version: 66.11
glider: 189
mission: 7
dive: 464
start: 2 6 113 12 43 20
data:
$ID,189
$MISSION,7
$DIVE,464
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48237.84
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,060213,123305,2430.715,-3747.982,32,1.0,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-59.7
$GPS2,060213,124218,2430.678,-3747.988,15,1.5,15,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,0.015
$KALMAN_X,210547.6,-5.8,-556.0,-186566.7,1088.8
$KALMAN_Y,62057.6,71.2,-315.3,-70963.7,347.8
$MHEAD_RNG_PITCHd_Wd,291.3,679,-21.1,-6.667,-30.00
$D_GRID,990
$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,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-11.07,0.000,2,0.000,0.000,153,2118,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.2,0.0,1,104,9.07,2.65,-49.60,0.000,4,0.187,0.051,2557,3752,2719,0,0,0,0,0,0,25.42,26.00,26.70
$GC,395,-1.25,-97.7,24.9,-9.6,37,403,0.10,2.47,0.00,0.000,6,0.139,0.021,2589,2086,2720,0,0,0,0,0,0,25.92,26.37,28.83
$GC,705,-1.22,-97.7,48.7,-8.0,68,713,0.00,2.42,0.00,0.000,4,0.000,0.037,2589,543,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,955,-1.16,-97.7,71.1,-9.4,93,964,0.12,2.47,0.00,0.000,6,0.137,0.024,2619,2193,2721,0,0,0,0,0,0,25.89,26.39,28.83
$GC,1277,-1.16,-97.7,96.6,-7.8,107,1282,0.00,2.47,0.00,0.000,4,0.000,0.041,2609,3757,2721,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1553,-1.16,-97.7,116.9,-7.7,116,1561,0.00,2.47,0.00,0.000,6,0.000,0.021,2609,2101,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1875,-1.16,-97.7,144.7,-8.9,127,1881,0.00,2.60,0.00,0.000,4,0.000,0.039,2597,3750,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2033,-1.16,-97.7,155.0,-8.6,131,2041,0.00,2.47,0.00,0.000,6,0.000,0.020,2597,2087,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2355,-1.16,-97.7,173.7,-4.3,137,2361,0.00,2.62,0.00,0.000,4,0.000,0.038,2585,3748,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2655,-1.13,-97.7,192.3,-6.5,142,2662,0.12,2.45,0.00,0.000,6,0.126,0.021,2627,2087,2723,0,0,0,0,0,0,26.00,26.48,28.83
$GC,3015,-1.17,-97.7,218.9,-7.2,148,3022,0.00,2.65,0.00,0.000,4,0.000,0.039,2617,3750,2723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3266,-1.19,-97.7,236.1,-7.1,152,3272,0.00,2.40,0.00,0.000,6,0.000,0.021,2617,2092,2723,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3615,-1.22,-97.7,263.0,-7.5,158,3621,0.00,2.38,0.00,0.000,4,0.000,0.037,2617,543,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3675,-1.24,-97.7,267.2,-7.4,159,3681,0.00,2.45,0.00,0.000,6,0.000,0.024,2604,2188,2723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4034,-1.24,-97.7,291.8,-6.9,165,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2187,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4335,-1.27,-97.7,317.1,-8.6,170,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2187,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4635,-1.29,-97.7,341.9,-8.1,175,4641,0.00,2.53,0.00,0.000,4,0.000,0.041,2592,3780,2722,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4724,-1.31,-97.7,346.3,-7.7,176,4731,0.00,2.53,0.00,0.000,6,0.000,0.021,2592,2086,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5055,-1.31,-97.7,364.3,-4.4,182,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2086,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5355,-1.31,-97.7,377.1,-4.3,187,5362,0.00,2.70,0.00,0.000,4,0.000,0.041,2580,3752,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5454,-1.31,-97.7,380.4,-4.7,188,5461,0.00,2.47,0.00,0.000,6,0.000,0.021,2580,2095,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5775,-1.31,-97.7,409.2,-8.6,194,5781,0.00,2.62,0.00,0.000,4,0.000,0.041,2568,3748,2720,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5913,-1.31,-97.7,421.1,-9.5,196,5921,0.00,2.47,0.00,0.000,6,0.000,0.021,2568,2089,2720,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6255,-1.31,-97.7,456.1,-9.6,202,6261,0.00,2.42,0.00,0.000,4,0.000,0.038,2568,545,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6303,-1.31,-97.7,456.1,-9.6,202,6312,0.00,2.55,0.00,0.000,6,0.000,0.024,2556,2191,2719,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6615,-1.31,-97.7,486.2,-8.0,208,6621,0.00,2.53,0.00,0.000,4,0.000,0.041,2545,3751,2718,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6693,-1.31,-97.7,490.9,-7.8,209,6702,0.12,2.47,0.00,0.000,6,0.151,0.021,2576,2089,2718,0,0,0,0,0,0,26.07,26.46,28.83
$GC,7095,-1.31,-97.7,520.9,-7.1,214,7101,0.00,2.42,0.00,0.000,4,0.000,0.039,2576,549,2717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7163,-1.31,-97.7,520.9,-7.1,214,7171,0.00,2.50,0.00,0.000,6,0.000,0.024,2566,2197,2716,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7574,-1.31,-97.7,558.1,-7.8,218,7581,0.00,2.60,0.00,0.000,4,0.000,0.037,2566,550,2715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7754,-1.31,-97.7,567.1,-7.7,219,7762,0.00,2.47,0.00,0.000,6,0.000,0.024,2554,2192,2714,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8174,-1.31,-97.7,604.3,-7.8,223,8182,0.00,2.53,0.00,0.000,4,0.000,0.043,2542,3747,2713,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8233,-1.31,-97.7,604.3,-7.8,223,8242,0.12,2.47,0.00,0.000,6,0.151,0.022,2574,2091,2713,0,0,0,0,0,0,26.05,26.44,28.83
$GC,8655,-1.34,-97.7,647.1,-8.9,227,8662,0.00,2.45,0.00,0.000,4,0.000,0.039,2574,545,2712,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8824,-1.36,-97.7,658.0,-9.0,228,8831,0.00,2.50,0.00,0.000,6,0.000,0.024,2564,2191,2712,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9135,-1.36,-97.7,687.5,-8.4,231,9141,0.00,2.55,0.00,0.000,4,0.000,0.038,2564,546,2710,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9194,-1.36,-97.7,687.5,-8.4,231,9201,0.00,2.50,0.00,0.000,6,0.000,0.024,2552,2189,2711,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9615,-1.36,-97.7,720.1,-6.8,235,9621,0.00,2.60,0.00,0.000,4,0.000,0.039,2551,549,2709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9735,-1.36,-97.7,728.5,-6.7,236,9741,0.00,2.47,0.00,0.000,6,0.000,0.025,2540,2186,2710,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10095,-1.36,-97.7,754.8,-7.2,239,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2186,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10455,-1.36,-97.7,786.0,-8.5,242,10461,0.00,2.60,0.00,0.000,4,0.000,0.040,2543,555,2707,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10676,-1.36,-97.7,797.6,-8.9,243,10682,0.12,2.45,0.00,0.000,6,0.165,0.025,2558,2198,2706,0,0,0,0,0,0,25.94,26.34,28.83
$GC,11054,-1.36,-97.7,839.8,-8.8,247,11062,0.00,2.53,0.00,0.000,4,0.000,0.044,2548,3738,2705,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11123,-1.36,-97.7,839.8,-8.8,247,11131,0.00,2.47,0.00,0.000,6,0.000,0.023,2549,2101,2705,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11536,-1.38,-97.7,876.2,-7.6,251,11541,0.00,2.45,0.00,0.000,4,0.000,0.041,2548,545,2703,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11614,-1.40,-97.7,876.2,-7.6,251,11621,0.00,2.55,0.00,0.000,6,0.000,0.026,2537,2187,2704,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12014,-1.40,-97.7,910.7,-7.2,255,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2187,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12375,-1.40,-97.7,936.8,-7.2,258,12382,0.00,2.55,0.00,0.000,4,0.000,0.044,2525,3748,2701,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12443,-1.40,-97.7,936.8,-7.2,258,12451,0.00,2.50,0.00,0.000,6,0.000,0.024,2524,2101,2701,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12854,-1.40,-97.7,977.0,-8.4,262,12862,0.00,2.67,0.00,0.000,4,0.000,0.044,2513,3743,2700,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12914,-1.40,-97.7,977.0,-8.4,262,12922,0.10,2.45,0.00,0.000,6,0.138,0.024,2544,2108,2699,0,0,0,0,0,0,25.88,26.33,28.83
$STATE,13011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13012,begin apogee
$GC,13020,-0.29,0.0,991.8,-9.1,265,13113,1.15,0.00,86.00,1.673,6,0.129,0.000,2903,1574,2320,0,0,0,0,0,0,25.06,28.83,22.98
$STATE,13115,end apogee,CONTROL_FINISHED_OK
$STATE,13115,begin climb
$GC,13119,1.33,97.7,997.3,0.0,270,13222,1.48,2.80,91.88,1.672,4,0.061,0.036,3431,3205,1921,0,0,0,0,0,0,25.30,24.97,23.02
$GC,13344,1.20,119.6,993.0,5.6,281,13374,0.17,2.55,20.38,1.594,6,0.163,0.031,3392,1590,1831,0,0,0,0,0,0,25.56,26.00,23.57
$GC,13738,1.14,139.0,970.5,5.7,291,13762,0.00,1.98,18.02,1.574,4,0.000,0.047,3400,352,1751,0,0,0,0,0,0,28.83,25.77,23.80
$GC,14055,1.06,146.0,953.9,6.3,293,14067,0.17,1.95,7.07,1.382,6,0.145,0.024,3346,1658,1724,0,0,0,0,0,0,25.81,26.35,23.90
$GC,14447,1.04,152.7,923.8,6.3,297,14463,0.00,2.15,7.72,1.417,4,0.000,0.049,3355,350,1696,0,0,0,0,0,0,28.83,26.11,23.94
$GC,14596,1.02,156.1,914.8,6.5,298,14605,0.00,1.95,4.30,1.166,6,0.000,0.025,3355,1655,1683,0,0,0,0,0,0,28.83,26.35,23.86
$GC,14916,0.99,156.1,885.2,8.2,301,14923,0.12,2.10,0.00,0.000,4,0.162,0.049,3332,348,1682,0,0,0,0,0,0,26.20,26.15,28.83
$GC,15096,0.97,156.1,874.0,8.7,302,15103,0.00,1.95,0.00,0.000,6,0.000,0.025,3332,1651,1682,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15516,0.97,156.1,830.2,9.1,306,15523,0.00,2.08,0.00,0.000,4,0.000,0.048,3342,356,1680,0,0,0,0,0,0,28.83,26.16,28.83
$GC,15695,0.97,156.1,819.4,9.0,307,15703,0.12,1.95,0.00,0.000,6,0.156,0.026,3310,1657,1680,0,0,0,0,0,0,26.08,26.47,28.83
$GC,16117,1.01,156.1,783.4,7.5,311,16123,0.00,2.45,0.00,0.000,4,0.000,0.037,3309,3205,1678,0,0,0,0,0,0,28.83,26.22,28.83
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$GC,19236,1.14,158.8,539.6,6.9,337,19243,0.00,1.98,0.00,0.000,4,0.000,0.048,3380,356,1678,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,25712,end climb,SURFACE_DEPTH_REACHED
$STATE,25713,begin surface coast
$FINISH,1.3,1.013611
$STATE,25744,end surface coast,CONTROL_FINISHED_OK
$STATE,25744,begin surface
$SM_CCo,25769,63.78,0.124,0,0,1095,300.00
$SM_GC,2.28,8.55,0.82,63.78,0.034,0.034,0.124,152,2200,1095,-8.82,-0.51,300.00,0,0,0,0,0,0,26.25,26.39,25.35
$IRIDIUM_FIX,2425.21,-3734.84,060213,050509
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.75
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7591680
$TM_FREEKB,4627136
$24V_AH,23.0,79.320
$10V_AH,10.0,70.457
$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,21.900,214.500,238.900,63.775,0.000,27.994,38.642,196.057,0.000,0.000,16.276,2217.469,20779.232,695.591,2087.960,592.298,33.256,1689.056,0.000,1730.140,0.000,0.535,0.000
$DEVICE_MAMPS,187.425,94.095,1673.055,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25754.000,3009.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.251,13.506,0.000,0.000
$MEM,343728
$DATA_FILE_SIZE,13414,529
$CAP_FILE_SIZE,190162,0
$CFSIZE,260034560,208666624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060213,195504,2430.849,-3749.744,31,0.8,31,-14.0