version: 66.12
glider: 171
mission: 9
dive: 172
start: 12 18 115 1 28 14
data:
$ID,171
$MISSION,9
$DIVE,172
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$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,587.06018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,181215,011952,742.5718,8308.5645,38,1.2,38,-2.2,0.0,0.0,7,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.24
$_SM_ANGLEo,-53.4
$GPS2,181215,012803,742.6308,8308.5137,13,1.3,34,-2.2,0.5,5.9,7,8.9
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,715.000,8400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,125.6,107545,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,168,2299,542,467,0.0,0.0,0,154,0.00,0.00,-134.10,0.000,16386,0.000,0.000,168,2300,2778,2822,2734,0,0,0,0,0,0,26.29,28.83,26.36
$GC,157,-0.54,-175.2,168,2300,2823,2735,4.1,-7.1,11,185,6.12,0.00,-18.27,0.000,18438,0.197,0.000,1815,2300,3616,3466,3767,0,0,0,0,0,0,25.64,24.71,25.97
$GC,537,-0.53,-175.2,1816,2300,3467,3772,109.6,-20.9,33,545,0.00,2.22,0.00,0.000,260,0.000,0.055,1805,3666,3619,3467,3772,0,0,0,0,0,0,26.60,26.22,26.65
$GC,634,-0.52,-175.2,1805,3667,3468,3774,126.4,-16.3,49,642,0.00,2.08,0.00,0.000,1030,0.000,0.030,1805,2305,3620,3467,3774,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1018,-0.52,-175.2,1805,2303,3468,3777,179.0,-12.8,68,1025,0.00,2.17,0.00,0.000,516,0.000,0.037,1805,899,3622,3467,3777,0,0,0,0,0,0,26.73,26.40,26.79
$GC,1048,-0.51,-175.2,1804,899,3468,3777,182.7,-13.1,73,1057,0.08,2.20,0.00,0.000,3078,0.122,0.041,1825,2298,3622,3467,3777,0,0,0,0,0,0,26.23,26.39,26.32
$GC,1427,-0.51,-175.2,1824,2298,3468,3777,226.1,-10.6,91,1434,0.00,2.20,0.00,0.000,260,0.000,0.056,1814,3658,3622,3467,3777,0,0,0,0,0,0,26.79,26.38,26.84
$GC,1481,-0.51,-175.2,1814,3658,3467,3777,232.3,-11.1,100,1489,0.00,2.08,0.00,0.000,1030,0.000,0.031,1814,2299,3622,3467,3777,0,0,0,0,0,0,26.55,26.52,26.57
$GC,1861,-0.51,-175.2,1814,2298,3468,3774,272.3,-10.0,115,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2297,3620,3467,3773,0,0,0,0,0,0,26.82,26.89,26.88
$GC,2219,-0.51,-175.2,1814,2298,3467,3767,307.0,-9.6,125,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2297,3617,3467,3767,0,0,0,0,0,0,26.84,26.91,26.91
$GC,2580,-0.50,-175.2,1814,2298,3467,3761,342.1,-9.7,135,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2297,3613,3467,3760,0,0,0,0,0,0,26.86,26.93,26.92
$GC,2939,-0.50,-175.2,1814,2298,3466,3754,377.0,-9.6,145,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2297,3610,3466,3754,0,0,0,0,0,0,26.87,26.94,26.93
$GC,3300,-0.50,-175.2,1814,2298,3466,3748,411.5,-9.6,155,3306,0.00,2.15,0.00,0.000,516,0.000,0.041,1814,910,3606,3464,3748,0,0,0,0,0,0,26.88,26.51,26.94
$GC,3330,-0.50,-175.2,1814,910,3467,3747,414.4,-10.1,160,3338,0.08,2.20,0.00,0.000,3078,0.116,0.044,1835,2298,3606,3466,3746,0,0,0,0,0,0,26.34,26.48,26.41
$GC,3697,-0.50,-175.2,1835,2299,3466,3741,443.6,-7.8,171,3702,0.00,2.20,0.00,0.000,260,0.000,0.059,1825,3677,3603,3466,3741,0,0,0,0,0,0,26.88,26.41,26.94
$GC,3749,-0.50,-175.2,1825,3677,3466,3740,448.1,-8.3,180,3756,0.00,2.12,0.00,0.000,1030,0.000,0.032,1825,2290,3603,3466,3740,0,0,0,0,0,0,26.65,26.60,26.67
$GC,4129,-0.50,-175.2,1825,2290,3466,3736,477.7,-7.7,193,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2290,3600,3465,3735,0,0,0,0,0,0,26.89,26.96,26.94
$GC,4487,-0.50,-175.2,1826,2290,3466,3731,504.9,-7.6,203,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2289,3597,3465,3729,0,0,0,0,0,0,26.89,26.96,26.94
$GC,4847,-0.50,-175.2,1825,2290,3465,3726,533.0,-7.8,213,4855,0.00,2.15,0.00,0.000,516,0.000,0.043,1825,913,3595,3465,3726,0,0,0,0,0,0,26.89,26.48,26.95
$GC,4896,-0.50,-175.2,1824,913,3466,3725,536.9,-8.2,221,4903,0.00,2.20,0.00,0.000,1030,0.000,0.043,1815,2301,3595,3465,3725,0,0,0,0,0,0,26.52,26.47,26.56
$GC,5281,-0.50,-175.2,1814,2302,3465,3721,569.0,-8.4,235,5287,0.00,2.17,0.00,0.000,516,0.000,0.042,1815,917,3592,3464,3721,0,0,0,0,0,0,26.89,26.48,26.95
$GC,5310,-0.50,-175.2,1814,917,3465,3721,571.5,-8.6,240,5318,0.00,2.20,0.00,0.000,1030,0.000,0.044,1805,2304,3592,3465,3720,0,0,0,0,0,0,26.51,26.46,26.55
$GC,5677,-0.50,-175.2,1804,2304,3465,3718,603.4,-8.7,251,5678,0.08,0.00,0.00,0.000,2054,0.150,0.000,1834,2304,3591,3465,3717,0,0,0,0,0,0,26.58,26.66,26.63
$GC,6037,-0.50,-175.2,1834,2304,3464,3713,629.7,-7.2,261,6044,0.00,2.12,0.00,0.000,516,0.000,0.042,1834,923,3588,3464,3713,0,0,0,0,0,0,26.89,26.46,26.95
$GC,6102,-0.50,-175.2,1834,923,3465,3712,634.4,-7.3,272,6110,0.00,2.20,0.00,0.000,1030,0.000,0.044,1825,2314,3588,3464,3713,0,0,0,0,0,0,26.51,26.46,26.55
$GC,6470,-0.50,-175.2,1825,2314,3465,3709,661.5,-7.4,283,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2313,3586,3464,3709,0,0,0,0,0,0,26.89,26.96,26.95
$GC,6828,-0.50,-175.2,1825,2314,3465,3707,688.3,-7.5,293,6836,0.00,2.17,0.00,0.000,516,0.000,0.040,1825,926,3585,3464,3706,0,0,0,0,0,0,26.89,26.46,26.95
$GC,6919,-0.50,-175.2,1825,926,3464,3706,695.6,-8.4,308,6925,0.00,2.17,0.00,0.000,1030,0.000,0.044,1816,2301,3584,3464,3705,0,0,0,0,0,0,26.50,26.45,26.54
$GC,7297,-0.50,-175.2,1816,2301,3464,3703,725.8,-8.0,321,7304,0.00,2.17,0.00,0.000,516,0.000,0.040,1816,915,3583,3464,3703,0,0,0,0,0,0,26.89,26.44,26.95
$GC,7333,-0.50,-175.2,1815,916,3465,3703,728.9,-8.7,327,7340,0.00,2.20,0.00,0.000,1030,0.000,0.044,1806,2297,3583,3464,3702,0,0,0,0,0,0,26.48,26.43,26.52
$GC,7730,-0.50,-175.2,1806,2297,3464,3700,762.6,-8.7,343,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2297,3581,3463,3700,0,0,0,0,0,0,26.89,26.96,26.94
$GC,8089,-0.50,-175.2,1806,2297,3464,3698,793.6,-8.7,353,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2297,3580,3463,3697,0,0,0,0,0,0,26.89,26.96,26.95
$GC,8449,-0.50,-175.2,1806,2297,3464,3696,825.2,-9.0,363,8456,0.00,2.15,0.00,0.000,516,0.000,0.038,1806,920,3579,3463,3695,0,0,0,0,0,0,26.89,26.44,26.95
$GC,8485,-0.50,-175.2,1806,920,3464,3695,828.6,-10.2,369,8493,0.10,2.20,0.00,0.000,3078,0.106,0.044,1835,2300,3579,3463,3695,0,0,0,0,0,0,26.25,26.41,26.32
$GC,8883,-0.50,-175.2,1835,2301,3463,3693,859.1,-7.5,385,8890,0.00,2.17,0.00,0.000,516,0.000,0.041,1835,923,3579,3466,3693,0,0,0,0,0,0,26.89,26.41,26.95
$GC,8913,-0.51,-175.2,1835,923,3464,3693,861.5,-8.1,390,8921,0.00,2.20,0.00,0.000,1030,0.000,0.044,1827,2302,3577,3463,3692,0,0,0,0,0,0,26.45,26.39,26.50
$GC,9280,-0.51,-175.2,1826,2302,3464,3691,887.8,-7.0,401,9286,0.00,2.17,0.00,0.000,516,0.000,0.043,1827,899,3576,3463,3690,0,0,0,0,0,0,26.89,26.37,26.94
$GC,9328,-0.51,-175.2,1825,899,3463,3691,891.3,-7.5,409,9335,0.00,2.25,0.00,0.000,1030,0.000,0.045,1816,2311,3576,3463,3690,0,0,0,0,0,0,26.44,26.39,26.48
$GC,9712,-0.51,-175.2,1817,2312,3463,3689,919.1,-7.2,423,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2311,3576,3463,3689,0,0,0,0,0,0,26.89,26.96,26.94
$GC,10072,-0.51,-175.2,1816,2311,3463,3688,945.6,-7.3,433,10079,0.00,2.20,0.00,0.000,516,0.000,0.041,1815,917,3575,3462,3688,0,0,0,0,0,0,26.89,26.38,26.94
$GC,10126,-0.51,-175.2,1816,917,3463,3687,949.8,-7.8,442,10133,0.00,2.22,0.00,0.000,1030,0.000,0.045,1807,2308,3574,3462,3687,0,0,0,0,0,0,26.43,26.37,26.48
$GC,10505,-0.51,-175.2,1806,2308,3463,3686,979.0,-7.7,455,10511,0.00,2.15,0.00,0.000,516,0.000,0.042,1807,920,3574,3462,3686,0,0,0,0,0,0,26.88,26.36,26.94
$GC,10551,-0.51,-175.2,1807,920,3463,3686,983.0,-8.0,463,10559,0.10,2.22,0.00,0.000,3078,0.146,0.045,1832,2304,3573,3462,3685,0,0,0,0,0,0,26.26,26.36,26.32
$STATE,10682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10682,begin apogee
$GC,10688,-0.11,0.0,1833,1970,3463,3685,991.8,-6.5,470,10834,0.38,0.00,143.32,1.031,10246,0.091,0.000,1963,1967,2898,2922,2875,0,0,0,0,0,0,26.27,24.77,23.82
$STATE,10835,end apogee,CONTROL_FINISHED_OK
$STATE,10836,begin climb
$GC,10837,0.54,175.2,1963,1967,2919,2871,996.5,0.0,474,10993,0.57,0.00,150.90,1.020,10758,0.069,0.000,2172,1966,2183,2254,2112,0,0,0,0,0,0,25.03,24.57,23.70
$GC,11333,0.60,209.8,2171,1966,2241,2104,967.4,6.8,508,11372,0.00,2.30,30.67,0.982,8708,0.000,0.048,2172,565,2041,2101,1982,0,0,0,0,0,0,26.24,25.30,24.32
$GC,11437,0.63,229.6,2171,565,2098,1981,960.0,7.3,525,11462,0.00,2.28,19.00,0.968,9222,0.000,0.037,2172,1971,1962,2023,1901,0,0,0,0,0,0,25.77,25.73,24.32
$GC,11839,0.68,261.0,2172,1971,2016,1897,931.7,6.9,542,11872,0.12,0.00,30.12,0.974,10758,0.081,0.000,2259,1971,1834,1897,1771,0,0,0,0,0,0,26.20,25.37,24.46
$GC,12229,0.67,261.0,2258,1971,1892,1766,882.4,13.5,557,12237,0.15,2.25,0.00,0.000,4356,0.135,0.048,2215,3365,1829,1893,1765,0,0,0,0,0,0,26.00,26.06,26.12
$GC,12266,0.67,261.0,2215,3365,1891,1766,877.7,12.5,563,12273,0.00,2.20,0.00,0.000,1030,0.000,0.033,2221,1966,1828,1891,1765,0,0,0,0,0,0,26.19,26.17,26.22
$GC,12663,0.66,261.0,2221,1964,1890,1764,834.3,10.8,579,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1964,1827,1890,1764,0,0,0,0,0,0,26.57,26.64,26.63
$GC,13022,0.66,261.0,2220,1964,1890,1764,796.7,10.3,589,13030,0.00,2.28,0.00,0.000,260,0.000,0.048,2221,3362,1826,1889,1764,0,0,0,0,0,0,26.65,26.29,26.72
$GC,13064,0.66,261.0,2220,3362,1890,1764,791.9,12.0,596,13071,0.00,2.17,0.00,0.000,1030,0.000,0.031,2224,1960,1826,1889,1764,0,0,0,0,0,0,26.43,26.40,26.46
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$GC,19125,0.80,384.3,2207,1961,1597,1441,195.5,6.4,864,19176,0.15,2.33,40.00,0.519,10500,0.072,0.047,2314,3369,1329,1415,1244,0,0,0,0,0,0,26.30,25.72,25.13
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$STATE,21324,end climb,SURFACE_DEPTH_REACHED
$STATE,21324,begin surface coast
$FINISH,-0.1,1.021027
$STATE,21348,end surface coast,CONTROL_FINISHED_OK
$STATE,21348,begin surface
$SM_CCo,21361,38.62,0.053,0,0,504,587.25
$SM_GC,-0.72,5.35,0.55,38.62,0.024,0.045,0.053,175,2308,504,-5.65,-1.22,587.25,0,0,0,0,0,0,26.44,26.36,26.25
$IRIDIUM_FIX,740.75,8307.62,171215,184929
$TT8_MAMPS,0.049434,0.049434
$HUMID,49.52
$INTERNAL_PRESSURE,9.43742
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3954016
$24V_AH,23.70,26.768
$10V_AH,10.01,16.925
$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,13.800,146.000,571.125,38.625,0.000,0.000,0.000,264.875,0.000,0.000,35.456,0.000,18262.686,1097.052,2182.470,328.889,0.000,2088.187,0.000,1524.045,0.000,0.541,0.000
$DEVICE_MAMPS,197.370,58.905,1031.220,52.785,0.000,0.000,0.000,125.460,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21372.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.438,0.000,0.000,0.000
$MEM,260776
$DATA_FILE_SIZE,36623,1029
$CAP_FILE_SIZE,187085,0
$CFSIZE,260034560,234602496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,303.02,1
$GPS,181215,072603,742.751,8309.671,41,1.5,45,-2.2,0.8,340.0,8,8.2