version: 66.04
glider: 515
mission: 5
dive: 85
start: 6 6 110 18 3 59
data:
$ID,515
$MISSION,5
$DIVE,85
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1090
$D_NO_BLEED,200
$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,475
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51931
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,2841
$TGT_DEFAULT_LON,-8830
$TGT_AUTO_DEFAULT,0
$SM_CC,575
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6652.7988
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,40
$C_ROLL_DIVE,2310
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.932224
$PRESSURE_SLOPE,0.00011628702
$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,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043524536
$SEABIRD_T_H,0.00062548812
$SEABIRD_T_I,2.3784551e-05
$SEABIRD_T_J,2.5490917e-06
$SEABIRD_C_G,-10.141768
$SEABIRD_C_H,1.1640214
$SEABIRD_C_I,-0.00094225706
$SEABIRD_C_J,0.0001682234
$GPS1,175100,2842.302,-8838.379,259,1.0,259,-0.3
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-78.1
$GPS2,180320,2842.337,-8838.466,12,1.2,12,-0.3
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602E
$TGT_LATLONG,2845.000,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.225,-0.114
$KALMAN_X,-210872.5,-165.8,-984.3,237686.0,5101.2
$KALMAN_Y,64196.6,1121.9,-526.3,-77733.8,4035.8
$MHEAD_RNG_PITCHd_Wd,322.4,9686,-9.2,-6.667
$D_GRID,990
$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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
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$GC,8608,-0.58,-194.6,870.0,-8.5,824,8612,0.00,2.45,0.00,0.000,4,0.000,0.061,2522,3573,3549
$GC,8687,-0.58,-194.6,877.3,-9.4,831,8696,0.00,2.38,0.00,0.000,6,0.000,0.038,2522,2307,3548
$GC,8818,-0.58,-194.6,888.6,-9.2,844,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2308,3548
$GC,8942,-0.58,-194.6,900.3,-9.2,856,8946,0.00,2.42,0.00,0.000,4,0.000,0.060,2511,3571,3547
$GC,8990,-0.58,-194.6,905.1,-10.7,860,8994,0.12,2.33,0.00,0.000,6,0.153,0.039,2542,2313,3548
$GC,9124,-0.58,-194.6,916.1,-8.2,873,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2313,3547
$GC,9249,-0.58,-194.6,925.9,-8.2,885,9252,0.00,2.42,0.00,0.000,4,0.000,0.061,2533,3575,3547
$GC,9290,-0.58,-194.6,929.7,-8.7,888,9298,0.00,2.38,0.00,0.000,6,0.000,0.038,2533,2311,3547
$GC,9420,-0.58,-194.6,940.4,-8.3,901,9423,0.00,2.45,0.00,0.000,4,0.000,0.061,2522,3579,3546
$GC,9467,-0.58,-194.6,944.8,-8.9,905,9476,0.00,2.40,0.00,0.000,6,0.000,0.038,2522,2305,3546
$STATE,9534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9534,begin apogee
$GC,9537,-0.26,0.0,950.6,8.8,912,9688,0.43,0.00,146.25,1.237,6,0.146,0.000,2647,2179,2800
$STATE,9688,end apogee,CONTROL_FINISHED_OK
$STATE,9688,begin climb
$GC,9690,0.58,194.6,955.5,0.0,927,9862,0.85,0.00,163.12,1.203,6,0.116,0.000,2909,2179,2004
$GC,9984,0.58,194.6,932.1,7.3,956,9988,0.00,2.78,0.00,0.000,4,0.000,0.059,2908,3578,1997
$GC,10014,0.58,194.6,928.7,11.2,958,10022,0.00,2.60,0.00,0.000,6,0.000,0.037,2920,2255,1995
$GC,10145,0.58,194.6,914.9,11.3,971,10148,0.00,1.85,0.00,0.000,4,0.000,0.048,2929,790,1994
$GC,10180,0.58,194.6,910.7,12.1,974,10189,0.00,1.88,0.00,0.000,6,0.000,0.043,2929,2237,1994
$GC,10310,0.58,194.6,895.2,12.2,987,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2237,1992
$GC,10435,0.58,194.6,879.9,12.9,999,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2237,1992
$GC,10559,0.58,194.6,864.2,12.9,1011,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2238,1991
$GC,10683,0.58,194.6,848.7,12.5,1023,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2238,1991
$GC,10807,0.58,194.6,833.5,12.3,1035,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2238,1991
$GC,10932,0.58,194.6,818.6,12.1,1047,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2238,1990
$GC,11055,0.58,194.6,803.5,12.7,1059,11056,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2238,1990
$GC,11180,0.58,194.6,788.6,12.1,1071,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2238,1990
$GC,11304,0.58,194.6,773.6,12.0,1083,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2238,1989
$GC,11428,0.58,194.6,758.6,11.9,1095,11432,0.00,1.85,0.00,0.000,4,0.000,0.048,2937,784,1989
$GC,11453,0.58,194.6,755.5,12.6,1097,11462,0.00,1.83,0.00,0.000,6,0.000,0.043,2937,2221,1989
$GC,11583,0.58,194.6,739.8,12.5,1110,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1989
$GC,11708,0.58,194.6,724.3,12.5,1122,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1989
$GC,11832,0.58,194.6,708.6,12.8,1134,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1989
$GC,11956,0.58,194.6,693.3,12.3,1146,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1988
$GC,12080,0.58,194.6,678.1,12.1,1158,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1988
$GC,12205,0.58,194.6,662.8,12.2,1170,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1987
$GC,12328,0.58,194.6,648.2,11.9,1182,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1987
$GC,12453,0.58,194.6,633.0,12.4,1194,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2222,1987
$GC,12577,0.58,194.6,617.9,11.9,1206,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1987
$GC,12701,0.58,194.6,602.9,12.2,1218,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2222,1987
$GC,12825,0.58,194.6,588.1,11.6,1230,12829,0.00,2.58,0.00,0.000,4,0.000,0.061,2937,3571,1987
$GC,12857,0.58,194.6,583.8,13.4,1233,12861,0.00,2.53,0.00,0.000,6,0.000,0.038,2949,2192,1986
$GC,12992,0.58,194.6,566.5,13.0,1246,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2195,1986
$GC,13116,0.58,194.6,550.5,12.7,1258,13117,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2195,1986
$GC,13240,0.58,194.6,534.8,12.5,1270,13241,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2196,1985
$GC,13364,0.58,194.6,519.1,12.8,1282,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2196,1986
$GC,13488,0.58,194.6,503.1,12.7,1294,13492,0.00,1.73,0.00,0.000,4,0.000,0.048,2957,807,1986
$GC,13520,0.58,194.6,499.0,12.9,1297,13524,0.10,1.77,0.00,0.000,6,0.148,0.042,2926,2230,1986
$GC,13655,0.58,194.6,484.6,10.4,1310,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2231,1986
$GC,13779,0.58,194.6,471.6,10.4,1322,13779,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2231,1985
$GC,13903,0.58,194.6,457.7,11.4,1334,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2231,1985
$GC,14027,0.58,194.6,443.9,11.3,1346,14028,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2231,1986
$GC,14151,0.58,194.6,430.1,10.8,1358,14155,0.00,2.55,0.00,0.000,4,0.000,0.059,2926,3553,1986
$GC,14176,0.58,194.6,427.0,12.1,1360,14185,0.00,2.50,0.00,0.000,6,0.000,0.037,2936,2213,1985
$GC,14307,0.58,194.6,412.0,11.7,1373,14308,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2214,1985
$GC,14431,0.58,194.6,397.7,11.6,1385,14435,0.00,1.75,0.00,0.000,4,0.000,0.047,2945,799,1985
$GC,14456,0.58,194.6,394.6,11.4,1387,14465,0.00,1.80,0.00,0.000,6,0.000,0.041,2945,2231,1985
$GC,14586,0.58,194.6,378.7,12.1,1400,14587,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2232,1984
$GC,14711,0.58,194.6,363.1,12.3,1412,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2232,1985
$GC,14835,0.58,194.6,348.0,12.0,1424,14836,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2232,1985
$GC,14959,0.58,194.6,333.2,12.4,1436,14960,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2232,1985
$GC,15083,0.58,194.6,318.1,12.2,1448,15084,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2232,1985
$GC,15208,0.58,194.6,302.7,12.7,1460,15211,0.00,2.55,0.00,0.000,4,0.000,0.058,2944,3559,1985
$GC,15233,0.58,194.6,299.2,14.6,1462,15241,0.10,2.50,0.00,0.000,6,0.156,0.035,2926,2209,1985
$GC,15363,0.58,194.6,284.6,10.4,1475,15366,0.00,1.73,0.00,0.000,4,0.000,0.045,2933,808,1985
$GC,15388,0.58,194.6,281.8,11.0,1477,15396,0.00,1.77,0.00,0.000,6,0.000,0.039,2933,2231,1985
$GC,15519,0.58,194.6,267.3,11.4,1490,15519,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2232,1985
$GC,15643,0.58,194.6,253.3,10.9,1502,15646,0.00,2.53,0.00,0.000,4,0.000,0.056,2933,3557,1985
$GC,15675,0.58,194.6,249.4,13.1,1505,15678,0.00,2.45,0.00,0.000,6,0.000,0.035,2945,2217,1985
$GC,15809,0.58,194.6,233.0,11.5,1518,15813,0.00,1.75,0.00,0.000,4,0.000,0.044,2953,795,1985
$GC,15841,0.58,194.6,229.1,11.6,1521,15845,0.08,1.77,0.00,0.000,6,0.145,0.039,2929,2228,1986
$GC,15975,0.58,194.6,214.4,10.8,1534,15976,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2229,1986
$GC,16100,0.58,194.6,200.8,10.6,1546,16104,0.00,2.55,0.00,0.000,4,0.000,0.055,2929,3570,1986
$GC,16126,0.58,194.6,197.7,12.5,1548,16130,0.00,2.47,0.00,0.000,6,0.000,0.034,2939,2197,1987
$GC,16261,0.58,194.6,182.5,11.8,1561,16264,0.00,1.70,0.00,0.000,4,0.000,0.044,2947,812,1987
$GC,16303,0.58,194.6,177.8,10.1,1565,16307,0.00,1.73,0.00,0.000,6,0.000,0.038,2947,2213,1987
$GC,16438,0.58,194.6,162.0,11.7,1578,16438,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2214,1987
$GC,16562,0.58,194.6,147.5,11.5,1590,16565,0.00,2.55,0.00,0.000,4,0.000,0.054,2947,3563,1987
$GC,16593,0.58,194.6,143.6,14.0,1593,16597,0.08,2.47,0.00,0.000,6,0.132,0.033,2924,2217,1987
$GC,16728,0.58,194.6,130.7,9.3,1606,16729,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2219,1987
$GC,16852,0.58,194.6,119.2,9.5,1618,16856,0.00,1.73,0.00,0.000,4,0.000,0.041,2931,803,1987
$GC,16877,0.58,194.6,116.8,8.8,1620,16886,0.00,1.77,0.00,0.000,6,0.000,0.036,2931,2237,1987
$GC,17008,0.58,194.6,104.5,9.2,1633,17011,0.00,2.50,0.00,0.000,4,0.000,0.053,2931,3558,1987
$GC,17029,0.58,194.6,102.2,10.5,1635,17033,0.00,2.45,0.00,0.000,6,0.000,0.032,2942,2208,1988
$GC,17164,0.58,194.6,88.1,9.3,1648,17167,0.00,1.70,0.00,0.000,4,0.000,0.041,2951,814,1989
$GC,17210,0.58,194.6,83.2,10.0,1652,17218,0.00,1.75,0.00,0.000,6,0.000,0.035,2951,2232,1989
$GC,17278,0.58,194.6,76.2,10.3,1659,17279,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2232,1989
$GC,17341,0.58,194.6,69.5,11.0,1665,17341,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2232,1989
$GC,17402,0.58,194.6,62.9,11.0,1671,17403,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2232,1989
$GC,17464,0.58,194.6,56.4,10.1,1677,17465,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2232,1990
$GC,17527,0.58,194.6,50.2,9.6,1683,17530,0.00,1.75,0.00,0.000,4,0.000,0.039,2958,811,1990
$GC,17552,0.58,194.6,47.8,9.9,1685,17560,0.12,1.75,0.00,0.000,6,0.136,0.035,2925,2235,1990
$GC,17620,0.58,194.6,42.7,7.3,1692,17621,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2235,1990
$GC,17683,0.59,201.4,38.8,6.5,1698,17695,0.00,2.53,3.97,0.358,4,0.000,0.051,2925,3551,1979
$GC,17741,0.59,205.2,34.9,6.6,1703,17752,0.00,2.42,5.05,0.418,6,0.000,0.030,2933,2225,1962
$GC,17809,0.63,236.0,30.9,5.9,1710,17838,0.00,1.75,24.60,0.535,4,0.000,0.040,2940,809,1837
$GC,17866,0.67,267.7,27.6,5.9,1715,17894,0.00,1.75,24.60,0.526,6,0.000,0.034,2940,2227,1708
$GC,17963,0.73,312.3,22.0,5.6,1724,18002,0.00,2.58,34.05,0.525,4,0.000,0.050,2940,3572,1526
$GC,18024,0.81,382.5,19.3,5.0,1729,18084,0.10,2.55,52.78,0.523,6,0.052,0.030,3014,2208,1240
$GC,18145,0.81,382.5,10.2,8.3,1740,18148,0.00,1.75,0.00,0.000,4,0.000,0.038,3021,809,1236
$GC,18298,1.14,652.4,3.3,0.3,1754,18354,0.22,1.77,52.10,0.505,2,0.114,0.032,3091,2228,950
$STATE,18355,end climb,SURFACE_DEPTH_REACHED
$STATE,18355,begin surface coast
$FINISH,2.6,1.014735
$STATE,18588,end surface coast,CONTROL_FINISHED_OK
$STATE,18588,begin surface
$SM_CCo,18601,88.45,0.500,0,0,454,575.22
$SM_GC,2.42,0.00,0.00,88.45,0.000,0.000,0.500,204,2303,454,-7.91,-0.20,575.22
$IRIDIUM_FIX,2831.00,-8834.07,310899,121225
$TT8_MAMPS,0.050622
$HUMID,1258
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.70
$XPDR_PINGS,12
$24V_AH,23.7,17.706
$10V_AH,10.6,22.435
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.700,277.550,506.525,88.450,0.000,89.676,155.391,264.839,3.000,0.000,0.000,13.937,0.000,12089.741,845.706,5646.222,810.050,33.342,2599.037,0.000,4944.444,0.000,0.851,0.000
$DEVICE_MAMPS,259.246,85.137,1237.171,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.510,1318.131,4003.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94602,1781
$CAP_FILE_SIZE,249740,0
$CFSIZE,260165632,247869440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,141,0,0
$CURRENT,0.090,262.0,1
$GPS,060610,232007,2844.357,-8841.220,259,1.0,259,-0.2