version: 66.07
glider: 511
mission: 5
dive: 279
start: 1 15 111 22 10 49
data:
$ID,511
$MISSION,5
$DIVE,279
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,440
$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,-47753.109
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2595
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2160
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,20
$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,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,278
$AR_SAMPLENUM,0
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,150111,215725,1749.134,12758.310,74,1.2,74,-2.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-68.5
$GPS2,150111,220955,1749.002,12758.180,11,1.1,22,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.052,-0.209
$KALMAN_X,-605764.8,-187.7,-1763.4,646264.2,6211.9
$KALMAN_Y,625111.6,-203.1,-1002.6,-933994.8,8735.5
$MHEAD_RNG_PITCHd_Wd,168.0,9907,-9.9,-6.000
$D_GRID,990
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.58,-146.0,0.0,0.0,0,90,0.00,0.00,-60.58,0.000,2,0.000,0.000,34,2168,2689,0,0,0,0,0,0
$GC,93,-0.58,-146.0,3.2,-3.3,6,128,10.30,2.22,-17.50,0.000,4,0.253,0.065,2400,753,3487,0,0,1,0,0,0
$GC,342,-0.58,-146.0,59.0,-17.5,33,346,0.00,2.20,0.00,0.000,6,0.000,0.050,2391,2157,3487,0,0,0,0,0,0
$GC,607,-0.58,-146.0,122.8,-21.4,58,611,0.00,2.17,0.00,0.000,4,0.000,0.051,2391,749,3488,0,0,0,0,0,0
$GC,643,-0.58,-146.0,131.3,-22.7,61,649,0.00,2.20,0.00,0.000,6,0.000,0.051,2391,2156,3489,0,0,0,0,0,0
$GC,904,-0.58,-146.0,185.4,-17.6,86,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2157,3488,0,0,0,0,0,0
$GC,1154,-0.58,-146.0,227.2,-15.3,102,1158,0.00,2.22,0.00,0.000,4,0.000,0.061,2388,3575,3489,0,0,0,0,0,0
$GC,1167,-0.58,-146.0,229.4,-15.4,102,1173,0.00,2.17,0.00,0.000,6,0.000,0.039,2389,2147,3488,0,0,0,0,0,0
$GC,1482,-0.58,-146.0,268.4,-12.6,118,1486,0.00,2.15,0.00,0.000,4,0.000,0.052,2389,757,3492,0,0,0,0,0,0
$GC,1633,-0.58,-146.0,286.3,-10.9,124,1637,0.00,2.17,0.00,0.000,6,0.000,0.050,2388,2163,3494,0,0,0,0,0,0
$GC,1965,-0.58,-146.0,321.5,-10.4,135,1969,0.00,2.20,0.00,0.000,4,0.000,0.052,2388,755,3490,0,0,0,0,0,0
$GC,2025,-0.58,-146.0,327.6,-10.2,136,2029,0.00,2.22,0.00,0.000,6,0.000,0.052,2389,2165,3490,0,0,0,0,0,0
$GC,2374,-0.58,-146.0,360.4,-9.3,145,2378,0.00,2.22,0.00,0.000,4,0.000,0.064,2388,3569,3489,0,0,0,0,0,0
$GC,2405,-0.58,-146.0,363.4,-9.5,145,2409,0.00,2.15,0.00,0.000,6,0.000,0.040,2388,2163,3492,0,0,0,0,0,0
$GC,2736,-0.58,-146.0,392.8,-8.9,153,2740,0.00,2.17,0.00,0.000,4,0.000,0.049,2388,754,3487,0,0,0,0,0,0
$GC,2832,-0.58,-146.0,401.7,-8.3,155,2837,0.00,2.20,0.00,0.000,6,0.000,0.051,2388,2159,3486,0,0,0,0,0,0
$GC,3150,-0.58,-146.0,429.7,-9.0,163,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2159,3483,0,0,0,0,0,0
$GC,3475,-0.58,-146.0,459.1,-9.0,171,3479,0.00,2.22,0.00,0.000,4,0.000,0.055,2389,754,3480,0,0,0,0,0,0
$GC,3511,-0.58,-146.0,462.6,-9.5,171,3517,0.00,2.22,0.00,0.000,6,0.000,0.054,2389,2162,3480,0,0,1,0,0,0
$GC,3842,-0.58,-146.0,489.5,-7.9,180,3846,0.00,2.22,0.00,0.000,4,0.000,0.056,2389,758,3477,0,0,0,0,0,0
$GC,3875,-0.58,-146.0,492.2,-8.2,180,3880,0.00,2.22,0.00,0.000,6,0.000,0.054,2389,2166,3477,0,0,0,0,0,0
$GC,4206,-0.58,-146.0,519.0,-8.0,188,4209,0.00,2.22,0.00,0.000,4,0.000,0.058,2389,757,3474,0,0,0,0,0,0
$GC,4270,-0.58,-146.0,524.5,-8.6,189,4274,0.00,2.17,0.00,0.000,6,0.000,0.050,2388,2162,3473,0,0,1,0,0,0
$GC,4619,-0.58,-146.0,550.9,-7.6,198,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2162,3470,0,0,0,0,0,0
$GC,4943,-0.58,-146.0,574.5,-7.2,206,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2162,3467,0,0,0,0,0,0
$GC,5268,-0.58,-146.0,600.3,-8.0,214,5272,0.00,2.22,0.00,0.000,4,0.000,0.054,2388,749,3465,0,0,0,0,0,0
$GC,5304,-0.58,-146.0,603.4,-8.7,214,5308,0.00,2.22,0.00,0.000,6,0.000,0.050,2388,2167,3465,0,0,0,0,0,0
$GC,5635,-0.58,-146.0,629.6,-7.9,222,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2168,3462,0,0,0,0,0,0
$GC,5960,-0.58,-146.0,654.1,-7.4,230,5964,0.00,2.25,0.00,0.000,4,0.000,0.055,2389,754,3460,0,0,0,0,0,0
$GC,5987,-0.58,-146.0,656.2,-7.7,230,5991,0.00,2.22,0.00,0.000,6,0.000,0.051,2389,2160,3460,0,0,0,0,0,0
$GC,6326,-0.58,-146.0,678.0,-6.3,239,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2160,3457,0,0,0,0,0,0
$GC,6651,-0.58,-146.0,698.2,-6.2,247,6655,0.00,2.25,0.00,0.000,4,0.000,0.055,2388,749,3455,0,0,1,0,0,0
$GC,6715,-0.58,-146.0,702.6,-7.6,248,6719,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2160,3455,0,0,0,0,0,0
$GC,7060,-0.58,-146.0,724.9,-6.6,257,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2160,3453,0,0,0,0,0,0
$GC,7384,-0.58,-146.0,747.1,-7.0,265,7388,0.00,2.22,0.00,0.000,4,0.000,0.054,2389,752,3451,0,0,0,0,0,0
$GC,7421,-0.58,-146.0,750.0,-7.7,265,7425,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2162,3449,0,0,0,0,0,0
$GC,7751,-0.58,-146.0,772.0,-6.6,273,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2160,3449,0,0,0,0,0,0
$GC,8076,-0.58,-146.0,793.8,-6.7,281,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2162,3448,0,0,0,0,0,0
$GC,8401,-0.58,-146.0,815.4,-6.7,289,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2162,3447,0,0,0,0,0,0
$GC,8726,-0.58,-146.0,836.2,-6.4,297,8730,0.00,2.25,0.00,0.000,4,0.000,0.055,2389,755,3446,0,0,0,0,0,0
$GC,8758,-0.58,-146.0,838.6,-7.5,297,8762,0.00,2.22,0.00,0.000,6,0.000,0.052,2389,2160,3445,0,0,0,0,0,0
$GC,9089,-0.58,-146.0,859.5,-6.3,305,9093,0.00,2.28,0.00,0.000,4,0.000,0.058,2388,748,3444,0,0,1,0,0,0
$GC,9116,-0.58,-146.0,861.3,-7.1,305,9120,0.00,2.25,0.00,0.000,6,0.000,0.052,2389,2160,3447,0,0,0,0,0,0
$GC,9455,-0.58,-146.0,882.2,-6.2,314,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2160,3443,0,0,0,0,0,0
$GC,9780,-0.58,-146.0,903.2,-6.4,322,9784,0.00,2.28,0.00,0.000,4,0.000,0.058,2389,750,3442,0,0,1,0,0,0
$GC,9816,-0.58,-146.0,905.9,-7.9,322,9821,0.00,2.28,0.00,0.000,6,0.000,0.053,2388,2163,3442,0,0,0,0,0,0
$GC,10146,-0.58,-146.0,926.3,-6.1,331,10150,0.00,2.30,0.00,0.000,4,0.000,0.071,2388,3567,3441,0,0,0,0,0,0
$GC,10174,-0.58,-146.0,927.9,-6.3,331,10178,0.00,2.22,0.00,0.000,6,0.000,0.047,2387,2157,3441,0,0,0,0,0,0
$GC,10509,-0.58,-146.0,945.6,-5.1,340,10513,0.00,2.25,0.00,0.000,4,0.000,0.058,2386,752,3440,0,0,0,0,0,0
$GC,10555,-0.58,-146.0,948.1,-4.6,341,10559,0.00,2.28,0.00,0.000,6,0.000,0.054,2389,2165,3440,0,0,0,0,0,0
$GC,10878,-0.58,-146.0,963.8,-4.9,349,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2165,3439,0,0,0,0,0,0
$GC,11202,-0.58,-146.0,980.0,-5.1,357,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2165,3440,0,0,0,0,0,0
$STATE,11403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11403,begin apogee
$GC,11409,-0.28,0.0,990.8,5.3,362,11532,0.35,0.00,120.60,1.356,6,0.124,0.000,2506,2025,2891,0,0,0,0,0,0
$STATE,11534,end apogee,CONTROL_FINISHED_OK
$STATE,11534,begin climb
$GC,11536,0.58,146.0,994.1,0.0,365,11678,0.80,2.53,133.27,1.315,4,0.078,0.063,2792,627,2294,0,0,0,0,0,0
$GC,11733,0.58,146.0,983.0,11.8,369,11737,0.00,2.38,0.00,0.000,6,0.000,0.055,2797,2031,2284,0,0,0,0,0,0
$GC,12068,0.58,146.0,942.2,11.9,378,12072,0.00,2.35,0.00,0.000,4,0.000,0.072,2792,3440,2279,0,0,0,0,0,0
$GC,12156,0.58,146.0,930.5,14.4,380,12161,0.00,2.22,0.00,0.000,6,0.000,0.054,2802,2040,2279,0,0,1,0,0,0
$GC,12483,0.58,146.0,891.5,11.7,388,12487,0.00,2.33,0.00,0.000,4,0.000,0.072,2802,3440,2277,0,0,0,0,0,0
$GC,12506,0.58,146.0,888.7,12.1,388,12511,0.12,2.25,0.00,0.000,6,0.221,0.051,2785,2021,2275,0,0,0,0,0,0
$GC,12846,0.58,146.0,851.0,11.0,397,12850,0.00,2.35,0.00,0.000,4,0.000,0.072,2785,3440,2276,0,0,0,0,0,0
$GC,12935,0.58,146.0,840.3,12.0,399,12939,0.00,2.25,0.00,0.000,6,0.000,0.053,2794,2023,2276,0,0,0,0,0,0
$GC,13262,0.58,146.0,803.9,11.4,407,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2018,2275,0,0,0,0,0,0
$GC,13586,0.58,146.0,765.8,11.9,415,13590,0.00,2.35,0.00,0.000,4,0.000,0.071,2794,3450,2274,0,0,0,0,0,0
$GC,13692,0.58,146.0,751.1,15.0,417,13696,0.00,2.25,0.00,0.000,6,0.000,0.052,2805,2026,2275,0,0,0,0,0,0
$GC,14005,0.58,146.0,710.4,12.9,425,14009,0.00,2.35,0.00,0.000,4,0.000,0.070,2805,3442,2273,0,0,0,0,0,0
$GC,14047,0.58,146.0,704.5,14.2,426,14052,0.12,2.22,0.00,0.000,6,0.215,0.052,2788,2036,2274,0,0,0,0,0,0
$GC,14375,0.58,146.0,666.5,11.3,434,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2030,2273,0,0,0,0,0,0
$GC,14699,0.58,146.0,631.1,10.6,442,14704,0.00,2.33,0.00,0.000,4,0.000,0.071,2787,3442,2272,0,0,0,0,0,0
$GC,14745,0.58,146.0,625.6,11.4,443,14749,0.00,2.25,0.00,0.000,6,0.000,0.053,2797,2021,2272,0,0,0,0,0,0
$GC,15067,0.58,146.0,592.3,10.1,451,15071,0.00,2.38,0.00,0.000,4,0.000,0.071,2797,3446,2272,0,0,0,0,0,0
$GC,15122,0.58,146.0,586.1,10.6,452,15126,0.00,2.25,0.00,0.000,6,0.000,0.051,2807,2026,2271,0,0,0,0,0,0
$GC,15439,0.58,146.0,552.7,10.5,460,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2021,2269,0,0,0,0,0,0
$GC,15765,0.58,146.0,520.5,9.7,468,15769,0.00,2.35,0.00,0.000,4,0.000,0.069,2806,3447,2271,0,0,0,0,0,0
$GC,15848,0.58,146.0,512.2,9.2,469,15854,0.15,2.22,0.00,0.000,6,0.209,0.051,2783,2029,2271,0,0,1,0,0,0
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$STATE,22173,end climb,SURFACE_DEPTH_REACHED
$STATE,22173,begin surface coast
$FINISH,0.9,1.022743
$STATE,22196,end surface coast,CONTROL_FINISHED_OK
$STATE,22196,begin surface
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$SM_GC,1.55,0.00,0.00,37.28,0.000,0.000,0.550,53,2178,1097,-7.94,0.51,440.06
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$TT8_MAMPS,0.056758
$HUMID,1078684506
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.90
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8434876416
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52570587136
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,58.334
$10V_AH,9.8,39.593
$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,19.525,194.325,433.150,37.275,0.000,66.872,74.333,380.414,0.750,0.000,23.860,1672.658,17735.375,571.205,2718.987,298.125,33.366,1801.682,0.000,2130.580,0.000,0.544,0.000
$DEVICE_MAMPS,253.110,75.933,1356.056,549.939,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,553.409,0.000,0.000,0.000,0.000,0.000,0.000,21064.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.678,0.000,0.000
$MEM,354528
$DATA_FILE_SIZE,30029,822
$CAP_FILE_SIZE,186347,0
$CFSIZE,260165632,233943040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,160111,042307,1747.727,12758.729,34,1.3,35,-2.0