version: 66.11
glider: 190
mission: 6
dive: 339
start: 12 31 112 2 2 29
data:
$ID,190
$MISSION,6
$DIVE,339
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-13341.95
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,311212,014759,2511.768,-3801.594,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.3
$GPS2,311212,020200,2511.837,-3801.636,13,0.7,14,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$TGT_RADIUS,1852.000
$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,219.1,96308,-16.4,-7.174,-28.86
$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,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.45,0.000,2,0.000,0.000,140,1524,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.4,0.0,1,149,11.05,2.10,-85.20,0.000,4,0.351,0.162,2611,462,3625,0,0,0,0,0,0,14.19,14.21,14.69
$GC,299,-0.82,-155.7,19.4,-11.6,27,308,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1527,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,610,-0.82,-155.7,45.9,-8.3,58,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1527,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-0.82,-155.7,76.2,-11.0,88,917,0.00,1.98,0.00,0.000,4,0.000,0.104,2605,2579,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,959,-0.82,-155.7,81.4,-10.5,93,968,0.00,2.05,0.00,0.000,6,0.000,0.117,2605,1523,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1269,-0.85,-155.7,110.4,-8.9,124,1278,0.00,2.10,0.00,0.000,4,0.000,0.145,2605,460,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1320,-0.85,-155.7,115.1,-9.6,129,1330,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1526,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1630,-0.88,-155.7,137.2,-7.5,160,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1527,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1940,-0.91,-155.7,164.5,-9.5,191,1948,0.00,2.12,0.00,0.000,4,0.000,0.143,2605,459,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2039,-0.91,-155.7,175.3,-10.9,201,2049,0.00,1.95,0.00,0.000,6,0.000,0.086,2605,1528,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2349,-0.95,-155.7,208.0,-10.5,232,2358,0.00,2.12,0.00,0.000,4,0.000,0.145,2605,459,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2450,-0.95,-155.7,218.5,-10.2,242,2458,0.00,1.90,0.00,0.000,6,0.000,0.086,2604,1508,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2760,-0.99,-155.7,247.7,-8.9,273,2769,0.00,2.08,0.00,0.000,4,0.000,0.145,2605,462,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2799,-1.01,-155.7,250.2,-8.4,276,2809,0.12,1.90,0.00,0.000,6,0.141,0.083,2553,1512,3625,0,0,0,0,0,0,14.48,14.45,28.83
$GC,3121,-1.01,-155.7,278.1,-8.1,287,3127,0.00,1.98,0.00,0.000,4,0.000,0.109,2552,2581,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3180,-1.01,-155.7,283.0,-8.2,289,3186,0.00,2.08,0.00,0.000,6,0.000,0.119,2552,1499,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3509,-1.01,-155.7,311.5,-9.0,300,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1499,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3810,-1.01,-155.7,338.7,-9.0,310,3816,0.00,2.03,0.00,0.000,4,0.000,0.110,2552,2571,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3849,-1.01,-155.7,341.3,-8.8,311,3856,0.00,2.08,0.00,0.000,6,0.000,0.119,2552,1505,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4170,-1.01,-155.7,371.9,-9.6,322,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1501,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4470,-1.01,-155.7,401.8,-10.1,332,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1501,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4769,-1.01,-155.7,432.0,-10.1,342,4776,0.00,2.03,0.00,0.000,4,0.000,0.109,2552,2575,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4809,-1.01,-155.7,435.1,-10.2,343,4816,0.00,2.08,0.00,0.000,6,0.000,0.121,2552,1508,3621,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5131,-1.01,-155.7,468.7,-10.4,354,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1508,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5429,-1.01,-155.7,499.1,-9.7,364,5436,0.00,2.08,0.00,0.000,4,0.000,0.144,2552,460,3619,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5479,-1.01,-155.7,502.2,-9.7,365,5489,0.00,1.95,0.00,0.000,6,0.000,0.093,2549,1522,3619,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5789,-1.01,-155.7,532.7,-9.2,376,5796,0.00,2.00,0.00,0.000,4,0.000,0.115,2549,2578,3618,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5858,-1.01,-155.7,538.1,-9.1,378,5862,0.00,2.05,0.00,0.000,6,0.000,0.123,2547,1528,3618,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6171,-1.01,-155.7,568.4,-9.4,389,6177,0.00,2.12,0.00,0.000,4,0.000,0.148,2547,459,3617,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6219,-1.01,-155.7,571.4,-9.4,390,6222,0.00,1.98,0.00,0.000,6,0.000,0.094,2540,1529,3616,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6521,-1.01,-155.7,600.2,-8.5,400,6529,0.00,1.98,0.00,0.000,4,0.000,0.116,2539,2572,3615,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6559,-1.01,-155.7,602.7,-8.5,401,6563,0.00,2.05,0.00,0.000,6,0.000,0.124,2539,1526,3615,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6871,-1.01,-155.7,628.6,-7.7,412,6878,0.00,2.03,0.00,0.000,4,0.000,0.116,2540,2578,3614,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6911,-1.01,-155.7,631.1,-7.8,413,6918,0.00,2.05,0.00,0.000,6,0.000,0.125,2543,1536,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7231,-1.01,-155.7,658.2,-8.7,424,7238,0.00,2.00,0.00,0.000,4,0.000,0.116,2539,2577,3612,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7291,-1.01,-155.7,663.5,-8.8,426,7298,0.00,2.00,0.00,0.000,6,0.000,0.124,2539,1547,3612,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7622,-1.01,-155.7,696.2,-10.2,437,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1547,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7921,-1.01,-155.7,727.0,-10.0,447,7929,0.00,2.15,0.00,0.000,4,0.000,0.148,2539,465,3610,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7991,-0.99,-155.7,733.3,-10.3,449,7999,0.10,2.00,0.00,0.000,6,0.232,0.096,2565,1543,3610,0,0,0,0,0,0,14.09,14.35,28.83
$GC,8313,-0.99,-155.7,762.9,-8.9,460,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1544,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8613,-1.02,-155.7,790.4,-9.1,470,8618,0.00,2.17,0.00,0.000,4,0.000,0.152,2566,459,3607,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8650,-1.02,-155.7,793.2,-9.1,471,8658,0.00,2.03,0.00,0.000,6,0.000,0.094,2558,1549,3607,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8974,-1.04,-155.7,823.4,-9.0,482,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1549,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9272,-1.06,-155.7,849.8,-8.8,492,9278,0.00,2.20,0.00,0.000,4,0.000,0.151,2558,461,3604,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9310,-1.06,-155.7,852.7,-8.8,493,9314,0.00,2.03,0.00,0.000,6,0.000,0.096,2553,1545,3604,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9623,-1.06,-155.7,881.8,-9.0,504,9629,0.00,2.00,0.00,0.000,4,0.000,0.124,2553,2576,3602,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9701,-1.06,-155.7,886.9,-8.8,506,9705,0.00,2.03,0.00,0.000,6,0.000,0.126,2553,1549,3602,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10002,-1.06,-155.7,914.5,-8.6,516,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1549,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10303,-1.06,-155.7,941.8,-9.5,526,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1548,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10602,-1.06,-155.7,971.4,-10.0,536,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1548,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10809,begin apogee
$GC,10817,-0.23,0.0,991.4,-9.4,543,10973,0.90,0.00,151.30,1.858,4,0.210,0.000,2804,1519,2989,0,0,0,0,0,0,13.93,28.83,13.15
$STATE,10976,end apogee,CONTROL_FINISHED_OK
$STATE,10976,begin climb
$GC,10979,0.84,155.7,1000.2,0.0,548,11148,1.10,2.08,159.20,1.828,4,0.113,0.122,3158,2580,2354,0,0,0,0,0,0,14.10,14.06,13.14
$GC,11296,0.79,155.9,993.1,7.2,559,11305,0.00,2.15,0.00,0.000,6,0.000,0.145,3166,1521,2341,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11609,0.74,155.9,967.6,7.6,570,11611,0.15,0.00,0.00,0.000,6,0.299,0.000,3133,1520,2338,0,0,0,0,0,0,14.23,28.83,28.83
$GC,11909,0.74,194.2,948.6,6.0,580,11955,0.00,2.15,39.47,1.783,4,0.000,0.170,3141,456,2193,0,0,0,0,0,0,28.83,14.29,13.49
$GC,11987,0.74,232.8,945.1,6.0,582,12035,0.00,2.00,41.42,1.755,6,0.000,0.105,3141,1519,2037,0,0,0,0,0,0,28.83,14.31,13.33
$GC,12357,0.74,243.2,917.9,6.8,595,12370,0.00,0.00,10.75,1.647,6,0.000,0.000,3141,1519,1995,0,0,0,0,0,0,28.83,28.83,13.52
$GC,12658,0.75,255.7,897.9,6.8,605,12677,0.00,2.08,14.40,1.692,4,0.000,0.133,3141,2580,1943,0,0,0,0,0,0,28.83,14.49,13.57
$GC,12767,0.75,255.7,889.7,7.3,608,12774,0.00,2.12,0.00,0.000,6,0.000,0.142,3149,1510,1938,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13098,0.75,255.7,861.6,8.9,619,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1511,1936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13397,0.75,255.7,833.2,9.7,629,13405,0.00,2.08,0.00,0.000,4,0.000,0.124,3149,2581,1935,0,0,0,0,0,0,28.83,14.34,28.83
$GC,13436,0.75,255.7,830.4,9.7,630,13440,0.00,2.12,0.00,0.000,6,0.000,0.142,3156,1524,1935,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13749,0.75,255.7,799.8,9.2,641,13755,0.00,2.17,0.00,0.000,4,0.000,0.172,3164,461,1935,0,0,0,0,0,0,28.83,14.17,28.83
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$GC,16848,0.78,305.7,535.4,6.4,743,16880,0.00,1.95,26.70,1.388,6,0.000,0.123,3157,1574,1743,0,0,0,0,0,0,28.83,14.33,13.57
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$STATE,23018,end climb,SURFACE_DEPTH_REACHED
$STATE,23018,begin surface coast
$FINISH,1.4,1.025673
$STATE,23039,end surface coast,CONTROL_FINISHED_OK
$STATE,23039,begin surface
$SM_CCo,23064,21.33,0.129,0,0,1562,350.04
$SM_GC,2.00,8.85,1.95,21.33,0.080,0.083,0.129,128,1526,1562,-8.53,-0.45,350.04,0,0,0,0,0,0,14.48,14.33,14.34
$IRIDIUM_FIX,2500.82,-3757.93,301212,191936
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.03
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,4
$SC_FREEKB,7640096
$TM_FREEKB,4460544
$24V_AH,13.1,143.523
$10V_AH,12.7,0.000
$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,22.875,174.975,470.150,21.325,0.000,0.000,0.000,489.025,1.000,0.000,15.704,3167.987,16587.287,882.025,2639.027,636.361,0.000,2480.391,0.000,2042.937,0.000,0.541,0.000
$DEVICE_MAMPS,351.135,224.145,1858.185,129.285,0.000,0.000,0.000,173.655,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23085.000,5748.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.068,13.231,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43277,1145
$CAP_FILE_SIZE,238349,0
$CFSIZE,260034560,202981376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,323.2,1
$GPS,311212,082835,2510.678,-3802.938,34,0.9,34,-13.9