163. What is the usual arrangement of GPS satellites?

18 satellites in 3 orbital planes, 6 satellites in each plane, 23,400 km altitude and 55 degrees inclination.
24 satellites in 6 orbital planes, 4 satellites in each plane, 20,200 km altitude and 55 degrees inclination.
30 satellites in 5 orbital planes, 6 satellites in each plane, 20,200 km altitude and 60 degrees inclination.
36 satellites in 6 orbital planes, 6 satellites in each plane, 23,600 km altitude and 60 degrees inclination.

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