version: 66.09
glider: 181
mission: 6
dive: 696
start: 10 21 111 22 37 14
data:
$ID,181
$MISSION,6
$DIVE,696
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-41473.961
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2355
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,211011,223006,2135.834,12009.700,34,0.9,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.1
$GPS2,211011,223649,2135.870,12009.591,8,0.9,13,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,318.3,23624,-14.3,-10.312
$D_GRID,2692
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.53,0.000,2,0.000,0.000,138,2583,2339,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.2,-2.8,12,138,8.35,0.80,-32.08,0.000,4,0.219,0.072,2148,3124,3763,0,0,0,0,0,0
$GC,292,-0.37,-219.0,63.3,-31.6,47,299,0.28,0.77,0.00,0.000,6,0.166,0.026,2225,2575,3763,0,0,0,0,0,0
$GC,639,-0.30,-219.0,128.4,-14.1,108,647,0.10,0.70,0.00,0.000,4,0.159,0.026,2255,2045,3761,0,0,0,0,0,0
$GC,694,-0.30,-219.0,134.6,-10.5,117,701,0.00,0.82,0.00,0.000,6,0.000,0.034,2252,2598,3761,0,0,0,0,0,0
$GC,1041,-0.46,-219.0,167.0,-9.7,178,1049,0.12,0.75,0.00,0.000,4,0.083,0.025,2196,2048,3761,0,0,0,0,0,0
$GC,1171,-0.48,-219.0,179.7,-10.7,200,1178,0.00,0.80,0.00,0.000,6,0.000,0.034,2194,2587,3761,0,0,0,0,0,0
$GC,1515,-0.54,-219.0,214.7,-10.4,249,1519,0.00,0.77,0.00,0.000,4,0.000,0.038,2194,3117,3761,0,0,0,0,0,0
$GC,1577,-0.57,-219.0,221.8,-10.8,254,1583,0.00,0.75,0.00,0.000,6,0.000,0.025,2194,2572,3761,0,0,0,0,0,0
$GC,1903,-0.65,-219.0,254.9,-9.5,285,1905,0.15,0.00,0.00,0.000,6,0.070,0.000,2103,2572,3761,0,0,0,0,0,0
$GC,2221,-0.52,-219.0,303.9,-16.3,315,2225,0.25,0.85,0.00,0.000,4,0.141,0.034,2179,3115,3760,0,0,0,0,0,0
$GC,2294,-0.51,-219.0,312.3,-10.3,321,2301,0.00,0.73,0.00,0.000,6,0.000,0.026,2179,2586,3760,0,0,0,0,0,0
$GC,2620,-0.60,-219.0,342.0,-8.8,352,2624,0.00,0.80,0.00,0.000,4,0.000,0.037,2179,3114,3758,0,0,0,0,0,0
$GC,2736,-0.66,-219.0,351.9,-8.9,362,2740,0.08,0.73,0.00,0.000,6,0.052,0.026,2117,2592,3757,0,0,0,0,0,0
$GC,3069,-0.66,-219.0,386.1,-10.0,393,3073,0.00,0.77,0.00,0.000,4,0.000,0.038,2114,3104,3754,0,0,0,0,0,0
$GC,3120,-0.61,-219.0,392.0,-10.9,397,3127,0.12,0.73,0.00,0.000,6,0.125,0.027,2154,2585,3754,0,0,0,0,0,0
$GC,3447,-0.59,-219.0,423.7,-9.8,428,3450,0.00,0.70,0.00,0.000,4,0.000,0.026,2154,2057,3752,0,0,0,0,0,0
$GC,3505,-0.57,-219.0,429.7,-9.6,433,3509,0.00,0.80,0.00,0.000,6,0.000,0.037,2152,2585,3751,0,0,0,0,0,0
$GC,3838,-0.60,-219.0,460.5,-9.0,464,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2585,3748,0,0,0,0,0,0
$GC,4166,-0.65,-219.0,487.0,-8.2,495,4170,0.00,0.73,0.00,0.000,4,0.000,0.027,2152,2064,3745,0,0,0,0,0,0
$GC,4274,-0.67,-219.0,496.4,-8.5,504,4280,0.00,0.80,0.00,0.000,6,0.000,0.038,2152,2585,3744,0,0,0,0,0,0
$GC,4593,-0.72,-219.0,524.8,-9.0,522,4597,0.00,0.80,0.00,0.000,4,0.000,0.042,2152,3116,3741,0,0,0,0,0,0
$GC,4639,-0.76,-219.0,529.1,-9.3,524,4644,0.10,0.75,0.00,0.000,6,0.047,0.028,2087,2587,3741,0,0,0,0,0,0
$GC,4975,-0.65,-219.0,577.4,-15.5,540,4980,0.20,0.73,0.00,0.000,4,0.141,0.022,2144,2064,3737,0,0,0,0,0,0
$GC,5053,-0.63,-219.0,587.0,-10.5,543,5056,0.00,0.82,0.00,0.000,6,0.000,0.038,2142,2596,3737,0,0,0,0,0,0
$GC,5376,-0.60,-219.0,621.9,-11.0,559,5380,0.00,0.75,0.00,0.000,4,0.000,0.026,2142,2058,3734,0,0,0,0,0,0
$GC,5483,-0.58,-219.0,633.8,-10.6,563,5489,0.00,0.82,0.00,0.000,6,0.000,0.041,2139,2590,3733,0,0,0,0,0,0
$GC,5800,-0.54,-219.0,668.9,-11.2,579,5802,0.15,0.00,0.00,0.000,6,0.146,0.000,2181,2590,3731,0,0,0,0,0,0
$GC,6109,-0.64,-219.0,694.0,-7.9,594,6113,0.12,0.82,0.00,0.000,4,0.088,0.043,2115,3121,3729,0,0,0,0,0,0
$GC,6258,-0.59,-219.0,710.2,-12.0,600,6263,0.15,0.77,0.00,0.000,6,0.122,0.029,2164,2586,3728,0,0,0,0,0,0
$GC,6580,-0.59,-219.0,738.4,-8.4,616,6584,0.00,0.70,0.00,0.000,4,0.000,0.028,2164,2078,3725,0,0,0,0,0,0
$GC,6712,-0.66,-219.0,749.1,-8.3,621,6718,0.00,0.80,0.00,0.000,6,0.000,0.041,2164,2589,3725,0,0,0,0,0,0
$GC,7028,-0.73,-219.0,772.7,-7.3,637,7033,0.12,0.75,0.00,0.000,4,0.083,0.030,2097,2066,3722,0,0,0,0,0,0
$GC,7258,-0.66,-219.0,798.2,-12.6,647,7263,0.12,0.82,0.00,0.000,6,0.124,0.043,2135,2588,3721,0,0,0,0,0,0
$GC,7589,-0.63,-219.0,830.8,-9.8,663,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2589,3720,0,0,0,0,0,0
$GC,7896,-0.61,-219.0,861.4,-10.1,678,7900,0.00,0.82,0.00,0.000,4,0.000,0.047,2133,3123,3718,0,0,0,0,0,0
$GC,7948,-0.58,-219.0,866.8,-10.6,680,7952,0.08,0.77,0.00,0.000,6,0.128,0.030,2160,2593,3717,0,0,0,0,0,0
$GC,8278,-0.60,-219.0,894.2,-8.0,696,8282,0.00,0.73,0.00,0.000,4,0.000,0.028,2160,2072,3716,0,0,0,0,0,0
$GC,8439,-0.61,-219.0,906.6,-7.7,703,8443,0.00,0.82,0.00,0.000,6,0.000,0.042,2158,2598,3715,0,0,0,0,0,0
$GC,8773,-0.61,-219.0,933.4,-8.1,719,8777,0.00,0.75,0.00,0.000,4,0.000,0.028,2157,2072,3713,0,0,0,0,0,0
$GC,8824,-0.63,-219.0,937.8,-8.6,721,8827,0.00,0.80,0.00,0.000,6,0.000,0.042,2155,2583,3713,0,0,0,0,0,0
$GC,9152,-0.63,-219.0,964.5,-7.8,737,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2583,3711,0,0,0,0,0,0
$GC,9462,-0.63,-219.0,988.4,-7.6,752,9466,0.00,0.75,0.00,0.000,4,0.000,0.029,2155,2066,3711,0,0,0,0,0,0
$STATE,9483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9483,begin apogee
$GC,9490,-0.19,0.0,990.4,7.7,753,9661,0.40,0.00,166.15,1.066,6,0.111,0.000,2288,2182,2869,0,0,0,0,0,0
$STATE,9662,end apogee,CONTROL_FINISHED_OK
$STATE,9662,begin climb
$GC,9665,0.61,219.0,1000.3,0.0,761,9850,0.70,0.82,175.35,1.049,4,0.047,0.029,2570,1627,1975,0,0,0,0,0,0
$GC,9942,0.52,219.0,981.4,12.1,774,9946,0.15,0.82,0.00,0.000,6,0.147,0.034,2526,2164,1973,0,0,0,0,0,0
$GC,10278,0.51,248.4,949.5,9.4,790,10308,0.00,0.85,24.62,0.982,4,0.000,0.040,2526,2693,1856,0,0,0,0,0,0
$GC,10411,0.48,264.9,936.5,9.8,796,10434,0.00,0.77,14.48,0.915,6,0.000,0.030,2528,2169,1787,0,0,0,0,0,0
$GC,10745,0.51,311.6,906.1,8.8,812,10785,0.00,0.00,38.40,0.981,6,0.000,0.000,2528,2169,1598,0,0,0,0,0,0
$GC,11093,0.55,354.4,873.8,9.0,829,11132,0.00,0.00,35.50,0.959,6,0.000,0.000,2527,2169,1424,0,0,0,0,0,0
$GC,11441,0.59,385.7,841.9,9.3,846,11471,0.00,0.00,27.10,0.933,6,0.000,0.000,2528,2169,1295,0,0,0,0,0,0
$GC,11797,0.67,404.0,808.2,9.7,863,11820,0.12,0.75,15.73,0.877,4,0.090,0.033,2590,1644,1221,0,0,0,0,0,0
$GC,11915,0.63,404.0,792.0,13.5,868,11920,0.08,0.80,0.00,0.000,6,0.132,0.034,2565,2164,1220,0,0,0,0,0,0
$GC,12244,0.63,404.0,752.4,12.0,884,12247,0.00,0.77,0.00,0.000,4,0.000,0.040,2565,2686,1220,0,0,0,0,0,0
$GC,12391,0.61,404.0,734.0,12.2,890,12395,0.00,0.77,0.00,0.000,6,0.000,0.029,2567,2160,1219,0,0,0,0,0,0
$GC,12714,0.61,404.0,696.6,11.5,906,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2160,1218,0,0,0,0,0,0
$GC,13023,0.61,405.3,663.0,10.3,921,13026,0.00,0.73,0.00,0.000,4,0.000,0.036,2571,1656,1218,0,0,0,0,0,0
$GC,13079,0.60,405.3,657.1,10.5,923,13083,0.00,0.77,0.00,0.000,6,0.000,0.033,2570,2166,1218,0,0,0,0,0,0
$GC,13401,0.62,424.8,625.4,9.7,939,13424,0.00,0.82,17.15,0.798,4,0.000,0.039,2570,2688,1137,0,0,0,0,0,0
$GC,13511,0.61,424.8,614.2,10.6,943,13518,0.00,0.77,0.00,0.000,6,0.000,0.030,2573,2163,1137,0,0,0,0,0,0
$GC,13828,0.64,453.4,584.1,9.4,959,13858,0.00,0.77,24.80,0.786,4,0.000,0.036,2577,1651,1020,0,0,0,0,0,0
$GC,13922,0.63,453.4,574.6,10.7,963,13926,0.00,0.77,0.00,0.000,6,0.000,0.033,2577,2163,1020,0,0,0,0,0,0
$GC,14251,0.64,453.4,537.9,11.8,979,14254,0.00,0.77,0.00,0.000,4,0.000,0.037,2577,2690,1019,0,0,0,0,0,0
$GC,14301,0.62,453.4,531.1,13.1,981,14305,0.00,0.77,0.00,0.000,6,0.000,0.030,2580,2163,1019,0,0,0,0,0,0
$GC,14622,0.66,453.4,490.6,12.5,1000,14625,0.00,0.77,0.00,0.000,4,0.000,0.035,2580,2683,1020,0,0,0,0,0,0
$GC,14668,0.67,453.4,484.4,13.2,1004,14672,0.00,0.77,0.00,0.000,6,0.000,0.031,2583,2159,1019,0,0,0,0,0,0
$GC,14999,0.71,453.4,445.6,11.5,1035,15003,0.00,0.75,0.00,0.000,4,0.000,0.037,2586,1643,1020,0,0,0,0,0,0
$GC,15105,0.71,453.4,432.7,12.4,1044,15112,0.00,0.77,0.00,0.000,6,0.000,0.031,2586,2165,1020,0,0,0,0,0,0
$GC,15431,0.75,453.4,393.6,12.2,1075,15435,0.00,0.77,0.00,0.000,4,0.000,0.039,2586,2678,1020,0,0,0,0,0,0
$GC,15501,0.77,453.4,385.3,12.4,1081,15504,0.00,0.75,0.00,0.000,6,0.000,0.031,2588,2166,1020,0,0,0,0,0,0
$GC,15832,0.81,453.4,347.6,11.2,1112,15836,0.00,0.75,0.00,0.000,4,0.000,0.036,2592,1647,1020,0,0,0,0,0,0
$GC,15948,0.84,453.4,335.7,10.5,1122,15951,0.00,0.77,0.00,0.000,6,0.000,0.031,2592,2165,1020,0,0,0,0,0,0
$GC,16279,0.88,453.4,301.3,10.6,1153,16283,0.12,0.77,0.00,0.000,4,0.083,0.034,2654,1654,1021,0,0,0,0,0,0
$GC,16452,0.82,453.4,278.0,13.1,1168,16459,0.10,0.77,0.00,0.000,6,0.132,0.033,2622,2167,1021,0,0,0,0,0,0
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$GC,18118,1.12,620.4,105.1,8.1,1399,18159,0.00,0.00,35.80,0.481,6,0.000,0.000,2689,2164,439,0,0,0,0,0,0
$GC,18498,1.32,672.6,73.0,8.7,1466,18507,0.25,0.80,2.38,0.190,4,0.070,0.033,2796,1646,440,0,0,0,0,0,0
$GC,18571,1.29,672.6,65.6,11.3,1478,18579,0.00,0.77,0.03,0.199,6,0.000,0.029,2797,2177,440,0,0,0,0,0,0
$GC,18920,1.22,672.6,20.7,13.3,1539,18928,0.17,0.00,2.45,0.192,6,0.135,0.000,2747,2178,439,0,0,0,0,0,0
$STATE,19067,end climb,SURFACE_DEPTH_REACHED
$STATE,19067,begin surface coast
$FINISH,0.6,1.019380
$STATE,19097,end surface coast,CONTROL_FINISHED_OK
$STATE,19097,begin surface
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$IRIDIUM_FIX,2129.53,12006.54,211011,171749
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.30
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,0
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$10V_AH,9.7,84.332
$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
$DEVICE_SECS,19.250,55.750,660.425,0.000,0.000,27.885,48.447,160.046,0.000,0.000,17.529,3791.622,11475.979,708.782,3130.607,453.622,0.000,2250.013,0.000,2849.576,0.000,0.540,0.000
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$SENSOR_SECS,1086.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322748
$DATA_FILE_SIZE,90127,1570
$CAP_FILE_SIZE,201432,0
$CFSIZE,260165632,188776448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221011,035806,2136.363,12009.654,30,0.8,30,-2.6