version: 66.03
glider: 120
mission: 9
dive: 209
start: 11 14 108 20 42 1
data:
$ID,120
$MISSION,9
$DIVE,209
$D_SURF,7
$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,660
$T_MISSION,675
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22023.238
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,203027,4957.610,-14440.539,36,3.2,55,18.5
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-69.5
$GPS2,204107,4957.556,-14440.637,15,1.2,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.129,0.122
$KALMAN_X,41720.4,-338.7,37.2,-30616.7,1140.6
$KALMAN_Y,161150.4,-229.1,-270.2,-175430.7,1136.4
$MHEAD_RNG_PITCHd_Wd,295.0,22090,-12.0,-5.000
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,55,0.00,0.00,-31.70,0.000,2,0.000,0.000,135,2412,2464
$GC,58,-0.67,-117.3,3.4,-4.7,3,102,13.90,2.42,-22.17,0.000,4,0.285,0.083,3097,990,3357
$GC,209,-0.40,-117.3,27.4,-15.5,16,216,0.30,2.33,0.00,0.000,6,0.164,0.063,3180,2404,3359
$GC,535,-0.40,-117.3,52.7,-8.0,47,536,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2404,3360
$GC,853,-0.71,-117.3,74.3,-7.0,77,858,0.25,2.40,0.00,0.000,4,0.086,0.067,3089,986,3361
$GC,885,-0.71,-117.3,77.0,-8.3,79,892,0.00,2.35,0.00,0.000,6,0.000,0.061,3089,2394,3361
$GC,1213,-0.52,-117.3,107.3,-9.3,97,1217,0.17,2.40,0.00,0.000,4,0.158,0.077,3139,3812,3362
$GC,1253,-0.52,-117.3,110.4,-7.0,99,1258,0.00,2.30,0.00,0.000,6,0.000,0.054,3139,2394,3362
$GC,1580,-0.52,-117.3,131.4,-6.4,115,1584,0.00,2.45,0.00,0.000,4,0.000,0.079,3138,3816,3362
$GC,1606,-0.52,-117.3,133.3,-6.6,116,1610,0.00,2.30,0.00,0.000,6,0.000,0.053,3139,2390,3362
$GC,1937,-0.52,-117.3,157.3,-7.1,131,1941,0.00,2.33,0.00,0.000,4,0.000,0.070,3138,994,3362
$GC,1986,-0.57,-117.3,161.1,-7.4,132,1990,0.00,2.33,0.00,0.000,6,0.000,0.061,3139,2422,3362
$GC,2304,-0.57,-117.3,181.6,-6.4,143,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2422,3362
$GC,2611,-0.57,-117.3,201.5,-6.3,153,2615,0.00,2.42,0.00,0.000,4,0.000,0.070,3139,987,3361
$GC,2660,-0.64,-117.3,204.7,-6.7,154,2664,0.00,2.35,0.00,0.000,6,0.000,0.062,3138,2409,3361
$GC,2979,-0.69,-117.3,223.2,-5.8,165,2980,0.12,0.00,0.00,0.000,6,0.088,0.000,3089,2410,3360
$GC,3285,-0.69,-117.3,244.3,-6.8,175,3289,0.00,2.40,0.00,0.000,4,0.000,0.071,3089,990,3360
$GC,3313,-0.61,-117.3,246.4,-8.0,176,3318,0.12,2.33,0.00,0.000,6,0.160,0.064,3117,2411,3360
$GC,3647,-0.61,-117.3,267.7,-6.3,187,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2411,3360
$GC,3953,-0.61,-117.3,287.9,-6.6,197,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2411,3360
$GC,4289,-0.61,-117.3,309.6,-6.5,206,4293,0.00,2.40,0.00,0.000,4,0.000,0.071,3118,995,3359
$GC,4321,-0.61,-117.3,312.0,-7.0,206,4325,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2404,3359
$GC,4653,-0.61,-117.3,334.3,-6.8,212,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3359
$GC,4956,-0.61,-117.3,354.2,-6.5,217,4961,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,986,3359
$GC,4989,-0.61,-117.3,356.5,-7.0,217,4993,0.00,2.38,0.00,0.000,6,0.000,0.064,3113,2402,3358
$GC,5321,-0.61,-117.3,377.2,-6.3,223,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,5624,-0.61,-117.3,396.0,-6.2,228,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,5928,-0.61,-117.3,414.6,-6.1,233,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,6230,-0.61,-117.3,433.0,-6.1,238,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,6533,-0.61,-117.3,450.3,-5.7,243,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,6837,-0.61,-117.3,466.9,-5.4,248,6841,0.00,2.40,0.00,0.000,4,0.000,0.072,3113,991,3357
$GC,6886,-0.61,-117.3,469.8,-5.5,248,6890,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2395,3357
$GC,7202,-0.61,-117.3,487.2,-5.5,254,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,7504,-0.61,-117.3,504.1,-5.6,259,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,7807,-0.61,-117.3,521.8,-5.9,264,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,8111,-0.61,-117.3,539.8,-5.9,269,8115,0.00,2.38,0.00,0.000,4,0.000,0.074,3113,994,3356
$GC,8143,-0.61,-117.3,541.8,-6.4,269,8147,0.00,2.35,0.00,0.000,6,0.000,0.065,3113,2401,3356
$GC,8475,-0.61,-117.3,560.7,-5.8,275,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3356
$GC,8778,-0.61,-117.3,579.6,-6.2,280,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3356
$GC,9081,-0.61,-117.3,600.3,-6.9,285,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3356
$GC,9385,-0.61,-117.3,622.0,-7.2,290,9389,0.00,2.40,0.00,0.000,4,0.000,0.074,3113,990,3355
$GC,9412,-0.66,-117.3,624.1,-7.2,290,9416,0.00,2.35,0.00,0.000,6,0.000,0.066,3113,2410,3356
$GC,9743,-0.70,-117.3,646.9,-7.0,296,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3356
$GC,10046,-0.70,-117.3,666.7,-6.5,301,10050,0.00,2.40,0.00,0.000,4,0.000,0.073,3113,994,3355
$GC,10085,-0.75,-117.3,669.4,-6.7,301,10090,0.12,2.30,0.00,0.000,6,0.092,0.065,3067,2403,3355
$GC,10406,-0.71,-117.3,692.1,-7.1,307,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2404,3355
$GC,10708,-0.67,-117.3,712.1,-6.6,312,10713,0.12,2.38,0.00,0.000,4,0.118,0.084,3100,3818,3355
$GC,10735,-0.67,-117.3,713.8,-6.4,312,10739,0.00,2.33,0.00,0.000,6,0.000,0.059,3099,2407,3355
$GC,11073,-0.67,-117.3,731.9,-5.3,318,11077,0.00,2.40,0.00,0.000,4,0.000,0.074,3100,988,3355
$GC,11116,-0.67,-117.3,734.4,-6.0,318,11120,0.00,2.33,0.00,0.000,6,0.000,0.066,3099,2396,3355
$GC,11437,-0.67,-117.3,751.2,-5.2,324,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3355
$GC,11740,-0.67,-117.3,766.7,-5.1,329,11741,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3354
$GC,12043,-0.67,-117.3,783.5,-5.6,334,12048,0.00,2.40,0.00,0.000,4,0.000,0.084,3099,3818,3354
$GC,12081,-0.67,-117.3,785.9,-5.8,334,12086,0.00,2.35,0.00,0.000,6,0.000,0.059,3099,2403,3354
$GC,12408,-0.67,-117.3,805.1,-6.0,340,12412,0.00,2.40,0.00,0.000,4,0.000,0.074,3099,983,3354
$GC,12434,-0.67,-117.3,807.0,-6.2,340,12438,0.00,2.35,0.00,0.000,6,0.000,0.066,3099,2400,3354
$GC,12772,-0.67,-117.3,827.8,-6.2,346,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,13075,-0.67,-117.3,847.5,-6.5,351,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,13378,-0.67,-117.3,867.6,-6.6,356,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3354
$GC,13681,-0.67,-117.3,887.2,-6.5,361,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3354
$GC,13985,-0.67,-117.3,907.0,-6.5,366,13986,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3354
$GC,14287,-0.67,-117.3,926.0,-6.3,371,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3353
$GC,14590,-0.67,-117.3,944.6,-6.1,376,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3353
$GC,14894,-0.67,-117.3,961.7,-5.6,381,14895,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,15197,-0.67,-117.3,978.0,-5.4,386,15198,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$STATE,15437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15437,begin apogee
$GC,15442,-0.22,0.0,991.4,5.5,390,15549,0.47,0.00,103.78,1.498,6,0.150,0.000,3240,2194,2876
$STATE,15550,end apogee,CONTROL_FINISHED_OK
$STATE,15550,begin climb
$GC,15552,0.67,117.3,993.4,0.0,391,15664,0.90,0.00,109.43,1.449,6,0.094,0.000,3530,2194,2397
$GC,15923,0.32,117.3,976.4,7.8,398,15928,0.38,2.55,0.00,0.000,4,0.175,0.080,3425,3609,2393
$GC,15956,0.20,117.3,974.1,6.4,398,15961,0.17,2.45,0.00,0.000,6,0.187,0.064,3384,2196,2393
$GC,16283,0.32,150.6,960.6,4.0,404,16315,0.12,0.00,29.95,1.427,6,0.091,0.000,3429,2196,2261
$GC,16585,0.32,150.6,945.0,5.3,409,16589,0.00,2.50,0.00,0.000,4,0.000,0.083,3429,3609,2258
$GC,16629,0.22,150.6,942.1,6.6,409,16633,0.17,2.40,0.00,0.000,6,0.167,0.065,3391,2198,2259
$GC,16944,0.32,158.7,927.0,4.8,415,16954,0.00,0.00,8.20,1.255,6,0.000,0.000,3391,2199,2229
$GC,17246,0.42,158.7,911.8,5.1,420,17248,0.17,0.00,0.00,0.000,6,0.088,0.000,3457,2198,2229
$GC,17550,0.33,158.7,890.1,7.3,425,17551,0.12,0.00,0.00,0.000,6,0.150,0.000,3424,2198,2228
$GC,17852,0.33,158.7,870.3,6.5,430,17856,0.00,2.45,0.00,0.000,4,0.000,0.082,3424,3615,2228
$GC,17895,0.27,158.7,866.9,9.5,430,17899,0.00,2.38,0.00,0.000,6,0.000,0.067,3424,2190,2228
$GC,18216,0.27,158.7,845.3,6.8,436,18217,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2190,2228
$GC,18519,0.27,158.7,824.7,6.8,441,18521,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2191,2227
$GC,18822,0.27,158.7,805.6,6.2,446,18826,0.00,2.45,0.00,0.000,4,0.000,0.082,3424,3612,2227
$GC,18860,0.22,158.7,803.0,6.2,446,18864,0.15,2.35,0.00,0.000,6,0.173,0.067,3385,2202,2227
$GC,19186,0.36,177.0,787.9,4.5,452,19211,0.15,2.47,17.00,1.328,4,0.088,0.081,3449,790,2154
$GC,19244,0.36,177.0,784.5,6.1,452,19250,0.00,2.35,0.00,0.000,6,0.000,0.065,3448,2199,2153
$GC,19554,0.31,177.0,764.7,6.5,458,19556,0.12,0.00,0.00,0.000,6,0.167,0.000,3417,2199,2152
$GC,19857,0.36,177.0,747.0,5.8,463,19858,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2199,2152
$GC,20160,0.41,177.0,729.0,6.0,468,20164,0.00,2.38,0.00,0.000,4,0.000,0.084,3417,3616,2152
$GC,20198,0.41,177.0,726.1,7.1,468,20202,0.00,2.40,0.00,0.000,6,0.000,0.066,3421,2175,2152
$GC,20525,0.46,177.0,705.0,6.5,474,20527,0.12,0.00,0.00,0.000,6,0.099,0.000,3473,2175,2152
$GC,20829,0.36,177.0,681.4,7.9,479,20831,0.15,0.00,0.00,0.000,6,0.150,0.000,3433,2175,2152
$GC,21131,0.36,177.0,662.4,6.2,484,21135,0.00,2.47,0.00,0.000,4,0.000,0.081,3433,3609,2152
$GC,21180,0.31,177.0,658.9,7.1,484,21184,0.00,2.35,0.00,0.000,6,0.000,0.066,3435,2200,2152
$GC,21495,0.31,177.0,639.5,6.2,490,21499,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,781,2152
$GC,21533,0.31,177.0,636.9,6.1,490,21537,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2203,2152
$GC,21859,0.31,177.0,617.4,6.0,496,21860,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2152
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$GC,27379,0.47,221.4,282.1,5.6,592,27383,0.00,2.42,0.00,0.000,4,0.000,0.080,3478,792,1969
$GC,27427,0.47,221.4,279.2,5.4,593,27432,0.00,2.35,0.00,0.000,6,0.000,0.064,3478,2203,1969
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$GC,28832,0.43,221.4,196.3,7.2,639,28836,0.00,2.35,0.00,0.000,6,0.000,0.064,3476,2200,1969
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$STATE,32137,end climb,SURFACE_DEPTH_REACHED
$STATE,32137,begin surface coast
$FINISH,1.2,1.012366
$STATE,32277,end surface coast,CONTROL_FINISHED_OK
$STATE,32277,begin surface
$SM_CCo,32295,33.88,0.835,0,0,1653,300.00
$SM_GC,1.92,0.00,0.00,33.88,0.000,0.000,0.835,140,2409,1653,-9.92,0.25,300.00
$IRIDIUM_FIX,4936.36,-14439.40,080298,202058
$TT8_MAMPS,0.027612
$HUMID,2112
$INTERNAL_PRESSURE,9.06528
$TCM_TEMP,15.30
$XPDR_PINGS,970
$24V_AH,22.3,42.806
$10V_AH,10.6,27.888
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,29.475,186.275,338.275,33.875,0.000,49.397,61.080,324.947,242.500,0.000,0.000,31.929,1774.635,27687.346,571.717,2187.031,742.138,33.374,1608.518,0.000,2152.554,0.000,0.466
$DEVICE_MAMPS,284.557,84.370,1497.951,835.263,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,651.999,635.635,1455.083,879.112,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50480,856
$CAP_FILE_SIZE,178037,0
$CFSIZE,260165632,242360320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151108,054207,4959.668,-14445.021,39,1.7,39,18.5