version: 66.13
glider: 178
mission: 31
dive: 381
start: 1 7 120 10 16 33
data:
$ID,178
$MISSION,31
$DIVE,381
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,3
$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,-157.45766
$PRESSURE_SLOPE,0.0001061024
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,070120,100301,1414.0544,14409.8564,31,0.7,38,0.3,0.9,306.7,11,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-50.2
$GPS2,070120,101543,1414.0806,14409.7852,2,0.8,3,0.3,0.1,0.0,10,8.1
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,178.0,7567,-18.6,-8.462,-24.20,1753
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.81,-97.3,118,2750,991,861,0.0,0.0,0,120,0.00,0.00,-94.43,0.005,16390,0.000,0.000,112,2750,3364,3390,3338,0,0,0,0,0,0,15.21,13.94,15.19
$GC,124,-0.81,-97.3,111,2749,3390,3334,5.9,-12.3,10,141,8.35,2.40,0.00,0.000,2564,0.386,0.043,1853,1334,3364,3391,3338,0,0,0,0,0,0,14.49,14.90,14.90
$GC,372,-0.81,-97.3,1853,1334,3394,3333,86.5,-27.9,59,379,0.00,2.47,0.00,0.000,1030,0.000,0.053,1844,2748,3364,3396,3333,0,0,0,0,0,0,14.95,14.89,15.00
$GC,560,-0.81,-97.3,1845,2748,3395,3333,125.3,-18.8,78,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2749,3363,3395,3332,0,0,0,0,0,0,15.33,15.34,15.33
$GC,751,-0.81,-97.3,1845,2748,3395,3333,155.6,-14.0,97,757,0.00,2.35,0.00,0.000,516,0.000,0.041,1845,1335,3363,3395,3332,0,0,0,0,0,0,15.37,15.04,15.36
$GC,859,-0.81,-97.3,1845,1335,3396,3332,169.0,-10.9,117,866,0.00,2.40,0.00,0.000,1030,0.000,0.049,1839,2754,3363,3395,3332,0,0,0,0,0,0,15.09,14.98,15.11
$GC,1056,-0.81,-97.3,1839,2754,3396,3330,190.5,-11.4,137,1062,0.00,2.05,0.00,0.000,260,0.000,0.080,1838,3946,3364,3396,3332,0,0,0,0,0,0,15.37,14.98,15.38
$GC,1104,-0.81,-97.3,1838,3946,3401,3332,196.3,-11.9,146,1111,0.00,2.03,0.00,0.000,1030,0.000,0.029,1838,2692,3363,3396,3331,0,0,0,0,0,0,15.07,15.07,15.06
$GC,1291,-0.81,-97.3,1838,2692,3403,3332,216.5,-10.8,165,1298,0.00,2.20,0.00,0.000,260,0.000,0.077,1838,3948,3363,3396,3331,0,0,0,0,0,0,15.37,14.98,15.39
$GC,1526,-0.81,-97.3,1838,3949,3396,3330,243.2,-12.5,210,1533,0.00,2.03,0.00,0.000,1030,0.000,0.030,1838,2702,3363,3396,3331,0,0,0,0,0,0,15.11,15.09,15.13
$GC,1733,-0.81,-97.3,1840,2695,3396,3329,268.8,-12.0,221,1741,0.00,2.15,0.00,0.000,516,0.000,0.042,1838,1386,3362,3395,3329,0,0,0,0,0,0,15.36,15.01,15.38
$GC,1920,-0.81,-97.3,1837,1386,3396,3327,291.7,-12.1,257,1927,0.00,2.35,0.00,0.000,1030,0.000,0.053,1837,2757,3364,3402,3327,0,0,0,0,0,0,15.14,15.03,15.17
$GC,2257,-0.81,-97.3,1837,2758,3396,3323,326.3,-10.3,273,2263,0.00,2.30,0.00,0.000,516,0.000,0.042,1838,1385,3359,3396,3322,0,0,0,0,0,0,15.39,15.04,15.41
$GC,2335,-0.81,-97.3,1838,1385,3396,3322,335.7,-11.5,288,2344,0.00,2.35,0.00,0.000,1030,0.000,0.054,1838,2750,3358,3396,3321,0,0,0,0,0,0,15.13,15.02,15.16
$GC,2653,-0.81,-97.3,1838,2750,3396,3317,370.6,-10.6,301,2659,0.00,2.30,0.00,0.000,516,0.000,0.044,1836,1383,3354,3396,3312,0,0,0,0,0,0,15.42,15.03,15.42
$GC,2743,-0.81,-97.3,1837,1383,3396,3315,381.0,-11.7,318,2749,0.00,2.40,0.00,0.000,1030,0.000,0.057,1838,2741,3355,3396,3314,0,0,0,0,0,0,14.99,14.92,15.04
$GC,3048,-0.81,-97.3,1838,2741,3396,3309,412.6,-10.0,329,3056,0.00,2.30,0.00,0.000,516,0.000,0.047,1834,1384,3352,3396,3309,0,0,0,0,0,0,15.39,14.98,15.41
$GC,3085,-0.81,-97.3,1838,1384,3396,3309,416.3,-9.9,335,3093,0.00,2.38,0.00,0.000,1030,0.000,0.058,1838,2749,3352,3396,3308,0,0,0,0,0,0,15.11,14.99,15.14
$GC,3420,-0.81,-97.3,1837,2749,3395,3303,448.8,-10.2,351,3426,0.00,2.12,0.00,0.000,260,0.000,0.085,1838,3957,3349,3396,3303,0,0,0,0,0,0,15.37,14.93,15.38
$GC,3654,-0.81,-97.3,1837,3957,3396,3300,474.3,-10.2,397,3661,0.00,1.95,0.00,0.000,1030,0.000,0.035,1838,2745,3348,3396,3300,0,0,0,0,0,0,15.12,15.09,15.15
$GC,3969,-0.81,-97.3,1841,2745,3392,3297,502.2,-9.0,409,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2745,3345,3393,3297,0,0,0,0,0,0,15.38,15.40,15.40
$GC,4269,-0.81,-97.3,1837,2745,3391,3295,528.0,-8.4,419,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2742,3342,3391,3294,0,0,0,0,0,0,15.40,15.40,15.40
$GC,4570,-0.81,-97.3,1837,2745,3389,3293,553.6,-8.5,429,4577,0.00,2.30,0.00,0.000,516,0.000,0.044,1838,1383,3340,3388,3293,0,0,0,0,0,0,15.38,14.97,15.39
$GC,4689,-0.81,-97.3,1837,1383,3387,3292,564.2,-8.9,452,4696,0.00,2.45,0.00,0.000,1030,0.000,0.057,1837,2754,3340,3387,3293,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4996,-0.81,-97.3,1837,2754,3385,3291,588.5,-7.8,463,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2754,3338,3385,3291,0,0,0,0,0,0,15.36,15.39,15.38
$GC,5297,-0.81,-97.3,1837,2754,3383,3287,612.6,-8.1,473,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2754,3337,3383,3292,0,0,0,0,0,0,15.35,15.38,15.37
$GC,5596,-0.81,-97.3,1834,2754,3381,3287,637.6,-8.6,483,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2754,3334,3382,3287,0,0,0,0,0,0,15.36,15.38,15.38
$GC,5896,-0.81,-97.3,1833,2754,3381,3286,663.5,-8.6,493,5906,0.00,2.15,0.00,0.000,260,0.000,0.089,1837,3948,3334,3382,3286,0,0,0,0,0,0,15.33,14.83,15.37
$GC,6098,-0.81,-97.3,1837,3949,3380,3284,681.9,-9.0,531,6104,0.00,1.98,0.00,0.000,1030,0.000,0.039,1837,2768,3331,3380,3283,0,0,0,0,0,0,15.09,15.02,15.11
$GC,6423,-0.81,-97.3,1837,2768,3378,3282,709.1,-8.3,545,6429,0.00,2.38,0.00,0.000,516,0.000,0.045,1838,1368,3330,3378,3282,0,0,0,0,0,0,15.33,14.92,15.35
$GC,6527,-0.81,-97.3,1837,1368,3377,3282,718.1,-8.3,565,6536,0.00,2.45,0.00,0.000,1030,0.000,0.057,1838,2752,3328,3375,3282,0,0,0,0,0,0,14.95,14.83,14.98
$GC,6855,-0.81,-97.3,1837,2752,3376,3280,745.8,-8.7,579,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2752,3328,3376,3280,0,0,0,0,0,0,15.33,15.35,15.35
$GC,7156,-0.81,-97.3,1837,2752,3375,3279,772.9,-9.3,589,7165,0.00,2.40,0.00,0.000,516,0.000,0.046,1834,1359,3327,3375,3279,0,0,0,0,0,0,15.33,14.89,15.34
$GC,7247,-0.81,-97.3,1837,1360,3374,3279,781.6,-9.1,606,7258,0.00,2.53,0.00,0.000,1030,0.000,0.059,1838,2752,3327,3376,3279,0,0,0,0,0,0,14.76,14.68,14.81
$GC,7553,-0.81,-97.3,1837,2751,3372,3278,809.0,-8.9,617,7561,0.00,2.17,0.00,0.000,260,0.000,0.091,1838,3946,3327,3372,3282,0,0,0,0,0,0,15.30,14.69,15.31
$GC,7669,-0.81,-97.3,1837,3946,3372,3277,819.4,-8.8,639,7676,0.00,2.00,0.00,0.000,1030,0.000,0.041,1837,2759,3324,3372,3277,0,0,0,0,0,0,14.99,14.93,15.00
$GC,7984,-0.81,-97.3,1837,2758,3371,3276,843.0,-7.0,651,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2758,3323,3371,3276,0,0,0,0,0,0,15.30,15.33,15.32
$GC,8284,-0.81,-97.3,1837,2758,3370,3276,863.3,-6.9,661,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2758,3322,3370,3275,0,0,0,0,0,0,15.30,15.33,15.32
$GC,8585,-0.81,-97.3,1837,2758,3369,3281,883.6,-6.8,671,8591,0.00,2.20,0.00,0.000,260,0.000,0.091,1838,3947,3321,3368,3274,0,0,0,0,0,0,15.30,14.73,15.32
$GC,8740,-0.81,-97.3,1837,3947,3368,3274,894.9,-7.2,701,8747,0.00,2.03,0.00,0.000,1030,0.000,0.043,1841,2749,3321,3368,3274,0,0,0,0,0,0,15.04,14.98,15.06
$GC,9076,-0.81,-97.3,1837,2749,3367,3273,917.3,-6.6,717,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2750,3320,3367,3273,0,0,0,0,0,0,15.31,15.33,15.33
$GC,9375,-0.81,-97.3,1837,2754,3361,3272,936.8,-6.5,727,9381,0.00,2.22,0.00,0.000,260,0.000,0.092,1838,3948,3317,3367,3268,0,0,0,0,0,0,15.32,14.69,15.34
$GC,9470,-0.81,-97.3,1837,3948,3366,3272,943.5,-7.1,745,9477,0.00,2.05,0.00,0.000,1030,0.000,0.043,1837,2751,3319,3366,3272,0,0,0,0,0,0,14.92,14.87,14.95
$GC,9811,-0.81,-97.3,1837,2748,3366,3271,964.6,-6.3,761,9817,0.00,2.40,0.00,0.000,548,0.000,0.048,1838,1360,3319,3366,3272,0,0,0,0,0,0,15.27,14.81,15.28
$GC,9889,-0.81,-97.3,1837,1363,3365,3271,970.6,-7.1,776,9899,0.00,2.50,0.00,0.000,1030,0.000,0.060,1837,2749,3317,3364,3271,0,0,0,0,0,0,14.82,14.68,14.87
$STATE,10205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10205,begin apogee
$GC,10215,-0.21,0.0,1838,1717,3365,3270,992.0,-6.8,789,10309,0.80,0.00,89.45,2.082,10246,0.200,0.000,2055,1717,2968,3031,2905,0,0,0,0,0,0,14.45,14.47,13.49
$STATE,10318,end apogee,CONTROL_FINISHED_OK
$STATE,10318,begin climb
$GC,10321,0.81,97.3,2055,1717,3031,2903,993.9,0.0,792,10440,1.05,2.05,102.55,2.043,10756,0.109,0.076,2387,641,2574,2637,2511,0,0,0,0,0,0,14.48,14.29,13.37
$GC,10645,0.81,97.3,2386,641,2625,2506,970.7,9.1,860,10650,0.00,1.85,0.00,0.000,1030,0.000,0.042,2387,1728,2566,2626,2507,0,0,0,0,0,0,14.90,14.83,14.92
$GC,10971,0.81,97.3,2387,1728,2625,2501,942.2,9.0,874,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1729,2563,2625,2501,0,0,0,0,0,0,15.17,15.20,15.18
$GC,11269,0.81,97.3,2386,1728,2625,2500,916.5,8.3,884,11278,0.00,2.42,0.00,0.000,260,0.000,0.066,2387,3101,2562,2625,2499,0,0,0,0,0,0,15.26,14.82,15.28
$GC,11381,0.81,97.3,2387,3101,2627,2498,906.5,9.1,906,11392,0.00,2.45,0.00,0.000,1030,0.000,0.046,2390,1701,2561,2625,2497,0,0,0,0,0,0,15.02,14.92,15.05
$GC,11692,0.81,97.3,2389,1701,2625,2497,879.5,8.8,918,11699,0.00,1.88,0.00,0.000,516,0.000,0.076,2390,636,2560,2624,2497,0,0,0,0,0,0,15.26,14.76,15.28
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$STATE,21914,end climb,SURFACE_DEPTH_REACHED
$STATE,21914,begin surface coast
$STATE,21957,end surface coast,CONTROL_FINISHED_OK
$STATE,21960,begin surface
$SM_CCo,21982,165.70,0.666,1,0,928,500.17
$SM_GC,0.32,6.78,1.73,165.70,0.070,0.043,0.666,161,2722,928,-6.08,-1.95,500.17,0,0,0,0,1,0,14.97,15.02,14.29
$IRIDIUM_FIX,1413.38,14411.44,070120,033440
$TT8_MAMPS,0.019474,0.155043
$HUMID,47.24
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.70
$XPDR_PINGS,0
$SC_FREEKB,3708704
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,74328832
$PM_ACTIVECARD,3
$24V_AH,13.37,157.145
$10V_AH,12.44,0.000
$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,17.225,173.900,385.475,165.700,0.000,0.000,0.000,439.600,0.000,0.000,14.751,1674.068,14047.912,645.299,5864.795,680.743,0.000,2933.815,0.000,5070.760,0.000,0.553,0.000
$DEVICE_MAMPS,385.560,91.800,2082.330,666.315,0.000,0.000,0.000,196.605,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21994.000,21987.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.734,8.448,0.000,0.000
$MEM,270448
$DATA_FILE_SIZE,69829,2034
$CAP_FILE_SIZE,204994,0
$CFSIZE,260034560,198610944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.052,118.73,1
$GPS,070120,162709,1411.661,14410.397,21,0.9,22,0.3,0.3,18.7,7,6.8