version: 66.12
glider: 204
mission: 15
dive: 37
start: 3 7 115 7 41 40
data:
$ID,204
$MISSION,15
$DIVE,37
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,330
$T_MISSION,360
$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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$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,500
$N_FILEKB,4
$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,15
$N_GPS,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,88
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,070315,073535,1334.5675,14504.1113,38,0.7,38,1.1,0.7,26.4,10,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.3
$GPS2,070315,074130,1334.5764,14504.0498,6,0.7,6,1.1,0.0,309.3,10,12.2
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N2
$TGT_LATLONG,1336.000,14506.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.0,4391,-15.8,-10.000,-19.55,2669
$D_GRID,837
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-175.2,192,2617,810,807,0.0,0.0,0,150,0.00,0.00,-54.78,0.000,16386,0.000,0.000,194,2616,2309,2272,2347,0,0,0,0,0,0,26.73,28.83,26.80
$GC,151,-0.80,-175.2,193,2617,2272,2348,3.1,-3.5,9,197,11.40,2.03,-26.42,0.000,18948,0.234,0.040,3008,1224,3557,3529,3586,0,0,0,0,0,0,26.26,26.03,26.39
$GC,220,-0.80,-175.2,3008,1224,3531,3586,20.3,-28.2,21,228,0.00,2.10,0.00,0.000,1030,0.000,0.034,2999,2598,3557,3530,3585,0,0,0,0,0,0,26.59,26.55,26.63
$GC,533,-0.80,-175.2,2999,2598,3532,3587,116.3,-28.4,62,537,0.00,1.67,0.00,0.000,260,0.000,0.046,2991,3691,3559,3531,3587,0,0,0,0,0,0,26.96,26.71,27.01
$GC,648,-0.80,-175.2,2991,3691,3532,3588,143.8,-22.8,73,656,0.00,1.55,0.00,0.000,1030,0.000,0.021,2996,2589,3559,3531,3588,0,0,0,0,0,0,26.89,26.86,26.90
$GC,953,-0.80,-175.2,2995,2590,3535,3592,205.4,-15.2,102,957,0.00,1.70,0.00,0.000,260,0.000,0.046,2988,3695,3562,3534,3591,0,0,0,0,0,0,27.08,26.84,27.15
$GC,1043,-0.80,-175.2,2988,3695,3535,3591,218.1,-14.2,105,1047,0.00,1.52,0.00,0.000,1030,0.000,0.021,2994,2603,3562,3534,3591,0,0,0,0,0,0,26.98,26.96,26.99
$GC,1373,-0.80,-175.2,2995,2604,3536,3593,267.0,-16.3,116,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2603,3563,3535,3592,0,0,0,0,0,0,27.15,27.22,27.22
$GC,1673,-0.80,-175.2,2994,2603,3536,3591,314.1,-15.6,126,1677,0.00,1.65,0.00,0.000,260,0.000,0.043,2986,3693,3563,3535,3592,0,0,0,0,0,0,27.19,26.96,27.25
$GC,1698,-0.80,-175.2,2987,3694,3536,3593,314.1,-15.6,126,1706,0.00,1.55,0.00,0.000,1030,0.000,0.022,2994,2589,3563,3535,3592,0,0,0,0,0,0,27.09,27.05,27.10
$GC,2003,-0.80,-175.2,2994,2590,3536,3591,362.8,-14.6,137,2007,0.00,1.98,0.00,0.000,516,0.000,0.024,3004,1222,3562,3534,3591,0,0,0,0,0,0,27.20,27.03,27.26
$GC,2073,-0.80,-175.2,3004,1223,3536,3591,371.0,-13.9,139,2077,0.00,2.05,0.00,0.000,1030,0.000,0.031,2995,2601,3562,3535,3590,0,0,0,0,0,0,27.03,27.01,27.06
$GC,2393,-0.80,-175.2,2996,2601,3536,3585,415.0,-12.2,150,2397,0.00,1.65,0.00,0.000,260,0.000,0.044,2987,3691,3560,3535,3585,0,0,0,0,0,0,27.22,26.98,27.29
$GC,2493,-0.80,-175.2,2987,3691,3536,3581,425.8,-11.8,153,2497,0.00,1.55,0.00,0.000,1030,0.000,0.021,2993,2588,3559,3535,3584,0,0,0,0,0,0,27.13,27.09,27.14
$GC,2813,-0.80,-175.2,2994,2589,3533,3582,462.5,-10.8,164,2817,0.00,1.98,0.00,0.000,516,0.000,0.024,3004,1223,3556,3532,3581,0,0,0,0,0,0,27.21,27.05,27.27
$GC,2873,-0.80,-175.2,3004,1224,3532,3582,468.8,-10.9,166,2877,0.00,2.05,0.00,0.000,1030,0.000,0.031,2995,2597,3555,3531,3580,0,0,0,0,0,0,27.05,27.03,27.08
$GC,3203,-0.80,-175.2,2995,2597,3528,3576,501.3,-9.9,177,3207,0.00,2.00,0.00,0.000,516,0.000,0.025,3003,1221,3551,3527,3576,0,0,0,0,0,0,27.23,27.05,27.29
$GC,3228,-0.80,-175.2,3004,1221,3528,3576,501.3,-9.9,177,3235,0.00,2.08,0.00,0.000,1030,0.000,0.031,2995,2607,3551,3526,3576,0,0,0,0,0,0,27.05,27.02,27.08
$GC,3533,-0.80,-175.2,2995,2606,3525,3573,538.3,-12.3,188,3538,0.00,1.65,0.00,0.000,260,0.000,0.047,2986,3691,3548,3523,3574,0,0,0,0,0,0,27.22,26.98,27.29
$GC,3557,-0.80,-175.2,2986,3691,3524,3573,538.3,-12.3,188,3565,0.00,1.55,0.00,0.000,1030,0.000,0.022,2991,2589,3548,3523,3573,0,0,0,0,0,0,27.13,27.10,27.14
$GC,3863,-0.80,-175.2,2994,2589,3521,3570,579.5,-12.4,199,3868,0.00,1.98,0.00,0.000,516,0.000,0.026,3003,1226,3545,3520,3570,0,0,0,0,0,0,27.22,27.04,27.29
$GC,3933,-0.80,-175.2,3004,1228,3520,3571,586.7,-12.2,201,3937,0.00,2.08,0.00,0.000,1030,0.000,0.031,2991,2609,3544,3519,3570,0,0,0,0,0,0,27.05,27.01,27.08
$GC,4253,-0.80,-175.2,2995,2605,3517,3569,624.9,-11.5,212,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2604,3541,3515,3567,0,0,0,0,0,0,27.22,27.29,27.29
$GC,4553,-0.80,-175.2,2995,2605,3515,3565,658.6,-11.3,222,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2604,3539,3514,3564,0,0,0,0,0,0,27.22,27.29,27.28
$GC,4853,-0.80,-175.2,2995,2605,3512,3564,691.8,-11.2,232,4857,0.00,1.65,0.00,0.000,260,0.000,0.047,2986,3687,3537,3511,3563,0,0,0,0,0,0,27.20,26.97,27.27
$GC,4888,-0.80,-175.2,2986,3687,3512,3562,695.3,-11.3,233,4893,0.00,1.55,0.00,0.000,1030,0.000,0.024,2993,2595,3536,3510,3562,0,0,0,0,0,0,27.10,27.07,27.12
$GC,5213,-0.80,-175.2,2992,2594,3510,3556,732.2,-11.0,244,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2595,3534,3508,3560,0,0,0,0,0,0,27.20,27.27,27.26
$GC,5513,-0.80,-175.2,2993,2596,3507,3558,764.0,-10.4,254,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2595,3531,3506,3557,0,0,0,0,0,0,27.20,27.28,27.27
$GC,5813,-0.80,-175.2,2993,2596,3506,3556,796.2,-10.8,264,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2594,3530,3505,3555,0,0,0,0,0,0,27.21,27.28,27.27
$GC,6113,-0.80,-175.2,2993,2594,3504,3554,829.1,-10.6,274,6117,0.00,1.67,0.00,0.000,260,0.000,0.048,2986,3680,3528,3503,3553,0,0,0,0,0,0,27.21,26.95,27.27
$GC,6143,-0.80,-175.2,2985,3680,3504,3553,832.3,-10.6,275,6147,0.00,1.52,0.00,0.000,1030,0.000,0.026,2993,2612,3528,3503,3554,0,0,0,0,0,0,27.07,27.05,27.10
$STATE,6202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6202,begin apogee
$GC,6205,-0.17,0.0,2995,2406,3503,3554,838.5,-10.4,277,6342,0.73,0.00,133.57,1.170,10246,0.160,0.000,3208,2403,2839,2815,2863,0,0,0,0,0,0,26.77,25.19,24.53
$STATE,6342,end apogee,CONTROL_FINISHED_OK
$STATE,6342,begin climb
$GC,6343,0.80,175.2,3208,2404,2810,2859,842.7,0.0,281,6489,1.05,2.12,138.62,1.152,10756,0.142,0.026,3526,1039,2118,2116,2121,0,0,0,0,0,0,25.28,24.79,24.30
$GC,6653,0.87,221.6,3527,1038,2109,2109,830.4,8.2,292,6695,0.00,2.15,37.33,1.179,9222,0.000,0.029,3524,2416,1934,1936,1933,0,0,0,0,0,0,26.08,26.06,24.62
$GC,7004,0.90,245.3,3525,2418,1924,1917,798.0,9.1,304,7026,0.12,0.00,19.75,1.189,10246,0.184,0.000,3552,2417,1839,1841,1837,0,0,0,0,0,0,26.21,25.78,25.05
$GC,7304,0.90,245.3,3553,2417,1830,1823,764.1,11.8,314,7308,0.00,2.00,0.00,0.000,260,0.000,0.045,3544,3690,1826,1830,1822,0,0,0,0,0,0,26.64,26.43,26.71
$GC,7373,0.90,245.3,3544,3691,1832,1823,756.5,12.2,316,7378,0.00,1.85,0.00,0.000,1030,0.000,0.023,3552,2409,1826,1830,1822,0,0,0,0,0,0,26.60,26.58,26.62
$GC,7694,0.90,245.3,3552,2407,1828,1821,719.0,11.1,327,7698,0.00,2.00,0.00,0.000,260,0.000,0.045,3544,3687,1824,1828,1820,0,0,0,0,0,0,26.88,26.65,26.94
$GC,7728,0.90,245.3,3544,3688,1830,1822,715.3,11.3,328,7734,0.00,1.85,0.00,0.000,1030,0.000,0.023,3552,2410,1824,1828,1820,0,0,0,0,0,0,26.79,26.76,26.80
$GC,8055,0.90,245.3,3552,2408,1828,1819,677.6,11.4,339,8058,0.00,2.00,0.00,0.000,516,0.000,0.031,3563,1053,1823,1827,1819,0,0,0,0,0,0,26.88,26.79,26.95
$GC,8084,0.90,245.3,3563,1046,1827,1818,674.0,11.4,340,8088,0.00,2.08,0.00,0.000,1030,0.000,0.031,3553,2414,1822,1825,1819,0,0,0,0,0,0,26.82,26.78,26.84
$GC,8414,0.90,245.3,3554,2416,1826,1820,637.6,10.2,351,8418,0.00,1.98,0.00,0.000,260,0.000,0.046,3544,3693,1821,1825,1818,0,0,0,0,0,0,27.03,26.80,27.10
$GC,8488,0.90,245.3,3544,3693,1826,1818,631.4,10.0,353,8494,0.00,1.83,0.00,0.000,1030,0.000,0.024,3552,2423,1821,1825,1818,0,0,0,0,0,0,26.93,26.91,26.95
$GC,8804,0.95,276.6,3553,2424,1825,1819,601.5,8.8,364,8837,0.00,1.98,25.23,1.101,8452,0.000,0.045,3544,3691,1704,1706,1703,0,0,0,0,0,0,27.08,26.21,25.47
$GC,8860,0.99,309.4,3543,3691,1705,1700,598.8,8.7,365,8898,0.08,1.85,28.58,1.078,11270,0.121,0.023,3583,2425,1570,1572,1568,0,0,0,0,0,0,26.25,26.41,25.03
$GC,9196,0.99,309.4,3582,2425,1566,1555,558.0,11.4,377,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2430,1560,1565,1556,0,0,0,0,0,0,26.51,26.60,26.58
$GC,9496,0.99,309.4,3583,2425,1565,1561,524.0,11.8,387,9500,0.00,2.10,0.00,0.000,516,0.000,0.031,3593,1034,1558,1563,1554,0,0,0,0,0,0,26.84,26.65,26.91
$GC,9535,0.99,309.4,3593,1033,1564,1553,520.2,12.1,388,9540,0.00,2.10,0.00,0.000,1030,0.000,0.031,3593,2413,1557,1562,1553,0,0,0,0,0,0,26.69,26.67,26.72
$GC,9855,0.99,309.4,3593,2412,1563,1553,474.4,14.3,399,9860,0.00,1.98,0.00,0.000,260,0.000,0.046,3593,3686,1557,1562,1552,0,0,0,0,0,0,26.84,26.72,26.91
$GC,9895,0.99,309.4,3593,3685,1564,1553,469.4,14.8,400,9900,0.00,1.83,0.00,0.000,1030,0.000,0.024,3601,2422,1557,1562,1553,0,0,0,0,0,0,26.84,26.84,26.86
$GC,10215,0.99,309.4,3602,2422,1563,1552,422.0,13.2,411,10220,0.00,2.05,0.00,0.000,516,0.000,0.030,3613,1045,1556,1561,1552,0,0,0,0,0,0,27.02,26.85,27.08
$GC,10315,0.99,309.4,3612,1046,1560,1552,411.3,12.0,414,10320,0.00,2.08,0.00,0.000,1030,0.000,0.030,3612,2415,1555,1559,1551,0,0,0,0,0,0,26.86,26.83,26.89
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$STATE,14014,end climb,SURFACE_DEPTH_REACHED
$STATE,14014,begin surface coast
$FINISH,0.7,1.013531
$STATE,14029,end surface coast,CONTROL_FINISHED_OK
$STATE,14029,begin surface
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$IRIDIUM_FIX,1325.32,14502.30,010108,162243
$TT8_MAMPS,0.161035,0.161035
$HUMID,36.10
$INTERNAL_PRESSURE,9.27221
$TCM_TEMP,24.80
$XPDR_PINGS,1188
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,14008.17 5590.70
$PA_BOOTCOUNT,842
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$PA_LOG,0.07/0.128/1.876/1.653
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.076/1.856/1.686
$PA_DISK_BANK,0
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$10V_AH,10.02,6.940
$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
$DEVICE_SECS,23.725,110.350,520.400,5.750,0.000,0.000,0.000,280.825,297.000,0.000,8.220,0.000,11172.263,648.041,2512.404,64.297,0.000,1853.637,0.000,1577.105,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,473.013,0.000,0.000,0.000,0.000,0.000,14417.620,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,141.071,0.000,0.000,0.000
$MEM,229012
$DATA_FILE_SIZE,30035,705
$CAP_FILE_SIZE,129315,0
$CFSIZE,1024393216,1014595584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16885.34,0x236db2,7,5
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$GPS,070315,113635,1335.315,14505.621,27,0.9,27,1.1,0.0,0.0,9,19.5