version: 66.11
glider: 191
mission: 5
dive: 266
start: 12 10 112 22 56 53
data:
$ID,191
$MISSION,5
$DIVE,266
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,320
$N_FILEKB,8
$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,-4152.5986
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$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
$GPS1,101212,224452,2512.662,-3758.185,42,0.9,42,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-51.4
$GPS2,101212,225623,2512.676,-3758.192,22,1.2,22,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,291.4,76772,-13.3,-6.049,-18.38
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-61.05,0.000,2,0.000,0.000,156,1517,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.4,-6.1,4,108,9.80,1.83,-3.62,0.000,4,0.417,0.084,1983,2576,3461,1,0,0,0,0,0,13.89,14.52,14.80
$GC,327,-0.57,-97.3,33.2,-11.8,20,331,0.00,1.88,0.00,0.000,6,0.000,0.063,1984,1512,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,627,-0.54,-97.3,60.7,-7.4,40,631,0.12,1.85,0.00,0.000,4,0.260,0.055,2004,2581,3463,0,0,0,0,0,0,14.37,14.54,28.83
$GC,792,-0.54,-97.3,72.9,-6.7,51,796,0.00,1.85,0.00,0.000,6,0.000,0.064,2004,1522,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1091,-0.54,-97.3,97.8,-8.6,71,1095,0.00,1.90,0.00,0.000,4,0.000,0.086,2004,463,3463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1243,-0.52,-97.3,112.8,-10.2,81,1246,0.00,1.77,0.00,0.000,6,0.000,0.044,1997,1520,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1542,-0.51,-97.3,139.5,-7.8,101,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1842,-0.51,-97.3,157.2,-5.4,121,1845,0.00,1.80,0.00,0.000,4,0.000,0.054,1989,2580,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1947,-0.51,-97.3,163.2,-6.2,128,1951,0.15,1.85,0.00,0.000,6,0.223,0.063,2023,1518,3464,0,0,0,0,0,0,14.33,14.61,28.83
$GC,2247,-0.52,-97.3,181.7,-6.8,148,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2547,-0.54,-97.3,200.3,-5.7,168,2551,0.00,1.80,0.00,0.000,4,0.000,0.053,2017,2577,3467,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2683,-0.57,-97.3,207.6,-5.1,177,2687,0.00,1.85,0.00,0.000,6,0.000,0.064,2018,1519,3465,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2982,-0.58,-97.3,224.0,-5.7,197,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3282,-0.60,-97.3,239.9,-5.2,217,3286,0.00,1.80,0.00,0.000,4,0.000,0.054,2010,2577,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3388,-0.62,-97.3,245.4,-5.2,224,3391,0.00,1.85,0.00,0.000,6,0.000,0.064,2010,1520,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3688,-0.62,-97.3,262.7,-5.9,237,3692,0.00,1.80,0.00,0.000,4,0.000,0.054,2003,2578,3466,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3807,-0.63,-97.3,268.6,-5.7,241,3811,0.00,1.85,0.00,0.000,6,0.000,0.065,2004,1515,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4106,-0.63,-97.3,288.1,-6.3,251,4110,0.00,1.80,0.00,0.000,4,0.000,0.054,1994,2577,3462,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4182,-0.63,-97.3,293.0,-6.4,254,4185,0.00,1.85,0.00,0.000,6,0.000,0.065,1995,1519,3462,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4497,-0.63,-97.3,315.6,-7.3,265,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1518,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4796,-0.63,-97.3,338.3,-7.4,275,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1518,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,-0.63,-97.3,360.1,-7.1,285,5101,0.00,1.80,0.00,0.000,4,0.000,0.054,1987,2578,3459,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5202,-0.63,-97.3,367.8,-7.4,289,5206,0.00,1.85,0.00,0.000,6,0.000,0.065,1986,1521,3459,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5517,-0.63,-97.3,391.1,-7.3,300,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5817,-0.63,-97.3,413.6,-7.6,310,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,-0.63,-97.3,436.6,-7.4,320,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6417,-0.63,-97.3,458.5,-7.2,330,6421,0.00,1.80,0.00,0.000,4,0.000,0.054,1980,2579,3455,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6535,-0.63,-97.3,466.0,-7.1,334,6539,0.00,1.85,0.00,0.000,6,0.000,0.066,1979,1521,3455,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6840,-0.62,-97.3,486.4,-6.0,344,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7137,-0.61,-97.3,502.7,-5.3,354,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7437,-0.60,-97.3,518.1,-4.9,364,7441,0.00,1.80,0.00,0.000,4,0.000,0.056,1971,2577,3452,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7526,-0.60,-97.3,521.9,-5.1,367,7530,0.00,1.85,0.00,0.000,6,0.000,0.067,1972,1522,3452,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7827,-0.58,-97.3,541.5,-6.6,377,7829,0.12,0.00,0.00,0.000,6,0.259,0.000,1998,1522,3451,0,0,0,0,0,0,14.48,28.83,28.83
$GC,8127,-0.58,-97.3,561.6,-7.1,387,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,-0.58,-97.3,583.9,-7.5,397,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8727,-0.58,-97.3,606.1,-7.2,407,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,-0.58,-97.3,626.8,-6.8,417,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9327,-0.58,-97.3,645.0,-5.8,427,9330,0.00,1.80,0.00,0.000,4,0.000,0.057,1993,2575,3446,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9463,-0.60,-97.3,651.7,-5.0,432,9467,0.00,1.88,0.00,0.000,6,0.000,0.069,1993,1516,3446,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9777,-0.60,-97.3,665.7,-4.3,443,9781,0.00,1.90,0.00,0.000,4,0.000,0.092,1993,467,3445,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9853,-0.60,-97.3,669.5,-5.0,446,9857,0.00,1.77,0.00,0.000,6,0.000,0.046,1985,1518,3444,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10166,-0.60,-97.3,687.8,-6.3,457,10170,0.00,1.80,0.00,0.000,4,0.000,0.058,1977,2575,3443,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10393,-0.60,-97.3,704.7,-7.9,465,10396,0.00,1.88,0.00,0.000,6,0.000,0.069,1977,1520,3442,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10707,-0.60,-97.3,733.8,-9.7,476,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1519,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11007,-0.60,-97.3,760.6,-8.4,486,11011,0.00,1.83,0.00,0.000,4,0.000,0.059,1969,2577,3441,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11095,-0.60,-97.3,766.2,-7.8,489,11099,0.00,1.88,0.00,0.000,6,0.000,0.070,1969,1522,3440,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11399,-0.58,-97.3,788.7,-6.7,499,11401,0.12,0.00,0.00,0.000,6,0.261,0.000,1996,1522,3439,0,0,0,0,0,0,14.39,28.83,28.83
$GC,11700,-0.59,-97.3,804.4,-4.9,509,11703,0.00,1.83,0.00,0.000,4,0.000,0.058,1990,2576,3439,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11863,-0.61,-97.3,812.4,-4.9,515,11866,0.00,1.90,0.00,0.000,6,0.000,0.070,1990,1512,3438,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12177,-0.61,-97.3,831.1,-6.6,526,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1512,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12477,-0.61,-97.3,853.0,-7.5,536,12480,0.00,1.85,0.00,0.000,4,0.000,0.060,1983,2577,3436,0,0,0,0,0,0,28.83,14.55,28.83
$GC,12657,-0.62,-97.3,865.9,-7.9,542,12660,0.00,1.90,0.00,0.000,6,0.000,0.071,1989,1517,3436,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12956,-0.62,-97.3,889.6,-7.4,552,12958,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1517,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13257,-0.62,-97.3,910.9,-6.9,562,13258,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1517,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13556,-0.62,-97.3,930.1,-6.1,572,13560,0.00,1.85,0.00,0.000,4,0.000,0.060,1975,2576,3432,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13646,-0.62,-97.3,934.4,-5.8,575,13650,0.00,1.90,0.00,0.000,6,0.000,0.073,1975,1521,3433,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13948,-0.62,-97.3,952.3,-5.5,585,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14247,-0.62,-97.3,968.3,-5.3,595,14250,0.00,1.85,0.00,0.000,4,0.000,0.060,1967,2576,3431,0,0,0,0,0,0,28.83,14.44,28.83
$GC,14352,-0.62,-97.3,973.7,-5.1,599,14356,0.00,1.92,0.00,0.000,6,0.000,0.073,1967,1512,3430,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,14484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14484,begin apogee
$GC,14490,-0.18,0.0,981.3,-5.7,604,14613,0.60,0.00,114.28,2.105,6,0.210,0.000,2126,1394,3062,0,0,0,0,1,0,14.07,28.83,13.00
$STATE,14615,end apogee,CONTROL_FINISHED_OK
$STATE,14615,begin climb
$GC,14618,0.60,97.3,983.9,0.0,608,14758,0.80,2.05,127.90,2.113,4,0.122,0.101,2384,348,2667,0,0,0,0,1,0,14.09,13.96,12.95
$GC,14982,0.53,111.7,975.0,5.4,620,15027,0.00,1.83,32.28,1.222,6,0.000,0.050,2384,1408,2608,0,0,0,0,1,0,28.83,14.54,13.31
$GC,15327,0.48,125.9,954.9,5.5,632,15368,0.15,0.00,33.33,1.261,6,0.278,0.000,2352,1407,2548,0,0,0,0,1,0,14.31,28.83,13.37
$GC,15660,0.49,158.8,939.2,4.7,643,15720,0.00,0.00,53.12,1.682,6,0.000,0.000,2352,1408,2417,0,0,0,0,1,0,28.83,28.83,13.28
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$STATE,28929,end climb,SURFACE_DEPTH_REACHED
$STATE,28929,begin surface coast
$FINISH,0.7,1.025356
$STATE,28945,end surface coast,CONTROL_FINISHED_OK
$STATE,28945,begin surface
$SM_CCo,29027,0.00,0.000,0,0,1448,395.91
$SM_GC,0.96,6.78,0.15,0.00,0.073,0.098,0.000,155,1523,1448,-6.30,-1.50,395.91,0,0,0,0,0,0,14.57,14.66,28.83
$IRIDIUM_FIX,2500.82,-3720.76,101212,141435
$TT8_MAMPS,0.023219,0.023219
$HUMID,51.37
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,26.00
$XPDR_PINGS,6
$SC_FREEKB,7667968
$TM_FREEKB,5237696
$24V_AH,12.9,126.853
$10V_AH,12.7,0.000
$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,19.275,145.425,737.950,0.000,0.000,0.000,0.000,366.850,1.500,0.000,23.754,3318.945,22356.061,1021.117,2490.409,517.833,0.000,2408.441,0.000,1966.320,0.000,0.549,0.000
$DEVICE_MAMPS,416.925,117.810,2112.930,0.000,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28996.000,6884.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.181,13.023,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,43379,1203
$CAP_FILE_SIZE,255517,0
$CFSIZE,260034560,221884416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,13,1,0
$CURRENT,0.048,175.8,1
$GPS,111212,070158,2512.530,-3801.317,36,0.9,36,-13.9