version: 66.12
glider: 193
mission: 4
dive: 319
start: 2 1 115 17 28 9
data:
$ID,193
$MISSION,4
$DIVE,319
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52059
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,601.23029
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3900
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2951
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.214073
$PRESSURE_SLOPE,0.0001163556
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042903274
$SEABIRD_T_H,0.00062837056
$SEABIRD_T_I,2.3004332e-05
$SEABIRD_T_J,2.3253908e-06
$SEABIRD_C_G,-9.879467
$SEABIRD_C_H,1.1201456
$SEABIRD_C_I,-0.00035123606
$SEABIRD_C_J,0.00012622437
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010215,164344,6659.169,-5857.640,0,2141.5,0,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.30
$_SM_ANGLEo,-1.3
$GPS2,010215,164344,6659.169,-5857.640,0,2141.5,0,-32.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,118.3,93888,-18.4,-10.000,-20.87,2243
$D_GRID,1100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.60,-146.0,2572,2552,2689,2657,0.0,0.0,0,34,0.00,0.00,-11.75,0.000,16386,0.000,0.000,2572,2552,2886,2894,2878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.60,-146.0,2572,2552,2893,2880,3.1,0.0,1,78,1.12,2.55,-32.35,0.000,20996,0.125,0.120,2197,1140,3549,3537,3561,0,0,0,0,0,0,14.47,14.47,14.80
$GC,98,-1.55,-146.0,2197,1140,3540,3561,7.3,-10.9,12,104,0.10,2.60,0.00,0.000,3078,0.336,0.116,2207,2552,3550,3540,3561,0,0,0,0,0,0,14.28,14.45,28.83
$GC,412,-1.52,-146.0,2207,2552,3543,3561,49.9,-13.3,35,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2549,3552,3543,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,714,-1.50,-146.0,2207,2552,3543,3561,90.7,-14.0,50,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2552,3552,3543,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1014,-1.50,-146.0,2207,2552,3544,3561,131.6,-13.4,65,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2552,3552,3543,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1313,-1.50,-146.0,2206,2552,3543,3561,167.4,-11.1,80,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2552,3552,3543,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1614,-1.50,-146.0,2207,2552,3543,3560,198.1,-10.0,95,1620,0.00,2.47,0.00,0.000,260,0.000,0.145,2198,3837,3551,3543,3560,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1661,-1.48,-146.0,2198,3838,3543,3560,203.3,-10.5,104,1667,0.12,2.22,0.00,0.000,3078,0.310,0.064,2223,2542,3551,3543,3559,0,0,0,0,0,0,14.31,14.60,28.83
$GC,1981,-1.50,-146.0,2223,2542,3543,3559,234.1,-9.5,122,1987,0.00,2.42,0.00,0.000,516,0.000,0.098,2224,1148,3550,3543,3558,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2035,-1.53,-146.0,2224,1149,3548,3559,239.5,-9.8,132,2040,0.00,2.58,0.00,0.000,1030,0.000,0.118,2217,2554,3551,3543,3559,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2360,-1.53,-146.0,2217,2553,3543,3559,271.8,-9.9,146,2365,0.00,2.47,0.00,0.000,260,0.000,0.142,2207,3843,3550,3543,3558,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2427,-1.53,-146.0,2207,3843,3543,3558,279.1,-10.4,159,2433,0.00,2.22,0.00,0.000,1030,0.000,0.063,2207,2547,3550,3543,3558,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2757,-1.53,-146.0,2206,2547,3543,3559,310.6,-9.4,174,2763,0.00,2.42,0.00,0.000,516,0.000,0.094,2207,1148,3550,3543,3558,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2800,-1.53,-146.0,2207,1148,3543,3558,314.8,-9.4,182,2805,0.00,2.58,0.00,0.000,1030,0.000,0.116,2200,2549,3550,3543,3558,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3125,-1.53,-146.0,2200,2550,3543,3558,345.6,-9.5,196,3130,0.00,2.47,0.00,0.000,260,0.000,0.138,2190,3846,3550,3543,3558,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3153,-1.53,-146.0,2190,3846,3543,3558,348.5,-9.9,201,3160,0.12,2.22,0.00,0.000,3078,0.294,0.062,2216,2547,3550,3543,3558,0,0,0,0,0,0,14.29,14.58,28.83
$GC,3461,-1.55,-146.0,2216,2547,3543,3558,376.1,-9.1,212,3467,0.00,2.45,0.00,0.000,516,0.000,0.096,2216,1138,3550,3543,3558,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3489,-1.57,-146.0,2216,1138,3543,3558,379.0,-9.7,217,3496,0.00,2.58,0.00,0.000,1030,0.000,0.116,2208,2552,3550,3543,3558,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3797,-1.57,-146.0,2209,2552,3544,3558,406.4,-9.0,228,3802,0.00,2.47,0.00,0.000,260,0.000,0.139,2200,3845,3551,3544,3558,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3839,-1.57,-146.0,2199,3845,3544,3559,410.8,-10.0,236,3844,0.00,2.22,0.00,0.000,1030,0.000,0.061,2195,2544,3551,3544,3558,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4164,-1.57,-146.0,2200,2543,3544,3558,441.2,-9.5,250,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2543,3549,3544,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4463,-1.57,-146.0,2199,2543,3545,3558,469.4,-9.4,260,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2544,3551,3545,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4763,-1.57,-146.0,2199,2544,3548,3558,497.1,-9.3,270,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2544,3551,3545,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5063,-1.57,-146.0,2199,2544,3546,3558,523.9,-8.7,280,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2544,3552,3546,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5362,-1.57,-146.0,2199,2544,3546,3558,549.3,-8.5,290,5368,0.00,2.50,0.00,0.000,260,0.000,0.144,2190,3840,3552,3546,3558,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5390,-1.57,-146.0,2190,3840,3545,3558,551.8,-9.4,295,5397,0.00,2.20,0.00,0.000,1030,0.000,0.062,2190,2551,3551,3546,3557,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5696,-1.57,-146.0,2196,2550,3547,3558,578.8,-8.8,306,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2550,3552,3546,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5996,-1.57,-146.0,2190,2550,3547,3558,604.4,-8.6,316,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2550,3552,3547,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-1.57,-146.0,2190,2550,3547,3558,629.8,-8.5,326,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2550,3553,3548,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6596,-1.57,-146.0,2190,2550,3548,3559,655.4,-8.6,336,6602,0.00,2.50,0.00,0.000,260,0.000,0.146,2181,3846,3554,3549,3559,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6624,-1.57,-146.0,2180,3846,3543,3558,658.0,-9.3,341,6631,0.12,2.22,0.00,0.000,3078,0.295,0.063,2206,2546,3553,3548,3558,0,0,0,0,0,0,14.32,14.64,28.83
$GC,6932,-1.57,-146.0,2206,2546,3549,3558,683.0,-8.2,352,6937,0.00,2.47,0.00,0.000,516,0.000,0.108,2206,1143,3553,3549,3558,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6966,-1.57,-146.0,2206,1143,3549,3558,685.9,-8.8,358,6971,0.00,2.58,0.00,0.000,1030,0.000,0.125,2199,2549,3553,3549,3558,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7301,-1.57,-146.0,2199,2549,3549,3558,715.0,-8.6,374,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2549,3553,3549,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,-1.57,-146.0,2199,2550,3549,3559,740.7,-8.7,384,7605,0.00,2.50,0.00,0.000,516,0.000,0.109,2199,1143,3553,3549,3558,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7653,-1.59,-146.0,2199,1143,3549,3558,745.5,-9.1,394,7658,0.00,2.60,0.00,0.000,1030,0.000,0.125,2193,2557,3554,3549,3559,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7968,-1.59,-146.0,2193,2557,3549,3559,771.7,-8.0,406,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2557,3554,3549,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8266,-1.59,-146.0,2193,2557,3549,3559,795.5,-7.8,416,8272,0.00,2.53,0.00,0.000,516,0.000,0.114,2193,1145,3554,3549,3559,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8305,-1.59,-146.0,2192,1145,3557,3559,798.7,-8.6,423,8311,0.00,2.60,0.00,0.000,1030,0.000,0.129,2187,2549,3554,3549,3559,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8636,-1.59,-146.0,2186,2549,3549,3559,825.7,-8.3,438,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2549,3554,3549,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8934,-1.59,-146.0,2187,2549,3549,3559,850.7,-8.3,448,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2549,3553,3547,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9234,-1.59,-146.0,2187,2549,3550,3559,875.8,-8.3,458,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2549,3554,3549,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9534,-1.59,-146.0,2186,2549,3550,3559,900.6,-8.2,468,9539,0.00,2.53,0.00,0.000,516,0.000,0.119,2186,1147,3554,3550,3559,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9592,-1.59,-146.0,2186,1147,3550,3559,905.4,-7.7,479,9599,0.10,2.60,0.00,0.000,3078,0.326,0.132,2199,2549,3554,3549,3559,0,0,0,0,0,0,14.33,14.51,28.83
$GC,9899,-1.62,-146.0,2199,2550,3550,3559,929.7,-7.8,490,9904,0.00,2.55,0.00,0.000,516,0.000,0.119,2199,1140,3554,3549,3559,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9933,-1.62,-146.0,2199,1140,3549,3559,932.6,-9.1,496,9938,0.00,2.62,0.00,0.000,1030,0.000,0.131,2192,2557,3554,3549,3559,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10266,-1.62,-146.0,2192,2557,3550,3559,959.9,-8.1,512,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2557,3554,3550,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10567,-1.62,-146.0,2192,2557,3549,3559,983.9,-8.2,522,10573,0.00,2.55,0.00,0.000,516,0.000,0.122,2192,1144,3554,3549,3559,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10601,-1.62,-146.0,2192,1144,3549,3559,986.7,-8.5,528,10606,0.00,2.62,0.00,0.000,1030,0.000,0.134,2186,2555,3554,3549,3559,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,10662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10662,begin apogee
$GC,10668,-0.38,0.0,2186,2401,3549,3559,992.1,-8.9,535,10855,1.02,0.00,182.98,1.798,10246,0.249,0.000,2465,2401,2950,2971,2930,0,0,0,0,0,0,14.32,28.83,13.14
$STATE,10857,end apogee,CONTROL_FINISHED_OK
$STATE,10857,begin climb
$GC,10859,1.60,146.0,2465,2401,2962,2920,993.3,0.0,541,11055,1.40,0.00,186.90,1.657,10502,0.145,0.000,2895,2401,2346,2395,2298,0,0,0,0,0,0,13.72,28.83,12.76
$GC,11356,1.57,146.0,2895,2400,2375,2276,940.3,11.9,578,11361,0.00,2.65,0.00,0.000,516,0.000,0.129,2905,1002,2325,2375,2276,0,0,0,0,0,0,28.83,13.99,28.83
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$FREEZE,8.45,-1.799,-1.781,3,54,0
$STATE,19546,end climb,FINISH_DEPTH_REACHED
$STATE,19546,begin subsurface finish
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$FINISH2,6.6
$STATE,19581,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19581,begin surface
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$RAFOS,6,1422823768,20.833334,20.824444,99,69,61,57,56,55,513,199,183,123,150,210
$RAFOS,5,1422823288,20.700001,20.691111,61,60,60,58,55,52,218,206,186,117,132,149
$RAFOS,4,1422822801,20.566668,20.555834,153,65,59,58,56,56,476,199,185,172,125,138
$RAFOS,3,1422822305,20.433332,20.418056,68,65,63,55,53,53,204,193,218,151,171,160
$RAFOS,2,1422821833,20.299999,20.286945,61,60,58,57,55,55,223,164,187,140,206,128
$RAFOS,1,1422821343,20.166666,20.150833,61,59,56,55,51,50,146,210,170,199,115,157
$RAFOS,0,1422820890,20.033333,20.025000,64,63,61,58,51,43,202,175,187,145,218,124
$RAFOS_FIX,6701.451172,-5913.628418,010215,202044,2,126,0.85
$IRIDIUM_FIX,6625.71,-5725.81,220115,144240
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.05
$INTERNAL_PRESSURE,8.48888
$TCM_TEMP,12.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,16.4
$SC_FREEKB,7668000
$24V_AH,12.76,80.362
$10V_AH,12.99,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.369,0.000,0.000,0.000
$MEM,271092
$DATA_FILE_SIZE,36671,1032
$CAP_FILE_SIZE,176647,7
$CFSIZE,260034560,229040128
$ERRORS,0,1,0,0,0,0,0,0,0,1,0,0,86,2,0,0
$INTR,0,19549.52,0x23769e,5,5
$SOUNDSPEED,1457.4
$GPS,010215,204344,6701.451,-5913.628,0,2126.0,0,-32.6