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A South Australian man who pleaded guilty to brutally raping and killing outback nurse Gayle Woodford has been sentenced to at least 32 years in jail.

Dudley David had just been released from jail when he attacked the popular nurse in the town of Fregon, located in the APY Lands in northern South Australia, in March 2016.

The man who murdered outback nurse Gayle Woodford jailed for at least 32 years for the brutal killing. https://t.co/Ho7GHHvaeF#DudleyDaveypic.twitter.com/vxeaPNNAgg

— 7 News Adelaide (@7NewsAdelaide) June 8, 2017

The court was told he went to the premises under the ruse of getting paracetamol for his grandmother, the Advertiser reported, but with the actual intent of stealing an ambulance.

The 56-year-old nurse's body was found buried in a shallow grave three days later.

Davey was arrested in the stolen ambulance in Coober Pedy.

In sentencing submissions, the court was told Davey, 35, had a history of violent assaults against women, the ABC reported.

Prosecutor Ian Press said the "obvious motive" of the murder was to cover up the rape, the ABC reported.

#BREAKING: Dudley Davey sentenced to life in jail, non-parole period of 32yrs for murder of outback nurse Gayle Woodford @abcnewsAdelaidepic.twitter.com/lTEE2GN7S8

— Rebecca Opie (@BecOpie) June 8, 2017