version: 66.07.10.p01
glider: 575
mission: 3
dive: 217
start: 1 18 113 10 30 20
data:
$ID,575
$MISSION,3
$DIVE,217
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$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,375
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0283
$MASS,53539
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3133.1252
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,97
$PITCH_MAX,3857
$C_PITCH,3172
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,201
$ROLL_MAX,3827
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1883
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,405
$VBD_MAX,3960
$C_VBD,2846
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,5.9999998e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.908466
$PRESSURE_SLOPE,0.00011644595
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.83999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0042703953
$SEABIRD_T_H,0.00061866472
$SEABIRD_T_I,2.158102e-05
$SEABIRD_T_J,2.2042e-06
$SEABIRD_C_G,-9.6161814
$SEABIRD_C_H,1.1157404
$SEABIRD_C_I,-0.0016421394
$SEABIRD_C_J,0.00020073759
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,196
$GPS1,180113,102128,-4313.799,701.049,71,1.0,72,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-74.6
$GPS2,180113,102930,-4313.780,701.174,17,1.6,17,-24.5
$SPEED_LIMITS,0.154,0.250
$TGT_NAME,GH4
$TGT_LATLONG,-4330.000,700.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.039,-0.247
$KALMAN_X,386798.8,175.5,249.0,-400853.2,-993.2
$KALMAN_Y,622885.2,-443.1,-166.6,-591985.2,3422.7
$MHEAD_RNG_PITCHd_Wd,195.5,30081,-16.5,-8.889
$D_GRID,1000
$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
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.49,-145.9,0.0,0.0,0,35,0.00,0.00,-8.07,0.000,2,0.000,0.000,70,2046,2138,0,0,0,0,0,0
$GC,37,-0.49,-145.9,3.1,-0.0,1,116,12.52,2.28,-55.40,0.000,4,0.249,0.060,2993,3431,3443,0,0,0,0,0,0
$GC,239,-0.49,-145.9,21.7,-15.7,35,246,0.00,2.17,0.00,0.000,6,0.000,0.034,2993,2044,3444,0,0,0,0,0,0
$GC,316,-0.49,-145.9,35.0,-17.2,48,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2041,3444,0,0,0,0,0,0
$GC,550,-0.49,-145.9,73.9,-16.4,89,554,0.00,2.20,0.00,0.000,4,0.000,0.045,2983,3434,3444,0,0,0,0,0,0
$GC,633,-0.49,-145.9,88.6,-17.4,104,639,0.00,2.17,0.00,0.000,6,0.000,0.033,2983,2031,3445,0,0,0,0,0,0
$GC,959,-0.49,-145.9,142.9,-16.4,133,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2028,3445,0,0,0,0,0,0
$GC,1271,-0.49,-145.9,191.6,-15.2,153,1275,0.00,2.20,0.00,0.000,4,0.000,0.045,2974,3432,3446,0,0,0,0,0,0
$GC,1376,-0.49,-145.9,207.8,-14.8,159,1383,0.10,2.15,0.00,0.000,6,0.144,0.031,3005,2034,3446,0,0,0,0,0,0
$GC,1697,-0.49,-145.9,247.3,-11.8,180,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2030,3446,0,0,0,0,0,0
$GC,2015,-0.49,-145.9,285.7,-12.2,196,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2030,3446,0,0,0,0,0,0
$GC,2327,-0.49,-145.9,322.3,-12.1,211,2331,0.00,2.17,0.00,0.000,4,0.000,0.045,2996,3426,3446,0,0,0,0,0,0
$GC,2460,-0.49,-145.9,338.1,-11.9,217,2464,0.00,2.10,0.00,0.000,6,0.000,0.033,2996,2042,3446,0,0,0,0,0,0
$GC,2788,-0.49,-145.9,377.9,-12.1,233,2792,0.00,2.15,0.00,0.000,4,0.000,0.045,2986,3428,3446,0,0,0,0,0,0
$GC,2842,-0.49,-145.9,385.1,-12.6,235,2847,0.00,2.12,0.00,0.000,6,0.000,0.032,2986,2048,3446,0,0,0,0,0,0
$GC,3162,-0.49,-145.9,425.3,-12.7,248,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2046,3446,0,0,0,0,0,0
$GC,3468,-0.49,-145.9,465.9,-13.4,258,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2046,3446,0,0,0,0,0,0
$GC,3774,-0.49,-145.9,509.2,-14.2,268,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2046,3446,0,0,0,0,0,0
$GC,4081,-0.49,-145.9,552.3,-14.1,278,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2046,3446,0,0,0,0,0,0
$GC,4387,-0.49,-145.9,594.5,-13.7,288,4391,0.00,2.15,0.00,0.000,4,0.000,0.047,2977,3428,3445,0,0,0,0,0,0
$GC,4454,-0.49,-145.9,603.6,-13.4,290,4459,0.12,2.12,0.00,0.000,6,0.161,0.034,3009,2032,3445,0,0,0,0,0,0
$GC,4788,-0.49,-145.9,644.2,-12.2,301,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2029,3444,0,0,0,0,0,0
$GC,5094,-0.49,-145.9,682.7,-12.7,311,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2029,3444,0,0,0,0,0,0
$GC,5400,-0.49,-145.9,720.2,-11.9,321,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2029,3443,0,0,0,0,0,0
$GC,5707,-0.49,-145.9,756.2,-11.8,331,5711,0.00,2.17,0.00,0.000,4,0.000,0.048,3001,3424,3442,0,0,0,0,0,0
$GC,5750,-0.49,-145.9,761.6,-12.4,332,5755,0.00,2.15,0.00,0.000,6,0.000,0.035,3001,2039,3442,0,0,0,0,0,0
$GC,6079,-0.49,-145.9,800.5,-11.8,343,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2038,3441,0,0,0,0,0,0
$GC,6386,-0.49,-145.9,834.6,-11.0,353,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2038,3440,0,0,0,0,0,0
$GC,6692,-0.49,-145.9,869.6,-11.5,363,6696,0.00,2.17,0.00,0.000,4,0.000,0.046,3001,636,3439,0,0,0,0,0,0
$GC,6740,-0.49,-145.9,875.6,-11.8,364,6745,0.00,2.15,0.00,0.000,6,0.000,0.032,2991,2025,3439,0,0,0,0,0,0
$GC,7059,-0.49,-145.9,913.2,-12.0,375,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2026,3438,0,0,0,0,0,0
$GC,7365,-0.49,-145.9,948.9,-11.5,385,7369,0.00,2.22,0.00,0.000,4,0.000,0.049,2980,3446,3438,0,0,0,0,0,0
$GC,7408,-0.49,-145.9,954.2,-11.5,386,7414,0.08,2.17,0.00,0.000,6,0.144,0.035,3005,2045,3438,0,0,0,0,0,0
$GC,7732,-0.49,-145.9,988.1,-10.2,397,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2042,3437,0,0,0,0,0,0
$STATE,7856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7856,begin apogee
$GC,7860,-0.15,0.0,1000.4,10.0,401,7985,0.38,0.00,121.82,1.313,6,0.129,0.000,3122,1868,2846,0,0,0,0,0,0
$STATE,7986,end apogee,CONTROL_FINISHED_OK
$STATE,7986,begin climb
$GC,7988,0.49,145.9,1005.4,0.0,405,8126,0.62,2.45,129.43,1.281,4,0.084,0.049,3338,501,2250,0,0,0,0,0,0
$GC,8175,0.49,145.9,995.2,9.3,411,8180,0.00,2.33,0.00,0.000,6,0.000,0.031,3338,1889,2244,0,0,0,0,0,0
$GC,8499,0.49,145.9,963.3,9.9,422,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1890,2240,0,0,0,0,0,0
$GC,8805,0.49,145.9,934.6,9.4,432,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1890,2239,0,0,0,0,0,0
$GC,9112,0.49,145.9,906.9,8.9,442,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1890,2239,0,0,0,0,0,0
$GC,9418,0.49,145.9,879.1,9.0,452,9422,0.00,2.25,0.00,0.000,4,0.000,0.050,3348,490,2238,0,0,0,0,0,0
$GC,9533,0.49,145.9,867.9,9.5,455,9538,0.00,2.17,0.00,0.000,6,0.000,0.031,3348,1896,2237,0,0,0,0,0,0
$GC,9852,0.49,145.9,839.2,9.3,466,9856,0.00,2.25,0.00,0.000,4,0.000,0.049,3358,489,2237,0,0,0,0,0,0
$GC,9918,0.49,145.9,832.4,9.9,468,9923,0.00,2.15,0.00,0.000,6,0.000,0.031,3358,1873,2237,0,0,0,0,0,0
$GC,10253,0.49,145.9,798.5,10.2,479,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1876,2237,0,0,0,0,0,0
$GC,10560,0.49,145.9,767.5,10.3,489,10564,0.00,2.20,0.00,0.000,4,0.000,0.049,3368,493,2237,0,0,0,0,0,0
$GC,10637,0.49,145.9,758.5,11.8,491,10642,0.10,2.15,0.00,0.000,6,0.146,0.031,3336,1891,2236,0,0,0,0,0,0
$GC,10960,0.49,145.9,727.3,9.6,502,10964,0.00,2.15,0.00,0.000,4,0.000,0.045,3336,3273,2236,0,0,0,0,0,0
$GC,11009,0.49,145.9,722.0,10.5,503,11014,0.00,2.15,0.00,0.000,6,0.000,0.036,3345,1897,2236,0,0,0,0,0,0
$GC,11328,0.49,145.9,690.6,9.6,514,11332,0.00,2.22,0.00,0.000,4,0.000,0.048,3356,480,2236,0,0,0,0,0,0
$GC,11474,0.49,145.9,675.7,10.3,518,11478,0.00,2.12,0.00,0.000,6,0.000,0.031,3356,1886,2236,0,0,0,0,0,0
$GC,11791,0.49,145.9,642.9,10.3,529,11795,0.00,2.25,0.00,0.000,4,0.000,0.050,3366,471,2236,0,0,0,0,0,0
$GC,11861,0.49,145.9,635.2,10.6,531,11867,0.10,2.15,0.00,0.000,6,0.140,0.030,3333,1872,2235,0,0,0,0,0,0
$GC,12191,0.49,145.9,605.3,9.0,542,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1873,2236,0,0,0,0,0,0
$GC,12497,0.49,152.4,578.5,8.6,552,12503,0.00,0.00,4.32,0.700,6,0.000,0.000,3333,1873,2223,0,0,0,0,0,0
$GC,12804,0.49,161.8,551.9,8.5,562,12818,0.00,2.20,9.73,0.933,4,0.000,0.045,3333,3279,2186,0,0,0,0,0,0
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$GC,13198,0.49,161.8,516.8,8.9,575,13202,0.00,2.20,0.00,0.000,4,0.000,0.049,3352,475,2185,0,0,0,0,0,0
$GC,13319,0.49,161.8,505.2,9.2,578,13325,0.00,2.17,0.00,0.000,6,0.000,0.031,3352,1893,2184,0,0,0,0,0,0
$GC,13632,0.49,161.8,475.4,9.6,589,13636,0.00,2.22,0.00,0.000,4,0.000,0.049,3361,478,2184,0,0,0,0,0,0
$GC,13720,0.49,161.8,466.7,9.4,591,13725,0.00,2.15,0.00,0.000,6,0.000,0.030,3361,1877,2184,0,0,0,0,0,0
$GC,14039,0.49,161.8,436.2,9.6,602,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1880,2184,0,0,0,0,0,0
$GC,14345,0.49,161.8,405.9,10.4,612,14349,0.00,2.20,0.00,0.000,4,0.000,0.047,3371,480,2184,0,0,0,0,0,0
$GC,14400,0.49,161.8,399.6,11.8,613,14407,0.10,2.17,0.00,0.000,6,0.134,0.030,3338,1901,2183,0,0,0,0,0,0
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$GC,15207,0.49,167.0,320.7,10.5,652,15212,0.00,2.15,0.00,0.000,6,0.000,0.030,3357,1892,2164,0,0,0,0,0,0
$GC,15535,0.49,167.0,285.1,10.8,668,15539,0.00,2.22,0.00,0.000,4,0.000,0.048,3367,479,2164,0,0,0,0,0,0
$GC,15606,0.49,167.0,276.8,11.0,671,15612,0.10,2.12,0.00,0.000,6,0.135,0.029,3334,1870,2164,0,0,0,0,0,0
$GC,15935,0.49,167.0,245.2,9.6,688,15936,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1874,2164,0,0,0,0,0,0
$GC,16246,0.49,167.0,215.4,9.3,708,16247,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1874,2164,0,0,0,0,0,0
$GC,16559,0.49,167.0,183.9,10.0,728,16560,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1874,2165,0,0,0,0,0,0
$GC,16872,0.49,167.0,154.2,9.2,748,16876,0.00,2.17,0.00,0.000,4,0.000,0.047,3343,479,2165,0,0,0,0,0,0
$GC,16957,0.50,175.5,146.0,8.5,753,16971,0.00,2.12,9.18,0.677,6,0.000,0.029,3344,1898,2131,0,0,0,0,0,0
$GC,17298,0.50,175.5,113.1,9.8,775,17299,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1899,2131,0,0,0,0,0,0
$GC,17623,0.50,175.5,81.8,8.9,817,17627,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1900,2131,0,0,0,0,0,0
$GC,17968,0.50,200.7,52.1,7.9,878,17997,0.00,2.25,23.00,0.681,4,0.000,0.045,3354,463,2026,0,0,0,0,0,0
$GC,18080,0.50,201.9,42.3,8.8,897,18086,0.00,2.15,0.00,0.000,6,0.000,0.029,3354,1876,2022,0,0,0,0,0,0
$GC,18319,0.50,201.9,19.7,9.7,938,18326,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1879,2022,0,0,0,0,0,0
$GC,18398,0.50,201.9,12.1,9.5,951,18405,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1880,2021,0,0,0,0,0,0
$GC,18477,0.50,201.9,4.4,9.4,964,18483,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1881,2021,0,0,0,0,0,0
$STATE,18490,end climb,SURFACE_DEPTH_REACHED
$STATE,18490,begin surface coast
$FINISH,1.8,1.017018
$STATE,18521,end surface coast,CONTROL_FINISHED_OK
$STATE,18521,begin surface
$SM_CCo,18537,7.47,0.508,0,0,1948,220.03
$SM_GC,4.40,0.00,0.00,7.47,0.000,0.000,0.508,84,2055,1948,-9.65,0.42,220.03
$IRIDIUM_FIX,-4256.74,657.25,180113,050525
$TT8_MAMPS,0.025466
$HUMID,48.58
$INTERNAL_PRESSURE,8.93601
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,22.8,36.281
$10V_AH,10.3,22.634
$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,22.975,109.650,303.400,7.475,0.000,31.387,46.191,283.783,0.250,0.000,20.411,2386.156,13165.828,424.249,2903.936,145.189,33.370,1448.551,0.000,2494.569,0.000,2.825,0.000
$DEVICE_MAMPS,248.625,60.435,1312.740,507.960,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.717,1074.104,636.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,53731,971
$CAP_FILE_SIZE,142852,0
$CFSIZE,2097086464,2067791872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180113,154104,-4315.250,701.452,63,0.8,64,-24.5