version: 66.13
glider: 196
mission: 20
dive: 90
start: 10 18 119 19 14 55
data:
$ID,196
$MISSION,20
$DIVE,90
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,-120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2758
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-161.88326
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,181019,163541,7515.0923,-14449.4580,0,6255.0,0,23.3,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.77
$_SM_ANGLEo,-10.6
$GPS2,181019,163541,7515.0923,-14449.4580,0,6255.0,0,23.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,9
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,2.4,32252,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,1,102,2,8152000.000000,0.000000
$EXEC,2,103,2,11151900.000000,0.000000
$EXEC,3,104,2,6012000.000000,0.000000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
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$MODEM_MSG,CACST,6,1,20191018203541.620263,06,20481,43,0145,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.2,0.35,-100,2.65,-01,0.01,66,925,0025*0F
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$GC,12260,-0.73,-97.3,2480,1944,3249,3066,932.6,-5.3,717,12261,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1942,3157,3249,3065,0,0,0,0,0,0,14.83,14.87,14.86
$GC,12620,-0.73,-97.3,2480,1943,3247,3065,951.7,-5.3,729,12626,0.00,2.40,0.00,0.000,292,0.000,0.104,2479,3267,3157,3249,3065,0,0,0,0,0,0,14.89,14.59,14.92
$GC,12715,-0.73,-97.3,2479,3268,3249,3066,957.7,-5.5,748,12721,0.00,2.33,0.00,0.000,1062,0.000,0.073,2479,1950,3156,3248,3065,0,0,0,0,0,0,14.69,14.62,14.72
$GC,13100,-0.73,-97.3,2480,1944,3249,3066,977.1,-5.3,765,13106,0.00,2.40,0.00,0.000,292,0.000,0.103,2479,3268,3157,3249,3065,0,0,0,0,0,0,14.83,14.59,14.85
$GC,13155,-0.73,-97.3,2480,3268,3249,3066,980.9,-5.4,776,13162,0.00,2.33,0.00,0.000,1062,0.000,0.074,2480,1945,3157,3249,3065,0,0,0,0,0,0,14.68,14.61,14.71
$STATE,13369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13369,begin apogee
$GC,13372,-0.17,0.0,2480,2040,3249,3066,991.2,-5.1,784,13480,0.68,0.00,105.20,2.416,10246,0.238,0.000,2660,2040,2757,2880,2635,0,0,0,0,0,0,14.52,13.84,13.00
$STATE,13482,end apogee,CONTROL_FINISHED_OK
$STATE,13482,begin climb
$GC,13483,0.73,97.3,2661,2041,2880,2636,992.8,0.0,787,13590,1.00,0.00,104.18,2.355,10246,0.149,0.000,2949,2039,2360,2490,2230,0,0,0,0,0,0,13.81,13.45,12.63
$GC,13940,0.73,97.3,2950,2041,2481,2222,947.4,10.5,803,13946,0.00,2.62,0.00,0.000,260,0.000,0.110,2949,3444,2350,2480,2221,0,0,0,0,0,0,14.32,14.12,14.35
$GC,13975,0.73,97.3,2949,3445,2480,2222,944.1,11.9,810,13982,0.00,2.42,0.00,0.000,1030,0.000,0.077,2951,2117,2350,2480,2220,0,0,0,0,0,0,14.22,14.15,14.25
$GC,14361,0.73,97.3,2951,2118,2479,2221,901.5,10.9,827,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2117,2349,2479,2220,0,0,0,0,0,0,14.56,14.59,14.59
$GC,14721,0.73,97.3,2951,2118,2480,2221,862.7,10.9,839,14726,0.00,2.42,0.00,0.000,260,0.000,0.109,2951,3450,2349,2479,2220,0,0,0,0,0,0,14.66,14.46,14.69
$GC,14751,0.73,97.3,2949,3451,2479,2221,859.7,12.1,845,14756,0.00,2.38,0.00,0.000,1030,0.000,0.077,2951,2116,2349,2478,2220,0,0,0,0,0,0,14.58,14.47,14.58
$GC,15141,0.73,97.3,2951,2116,2479,2221,818.2,10.5,863,15142,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2116,2349,2479,2220,0,0,0,0,0,0,14.73,14.77,14.76
$GC,15501,0.73,97.3,2951,2116,2479,2226,780.2,10.6,875,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2116,2349,2479,2220,0,0,0,0,0,0,14.76,14.80,14.79
$GC,15861,0.73,97.3,2951,2116,2479,2221,742.6,10.5,887,15862,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2115,2349,2479,2220,0,0,0,0,0,0,14.78,14.82,14.81
$GC,16221,0.73,97.3,2950,2116,2480,2221,705.0,10.4,899,16226,0.00,2.45,0.00,0.000,260,0.000,0.110,2950,3449,2349,2479,2220,0,0,0,0,0,0,14.80,14.57,14.83
$GC,16275,0.73,97.3,2951,3449,2479,2221,698.7,11.7,910,16283,0.00,2.35,0.00,0.000,1030,0.000,0.076,2950,2124,2349,2478,2221,0,0,0,0,0,0,14.66,14.59,14.69
$GC,16641,0.73,97.3,2951,2119,2480,2221,661.3,10.1,923,16642,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2118,2349,2479,2220,0,0,0,0,0,0,14.81,14.85,14.84
$GC,17001,0.73,97.3,2951,2119,2480,2222,625.3,9.9,935,17006,0.00,2.38,0.00,0.000,260,0.000,0.109,2951,3444,2349,2479,2220,0,0,0,0,0,0,14.82,14.60,14.85
$GC,17036,0.73,97.3,2951,3445,2480,2221,621.5,11.2,942,17043,0.00,2.35,0.00,0.000,1030,0.000,0.076,2950,2115,2349,2479,2220,0,0,0,0,0,0,14.68,14.62,14.71
$GC,17422,0.73,97.3,2951,2115,2480,2221,583.9,9.6,959,17424,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2114,2349,2479,2220,0,0,0,0,0,0,14.81,14.85,14.84
$GC,17782,0.73,97.3,2951,2115,2478,2221,548.8,9.9,971,17783,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2115,2349,2479,2220,0,0,0,0,0,0,14.77,14.80,14.80
$GC,18142,0.73,97.3,2951,2111,2479,2221,513.0,9.9,983,18144,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2114,2349,2479,2220,0,0,0,0,0,0,14.70,14.73,14.73
$GC,18502,0.73,97.3,2951,2116,2480,2221,477.6,9.8,995,18504,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2114,2349,2479,2220,0,0,0,0,0,0,14.71,14.73,14.73
$GC,18862,0.73,97.3,2951,2115,2480,2221,442.9,9.7,1007,18863,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2114,2351,2481,2221,0,0,0,0,0,0,14.68,14.71,14.71
$GC,19222,0.73,97.3,2951,2115,2480,2221,408.6,9.5,1019,19227,0.00,2.45,0.00,0.000,260,0.000,0.108,2950,3433,2349,2479,2220,0,0,0,0,0,0,14.67,14.42,14.70
$GC,19271,0.73,97.3,2951,3437,2479,2221,403.3,10.7,1029,19277,0.00,2.35,0.00,0.000,1030,0.000,0.076,2951,2121,2349,2479,2220,0,0,0,0,0,0,14.50,14.45,14.52
$MODEM_MSG,CACST,6,1,20191019000536.972150,06,32767,45,0148,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.3,0.25,-100,2.75,-01,0.00,66,925,0025*0A
$MODEM_MSG,CACST,6,1,20191019001023.582413,06,30468,44,0103,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.9,0.35,-100,2.65,-01,0.00,67,925,0025*0C
$MODEM_MSG,CACST,6,1,20191019001536.234156,06,26057,44,0176,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.7,0.37,-100,2.63,-01,-0.09,67,925,0025*28
$MODEM_MSG,CACST,6,1,20191019002015.687731,06,32767,45,0110,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-32.4,0.32,-100,2.68,-01,-0.30,70,925,0025*2B
$MODEM_MSG,CACST,6,1,20191019003540.695407,06,13367,41,0107,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.9,0.36,-100,2.64,-01,0.07,67,925,0025*0E
$GC,19642,0.73,97.3,2951,2122,2480,2221,369.1,9.0,1043,19643,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2122,2349,2479,2220,0,0,0,0,0,0,14.71,14.74,14.73
$GC,20002,0.73,97.3,2951,2122,2480,2222,338.0,8.0,1055,20008,0.00,2.40,0.00,0.000,260,0.000,0.106,2951,3453,2349,2479,2220,0,0,0,0,0,0,14.70,14.50,14.73
$GC,20176,0.73,97.3,2951,3454,2480,2221,321.0,9.4,1090,20185,0.00,2.38,0.00,0.000,1030,0.000,0.073,2949,2111,2349,2478,2221,0,0,0,0,0,0,14.59,14.52,14.62
$GC,20542,0.80,144.9,2951,2112,2480,2230,297.4,5.7,1103,20589,0.00,0.00,44.03,1.638,8486,0.000,0.000,2950,2111,2166,2296,2037,0,0,0,0,0,0,14.73,14.28,13.60
$GC,20963,0.83,144.9,2951,2112,2287,2035,269.6,6.6,1127,20969,0.00,2.42,0.00,0.000,324,0.000,0.107,2950,3449,2160,2286,2034,0,0,0,0,0,0,14.64,14.40,14.66
$GC,21078,0.86,144.9,2951,3449,2286,2035,261.4,7.3,1150,21086,0.15,2.35,0.00,0.000,3142,0.132,0.074,3008,2108,2158,2282,2034,0,0,0,0,0,0,14.46,14.42,14.52
$GC,21443,0.86,144.9,3008,2109,2287,2036,232.8,8.0,1163,21444,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2108,2160,2286,2034,0,0,0,0,0,0,14.71,14.78,14.74
$GC,21803,0.89,144.9,3008,2109,2285,2034,206.4,6.9,1175,21805,0.00,0.00,0.00,0.000,70,0.000,0.000,3008,2108,2159,2286,2033,0,0,0,0,0,0,14.74,14.78,14.77
$GC,22163,0.92,144.9,3007,2110,2286,2034,182.2,6.7,1187,22165,0.00,0.00,0.00,0.000,70,0.000,0.000,3008,2108,2160,2286,2034,0,0,0,0,0,0,14.76,14.78,14.78
$GC,22523,0.96,144.9,3008,2109,2287,2035,157.7,6.8,1199,22525,0.00,0.00,0.00,0.000,70,0.000,0.000,3008,2108,2159,2285,2034,0,0,0,0,0,0,14.77,14.81,14.80
$GC,22883,1.01,185.9,3008,2109,2286,2034,135.1,6.1,1211,22926,0.00,2.65,37.25,1.488,8740,0.000,0.115,3008,711,1998,2117,1880,0,0,0,0,0,0,14.76,14.28,13.69
$GC,23000,1.02,185.9,3008,712,2111,1880,126.6,7.9,1234,23008,0.12,2.38,0.00,0.000,3142,0.154,0.090,3060,2038,1994,2110,1879,0,0,0,0,0,0,14.33,14.30,14.42
$GC,23365,1.02,185.9,3060,2038,2108,1878,93.3,8.6,1247,23367,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2037,1992,2107,1878,0,0,0,0,0,0,14.62,14.66,14.66
$GC,23725,1.07,226.1,3060,2037,2107,1877,67.2,6.1,1259,23782,0.00,2.50,51.92,1.359,8740,0.000,0.112,3060,708,1834,1941,1728,0,0,0,0,0,0,14.67,14.08,13.60
$GC,24006,1.17,298.4,3060,710,1931,1726,52.1,4.3,1315,24113,0.00,2.42,100.50,1.298,9254,0.000,0.090,3060,2031,1540,1611,1470,0,0,0,0,0,0,14.35,14.28,13.39
$GC,24477,1.27,375.7,3060,2032,1603,1467,30.4,4.0,1349,24598,0.20,2.58,110.25,1.258,10788,0.117,0.112,3138,688,1224,1256,1193,0,0,0,0,0,0,14.31,13.84,13.39
$FREEZE,9.87,-1.446,-1.458,2,5,0
$GC,24821,1.33,427.3,3139,688,1253,1190,12.8,5.5,1416,24879,0.00,2.50,52.62,1.230,9250,0.000,0.090,3138,2035,1071,1079,1063,0,0,0,0,0,0,14.22,14.15,14.26
$STATE,24879,end climb,FINISH_DEPTH_REACHED
$STATE,24879,begin subsurface finish
$FINISH1,9.9,1.021406,312
$GC,24882,0.41,312.0,3139,2036,1079,1063,9.9,6.0,1426,24900,1.02,0.00,-14.27,0.010,20998,0.182,0.000,2848,2034,1488,1454,1522,0,0,0,0,0,0,13.90,13.21,14.00
$FINISH2,9.1
$STATE,24901,end subsurface finish,CONTROL_FINISHED_OK
$STATE,24901,begin surface
$RAFOS_CLK,219
$MODEM,6,1571445340,75.33060,-142.67570,40.695,59157.8
$MODEM,3,1571444415,75.26195,-145.59448,15.688,22804.8
$MODEM,2,1571444136,75.67648,-146.03058,36.234,52672.6
$MODEM,1,1571443823,75.02295,-144.31340,23.582,34281.1
$MODEM,0,1571443536,74.83892,-145.28152,36.972,53745.4
$MODEM,6,1571430941,75.33060,-142.67570,41.620,60502.2
$MODEM,3,1571430014,75.26195,-145.59448,14.478,21045.9
$MODEM,1,1571429422,75.02295,-144.31340,22.520,32737.1
$MODEM,0,1571429135,74.83892,-145.28152,35.195,51162.2
$RAFOS_FIX,7517.882324,-14448.801758,191019,000040,5,255,0.18
$IRIDIUM_FIX,7505.52,-14459.79,171019,151312
$TT8_MAMPS,0.038199,0.405209
$HUMID,51.33
$INTERNAL_PRESSURE,8.80965
$TCM_TEMP,13.20
$XPDR_PINGS,80
$SC_FREEKB,3822624
$24V_AH,12.63,48.728
$10V_AH,12.92,0.000
$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,4.425,139.825,605.950,0.000,0.000,0.000,0.000,0.000,20.000,0.000,0.000,0.000,21194.938,820.879,2868.755,107.900,0.000,1921.509,0.000,2156.478,4410.000,0.531,0.000
$DEVICE_MAMPS,237.915,126.990,2415.870,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24913.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.117,0.000,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,49913,1429
$CAP_FILE_SIZE,162236,0
$CFSIZE,1047117824,1030438912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,191019,003540,7517.882,-14448.802,0,6255.0,0,23.3,0.0,0.0,0,0.0