version: 66.13
glider: 178
mission: 31
dive: 250
start: 12 3 119 3 13 23
data:
$ID,178
$MISSION,31
$DIVE,250
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.45766
$PRESSURE_SLOPE,0.0001061024
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,031219,030100,1413.4800,14409.9668,36,0.8,36,0.3,0.4,338.2,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-54.5
$GPS2,031219,031235,1413.4163,14409.8281,2,0.6,4,0.3,0.9,208.5,12,6.5
$SPEED_LIMITS,0.147,0.187
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,13.6,14049,-17.9,-8.462,-24.29,1747
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.78,-97.3,123,2722,987,868,0.0,0.0,0,110,0.00,0.00,-88.32,0.005,16386,0.000,0.000,115,2723,3229,3250,3208,0,0,0,0,0,0,15.22,28.83,15.23
$GC,113,-0.78,-97.3,115,2723,3252,3208,4.8,-9.9,9,131,8.25,2.12,-2.30,0.050,18692,0.391,0.094,1852,3949,3365,3400,3331,0,0,0,0,0,0,14.69,14.21,14.92
$GC,327,-0.78,-97.3,1852,3949,3400,3326,76.3,-27.1,51,332,0.00,1.98,0.00,0.000,1030,0.000,0.031,1848,2708,3365,3400,3330,0,0,0,0,0,0,15.19,15.14,15.21
$GC,521,-0.78,-97.3,1851,2702,3400,3330,120.3,-20.6,71,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2702,3364,3399,3330,0,0,0,0,0,0,15.36,15.38,15.38
$GC,712,-0.78,-97.3,1851,2703,3400,3330,152.3,-15.5,90,718,0.00,2.15,0.00,0.000,516,0.000,0.038,1852,1368,3365,3400,3330,0,0,0,0,0,0,15.38,15.11,15.38
$GC,790,-0.78,-97.3,1851,1369,3400,3330,164.4,-13.4,105,797,0.00,2.35,0.00,0.000,1030,0.000,0.046,1851,2745,3365,3400,3330,0,0,0,0,0,0,15.13,15.09,15.16
$GC,977,-0.78,-97.3,1851,2745,3401,3330,186.0,-13.0,124,986,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2742,3365,3400,3330,0,0,0,0,0,0,15.41,15.43,15.41
$GC,1168,-0.78,-97.3,1851,2745,3400,3330,212.6,-12.0,143,1177,0.00,2.28,0.00,0.000,516,0.000,0.041,1851,1363,3365,3400,3331,0,0,0,0,0,0,15.41,15.16,15.42
$GC,1201,-0.78,-97.3,1850,1363,3399,3330,216.3,-11.1,149,1208,0.00,2.33,0.00,0.000,1030,0.000,0.047,1851,2751,3365,3400,3331,0,0,0,0,0,0,15.24,15.15,15.26
$GC,1396,-0.78,-97.3,1851,2751,3396,3330,235.3,-9.5,169,1404,0.00,2.03,0.00,0.000,260,0.000,0.078,1847,3946,3364,3400,3329,0,0,0,0,0,0,15.42,15.11,15.45
$GC,1635,-0.78,-97.3,1851,3946,3399,3327,263.3,-11.3,215,1640,0.00,1.90,0.00,0.000,1030,0.000,0.031,1851,2725,3364,3400,3328,0,0,0,0,0,0,15.29,15.26,15.30
$GC,1949,-0.78,-97.3,1850,2725,3401,3326,293.6,-10.2,227,1955,0.00,2.15,0.00,0.000,516,0.000,0.038,1851,1388,3362,3400,3325,0,0,0,0,0,0,15.44,15.19,15.45
$GC,2013,-0.78,-97.3,1851,1388,3400,3325,300.9,-11.0,239,2021,0.00,2.30,0.00,0.000,1030,0.000,0.048,1851,2756,3362,3400,3324,0,0,0,0,0,0,15.26,15.17,15.28
$GC,2344,-0.78,-97.3,1851,2756,3400,3321,336.2,-10.6,255,2349,0.00,2.03,0.00,0.000,260,0.000,0.079,1851,3946,3360,3400,3321,0,0,0,0,0,0,15.45,15.12,15.47
$GC,2575,-0.78,-97.3,1851,3946,3400,3316,361.2,-11.1,301,2582,0.00,1.88,0.00,0.000,1030,0.000,0.034,1851,2754,3358,3400,3316,0,0,0,0,0,0,15.29,15.27,15.32
$GC,2890,-0.78,-97.3,1851,2754,3400,3311,393.2,-9.6,313,2897,0.00,2.25,0.00,0.000,516,0.000,0.040,1851,1376,3355,3400,3311,0,0,0,0,0,0,15.45,15.18,15.47
$GC,3034,-0.78,-97.3,1851,1376,3400,3306,406.8,-9.2,341,3041,0.00,2.33,0.00,0.000,1030,0.000,0.050,1852,2746,3354,3400,3309,0,0,0,0,0,0,15.24,15.14,15.27
$GC,3350,-0.78,-97.3,1851,2746,3400,3304,434.0,-8.0,353,3357,0.00,2.10,0.00,0.000,260,0.000,0.084,1851,3950,3352,3400,3304,0,0,0,0,0,0,15.43,15.07,15.45
$GC,3525,-0.78,-97.3,1851,3950,3400,3301,448.8,-8.4,387,3530,0.00,1.90,0.00,0.000,1030,0.000,0.037,1850,2760,3350,3400,3301,0,0,0,0,0,0,15.30,15.26,15.30
$GC,3838,-0.78,-97.3,1850,2760,3398,3298,476.6,-9.7,399,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2760,3348,3398,3298,0,0,0,0,0,0,15.44,15.45,15.45
$GC,4139,-0.78,-97.3,1851,2760,3395,3294,504.0,-8.7,409,4146,0.00,2.10,0.00,0.000,260,0.000,0.086,1851,3950,3344,3395,3294,0,0,0,0,0,0,15.44,15.09,15.45
$GC,4243,-0.78,-97.3,1851,3950,3395,3293,512.9,-8.2,429,4249,0.00,1.95,0.00,0.000,1030,0.000,0.037,1851,2744,3344,3395,3294,0,0,0,0,0,0,15.28,15.23,15.29
$GC,4568,-0.78,-97.3,1851,2744,3392,3292,537.1,-7.6,443,4574,0.00,2.12,0.00,0.000,260,0.000,0.087,1851,3947,3341,3391,3292,0,0,0,0,0,0,15.44,15.07,15.45
$GC,4686,-0.78,-97.3,1851,3949,3391,3291,547.2,-8.3,466,4696,0.00,2.00,0.00,0.000,1030,0.000,0.037,1851,2729,3341,3391,3291,0,0,0,0,0,0,15.16,15.16,15.21
$GC,4992,-0.78,-97.3,1851,2728,3391,3288,570.2,-7.6,477,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2728,3339,3389,3289,0,0,0,0,0,0,15.43,15.45,15.45
$GC,5292,-0.78,-97.3,1851,2727,3386,3287,596.4,-9.1,487,5298,0.00,2.22,0.00,0.000,516,0.000,0.047,1851,1389,3336,3386,3287,0,0,0,0,0,0,15.42,15.11,15.43
$GC,5344,-0.78,-97.3,1847,1387,3393,3287,601.9,-10.2,497,5350,0.00,2.38,0.00,0.000,1030,0.000,0.057,1851,2759,3336,3385,3287,0,0,0,0,0,0,15.21,15.09,15.24
$GC,5659,-0.78,-97.3,1850,2758,3384,3285,634.7,-10.6,509,5667,0.00,2.35,0.00,0.000,516,0.000,0.050,1851,1381,3334,3384,3285,0,0,0,0,0,0,15.41,15.07,15.42
$GC,5735,-0.78,-97.3,1850,1381,3383,3285,642.8,-10.0,523,5744,0.00,2.38,0.00,0.000,1030,0.000,0.058,1851,2753,3334,3383,3285,0,0,0,0,0,0,15.20,15.09,15.23
$GC,6057,-0.78,-97.3,1851,2753,3382,3283,674.6,-9.9,537,6063,0.00,2.30,0.00,0.000,516,0.000,0.046,1851,1387,3332,3382,3282,0,0,0,0,0,0,15.40,15.11,15.42
$GC,6171,-0.78,-97.3,1849,1387,3381,3285,686.7,-10.5,559,6183,0.00,2.38,0.00,0.000,1030,0.000,0.057,1850,2753,3331,3380,3282,0,0,0,0,0,0,15.15,15.04,15.17
$GC,6482,-0.78,-97.3,1851,2752,3379,3280,717.7,-10.0,571,6487,0.00,2.10,0.00,0.000,260,0.000,0.090,1851,3947,3330,3379,3281,0,0,0,0,0,0,15.40,15.02,15.42
$GC,6576,-0.78,-97.3,1851,3948,3379,3280,728.0,-10.9,589,6582,0.00,1.92,0.00,0.000,1030,0.000,0.041,1851,2774,3329,3379,3279,0,0,0,0,0,0,15.22,15.16,15.24
$GC,6911,-0.78,-97.3,1851,2773,3378,3278,760.9,-9.5,605,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2774,3328,3378,3278,0,0,0,0,0,0,15.40,15.42,15.42
$GC,7210,-0.78,-97.3,1851,2774,3377,3277,787.7,-9.1,615,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2774,3326,3376,3277,0,0,0,0,0,0,15.40,15.42,15.42
$GC,7510,-0.78,-97.3,1851,2774,3375,3276,812.8,-8.4,625,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2773,3325,3375,3276,0,0,0,0,0,0,15.40,15.42,15.42
$GC,7811,-0.78,-97.3,1851,2774,3374,3274,836.3,-7.8,635,7817,0.00,2.40,0.00,0.000,516,0.000,0.049,1851,1361,3324,3374,3274,0,0,0,0,0,0,15.40,15.07,15.42
$GC,7878,-0.78,-97.3,1851,1361,3373,3275,842.6,-8.3,648,7888,0.00,2.42,0.00,0.000,1030,0.000,0.059,1851,2749,3324,3373,3275,0,0,0,0,0,0,15.11,14.99,15.14
$GC,8207,-0.78,-97.3,1851,2748,3372,3274,869.0,-8.4,663,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2748,3323,3372,3274,0,0,0,0,0,0,15.39,15.40,15.40
$GC,8506,-0.78,-97.3,1851,2749,3371,3273,894.8,-8.6,673,8514,0.00,2.12,0.00,0.000,260,0.000,0.093,1851,3946,3322,3371,3273,0,0,0,0,0,0,15.37,14.97,15.40
$GC,8576,-0.78,-97.3,1851,3946,3371,3272,901.7,-8.9,686,8583,0.00,2.00,0.00,0.000,1030,0.000,0.044,1851,2756,3322,3372,3272,0,0,0,0,0,0,15.19,15.13,15.21
$GC,8908,-0.78,-97.3,1851,2755,3371,3272,927.3,-7.8,701,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2755,3321,3371,3271,0,0,0,0,0,0,15.36,15.38,15.38
$GC,9207,-0.78,-97.3,1851,2756,3369,3271,949.5,-7.3,711,9212,0.00,2.15,0.00,0.000,260,0.000,0.092,1851,3947,3320,3369,3271,0,0,0,0,0,0,15.35,14.95,15.38
$GC,9331,-0.78,-97.3,1851,3947,3369,3270,960.1,-7.8,735,9336,0.00,2.00,0.00,0.000,1030,0.000,0.044,1851,2746,3319,3369,3270,0,0,0,0,0,0,15.19,15.13,15.20
$GC,9664,-0.78,-97.3,1853,2746,3368,3269,982.1,-6.7,751,9670,0.00,2.35,0.00,0.000,516,0.000,0.048,1851,1353,3319,3368,3270,0,0,0,0,0,0,15.37,15.03,15.39
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9770,begin apogee
$GC,9777,-0.21,0.0,1855,1731,3367,3269,990.2,-6.7,772,9870,0.73,0.00,86.57,2.071,10246,0.208,0.000,2052,1731,2968,3032,2905,0,0,0,0,0,0,14.82,14.56,13.76
$STATE,9873,end apogee,CONTROL_FINISHED_OK
$STATE,9873,begin climb
$GC,9876,0.78,97.3,2052,1731,3031,2903,991.7,0.0,775,9988,1.05,2.05,100.60,2.035,10756,0.118,0.073,2377,651,2571,2631,2511,0,0,1,0,0,0,14.55,14.31,13.57
$GC,10210,0.78,97.3,2376,649,2624,2506,964.7,9.6,839,10216,0.00,1.80,0.00,0.000,1030,0.000,0.041,2378,1687,2565,2624,2506,0,0,0,0,0,0,14.91,14.82,14.96
$GC,10529,0.78,97.3,2377,1688,2623,2501,937.8,8.0,852,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1689,2562,2623,2501,0,0,0,0,0,0,15.23,15.26,15.26
$GC,10831,0.81,97.3,2377,1691,2624,2499,914.9,7.4,862,10838,0.00,2.45,0.00,0.000,324,0.000,0.066,2377,3091,2560,2623,2498,0,0,0,0,0,0,15.28,14.91,15.30
$GC,11005,0.83,97.3,2377,3091,2623,2496,901.4,7.9,897,11013,0.00,2.42,0.00,0.000,1094,0.000,0.047,2377,1719,2560,2623,2497,0,0,0,0,0,0,15.00,14.93,15.02
$GC,11312,0.87,97.3,2377,1719,2622,2496,878.7,7.2,908,11319,0.00,0.00,0.00,0.000,70,0.000,0.000,2381,1719,2560,2625,2495,0,0,0,0,0,0,15.28,15.30,15.30
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$STATE,21193,end climb,SURFACE_DEPTH_REACHED
$STATE,21193,begin surface coast
$STATE,21217,end surface coast,CONTROL_FINISHED_OK
$STATE,21217,begin surface
$SM_CCo,21236,178.45,0.681,1,0,928,500.17
$SM_GC,0.34,6.97,0.57,178.45,0.083,0.041,0.681,157,2711,928,-6.09,1.02,500.17,0,0,1,0,1,0,15.07,15.16,14.38
$IRIDIUM_FIX,1410.85,14412.75,021219,203510
$TT8_MAMPS,0.020223,0.155043
$HUMID,45.43
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.90
$XPDR_PINGS,0
$SC_FREEKB,3759040
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,91827840
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.57,102.091
$10V_AH,13.29,0.000
$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,17.375,155.600,357.525,178.450,0.000,0.000,0.000,434.050,0.000,0.000,15.690,1533.133,14054.059,639.117,5408.018,484.209,0.000,2776.899,0.000,4640.881,0.000,0.553,0.000
$DEVICE_MAMPS,390.915,94.095,2070.855,680.850,0.000,0.000,0.000,193.545,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21231.000,21231.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.372,7.407,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,66580,1875
$CAP_FILE_SIZE,193071,0
$CFSIZE,260034560,218259456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$CURRENT,0.069,310.73,1
$GPS,031219,091155,1415.952,14409.755,19,0.9,35,0.3,1.3,313.8,10,5.3