version: 66.11
glider: 190
mission: 6
dive: 415
start: 1 20 113 16 45 2
data:
$ID,190
$MISSION,6
$DIVE,415
$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,-13437.759
$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,14
$R_STBD_OVSHOOT,16
$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
$GPS1,200113,163023,2444.028,-3746.133,38,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-65.7
$GPS2,200113,164430,2444.036,-3746.117,17,0.9,18,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-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,210.7,43625,-16.4,-7.174,-28.86
$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,25,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.45,0.000,2,0.000,0.000,142,1509,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,142,10.93,2.08,-82.03,0.000,4,0.340,0.159,2614,465,3626,0,0,0,0,0,0,14.09,14.13,14.63
$GC,343,-0.82,-155.7,24.7,-9.7,31,350,0.00,1.90,0.00,0.000,6,0.000,0.082,2607,1522,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,652,-0.82,-155.7,52.6,-8.6,62,660,0.00,1.98,0.00,0.000,4,0.000,0.103,2605,2574,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,702,-0.82,-155.7,56.8,-8.8,67,710,0.00,2.03,0.00,0.000,6,0.000,0.112,2605,1524,3624,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1014,-0.82,-155.7,84.8,-8.3,98,1020,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,458,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1041,-0.82,-155.7,87.3,-8.1,101,1051,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1526,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1353,-0.85,-155.7,111.9,-7.7,132,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1527,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1663,-0.88,-155.7,139.1,-9.6,163,1670,0.00,2.10,0.00,0.000,4,0.000,0.135,2605,461,3627,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1831,-0.88,-155.7,157.4,-11.2,180,1840,0.00,1.88,0.00,0.000,6,0.000,0.080,2605,1509,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2142,-0.92,-155.7,191.3,-10.7,211,2150,0.00,2.05,0.00,0.000,4,0.000,0.134,2605,462,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2275,-0.92,-155.7,205.5,-10.6,224,2281,0.00,1.83,0.00,0.000,6,0.000,0.077,2605,1485,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2586,-0.96,-155.7,232.5,-7.2,255,2592,0.00,2.00,0.00,0.000,4,0.000,0.132,2605,454,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2631,-0.96,-155.7,236.2,-7.6,260,2639,0.00,1.83,0.00,0.000,6,0.000,0.077,2605,1469,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2963,-1.00,-155.7,258.8,-6.8,285,2970,0.12,2.00,0.00,0.000,4,0.137,0.098,2549,2574,3626,0,0,0,0,0,0,14.59,14.30,28.83
$GC,3092,-1.00,-155.7,268.0,-7.7,289,3098,0.00,2.08,0.00,0.000,6,0.000,0.107,2549,1481,3626,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3412,-1.00,-155.7,297.4,-9.8,300,3418,0.00,1.98,0.00,0.000,4,0.000,0.133,2549,462,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3503,-0.97,-155.7,307.7,-11.2,303,3508,0.00,1.80,0.00,0.000,6,0.000,0.078,2549,1470,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3831,-0.97,-155.7,344.8,-11.1,314,3838,0.00,2.03,0.00,0.000,4,0.000,0.103,2549,2573,3624,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3960,-0.97,-155.7,357.2,-10.4,318,3969,0.00,2.08,0.00,0.000,6,0.000,0.108,2549,1482,3624,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4282,-0.97,-155.7,387.2,-8.5,329,4290,0.00,1.98,0.00,0.000,4,0.000,0.132,2549,461,3623,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4331,-0.95,-155.7,390.0,-8.6,330,4340,0.15,1.85,0.00,0.000,6,0.265,0.081,2583,1489,3623,0,0,0,0,0,0,14.10,14.40,28.83
$GC,4645,-0.98,-155.7,418.5,-9.1,341,4652,0.00,2.00,0.00,0.000,4,0.000,0.105,2578,2573,3622,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4702,-1.01,-155.7,423.9,-9.2,343,4708,0.00,2.05,0.00,0.000,6,0.000,0.110,2579,1495,3622,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5035,-1.04,-155.7,459.1,-11.2,354,5040,0.00,2.00,0.00,0.000,4,0.000,0.135,2579,460,3621,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5071,-1.06,-155.7,462.6,-11.4,355,5078,0.00,1.85,0.00,0.000,6,0.000,0.079,2573,1491,3621,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5394,-1.09,-155.7,502.1,-11.6,366,5400,0.12,1.98,0.00,0.000,4,0.140,0.132,2514,460,3621,0,0,0,0,0,0,14.57,14.09,28.83
$GC,5461,-1.09,-155.7,509.8,-12.1,368,5468,0.00,1.85,0.00,0.000,6,0.000,0.082,2509,1481,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5784,-1.05,-155.7,548.5,-11.2,379,5790,0.12,2.03,0.00,0.000,4,0.282,0.104,2536,2579,3619,0,0,0,0,0,0,14.19,14.21,28.83
$GC,5893,-1.03,-155.7,557.5,-10.1,382,5900,0.00,2.08,0.00,0.000,6,0.000,0.111,2536,1498,3618,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6201,-1.03,-155.7,590.3,-10.2,393,6209,0.00,2.03,0.00,0.000,4,0.000,0.135,2536,462,3620,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6302,-1.01,-155.7,600.1,-10.7,396,6308,0.00,1.83,0.00,0.000,6,0.000,0.085,2536,1474,3617,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6621,-1.01,-155.7,632.8,-9.4,407,6628,0.00,2.08,0.00,0.000,4,0.000,0.112,2535,2571,3615,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6761,-1.01,-155.7,643.2,-8.7,411,6771,0.00,2.10,0.00,0.000,6,0.000,0.114,2535,1480,3615,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7071,-1.01,-155.7,672.1,-8.8,422,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1480,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7372,-1.01,-155.7,700.3,-9.6,432,7378,0.00,2.08,0.00,0.000,4,0.000,0.109,2535,2572,3613,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7421,-1.01,-155.7,703.3,-9.6,433,7430,0.00,2.08,0.00,0.000,6,0.000,0.116,2535,1500,3612,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7732,-1.01,-155.7,737.8,-10.8,444,7738,0.00,2.05,0.00,0.000,4,0.000,0.112,2536,2567,3611,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7800,-1.01,-155.7,744.3,-10.9,446,7809,0.00,2.10,0.00,0.000,6,0.000,0.116,2535,1495,3609,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8123,-1.01,-155.7,782.0,-11.5,457,8129,0.00,2.08,0.00,0.000,4,0.000,0.113,2536,2572,3609,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8171,-1.01,-155.7,785.5,-11.6,458,8179,0.00,2.10,0.00,0.000,6,0.000,0.116,2536,1501,3609,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8483,-1.01,-155.7,822.1,-11.0,469,8489,0.00,2.08,0.00,0.000,4,0.000,0.113,2536,2573,3608,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8560,-1.01,-155.7,828.4,-10.7,471,8570,0.00,2.08,0.00,0.000,6,0.000,0.115,2536,1516,3608,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8871,-1.01,-155.7,861.9,-10.0,482,8873,0.10,0.00,0.00,0.000,6,0.274,0.000,2557,1516,3607,0,0,0,0,0,0,14.35,28.83,28.83
$GC,9174,-1.01,-155.7,889.7,-9.1,492,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1515,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9472,-1.04,-155.7,916.8,-9.0,502,9478,0.00,2.12,0.00,0.000,4,0.000,0.145,2558,462,3605,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9622,-1.04,-155.7,931.3,-9.8,507,9628,0.00,1.90,0.00,0.000,6,0.000,0.088,2553,1494,3604,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9954,-1.06,-155.7,959.4,-8.1,518,9959,0.00,2.05,0.00,0.000,4,0.000,0.145,2553,462,3603,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10021,-1.06,-155.7,964.5,-8.3,520,10028,0.00,1.90,0.00,0.000,6,0.000,0.092,2553,1482,3602,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,10341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10341,begin apogee
$GC,10349,-0.23,0.0,991.5,-8.3,531,10509,0.93,0.00,154.25,1.841,4,0.204,0.000,2810,1520,2986,0,0,0,0,0,0,13.78,28.83,13.05
$STATE,10514,end apogee,CONTROL_FINISHED_OK
$STATE,10514,begin climb
$GC,10517,0.84,155.7,1000.7,0.0,536,10688,1.08,2.03,160.82,1.825,4,0.107,0.116,3160,2580,2354,0,0,0,0,0,0,14.14,14.09,13.09
$GC,10910,0.82,204.1,993.0,5.6,550,10967,0.00,2.08,51.38,1.782,6,0.000,0.141,3168,1517,2155,0,0,0,0,0,0,28.83,14.28,13.25
$GC,11268,0.80,217.5,969.3,6.8,562,11284,0.00,0.00,14.05,1.681,6,0.000,0.000,3167,1517,2102,0,0,0,0,0,0,28.83,28.83,13.40
$GC,11567,0.77,217.5,947.2,7.5,572,11569,0.12,0.00,0.00,0.000,6,0.298,0.000,3141,1517,2091,0,0,0,0,0,0,14.24,28.83,28.83
$GC,11867,0.77,217.5,925.4,7.3,582,11874,0.00,2.05,0.00,0.000,4,0.000,0.123,3141,2570,2089,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11956,0.77,217.5,918.8,7.3,585,11964,0.00,2.05,0.00,0.000,6,0.000,0.134,3149,1528,2088,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12289,0.77,217.5,894.8,7.2,596,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1528,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12587,0.77,217.5,872.7,7.5,606,12593,0.00,2.03,0.00,0.000,4,0.000,0.120,3149,2572,2086,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12676,0.77,217.5,865.7,7.7,609,12684,0.00,2.08,0.00,0.000,6,0.000,0.135,3157,1533,2085,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13010,0.77,217.5,838.4,8.4,620,13015,0.00,2.17,0.00,0.000,4,0.000,0.163,3165,456,2085,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13146,0.74,217.5,827.9,8.8,624,13155,0.15,2.00,0.00,0.000,6,0.286,0.093,3132,1533,2085,0,0,0,0,0,0,14.00,14.31,28.83
$GC,13461,0.74,217.7,803.2,7.2,635,13466,0.00,1.95,0.00,0.000,4,0.000,0.116,3132,2578,2084,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13658,0.74,224.6,790.8,7.0,641,13666,0.00,2.03,1.23,0.185,6,0.000,0.126,3140,1537,2072,0,0,0,0,0,0,28.83,14.12,14.09
$GC,13971,0.75,226.8,768.0,7.1,652,13977,0.00,2.05,2.00,0.171,4,0.000,0.120,3140,2577,2063,0,0,0,0,0,0,28.83,14.23,11.29
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$GC,19177,0.76,248.2,363.7,7.2,826,19184,0.00,2.35,0.00,0.000,4,0.000,0.147,3166,458,1965,0,0,0,0,0,0,28.83,13.84,28.83
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$STATE,23538,end climb,SURFACE_DEPTH_REACHED
$STATE,23538,begin surface coast
$FINISH,1.4,1.019321
$STATE,23560,end surface coast,CONTROL_FINISHED_OK
$STATE,23560,begin surface
$SM_CCo,23584,18.42,0.130,0,0,1560,350.04
$SM_GC,2.11,8.85,1.92,18.42,0.072,0.078,0.130,146,1523,1560,-8.52,-0.59,350.04,0,0,0,0,0,0,14.33,14.27,14.26
$IRIDIUM_FIX,2434.69,-3747.71,200113,090912
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.07
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,7611296
$TM_FREEKB,3792128
$24V_AH,11.3,176.624
$10V_AH,12.2,0.000
$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,23.200,201.800,492.200,18.425,0.000,0.000,0.000,450.150,0.250,0.000,19.409,3374.130,16554.852,931.352,2797.113,778.296,0.000,2600.291,0.000,2249.253,0.000,0.541,0.000
$DEVICE_MAMPS,340.425,203.490,1840.590,130.050,0.000,0.000,0.000,175.185,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23610.000,5916.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.803,13.188,0.000,0.000
$MEM,344984
$DATA_FILE_SIZE,43346,1174
$CAP_FILE_SIZE,253827,0
$CFSIZE,260034560,192901120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068, 26.7,1
$GPS,200113,231954,2443.278,-3746.165,42,0.8,42,-13.9