version: 66.06
glider: 148
mission: 12
dive: 152
start: 6 23 113 12 21 43
data:
$ID,148
$MISSION,12
$DIVE,152
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$D_NO_BLEED,200
$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,300
$T_MISSION,600
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-1019114
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3385
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.028999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,120406,2258.574,-15755.881,66,1.2,66,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.9
$GPS2,122049,2258.508,-15756.026,13,1.3,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,-0.204
$KALMAN_X,-168193.8,-245.6,-142.7,175474.6,149.0
$KALMAN_Y,50698.6,109.3,-140.3,-25628.0,70.4
$MHEAD_RNG_PITCHd_Wd,131.7,48276,-17.5,-10.000
$D_GRID,900
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-66.75,0.000,2,0.000,0.000,417,1572,2982,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.3,-4.4,9,123,13.85,2.38,-7.45,0.000,4,0.145,0.054,3104,166,3397,0,0,0,0,0,0
$GC,141,-0.58,-146.0,20.5,-33.4,15,151,0.68,2.15,0.00,0.000,6,0.091,0.017,3254,1573,3398,0,0,0,0,0,0
$GC,417,-0.66,-146.0,51.7,-8.9,43,421,0.00,2.40,0.00,0.000,4,0.000,0.021,3254,3118,3398,0,0,0,0,0,0
$GC,460,-0.85,-146.0,54.5,-5.7,46,465,0.22,2.50,0.00,0.000,6,0.054,0.028,3188,1560,3398,0,0,0,0,0,0
$GC,729,-0.85,-146.0,79.8,-10.5,70,733,0.00,2.28,0.00,0.000,4,0.000,0.042,3187,169,3399,0,0,0,0,0,0
$GC,758,-0.85,-146.0,84.0,-11.6,72,767,0.00,2.12,0.00,0.000,6,0.000,0.016,3187,1580,3398,0,0,0,0,0,0
$GC,1024,-0.85,-146.0,112.1,-11.0,97,1028,0.00,2.35,0.00,0.000,4,0.000,0.021,3187,3105,3398,0,0,0,0,0,0
$GC,1043,-0.85,-146.0,114.9,-11.3,98,1051,0.00,2.50,0.00,0.000,6,0.000,0.026,3187,1565,3398,0,0,0,0,0,0
$GC,1307,-0.85,-146.0,142.5,-10.1,123,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1564,3399,0,0,0,0,0,0
$GC,1573,-0.85,-146.0,167.2,-9.5,148,1578,0.00,2.40,0.00,0.000,4,0.000,0.021,3187,3105,3399,0,0,0,0,0,0
$GC,1619,-0.97,-146.0,171.8,-8.8,152,1623,0.00,2.47,0.00,0.000,6,0.000,0.028,3187,1569,3398,0,0,0,0,0,0
$GC,1883,-1.02,-146.0,194.5,-8.3,176,1888,0.10,2.28,0.00,0.000,4,0.075,0.044,3132,174,3399,0,0,0,0,0,0
$GC,1920,-0.93,-146.0,198.7,-12.0,179,1925,0.22,2.10,0.00,0.000,6,0.087,0.017,3183,1577,3398,0,0,0,0,0,0
$GC,2183,-0.98,-146.0,220.4,-7.9,186,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1580,3399,0,0,0,0,0,0
$GC,2425,-1.04,-146.0,237.6,-6.8,192,2429,0.10,2.33,0.00,0.000,4,0.074,0.045,3127,174,3398,0,0,0,0,0,0
$GC,2454,-0.95,-146.0,240.5,-10.8,192,2458,0.22,2.10,0.00,0.000,6,0.085,0.018,3178,1570,3398,0,0,0,0,0,0
$GC,2711,-1.00,-146.0,261.1,-8.0,199,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1572,3398,0,0,0,0,0,0
$GC,2953,-1.07,-146.0,279.9,-7.4,205,2958,0.12,2.45,0.00,0.000,4,0.063,0.025,3116,3113,3398,0,0,0,0,0,0
$GC,2973,-1.07,-146.0,281.7,-8.7,205,2978,0.15,2.50,0.00,0.000,6,0.090,0.030,3152,1570,3398,0,0,0,0,0,0
$GC,3239,-1.07,-146.0,302.1,-7.7,212,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1570,3397,0,0,0,0,0,0
$GC,3481,-1.07,-146.0,320.8,-7.4,218,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1571,3395,0,0,0,0,0,0
$GC,3725,-1.07,-146.0,339.5,-7.7,224,3729,0.00,2.33,0.00,0.000,4,0.000,0.053,3152,166,3394,0,0,0,0,0,0
$GC,3761,-1.07,-146.0,342.4,-8.6,224,3765,0.00,2.12,0.00,0.000,6,0.000,0.021,3152,1552,3394,0,0,0,0,0,0
$GC,4011,-1.07,-146.0,362.4,-7.8,230,4015,0.00,2.53,0.00,0.000,4,0.000,0.031,3152,3140,3392,0,0,0,0,0,0
$GC,4035,-1.13,-146.0,364.3,-8.9,230,4039,0.00,2.58,0.00,0.000,6,0.000,0.035,3153,1578,3392,0,0,0,0,0,0
$GC,4296,-1.13,-146.0,383.4,-7.2,237,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1578,3390,0,0,0,0,0,0
$GC,4539,-1.18,-146.0,400.2,-7.0,243,4540,0.10,0.00,0.00,0.000,6,0.076,0.000,3100,1578,3389,0,0,0,0,0,0
$GC,4782,-1.12,-146.0,423.9,-9.9,249,4784,0.17,0.00,0.00,0.000,6,0.092,0.000,3139,1578,3387,0,0,0,0,0,0
$GC,5027,-1.12,-146.0,443.5,-8.0,255,5031,0.00,2.42,0.00,0.000,4,0.000,0.067,3139,163,3386,0,0,0,0,0,0
$GC,5051,-1.12,-146.0,445.8,-9.8,255,5055,0.00,2.20,0.00,0.000,6,0.000,0.025,3139,1566,3385,0,0,0,0,0,0
$GC,5314,-1.12,-146.0,466.7,-7.8,262,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1566,3384,0,0,0,0,0,0
$GC,5560,-1.12,-146.0,485.3,-7.6,268,5564,0.00,2.58,0.00,0.000,4,0.000,0.040,3139,3145,3382,0,0,0,0,0,0
$GC,5579,-1.16,-146.0,486.9,-8.0,268,5584,0.00,2.58,0.00,0.000,6,0.000,0.038,3139,1578,3381,0,0,0,0,0,0
$GC,5844,-1.16,-146.0,506.5,-7.5,275,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1577,3380,0,0,0,0,0,0
$GC,6089,-1.16,-146.0,523.5,-7.0,281,6093,0.00,2.58,0.00,0.000,4,0.000,0.042,3139,3140,3378,0,0,0,0,0,0
$GC,6118,-1.24,-146.0,525.6,-6.7,281,6123,0.10,2.60,0.00,0.000,6,0.077,0.041,3084,1581,3378,0,0,0,0,0,0
$GC,6373,-1.17,-146.0,551.1,-10.3,288,6378,0.20,2.45,0.00,0.000,4,0.092,0.072,3129,172,3377,0,0,0,0,0,0
$GC,6404,-1.17,-146.0,554.1,-10.1,288,6408,0.00,2.25,0.00,0.000,6,0.000,0.030,3129,1570,3377,0,0,0,0,0,0
$GC,6658,-1.17,-146.0,574.6,-8.0,295,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1570,3375,0,0,0,0,0,0
$GC,6902,-1.17,-146.0,594.3,-8.1,301,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1570,3374,0,0,0,0,0,0
$GC,7147,-1.17,-146.0,611.9,-7.0,307,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1570,3372,0,0,0,0,0,0
$GC,7389,-1.17,-146.0,627.7,-6.4,313,7394,0.00,2.45,0.00,0.000,4,0.000,0.073,3129,167,3371,0,0,0,0,0,0
$GC,7408,-1.17,-146.0,629.1,-7.8,313,7413,0.00,2.28,0.00,0.000,6,0.000,0.031,3129,1584,3371,0,0,0,0,0,0
$GC,7674,-1.17,-146.0,647.4,-7.0,320,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1585,3370,0,0,0,0,0,0
$GC,7919,-1.17,-146.0,664.8,-7.1,326,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1585,3368,0,0,0,0,0,0
$GC,8161,-1.17,-146.0,681.0,-6.6,332,8166,0.00,2.65,0.00,0.000,4,0.000,0.051,3129,3157,3367,0,0,0,0,0,0
$GC,8181,-1.22,-146.0,682.4,-7.4,332,8185,0.00,2.67,0.00,0.000,6,0.000,0.047,3129,1576,3367,0,0,0,0,0,0
$GC,8447,-1.22,-146.0,699.6,-6.7,339,8451,0.00,2.47,0.00,0.000,4,0.000,0.080,3129,169,3366,0,0,0,0,0,0
$GC,8475,-1.22,-146.0,701.9,-7.4,339,8479,0.00,2.25,0.00,0.000,6,0.000,0.033,3129,1570,3366,0,0,0,0,0,0
$GC,8730,-1.27,-146.0,719.3,-6.7,346,8734,0.00,2.67,0.00,0.000,4,0.000,0.051,3129,3153,3365,0,0,0,0,0,0
$GC,8746,-1.31,-146.0,720.4,-6.6,346,8751,0.12,2.67,0.00,0.000,6,0.063,0.046,3071,1568,3365,0,0,0,0,0,0
$GC,9016,-1.24,-146.0,744.5,-9.0,353,9021,0.20,2.47,0.00,0.000,4,0.094,0.079,3116,166,3363,0,0,0,0,0,0
$GC,9032,-1.18,-146.0,746.0,-9.0,353,9036,0.00,2.30,0.00,0.000,6,0.000,0.032,3116,1582,3363,0,0,0,0,0,0
$GC,9302,-1.18,-146.0,765.4,-7.3,360,9306,0.00,2.45,0.00,0.000,4,0.000,0.073,3116,171,3363,0,0,0,0,0,0
$GC,9325,-1.18,-146.0,767.6,-9.0,360,9329,0.00,2.28,0.00,0.000,6,0.000,0.034,3116,1563,3362,0,0,0,0,0,0
$GC,9586,-1.18,-146.0,787.8,-7.9,367,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1563,3362,0,0,0,0,0,0
$GC,9828,-1.18,-146.0,807.5,-8.0,373,9833,0.00,2.67,0.00,0.000,4,0.000,0.053,3116,3156,3361,0,0,0,0,0,0
$GC,9852,-1.23,-146.0,809.4,-8.8,373,9857,0.00,2.70,0.00,0.000,6,0.000,0.048,3116,1564,3361,0,0,0,0,0,0
$GC,10112,-1.23,-146.0,828.6,-7.4,380,10116,0.00,2.45,0.00,0.000,4,0.000,0.081,3116,170,3360,0,0,0,0,0,0
$GC,10137,-1.23,-146.0,830.4,-8.8,380,10141,0.00,2.28,0.00,0.000,6,0.000,0.035,3116,1574,3360,0,0,0,0,0,0
$GC,10401,-1.23,-146.0,848.6,-6.8,387,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1575,3360,0,0,0,0,0,0
$GC,10644,-1.23,-146.0,865.9,-7.1,393,10649,0.00,2.45,0.00,0.000,4,0.000,0.074,3116,171,3359,0,0,0,0,0,0
$GC,10674,-1.23,-146.0,868.2,-7.7,393,10678,0.00,2.28,0.00,0.000,6,0.000,0.035,3116,1569,3359,0,0,0,0,0,0
$GC,10933,-1.23,-146.0,886.7,-6.9,400,10938,0.00,2.70,0.00,0.000,4,0.000,0.055,3116,3163,3358,0,0,0,0,0,0
$GC,10953,-1.23,-146.0,888.1,-7.2,400,10957,0.00,2.70,0.00,0.000,6,0.000,0.047,3116,1569,3358,0,0,0,0,0,0
$STATE,11133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11133,begin apogee
$GC,11141,-0.31,0.0,900.4,6.8,405,11262,0.88,0.00,118.22,1.158,6,0.074,0.000,3316,1349,2800,0,0,0,0,0,0
$STATE,11263,end apogee,CONTROL_FINISHED_OK
$STATE,11263,begin climb
$GC,11266,1.27,146.0,903.5,0.0,408,11410,1.45,2.15,131.70,1.137,4,0.030,0.082,3670,172,2203,0,0,0,0,0,0
$GC,11471,0.99,146.0,887.6,16.8,413,11476,0.32,1.95,0.00,0.000,6,0.110,0.030,3603,1354,2199,0,0,0,0,0,0
$GC,11754,0.90,146.0,855.4,11.1,420,11759,0.10,2.10,0.00,0.000,4,0.130,0.073,3582,164,2192,0,0,0,0,0,0
$GC,11790,0.80,146.0,851.2,12.1,420,11794,0.12,1.95,0.00,0.000,6,0.121,0.030,3558,1350,2192,0,0,0,0,0,0
$GC,12040,0.82,161.5,827.5,9.3,426,12060,0.00,2.20,13.50,0.999,4,0.000,0.073,3558,169,2140,0,0,0,0,0,0
$GC,12080,0.82,161.5,823.4,10.5,426,12086,0.00,1.95,0.00,0.000,6,0.000,0.029,3558,1353,2140,0,0,0,0,0,0
$GC,12330,0.82,168.0,798.8,9.7,433,12343,0.00,2.72,6.85,0.859,4,0.000,0.054,3557,2936,2115,0,0,0,0,0,0
$GC,12362,0.91,197.5,795.6,8.6,433,12399,0.10,2.75,28.67,1.045,6,0.081,0.048,3597,1344,1994,0,0,0,0,0,0
$GC,12663,0.91,197.5,760.4,11.9,441,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1343,1989,0,0,0,0,0,0
$GC,12907,0.91,197.5,732.1,11.5,447,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1343,1988,0,0,0,0,0,0
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$GC,13459,0.83,197.5,671.3,12.3,459,13464,0.15,1.92,0.00,0.000,6,0.110,0.029,3566,1352,1984,0,0,0,0,0,0
$GC,13721,0.85,214.0,646.7,9.2,466,13741,0.00,2.72,15.30,0.927,4,0.000,0.051,3566,2926,1926,0,0,0,0,0,0
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$STATE,19179,end climb,SURFACE_DEPTH_REACHED
$STATE,19179,begin surface coast
$FINISH,0.9,1.010211
$STATE,19220,end surface coast,CONTROL_FINISHED_OK
$STATE,19220,begin surface
$SM_CCo,19245,43.88,0.437,0,0,1249,380.21
$SM_GC,1.93,0.00,0.00,43.88,0.000,0.000,0.437,408,1592,1249,-13.69,0.59,380.21
$IRIDIUM_FIX,2251.04,-15755.40,170902,121214
$TT8_MAMPS,0.027612
$HUMID,65.08
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,23
$24V_AH,23.3,22.081
$10V_AH,9.9,19.433
$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,34.050,208.425,398.600,43.875,0.000,86.337,117.710,508.491,5.750,0.000,15.085,1596.322,14488.345,561.716,2446.747,1187.838,33.367,1649.986,0.000,2439.671,0.000,0.536,0.000
$DEVICE_MAMPS,144.963,85.904,1158.170,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.317,347.216,441.106,780.544,1061.027,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,57278,731
$CAP_FILE_SIZE,194963,0
$CFSIZE,260165632,160935936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230613,174452,2257.336,-15755.080,37,99.0,56,10.1