version: 66.03
glider: 120
mission: 9
dive: 310
start: 12 23 108 5 29 24
data:
$ID,120
$MISSION,9
$DIVE,310
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-24149.521
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,052301,4953.986,-14511.464,39,1.4,39,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.73
$_SM_ANGLEo,-72.7
$GPS2,052827,4954.007,-14511.464,16,1.5,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144,0.105
$KALMAN_X,30510.4,201.9,-91.9,-56459.2,-63.3
$KALMAN_Y,242378.1,118.2,-167.6,-263699.4,1611.2
$MHEAD_RNG_PITCHd_Wd,35.5,34959,-12.0,-5.000
$D_GRID,1001
$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
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.38,0.000,2,0.000,0.000,148,2407,1825
$GC,38,-0.67,-117.3,3.7,-0.0,1,139,13.52,2.45,-80.88,0.000,4,0.275,0.080,3096,992,3354
$GC,252,-0.51,-117.3,13.7,-10.3,20,257,0.20,2.33,0.00,0.000,6,0.160,0.065,3152,2399,3355
$GC,578,-0.51,-117.3,36.9,-7.9,50,582,0.00,2.42,0.00,0.000,4,0.000,0.083,3152,3818,3356
$GC,605,-0.51,-117.3,39.3,-7.8,52,612,0.00,2.33,0.00,0.000,6,0.000,0.054,3152,2399,3356
$GC,931,-0.51,-117.3,63.3,-7.1,83,932,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2399,3356
$GC,1258,-0.51,-117.3,86.4,-7.0,110,1262,0.00,2.38,0.00,0.000,4,0.000,0.068,3152,993,3356
$GC,1297,-0.51,-117.3,89.3,-7.4,112,1302,0.00,2.33,0.00,0.000,6,0.000,0.062,3152,2411,3356
$GC,1624,-0.51,-117.3,112.2,-6.4,128,1628,0.00,2.42,0.00,0.000,4,0.000,0.067,3152,984,3356
$GC,1670,-0.56,-117.3,115.3,-7.4,130,1674,0.00,2.35,0.00,0.000,6,0.000,0.061,3152,2401,3356
$GC,1991,-0.63,-117.3,135.0,-5.9,146,1996,0.12,2.35,0.00,0.000,4,0.084,0.067,3103,993,3357
$GC,2031,-0.58,-117.3,137.8,-7.2,148,2035,0.00,2.30,0.00,0.000,6,0.000,0.061,3103,2408,3357
$GC,2366,-0.58,-117.3,161.2,-7.1,162,2371,0.00,2.35,0.00,0.000,4,0.000,0.080,3100,3819,3357
$GC,2455,-0.58,-117.3,168.3,-8.1,164,2462,0.00,2.35,0.00,0.000,6,0.000,0.054,3100,2404,3356
$GC,2768,-0.58,-117.3,187.7,-5.9,175,2770,0.10,0.00,0.00,0.000,6,0.118,0.000,3126,2404,3357
$GC,3075,-0.58,-117.3,204.3,-5.7,185,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3357
$GC,3381,-0.62,-117.3,222.2,-5.7,195,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3357
$GC,3687,-0.66,-117.3,240.3,-5.9,205,3691,0.00,2.38,0.00,0.000,4,0.000,0.071,3126,992,3356
$GC,3743,-0.73,-117.3,243.9,-6.4,206,3750,0.15,2.28,0.00,0.000,6,0.083,0.063,3073,2401,3356
$GC,4056,-0.68,-117.3,267.2,-7.7,217,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2401,3356
$GC,4362,-0.63,-117.3,291.8,-8.1,227,4364,0.15,0.00,0.00,0.000,6,0.112,0.000,3116,2401,3356
$GC,4666,-0.63,-117.3,313.2,-6.9,234,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2401,3356
$GC,4969,-0.63,-117.3,333.1,-6.6,239,4973,0.00,2.42,0.00,0.000,4,0.000,0.082,3113,3813,3356
$GC,4995,-0.63,-117.3,334.8,-6.9,239,4999,0.00,2.35,0.00,0.000,6,0.000,0.055,3113,2394,3356
$GC,5333,-0.63,-117.3,355.6,-6.0,245,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3356
$GC,5636,-0.63,-117.3,371.6,-5.2,250,5641,0.00,2.40,0.00,0.000,4,0.000,0.071,3112,993,3356
$GC,5669,-0.63,-117.3,373.5,-5.9,250,5674,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2398,3355
$GC,5996,-0.63,-117.3,392.3,-5.9,256,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3355
$GC,6299,-0.63,-117.3,409.8,-5.7,261,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3355
$GC,6602,-0.63,-117.3,426.5,-5.5,266,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3355
$GC,6906,-0.63,-117.3,441.4,-4.9,271,6910,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,988,3354
$GC,6938,-0.63,-117.3,443.2,-5.2,271,6942,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2412,3355
$GC,7270,-0.63,-117.3,459.0,-4.8,277,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3355
$GC,7574,-0.67,-117.3,475.4,-5.5,282,7578,0.00,2.45,0.00,0.000,4,0.000,0.071,3113,991,3354
$GC,7613,-0.71,-117.3,477.8,-5.7,282,7617,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2408,3354
$GC,7934,-0.75,-117.3,496.6,-6.0,288,7936,0.12,0.00,0.00,0.000,6,0.091,0.000,3062,2408,3354
$GC,8237,-0.71,-117.3,518.5,-7.2,293,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2408,3354
$GC,8541,-0.66,-117.3,540.0,-7.1,298,8542,0.12,0.00,0.00,0.000,6,0.109,0.000,3098,2409,3354
$GC,8843,-0.66,-117.3,558.7,-6.1,303,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2408,3354
$GC,9146,-0.66,-117.3,576.4,-5.8,308,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3354
$GC,9449,-0.66,-117.3,594.4,-6.0,313,9453,0.00,2.40,0.00,0.000,4,0.000,0.072,3098,993,3353
$GC,9511,-0.66,-117.3,598.4,-6.6,314,9515,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2408,3354
$GC,9877,-0.66,-117.3,620.0,-5.9,320,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2408,3354
$GC,10179,-0.66,-117.3,637.8,-5.9,325,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2408,3353
$GC,10483,-0.66,-117.3,655.6,-5.8,330,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2408,3353
$GC,10785,-0.66,-117.3,673.2,-5.8,335,10790,0.00,2.47,0.00,0.000,4,0.000,0.073,3098,986,3353
$GC,10824,-0.66,-117.3,675.7,-6.6,335,10828,0.00,2.38,0.00,0.000,6,0.000,0.065,3098,2401,3353
$GC,11144,-0.66,-117.3,694.2,-5.8,341,11145,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3353
$GC,11447,-0.66,-117.3,712.2,-6.0,346,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3353
$GC,11751,-0.66,-117.3,730.9,-6.2,351,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3353
$GC,12054,-0.66,-117.3,748.0,-5.6,356,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3353
$GC,12356,-0.66,-117.3,763.6,-5.1,361,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3352
$GC,12660,-0.66,-117.3,778.7,-5.0,366,12661,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3352
$GC,12963,-0.66,-117.3,794.6,-5.3,371,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3353
$GC,13266,-0.66,-117.3,811.8,-5.8,376,13270,0.00,2.45,0.00,0.000,4,0.000,0.074,3098,988,3352
$GC,13298,-0.66,-117.3,814.0,-6.8,376,13302,0.00,2.40,0.00,0.000,6,0.000,0.066,3098,2411,3352
$GC,13624,-0.66,-117.3,833.5,-6.0,382,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2411,3352
$GC,13928,-0.71,-117.3,851.9,-6.1,387,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2411,3352
$GC,14231,-0.75,-117.3,870.5,-6.1,392,14235,0.00,2.40,0.00,0.000,4,0.000,0.074,3098,992,3352
$GC,14265,-0.75,-117.3,872.8,-6.3,392,14268,0.00,2.33,0.00,0.000,6,0.000,0.066,3098,2407,3352
$GC,14597,-0.80,-117.3,891.4,-5.6,398,14599,0.12,0.00,0.00,0.000,6,0.093,0.000,3050,2407,3351
$GC,14899,-0.80,-117.3,909.8,-6.0,403,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2407,3351
$GC,15202,-0.80,-117.3,927.8,-5.9,408,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2407,3351
$GC,15506,-0.80,-117.3,945.8,-6.0,413,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2407,3351
$GC,15809,-0.80,-117.3,964.3,-6.1,418,15810,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2407,3351
$GC,16112,-0.80,-117.3,982.9,-6.2,423,16113,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2408,3351
$STATE,16231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16231,begin apogee
$GC,16237,-0.22,0.0,990.4,6.1,425,16347,0.65,0.00,107.28,1.493,6,0.139,0.000,3247,2201,2876
$STATE,16348,end apogee,CONTROL_FINISHED_OK
$STATE,16348,begin climb
$GC,16351,0.67,117.3,992.2,0.0,426,16475,0.85,2.80,112.15,1.439,4,0.091,0.077,3534,789,2396
$GC,16571,0.32,117.3,988.4,6.5,429,16576,0.43,2.47,0.00,0.000,6,0.180,0.063,3426,2208,2394
$GC,16909,0.32,118.2,971.3,5.0,435,16910,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2208,2393
$GC,17212,0.28,118.2,955.4,5.3,440,17213,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2208,2393
$GC,17514,0.28,118.2,938.7,5.5,445,17515,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2208,2393
$GC,17817,0.28,118.2,920.9,6.0,450,17819,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2208,2392
$GC,18121,0.28,118.2,901.8,6.4,455,18126,0.00,2.47,0.00,0.000,4,0.000,0.079,3426,788,2392
$GC,18160,0.28,118.2,899.3,5.7,455,18164,0.00,2.33,0.00,0.000,6,0.000,0.064,3426,2205,2392
$GC,18480,0.28,118.2,880.0,6.0,461,18482,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2205,2392
$GC,18783,0.28,118.2,862.8,5.7,466,18784,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2205,2392
$GC,19087,0.28,118.2,847.3,5.0,471,19091,0.00,2.42,0.00,0.000,4,0.000,0.080,3426,791,2392
$GC,19125,0.29,127.8,845.4,4.7,471,19140,0.00,2.33,9.93,1.278,6,0.000,0.064,3426,2212,2355
$GC,19451,0.30,136.5,829.8,4.7,477,19465,0.00,2.38,9.45,1.254,4,0.000,0.082,3426,3620,2319
$GC,19499,0.23,136.5,827.1,5.3,477,19504,0.12,2.35,0.00,0.000,6,0.184,0.064,3396,2200,2318
$GC,19814,0.35,157.3,813.2,4.4,483,19837,0.10,0.00,19.98,1.342,6,0.094,0.000,3435,2199,2234
$GC,20118,0.40,157.3,796.7,5.5,488,20122,0.00,2.42,0.00,0.000,4,0.000,0.080,3435,791,2232
$GC,20167,0.40,157.3,793.6,7.1,488,20171,0.00,2.33,0.00,0.000,6,0.000,0.065,3435,2202,2232
$GC,20483,0.40,157.3,775.3,5.8,494,20485,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2232
$GC,20786,0.40,157.3,757.7,5.8,499,20790,0.00,2.42,0.00,0.000,4,0.000,0.083,3435,3617,2232
$GC,20819,0.35,157.3,755.5,6.2,499,20823,0.00,2.40,0.00,0.000,6,0.000,0.064,3435,2197,2232
$GC,21145,0.35,157.3,736.2,5.9,505,21146,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2232
$GC,21448,0.35,157.3,720.0,5.3,510,21449,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2232
$GC,21752,0.36,158.3,704.9,5.0,515,21753,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2231
$GC,22054,0.36,158.6,689.7,5.0,520,22059,0.00,2.45,0.00,0.000,4,0.000,0.080,3436,784,2231
$GC,22093,0.36,158.6,687.8,5.1,520,22097,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2208,2232
$GC,22420,0.36,165.4,672.0,4.8,526,22430,0.00,0.00,8.48,1.153,6,0.000,0.000,3435,2208,2200
$GC,22723,0.36,165.9,657.0,5.0,531,22724,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2200
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$GC,26398,0.47,224.0,450.1,7.5,591,26402,0.00,2.33,0.00,0.000,6,0.000,0.063,3480,2208,1958
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$GC,28167,0.48,224.0,318.1,8.9,621,28171,0.15,2.38,0.00,0.000,4,0.150,0.077,3476,790,1957
$GC,28204,0.48,224.0,314.9,8.9,621,28208,0.00,2.30,0.00,0.000,6,0.000,0.062,3476,2207,1957
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$STATE,33153,end climb,SURFACE_DEPTH_REACHED
$STATE,33153,begin surface coast
$FINISH,2.8,1.016208
$STATE,33281,end surface coast,CONTROL_FINISHED_OK
$STATE,33281,begin surface
$SM_CCo,33300,10.65,0.801,0,0,1653,300.00
$SM_GC,5.08,0.00,0.00,10.65,0.000,0.000,0.801,148,2410,1653,-9.91,0.28,300.00
$IRIDIUM_FIX,4939.69,-14510.89,180398,202012
$TT8_MAMPS,0.026845
$HUMID,2109
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,15.90
$XPDR_PINGS,996
$24V_AH,21.6,61.617
$10V_AH,10.6,41.438
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.875,190.925,374.200,10.650,0.000,27.428,25.256,144.885,249.000,0.000,0.000,16.667,1814.586,28338.555,560.728,2318.840,600.608,33.379,1713.307,0.000,2305.325,0.000,0.465
$DEVICE_MAMPS,275.353,82.836,1492.582,800.748,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,675.588,656.989,1495.815,907.726,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50540,880
$CAP_FILE_SIZE,179890,0
$CFSIZE,260165632,234524672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231208,144556,4956.520,-14507.341,42,1.8,42,18.4