version: 66.11
glider: 190
mission: 6
dive: 410
start: 1 19 113 8 2 20
data:
$ID,190
$MISSION,6
$DIVE,410
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13431.462
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,190113,074706,2446.406,-3749.421,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-64.3
$GPS2,190113,080142,2446.350,-3749.425,15,1.2,16,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,68.9,4363,-17.5,-7.174,-29.64
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.88,-146.0,0.0,0.0,0,39,0.00,0.00,-11.18,0.000,2,0.000,0.000,132,1512,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.89,-155.7,2.4,0.0,1,149,11.02,2.03,-84.22,0.000,4,0.346,0.127,2590,2579,3625,0,0,0,0,0,0,14.12,14.23,14.66
$GC,189,-0.89,-155.7,6.6,-9.0,16,197,0.00,2.08,0.00,0.000,6,0.000,0.116,2590,1521,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,499,-0.89,-155.7,33.6,-10.2,47,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1521,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,799,-0.89,-155.7,58.3,-8.9,77,809,0.00,2.03,0.00,0.000,4,0.000,0.103,2590,2583,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,839,-0.89,-155.7,61.9,-8.7,81,849,0.00,2.05,0.00,0.000,6,0.000,0.114,2589,1527,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1150,-0.92,-155.7,91.9,-10.5,112,1158,0.00,2.10,0.00,0.000,4,0.000,0.139,2590,461,3626,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1293,-0.92,-155.7,108.3,-11.8,126,1299,0.00,1.90,0.00,0.000,6,0.000,0.086,2584,1512,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1601,-0.95,-155.7,139.5,-9.0,157,1609,0.00,2.08,0.00,0.000,4,0.000,0.138,2584,462,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1699,-0.95,-155.7,149.2,-10.1,167,1708,0.00,1.88,0.00,0.000,6,0.000,0.085,2580,1487,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2010,-0.98,-155.7,179.8,-10.2,198,2018,0.00,2.03,0.00,0.000,4,0.000,0.137,2580,457,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2090,-0.98,-155.7,188.3,-10.9,206,2098,0.00,1.85,0.00,0.000,6,0.000,0.085,2579,1479,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2400,-1.01,-155.7,218.8,-9.6,237,2408,0.00,2.00,0.00,0.000,4,0.000,0.137,2579,461,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2491,-1.01,-155.7,227.6,-10.1,246,2498,0.00,1.77,0.00,0.000,6,0.000,0.084,2579,1458,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2820,-1.04,-155.7,255.5,-8.1,275,2826,0.00,1.95,0.00,0.000,4,0.000,0.138,2579,465,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2899,-1.07,-155.7,260.6,-8.2,277,2907,0.00,1.77,0.00,0.000,6,0.000,0.083,2578,1445,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3212,-1.10,-155.7,287.9,-8.7,288,3217,0.12,1.92,0.00,0.000,4,0.142,0.135,2519,457,3626,0,0,0,0,0,0,14.57,14.18,28.83
$GC,3289,-1.10,-155.7,294.5,-9.8,290,3297,0.00,1.77,0.00,0.000,6,0.000,0.084,2512,1435,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3601,-1.07,-155.7,335.7,-13.4,301,3608,0.12,2.10,0.00,0.000,4,0.277,0.105,2536,2579,3625,0,0,0,0,0,0,14.29,14.32,28.83
$GC,3698,-1.07,-155.7,347.8,-13.5,304,3705,0.00,2.20,0.00,0.000,6,0.000,0.116,2536,1442,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4019,-1.07,-155.7,390.8,-11.9,315,4026,0.00,2.12,0.00,0.000,4,0.000,0.104,2536,2574,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4130,-1.07,-155.7,399.7,-10.3,318,4138,0.00,2.15,0.00,0.000,6,0.000,0.116,2536,1454,3624,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4439,-1.07,-155.7,425.9,-7.4,329,4447,0.00,2.10,0.00,0.000,4,0.000,0.105,2536,2572,3623,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4479,-1.07,-155.7,428.1,-7.4,330,4487,0.00,2.15,0.00,0.000,6,0.000,0.117,2536,1453,3623,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4799,-1.07,-155.7,457.2,-9.5,341,4807,0.00,2.10,0.00,0.000,4,0.000,0.106,2536,2566,3622,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4878,-1.07,-155.7,463.0,-9.7,343,4888,0.00,2.15,0.00,0.000,6,0.000,0.116,2536,1457,3622,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5190,-1.07,-155.7,499.7,-11.4,354,5196,0.00,2.10,0.00,0.000,4,0.000,0.109,2536,2567,3621,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5329,-1.07,-155.7,512.6,-10.8,358,5338,0.00,2.12,0.00,0.000,6,0.000,0.116,2536,1471,3621,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5641,-1.07,-155.7,547.0,-10.2,369,5647,0.00,2.08,0.00,0.000,4,0.000,0.108,2536,2578,3619,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5748,-1.07,-155.7,555.6,-9.7,372,5757,0.00,2.12,0.00,0.000,6,0.000,0.116,2536,1484,3619,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6060,-1.07,-155.7,586.8,-9.4,383,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1484,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6359,-1.07,-155.7,614.4,-9.2,393,6367,0.00,2.03,0.00,0.000,4,0.000,0.142,2536,461,3617,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6419,-1.07,-155.7,620.4,-9.6,395,6427,0.00,1.88,0.00,0.000,6,0.000,0.087,2536,1492,3617,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6753,-1.07,-155.7,650.1,-8.7,406,6758,0.00,2.05,0.00,0.000,4,0.000,0.112,2536,2582,3615,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6849,-1.07,-155.7,657.5,-8.2,409,6856,0.00,2.10,0.00,0.000,6,0.000,0.116,2536,1502,3615,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7171,-1.07,-155.7,686.1,-9.0,420,7176,0.00,2.03,0.00,0.000,4,0.000,0.143,2535,458,3614,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7268,-1.07,-155.7,695.3,-10.1,423,7272,0.00,1.90,0.00,0.000,6,0.000,0.087,2535,1494,3614,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7580,-1.07,-155.7,727.0,-10.0,434,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1494,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7882,-1.07,-155.7,757.5,-10.3,444,7888,0.00,2.00,0.00,0.000,4,0.000,0.142,2536,459,3611,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7989,-1.07,-155.7,767.0,-10.6,447,7993,0.00,1.88,0.00,0.000,6,0.000,0.088,2535,1479,3610,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8292,-1.07,-155.7,798.2,-9.2,457,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1480,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8591,-1.09,-155.7,824.7,-8.8,467,8597,0.00,2.05,0.00,0.000,4,0.000,0.144,2535,458,3610,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8629,-1.09,-155.7,827.5,-8.9,468,8633,0.00,1.88,0.00,0.000,6,0.000,0.088,2536,1474,3608,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8943,-1.09,-155.7,855.8,-8.8,479,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1475,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9241,-1.09,-155.7,883.9,-9.7,489,9249,0.00,2.03,0.00,0.000,4,0.000,0.144,2536,465,3606,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9302,-1.09,-155.7,890.2,-10.2,491,9308,0.00,1.83,0.00,0.000,6,0.000,0.089,2536,1462,3605,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9634,-1.11,-155.7,924.2,-10.4,502,9639,0.00,2.00,0.00,0.000,4,0.000,0.145,2536,460,3604,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9771,-1.11,-155.7,937.8,-11.4,506,9779,0.00,1.85,0.00,0.000,6,0.000,0.091,2536,1453,3604,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10083,-1.11,-155.7,974.4,-11.1,517,10089,0.00,2.15,0.00,0.000,4,0.000,0.121,2536,2576,3602,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10201,-1.11,-155.7,987.5,-10.9,521,10209,0.00,2.22,0.00,0.000,6,0.000,0.125,2535,1452,3601,0,0,0,0,0,0,28.83,13.95,28.83
$STATE,10228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10228,begin apogee
$GC,10237,-0.23,0.0,990.6,-10.9,522,10399,1.00,0.00,154.48,1.865,4,0.216,0.000,2810,1528,2985,0,0,0,0,0,0,13.80,28.83,13.05
$STATE,10404,end apogee,CONTROL_FINISHED_OK
$STATE,10404,begin climb
$GC,10407,0.89,155.7,1002.4,0.0,527,10581,1.12,2.03,161.40,1.838,4,0.107,0.118,3176,2575,2350,0,0,0,0,0,0,14.14,14.09,13.09
$GC,10680,0.87,209.0,1003.2,5.4,537,10742,0.00,2.12,57.22,1.797,6,0.000,0.142,3179,1522,2136,0,0,0,0,0,0,28.83,14.22,13.19
$GC,11062,0.84,209.0,971.4,8.9,550,11068,0.00,2.15,0.00,0.000,4,0.000,0.173,3184,465,2121,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11122,0.81,209.0,965.7,9.3,552,11130,0.10,1.92,0.00,0.000,6,0.272,0.100,3157,1513,2121,0,0,0,0,0,0,14.14,14.38,28.83
$GC,11455,0.81,209.0,935.0,9.4,563,11460,0.00,1.98,0.00,0.000,4,0.000,0.117,3157,2576,2119,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11511,0.81,209.0,929.0,9.7,565,11518,0.00,2.10,0.00,0.000,6,0.000,0.135,3165,1514,2119,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11841,0.81,209.0,896.5,9.8,576,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1514,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12143,0.81,209.0,869.2,8.9,586,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1514,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12441,0.81,209.0,845.1,7.5,596,12449,0.00,2.15,0.00,0.000,4,0.000,0.164,3173,457,2116,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12481,0.81,209.0,843.0,7.4,597,12489,0.00,1.98,0.00,0.000,6,0.000,0.094,3173,1524,2116,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12804,0.84,254.5,822.8,5.6,608,12860,0.00,2.05,46.88,1.711,4,0.000,0.120,3173,2579,1944,0,0,0,0,0,0,28.83,14.31,13.34
$GC,12941,0.85,284.4,815.4,6.2,612,12981,0.00,2.12,32.55,1.671,6,0.000,0.138,3180,1525,1825,0,0,0,0,0,0,28.83,14.20,13.28
$GC,13284,0.85,284.4,788.3,8.1,624,13290,0.00,2.03,0.00,0.000,4,0.000,0.122,3180,2579,1814,0,0,0,0,0,0,28.83,14.27,28.83
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$GC,16041,0.85,284.4,538.5,8.7,716,16049,0.00,2.03,0.00,0.000,6,0.000,0.135,3186,1573,1813,0,0,0,0,0,0,28.83,14.05,28.83
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$STATE,21889,end climb,SURFACE_DEPTH_REACHED
$STATE,21889,begin surface coast
$FINISH,1.5,1.001093
$STATE,21920,end surface coast,CONTROL_FINISHED_OK
$STATE,21920,begin surface
$SM_CCo,21943,20.98,0.129,0,0,1560,350.04
$SM_GC,2.19,8.98,0.10,20.98,0.081,0.190,0.129,134,1511,1560,-8.54,0.20,350.04,0,0,0,0,0,0,14.39,14.40,14.28
$IRIDIUM_FIX,2439.44,-3751.04,190113,010126
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.86
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.50
$XPDR_PINGS,2
$SC_FREEKB,7613216
$TM_FREEKB,3836768
$24V_AH,13.0,174.501
$10V_AH,12.5,0.000
$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,23.025,191.750,474.250,20.975,0.000,0.000,0.000,488.850,0.500,0.000,16.650,3107.924,15428.398,931.674,2656.781,709.189,0.000,2561.793,0.000,2061.756,0.000,0.541,0.000
$DEVICE_MAMPS,345.780,190.485,1865.070,128.520,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21970.000,5588.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.975,13.185,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,40002,1098
$CAP_FILE_SIZE,233868,0
$CFSIZE,260034560,193597440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,100.5,1
$GPS,190113,140935,2447.307,-3747.621,23,0.8,23,-13.9