version: 66.13
glider: 223
mission: 5
dive: 567
start: 10 22 118 15 49 15
data:
$ID,223
$MISSION,5
$DIVE,567
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,360
$T_MISSION,420
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,2
$EXEC_DT,0
$EXEC_T,10029665
$EXEC_N,6
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.059999999
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53553
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00375924
$HD_B,0.0090143103
$HD_C,2.26105e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,4
$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,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,225
$PITCH_MAX,3880
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256899
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3890
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,900
$VBD_MAX,3960
$C_VBD,2782
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1.5
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$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,-185.88379
$PRESSURE_SLOPE,0.0001081376
$AD7714Ch0Gain,1
$COMPASS_USE,0
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.25
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044087539
$SEABIRD_T_H,0.00063761615
$SEABIRD_T_I,2.5496534e-05
$SEABIRD_T_J,3.0755168e-06
$SEABIRD_C_G,-9.8995104
$SEABIRD_C_H,1.1242845
$SEABIRD_C_I,-0.0021703816
$SEABIRD_C_J,0.00023950715
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,221018,151512,-7406.9990,-11229.0596,0,4120.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,910.66
$_SM_ANGLEo,-4.9
$GPS2,221018,151512,-7406.9990,-11229.0596,0,4120.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.092,0.233
$TGT_NAME,hold5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,327.2,5926,-18.9,-9.167,-21.50,1798
$D_GRID,990
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,12,-0.99,-107.1,2806,2306,2868,2806,0.0,0.0,0,19,0.00,0.00,-6.38,0.032,16390,0.000,0.000,2804,2305,3241,3271,3211,0,0,0,0,1,0,14.19,12.45,14.20
$GC,22,-0.99,-107.1,2802,2306,3278,3211,0.0,0.0,0,29,1.00,2.72,0.00,0.000,4356,0.063,0.113,2461,3719,3239,3269,3210,0,0,0,0,0,0,13.98,13.86,14.03
$GC,258,-0.99,-107.1,2462,3720,3274,3211,910.1,0.0,34,265,0.00,2.45,0.00,0.000,1030,0.000,0.046,2462,2293,3241,3272,3210,0,0,0,0,0,0,14.68,14.64,14.69
$GC,636,-0.99,-107.1,2462,2294,3274,3211,910.3,-0.2,46,643,0.00,2.47,0.00,0.000,516,0.000,0.067,2462,908,3240,3271,3210,0,0,0,0,0,0,15.11,14.57,15.14
$GC,874,-0.99,-107.1,2463,908,3274,3211,910.2,0.0,80,881,0.00,2.50,0.00,0.000,1062,0.000,0.064,2462,2308,3241,3272,3210,0,0,0,0,0,0,14.69,14.61,14.74
$GC,1252,-0.99,-107.1,2463,2310,3274,3211,910.2,-0.0,92,1259,0.00,2.50,0.00,0.000,516,0.000,0.066,2461,909,3241,3272,3210,0,0,0,0,0,0,15.17,14.57,15.19
$GC,1490,-0.99,-107.1,2461,910,3272,3210,910.2,0.0,126,1497,0.00,2.47,0.00,0.000,1030,0.000,0.064,2461,2298,3241,3272,3210,0,0,0,0,0,0,14.68,14.61,14.74
$GC,1868,-0.99,-107.1,2462,2303,3273,3211,910.2,0.0,138,1875,0.00,2.47,0.00,0.000,516,0.000,0.063,2462,917,3240,3271,3210,0,0,0,0,0,0,15.16,14.54,15.19
$GC,2106,-0.99,-107.1,2461,918,3271,3211,910.2,-0.0,172,2113,0.00,2.47,0.00,0.000,1062,0.000,0.063,2461,2305,3240,3271,3210,0,0,0,0,0,0,14.64,14.57,14.70
$GC,2484,-0.99,-107.1,2464,2306,3274,3211,910.2,0.1,184,2491,0.00,2.50,0.00,0.000,516,0.000,0.065,2461,912,3244,3279,3210,0,0,0,0,0,0,15.17,14.50,15.19
$GC,2722,-0.99,-107.1,2462,912,3273,3210,910.2,0.0,218,2729,0.00,2.50,0.00,0.000,1062,0.000,0.064,2461,2309,3240,3271,3210,0,0,0,0,0,0,14.62,14.54,14.67
$GC,3100,-0.99,-107.1,2460,2310,3269,3210,910.2,-0.0,230,3107,0.00,2.50,0.00,0.000,516,0.000,0.065,2461,912,3240,3271,3210,0,0,0,0,0,0,15.17,14.48,15.19
$GC,3338,-0.99,-107.1,2460,911,3270,3210,910.3,1.2,264,3345,0.00,2.50,0.00,0.000,1062,0.000,0.062,2461,2312,3240,3271,3209,0,0,0,0,0,0,14.61,14.53,14.66
$GC,3716,-0.99,-107.1,2461,2313,3271,3209,910.2,-0.0,276,3723,0.00,2.50,0.00,0.000,516,0.000,0.064,2462,913,3240,3271,3209,0,0,0,0,0,0,15.17,14.46,15.19
$GC,3954,-0.99,-107.1,2463,914,3273,3210,910.3,0.0,310,3961,0.00,2.47,0.00,0.000,1062,0.000,0.062,2461,2304,3240,3271,3209,0,0,0,0,0,0,14.59,14.52,14.66
$GC,4332,-0.99,-107.1,2462,2303,3273,3210,910.2,-0.0,322,4339,0.00,2.50,0.00,0.000,516,0.000,0.065,2461,912,3240,3271,3209,0,0,0,0,0,0,15.20,14.44,15.22
$GC,4570,-0.99,-107.1,2461,913,3271,3209,910.7,-3.0,356,4577,0.00,2.50,0.00,0.000,1030,0.000,0.063,2461,2310,3240,3271,3209,0,0,0,0,0,0,14.58,14.51,14.64
$GC,4948,-0.99,-107.1,2461,2310,3266,3209,910.4,-0.0,368,4955,0.00,2.50,0.00,0.000,516,0.000,0.063,2461,916,3240,3271,3209,0,0,0,0,0,0,15.16,14.42,15.19
$GC,5186,-0.99,-107.1,2463,917,3273,3210,910.3,-0.0,402,5193,0.00,2.47,0.00,0.000,1062,0.000,0.062,2457,2301,3240,3271,3209,0,0,0,0,0,0,14.60,14.48,14.63
$GC,5564,-0.99,-107.1,2462,2302,3273,3210,910.3,-0.0,414,5571,0.00,2.47,0.00,0.000,516,0.000,0.063,2461,920,3239,3271,3208,0,0,0,0,0,0,15.19,14.44,15.21
$GC,5802,-0.99,-107.1,2461,921,3271,3209,910.3,-0.0,448,5809,0.00,2.50,0.00,0.000,1062,0.000,0.064,2461,2311,3240,3271,3209,0,0,0,0,0,0,14.55,14.47,14.62
$GC,6180,-0.99,-107.1,2462,2311,3273,3209,910.3,-0.0,460,6187,0.00,2.50,0.00,0.000,516,0.000,0.063,2461,917,3240,3271,3209,0,0,0,0,0,0,15.16,14.41,15.19
$GC,6418,-0.99,-107.1,2462,918,3272,3210,910.3,-0.0,494,6425,0.00,2.50,0.00,0.000,1062,0.000,0.062,2461,2309,3239,3271,3207,0,0,0,0,0,0,14.54,14.47,14.60
$GC,6796,-0.99,-107.1,2461,2309,3271,3209,910.3,0.0,506,6803,0.00,2.50,0.00,0.000,516,0.000,0.063,2461,920,3240,3271,3209,0,0,0,0,0,0,15.18,14.40,15.20
$GC,7034,-0.99,-107.1,2463,921,3273,3209,910.3,0.0,540,7041,0.00,2.50,0.00,0.000,1030,0.000,0.066,2461,2309,3240,3272,3209,0,0,0,0,0,0,14.53,14.45,14.59
$GC,7412,-0.99,-107.1,2461,2310,3271,3209,910.4,-0.1,552,7419,0.00,2.53,0.00,0.000,516,0.000,0.063,2461,909,3240,3271,3209,0,0,0,0,0,0,15.13,14.35,15.15
$GC,7650,-0.99,-107.1,2461,909,3271,3209,910.3,0.7,586,7658,0.00,2.50,0.00,0.000,1062,0.000,0.064,2461,2300,3240,3271,3209,0,0,0,0,0,0,14.51,14.43,14.57
$GC,8028,-0.99,-107.1,2462,2301,3273,3209,910.2,0.0,598,8037,0.00,2.50,0.00,0.000,516,0.000,0.063,2461,916,3239,3271,3208,0,0,0,0,0,0,15.14,14.37,15.17
$GC,8266,-0.99,-107.1,2461,917,3271,3209,910.2,0.0,632,8274,0.00,2.50,0.00,0.000,1062,0.000,0.063,2461,2308,3240,3271,3209,0,0,0,0,0,0,14.52,14.43,14.57
$GC,8645,-0.99,-107.1,2460,2308,3271,3209,910.2,0.0,644,8651,0.00,2.50,0.00,0.000,516,0.000,0.063,2461,903,3239,3271,3208,0,0,0,0,0,0,15.15,14.43,15.16
$GC,8882,-0.99,-107.1,2457,904,3271,3209,910.3,-0.0,678,8889,0.00,2.53,0.00,0.000,1062,0.000,0.065,2461,2302,3240,3271,3209,0,0,0,0,0,0,14.43,14.33,14.50
$GC,9260,-0.99,-107.1,2468,2303,3273,3209,910.2,0.1,690,9267,0.00,2.50,0.00,0.000,516,0.000,0.064,2460,916,3240,3271,3209,0,0,0,0,0,0,15.16,14.37,15.19
$GC,9498,-0.99,-107.1,2461,916,3272,3208,910.2,0.0,724,9505,0.00,2.50,0.00,0.000,1030,0.000,0.063,2462,2306,3240,3271,3209,0,0,0,0,0,0,14.51,14.44,14.57
$GC,9876,-0.99,-107.1,2463,2307,3271,3210,910.4,-0.2,736,9883,0.00,2.50,0.00,0.000,516,0.000,0.063,2462,920,3243,3272,3215,0,0,0,0,0,0,15.12,14.33,15.14
$GC,10114,-0.99,-107.1,2463,921,3273,3209,910.2,0.0,770,10122,0.00,2.50,0.00,0.000,1062,0.000,0.065,2461,2308,3240,3271,3209,0,0,0,0,0,0,14.49,14.40,14.54
$GC,10492,-0.99,-107.1,2461,2309,3271,3209,910.2,-0.0,782,10500,0.00,2.50,0.00,0.000,516,0.000,0.063,2461,915,3239,3270,3208,0,0,0,0,0,0,15.16,14.35,15.18
$GC,10730,-0.99,-107.1,2459,915,3270,3209,910.2,0.0,816,10737,0.00,2.50,0.00,0.000,1030,0.000,0.062,2461,2306,3239,3271,3208,0,0,0,0,0,0,14.51,14.42,14.57
$GC,11108,-0.99,-107.1,2462,2306,3273,3210,910.2,-0.0,828,11115,0.00,2.53,0.00,0.000,516,0.000,0.064,2461,911,3240,3271,3209,0,0,0,0,0,0,15.15,14.33,15.17
$GC,11346,-0.99,-107.1,2457,911,3271,3209,910.2,0.0,862,11353,0.00,2.53,0.00,0.000,1062,0.000,0.065,2461,2305,3239,3271,3208,0,0,0,0,0,0,14.47,14.38,14.54
$GC,11724,-0.99,-107.1,2462,2305,3271,3209,910.2,0.1,874,11731,0.00,2.50,0.00,0.000,516,0.000,0.063,2461,919,3239,3271,3208,0,0,0,0,0,0,15.15,14.34,15.18
$GC,11962,-0.99,-107.1,2461,919,3271,3209,910.2,0.0,908,11970,0.00,2.50,0.00,0.000,1062,0.000,0.065,2461,2307,3239,3271,3208,0,0,0,0,0,0,14.48,14.38,14.53
$GC,12340,-0.99,-107.1,2462,2309,3273,3209,910.2,0.0,920,12348,0.00,2.50,0.00,0.000,516,0.000,0.063,2461,920,3239,3271,3208,0,0,0,0,0,0,15.15,14.33,15.17
$GC,12578,-0.99,-107.1,2460,923,3271,3209,910.2,1.7,954,12585,0.00,2.50,0.00,0.000,1062,0.000,0.066,2461,2303,3240,3271,3209,0,0,0,0,0,0,14.45,14.38,14.52
$STATE,12603,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12603,begin apogee
$GC,12610,-0.23,0.0,2461,2069,3271,3209,910.8,-1.7,958,12743,0.90,0.08,130.12,3.094,10246,0.157,0.181,2725,2112,2787,2821,2753,0,0,0,0,0,0,14.25,13.53,12.10
$STATE,12744,end apogee,CONTROL_FINISHED_OK
$STATE,12744,begin climb
$GC,12747,0.99,107.1,2726,2111,2816,2754,910.5,0.0,960,12904,1.35,2.97,145.75,3.078,10500,0.143,0.099,3111,3506,2343,2382,2305,0,0,0,0,0,0,13.57,12.46,11.34
$PING,900.7,12.7,9000.0,0.00,0.00
$GC,13045,1.08,176.3,3110,3507,2381,2296,900.4,5.2,1006,13140,0.00,2.47,88.82,3.045,9254,0.000,0.043,3113,2129,2062,2120,2004,0,0,0,0,0,0,13.95,13.88,11.67
$PING,890.4,20.2,9000.0,0.00,0.00
$PING,869.6,34.3,9000.0,-0.69,1.00
$GC,13505,1.14,231.3,3113,2129,2111,1990,873.5,6.0,1030,13575,0.17,2.70,63.08,3.042,10788,0.108,0.084,3178,701,1837,1906,1769,0,0,0,0,0,0,14.66,14.04,12.62
$GC,13611,1.14,231.3,3178,702,1904,1765,864.2,9.3,1045,13618,0.00,2.50,0.00,0.000,1030,0.000,0.056,3178,2101,1834,1904,1764,0,0,0,0,0,0,14.34,14.23,14.37
$GC,13952,1.14,231.3,3179,2102,1902,1759,830.4,9.9,1052,13959,0.00,2.62,0.00,0.000,260,0.000,0.103,3178,3510,1829,1900,1758,0,0,0,0,0,0,15.07,14.57,15.10
$GC,14015,1.14,231.3,3179,3511,1901,1758,823.3,11.6,1061,14023,0.00,2.45,0.00,0.000,1030,0.000,0.046,3178,2097,1828,1899,1758,0,0,0,0,0,0,14.76,14.72,14.82
$GC,14400,1.14,231.3,3178,2095,1898,1752,784.5,9.9,1074,14401,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2095,1826,1898,1755,0,0,0,0,0,0,15.16,15.19,15.19
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$STATE,22546,end climb,FINISH_DEPTH_REACHED
$STATE,22546,begin subsurface finish
$FINISH1,9.2,1.027333,8
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$FINISH2,9.0
$STATE,22591,end subsurface finish,CONTROL_FINISHED_OK
$STATE,22591,begin surface
$RAFOS_CLK,808
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$RAFOS,1,1540242457,21.133333,21.126944,132,64,63,63,62,58,376,167,214,178,158,197
$RAFOS,0,1540242066,21.032778,21.018333,101,61,60,57,55,55,545,217,175,113,186,207
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$RAFOS,1,1540231626,18.133333,18.118334,126,58,55,54,50,49,534,196,209,152,174,220
$RAFOS,0,1540231269,18.032778,18.019167,133,61,61,61,60,56,526,189,213,139,122,178
$RAFOS_FIX,-7408.356934,-11230.036133,221018,212120,2,116,0.12
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.040446,0.14231
$HUMID,50.27
$INTERNAL_PRESSURE,8.22882
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,12.0,12.5
$24V_AH,11.34,197.570
$10V_AH,11.61,0.000
$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
$DEVICE_SECS,5.025,203.500,427.775,0.000,0.000,0.000,0.000,0.000,19.750,0.000,0.000,0.000,18947.967,738.480,2689.357,321.769,0.000,1800.490,0.000,1958.880,1440.000,141.515,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22611.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.949,0.000,0.000,0.000
$MEM,280760
$DATA_FILE_SIZE,36620,1377
$CAP_FILE_SIZE,170676,11
$CFSIZE,1024409600,953745408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1461.4
$GPS,221018,210920,-7408.357,-11230.036,0,3116.5,0,53.2,0.0,0.0,0,0.0