version: 66.07
glider: 511
mission: 5
dive: 227
start: 1 1 111 18 53 22
data:
$ID,511
$MISSION,5
$DIVE,227
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46282.125
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$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
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,226
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,010111,184027,1819.721,12700.973,55,3.8,74,-2.1
$_CALLS,1
$_XMS_NAKs,34
$_XMS_TOUTs,3
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.8
$GPS2,010111,185228,1819.720,12700.886,23,3.7,42,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.068
$KALMAN_X,-464617.5,-731.5,4583.5,399991.9,-26618.3
$KALMAN_Y,552136.6,-186.4,-4015.8,-801162.4,13249.0
$MHEAD_RNG_PITCHd_Wd,110.5,125708,-9.9,-6.000
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.58,-146.0,0.0,0.0,0,99,0.00,0.00,-71.10,0.000,2,0.000,0.000,31,2170,2764,0,0,0,0,0,0
$GC,101,-0.58,-146.0,3.5,-3.1,14,134,10.88,2.28,-14.75,0.000,4,0.264,0.065,2456,741,3489,0,0,0,0,0,0
$GC,187,-0.58,-146.0,22.7,-15.8,32,193,0.00,2.22,0.00,0.000,6,0.000,0.053,2445,2137,3490,0,0,0,0,0,0
$GC,387,-0.58,-146.0,59.6,-18.8,55,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2138,3494,0,0,0,0,0,0
$GC,642,-0.58,-146.0,107.3,-20.1,79,646,0.00,2.20,0.00,0.000,4,0.000,0.054,2445,741,3491,0,0,0,0,0,0
$GC,678,-0.58,-146.0,113.2,-14.6,82,683,0.00,2.22,0.00,0.000,6,0.000,0.053,2444,2148,3490,0,0,0,0,0,0
$GC,938,-0.58,-146.0,147.2,-12.3,107,942,0.00,2.22,0.00,0.000,4,0.000,0.062,2444,3558,3491,0,0,0,0,0,0
$GC,1002,-0.58,-146.0,154.3,-9.3,113,1008,0.00,2.15,0.00,0.000,6,0.000,0.040,2444,2137,3492,0,0,0,0,0,0
$GC,1263,-0.58,-146.0,180.3,-8.7,138,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2134,3490,0,0,0,0,0,0
$GC,1516,-0.58,-146.0,204.5,-9.8,160,1520,0.00,2.15,0.00,0.000,4,0.000,0.048,2444,739,3493,0,0,0,0,0,0
$GC,1543,-0.58,-146.0,207.4,-9.7,161,1547,0.00,2.22,0.00,0.000,6,0.000,0.051,2444,2152,3493,0,0,0,0,0,0
$GC,1862,-0.58,-146.0,237.3,-8.8,177,1866,0.00,2.22,0.00,0.000,4,0.000,0.060,2443,3560,3493,0,0,0,0,0,0
$GC,1894,-0.58,-146.0,240.1,-8.5,178,1898,0.00,2.15,0.00,0.000,6,0.000,0.041,2444,2148,3493,0,0,0,0,0,0
$GC,2208,-0.58,-146.0,266.2,-7.5,193,2212,0.00,2.17,0.00,0.000,4,0.000,0.048,2444,730,3489,0,0,0,0,0,0
$GC,2240,-0.58,-146.0,268.9,-8.2,194,2244,0.00,2.22,0.00,0.000,6,0.000,0.049,2445,2149,3491,0,0,0,0,0,0
$GC,2559,-0.58,-146.0,293.7,-8.3,210,2563,0.00,2.22,0.00,0.000,4,0.000,0.061,2444,3556,3489,0,0,0,0,0,0
$GC,2586,-0.58,-146.0,295.9,-7.5,211,2590,0.00,2.15,0.00,0.000,6,0.000,0.041,2442,2139,3491,0,0,0,0,0,0
$GC,2902,-0.58,-146.0,318.2,-6.9,221,2906,0.00,2.12,0.00,0.000,4,0.000,0.048,2445,737,3489,0,0,0,0,0,0
$GC,2947,-0.58,-146.0,321.4,-8.0,222,2951,0.00,2.22,0.00,0.000,6,0.000,0.050,2444,2155,3489,0,0,0,0,0,0
$GC,3269,-0.58,-146.0,342.7,-6.7,230,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2152,3488,0,0,0,0,0,0
$GC,3594,-0.58,-146.0,365.7,-7.3,238,3598,0.00,2.20,0.00,0.000,4,0.000,0.061,2444,3553,3487,0,0,0,0,0,0
$GC,3630,-0.58,-146.0,368.3,-6.4,238,3636,0.00,2.15,0.00,0.000,6,0.000,0.041,2445,2133,3486,0,0,0,0,0,0
$GC,3960,-0.58,-146.0,390.6,-6.6,247,3964,0.00,2.15,0.00,0.000,4,0.000,0.049,2444,740,3485,0,0,0,0,0,0
$GC,3983,-0.58,-146.0,392.1,-6.7,247,3987,0.00,2.20,0.00,0.000,6,0.000,0.048,2445,2145,3485,0,0,0,0,0,0
$GC,4322,-0.58,-146.0,412.6,-6.4,256,4326,0.00,2.25,0.00,0.000,4,0.000,0.062,2440,3555,3484,0,0,0,0,0,0
$GC,4372,-0.58,-146.0,415.9,-6.1,257,4376,0.00,2.10,0.00,0.000,6,0.000,0.041,2441,2143,3483,0,0,1,0,0,0
$GC,4690,-0.58,-146.0,437.3,-7.2,265,4694,0.00,2.15,0.00,0.000,4,0.000,0.049,2444,739,3481,0,0,0,0,0,0
$GC,4726,-0.58,-146.0,440.4,-8.3,265,4730,0.00,2.20,0.00,0.000,6,0.000,0.049,2444,2145,3482,0,0,0,0,0,0
$GC,5056,-0.58,-146.0,465.7,-7.6,273,5060,0.00,2.20,0.00,0.000,4,0.000,0.054,2444,743,3479,0,0,1,0,0,0
$GC,5324,-0.58,-146.0,483.7,-5.7,278,5329,0.00,2.20,0.00,0.000,6,0.000,0.051,2444,2148,3478,0,0,0,0,0,0
$GC,5655,-0.58,-146.0,502.1,-5.8,287,5659,0.00,2.20,0.00,0.000,4,0.000,0.057,2444,745,3476,0,0,0,0,0,0
$GC,5857,-0.58,-146.0,518.6,-8.0,291,5861,0.00,2.22,0.00,0.000,6,0.000,0.052,2444,2151,3475,0,0,0,0,0,0
$GC,6201,-0.58,-146.0,543.8,-7.1,300,6205,0.00,2.22,0.00,0.000,4,0.000,0.055,2444,743,3473,0,0,0,0,0,0
$GC,6243,-0.58,-146.0,546.7,-6.7,301,6247,0.00,2.20,0.00,0.000,6,0.000,0.048,2444,2148,3473,0,0,0,0,0,0
$GC,6570,-0.58,-146.0,569.6,-6.8,309,6574,0.00,2.28,0.00,0.000,4,0.000,0.066,2444,3553,3469,0,0,0,0,0,0
$GC,6634,-0.58,-146.0,574.5,-8.7,310,6638,0.00,2.17,0.00,0.000,6,0.000,0.048,2444,2155,3470,0,0,0,0,0,0
$GC,6978,-0.58,-146.0,599.3,-7.3,319,6982,0.00,2.22,0.00,0.000,4,0.000,0.056,2444,736,3467,0,0,0,0,0,0
$GC,7028,-0.58,-146.0,603.1,-6.9,320,7032,0.00,2.22,0.00,0.000,6,0.000,0.052,2444,2151,3467,0,0,1,0,0,0
$GC,7350,-0.58,-146.0,626.9,-7.6,328,7354,0.00,2.28,0.00,0.000,4,0.000,0.066,2444,3559,3466,0,0,0,0,0,0
$GC,7395,-0.58,-146.0,630.9,-8.0,329,7399,0.00,2.17,0.00,0.000,6,0.000,0.044,2444,2138,3464,0,0,0,0,0,0
$GC,7718,-0.58,-146.0,658.9,-9.0,337,7722,0.00,2.17,0.00,0.000,4,0.000,0.054,2444,741,3465,0,0,0,0,0,0
$GC,7814,-0.58,-146.0,668.2,-9.2,339,7818,0.00,2.20,0.00,0.000,6,0.000,0.050,2445,2146,3464,0,0,1,0,0,0
$GC,8135,-0.58,-146.0,696.1,-8.5,347,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2146,3462,0,0,0,0,0,0
$GC,8461,-0.58,-146.0,721.1,-7.5,355,8465,0.00,2.22,0.00,0.000,4,0.000,0.056,2444,743,3460,0,0,0,0,0,0
$GC,8596,-0.58,-146.0,731.3,-7.3,358,8600,0.00,2.22,0.00,0.000,6,0.000,0.049,2444,2145,3459,0,0,0,0,0,0
$GC,8923,-0.58,-146.0,757.1,-8.0,366,8927,0.00,2.33,0.00,0.000,4,0.000,0.069,2444,3553,3458,0,0,0,0,0,0
$GC,8973,-0.58,-146.0,761.8,-10.1,367,8977,0.00,2.17,0.00,0.000,6,0.000,0.045,2444,2144,3457,0,0,0,0,0,0
$GC,9294,-0.58,-146.0,790.5,-9.2,375,9298,0.00,2.22,0.00,0.000,4,0.000,0.055,2444,736,3456,0,0,0,0,0,0
$GC,9345,-0.58,-146.0,795.2,-8.5,376,9349,0.00,2.22,0.00,0.000,6,0.000,0.050,2444,2151,3458,0,0,0,0,0,0
$GC,9662,-0.58,-146.0,823.4,-8.9,384,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2151,3454,0,0,0,0,0,0
$GC,9987,-0.58,-146.0,850.5,-8.1,392,9991,0.00,2.22,0.00,0.000,4,0.000,0.055,2444,741,3453,0,0,0,0,0,0
$GC,10060,-0.58,-146.0,856.2,-7.5,393,10064,0.00,2.22,0.00,0.000,6,0.000,0.051,2444,2149,3452,0,0,0,0,0,0
$GC,10395,-0.58,-146.0,881.4,-7.5,402,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2149,3451,0,0,0,0,0,0
$GC,10720,-0.58,-146.0,904.7,-7.2,410,10723,0.00,2.25,0.00,0.000,4,0.000,0.055,2445,740,3450,0,0,0,0,0,0
$GC,10761,-0.58,-146.0,907.7,-6.9,410,10766,0.00,2.25,0.00,0.000,6,0.000,0.052,2444,2148,3450,0,0,0,0,0,0
$GC,11091,-0.58,-146.0,930.4,-7.0,419,11095,0.00,2.30,0.00,0.000,4,0.000,0.070,2445,3551,3449,0,0,0,0,0,0
$GC,11122,-0.58,-146.0,932.8,-7.4,419,11126,0.00,2.17,0.00,0.000,6,0.000,0.048,2445,2145,3450,0,0,0,0,0,0
$GC,11457,-0.58,-146.0,959.6,-8.4,428,11461,0.00,2.22,0.00,0.000,4,0.000,0.057,2442,736,3448,0,0,0,0,0,0
$GC,11535,-0.58,-146.0,966.8,-9.0,429,11539,0.00,2.25,0.00,0.000,6,0.000,0.051,2444,2143,3447,0,0,0,0,0,0
$STATE,11823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11823,begin apogee
$GC,11828,-0.28,0.0,992.5,9.1,436,11951,0.32,0.00,120.55,1.355,6,0.069,0.000,2580,2037,2890,0,0,0,0,0,0
$STATE,11954,end apogee,CONTROL_FINISHED_OK
$STATE,11954,begin climb
$GC,11956,0.58,146.0,1000.8,0.0,439,12095,0.68,2.55,129.75,1.318,4,0.054,0.067,2837,3460,2295,0,0,0,0,0,0
$GC,12358,0.58,146.0,954.7,18.0,448,12362,0.00,2.25,0.00,0.000,6,0.000,0.051,2848,2053,2283,0,0,0,0,0,0
$GC,12680,0.58,146.0,902.0,16.5,456,12684,0.00,2.30,0.00,0.000,4,0.000,0.068,2848,3451,2279,0,0,0,0,0,0
$GC,12814,0.58,146.0,877.4,19.0,459,12818,0.00,2.25,0.00,0.000,6,0.000,0.048,2858,2038,2282,0,0,0,0,0,0
$GC,13141,0.58,146.0,820.1,17.5,467,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2036,2277,0,0,0,0,0,0
$GC,13466,0.58,146.0,765.0,16.6,475,13470,0.00,2.33,0.00,0.000,4,0.000,0.069,2858,3453,2276,0,0,0,0,0,0
$GC,13508,0.58,146.0,757.6,17.4,476,13513,0.12,2.25,0.00,0.000,6,0.240,0.050,2842,2041,2276,0,0,0,0,0,0
$GC,13835,0.58,146.0,707.7,14.9,484,13839,0.00,2.22,0.00,0.000,4,0.000,0.061,2851,635,2275,0,0,0,0,0,0
$GC,13918,0.58,146.0,694.7,16.7,485,13923,0.00,2.25,0.00,0.000,6,0.000,0.054,2843,2049,2277,0,0,0,0,0,0
$GC,14248,0.58,146.0,645.1,15.0,494,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2049,2274,0,0,0,0,0,0
$GC,14573,0.58,146.0,600.5,13.1,502,14577,0.00,2.33,0.00,0.000,4,0.000,0.070,2843,3455,2273,0,0,0,0,0,0
$GC,14730,0.58,146.0,578.6,13.1,505,14734,0.00,2.25,0.00,0.000,6,0.000,0.051,2852,2041,2273,0,0,0,0,0,0
$GC,15074,0.58,146.0,538.2,11.7,514,15078,0.00,2.35,0.00,0.000,4,0.000,0.069,2852,3459,2271,0,0,0,0,0,0
$GC,15282,0.58,146.0,509.8,13.3,518,15286,0.00,2.22,0.00,0.000,6,0.000,0.049,2862,2042,2272,0,0,0,0,0,0
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$STATE,20933,end climb,SURFACE_DEPTH_REACHED
$STATE,20933,begin surface coast
$FINISH,0.6,1.011546
$STATE,20947,end surface coast,CONTROL_FINISHED_OK
$STATE,20947,begin surface
$SM_CCo,20973,85.05,0.569,0,0,852,500.40
$SM_GC,1.55,0.00,0.00,85.05,0.000,0.000,0.569,56,2138,852,-8.11,-0.20,500.40
$IRIDIUM_FIX,1814.58,12659.92,260612,070725
$TT8_MAMPS,0.056758
$HUMID,1078730958
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,25.00
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8390279168
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54259712000
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,48.251
$10V_AH,10.0,31.344
$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,20.175,196.500,402.625,85.050,0.000,33.338,45.193,434.015,0.250,0.000,47.641,1743.317,16163.442,588.816,3002.740,275.240,33.373,1915.752,0.000,2374.084,0.000,0.543,0.000
$DEVICE_MAMPS,263.848,82.069,1354.522,569.114,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,575.317,0.000,0.000,0.000,0.000,0.000,0.000,20091.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.524,0.000,0.000
$MEM,354636
$DATA_FILE_SIZE,30023,857
$CAP_FILE_SIZE,191361,0
$CFSIZE,260165632,238997504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,020111,004606,1819.142,12701.896,50,0.9,55,-2.1