version: 66.11
glider: 190
mission: 6
dive: 513
start: 2 16 113 17 5 3
data:
$ID,190
$MISSION,6
$DIVE,513
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,1
$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,-13561.211
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,13
$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,2694
$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,1
$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
$GPS1,160213,165037,2443.430,-3812.639,26,0.7,26,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-66.3
$GPS2,160213,170433,2443.482,-3812.694,24,1.3,32,-14.0
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,163.1,43134,-16.1,-7.101,-28.69
$D_GRID,980
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.90,-155.7,0.0,0.0,0,35,0.00,0.00,-9.85,0.000,2,0.000,0.000,143,1510,1496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.5,0.0,1,145,11.20,2.08,-83.50,0.000,4,0.354,0.125,2566,2580,3330,0,0,0,0,0,0,14.13,14.10,14.68
$GC,380,-0.87,-155.7,23.2,-8.7,35,386,0.00,2.05,0.00,0.000,6,0.000,0.115,2566,1520,3330,0,0,0,0,0,0,28.83,14.04,28.83
$GC,688,-0.83,-155.7,50.7,-8.9,66,695,0.12,0.00,0.00,0.000,6,0.254,0.000,2600,1521,3330,0,0,0,0,0,0,14.06,28.83,28.83
$GC,997,-0.83,-155.7,76.4,-8.3,97,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1520,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1307,-0.83,-155.7,102.9,-8.5,128,1314,0.00,2.05,0.00,0.000,4,0.000,0.125,2600,467,3330,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1396,-0.80,-155.7,111.0,-9.0,137,1405,0.00,1.92,0.00,0.000,6,0.000,0.078,2592,1530,3330,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1706,-0.80,-155.7,136.2,-8.1,168,1714,0.00,2.12,0.00,0.000,4,0.000,0.132,2592,459,3331,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1756,-0.76,-155.7,140.4,-8.4,173,1766,0.10,1.92,0.00,0.000,6,0.236,0.083,2616,1509,3330,0,0,0,0,0,0,13.81,14.11,28.83
$GC,2066,-0.76,-155.7,163.7,-7.7,204,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1508,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-0.76,-155.7,186.1,-7.4,234,2374,0.00,2.00,0.00,0.000,4,0.000,0.103,2608,2573,3330,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2417,-0.76,-155.7,189.7,-7.4,239,2424,0.00,2.08,0.00,0.000,6,0.000,0.119,2608,1515,3331,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2728,-0.76,-155.7,215.6,-8.4,270,2734,0.00,2.08,0.00,0.000,4,0.000,0.139,2608,458,3331,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2806,-0.76,-155.7,222.9,-9.1,278,2815,0.00,1.90,0.00,0.000,6,0.000,0.084,2605,1503,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3116,-0.76,-155.7,249.0,-7.7,309,3125,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,459,3331,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3175,-0.76,-155.7,253.7,-7.9,313,3182,0.00,1.90,0.00,0.000,6,0.000,0.084,2605,1495,3331,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3510,-0.76,-155.7,275.9,-6.6,324,3515,0.00,2.03,0.00,0.000,4,0.000,0.107,2605,2577,3331,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3536,-0.76,-155.7,277.7,-6.5,325,3543,0.00,2.15,0.00,0.000,6,0.000,0.117,2604,1484,3331,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3870,-0.76,-155.7,299.4,-6.7,336,3876,0.00,2.05,0.00,0.000,4,0.000,0.104,2604,2577,3330,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3915,-0.76,-155.7,301.3,-6.8,337,3924,0.00,2.12,0.00,0.000,6,0.000,0.117,2604,1498,3330,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4226,-0.76,-155.7,326.0,-7.8,348,4232,0.00,2.05,0.00,0.000,4,0.000,0.142,2605,464,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4356,-0.76,-155.7,336.1,-8.5,352,4364,0.00,1.85,0.00,0.000,6,0.000,0.085,2604,1483,3329,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4676,-0.76,-155.7,362.8,-8.0,363,4683,0.00,2.05,0.00,0.000,4,0.000,0.139,2605,458,3329,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4807,-0.76,-155.7,373.0,-8.6,367,4812,0.00,1.83,0.00,0.000,6,0.000,0.086,2604,1460,3328,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5127,-0.76,-155.7,399.9,-8.1,378,5132,0.00,2.00,0.00,0.000,4,0.000,0.141,2604,463,3328,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5287,-0.76,-155.7,412.5,-8.4,383,5293,0.00,1.77,0.00,0.000,6,0.000,0.086,2605,1434,3327,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5606,-0.76,-155.7,438.0,-7.6,394,5612,0.00,2.17,0.00,0.000,4,0.000,0.110,2605,2574,3326,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5685,-0.79,-155.7,442.3,-7.4,396,5694,0.00,2.22,0.00,0.000,6,0.000,0.121,2604,1449,3327,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6000,-0.81,-155.7,467.5,-7.6,407,6006,0.00,1.98,0.00,0.000,4,0.000,0.142,2605,458,3325,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6135,-0.81,-155.7,477.5,-8.4,411,6143,0.00,1.83,0.00,0.000,6,0.000,0.088,2604,1444,3324,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6451,-0.83,-155.7,503.7,-8.0,422,6456,0.00,1.98,0.00,0.000,4,0.000,0.142,2604,459,3324,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6544,-0.83,-155.7,511.0,-8.0,425,6551,0.00,1.77,0.00,0.000,6,0.000,0.089,2604,1418,3323,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6870,-0.85,-155.7,534.5,-6.9,436,6876,0.00,1.92,0.00,0.000,4,0.000,0.142,2605,460,3322,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6905,-0.85,-155.7,536.6,-7.0,437,6912,0.00,1.77,0.00,0.000,6,0.000,0.089,2604,1416,3322,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7230,-0.88,-155.7,559.8,-7.1,448,7235,0.00,2.22,0.00,0.000,4,0.000,0.113,2604,2578,3321,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7295,-0.90,-155.7,564.0,-7.0,450,7302,0.00,2.28,0.00,0.000,6,0.000,0.122,2604,1426,3321,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7619,-0.93,-155.7,590.1,-8.2,461,7624,0.00,1.92,0.00,0.000,4,0.000,0.143,2604,462,3320,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7756,-0.93,-155.7,600.7,-8.8,465,7765,0.00,1.75,0.00,0.000,6,0.000,0.090,2604,1416,3320,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8069,-0.95,-155.7,627.9,-8.1,476,8071,0.12,0.00,0.00,0.000,6,0.136,0.000,2552,1416,3318,0,0,0,0,0,0,14.53,28.83,28.83
$GC,8368,-0.95,-155.7,652.2,-7.8,486,8373,0.00,1.92,0.00,0.000,4,0.000,0.143,2552,459,3318,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8426,-0.93,-155.7,656.8,-7.7,488,8432,0.00,1.77,0.00,0.000,6,0.000,0.090,2549,1422,3318,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8757,-0.93,-155.7,680.9,-7.4,499,8763,0.00,1.92,0.00,0.000,4,0.000,0.144,2545,465,3316,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8855,-0.90,-155.7,688.2,-7.9,502,8863,0.15,1.77,0.00,0.000,6,0.275,0.089,2576,1419,3316,0,0,0,0,0,0,13.80,14.16,28.83
$GC,9180,-0.90,-155.7,714.0,-7.9,513,9185,0.00,1.95,0.00,0.000,4,0.000,0.146,2577,458,3316,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9225,-0.90,-155.7,716.5,-7.9,514,9233,0.00,1.77,0.00,0.000,6,0.000,0.089,2569,1408,3315,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9536,-0.90,-155.7,743.9,-8.5,525,9542,0.00,1.92,0.00,0.000,4,0.000,0.147,2569,465,3314,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9666,-0.90,-155.7,754.3,-8.7,529,9673,0.00,1.70,0.00,0.000,6,0.000,0.092,2565,1376,3313,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9986,-0.90,-155.7,782.6,-8.6,540,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1376,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10287,-0.90,-155.7,807.7,-8.2,550,10292,0.00,1.88,0.00,0.000,4,0.000,0.148,2566,456,3311,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10394,-0.90,-155.7,815.0,-8.1,553,10404,0.00,1.73,0.00,0.000,6,0.000,0.091,2560,1379,3310,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10706,-0.90,-155.7,839.9,-7.3,564,10712,0.00,1.88,0.00,0.000,4,0.000,0.148,2560,461,3311,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10786,-0.90,-155.7,844.3,-7.4,566,10794,0.00,1.67,0.00,0.000,6,0.000,0.091,2555,1362,3308,0,0,0,0,0,0,28.83,13.97,28.83
$GC,11096,-0.90,-155.7,869.8,-8.1,577,11102,0.00,1.85,0.00,0.000,4,0.000,0.148,2555,464,3308,0,0,0,0,0,0,28.83,13.66,28.83
$GC,11166,-0.90,-155.7,875.0,-8.4,579,11172,0.00,1.65,0.00,0.000,6,0.000,0.093,2553,1346,3308,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11486,-0.90,-155.7,905.2,-9.6,590,11492,0.00,1.83,0.00,0.000,4,0.000,0.151,2552,462,3307,0,0,0,0,0,0,28.83,13.64,28.83
$GC,11625,-0.87,-155.7,917.7,-10.4,594,11634,0.15,1.65,0.00,0.000,6,0.284,0.096,2584,1329,3306,0,0,0,0,0,0,13.62,14.00,28.83
$GC,11940,-0.87,-155.7,948.4,-9.0,605,11945,0.00,1.80,0.00,0.000,4,0.000,0.155,2584,462,3305,0,0,0,0,0,0,28.83,13.72,28.83
$GC,12075,-0.87,-155.7,959.1,-8.9,609,12084,0.00,1.60,0.00,0.000,6,0.000,0.091,2580,1315,3305,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,12323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12323,begin apogee
$GC,12331,-0.25,0.0,981.2,-7.9,618,12493,0.75,0.00,155.98,1.808,4,0.212,0.000,2784,1522,2691,0,0,0,0,0,0,13.64,28.83,12.96
$STATE,12499,end apogee,CONTROL_FINISHED_OK
$STATE,12499,begin climb
$GC,12502,0.90,155.7,988.1,0.0,623,12676,1.20,2.05,163.80,1.786,4,0.133,0.122,3159,2579,2059,0,0,0,0,0,0,14.11,14.09,13.06
$GC,12857,0.87,155.7,965.8,9.1,635,12864,0.00,2.10,0.00,0.000,6,0.000,0.135,3167,1511,2044,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13169,0.84,155.7,936.4,8.8,646,13175,0.00,2.08,0.00,0.000,4,0.000,0.151,3175,463,2042,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13369,0.79,155.7,920.6,8.7,652,13377,0.20,1.92,0.00,0.000,6,0.268,0.088,3128,1532,2040,0,0,0,0,0,0,13.95,14.29,28.83
$GC,13679,0.80,172.8,897.5,6.6,663,13705,0.00,1.98,17.10,1.670,4,0.000,0.118,3129,2573,1983,0,0,0,0,0,0,28.83,14.43,13.33
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$GC,18459,0.84,231.3,491.9,8.5,823,18465,0.00,2.67,0.00,0.000,4,0.000,0.145,3179,453,1738,0,0,0,0,0,0,28.83,13.83,28.83
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$STATE,24115,end climb,SURFACE_DEPTH_REACHED
$STATE,24116,begin surface coast
$FINISH,1.7,1.025590
$STATE,24151,end surface coast,CONTROL_FINISHED_OK
$STATE,24151,begin surface
$SM_CCo,24174,60.67,0.125,0,0,1265,350.04
$SM_GC,2.50,8.98,0.75,60.67,0.080,0.138,0.125,141,1511,1265,-8.48,0.14,350.04,0,0,0,0,0,0,14.18,13.97,14.21
$IRIDIUM_FIX,2434.69,-3811.43,160213,161629
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.26
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,21.40
$XPDR_PINGS,2
$SC_FREEKB,7574016
$24V_AH,13.0,216.678
$10V_AH,12.4,0.000
$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,23.425,187.850,400.525,60.675,0.000,0.000,0.000,457.200,0.500,0.000,33.837,3549.967,16916.070,909.304,2904.922,776.279,0.000,2642.715,0.000,2378.204,0.000,0.541,0.000
$DEVICE_MAMPS,354.195,173.655,1807.695,124.695,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24208.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.166,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43325,1199
$CAP_FILE_SIZE,253301,0
$CFSIZE,260034560,181891072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.087,281.8,1
$GPS,160213,235023,2442.935,-3812.805,38,0.9,38,-14.0