version: 66.10
glider: 176
mission: 5
dive: 201
start: 4 21 112 7 46 11
data:
$ID,176
$MISSION,5
$DIVE,201
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,100
$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,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7696.2783
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,210412,073837,1808.574,12437.287,35,0.9,35,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.0
$GPS2,210412,074544,1808.617,12437.350,11,1.2,11,-2.1
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$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,200.2,34727,-13.1,-7.500
$D_GRID,5022
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-41.08,0.000,2,0.000,0.000,191,2547,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.4,-7.5,7,99,8.65,2.08,-22.30,0.000,4,0.234,0.043,2347,1144,3528,0,0,0,0,0,0,25.40,26.17,26.52
$GC,132,-0.51,-146.0,23.0,-29.7,13,140,0.10,2.28,0.00,0.000,6,0.197,0.044,2359,2642,3528,0,0,0,0,0,0,25.86,26.12,28.83
$GC,463,-0.51,-146.0,139.4,-32.5,74,486,0.05,2.17,0.00,0.000,4,0.177,0.024,2316,1144,3528,0,0,0,0,0,0,26.53,26.37,28.83
$GC,545,-0.51,-146.0,164.0,-26.3,86,553,0.17,2.22,0.00,0.000,6,0.154,0.042,2355,2630,3528,0,0,0,0,0,0,25.99,26.29,28.83
$GC,861,-0.51,-146.0,231.3,-19.0,133,871,0.00,2.10,0.00,0.000,4,0.000,0.026,2356,1156,3528,0,0,0,0,0,0,28.83,26.45,28.83
$GC,987,-0.51,-146.0,251.1,-13.6,145,994,0.00,2.20,0.00,0.000,6,0.000,0.042,2345,2634,3529,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1293,-0.51,-146.0,305.5,-16.8,176,1303,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1152,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1369,-0.51,-146.0,315.6,-12.7,183,1376,0.10,2.22,0.00,0.000,6,0.162,0.042,2363,2638,3529,0,0,0,0,0,0,26.21,26.38,28.83
$GC,1676,-0.51,-146.0,355.7,-12.6,214,1686,0.08,2.12,0.00,0.000,4,0.133,0.023,2307,1151,3529,0,0,0,0,0,0,26.67,26.51,28.83
$GC,1720,-0.51,-146.0,361.9,-14.6,218,1729,0.12,2.20,0.00,0.000,6,0.123,0.043,2351,2628,3529,0,0,0,0,0,0,26.12,26.41,28.83
$GC,2028,-0.51,-146.0,405.7,-14.1,249,2038,0.00,2.10,0.00,0.000,4,0.000,0.025,2352,1144,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2094,-0.51,-146.0,413.5,-11.9,255,2101,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2630,3527,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2401,-0.51,-146.0,454.6,-13.1,286,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2630,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2702,-0.51,-146.0,491.9,-11.6,316,2711,0.00,2.08,0.00,0.000,4,0.000,0.025,2348,1156,3523,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2756,-0.51,-146.0,497.7,-10.8,321,2764,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2628,3522,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3063,-0.51,-146.0,530.2,-10.0,352,3072,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1148,3520,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3105,-0.51,-146.0,534.2,-9.6,356,3114,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2635,3520,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3415,-0.51,-146.0,564.9,-10.2,387,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2635,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-0.51,-146.0,595.7,-10.4,417,3727,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1158,3514,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3800,-0.51,-146.0,603.6,-9.0,423,3806,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2628,3514,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4120,-0.51,-146.0,632.7,-8.9,439,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4420,-0.51,-146.0,659.3,-8.7,454,4426,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1150,3509,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4480,-0.51,-146.0,664.0,-8.1,457,4486,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3509,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4800,-0.51,-146.0,690.5,-8.6,473,4805,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3505,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4833,-0.51,-146.0,692.2,-8.6,474,4840,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2628,3505,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5141,-0.51,-146.0,722.1,-9.8,490,5147,0.00,2.08,0.00,0.000,4,0.000,0.026,2344,1162,3503,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5173,-0.51,-146.0,724.1,-9.9,491,5180,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2630,3503,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5480,-0.51,-146.0,756.1,-9.9,507,5484,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1157,3501,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5530,-0.51,-146.0,760.1,-9.9,509,5534,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3500,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5836,-0.51,-146.0,789.3,-9.1,524,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6137,-0.51,-146.0,816.5,-9.1,539,6143,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1158,3496,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6184,-0.51,-146.0,820.1,-9.0,541,6188,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2635,3496,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6491,-0.51,-146.0,847.2,-8.5,556,6497,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1150,3494,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6533,-0.51,-146.0,850.5,-8.5,558,6538,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3494,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6852,-0.51,-146.0,874.8,-7.4,574,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7152,-0.51,-146.0,895.7,-6.6,589,7158,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1158,3489,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7205,-0.51,-146.0,898.6,-7.0,591,7212,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3489,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7512,-0.51,-146.0,921.2,-7.1,607,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,-0.51,-146.0,943.9,-7.8,622,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,-0.51,-146.0,966.7,-7.4,637,8116,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1153,3485,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8174,-0.51,-146.0,971.6,-7.9,640,8180,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3485,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8432,begin apogee
$GC,8438,-0.17,0.0,991.0,-7.7,653,8568,0.35,0.12,121.38,1.743,6,0.105,0.096,2469,2534,2928,0,0,0,0,0,0,25.98,24.53,23.32
$STATE,8569,end apogee,CONTROL_FINISHED_OK
$STATE,8569,begin climb
$GC,8571,0.51,146.0,995.6,0.0,659,8718,0.57,2.10,140.43,1.701,4,0.049,0.056,2699,3762,2332,0,0,0,0,0,0,24.82,23.83,22.58
$GC,8760,0.51,146.0,987.1,11.6,669,8764,0.15,2.03,0.00,0.000,6,0.190,0.025,2675,2454,2329,0,0,0,0,0,0,24.38,24.71,28.83
$GC,9065,0.51,146.0,950.2,10.8,684,9071,0.00,2.10,0.00,0.000,4,0.000,0.031,2685,1048,2323,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9099,0.51,146.0,948.0,10.7,685,9108,0.05,2.30,0.00,0.000,6,0.224,0.047,2674,2518,2321,0,0,0,0,0,0,25.78,25.87,28.83
$GC,9405,0.51,146.0,914.2,10.7,701,9409,0.00,1.92,0.00,0.000,4,0.000,0.054,2674,3764,2319,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9495,0.51,146.0,904.0,13.4,705,9503,0.00,1.92,0.00,0.000,6,0.000,0.025,2681,2437,2319,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9801,0.51,146.0,864.6,12.4,721,9807,0.00,2.05,0.00,0.000,4,0.000,0.054,2681,3764,2317,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9824,0.51,146.0,861.8,12.7,722,9829,0.10,1.90,0.00,0.000,6,0.210,0.024,2669,2447,2317,0,0,0,0,0,0,25.93,26.30,28.83
$GC,10143,0.51,146.0,822.4,12.6,738,10147,0.00,2.03,0.00,0.000,4,0.000,0.030,2679,1043,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10164,0.51,146.0,819.6,12.5,739,10170,0.00,2.28,0.00,0.000,6,0.000,0.046,2679,2517,2315,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10484,0.51,146.0,778.4,12.6,755,10488,0.00,1.90,0.00,0.000,4,0.000,0.055,2679,3765,2315,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10542,0.51,146.0,770.2,14.2,758,10548,0.08,1.90,0.00,0.000,6,0.226,0.024,2673,2447,2315,0,0,0,0,0,0,26.10,26.39,28.83
$GC,10861,0.51,146.0,732.6,11.2,774,10866,0.00,2.05,0.00,0.000,4,0.000,0.031,2684,1049,2314,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10889,0.51,146.0,730.6,11.0,775,10893,0.00,2.25,0.00,0.000,6,0.000,0.045,2683,2525,2313,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11197,0.51,146.0,692.5,12.5,790,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2526,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11495,0.51,146.0,653.9,12.8,805,11502,0.03,2.20,0.00,0.000,4,0.301,0.029,2684,1048,2313,0,0,0,0,0,0,26.54,26.27,28.83
$GC,11539,0.51,146.0,649.2,12.4,807,11544,0.05,2.25,0.00,0.000,6,0.217,0.044,2672,2526,2312,0,0,0,0,0,0,26.07,26.15,28.83
$GC,11851,0.51,146.0,613.2,11.3,823,11857,0.00,2.17,0.00,0.000,4,0.000,0.031,2682,1055,2313,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11899,0.51,146.0,608.9,10.8,825,11903,0.00,2.22,0.00,0.000,6,0.000,0.044,2682,2518,2312,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12208,0.51,146.0,573.1,11.4,851,12217,0.00,1.90,0.00,0.000,4,0.000,0.054,2682,3767,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12240,0.51,146.0,568.8,12.5,854,12249,0.10,1.90,0.00,0.000,6,0.207,0.023,2669,2435,2311,0,0,0,0,0,0,26.02,26.44,28.83
$GC,12550,0.51,146.0,536.1,10.5,885,12559,0.00,2.03,0.00,0.000,4,0.000,0.032,2679,1050,2311,0,0,0,0,0,0,28.83,26.27,28.83
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$GC,14964,0.56,186.2,319.0,6.4,1124,15003,0.00,2.22,30.33,1.263,6,0.000,0.041,2695,2527,2167,0,0,0,0,0,0,28.83,26.23,24.57
$GC,15304,0.56,186.2,286.6,11.7,1158,15307,0.00,1.92,0.00,0.000,4,0.000,0.050,2695,3766,2164,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,18201,end climb,SURFACE_DEPTH_REACHED
$STATE,18202,begin surface coast
$FINISH,0.6,1.021795
$STATE,18269,end surface coast,CONTROL_FINISHED_OK
$STATE,18269,begin surface
$SM_CCo,18284,4.93,0.148,0,0,1396,375.06
$SM_GC,2.89,6.38,0.30,4.93,0.033,0.039,0.148,192,2686,1396,-7.15,-0.48,375.06,0,0,0,0,0,0,26.38,26.55,25.84
$IRIDIUM_FIX,1800.97,12434.25,210412,020239
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.6,41.625
$10V_AH,10.1,26.158
$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,18.300,172.850,402.825,4.925,0.000,23.951,19.577,236.879,0.000,0.000,14.080,4109.496,10289.111,596.518,3300.701,392.881,0.000,2138.810,0.000,2762.723,0.000,0.543,0.000
$DEVICE_MAMPS,300.645,96.390,1742.670,147.645,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.257,2194.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,120538,1625
$CAP_FILE_SIZE,193281,0
$CFSIZE,260165632,203481088
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,236.8,1
$GPS,210412,125207,1806.312,12436.704,33,1.0,33,-2.1