version: 66.06
glider: 143
mission: 10
dive: 239
start: 12 3 109 19 17 5
data:
$ID,143
$MISSION,10
$DIVE,239
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-35716.281
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,162725,6646.117,-5948.983,0,7115.3,0,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.41
$_SM_ANGLEo,-2.0
$GPS2,162725,6646.117,-5948.983,0,7115.3,0,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,114.6,134384,-16.9,-9.167
$D_GRID,783
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-5.45,0.000,2,0.000,0.000,2729,1942,2620,0,0,0,0,0,0
$GC,25,-0.73,-146.0,6.2,-0.0,1,57,0.80,1.73,-25.70,0.000,4,0.114,0.119,2463,870,3399,0,0,0,0,0,0
$GC,115,-0.65,-146.0,17.0,-14.3,17,120,0.00,2.50,0.00,0.000,6,0.000,0.085,2463,2462,3402,0,0,0,0,0,0
$GC,458,-0.56,-146.0,64.4,-13.0,78,464,0.17,2.88,0.00,0.000,4,0.243,0.098,2491,3913,3402,0,0,0,0,0,0
$GC,626,-0.56,-146.0,82.8,-10.0,108,632,0.00,2.75,0.00,0.000,6,0.000,0.074,2491,2468,3402,0,0,0,0,0,0
$GC,967,-0.61,-146.0,115.6,-9.5,155,971,0.00,2.88,0.00,0.000,4,0.000,0.100,2491,3910,3402,0,0,0,0,0,0
$GC,1041,-0.69,-146.0,122.6,-9.4,161,1045,0.00,2.72,0.00,0.000,6,0.000,0.075,2491,2480,3402,0,0,0,0,0,0
$GC,1365,-0.76,-146.0,152.7,-9.8,191,1370,0.15,2.85,0.00,0.000,4,0.127,0.098,2428,3911,3402,0,0,0,0,0,0
$GC,1466,-0.65,-146.0,165.8,-13.2,199,1472,0.20,2.70,0.00,0.000,6,0.226,0.074,2472,2489,3401,0,0,0,0,0,0
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$GC,1914,-0.76,-146.0,214.1,-9.4,240,1920,0.00,2.70,0.00,0.000,6,0.000,0.074,2472,2499,3401,0,0,0,0,0,0
$GC,2239,-0.84,-146.0,244.9,-8.9,271,2244,0.17,2.85,0.00,0.000,4,0.123,0.099,2413,3921,3401,0,0,0,0,0,0
$GC,2370,-0.73,-146.0,260.9,-13.0,282,2375,0.17,2.67,0.00,0.000,6,0.222,0.074,2451,2515,3401,0,0,0,0,0,0
$GC,2694,-0.73,-146.0,294.3,-10.6,312,2698,0.00,2.80,0.00,0.000,4,0.000,0.100,2451,3917,3401,0,0,0,0,0,0
$GC,2777,-0.73,-146.0,303.1,-10.6,319,2782,0.00,2.67,0.00,0.000,6,0.000,0.075,2451,2514,3400,0,0,0,0,0,0
$GC,3102,-0.73,-146.0,334.7,-9.1,349,3106,0.00,2.80,0.00,0.000,4,0.000,0.101,2451,3910,3400,0,0,0,0,0,0
$GC,3174,-0.73,-146.0,341.6,-9.4,355,3179,0.00,2.67,0.00,0.000,6,0.000,0.076,2451,2513,3400,0,0,0,0,0,0
$GC,3500,-0.73,-146.0,369.7,-8.2,385,3505,0.00,2.80,0.00,0.000,4,0.000,0.100,2451,3910,3400,0,0,0,0,0,0
$GC,3654,-0.80,-146.0,382.5,-8.0,398,3659,0.00,2.65,0.00,0.000,6,0.000,0.075,2451,2522,3399,0,0,0,0,0,0
$GC,3979,-0.85,-146.0,407.1,-7.4,428,3984,0.12,2.83,0.00,0.000,4,0.132,0.100,2413,3921,3399,0,0,0,0,0,0
$GC,4030,-0.77,-146.0,411.7,-9.6,432,4034,0.00,2.65,0.00,0.000,6,0.000,0.074,2413,2530,3399,0,0,0,0,0,0
$GC,4354,-0.71,-146.0,443.9,-10.3,462,4359,0.20,2.78,0.00,0.000,4,0.223,0.097,2455,3911,3400,0,0,0,0,0,0
$GC,4421,-0.79,-146.0,449.7,-8.0,467,4428,0.00,2.62,0.00,0.000,6,0.000,0.073,2455,2532,3400,0,0,0,0,0,0
$GC,4746,-0.87,-146.0,475.5,-7.9,498,4751,0.15,2.78,0.00,0.000,4,0.117,0.097,2400,3912,3400,0,0,0,0,0,0
$GC,4796,-0.75,-146.0,480.6,-9.9,502,4802,0.20,2.60,0.00,0.000,6,0.217,0.072,2445,2544,3400,0,0,0,0,0,0
$GC,5121,-0.80,-146.0,505.9,-7.4,532,5126,0.00,2.75,0.00,0.000,4,0.000,0.097,2444,3912,3400,0,0,0,0,0,0
$GC,5269,-0.86,-146.0,517.8,-8.3,544,5275,0.00,2.60,0.00,0.000,6,0.000,0.071,2445,2546,3400,0,0,0,0,0,0
$GC,5596,-0.92,-146.0,543.6,-7.6,575,5601,0.17,2.75,0.00,0.000,4,0.122,0.094,2377,3921,3401,0,0,0,0,0,0
$GC,5629,-0.74,-146.0,547.2,-11.3,577,5635,0.30,2.58,0.00,0.000,6,0.224,0.070,2446,2557,3401,0,0,0,0,0,0
$GC,5955,-0.81,-146.0,573.1,-7.3,608,5959,0.00,2.70,0.00,0.000,4,0.000,0.095,2446,3912,3401,0,0,0,0,0,0
$GC,6016,-0.88,-146.0,578.2,-8.5,613,6021,0.12,2.58,0.00,0.000,6,0.133,0.071,2408,2557,3401,0,0,0,0,0,0
$GC,6347,-0.82,-146.0,608.9,-9.4,638,6352,0.00,2.72,0.00,0.000,4,0.000,0.096,2408,3919,3401,0,0,0,0,0,0
$GC,6392,-0.76,-146.0,613.2,-9.6,639,6397,0.15,2.58,0.00,0.000,6,0.217,0.070,2440,2563,3402,0,0,0,0,0,0
$GC,6711,-0.81,-146.0,638.9,-7.9,650,6715,0.00,2.70,0.00,0.000,4,0.000,0.095,2440,3916,3402,0,0,0,0,0,0
$GC,6783,-0.88,-146.0,645.0,-8.4,652,6787,0.00,2.55,0.00,0.000,6,0.000,0.070,2440,2575,3402,0,0,0,0,0,0
$GC,7106,-0.94,-146.0,670.7,-8.1,663,7108,0.17,0.00,0.00,0.000,6,0.117,0.000,2384,2577,3403,0,0,0,0,0,0
$GC,7413,-0.81,-146.0,701.2,-10.1,673,7415,0.17,0.00,0.00,0.000,6,0.219,0.000,2422,2577,3403,0,0,0,0,0,0
$GC,7718,-0.81,-146.0,726.8,-8.3,683,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2577,3403,0,0,0,0,0,0
$STATE,8025,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8025,begin apogee
$GC,8031,-0.16,0.0,752.5,8.5,693,8159,0.80,0.00,124.70,1.259,6,0.193,0.000,2634,1944,2800,0,0,0,0,0,0
$STATE,8160,end apogee,CONTROL_FINISHED_OK
$STATE,8160,begin climb
$GC,8162,0.73,146.0,755.9,0.0,697,8303,0.98,2.78,131.02,1.200,4,0.139,0.095,2924,360,2203,0,0,0,0,0,0
$GC,8358,0.65,146.0,741.4,11.3,703,8363,0.00,2.55,0.00,0.000,6,0.000,0.071,2924,1957,2199,0,0,0,0,0,0
$GC,8688,0.60,146.0,706.8,10.5,714,8693,0.17,3.10,0.00,0.000,4,0.199,0.087,2881,3537,2194,0,0,0,0,0,0
$GC,8754,0.60,146.0,699.9,10.2,716,8759,0.00,3.05,0.00,0.000,6,0.000,0.077,2893,1958,2193,0,0,0,0,0,0
$GC,9083,0.60,146.0,669.2,9.3,727,9088,0.00,3.05,0.00,0.000,4,0.000,0.087,2893,3537,2192,0,0,0,0,0,0
$GC,9127,0.55,146.0,664.9,10.1,728,9132,0.15,3.00,0.00,0.000,6,0.199,0.077,2874,1959,2191,0,0,0,0,0,0
$GC,9445,0.68,158.4,637.4,8.6,739,9461,0.12,3.03,10.05,1.057,4,0.126,0.086,2913,3538,2153,0,0,0,0,0,0
$GC,9535,0.57,158.4,627.2,12.0,741,9542,0.20,2.97,0.00,0.000,6,0.206,0.077,2881,1977,2152,0,0,0,0,0,0
$GC,9847,0.67,158.4,597.7,9.4,752,9852,0.00,3.00,0.00,0.000,4,0.000,0.087,2881,3540,2151,0,0,0,0,0,0
$GC,9901,0.67,158.4,591.9,10.9,756,9908,0.00,2.95,0.00,0.000,6,0.000,0.077,2891,1989,2151,0,0,0,0,0,0
$GC,10227,0.73,158.4,560.7,9.5,787,10232,0.10,3.00,0.00,0.000,4,0.130,0.087,2931,3537,2151,0,0,0,0,0,0
$GC,10282,0.57,158.4,554.1,12.8,791,10289,0.28,2.92,0.00,0.000,6,0.203,0.077,2877,1996,2149,0,0,0,0,0,0
$GC,10607,0.72,183.4,526.9,8.1,822,10639,0.15,3.05,22.27,1.091,4,0.120,0.087,2925,3538,2051,0,0,0,0,0,0
$GC,10667,0.63,183.4,520.4,12.8,827,10673,0.17,2.95,0.00,0.000,6,0.206,0.077,2899,2002,2050,0,0,0,0,0,0
$GC,10992,0.68,183.4,489.5,9.3,858,10993,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2003,2048,0,0,0,0,0,0
$GC,11312,0.74,183.4,458.5,9.9,888,11316,0.00,2.97,0.00,0.000,4,0.000,0.087,2898,3544,2047,0,0,0,0,0,0
$GC,11395,0.74,183.4,449.2,11.5,895,11400,0.00,2.92,0.00,0.000,6,0.000,0.077,2909,2003,2047,0,0,0,0,0,0
$GC,11719,0.74,183.4,414.8,9.9,925,11724,0.00,2.95,0.00,0.000,4,0.000,0.087,2910,3539,2047,0,0,0,0,0,0
$GC,11773,0.74,183.4,408.6,11.6,929,11780,0.00,2.90,0.00,0.000,6,0.000,0.077,2922,2011,2047,0,0,0,0,0,0
$GC,12098,0.74,183.4,374.7,10.3,960,12103,0.00,2.92,0.00,0.000,4,0.000,0.087,2922,3537,2047,0,0,0,0,0,0
$GC,12141,0.69,183.4,369.8,11.6,963,12147,0.00,2.88,0.00,0.000,6,0.000,0.077,2934,2021,2047,0,0,0,0,0,0
$GC,12466,0.69,183.4,335.2,10.1,994,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2023,2047,0,0,0,0,0,0
$GC,12786,0.69,183.4,303.3,9.9,1024,12790,0.00,2.92,0.00,0.000,4,0.000,0.088,2934,3540,2047,0,0,0,0,0,0
$GC,12813,0.69,183.4,300.4,10.2,1026,12819,0.15,2.88,0.00,0.000,6,0.205,0.077,2914,2023,2047,0,0,0,0,0,0
$GC,13138,0.77,185.5,272.1,9.1,1056,13143,0.00,2.92,0.00,0.000,4,0.000,0.088,2914,3544,2046,0,0,0,0,0,0
$GC,13199,0.77,185.5,265.8,10.0,1061,13204,0.00,2.85,0.00,0.000,6,0.000,0.077,2924,2042,2047,0,0,0,0,0,0
$GC,13524,0.85,192.5,236.2,8.9,1091,13535,0.12,0.00,8.75,0.874,6,0.120,0.000,2968,2044,2015,0,0,0,0,0,0
$GC,13853,0.80,192.5,203.7,9.3,1122,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2044,2014,0,0,0,0,0,0
$GC,14173,0.83,211.9,175.5,8.4,1152,14193,0.00,0.00,17.75,0.903,6,0.000,0.000,2968,2044,1935,0,0,0,0,0,0
$GC,14510,0.83,211.9,143.6,10.0,1184,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2045,1932,0,0,0,0,0,0
$GC,14831,0.83,212.4,111.7,9.1,1214,14836,0.00,2.92,0.00,0.000,4,0.000,0.092,2968,3540,1931,0,0,0,0,0,0
$GC,14874,0.76,212.4,107.3,9.8,1217,14881,0.20,2.88,0.00,0.000,6,0.199,0.080,2934,2042,1931,0,0,0,0,0,0
$GC,15213,1.01,294.9,82.4,5.7,1270,15295,0.25,3.03,70.57,0.858,4,0.107,0.091,3022,3543,1595,0,0,0,0,0,0
$GC,15318,0.91,294.9,70.8,12.8,1290,15325,0.22,2.95,0.00,0.000,6,0.203,0.081,2985,2050,1593,0,0,0,0,0,0
$GC,15663,0.92,304.8,41.1,8.8,1351,15679,0.00,2.67,7.97,0.771,4,0.000,0.103,2993,363,1555,0,0,0,0,0,0
$GC,15702,0.98,304.8,37.1,10.1,1358,15708,0.00,2.55,0.00,0.000,6,0.000,0.077,2993,2058,1554,0,0,0,0,0,0
$FREEZE,8.84,-1.740,-1.763,2,4,0
$STATE,15948,end climb,FINISH_DEPTH_REACHED
$STATE,15949,begin subsurface finish
$FINISH1,8.8,1.025820,82
$GC,15955,0.10,81.6,8.8,-10.6,1402,15991,0.95,0.00,-31.65,0.000,6,0.180,0.000,2729,1941,2469,0,0,0,0,0,0
$FINISH2,7.6
$STATE,15992,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15992,begin surface
$RAFOS_CLK,1107
$RAFOS,6,1259873342,20.833334,20.817223,123,61,55,0,0,0,779,195,139,0,0,0
$RAFOS,5,1259872870,20.700001,20.686111,73,64,59,0,0,0,828,164,110,0,0,0
$RAFOS,4,1259872388,20.566668,20.552221,74,58,55,0,0,0,610,149,199,0,0,0
$RAFOS,3,1259871911,20.433332,20.419722,89,69,61,0,0,0,676,157,189,0,0,0
$RAFOS,2,1259871424,20.299999,20.284445,115,57,55,0,0,0,636,177,135,0,0,0
$RAFOS,1,1259870947,20.166666,20.151945,137,58,56,0,0,0,568,163,192,0,0,0
$RAFOS,0,1259870464,20.033333,20.017778,96,61,56,0,0,0,704,213,120,0,0,0
$RAFOS_FIX,6644.146973,-5943.714844,031209,202016,7,101,0.37
$IRIDIUM_FIX,6620.33,-5958.37,270299,070748
$TT8_MAMPS,0.026845
$HUMID,50.03
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,16.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,752.5,10.2
$24V_AH,22.4,49.865
$10V_AH,10.2,26.027
$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,8.475,180.025,393.100,0.000,0.000,0.000,0.000,0.000,4.750,0.000,0.000,2416.912,10539.658,511.164,2395.231,200.671,0.000,1762.672,0.000,2368.438,2520.000,24.482,0.000
$DEVICE_MAMPS,243.139,118.885,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.906,993.325,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152468
$DATA_FILE_SIZE,53574,1409
$CAP_FILE_SIZE,170866,0
$CFSIZE,260165632,231108608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,031209,202716,6644.147,-5943.715,0,7101.0,0,-38.1