version: 66.11
glider: 129
mission: 4
dive: 492
start: 2 27 113 3 33 17
data:
$ID,129
$MISSION,4
$DIVE,492
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,350
$T_MISSION,380
$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,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,-3401.2139
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,20
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,270213,032353,2015.339,12417.753,40,1.0,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-61.6
$GPS2,270213,033248,2015.297,12417.685,10,1.8,10,-2.5
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,105.6,4060,-15.3,-9.429,-18.41
$D_GRID,5639
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.99,-184.9,0.0,0.0,0,93,0.00,0.00,-70.05,0.000,2,0.000,0.000,63,1918,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.99,-184.9,3.4,-3.4,12,147,7.43,2.15,-32.42,0.000,4,0.242,0.045,1827,3309,3164,0,0,0,0,0,0,24.87,25.82,26.46
$GC,214,-0.89,-184.9,31.5,-33.6,31,220,0.17,2.03,0.00,0.000,6,0.180,0.024,1870,1916,3164,0,0,0,0,0,0,25.20,25.91,28.83
$GC,529,-0.81,-184.9,128.5,-26.8,49,534,0.00,2.03,0.00,0.000,4,0.000,0.033,1870,537,3165,0,0,0,0,0,0,28.83,25.68,28.83
$GC,725,-0.74,-184.9,176.8,-25.7,58,732,0.22,2.00,0.00,0.000,6,0.172,0.022,1921,1918,3166,0,0,0,0,0,0,25.00,25.93,28.83
$GC,1041,-0.69,-184.9,246.5,-19.9,74,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1918,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1343,-0.64,-184.9,307.5,-19.8,89,1350,0.12,2.08,0.00,0.000,4,0.166,0.030,1961,532,3168,0,0,0,0,0,0,25.84,25.65,28.83
$GC,1463,-0.62,-184.9,325.2,-15.7,94,1470,0.00,2.03,0.00,0.000,6,0.000,0.021,1953,1933,3166,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1769,-0.59,-184.9,374.6,-15.5,110,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1934,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2072,-0.57,-184.9,415.0,-13.3,125,2078,0.00,2.10,0.00,0.000,4,0.000,0.031,1953,535,3164,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2151,-0.54,-184.9,423.5,-12.9,128,2158,0.15,2.03,0.00,0.000,6,0.139,0.021,1985,1933,3164,0,0,0,0,0,0,25.51,25.96,28.83
$GC,2457,-0.54,-184.9,452.7,-9.1,144,2463,0.00,2.05,0.00,0.000,4,0.000,0.033,1976,3306,3163,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2495,-0.54,-184.9,455.1,-9.4,145,2503,0.00,2.03,0.00,0.000,6,0.000,0.023,1976,1912,3163,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2801,-0.54,-184.9,490.4,-10.8,161,2807,0.00,2.08,0.00,0.000,4,0.000,0.033,1976,529,3163,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2905,-0.54,-184.9,502.8,-11.8,166,2911,0.00,2.00,0.00,0.000,6,0.000,0.021,1967,1929,3162,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3230,-0.54,-184.9,540.2,-10.8,182,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1930,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-0.54,-184.9,568.4,-8.7,197,3538,0.00,2.10,0.00,0.000,4,0.000,0.033,1967,535,3158,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3612,-0.54,-184.9,574.5,-9.1,200,3618,0.00,2.00,0.00,0.000,6,0.000,0.021,1957,1924,3157,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3937,-0.54,-184.9,606.8,-10.3,216,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1924,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4237,-0.54,-184.9,641.2,-11.8,226,4242,0.00,2.08,0.00,0.000,4,0.000,0.033,1957,545,3153,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4294,-0.54,-184.9,645.3,-11.8,227,4302,0.08,2.03,0.00,0.000,6,0.125,0.023,1987,1913,3153,0,0,0,0,0,0,25.47,25.93,28.83
$GC,4606,-0.54,-184.9,676.6,-9.3,238,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1913,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4901,-0.54,-184.9,704.5,-9.1,248,4906,0.00,2.10,0.00,0.000,4,0.000,0.034,1987,544,3149,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4944,-0.54,-184.9,707.8,-9.2,249,4949,0.00,2.00,0.00,0.000,6,0.000,0.024,1981,1925,3149,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5272,-0.54,-184.9,739.3,-9.3,260,5277,0.00,2.10,0.00,0.000,4,0.000,0.036,1969,3308,3146,0,0,0,0,0,0,28.83,25.50,28.83
$GC,5310,-0.54,-184.9,742.9,-9.3,261,5316,0.00,2.05,0.00,0.000,6,0.000,0.025,1970,1927,3146,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5644,-0.54,-184.9,772.9,-9.2,272,5649,0.00,2.12,0.00,0.000,4,0.000,0.034,1970,531,3144,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5742,-0.54,-184.9,781.9,-9.1,275,5747,0.00,2.05,0.00,0.000,6,0.000,0.023,1961,1927,3143,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6075,-0.54,-184.9,811.1,-8.8,286,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1927,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6371,-0.54,-184.9,836.8,-8.7,296,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1927,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,-0.54,-184.9,863.3,-8.9,306,6678,0.00,2.12,0.00,0.000,4,0.000,0.034,1961,535,3139,0,0,0,0,0,0,28.83,25.45,28.83
$GC,6710,-0.54,-184.9,866.5,-9.0,307,6716,0.12,2.03,0.00,0.000,6,0.149,0.024,1985,1922,3139,0,0,0,0,0,0,25.41,25.82,28.83
$GC,7044,-0.55,-184.9,890.4,-7.0,318,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1922,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7341,-0.57,-184.9,912.1,-7.3,328,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1922,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7642,-0.58,-184.9,933.0,-6.9,338,7647,0.00,2.12,0.00,0.000,4,0.000,0.035,1985,536,3134,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7690,-0.59,-184.9,935.6,-7.0,339,7697,0.00,2.08,0.00,0.000,6,0.000,0.024,1977,1923,3134,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8015,-0.59,-184.9,961.3,-7.8,350,8020,0.00,2.12,0.00,0.000,4,0.000,0.036,1967,3310,3132,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8043,-0.59,-184.9,961.3,-7.8,350,8051,0.00,2.05,0.00,0.000,6,0.000,0.027,1967,1933,3132,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8349,-0.59,-184.9,989.3,-8.3,361,8354,0.00,2.15,0.00,0.000,4,0.000,0.036,1967,531,3132,0,0,0,0,0,0,28.83,25.34,28.83
$STATE,8380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8380,begin apogee
$GC,8390,-0.25,0.0,992.6,-8.7,362,8553,0.35,0.00,154.57,1.421,6,0.120,0.000,2071,1904,2409,0,0,0,0,0,0,25.10,28.83,22.27
$STATE,8555,end apogee,CONTROL_FINISHED_OK
$STATE,8555,begin climb
$GC,8558,0.99,184.9,998.9,0.0,367,8744,1.25,2.45,176.00,1.365,4,0.091,0.034,2471,3275,1655,0,0,0,0,0,0,23.68,22.75,21.36
$GC,8819,0.94,184.9,977.9,12.8,376,8825,0.00,2.22,0.00,0.000,6,0.000,0.027,2479,1897,1648,0,0,0,0,0,0,28.83,24.13,28.83
$GC,9146,0.91,184.9,931.2,13.9,387,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1897,1646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9444,0.87,184.9,888.4,14.4,397,9446,0.15,0.00,0.00,0.000,6,0.176,0.000,2442,1897,1644,0,0,0,0,0,0,25.67,28.83,28.83
$GC,9744,0.85,184.9,851.4,12.0,407,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1897,1642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10044,0.82,184.9,815.1,12.2,417,10049,0.00,2.15,0.00,0.000,4,0.000,0.034,2442,3292,1640,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10128,0.80,184.9,806.9,12.6,419,10134,0.12,2.08,0.00,0.000,6,0.168,0.028,2420,1894,1641,0,0,0,0,0,0,25.32,25.75,28.83
$GC,10446,0.79,184.9,771.0,10.3,430,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1894,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10744,0.77,184.9,741.6,9.7,440,10750,0.00,2.15,0.00,0.000,4,0.000,0.034,2420,3293,1640,0,0,0,0,0,0,28.83,25.50,28.83
$GC,10792,0.76,184.9,737.9,10.0,441,10798,0.00,2.08,0.00,0.000,6,0.000,0.028,2427,1900,1640,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11116,0.74,184.9,702.8,10.6,452,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1899,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11412,0.73,184.9,671.8,10.0,462,11414,0.12,0.00,0.00,0.000,6,0.176,0.000,2397,1899,1638,0,0,0,0,0,0,25.82,28.83,28.83
$GC,11714,0.79,232.7,648.2,7.8,472,11760,0.00,2.17,40.25,1.214,4,0.000,0.033,2396,3287,1459,0,0,0,0,0,0,28.83,25.19,23.71
$GC,11793,0.84,277.0,643.3,7.9,474,11838,0.00,2.12,39.72,1.189,6,0.000,0.028,2404,1891,1279,0,0,0,0,0,0,28.83,25.64,23.61
$GC,12167,0.85,286.3,608.4,9.1,487,12178,0.00,0.00,8.68,1.032,6,0.000,0.000,2404,1891,1242,0,0,0,0,0,0,28.83,28.83,24.15
$GC,12469,0.85,286.3,580.1,9.6,500,12474,0.00,2.12,0.00,0.000,4,0.000,0.034,2404,3291,1237,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12528,0.85,286.3,575.3,10.1,502,12535,0.00,2.08,0.00,0.000,6,0.000,0.028,2412,1899,1235,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12833,0.85,286.3,541.8,10.7,518,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1899,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13135,0.85,286.3,509.7,10.4,533,13141,0.00,2.15,0.00,0.000,4,0.000,0.038,2421,503,1235,0,0,0,0,0,0,28.83,25.41,28.83
$GC,13164,0.85,286.3,506.8,10.4,534,13169,0.00,2.08,0.00,0.000,6,0.000,0.024,2421,1911,1235,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13482,0.87,301.6,474.9,8.9,550,13502,0.00,2.08,13.70,1.025,4,0.000,0.032,2419,3288,1179,0,0,0,0,0,0,28.83,25.56,24.11
$GC,13582,0.87,306.4,467.1,9.3,554,13594,0.00,2.08,5.85,0.858,6,0.000,0.028,2427,1895,1159,0,0,0,0,0,0,28.83,25.88,24.16
$GC,13912,0.87,306.4,432.9,10.3,571,13913,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1895,1156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14216,0.87,306.4,400.7,10.9,586,14221,0.00,2.15,0.00,0.000,4,0.000,0.037,2437,506,1156,0,0,0,0,0,0,28.83,25.42,28.83
$GC,14259,0.87,306.4,395.3,11.4,588,14265,0.00,2.08,0.00,0.000,6,0.000,0.023,2438,1901,1155,0,0,0,0,0,0,28.83,25.82,28.83
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$GC,17701,0.94,354.5,27.3,8.8,770,17717,0.00,2.15,9.12,0.584,4,0.000,0.036,2482,510,964,0,0,0,0,0,0,28.83,25.71,24.43
$GC,17794,1.00,386.8,19.6,8.3,784,17819,0.00,2.03,15.75,0.097,6,0.000,0.021,2482,1911,831,0,0,0,0,0,0,28.83,26.02,25.39
$STATE,17993,end climb,SURFACE_DEPTH_REACHED
$STATE,17993,begin surface coast
$FINISH,1.3,1.022769
$STATE,18015,end surface coast,CONTROL_FINISHED_OK
$STATE,18015,begin surface
$SM_CCo,18034,5.47,0.055,0,0,777,400.08
$SM_GC,3.15,6.38,0.00,5.47,0.041,0.000,0.055,59,1913,777,-6.47,-0.23,400.08,0,0,0,0,0,0,25.51,28.83,25.43
$IRIDIUM_FIX,2006.47,12414.54,260213,212122
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.85
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3831520
$24V_AH,21.4,102.076
$10V_AH,9.5,65.862
$FG_AHR_24Vo,120.571
$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,16.800,133.625,493.075,5.475,0.000,0.000,0.000,301.075,0.000,0.000,10.840,2605.246,12515.597,614.139,2272.156,560.926,0.000,2012.101,0.000,1923.076,0.000,0.539,0.000
$DEVICE_MAMPS,241.740,45.135,1420.605,55.080,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18053.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.795,0.000,0.000,0.000
$MEM,329032
$DATA_FILE_SIZE,30035,826
$CAP_FILE_SIZE,193472,0
$CFSIZE,260034560,202297344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,282.1,1
$GPS,270213,083523,2015.320,12419.513,25,1.2,42,-2.5