.00,2.30,0.00,0.000,4,0.000,0.050,1828,892,3411
$GC,5730,-0.88,-117.3,451.5,-7.7,217,5734,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2307,3412
$GC,6051,-0.88,-117.3,474.3,-7.1,223,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3411
$GC,6354,-0.88,-117.3,494.9,-6.8,228,6358,0.00,2.25,0.00,0.000,4,0.000,0.046,1823,906,3411
$GC,6400,-0.90,-117.3,498.2,-7.1,228,6404,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2313,3410
$GC,6727,-0.90,-117.3,520.3,-6.7,234,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2313,3411
$GC,7030,-0.90,-117.3,540.0,-6.4,239,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2313,3411
$GC,7333,-0.92,-117.3,559.4,-6.4,244,7338,0.08,2.33,0.00,0.000,4,0.081,0.044,1763,903,3410
$GC,7401,-0.84,-117.3,565.8,-10.0,245,7406,0.22,2.28,0.00,0.000,6,0.123,0.046,1820,2309,3410
$GC,7768,-0.87,-117.3,590.5,-6.6,251,7772,0.00,2.33,0.00,0.000,4,0.000,0.045,1820,892,3410
$GC,7802,-0.90,-117.3,593.2,-7.6,251,7806,0.00,2.30,0.00,0.000,6,0.000,0.040,1820,2309,3410
$GC,8135,-0.92,-117.3,616.9,-7.2,257,8139,0.00,2.30,0.00,0.000,4,0.000,0.048,1820,902,3410
$GC,8175,-0.95,-117.3,620.0,-8.0,257,8179,0.00,2.28,0.00,0.000,6,0.000,0.040,1812,2305,3410
$GC,8502,-0.95,-117.3,644.3,-7.4,263,8506,0.00,2.25,0.00,0.000,4,0.000,0.044,1813,902,3409
$GC,8535,-0.95,-117.3,647.0,-7.7,263,8539,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2302,3410
$GC,8869,-0.95,-117.3,671.1,-7.2,269,8873,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,894,3409
$GC,8902,-0.95,-117.3,673.8,-8.1,269,8906,0.00,2.30,0.00,0.000,6,0.000,0.042,1799,2315,3409
$GC,9235,-0.95,-117.3,697.5,-7.1,275,9239,0.00,2.30,0.00,0.000,4,0.000,0.044,1800,901,3409
$GC,9286,-0.95,-117.3,701.6,-7.8,275,9290,0.00,2.28,0.00,0.000,6,0.000,0.040,1795,2306,3409
$GC,9609,-0.93,-117.3,726.2,-7.7,281,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3409
$GC,9911,-0.93,-117.3,749.6,-7.8,286,9915,0.00,2.30,0.00,0.000,4,0.000,0.051,1794,890,3409
$GC,9950,-0.93,-117.3,752.8,-8.0,286,9954,0.00,2.28,0.00,0.000,6,0.000,0.041,1785,2304,3409
$GC,10277,-0.90,-117.3,778.1,-7.8,292,10281,0.00,2.28,0.00,0.000,4,0.000,0.052,1785,900,3409
$GC,10306,-0.87,-117.3,780.6,-8.4,292,10311,0.12,2.28,0.00,0.000,6,0.130,0.044,1816,2302,3409
$GC,10644,-0.90,-117.3,800.6,-5.8,298,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2303,3408
$GC,10947,-0.93,-117.3,818.5,-5.9,303,10951,0.00,2.33,0.00,0.000,4,0.000,0.050,1816,893,3408
$GC,10982,-0.97,-117.3,820.6,-7.0,303,10986,0.00,2.30,0.00,0.000,6,0.000,0.043,1809,2302,3408
$GC,11308,-0.97,-117.3,839.5,-5.7,309,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2302,3408
$GC,11611,-0.97,-117.3,856.5,-5.6,314,11616,0.00,2.33,0.00,0.000,4,0.000,0.046,1809,898,3408
$GC,11648,-0.97,-117.3,858.6,-5.7,314,11652,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2301,3408
$GC,11974,-0.97,-117.3,877.5,-5.8,320,11978,0.00,2.30,0.00,0.000,4,0.000,0.054,1808,901,3408
$GC,12007,-0.97,-117.3,879.6,-6.4,320,12011,0.00,2.30,0.00,0.000,6,0.000,0.046,1806,2312,3408
$GC,12335,-0.97,-117.3,898.9,-5.9,326,12339,0.00,2.33,0.00,0.000,4,0.000,0.047,1805,902,3408
$GC,12374,-0.97,-117.3,901.5,-6.9,326,12378,0.00,2.30,0.00,0.000,6,0.000,0.046,1796,2312,3408
$GC,12696,-0.97,-117.3,923.4,-6.8,332,12700,0.00,2.35,0.00,0.000,4,0.000,0.051,1796,894,3407
$GC,12735,-0.97,-117.3,926.4,-7.4,332,12739,0.00,2.30,0.00,0.000,6,0.000,0.048,1794,2304,3407
$GC,13056,-0.97,-117.3,948.1,-6.7,338,13060,0.00,2.33,0.00,0.000,4,0.000,0.051,1795,899,3407
$GC,13095,-0.97,-117.3,950.9,-6.7,338,13099,0.00,2.30,0.00,0.000,6,0.000,0.041,1788,2305,3407
$GC,13417,-0.95,-117.3,973.3,-7.0,344,13421,0.00,2.33,0.00,0.000,4,0.000,0.053,1788,894,3407
$GC,13445,-0.93,-117.3,975.5,-7.8,344,13449,0.00,2.30,0.00,0.000,6,0.000,0.041,1781,2304,3407
$STATE,13653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13653,begin apogee
$GC,13662,-0.22,0.0,990.6,7.2,348,13764,0.52,0.00,99.03,1.284,6,0.111,0.000,1951,2304,2931
$STATE,13764,end apogee,CONTROL_FINISHED_OK
$STATE,13764,begin climb
$GC,13768,0.68,117.3,992.2,0.0,349,13879,0.57,2.55,104.45,1.258,4,0.074,0.054,2150,3709,2451
$GC,13919,0.49,117.3,989.2,6.4,351,13925,0.22,2.38,0.00,0.000,6,0.162,0.040,2106,2317,2446
$GC,14258,0.49,136.6,972.6,4.8,357,14276,0.00,0.00,16.40,1.162,6,0.000,0.000,2106,2317,2374
$GC,14561,0.50,144.6,956.8,5.2,362,14575,0.00,2.35,8.32,1.036,4,0.000,0.056,2106,3709,2340
$GC,14600,0.46,144.6,954.4,6.8,362,14604,0.00,2.28,0.00,0.000,6,0.000,0.035,2115,2299,2339
$GC,14927,0.43,144.6,934.5,6.1,368,14931,0.00,2.33,0.00,0.000,4,0.000,0.054,2115,3712,2338
$GC,14961,0.36,144.6,932.0,7.9,368,14965,0.17,2.25,0.00,0.000,6,0.156,0.035,2079,2301,2337
$GC,15288,0.45,144.6,913.4,5.9,374,15292,0.00,2.30,0.00,0.000,4,0.000,0.050,2079,3711,2336
$GC,15361,0.48,144.6,908.7,6.2,375,15366,0.00,2.22,0.00,0.000,6,0.000,0.036,2086,2300,2335
$GC,15717,0.57,144.6,886.6,6.3,381,15722,0.12,2.30,0.00,0.000,4,0.067,0.051,2148,3711,2335
$GC,15734,0.57,144.6,885.3,6.3,381,15739,0.15,2.22,0.00,0.000,6,0.162,0.034,2123,2308,2335
$GC,16084,0.53,144.6,862.9,6.3,387,16088,0.00,2.30,0.00,0.000,4,0.000,0.050,2131,893,2335
$GC,16279,0.50,144.6,851.2,6.2,389,16283,0.10,2.30,0.00,0.000,6,0.140,0.046,2107,2314,2334
$GC,16589,0.53,166.9,836.0,4.7,394,16613,0.00,2.30,19.98,1.127,4,0.000,0.051,2107,3715,2249
$GC,16671,0.50,166.9,831.6,5.7,395,16675,0.00,2.25,0.00,0.000,6,0.000,0.032,2115,2297,2247
$GC,17027,0.53,192.2,815.1,4.6,401,17056,0.00,2.38,23.20,1.120,4,0.000,0.054,2115,3708,2146
$GC,17098,0.50,192.2,811.3,6.0,402,17102,0.00,2.28,0.00,0.000,6,0.000,0.034,2126,2304,2144
$GC,17459,0.51,203.9,792.9,5.1,408,17477,0.00,2.33,11.52,1.029,4,0.000,0.049,2126,3718,2097
$GC,17513,0.47,203.9,789.4,6.9,408,17518,0.15,2.25,0.00,0.000,6,0.143,0.033,2098,2303,2096
$GC,17824,0.56,234.1,775.5,4.5,413,17854,0.08,0.00,27.95,1.102,6,0.081,0.000,2150,2303,1976
$GC,18128,0.51,234.1,751.8,8.1,418,18132,0.15,2.30,0.00,0.000,4,0.131,0.048,2108,3711,1970
$GC,18173,0.53,234.1,748.3,7.6,418,18177,0.00,2.25,0.00,0.000,6,0.000,0.036,2117,2291,1969
$GC,18489,0.57,234.1,727.2,6.7,424,18490,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2291,1969
$GC,18792,0.61,234.1,707.4,6.4,429,18793,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2291,1968
$GC,19096,0.65,234.1,689.3,6.0,434,19100,0.08,2.33,0.00,0.000,4,0.080,0.048,2180,3715,1968
$GC,19124,0.56,234.1,686.8,10.2,434,19129,0.25,2.22,0.00,0.000,6,0.146,0.033,2122,2303,1967
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$GC,21235,0.68,234.1,545.5,6.5,469,21238,0.00,2.30,0.00,0.000,4,0.000,0.054,2128,3714,1965
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$GC,22628,0.61,234.1,449.8,6.0,492,22632,0.00,2.30,0.00,0.000,4,0.000,0.048,2133,891,1965
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$GC,24383,0.61,240.5,332.8,5.3,521,24390,0.00,0.00,5.30,0.635,6,0.000,0.000,2127,2292,1950
$GC,24685,0.65,246.4,316.7,5.3,526,24699,0.00,2.38,6.90,0.692,4,0.000,0.052,2127,3708,1926
$GC,24717,0.68,246.4,314.8,6.5,526,24721,0.00,2.20,0.00,0.000,6,0.000,0.031,2135,2301,1925
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$STATE,29769,end climb,SURFACE_DEPTH_REACHED
$STATE,29770,begin surface coast
$FINISH,1.2,1.025543
$STATE,29791,end surface coast,CONTROL_FINISHED_OK
$STATE,29792,begin surface
$SM_CCo,29811,14.25,0.581,0,0,1708,300.00
$SM_GC,2.63,0.00,0.00,14.25,0.000,0.000,0.581,97,2298,1708,-8.75,-0.11,300.00
$IRIDIUM_FIX,4959.75,-14510.41,200399,111126
$TT8_MAMPS,0.029146
$HUMID,1728
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.70
$XPDR_PINGS,88
$24V_AH,21.8,84.675
$10V_AH,10.4,73.430
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$DEVICE_SECS,17.550,255.725,360.850,14.250,0.000,28.426,35.760,156.786,22.000,0.000,0.000,15.342,1770.145,24752.908,536.330,2298.663,838.187,33.382,1753.134,0.000,2266.846,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,543.550,626.756,794.342,849.341,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44354,771
$CAP_FILE_SIZE,194146,0
$CFSIZE,260165632,213037056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,251209,035407,5009.032,-14510.740,25,1.3,26,18.5