version: 66.09
glider: 181
mission: 6
dive: 190
start: 7 16 111 17 38 32
data:
$ID,181
$MISSION,6
$DIVE,190
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40758.344
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,160711,173137,1920.395,12034.104,38,1.1,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.0
$GPS2,160711,173807,1920.478,12034.193,9,1.3,14,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,185.0,85259,-15.3,-11.000
$D_GRID,2775
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-71.00,0.000,2,0.000,0.000,179,2621,2467,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.6,-4.0,10,131,7.97,1.85,-24.30,0.000,4,0.230,0.056,2134,3778,3765,0,0,0,0,0,0
$GC,277,-0.52,-219.0,95.1,-38.9,43,286,0.00,1.80,0.00,0.000,6,0.000,0.024,2133,2580,3768,0,0,0,0,0,0
$GC,413,-0.52,-219.0,135.8,-32.0,68,421,0.00,1.85,0.00,0.000,4,0.000,0.042,2124,3759,3768,0,0,0,0,0,0
$GC,435,-0.52,-219.0,143.4,-32.6,71,443,0.00,1.70,0.00,0.000,6,0.000,0.024,2124,2615,3768,0,0,0,0,0,0
$GC,571,-0.52,-219.0,180.9,-25.8,96,579,0.00,2.08,0.00,0.000,4,0.000,0.025,2124,1208,3769,0,0,0,0,0,0
$GC,597,-0.52,-219.0,187.4,-23.4,100,606,0.00,2.17,0.00,0.000,6,0.000,0.038,2124,2596,3769,0,0,0,0,0,0
$GC,734,-0.52,-219.0,213.6,-20.2,119,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2597,3769,0,0,0,0,0,0
$GC,1054,-0.52,-219.0,268.0,-18.0,149,1057,0.00,1.80,0.00,0.000,4,0.000,0.044,2115,3789,3769,0,0,0,0,0,0
$GC,1199,-0.52,-219.0,290.7,-12.9,162,1203,0.12,1.75,0.00,0.000,6,0.143,0.024,2151,2571,3769,0,0,0,0,0,0
$GC,1529,-0.52,-219.0,332.9,-13.9,193,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2568,3767,0,0,0,0,0,0
$GC,1849,-0.52,-219.0,370.7,-10.9,223,1853,0.00,1.88,0.00,0.000,4,0.000,0.044,2143,3790,3766,0,0,0,0,0,0
$GC,1895,-0.52,-219.0,375.5,-10.2,227,1899,0.00,1.73,0.00,0.000,6,0.000,0.025,2143,2595,3764,0,0,0,0,0,0
$GC,2226,-0.52,-219.0,409.4,-11.9,258,2230,0.00,2.03,0.00,0.000,4,0.000,0.029,2143,1206,3761,0,0,0,0,0,0
$GC,2287,-0.52,-219.0,417.0,-11.0,263,2294,0.00,2.10,0.00,0.000,6,0.000,0.034,2139,2589,3761,0,0,0,0,0,0
$GC,2613,-0.52,-219.0,463.4,-14.5,294,2616,0.00,1.80,0.00,0.000,4,0.000,0.047,2139,3776,3757,0,0,0,0,0,0
$GC,2674,-0.52,-219.0,471.4,-11.9,299,2680,0.00,1.77,0.00,0.000,6,0.000,0.026,2139,2577,3756,0,0,0,0,0,0
$GC,3008,-0.52,-219.0,517.3,-13.6,325,3012,0.00,2.03,0.00,0.000,4,0.000,0.031,2139,1208,3753,0,0,0,0,0,0
$GC,3062,-0.52,-219.0,524.1,-11.1,327,3067,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2572,3753,0,0,0,0,0,0
$GC,3385,-0.52,-219.0,561.9,-11.9,343,3389,0.00,1.85,0.00,0.000,4,0.000,0.047,2130,3784,3750,0,0,0,0,0,0
$GC,3412,-0.52,-219.0,565.4,-11.5,344,3416,0.00,1.80,0.00,0.000,6,0.000,0.026,2130,2579,3750,0,0,0,0,0,0
$GC,3740,-0.52,-219.0,600.3,-10.0,360,3744,0.00,1.88,0.00,0.000,4,0.000,0.047,2125,3790,3747,0,0,0,0,0,0
$GC,3796,-0.52,-219.0,605.4,-8.7,362,3800,0.00,1.77,0.00,0.000,6,0.000,0.027,2125,2602,3745,0,0,0,0,0,0
$GC,4117,-0.52,-219.0,634.7,-10.0,378,4121,0.00,2.05,0.00,0.000,4,0.000,0.030,2122,1207,3744,0,0,0,0,0,0
$GC,4150,-0.52,-219.0,637.7,-9.8,379,4154,0.00,2.17,0.00,0.000,6,0.000,0.039,2124,2620,3744,0,0,0,0,0,0
$GC,4473,-0.52,-219.0,668.7,-10.5,395,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2621,3740,0,0,0,0,0,0
$GC,4781,-0.52,-219.0,699.2,-9.7,410,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2621,3738,0,0,0,0,0,0
$GC,5091,-0.52,-219.0,729.4,-9.4,425,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2621,3736,0,0,0,0,0,0
$GC,5400,-0.52,-219.0,764.3,-11.5,440,5403,0.00,1.77,0.00,0.000,4,0.000,0.050,2125,3776,3733,0,0,0,0,0,0
$GC,5423,-0.52,-219.0,766.7,-10.9,441,5427,0.00,1.73,0.00,0.000,6,0.000,0.028,2125,2600,3733,0,0,0,0,0,0
$GC,5757,-0.52,-219.0,806.9,-12.1,457,5761,0.00,2.08,0.00,0.000,4,0.000,0.033,2125,1201,3731,0,0,0,0,0,0
$GC,5803,-0.52,-219.0,812.3,-11.4,459,5807,0.00,2.17,0.00,0.000,6,0.000,0.040,2125,2599,3731,0,0,0,0,0,0
$GC,6136,-0.52,-219.0,847.1,-9.9,475,6139,0.00,1.85,0.00,0.000,4,0.000,0.051,2125,3779,3729,0,0,0,0,0,0
$GC,6186,-0.52,-219.0,851.8,-9.1,477,6190,0.00,1.73,0.00,0.000,6,0.000,0.029,2125,2603,3729,0,0,0,0,0,0
$GC,6514,-0.52,-219.0,881.2,-9.0,493,6518,0.00,2.08,0.00,0.000,4,0.000,0.034,2126,1209,3727,0,0,0,0,0,0
$GC,6577,-0.52,-219.0,886.7,-8.4,496,6581,0.00,2.15,0.00,0.000,6,0.000,0.039,2125,2598,3727,0,0,0,0,0,0
$GC,6905,-0.52,-219.0,916.9,-10.1,512,6908,0.00,1.83,0.00,0.000,4,0.000,0.051,2125,3777,3725,0,0,0,0,0,0
$GC,6955,-0.52,-219.0,922.0,-9.6,514,6958,0.00,1.77,0.00,0.000,6,0.000,0.028,2125,2572,3724,0,0,0,0,0,0
$GC,7283,-0.52,-219.0,955.5,-10.4,530,7287,0.00,2.05,0.00,0.000,4,0.000,0.034,2125,1200,3723,0,0,0,0,0,0
$GC,7310,-0.52,-219.0,958.8,-10.9,531,7314,0.00,2.17,0.00,0.000,6,0.000,0.041,2124,2606,3723,0,0,0,0,0,0
$STATE,7629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7629,begin apogee
$GC,7636,-0.13,0.0,990.9,9.7,547,7806,0.45,0.00,164.68,1.093,4,0.112,0.000,2275,2111,2869,0,0,0,0,0,0
$STATE,7807,end apogee,CONTROL_FINISHED_OK
$STATE,7807,begin climb
$GC,7809,0.52,219.0,998.8,0.0,555,7991,0.55,0.00,175.12,1.065,6,0.047,0.000,2498,2112,1977,0,0,0,0,0,0
$GC,8308,0.52,219.0,936.5,16.3,579,8312,0.00,2.28,0.00,0.000,4,0.000,0.044,2498,3541,1978,0,0,0,0,0,0
$GC,8465,0.52,219.0,909.2,17.5,586,8469,0.00,2.12,0.00,0.000,6,0.000,0.028,2507,2153,1979,0,0,0,0,0,0
$GC,8787,0.52,219.0,860.7,14.5,602,8791,0.00,2.17,0.00,0.000,4,0.000,0.037,2519,723,1979,0,0,0,0,0,0
$GC,8830,0.52,219.0,854.2,13.8,604,8835,0.00,2.17,0.00,0.000,6,0.000,0.034,2518,2135,1979,0,0,0,0,0,0
$GC,9158,0.52,219.0,806.4,14.3,620,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2135,1978,0,0,0,0,0,0
$GC,9468,0.52,219.0,761.0,14.8,635,9472,0.00,2.17,0.00,0.000,4,0.000,0.045,2518,3539,1977,0,0,0,0,0,0
$GC,9508,0.52,219.0,754.6,16.6,637,9513,0.15,2.15,0.00,0.000,6,0.177,0.028,2491,2117,1976,0,0,0,0,0,0
$GC,9835,0.52,219.0,714.9,11.5,653,9839,0.00,2.12,0.00,0.000,4,0.000,0.039,2500,712,1976,0,0,0,0,0,0
$GC,9862,0.54,228.3,711.7,10.7,654,9877,0.00,2.20,8.68,0.828,6,0.000,0.034,2500,2119,1938,0,0,0,0,0,0
$GC,10207,0.57,255.3,675.5,10.1,671,10233,0.00,2.25,21.62,0.872,4,0.000,0.045,2499,3541,1831,0,0,0,0,0,0
$GC,10251,0.59,269.1,670.4,10.5,673,10269,0.00,2.17,12.45,0.795,6,0.000,0.028,2509,2120,1771,0,0,0,0,0,0
$GC,10577,0.59,269.1,630.7,13.2,689,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2120,1770,0,0,0,0,0,0
$GC,10887,0.59,269.1,583.9,15.5,704,10891,0.00,2.12,0.00,0.000,4,0.000,0.037,2520,720,1769,0,0,0,0,0,0
$GC,10910,0.59,269.1,580.1,15.6,705,10914,0.00,2.17,0.00,0.000,6,0.000,0.034,2520,2136,1769,0,0,0,0,0,0
$GC,11236,0.59,269.1,524.6,16.8,721,11240,0.00,2.15,0.00,0.000,4,0.000,0.045,2520,3535,1769,0,0,0,0,0,0
$GC,11344,0.59,269.1,506.5,17.0,726,11348,0.00,2.10,0.00,0.000,6,0.000,0.028,2529,2139,1769,0,0,0,0,0,0
$GC,11668,0.59,269.1,456.7,14.7,754,11672,0.00,2.15,0.00,0.000,4,0.000,0.037,2540,713,1768,0,0,0,0,0,0
$GC,11798,0.59,269.1,438.1,14.3,765,11805,0.12,2.15,0.00,0.000,6,0.165,0.034,2508,2121,1768,0,0,0,0,0,0
$GC,12124,0.59,269.1,397.6,12.4,796,12128,0.00,2.17,0.00,0.000,4,0.000,0.046,2507,3533,1768,0,0,0,0,0,0
$GC,12214,0.59,269.1,386.4,12.1,804,12218,0.00,2.10,0.00,0.000,6,0.000,0.028,2515,2131,1769,0,0,0,0,0,0
$GC,12540,0.59,274.3,351.2,10.8,834,12553,0.00,2.15,5.28,0.603,4,0.000,0.036,2526,714,1750,0,0,0,0,0,0
$GC,12610,0.59,274.3,343.0,11.6,840,12614,0.00,2.17,0.00,0.000,6,0.000,0.034,2526,2143,1751,0,0,0,0,0,0
$GC,12936,0.59,274.3,303.3,11.3,870,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2145,1751,0,0,0,0,0,0
$GC,13255,0.59,274.3,265.3,11.7,900,13259,0.00,2.15,0.00,0.000,4,0.000,0.044,2526,3543,1751,0,0,0,0,0,0
$GC,13288,0.59,274.3,260.9,12.3,902,13297,0.00,2.17,0.00,0.000,6,0.000,0.027,2535,2118,1751,0,0,0,0,0,0
$GC,13615,0.59,274.3,222.9,11.9,933,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2119,1751,0,0,0,0,0,0
$GC,13931,0.59,274.3,183.1,11.1,976,13939,0.00,2.20,0.00,0.000,4,0.000,0.039,2536,3529,1752,0,0,0,0,0,0
$GC,13983,0.59,274.3,176.6,12.8,985,13992,0.10,2.10,0.00,0.000,6,0.141,0.027,2512,2149,1752,0,0,0,0,0,0
$GC,14122,0.65,320.0,163.1,9.4,1010,14167,0.00,2.22,34.15,0.575,4,0.000,0.039,2512,3541,1564,0,0,0,0,0,0
$GC,14191,0.75,402.9,157.1,8.2,1020,14258,0.10,2.10,60.03,0.530,6,0.057,0.027,2573,2180,1226,0,0,0,0,0,0
$GC,14385,0.75,402.9,133.7,12.8,1053,14393,0.00,2.28,0.00,0.000,4,0.000,0.035,2584,720,1228,0,0,0,0,0,0
$GC,14459,0.75,402.9,124.9,11.5,1066,14467,0.00,2.22,0.00,0.000,6,0.000,0.031,2584,2137,1228,0,0,0,0,0,0
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$GC,15186,0.98,593.7,49.6,10.3,1191,15210,0.00,2.15,17.92,0.455,6,0.000,0.027,2661,2172,446,0,0,0,0,0,0
$GC,15339,1.13,712.7,37.8,7.0,1218,15348,0.00,2.30,3.10,0.280,4,0.000,0.036,2672,718,443,0,0,0,0,0,0
$GC,15424,1.30,850.0,32.8,6.3,1233,15433,0.15,2.25,0.12,0.102,6,0.045,0.028,2753,2172,440,0,0,0,0,0,0
$GC,15561,1.30,850.0,9.9,18.5,1258,15569,0.00,2.12,0.00,0.000,4,0.000,0.038,2753,3537,440,0,0,0,0,0,0
$STATE,15601,end climb,SURFACE_DEPTH_REACHED
$STATE,15601,begin surface coast
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$STATE,15607,end surface coast,CONTROL_FINISHED_OK
$STATE,15608,begin surface
$SM_CCo,15686,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,1916.08,12031.18,160711,121246
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.02
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,23.7,30.211
$10V_AH,10.0,29.804
$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
$DEVICE_SECS,16.600,148.250,628.750,0.000,0.000,31.075,20.477,185.924,0.250,0.000,17.857,3025.685,8891.223,643.288,3155.992,345.988,0.000,1978.110,0.000,2182.427,0.000,0.541,0.000
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$SENSOR_SECS,880.134,1289.475,1380.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321584
$DATA_FILE_SIZE,87213,1266
$CAP_FILE_SIZE,166153,0
$CFSIZE,260165632,233324544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,220106,1918.979,12033.906,30,1.0,30,-2.1