version: 66.08
glider: 502
mission: 3
dive: 620
start: 1 13 111 21 34 55
data:
$ID,502
$MISSION,3
$DIVE,620
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,275
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$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,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,623.29712
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30924.674
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$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,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,130111,212436,-7628.371,17320.957,41,0.9,42,127.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.0
$GPS2,130111,213426,-7628.277,17320.812,13,1.1,13,127.6
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$TGT_RADIUS,5000.000
$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,104.3,86878,-16.0,-9.091
$D_GRID,568
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-146.0,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,348,2666,3097,0,0,0,0,0,0
$GC,86,-0.71,-146.0,3.0,-2.4,9,116,9.15,2.42,-15.82,0.000,4,0.190,0.062,2830,1237,3559,0,0,0,0,0,0
$GC,218,-0.71,-146.0,19.4,-12.5,31,226,0.00,2.38,0.00,0.000,6,0.000,0.054,2821,2651,3562,0,0,0,0,0,0
$GC,359,-0.71,-146.0,42.8,-17.1,56,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2652,3562,0,0,0,0,0,0
$GC,500,-0.71,-146.0,67.0,-16.5,81,506,0.00,1.85,0.00,0.000,4,0.000,0.057,2813,3771,3562,0,0,0,0,0,0
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$GC,692,-0.71,-146.0,98.5,-15.7,115,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2646,3563,0,0,0,0,0,0
$GC,828,-0.71,-146.0,119.5,-14.7,128,832,0.00,1.88,0.00,0.000,4,0.000,0.058,2804,3763,3563,0,0,0,0,0,0
$GC,886,-0.71,-146.0,128.4,-15.1,133,890,0.12,1.75,0.00,0.000,6,0.155,0.039,2837,2659,3563,0,0,0,0,0,0
$GC,1027,-0.71,-146.0,145.8,-11.8,146,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2657,3563,0,0,0,0,0,0
$GC,1154,-0.71,-146.0,161.1,-12.3,158,1158,0.00,1.85,0.00,0.000,4,0.000,0.058,2829,3763,3563,0,0,0,0,0,0
$GC,1201,-0.71,-146.0,167.4,-13.6,162,1205,0.00,1.73,0.00,0.000,6,0.000,0.038,2830,2670,3564,0,0,0,0,0,0
$GC,1344,-0.71,-146.0,186.4,-13.5,175,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2667,3564,0,0,0,0,0,0
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$GC,1617,-0.71,-146.0,226.9,-15.5,201,1620,0.00,1.85,0.00,0.000,4,0.000,0.058,2822,3769,3564,0,0,0,0,0,0
$GC,1665,-0.71,-146.0,235.7,-17.0,205,1674,0.00,1.77,0.00,0.000,6,0.000,0.039,2822,2678,3564,0,0,0,0,0,0
$GC,1801,-0.71,-146.0,257.5,-16.0,218,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2677,3564,0,0,0,0,0,0
$GC,1992,-0.71,-146.0,286.1,-14.6,236,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2677,3564,0,0,0,0,0,0
$GC,2182,-0.71,-146.0,312.2,-12.9,254,2186,0.00,1.85,0.00,0.000,4,0.000,0.060,2814,3769,3564,0,0,0,0,0,0
$GC,2251,-0.71,-146.0,321.4,-13.1,260,2255,0.00,1.75,0.00,0.000,6,0.000,0.040,2813,2671,3564,0,0,0,0,0,0
$GC,2457,-0.71,-146.0,347.9,-12.9,279,2460,0.00,1.85,0.00,0.000,4,0.000,0.059,2805,3767,3563,0,0,0,0,0,0
$GC,2491,-0.71,-146.0,352.8,-14.1,282,2495,0.00,1.75,0.00,0.000,6,0.000,0.039,2805,2670,3564,0,0,0,0,0,0
$GC,2696,-0.71,-146.0,379.8,-13.2,301,2700,0.00,1.88,0.00,0.000,4,0.000,0.060,2797,3756,3563,0,0,0,0,0,0
$GC,2723,-0.71,-146.0,383.9,-14.4,303,2731,0.10,1.75,0.00,0.000,6,0.130,0.039,2829,2682,3564,0,0,0,0,0,0
$GC,2923,-0.71,-146.0,407.1,-11.6,322,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2683,3564,0,0,0,0,0,0
$GC,3121,-0.71,-146.0,430.4,-11.4,341,3125,0.00,1.83,0.00,0.000,4,0.000,0.060,2823,3765,3563,0,0,0,0,0,0
$GC,3182,-0.71,-146.0,438.6,-12.9,346,3189,0.00,1.75,0.00,0.000,6,0.000,0.039,2823,2694,3563,0,0,0,0,0,0
$GC,3383,-0.71,-146.0,464.4,-13.2,365,3386,0.00,1.80,0.00,0.000,4,0.000,0.059,2815,3764,3563,0,0,0,0,0,0
$GC,3418,-0.71,-146.0,469.7,-14.6,368,3422,0.00,1.70,0.00,0.000,6,0.000,0.039,2814,2694,3563,0,0,0,0,0,0
$GC,3623,-0.71,-146.0,498.2,-13.6,387,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2692,3563,0,0,0,0,0,0
$GC,3826,-0.71,-146.0,526.3,-13.8,395,3830,0.00,1.85,0.00,0.000,4,0.000,0.059,2806,3763,3562,0,0,0,0,0,0
$GC,3876,-0.71,-146.0,533.8,-14.2,396,3880,0.00,1.67,0.00,0.000,6,0.000,0.039,2806,2708,3562,0,0,0,0,0,0
$GC,4079,-0.71,-146.0,562.1,-13.9,403,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2707,3562,0,0,0,0,0,0
$STATE,4137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4137,begin apogee
$GC,4143,-0.27,0.0,570.4,13.8,405,4285,0.52,0.00,137.18,1.162,4,0.121,0.000,2971,2480,2962,0,0,0,0,0,0
$STATE,4286,end apogee,CONTROL_FINISHED_OK
$STATE,4286,begin climb
$GC,4289,0.71,146.0,577.0,0.0,409,4450,1.08,2.62,151.35,1.073,4,0.077,0.047,3291,1102,2366,0,0,0,0,0,0
$GC,4518,0.71,146.0,559.6,10.7,416,4525,0.00,2.62,0.00,0.000,6,0.000,0.049,3291,2498,2357,0,0,0,0,0,0
$GC,4708,0.71,146.0,539.0,11.0,423,4713,0.00,2.50,0.00,0.000,4,0.000,0.047,3301,1104,2353,0,0,0,0,0,0
$GC,4848,0.71,146.0,523.9,10.5,427,4853,0.00,2.55,0.00,0.000,6,0.000,0.050,3300,2522,2350,0,0,0,0,0,0
$GC,5049,0.71,146.0,501.6,11.0,434,5053,0.00,2.17,0.00,0.000,4,0.000,0.054,3301,3763,2349,0,0,0,0,0,0
$GC,5158,0.71,146.0,487.7,13.2,442,5162,0.00,2.05,0.00,0.000,6,0.000,0.037,3310,2546,2348,0,0,0,0,0,0
$GC,5357,0.71,146.0,464.9,11.0,460,5361,0.00,2.15,0.00,0.000,4,0.000,0.056,3310,3771,2347,0,0,0,0,0,0
$GC,5401,0.71,146.0,458.8,13.5,463,5409,0.00,2.05,0.00,0.000,6,0.000,0.037,3319,2542,2347,0,0,0,0,0,0
$GC,5600,0.71,146.0,435.5,11.7,482,5603,0.00,2.12,0.00,0.000,4,0.000,0.056,3319,3773,2346,0,0,0,0,0,0
$GC,5663,0.71,146.0,426.9,14.8,487,5667,0.12,2.00,0.00,0.000,6,0.155,0.038,3297,2560,2346,0,0,0,0,0,0
$GC,5862,0.71,146.0,405.1,10.9,505,5866,0.00,2.05,0.00,0.000,4,0.000,0.056,3297,3765,2346,0,0,0,0,0,0
$GC,5896,0.71,146.0,400.7,12.2,507,5904,0.00,1.92,0.00,0.000,6,0.000,0.037,3304,2576,2345,0,0,0,0,0,0
$GC,6095,0.71,146.0,377.9,11.2,526,6099,0.00,2.00,0.00,0.000,4,0.000,0.056,3303,3766,2345,0,0,0,0,0,0
$GC,6164,0.71,146.0,368.9,13.9,532,6167,0.00,1.88,0.00,0.000,6,0.000,0.037,3312,2594,2344,0,0,0,0,0,0
$GC,6370,0.71,146.0,344.4,11.5,551,6373,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3767,2345,0,0,0,0,0,0
$GC,6416,0.71,146.0,338.1,14.0,555,6419,0.00,1.85,0.00,0.000,6,0.000,0.037,3320,2606,2344,0,0,0,0,0,0
$GC,6622,0.71,146.0,313.5,11.5,574,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2604,2344,0,0,0,0,0,0
$GC,6820,0.71,146.0,290.3,11.6,593,6823,0.00,1.95,0.00,0.000,4,0.000,0.057,3320,3771,2344,0,0,0,0,0,0
$GC,6888,0.71,146.0,281.2,14.6,599,6892,0.12,1.85,0.00,0.000,6,0.155,0.039,3297,2611,2344,0,0,0,0,0,0
$GC,7092,0.71,146.0,261.6,9.2,618,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2609,2344,0,0,0,0,0,0
$GC,7284,0.71,146.0,244.4,9.5,636,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2609,2343,0,0,0,0,0,0
$GC,7411,0.71,146.0,232.7,9.2,648,7414,0.00,1.95,0.00,0.000,4,0.000,0.057,3297,3773,2343,0,0,0,0,0,0
$GC,7446,0.71,146.0,228.9,11.5,651,7450,0.00,1.83,0.00,0.000,6,0.000,0.039,3304,2622,2343,0,0,0,0,0,0
$GC,7588,0.71,146.0,214.2,10.5,664,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2620,2343,0,0,0,0,0,0
$GC,7715,0.71,146.0,200.6,10.6,676,7718,0.00,1.92,0.00,0.000,4,0.000,0.056,3304,3772,2343,0,0,0,0,0,0
$GC,7752,0.71,146.0,195.6,13.3,679,7762,0.00,1.85,0.00,0.000,6,0.000,0.039,3313,2634,2343,0,0,0,0,0,0
$GC,7889,0.71,146.0,180.1,11.5,692,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2633,2343,0,0,0,0,0,0
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$GC,8061,0.71,146.0,159.3,13.1,708,8064,0.00,1.80,0.00,0.000,6,0.000,0.038,3321,2634,2343,0,0,0,0,0,0
$GC,8202,0.71,146.0,142.0,11.8,721,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2632,2343,0,0,0,0,0,0
$GC,8329,0.71,146.0,127.2,11.9,733,8332,0.00,1.90,0.00,0.000,4,0.000,0.057,3320,3770,2343,0,0,0,0,0,0
$GC,8378,0.71,146.0,120.4,13.6,737,8387,0.10,1.83,0.00,0.000,6,0.132,0.038,3299,2645,2343,0,0,0,0,0,0
$GC,8515,0.71,146.0,106.3,10.1,750,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2644,2343,0,0,0,0,0,0
$GC,8652,0.71,146.0,92.5,10.3,769,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2644,2343,0,0,0,0,0,0
$GC,8788,0.71,146.0,78.7,10.6,794,8796,0.00,1.92,0.00,0.000,4,0.000,0.057,3298,3770,2343,0,0,0,0,0,0
$GC,8821,0.71,146.0,75.2,11.2,799,8829,0.00,1.80,0.00,0.000,6,0.000,0.038,3306,2639,2343,0,0,0,0,0,0
$GC,8960,0.71,146.0,60.3,10.5,824,8968,0.00,2.58,0.00,0.000,4,0.000,0.048,3316,1089,2343,0,0,0,0,0,0
$GC,8986,0.71,146.0,57.2,10.4,828,8994,0.00,2.67,0.00,0.000,6,0.000,0.051,3316,2661,2343,0,0,0,0,0,0
$GC,9127,0.71,146.0,41.0,11.9,853,9135,0.00,1.83,0.00,0.000,4,0.000,0.056,3315,3770,2342,0,0,0,0,0,0
$GC,9180,0.71,146.0,33.8,13.7,862,9188,0.00,1.83,0.00,0.000,6,0.000,0.038,3324,2644,2343,0,0,0,0,0,0
$GC,9323,0.71,146.0,18.6,9.9,887,9330,0.00,2.55,0.00,0.000,4,0.000,0.048,3336,1090,2342,0,0,0,0,0,0
$GC,9339,0.71,146.0,16.2,11.8,889,9347,0.15,2.62,0.00,0.000,6,0.150,0.049,3297,2660,2343,0,0,0,0,0,0
$FREEZE,8.62,-0.126,-1.893,2,2,0
$FREEZE,7.63,-0.127,-1.892,2,2,0
$FREEZE,7.15,-0.128,-1.892,2,2,0
$FREEZE,6.65,-0.131,-1.891,2,2,0
$FREEZE,6.03,-0.128,-1.891,2,2,0
$FREEZE,5.37,-0.127,-1.890,2,2,0
$FREEZE,4.80,-0.128,-1.890,2,2,0
$FREEZE,4.06,-0.129,-1.889,2,2,0
$FREEZE,3.00,-0.126,-1.888,2,2,0
$FREEZE,2.30,-0.128,-1.888,2,2,0
$STATE,9451,end climb,SURFACE_DEPTH_REACHED
$STATE,9451,begin surface coast
$FREEZE,1.73,-0.129,-1.887,2,2,0
$FREEZE,1.28,-0.142,-1.888,2,2,0
$FREEZE,1.26,-0.232,-0.856,2,2,0
$FREEZE,1.24,-0.348,-1.884,2,2,0
$FINISH,1.2,1.027572
$STATE,9478,end surface coast,CONTROL_FINISHED_OK
$STATE,9478,begin surface
$SM_CCo,9495,296.40,0.712,5,0,420,623.30
$SM_GC,1.85,0.00,0.00,296.40,0.000,0.000,0.712,390,2667,420,-8.32,0.48,623.30
$IRIDIUM_FIX,-7545.40,17324.38,130111,212131
$TT8_MAMPS,0.028462
$HUMID,52.08
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,553.6,67.5
$24V_AH,20.5,88.611
$10V_AH,9.6,61.609
$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,19.275,112.150,288.525,296.400,0.000,85.937,225.322,0.000,2.250,0.000,14.547,2407.794,4442.945,754.270,2468.444,335.353,0.000,1703.104,0.000,1585.130,0.000,17.542,0.000
$DEVICE_MAMPS,189.720,61.965,1162.035,712.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.258,1107.380,1005.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,63738,912
$CAP_FILE_SIZE,128869,0
$CFSIZE,260165632,218660864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.135, 33.1,1
$GPS,140111,002006,-7628.418,17318.277,52,1.0,53,127.7