version: 66.09
glider: 181
mission: 6
dive: 549
start: 9 25 111 10 13 5
data:
$ID,181
$MISSION,6
$DIVE,549
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-41276.984
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,10
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,250911,100607,1942.469,11957.764,34,0.8,34,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.5
$GPS2,250911,101208,1942.515,11957.728,11,1.3,11,-2.2
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.222,0.219
$KALMAN_X,87347.4,2078.9,225.2,-90637.5,-3702.8
$KALMAN_Y,65778.8,1368.6,206.6,-15589.5,-1909.0
$MHEAD_RNG_PITCHd_Wd,2.1,226875,-17.4,-11.786
$D_GRID,3833
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-62.28,0.000,2,0.000,0.000,137,2586,2204,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.2,-3.1,10,131,8.30,0.57,-32.75,0.000,4,0.223,0.095,2118,2950,3665,0,0,0,0,0,0
$GC,227,-0.53,-194.6,49.6,-32.5,34,234,0.00,0.47,0.00,0.000,6,0.000,0.029,2118,2584,3665,0,0,0,0,0,0
$GC,369,-0.53,-194.6,88.4,-23.5,59,376,0.00,0.50,0.00,0.000,4,0.000,0.040,2116,2935,3665,0,0,0,0,0,0
$GC,496,-0.53,-194.6,116.2,-18.6,81,502,0.00,0.45,0.00,0.000,6,0.000,0.029,2116,2576,3665,0,0,0,0,0,0
$GC,637,-0.53,-194.6,139.8,-16.7,106,644,0.00,0.38,0.00,0.000,4,0.000,0.029,2116,2246,3665,0,0,0,0,0,0
$GC,757,-0.53,-194.6,157.8,-14.0,127,763,0.00,0.50,0.00,0.000,6,0.000,0.038,2113,2591,3666,0,0,0,0,0,0
$GC,898,-0.53,-194.6,176.8,-12.2,152,906,0.00,0.47,0.00,0.000,4,0.000,0.041,2112,2938,3666,0,0,0,0,0,0
$GC,936,-0.53,-194.6,181.0,-11.6,158,943,0.00,0.43,0.00,0.000,6,0.000,0.030,2112,2591,3667,0,0,0,0,0,0
$GC,1079,-0.53,-194.6,196.8,-11.1,183,1086,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2241,3667,0,0,0,0,0,0
$GC,1126,-0.53,-194.6,202.3,-11.3,190,1130,0.00,0.50,0.00,0.000,6,0.000,0.041,2112,2584,3667,0,0,0,0,0,0
$GC,1458,-0.53,-194.6,238.9,-11.5,221,1462,0.00,0.50,0.00,0.000,4,0.000,0.042,2111,2943,3666,0,0,0,0,0,0
$GC,1599,-0.53,-194.6,255.1,-11.6,233,1607,0.00,0.45,0.00,0.000,6,0.000,0.031,2111,2593,3665,0,0,0,0,0,0
$GC,1925,-0.53,-194.6,292.3,-10.4,264,1928,0.00,0.43,0.00,0.000,4,0.000,0.028,2111,2230,3663,0,0,0,0,0,0
$GC,2075,-0.53,-194.6,307.8,-10.3,277,2079,0.00,0.52,0.00,0.000,6,0.000,0.041,2111,2585,3661,0,0,0,0,0,0
$GC,2406,-0.53,-194.6,340.9,-10.7,308,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2585,3658,0,0,0,0,0,0
$GC,2726,-0.53,-194.6,378.8,-12.2,338,2730,0.00,0.43,0.00,0.000,4,0.000,0.029,2111,2251,3654,0,0,0,0,0,0
$GC,2843,-0.53,-194.6,393.2,-11.9,348,2851,0.00,0.52,0.00,0.000,6,0.000,0.041,2111,2589,3654,0,0,0,0,0,0
$GC,3169,-0.53,-194.6,427.6,-9.8,379,3173,0.00,0.43,0.00,0.000,4,0.000,0.028,2111,2255,3650,0,0,0,0,0,0
$GC,3249,-0.53,-194.6,434.9,-9.3,386,3253,0.00,0.50,0.00,0.000,6,0.000,0.043,2111,2586,3650,0,0,0,0,0,0
$GC,3581,-0.53,-194.6,467.8,-10.6,417,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2586,3647,0,0,0,0,0,0
$GC,3911,-0.53,-194.6,502.9,-11.0,447,3914,0.00,0.43,0.00,0.000,4,0.000,0.030,2110,2247,3644,0,0,0,0,0,0
$GC,3962,-0.53,-194.6,508.5,-10.5,449,3965,0.00,0.52,0.00,0.000,6,0.000,0.042,2111,2594,3644,0,0,0,0,0,0
$GC,4290,-0.53,-194.6,543.7,-10.9,465,4293,0.00,0.45,0.00,0.000,4,0.000,0.028,2111,2243,3641,0,0,0,0,0,0
$GC,4352,-0.53,-194.6,550.3,-10.4,467,4358,0.00,0.52,0.00,0.000,6,0.000,0.041,2110,2588,3640,0,0,0,0,0,0
$GC,4668,-0.53,-194.6,583.7,-10.7,483,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2587,3639,0,0,0,0,0,0
$GC,4977,-0.53,-194.6,615.8,-10.3,498,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2587,3636,0,0,0,0,0,0
$GC,5288,-0.53,-194.6,647.6,-10.0,513,5292,0.00,0.43,0.00,0.000,4,0.000,0.030,2110,2257,3634,0,0,0,0,0,0
$GC,5405,-0.53,-194.6,659.3,-9.8,518,5409,0.00,0.50,0.00,0.000,6,0.000,0.043,2108,2584,3633,0,0,0,0,0,0
$GC,5733,-0.53,-194.6,691.3,-9.7,534,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2584,3631,0,0,0,0,0,0
$GC,6042,-0.53,-194.6,721.8,-10.0,549,6046,0.00,0.43,0.00,0.000,4,0.000,0.029,2108,2253,3629,0,0,0,0,0,0
$GC,6092,-0.53,-194.6,727.2,-10.2,551,6096,0.00,0.52,0.00,0.000,6,0.000,0.042,2104,2595,3629,0,0,0,0,0,0
$GC,6421,-0.53,-194.6,761.4,-10.9,567,6425,0.00,0.45,0.00,0.000,4,0.000,0.028,2105,2252,3628,0,0,0,0,0,0
$GC,6467,-0.53,-194.6,766.8,-11.2,569,6471,0.00,0.52,0.00,0.000,6,0.000,0.042,2103,2594,3628,0,0,0,0,0,0
$GC,6800,-0.53,-194.6,805.3,-11.3,585,6804,0.00,0.45,0.00,0.000,4,0.000,0.028,2102,2246,3626,0,0,0,0,0,0
$GC,6873,-0.53,-194.6,813.7,-10.9,588,6877,0.00,0.52,0.00,0.000,6,0.000,0.042,2099,2588,3625,0,0,0,0,0,0
$GC,7200,-0.53,-194.6,848.0,-10.2,604,7204,0.00,0.52,0.00,0.000,4,0.000,0.044,2098,2948,3624,0,0,0,0,0,0
$GC,7247,-0.53,-194.6,852.6,-9.9,606,7251,0.08,0.47,0.00,0.000,6,0.129,0.031,2124,2595,3623,0,0,0,0,0,0
$GC,7581,-0.53,-194.6,877.7,-7.5,622,7584,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2227,3622,0,0,0,0,0,0
$GC,7746,-0.53,-194.6,890.5,-7.8,629,7749,0.00,0.55,0.00,0.000,6,0.000,0.043,2124,2588,3622,0,0,0,0,0,0
$GC,8074,-0.53,-194.6,918.4,-8.9,645,8077,0.00,0.45,0.00,0.000,4,0.000,0.028,2124,2235,3621,0,0,0,0,0,0
$GC,8143,-0.53,-194.6,924.8,-9.5,648,8146,0.00,0.55,0.00,0.000,6,0.000,0.042,2124,2592,3620,0,0,0,0,0,0
$GC,8476,-0.53,-194.6,957.2,-9.6,664,8479,0.00,0.45,0.00,0.000,4,0.000,0.030,2124,2235,3619,0,0,0,0,0,0
$GC,8612,-0.53,-194.6,970.0,-9.5,670,8615,0.00,0.55,0.00,0.000,6,0.000,0.044,2124,2593,3619,0,0,0,0,0,0
$STATE,8840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8840,begin apogee
$GC,8847,-0.13,0.0,990.1,8.7,681,9004,0.38,0.00,150.52,1.078,6,0.106,0.000,2253,2155,2869,0,0,0,0,0,0
$STATE,9005,end apogee,CONTROL_FINISHED_OK
$STATE,9005,begin climb
$GC,9008,0.53,194.6,999.9,0.0,688,9175,0.57,0.47,159.65,1.054,4,0.052,0.024,2485,1811,2074,0,0,0,0,0,0
$GC,9265,0.58,234.2,986.5,10.2,700,9302,0.00,0.52,33.08,1.008,6,0.000,0.032,2485,2178,1913,0,0,0,0,0,0
$GC,9631,0.62,269.2,948.4,10.4,718,9665,0.00,0.50,29.15,0.999,4,0.000,0.040,2485,2505,1771,0,0,0,0,0,0
$GC,9751,0.66,302.9,935.7,10.4,723,9785,0.00,0.47,28.30,0.978,6,0.000,0.030,2487,2154,1634,0,0,0,0,0,0
$GC,10094,0.72,353.9,901.9,9.7,740,10142,0.15,0.55,41.97,0.988,4,0.083,0.037,2554,2507,1426,0,0,0,0,0,0
$GC,10209,0.72,353.9,885.4,14.5,745,10214,0.00,0.50,0.00,0.000,6,0.000,0.027,2556,2141,1426,0,0,0,0,0,0
$GC,10537,0.72,353.9,841.4,13.4,761,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2141,1427,0,0,0,0,0,0
$GC,10847,0.72,353.9,797.8,14.6,776,10851,0.00,0.52,0.00,0.000,4,0.000,0.035,2556,2505,1427,0,0,0,0,0,0
$GC,10885,0.72,353.9,791.6,15.5,777,10894,0.00,0.45,0.00,0.000,6,0.000,0.029,2558,2164,1426,0,0,0,0,0,0
$GC,11202,0.72,353.9,745.2,14.5,793,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2165,1426,0,0,0,0,0,0
$GC,11512,0.72,353.9,702.2,13.6,808,11516,0.00,0.47,0.00,0.000,4,0.000,0.037,2558,2501,1426,0,0,0,0,0,0
$GC,11580,0.72,353.9,692.5,14.4,811,11584,0.00,0.43,0.00,0.000,6,0.000,0.031,2560,2164,1426,0,0,0,0,0,0
$GC,11914,0.72,353.9,648.1,13.3,827,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2164,1425,0,0,0,0,0,0
$GC,12223,0.72,353.9,607.0,13.4,842,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2164,1425,0,0,0,0,0,0
$GC,12532,0.72,353.9,564.2,14.1,857,12533,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2164,1425,0,0,0,0,0,0
$GC,12841,0.72,353.9,520.4,14.2,872,12845,0.00,0.47,0.00,0.000,4,0.000,0.036,2560,2502,1425,0,0,0,0,0,0
$GC,12909,0.72,353.9,510.7,14.7,875,12912,0.00,0.43,0.00,0.000,6,0.000,0.031,2561,2164,1425,0,0,0,0,0,0
$GC,13239,0.72,353.9,463.9,14.0,902,13241,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2164,1425,0,0,0,0,0,0
$GC,13558,0.72,353.9,423.1,12.3,932,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2164,1425,0,0,0,0,0,0
$GC,13879,0.72,353.9,384.7,12.3,962,13883,0.00,0.40,0.00,0.000,4,0.000,0.034,2564,1831,1425,0,0,0,0,0,0
$GC,14032,0.72,353.9,364.7,12.5,975,14039,0.08,0.47,0.00,0.000,6,0.136,0.033,2539,2174,1426,0,0,0,0,0,0
$GC,14357,0.73,354.5,327.1,11.8,1006,14361,0.00,0.45,0.00,0.000,4,0.000,0.039,2539,2505,1426,0,0,0,0,0,0
$GC,14471,0.73,354.5,313.0,12.5,1016,14474,0.00,0.43,0.00,0.000,6,0.000,0.031,2539,2169,1426,0,0,0,0,0,0
$GC,14801,0.73,354.5,272.5,12.1,1047,14805,0.00,0.43,0.00,0.000,4,0.000,0.034,2541,1822,1426,0,0,0,0,0,0
$GC,14885,0.73,354.5,262.4,12.0,1054,14892,0.00,0.50,0.00,0.000,6,0.000,0.031,2541,2171,1427,0,0,0,0,0,0
$GC,15210,0.74,368.3,225.1,11.2,1085,15227,0.00,0.45,13.05,0.586,4,0.000,0.033,2541,2513,1368,0,0,0,0,0,0
$GC,15336,0.80,414.9,211.8,9.9,1096,15381,0.00,0.45,36.88,0.560,6,0.000,0.030,2542,2164,1176,0,0,0,0,0,0
$GC,15713,0.84,450.0,175.2,10.4,1152,15751,0.00,0.47,28.50,0.545,4,0.000,0.034,2545,1822,1033,0,0,0,0,0,0
$GC,15781,0.89,488.9,168.1,10.2,1163,15819,0.10,0.47,30.73,0.516,6,0.060,0.032,2601,2165,874,0,0,0,0,0,0
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$GC,16813,1.16,708.1,55.3,13.6,1340,16820,0.08,0.47,0.00,0.000,6,0.127,0.031,2678,2175,438,0,0,0,0,0,0
$GC,16956,1.24,768.6,39.7,9.3,1365,16964,0.00,0.43,0.00,0.000,4,0.000,0.037,2678,2503,438,0,0,0,0,0,0
$GC,17049,1.34,852.4,31.7,8.4,1381,17057,0.10,0.43,0.00,0.000,6,0.047,0.031,2741,2179,438,0,0,0,0,0,0
$GC,17194,1.35,862.5,15.0,11.4,1406,17200,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2179,439,0,0,0,0,0,0
$STATE,17294,end climb,SURFACE_DEPTH_REACHED
$STATE,17294,begin surface coast
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$STATE,17317,end surface coast,CONTROL_FINISHED_OK
$STATE,17319,begin surface
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$IRIDIUM_FIX,1929.80,11956.61,250911,050522
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.71
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.4,90.215
$10V_AH,9.8,72.107
$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
$DEVICE_SECS,16.575,33.325,636.925,0.000,0.000,30.791,40.548,142.683,0.000,0.000,13.923,3568.603,10309.850,713.628,2765.869,386.270,33.362,2099.317,0.000,2526.284,0.000,0.539,0.000
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$SENSOR_SECS,994.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,80359,1428
$CAP_FILE_SIZE,176284,0
$CFSIZE,260165632,200499200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,318.4,1
$GPS,250911,150407,1945.223,11957.242,27,1.1,27,-2.2