version: 66.11
glider: 189
mission: 7
dive: 510
start: 2 20 113 8 42 43
data:
$ID,189
$MISSION,7
$DIVE,510
$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,-48295.789
$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
$GPS1,200213,083200,2431.920,-3748.131,37,0.9,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-59.2
$GPS2,200213,084141,2431.939,-3748.152,14,1.7,14,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,-0.115
$KALMAN_X,167023.4,-44.2,584.4,-144409.0,-374.3
$KALMAN_Y,77491.7,338.0,-292.5,-84357.9,1372.4
$MHEAD_RNG_PITCHd_Wd,189.8,1803,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-10.95,0.000,2,0.000,0.000,151,2114,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.3,0.0,1,105,9.30,2.58,-50.10,0.000,4,0.192,0.051,2566,549,2720,0,0,0,0,0,0,25.22,25.93,26.70
$GC,396,-1.24,-97.7,30.0,-11.2,37,404,0.12,2.47,0.00,0.000,6,0.140,0.024,2593,2182,2719,0,0,0,0,0,0,25.75,26.29,28.83
$GC,706,-1.24,-97.7,57.0,-8.2,68,713,0.00,2.58,0.00,0.000,4,0.000,0.037,2594,550,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,896,-1.19,-97.7,72.6,-7.9,87,904,0.08,2.47,0.00,0.000,6,0.141,0.024,2608,2193,2722,0,0,0,0,0,0,25.96,26.34,28.83
$GC,1208,-1.19,-97.7,93.2,-6.1,100,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2194,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1506,-1.19,-97.7,111.0,-5.9,110,1512,0.00,2.60,0.00,0.000,4,0.000,0.036,2608,546,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1615,-1.19,-97.7,116.2,-5.8,113,1624,0.00,2.47,0.00,0.000,6,0.000,0.024,2597,2193,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1926,-1.19,-97.7,136.5,-6.9,124,1932,0.00,2.47,0.00,0.000,4,0.000,0.041,2586,3757,2724,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2114,-1.19,-97.7,150.7,-8.0,130,2123,0.12,2.47,0.00,0.000,6,0.148,0.021,2618,2094,2724,0,0,0,0,0,0,26.03,26.41,28.83
$GC,2467,-1.22,-97.7,179.1,-8.2,136,2472,0.00,2.40,0.00,0.000,4,0.000,0.037,2619,541,2725,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2594,-1.22,-97.7,188.8,-8.2,138,2602,0.00,2.50,0.00,0.000,6,0.000,0.023,2607,2196,2725,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2947,-1.22,-97.7,213.0,-6.6,144,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2196,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3246,-1.24,-97.7,234.4,-7.3,149,3253,0.00,2.60,0.00,0.000,4,0.000,0.036,2607,544,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3334,-1.24,-97.7,239.3,-7.7,150,3342,0.00,2.50,0.00,0.000,6,0.000,0.024,2595,2198,2725,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3667,-1.24,-97.7,270.1,-8.6,156,3672,0.00,2.58,0.00,0.000,4,0.000,0.036,2597,536,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3734,-1.24,-97.7,275.1,-8.5,157,3742,0.00,2.50,0.00,0.000,6,0.000,0.023,2583,2191,2725,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4085,-1.24,-97.7,300.8,-6.8,163,4092,0.00,2.50,0.00,0.000,4,0.000,0.041,2572,3744,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4216,-1.24,-97.7,308.7,-6.6,165,4222,0.00,2.42,0.00,0.000,6,0.000,0.021,2572,2103,2725,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4566,-1.24,-97.7,332.2,-6.5,171,4572,0.00,2.45,0.00,0.000,4,0.000,0.037,2572,543,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4675,-1.24,-97.7,336.3,-6.6,172,4684,0.10,2.47,0.00,0.000,6,0.139,0.023,2592,2189,2724,0,0,0,0,0,0,25.93,26.37,28.83
$GC,4987,-1.26,-97.7,361.1,-6.9,178,4993,0.00,2.47,0.00,0.000,4,0.000,0.041,2582,3748,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5084,-1.26,-97.7,365.8,-7.2,179,5092,0.00,2.47,0.00,0.000,6,0.000,0.021,2582,2091,2723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5407,-1.26,-97.7,398.0,-9.3,185,5412,0.00,2.38,0.00,0.000,4,0.000,0.038,2582,545,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5455,-1.26,-97.7,398.0,-9.3,185,5464,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2195,2722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5765,-1.26,-97.7,434.5,-10.0,191,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2195,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6066,-1.26,-97.7,461.7,-9.0,196,6072,0.00,2.58,0.00,0.000,4,0.000,0.037,2570,549,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6206,-1.26,-97.7,472.0,-8.7,198,6213,0.08,2.47,0.00,0.000,6,0.145,0.024,2582,2190,2721,0,0,0,0,0,0,25.99,26.36,28.83
$GC,6547,-1.29,-97.7,496.3,-6.5,204,6552,0.00,2.55,0.00,0.000,4,0.000,0.037,2583,542,2720,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6586,-1.32,-97.7,496.3,-6.5,204,6593,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2186,2720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6966,-1.32,-97.7,520.5,-5.7,208,6972,0.00,2.58,0.00,0.000,4,0.000,0.037,2573,549,2719,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7075,-1.32,-97.7,520.5,-5.7,208,7084,0.00,2.47,0.00,0.000,6,0.000,0.024,2561,2192,2718,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7447,-1.32,-97.7,551.8,-6.5,212,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2192,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7805,-1.32,-97.7,581.9,-8.0,215,7813,0.00,2.60,0.00,0.000,4,0.000,0.037,2561,549,2716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7874,-1.32,-97.7,581.9,-8.0,215,7883,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2189,2716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8286,-1.32,-97.7,629.4,-9.9,219,8293,0.00,2.60,0.00,0.000,4,0.000,0.038,2549,550,2715,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8455,-1.32,-97.7,641.4,-10.0,220,8463,0.10,2.55,0.00,0.000,6,0.142,0.026,2569,2184,2714,0,0,0,0,0,0,25.87,26.32,28.83
$GC,8767,-1.32,-97.7,669.3,-8.3,223,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2184,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9126,-1.35,-97.7,695.2,-7.1,226,9132,0.00,2.60,0.00,0.000,4,0.000,0.039,2570,548,2712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9176,-1.38,-97.7,695.2,-7.1,226,9182,0.00,2.50,0.00,0.000,6,0.000,0.025,2559,2193,2712,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9486,-1.41,-97.7,728.2,-8.8,229,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2193,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9846,-1.44,-97.7,762.8,-9.7,232,9852,0.00,2.58,0.00,0.000,4,0.000,0.039,2559,539,2711,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9956,-1.46,-97.7,762.8,-9.7,232,9964,0.00,2.55,0.00,0.000,6,0.000,0.026,2547,2178,2710,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10326,-1.46,-97.7,800.5,-7.8,236,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2178,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10686,-1.46,-97.7,827.4,-7.3,239,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2182,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11047,-1.48,-97.7,857.3,-8.2,242,11053,0.00,2.60,0.00,0.000,4,0.000,0.041,2547,543,2707,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11155,-1.50,-97.7,857.3,-8.2,242,11164,0.00,2.50,0.00,0.000,6,0.000,0.025,2535,2179,2707,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11526,-1.50,-97.7,899.3,-8.8,246,11532,0.00,2.55,0.00,0.000,4,0.000,0.041,2535,549,2706,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11656,-1.50,-97.7,910.3,-8.8,247,11662,0.00,2.50,0.00,0.000,6,0.000,0.026,2523,2189,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12006,-1.50,-97.7,943.9,-9.3,250,12012,0.00,2.55,0.00,0.000,4,0.000,0.044,2511,3745,2704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12055,-1.50,-97.7,943.9,-9.3,250,12062,0.00,2.50,0.00,0.000,6,0.000,0.024,2511,2100,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12367,-1.50,-97.7,980.3,-10.1,253,12372,0.00,2.67,0.00,0.000,4,0.000,0.044,2501,3746,2702,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12424,-1.50,-97.7,980.3,-10.1,253,12432,0.00,2.50,0.00,0.000,6,0.000,0.024,2500,2103,2702,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,12482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12482,begin apogee
$GC,12491,-0.29,0.0,992.3,-10.1,254,12585,1.33,0.05,86.60,1.648,6,0.135,0.131,2900,1626,2320,0,0,0,0,0,0,24.80,24.70,22.96
$STATE,12587,end apogee,CONTROL_FINISHED_OK
$STATE,12587,begin climb
$GC,12591,1.33,97.7,997.8,0.0,259,12693,1.50,2.67,92.03,1.618,4,0.063,0.035,3430,3200,1921,0,0,0,0,0,0,25.31,25.03,23.03
$GC,12787,1.19,111.2,993.9,6.0,269,12805,0.22,2.53,12.30,1.480,6,0.173,0.030,3385,1570,1866,0,0,0,0,0,0,25.46,25.93,23.58
$GC,13169,1.11,111.2,968.0,7.0,278,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1569,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13526,1.04,111.2,941.2,7.3,281,13533,0.17,2.62,0.00,0.000,4,0.167,0.035,3338,3205,1860,0,0,0,0,0,0,25.99,26.21,28.83
$GC,13576,0.96,111.2,941.2,7.3,281,13583,0.10,2.53,0.00,0.000,6,0.153,0.030,3318,1581,1860,0,0,0,0,0,0,25.86,26.27,28.83
$GC,13886,0.94,119.0,919.9,6.3,284,13903,0.00,2.65,7.35,1.379,4,0.000,0.035,3318,3202,1834,0,0,0,0,0,0,28.83,26.19,23.95
$GC,14036,0.93,136.0,913.1,5.8,285,14058,0.00,2.47,17.12,1.528,6,0.000,0.029,3329,1580,1764,0,0,0,0,0,0,28.83,26.24,23.76
$GC,14358,0.95,153.1,892.5,5.8,288,14380,0.00,2.70,16.67,1.520,4,0.000,0.036,3329,3203,1694,0,0,0,0,0,0,28.83,25.84,23.79
$GC,14438,0.98,170.2,892.5,5.8,288,14460,0.00,2.55,16.80,1.525,6,0.000,0.028,3340,1577,1626,0,0,0,0,0,0,28.83,26.02,23.61
$GC,14819,0.98,170.2,855.3,7.6,291,14826,0.00,2.62,0.00,0.000,4,0.000,0.037,3340,3201,1622,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,19019,1.20,214.2,472.7,11.7,327,19025,0.00,2.10,0.00,0.000,4,0.000,0.047,3410,326,1439,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,23939,end climb,SURFACE_DEPTH_REACHED
$STATE,23939,begin surface coast
$FINISH,1.4,1.012942
$STATE,23956,end surface coast,CONTROL_FINISHED_OK
$STATE,23956,begin surface
$SM_CCo,23983,39.15,0.125,0,0,1094,300.00
$SM_GC,2.25,8.62,2.83,39.15,0.034,0.025,0.125,153,2193,1094,-8.81,-0.40,300.00,0,0,0,0,0,0,26.22,26.26,25.19
$IRIDIUM_FIX,2418.11,-3748.55,200213,010101
$TT8_MAMPS,0.026215,0.026215
$HUMID,63.70
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,21.90
$XPDR_PINGS,2
$SC_FREEKB,7574016
$TM_FREEKB,4433440
$24V_AH,23.0,86.053
$10V_AH,10.0,76.309
$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,22.525,219.325,290.775,39.150,0.000,26.454,38.358,209.833,0.500,0.000,15.614,2020.608,19313.689,704.537,1906.388,644.170,33.259,1624.182,0.000,1537.781,0.000,0.536,0.000
$DEVICE_MAMPS,192.015,130.815,1647.810,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23969.000,2459.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.195,13.377,0.000,0.000
$MEM,343720
$DATA_FILE_SIZE,13428,486
$CAP_FILE_SIZE,183853,0
$CFSIZE,260034560,204554240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200213,152423,2430.791,-3748.270,36,0.8,36,-14.0