version: 66.13
glider: 141
mission: 11
dive: 78
start: 6 12 119 23 44 16
data:
$ID,141
$MISSION,11
$DIVE,78
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,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,300
$T_MISSION,330
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55610
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281838
$HD_B,0.0139236
$HD_C,5.7000002e-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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,225
$PITCH_MAX,3920
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,276
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3935
$C_VBD,2950
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-166.67619
$PRESSURE_SLOPE,0.00010932798
$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,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043955045
$SEABIRD_T_H,0.00063085643
$SEABIRD_T_I,2.5021687e-05
$SEABIRD_T_J,3.0087358e-06
$SEABIRD_C_G,-9.7732916
$SEABIRD_C_H,1.1286387
$SEABIRD_C_I,-0.0014607979
$SEABIRD_C_J,0.00018615076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,120619,233204,5846.2539,-2226.7317,39,1.0,42,-12.8,0.4,56.3,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.8
$GPS2,120619,234325,5846.2583,-2226.5806,12,0.9,16,-12.8,0.6,114.3,8,9.0
$SPEED_LIMITS,0.191,0.263
$TGT_NAME,T_EAST
$TGT_LATLONG,5845.000,2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,96.5,2561966,-17.9,-11.000,-22.70,2705
$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,-0.53,-194.6,216,2717,1692,1738,0.0,0.0,0,93,0.00,0.00,-79.35,0.005,16390,0.000,0.000,216,2717,3745,3673,3818,0,0,0,0,0,0,14.59,13.60,14.61
$GC,98,-0.53,-194.6,216,2717,3672,3819,4.4,-6.4,8,115,11.85,2.47,0.00,0.000,2596,0.419,0.043,2611,1282,3746,3674,3818,0,0,0,0,0,0,14.20,14.43,14.39
$GC,194,-0.53,-194.6,2611,1280,3679,3816,29.4,-12.3,26,200,0.00,2.50,0.00,0.000,1030,0.000,0.075,2611,2697,3747,3678,3817,0,0,0,0,0,0,14.53,14.44,14.54
$GC,389,-0.53,-194.6,2611,2698,3679,3814,58.2,-14.9,46,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2698,3746,3679,3813,0,0,0,0,0,0,14.71,14.72,14.72
$GC,579,-0.53,-194.6,2611,2698,3680,3814,85.7,-14.9,65,584,0.00,2.35,0.00,0.000,516,0.000,0.047,2611,1290,3747,3680,3814,0,0,0,0,0,0,14.76,14.58,14.78
$GC,623,-0.53,-194.6,2610,1288,3678,3814,91.9,-12.2,73,629,0.00,2.47,0.00,0.000,1030,0.000,0.074,2611,2704,3746,3678,3814,0,0,0,0,0,0,14.62,14.55,14.64
$GC,817,-0.53,-194.6,2611,2704,3680,3813,118.3,-13.6,93,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2704,3746,3680,3813,0,0,0,0,0,0,14.79,14.81,14.81
$GC,1008,-0.53,-194.6,2612,2704,3680,3813,144.8,-13.9,112,1014,0.00,2.35,0.00,0.000,516,0.000,0.044,2611,1283,3746,3680,3813,0,0,0,0,0,0,14.81,14.62,14.82
$GC,1047,-0.53,-194.6,2611,1280,3680,3813,150.0,-12.4,119,1055,0.00,2.50,0.00,0.000,1030,0.000,0.075,2611,2713,3746,3680,3813,0,0,0,0,0,0,14.68,14.60,14.70
$GC,1234,-0.53,-194.6,2611,2714,3680,3813,175.2,-14.1,138,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2714,3746,3680,3813,0,0,0,0,0,0,14.83,14.84,14.84
$GC,1424,-0.53,-194.6,2610,2714,3680,3813,202.1,-14.3,157,1430,0.00,2.35,0.00,0.000,516,0.000,0.044,2611,1285,3746,3680,3813,0,0,0,0,0,0,14.83,14.66,14.85
$GC,1458,-0.53,-194.6,2611,1283,3681,3813,206.8,-12.9,163,1465,0.00,2.47,0.00,0.000,1030,0.000,0.075,2611,2707,3747,3681,3813,0,0,0,0,0,0,14.71,14.63,14.73
$GC,1654,-0.53,-194.6,2610,2706,3680,3812,233.4,-13.8,183,1660,0.00,2.35,0.00,0.000,516,0.000,0.046,2611,1284,3746,3681,3812,0,0,0,0,0,0,14.85,14.66,14.87
$GC,1684,-0.53,-194.6,2611,1282,3681,3813,237.5,-13.7,188,1690,0.00,2.47,0.00,0.000,1030,0.000,0.075,2611,2704,3747,3681,3813,0,0,0,0,0,0,14.72,14.64,14.74
$GC,1869,-0.53,-194.6,2611,2705,3681,3812,262.0,-13.5,203,1875,0.00,2.12,0.00,0.000,260,0.000,0.090,2611,3935,3745,3681,3809,0,0,0,0,0,0,14.86,14.64,14.88
$GC,1898,-0.53,-194.6,2611,3934,3681,3812,265.9,-12.9,208,1904,0.00,2.05,0.00,0.000,1030,0.000,0.042,2611,2681,3746,3681,3811,0,0,0,0,0,0,14.71,14.66,14.73
$GC,2218,-0.53,-194.6,2611,2679,3681,3812,308.4,-13.6,226,2224,0.00,2.25,0.00,0.000,516,0.000,0.045,2610,1296,3746,3681,3812,0,0,0,0,0,0,14.85,14.68,14.88
$GC,2282,-0.53,-194.6,2611,1294,3681,3812,316.5,-11.4,238,2289,0.00,2.45,0.00,0.000,1030,0.000,0.073,2611,2705,3746,3681,3812,0,0,0,0,0,0,14.74,14.66,14.76
$GC,2607,-0.53,-194.6,2610,2705,3681,3811,359.9,-13.2,257,2613,0.00,2.33,0.00,0.000,516,0.000,0.046,2611,1296,3746,3681,3811,0,0,0,0,0,0,14.88,14.69,14.89
$GC,2641,-0.53,-194.6,2611,1291,3681,3811,364.4,-12.7,263,2648,0.00,2.45,0.00,0.000,1030,0.000,0.075,2611,2703,3746,3681,3811,0,0,0,0,0,0,14.75,14.66,14.77
$GC,2957,-0.53,-194.6,2611,2704,3681,3810,404.2,-12.7,280,2963,0.00,2.33,0.00,0.000,516,0.000,0.047,2611,1299,3745,3681,3810,0,0,0,0,0,0,14.88,14.69,14.90
$GC,2991,-0.53,-194.6,2610,1297,3681,3810,408.3,-10.9,286,2996,0.00,2.45,0.00,0.000,1030,0.000,0.075,2611,2708,3745,3680,3810,0,0,0,0,0,0,14.71,14.66,14.76
$GC,3305,-0.53,-194.6,2611,2707,3681,3806,446.1,-12.3,303,3312,0.00,2.33,0.00,0.000,516,0.000,0.045,2611,1299,3745,3682,3809,0,0,0,0,0,0,14.90,14.66,14.91
$GC,3336,-0.53,-194.6,2610,1296,3681,3809,449.8,-13.1,308,3341,0.00,2.45,0.00,0.000,1030,0.000,0.076,2611,2702,3745,3681,3809,0,0,0,0,0,0,14.73,14.64,14.74
$GC,3655,-0.53,-194.6,2610,2703,3681,3809,488.7,-11.8,326,3661,0.00,2.33,0.00,0.000,516,0.000,0.046,2611,1294,3744,3680,3809,0,0,0,0,0,0,14.89,14.70,14.90
$GC,3689,-0.53,-194.6,2611,1292,3681,3804,492.4,-10.8,332,3695,0.00,2.47,0.00,0.000,1030,0.000,0.075,2611,2715,3744,3681,3808,0,0,0,0,0,0,14.76,14.68,14.78
$GC,4004,-0.53,-194.6,2611,2715,3681,3808,528.0,-11.6,349,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2716,3744,3681,3808,0,0,0,0,0,0,14.90,14.92,14.92
$GC,4304,-0.53,-194.6,2611,2716,3681,3807,565.0,-12.6,364,4310,0.00,2.35,0.00,0.000,516,0.000,0.049,2611,1297,3744,3681,3807,0,0,0,0,0,0,14.91,14.72,14.93
$GC,4378,-0.53,-194.6,2610,1296,3681,3806,573.5,-10.4,378,4384,0.00,2.45,0.00,0.000,1030,0.000,0.073,2611,2706,3746,3686,3807,0,0,0,0,0,0,14.78,14.70,14.80
$GC,4693,-0.53,-194.6,2611,2707,3680,3806,610.7,-12.1,395,4699,0.00,2.35,0.00,0.000,516,0.000,0.047,2611,1289,3746,3686,3806,0,0,0,0,0,0,14.91,14.73,14.92
$GC,4719,-0.53,-194.6,2611,1289,3681,3806,613.8,-12.1,399,4726,0.00,2.47,0.00,0.000,1030,0.000,0.076,2611,2712,3746,3686,3806,0,0,0,0,0,0,14.78,14.70,14.81
$GC,5044,-0.53,-194.6,2611,2712,3681,3805,651.7,-11.3,418,5050,0.00,2.35,0.00,0.000,516,0.000,0.047,2611,1288,3743,3681,3805,0,0,0,0,0,0,14.92,14.73,14.94
$GC,5093,-0.53,-194.6,2610,1286,3681,3805,657.1,-10.2,427,5100,0.00,2.47,0.00,0.000,1030,0.000,0.074,2611,2713,3744,3681,3808,0,0,0,0,0,0,14.77,14.70,14.78
$GC,5414,-0.53,-194.6,2611,2713,3681,3804,693.3,-11.7,445,5420,0.00,2.35,0.00,0.000,516,0.000,0.047,2611,1289,3742,3681,3804,0,0,0,0,0,0,14.92,14.73,14.93
$GC,5439,-0.53,-194.6,2611,1290,3681,3804,696.2,-11.8,449,5445,0.00,2.47,0.00,0.000,1030,0.000,0.076,2611,2713,3742,3681,3804,0,0,0,0,0,0,14.79,14.70,14.81
$GC,5765,-0.53,-194.6,2610,2714,3681,3803,732.9,-11.2,468,5770,0.00,2.35,0.00,0.000,516,0.000,0.048,2610,1299,3741,3681,3801,0,0,0,0,0,0,14.92,14.73,14.95
$GC,5810,-0.53,-194.6,2610,1297,3681,3801,737.8,-9.9,476,5816,0.00,2.45,0.00,0.000,1030,0.000,0.076,2611,2706,3742,3681,3803,0,0,0,0,0,0,14.78,14.69,14.80
$GC,6135,-0.53,-194.6,2611,2706,3681,3803,772.8,-10.7,495,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2706,3741,3681,3801,0,0,0,0,0,0,14.91,14.94,14.94
$GC,6435,-0.53,-194.6,2610,2706,3681,3802,804.6,-10.5,510,6441,0.00,2.35,0.00,0.000,516,0.000,0.052,2611,1301,3740,3680,3801,0,0,0,0,0,0,14.92,14.73,14.94
$GC,6490,-0.53,-194.6,2610,1302,3681,3798,809.8,-8.8,520,6495,0.00,2.45,0.00,0.000,1062,0.000,0.077,2611,2706,3741,3681,3802,0,0,0,0,0,0,14.79,14.71,14.81
$GC,6804,-0.53,-194.6,2611,2708,3681,3801,841.4,-10.2,537,6810,0.00,2.38,0.00,0.000,516,0.000,0.051,2611,1291,3741,3681,3801,0,0,0,0,0,0,14.92,14.73,14.94
$GC,6833,-0.53,-194.6,2610,1291,3678,3801,844.3,-10.2,542,6839,0.00,2.47,0.00,0.000,1030,0.000,0.079,2612,2706,3741,3681,3801,0,0,0,0,0,0,14.78,14.68,14.80
$GC,7153,-0.53,-194.6,2611,2706,3681,3800,877.0,-10.7,560,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2706,3740,3681,3799,0,0,0,0,0,0,14.92,14.94,14.93
$GC,7453,-0.53,-194.6,2611,2706,3680,3797,909.3,-11.1,575,7459,0.00,2.35,0.00,0.000,516,0.000,0.053,2611,1302,3739,3681,3798,0,0,0,0,0,0,14.92,14.73,14.94
$GC,7507,-0.53,-194.6,2611,1300,3681,3798,915.1,-10.0,585,7513,0.00,2.45,0.00,0.000,1030,0.000,0.077,2611,2704,3739,3681,3798,0,0,0,0,0,0,14.78,14.69,14.79
$GC,7822,-0.53,-194.6,2610,2704,3681,3797,948.9,-10.5,602,7827,0.00,2.35,0.00,0.000,516,0.000,0.050,2615,1291,3739,3681,3797,0,0,0,0,0,0,14.92,14.71,14.93
$GC,7856,-0.53,-194.6,2610,1291,3676,3797,952.6,-10.4,608,7862,0.00,2.47,0.00,0.000,1030,0.000,0.080,2609,2705,3739,3681,3797,0,0,0,0,0,0,14.78,14.69,14.82
$GC,8171,-0.53,-194.6,2611,2704,3681,3796,986.0,-10.5,625,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2705,3739,3682,3796,0,0,0,0,0,0,14.91,14.93,14.92
$STATE,8208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8208,begin apogee
$GC,8216,-0.14,0.0,2611,2485,3681,3796,990.1,-10.3,627,8391,0.47,0.00,172.15,2.005,10246,0.226,0.000,2742,2484,2950,2993,2907,0,0,0,0,0,0,14.62,13.85,13.15
$STATE,8393,end apogee,CONTROL_FINISHED_OK
$STATE,8393,begin climb
$GC,8396,0.53,194.6,2742,2484,2993,2905,995.9,0.0,636,8581,0.77,0.00,179.52,1.962,10246,0.162,0.000,2959,2484,2156,2210,2103,0,0,0,0,0,0,13.82,13.64,12.99
$GC,8871,0.53,194.6,2959,2484,2202,2095,952.6,10.7,660,8877,0.00,2.40,0.00,0.000,516,0.000,0.059,2964,1108,2148,2202,2094,0,0,0,0,0,0,14.45,14.25,14.47
$GC,8900,0.54,194.6,2964,1108,2200,2094,949.5,10.4,665,8906,0.00,2.50,0.00,0.000,1094,0.000,0.070,2964,2504,2146,2199,2094,0,0,0,0,0,0,14.35,14.26,14.37
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$GC,16367,0.65,194.6,3019,1079,2184,2100,26.1,9.9,1259,16375,0.00,2.45,0.00,0.000,1094,0.000,0.065,3020,2503,2145,2191,2100,0,0,0,0,0,0,14.70,14.62,14.72
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$STATE,16571,end climb,SURFACE_DEPTH_REACHED
$STATE,16571,begin surface coast
$FINISH,0.6,1.026742
$STATE,16591,end surface coast,CONTROL_FINISHED_OK
$STATE,16592,begin surface
$SM_CCo,16613,122.20,0.573,1,0,1727,300.00
$SM_GC,1.26,8.27,0.35,122.20,0.083,0.084,0.573,217,2718,1727,-7.99,-0.62,300.00,0,0,0,0,1,0,14.64,14.68,13.98
$IRIDIUM_FIX,5849.52,-2232.08,120619,184751
$TT8_MAMPS,0.020972,0.632905
$HUMID,41.57
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.50
$XPDR_PINGS,2
$SC_FREEKB,3839840
$24V_AH,12.99,30.988
$10V_AH,13.29,0.000
$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,21.475,212.600,351.675,122.200,0.000,0.000,0.000,444.375,0.500,0.000,27.931,3138.765,10502.398,846.789,2476.725,468.262,0.000,2344.074,0.000,1960.856,0.000,0.535,0.000
$DEVICE_MAMPS,419.220,91.035,2005.065,572.985,0.000,0.000,0.000,208.080,420.000,0.000,11.240,10.970,2.190,10.970,28.950,34.940,0.000,10.000,0.000,11.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16623.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.696,0.000,0.000,0.000
$MEM,335728
$DATA_FILE_SIZE,46624,1282
$CAP_FILE_SIZE,165457,0
$CFSIZE,260034560,247312384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.189,102.29,1
$GPS,130619,042451,5846.140,-2219.234,24,1.2,44,-12.7,0.4,112.6,7,10.0