version: 66.07
glider: 511
mission: 5
dive: 338
start: 2 1 111 11 9 3
data:
$ID,511
$MISSION,5
$DIVE,338
$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,450
$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,-49530.25
$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,2589
$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,2060
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,21
$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,337
$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
$GPS1,010211,105507,1801.914,12617.333,85,1.4,97,-2.0
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-71.4
$GPS2,010211,110808,1801.916,12617.347,13,2.0,13,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.075,0.202
$KALMAN_X,-556789.9,-426.2,81.0,420890.9,1756.8
$KALMAN_Y,624392.6,47.6,1125.8,-911773.6,-6529.5
$MHEAD_RNG_PITCHd_Wd,341.6,213882,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.58,-146.0,0.0,0.0,0,99,0.00,0.00,-70.10,0.000,2,0.000,0.000,48,2037,2908,0,0,0,0,0,0
$GC,103,-0.58,-146.0,3.9,-3.9,7,130,10.40,2.38,-11.55,0.000,4,0.255,0.073,2388,3471,3487,0,0,0,0,0,0
$GC,188,-0.58,-146.0,29.9,-24.1,16,192,0.00,2.20,0.00,0.000,6,0.000,0.048,2388,2079,3489,0,0,0,0,0,0
$GC,385,-0.58,-146.0,73.0,-21.0,34,389,0.00,2.28,0.00,0.000,4,0.000,0.059,2388,642,3490,0,0,0,0,0,0
$GC,446,-0.58,-146.0,84.6,-17.7,40,450,0.00,2.25,0.00,0.000,6,0.000,0.052,2378,2064,3489,0,0,0,0,0,0
$GC,711,-0.58,-146.0,139.4,-20.3,65,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2064,3490,0,0,0,0,0,0
$GC,965,-0.58,-146.0,183.2,-16.8,89,969,0.00,2.25,0.00,0.000,4,0.000,0.058,2378,645,3491,0,0,0,0,0,0
$GC,1080,-0.58,-146.0,201.4,-14.1,101,1085,0.12,2.20,0.00,0.000,6,0.156,0.049,2403,2063,3490,0,0,0,0,0,0
$GC,1406,-0.58,-146.0,239.1,-11.3,117,1410,0.00,2.25,0.00,0.000,4,0.000,0.065,2394,3474,3491,0,0,0,0,0,0
$GC,1475,-0.58,-146.0,246.4,-10.0,120,1479,0.00,2.20,0.00,0.000,6,0.000,0.043,2395,2050,3491,0,0,0,0,0,0
$GC,1800,-0.58,-146.0,281.3,-10.6,136,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2049,3491,0,0,0,0,0,0
$GC,2106,-0.58,-146.0,313.0,-10.0,148,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2049,3490,0,0,0,0,0,0
$GC,2431,-0.58,-146.0,344.2,-9.8,156,2435,0.00,2.30,0.00,0.000,4,0.000,0.066,2386,3475,3489,0,0,0,0,0,0
$GC,2463,-0.58,-146.0,347.5,-9.9,156,2467,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,2059,3490,0,0,0,0,0,0
$GC,2794,-0.58,-146.0,381.1,-10.0,164,2798,0.00,2.22,0.00,0.000,4,0.000,0.055,2386,643,3488,0,0,0,0,0,0
$GC,2836,-0.58,-146.0,385.1,-9.3,165,2840,0.00,2.25,0.00,0.000,6,0.000,0.052,2386,2059,3488,0,0,0,0,0,0
$GC,3163,-0.58,-146.0,414.1,-9.0,173,3167,0.00,2.28,0.00,0.000,4,0.000,0.067,2386,3476,3486,0,0,0,0,0,0
$GC,3209,-0.58,-146.0,418.3,-8.6,174,3213,0.00,2.20,0.00,0.000,6,0.000,0.044,2383,2055,3486,0,0,0,0,0,0
$GC,3531,-0.58,-146.0,448.3,-9.3,182,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2057,3482,0,0,0,0,0,0
$GC,3856,-0.58,-146.0,475.6,-8.3,190,3860,0.00,2.30,0.00,0.000,4,0.000,0.069,2383,3470,3481,0,0,0,0,0,0
$GC,3916,-0.58,-146.0,480.6,-8.3,191,3920,0.00,2.17,0.00,0.000,6,0.000,0.046,2377,2067,3480,0,0,0,0,0,0
$GC,4265,-0.58,-146.0,511.9,-9.1,200,4268,0.00,2.22,0.00,0.000,4,0.000,0.055,2383,637,3478,0,0,0,0,0,0
$GC,4348,-0.58,-146.0,519.7,-10.1,201,4352,0.00,2.28,0.00,0.000,6,0.000,0.056,2378,2066,3477,0,0,0,0,0,0
$GC,4682,-0.58,-146.0,547.0,-8.0,210,4686,0.00,2.28,0.00,0.000,4,0.000,0.066,2375,3475,3473,0,0,0,0,0,0
$GC,4709,-0.58,-146.0,549.2,-8.1,210,4714,0.00,2.22,0.00,0.000,6,0.000,0.047,2374,2057,3475,0,0,0,0,0,0
$GC,5050,-0.58,-146.0,580.3,-9.5,219,5054,0.00,2.22,0.00,0.000,4,0.000,0.054,2374,642,3473,0,0,0,0,0,0
$GC,5086,-0.58,-146.0,584.3,-10.6,219,5092,0.00,2.25,0.00,0.000,6,0.000,0.053,2374,2066,3473,0,0,0,0,0,0
$GC,5416,-0.58,-146.0,616.9,-9.7,228,5420,0.00,2.25,0.00,0.000,4,0.000,0.066,2374,3466,3469,0,0,0,0,0,0
$GC,5459,-0.58,-146.0,620.7,-9.0,229,5463,0.00,2.22,0.00,0.000,6,0.000,0.048,2374,2059,3468,0,0,0,0,0,0
$GC,5786,-0.58,-146.0,645.6,-6.9,237,5790,0.00,2.22,0.00,0.000,4,0.000,0.054,2374,645,3466,0,0,0,0,0,0
$GC,5819,-0.58,-146.0,647.8,-7.3,237,5823,0.00,2.28,0.00,0.000,6,0.000,0.058,2375,2063,3466,0,0,0,0,0,0
$GC,6150,-0.58,-146.0,666.6,-5.7,245,6155,0.10,2.30,0.00,0.000,4,0.175,0.067,2401,3470,3464,0,0,0,0,0,0
$GC,6194,-0.58,-146.0,668.7,-4.8,246,6198,0.00,2.20,0.00,0.000,6,0.000,0.048,2401,2060,3464,0,0,0,0,0,0
$GC,6521,-0.58,-146.0,689.9,-7.2,254,6525,0.00,2.22,0.00,0.000,4,0.000,0.054,2401,645,3462,0,0,0,0,0,0
$GC,6566,-0.58,-146.0,693.9,-9.4,255,6571,0.00,2.28,0.00,0.000,6,0.000,0.058,2402,2062,3461,0,0,0,0,0,0
$GC,6888,-0.58,-146.0,720.1,-8.0,263,6892,0.00,2.28,0.00,0.000,4,0.000,0.067,2401,3470,3459,0,0,0,0,0,0
$GC,6948,-0.58,-146.0,724.8,-7.1,264,6952,0.00,2.22,0.00,0.000,6,0.000,0.044,2402,2046,3459,0,0,0,0,0,0
$GC,7261,-0.58,-146.0,746.1,-6.4,272,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2040,3457,0,0,0,0,0,0
$GC,7586,-0.58,-146.0,765.3,-5.7,280,7590,0.00,2.20,0.00,0.000,4,0.000,0.055,2401,657,3456,0,0,0,0,0,0
$GC,7610,-0.58,-146.0,766.9,-6.6,280,7614,0.00,2.25,0.00,0.000,6,0.000,0.050,2401,2068,3455,0,0,0,0,0,0
$GC,7950,-0.58,-146.0,786.5,-5.9,289,7954,0.00,2.28,0.00,0.000,4,0.000,0.068,2402,3468,3453,0,0,0,0,0,0
$GC,7982,-0.58,-146.0,788.5,-6.6,289,7986,0.00,2.17,0.00,0.000,6,0.000,0.045,2401,2059,3453,0,0,0,0,0,0
$GC,8313,-0.58,-146.0,808.8,-6.3,297,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2053,3452,0,0,0,0,0,0
$GC,8638,-0.58,-146.0,828.7,-5.9,305,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2053,3448,0,0,0,0,0,0
$GC,8963,-0.58,-146.0,845.8,-5.3,313,8967,0.00,2.33,0.00,0.000,4,0.000,0.068,2401,3472,3448,0,0,0,0,0,0
$GC,8996,-0.58,-146.0,847.7,-5.2,313,9000,0.00,2.22,0.00,0.000,6,0.000,0.046,2402,2057,3448,0,0,0,0,0,0
$GC,9326,-0.58,-146.0,867.3,-6.1,321,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2053,3446,0,0,0,0,0,0
$GC,9651,-0.58,-146.0,887.5,-6.2,329,9655,0.00,2.33,0.00,0.000,4,0.000,0.070,2401,3469,3447,0,0,0,0,0,0
$GC,9669,-0.58,-146.0,888.8,-6.2,329,9673,0.00,2.20,0.00,0.000,6,0.000,0.048,2401,2059,3446,0,0,0,0,0,0
$GC,10014,-0.58,-146.0,908.8,-5.6,338,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2054,3445,0,0,0,0,0,0
$GC,10338,-0.58,-146.0,924.7,-4.6,346,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2054,3444,0,0,0,0,0,0
$GC,10663,-0.58,-146.0,939.8,-4.7,354,10667,0.00,2.35,0.00,0.000,4,0.000,0.070,2401,3471,3444,0,0,0,0,0,0
$GC,10692,-0.58,-146.0,941.2,-4.9,354,10696,0.00,2.22,0.00,0.000,6,0.000,0.048,2401,2054,3444,0,0,0,0,0,0
$GC,11031,-0.58,-146.0,958.5,-5.1,363,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2047,3443,0,0,0,0,0,0
$GC,11357,-0.58,-146.0,975.9,-5.4,371,11361,0.00,2.33,0.00,0.000,4,0.000,0.068,2407,3468,3443,0,0,0,0,0,0
$GC,11381,-0.58,-146.0,977.2,-5.1,371,11385,0.00,2.25,0.00,0.000,6,0.000,0.048,2401,2051,3442,0,0,0,0,0,0
$STATE,11637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11637,begin apogee
$GC,11643,-0.28,0.0,992.0,5.7,378,11769,0.30,0.00,123.32,1.358,6,0.124,0.000,2498,2145,2891,0,0,0,0,0,0
$STATE,11770,end apogee,CONTROL_FINISHED_OK
$STATE,11771,begin climb
$GC,11773,0.58,146.0,997.0,0.0,381,11912,0.80,0.00,135.62,1.322,6,0.074,0.000,2776,2143,2295,0,0,0,0,0,0
$GC,12205,0.58,146.0,961.8,11.3,392,12209,0.00,2.33,0.00,0.000,4,0.000,0.071,2776,3533,2282,0,0,0,0,0,0
$GC,12247,0.58,146.0,956.5,14.2,393,12252,0.00,2.22,0.00,0.000,6,0.000,0.051,2786,2140,2282,0,0,1,0,0,0
$GC,12575,0.58,146.0,916.4,12.2,401,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2129,2281,0,0,0,0,0,0
$GC,12899,0.58,146.0,877.0,11.9,409,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2129,2278,0,0,0,0,0,0
$GC,13224,0.58,146.0,840.6,10.8,417,13228,0.00,2.33,0.00,0.000,4,0.000,0.071,2786,3533,2277,0,0,0,0,0,0
$GC,13289,0.58,146.0,833.2,11.0,418,13293,0.00,2.25,0.00,0.000,6,0.000,0.052,2798,2122,2277,0,0,0,0,0,0
$GC,13638,0.58,146.0,796.8,10.3,427,13642,0.00,2.25,0.00,0.000,4,0.000,0.063,2807,719,2276,0,0,0,0,0,0
$GC,13693,0.58,146.0,790.9,10.3,428,13698,0.12,2.22,0.00,0.000,6,0.200,0.055,2779,2119,2277,0,0,1,0,0,0
$GC,14007,0.58,146.0,761.9,9.2,436,14008,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2116,2274,0,0,0,0,0,0
$GC,14331,0.58,146.0,732.1,9.1,444,14335,0.00,2.38,0.00,0.000,4,0.000,0.071,2779,3540,2274,0,0,0,0,0,0
$GC,14386,0.58,146.0,726.4,10.7,445,14390,0.00,2.28,0.00,0.000,6,0.000,0.054,2787,2127,2278,0,0,0,0,0,0
$GC,14704,0.58,146.0,692.7,10.8,453,14708,0.00,2.28,0.00,0.000,4,0.000,0.067,2798,720,2274,0,0,0,0,0,0
$GC,14768,0.58,146.0,685.0,11.3,454,14772,0.00,2.28,0.00,0.000,6,0.000,0.057,2798,2133,2273,0,0,0,0,0,0
$GC,15112,0.58,146.0,644.8,11.5,463,15116,0.00,2.33,0.00,0.000,4,0.000,0.069,2799,3547,2273,0,0,0,0,0,0
$GC,15136,0.58,146.0,642.0,11.7,463,15141,0.12,2.28,0.00,0.000,6,0.208,0.053,2781,2123,2276,0,0,0,0,0,0
$GC,15481,0.58,146.0,610.4,8.6,472,15485,0.00,2.38,0.00,0.000,4,0.000,0.070,2781,3543,2272,0,0,0,0,0,0
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$STATE,24232,end climb,SURFACE_DEPTH_REACHED
$STATE,24232,begin surface coast
$FINISH,0.9,1.010316
$STATE,24266,end surface coast,CONTROL_FINISHED_OK
$STATE,24268,begin surface
$SM_CCo,24284,61.62,0.549,0,0,1056,450.12
$SM_GC,1.62,0.00,0.00,61.62,0.000,0.000,0.549,51,2038,1056,-7.93,-0.62,450.12
$IRIDIUM_FIX,1754.17,12541.48,270712,050509
$TT8_MAMPS,0.056758
$HUMID,1078672893
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.40
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8433139712
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52259225600
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.5,68.803
$10V_AH,9.8,47.126
$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,19.925,226.300,413.375,61.625,0.000,51.688,114.535,403.552,0.000,0.000,14.873,1896.769,19314.043,644.965,2876.259,396.342,33.366,1938.848,0.000,2298.521,0.000,0.543,0.000
$DEVICE_MAMPS,254.644,95.108,1358.357,549.172,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,631.538,0.000,0.000,0.000,0.000,0.000,0.000,23009.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.873,0.000,0.000
$MEM,354812
$DATA_FILE_SIZE,33329,935
$CAP_FILE_SIZE,203940,0
$CFSIZE,260165632,228835328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,010211,175636,1804.410,12616.168,49,1.7,49,-2.1