version: 66.13
glider: 124
mission: 26
dive: 516
start: 9 6 118 22 47 24
data:
$ID,124
$MISSION,26
$DIVE,516
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,2.5
$T_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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55793
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$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,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2681
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.43451
$PRESSURE_SLOPE,0.00010836
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,71
$LOGGERDEVICE3,134
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043545738
$SEABIRD_T_H,0.00062548259
$SEABIRD_T_I,2.3693661e-05
$SEABIRD_T_J,2.5207949e-06
$SEABIRD_C_G,-9.9945526
$SEABIRD_C_H,1.1183146
$SEABIRD_C_I,-0.0026370776
$SEABIRD_C_J,0.00028069684
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,519.0
$CP_NDIVE,1.0
$GPS1,060918,223256,5800.6177,-2315.3911,38,1.8,73,-15.2,0.7,338.6,10,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.2
$GPS2,060918,224657,5800.8218,-2315.3667,11,1.5,15,-15.2,0.7,19.5,7,7.3
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,Z1
$TGT_LATLONG,5835.000,-2420.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,290.6,88881,-16.2,-10.000,-19.97,2570
$D_GRID,990
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.64,-170.3,16,1655,1386,1096,0.0,0.0,0,120,0.00,0.12,-96.07,0.006,16390,0.000,0.477,15,1666,3375,3310,3440,0,0,0,0,0,0,14.76,13.35,14.73
$GC,123,-0.64,-170.3,16,1666,3311,3441,5.1,-4.2,5,137,9.57,0.98,0.00,0.000,2596,0.411,0.036,1983,1130,3375,3318,3433,0,0,0,0,0,0,13.96,14.35,14.21
$GC,317,-0.64,-170.3,1982,1128,3337,3414,33.8,-10.6,44,324,0.00,1.12,0.00,0.000,1030,0.000,0.047,1980,1707,3374,3336,3413,0,0,0,0,0,0,14.49,14.45,14.52
$GC,643,-0.64,-170.3,1979,1710,3343,3406,76.7,-12.9,61,647,0.00,1.08,0.00,0.000,516,0.000,0.048,1979,1149,3374,3342,3406,0,0,0,0,0,0,14.90,14.47,14.92
$GC,719,-0.64,-170.3,1979,1149,3342,3407,86.2,-12.2,76,726,0.00,0.98,0.00,0.000,1030,0.000,0.044,1976,1702,3374,3342,3406,0,0,0,0,0,0,14.47,14.46,14.49
$GC,1043,-0.64,-170.3,1976,1703,3344,3406,127.1,-12.5,88,1049,0.00,0.88,0.00,0.000,260,0.000,0.047,1972,2231,3374,3343,3405,0,0,0,0,0,0,14.92,14.48,14.92
$GC,1140,-0.64,-170.3,1972,2235,3347,3402,138.5,-11.6,107,1145,0.00,0.95,0.00,0.000,1030,0.000,0.045,1972,1683,3374,3346,3402,0,0,0,0,0,0,14.44,14.40,14.47
$GC,1486,-0.64,-170.3,1972,1681,3347,3403,179.8,-11.8,120,1491,0.00,0.90,0.00,0.000,516,0.000,0.054,1973,1168,3374,3346,3402,0,0,0,0,0,0,14.98,14.48,15.00
$GC,1717,-0.64,-170.3,1972,1168,3348,3402,204.9,-10.8,166,1722,0.00,0.93,0.00,0.000,1030,0.000,0.045,1969,1693,3374,3346,3402,0,0,0,0,0,0,14.56,14.52,14.60
$GC,2048,-0.64,-170.3,1969,1694,3347,3402,243.2,-11.9,176,2053,0.00,0.90,0.00,0.000,260,0.000,0.046,1965,2232,3374,3347,3402,0,0,0,0,0,0,14.97,14.50,14.99
$GC,2130,-0.64,-170.3,1966,2236,3349,3401,252.7,-11.5,192,2136,0.08,0.95,0.00,0.000,3078,0.210,0.045,1989,1691,3374,3348,3401,0,0,0,0,0,0,14.05,14.38,14.19
$GC,2492,-0.64,-170.3,1990,1691,3349,3400,290.1,-10.1,208,2497,0.00,0.90,0.00,0.000,516,0.000,0.055,1989,1176,3374,3348,3400,0,0,0,0,0,0,15.02,14.50,15.04
$GC,2718,-0.64,-170.3,1989,1176,3349,3400,311.8,-9.4,253,2723,0.00,0.88,0.00,0.000,1030,0.000,0.044,1987,1680,3374,3349,3400,0,0,0,0,0,0,14.62,14.61,14.64
$GC,3054,-0.64,-170.3,1988,1680,3349,3400,346.7,-10.7,264,3060,0.00,0.93,0.00,0.000,260,0.000,0.046,1983,2239,3374,3349,3399,0,0,0,0,0,0,15.07,14.55,15.08
$GC,3193,-0.64,-170.3,1983,2241,3350,3399,360.5,-10.0,291,3198,0.00,0.95,0.00,0.000,1030,0.000,0.046,1983,1689,3374,3349,3399,0,0,0,0,0,0,14.59,14.55,14.62
$GC,3539,-0.64,-170.3,1983,1689,3350,3399,399.6,-11.3,304,3544,0.00,0.90,0.00,0.000,516,0.000,0.055,1983,1173,3374,3349,3399,0,0,0,0,0,0,15.06,14.52,15.08
$GC,3760,-0.64,-170.3,1983,1173,3350,3399,423.6,-10.5,348,3766,0.00,0.90,0.00,0.000,1030,0.000,0.046,1980,1688,3373,3348,3398,0,0,0,0,0,0,14.61,14.57,14.63
$GC,4101,-0.64,-170.3,1980,1689,3350,3398,462.1,-11.3,360,4107,0.00,0.90,0.00,0.000,260,0.000,0.046,1976,2232,3373,3349,3398,0,0,0,0,0,0,15.05,14.54,15.09
$GC,4218,-0.64,-170.3,1976,2235,3350,3398,474.3,-10.4,383,4224,0.00,0.95,0.00,0.000,1030,0.000,0.047,1976,1683,3373,3349,3397,0,0,0,0,0,0,14.58,14.54,14.61
$GC,4543,-0.64,-170.3,1976,1683,3350,3397,511.6,-11.6,392,4548,0.00,0.90,0.00,0.000,516,0.000,0.055,1975,1169,3373,3349,3397,0,0,0,0,0,0,15.05,14.53,15.07
$GC,4769,-0.64,-170.3,1976,1169,3351,3397,536.6,-10.8,437,4774,0.00,0.88,0.00,0.000,1030,0.000,0.047,1973,1669,3372,3348,3396,0,0,0,0,0,0,14.59,14.55,14.62
$GC,5105,-0.64,-170.3,1971,1668,3350,3396,575.7,-11.8,448,5111,0.00,0.95,0.00,0.000,260,0.000,0.046,1969,2236,3372,3349,3396,0,0,0,0,0,0,15.05,14.53,15.07
$GC,5235,-0.64,-170.3,1969,2238,3350,3395,589.3,-10.5,473,5241,0.00,0.98,0.00,0.000,1030,0.000,0.047,1968,1675,3372,3350,3395,0,0,0,0,0,0,14.57,14.53,14.59
$GC,5592,-0.64,-170.3,1969,1675,3350,3395,630.3,-11.3,488,5598,0.00,0.88,0.00,0.000,516,0.000,0.055,1968,1173,3372,3350,3394,0,0,0,0,0,0,15.07,14.50,15.08
$GC,5814,-0.64,-170.3,1969,1173,3350,3395,653.6,-10.0,532,5819,0.08,0.90,0.00,0.000,3078,0.212,0.046,1991,1684,3372,3350,3394,0,0,0,0,0,0,14.16,14.54,14.29
$GC,6155,-0.64,-170.3,1992,1683,3348,3394,684.1,-8.9,544,6161,0.00,0.90,0.00,0.000,260,0.000,0.047,1988,2228,3371,3350,3393,0,0,0,0,0,0,15.09,14.52,15.09
$GC,6378,-0.64,-170.3,1987,2230,3351,3394,702.9,-8.3,588,6383,0.00,0.93,0.00,0.000,1030,0.000,0.047,1987,1692,3371,3350,3393,0,0,0,0,0,0,14.55,14.51,14.59
$GC,6719,-0.64,-170.3,1987,1692,3351,3393,735.3,-9.5,600,6725,0.00,0.90,0.00,0.000,516,0.000,0.055,1987,1176,3371,3350,3392,0,0,0,0,0,0,15.05,14.49,15.07
$GC,6906,-0.64,-170.3,1987,1176,3351,3393,751.1,-7.6,637,6911,0.00,0.88,0.00,0.000,1062,0.000,0.044,1984,1687,3369,3348,3390,0,0,0,0,0,0,14.58,14.55,14.59
$GC,7243,-0.64,-170.3,1984,1687,3351,3391,778.8,-8.2,648,7249,0.00,0.88,0.00,0.000,260,0.000,0.045,1980,2215,3370,3349,3391,0,0,0,0,0,0,15.04,14.52,15.06
$GC,7409,-0.64,-170.3,1980,2218,3351,3391,791.9,-7.8,681,7414,0.00,0.93,0.00,0.000,1062,0.000,0.050,1980,1686,3370,3350,3391,0,0,0,0,0,0,14.54,14.50,14.59
$GC,7766,-0.64,-170.3,1981,1686,3351,3391,823.4,-9.1,696,7771,0.00,0.90,0.00,0.000,516,0.000,0.055,1979,1174,3370,3350,3390,0,0,0,0,0,0,15.03,14.45,15.05
$GC,7997,-0.64,-170.3,1981,1174,3351,3390,843.8,-8.7,742,8002,0.00,0.88,0.00,0.000,1030,0.000,0.044,1977,1677,3370,3350,3390,0,0,0,0,0,0,14.56,14.53,14.59
$GC,8329,-0.64,-170.3,1977,1678,3350,3390,873.4,-9.0,752,8334,0.00,0.90,0.00,0.000,260,0.000,0.047,1973,2220,3369,3350,3389,0,0,0,0,0,0,15.03,14.50,15.04
$GC,8530,-0.64,-170.3,1973,2222,3351,3389,890.7,-8.3,792,8535,0.00,0.93,0.00,0.000,1030,0.000,0.047,1973,1691,3369,3350,3389,0,0,0,0,0,0,14.50,14.48,14.55
$GC,8892,-0.64,-170.3,1973,1693,3351,3388,924.3,-9.5,808,8898,0.00,0.90,0.00,0.000,516,0.000,0.054,1973,1180,3369,3350,3388,0,0,0,0,0,0,14.99,14.41,15.01
$GC,9125,-0.64,-170.3,1973,1181,3350,3388,945.7,-8.8,854,9129,0.00,0.88,0.00,0.000,1030,0.000,0.045,1970,1678,3368,3349,3387,0,0,0,0,0,0,14.54,14.48,14.54
$GC,9455,-0.64,-170.3,1971,1678,3351,3387,975.5,-9.0,864,9461,0.00,0.93,0.00,0.000,260,0.000,0.048,1965,2229,3368,3350,3386,0,0,0,0,0,0,15.07,14.46,15.09
$STATE,9623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9623,begin apogee
$GC,9632,-0.12,0.0,1967,1718,3351,3386,990.3,-8.4,898,9789,0.47,0.00,155.40,2.162,10244,0.182,0.000,2106,1717,2680,2859,2502,0,0,0,0,0,0,14.07,13.97,12.86
$STATE,9790,end apogee,CONTROL_FINISHED_OK
$STATE,9791,begin climb
$GC,9794,0.64,170.3,2107,1718,2859,2502,993.4,0.0,902,9968,0.47,0.90,161.12,2.103,10500,0.086,0.041,2278,2251,1983,2192,1774,0,0,0,0,0,0,14.03,14.09,12.69
$GC,10029,0.64,170.3,2278,2252,2193,1774,973.9,10.4,942,10033,0.00,0.93,0.00,0.000,1030,0.000,0.061,2281,1729,1983,2192,1774,0,0,0,0,0,0,14.22,14.18,14.27
$GC,10390,0.64,170.3,2281,1729,2192,1774,935.6,10.3,958,10395,0.00,0.85,0.00,0.000,260,0.000,0.041,2281,2260,1982,2191,1773,0,0,0,0,0,0,14.90,14.62,14.92
$GC,10476,0.64,170.3,2280,2263,2192,1775,926.5,10.4,975,10481,0.00,0.98,0.00,0.000,1030,0.000,0.060,2284,1706,1982,2191,1774,0,0,0,0,0,0,14.60,14.55,14.62
$GC,10831,0.64,170.3,2285,1706,2191,1774,887.2,11.3,990,10836,0.00,0.93,0.00,0.000,516,0.000,0.063,2289,1196,1982,2190,1774,0,0,0,0,0,0,14.97,14.04,15.00
$GC,10918,0.64,170.3,2289,1195,2190,1773,877.5,11.2,1007,10923,0.00,0.90,0.00,0.000,1030,0.000,0.041,2288,1716,1980,2188,1773,0,0,0,0,0,0,14.66,14.62,14.68
$GC,11274,0.64,170.3,2288,1735,2190,1773,837.3,11.5,1022,11278,0.00,0.98,0.00,0.000,516,0.000,0.060,2292,1192,1980,2187,1773,0,0,0,0,0,0,14.98,14.54,15.00
$GC,11300,0.64,170.3,2292,1193,2188,1773,834.3,12.0,1027,11305,0.08,0.90,0.00,0.000,5126,0.201,0.040,2268,1718,1980,2187,1773,0,0,0,0,0,0,14.23,14.55,14.36
$GC,11636,0.64,170.3,2268,1736,2188,1774,800.6,9.6,1038,11641,0.00,0.98,0.00,0.000,516,0.000,0.060,2271,1194,1980,2187,1773,0,0,0,0,0,0,14.96,14.52,15.00
$GC,11677,0.67,170.3,2271,1192,2187,1773,797.0,8.8,1046,11681,0.00,0.85,0.00,0.000,1094,0.000,0.041,2271,1680,1979,2186,1772,0,0,0,0,0,0,14.65,14.65,14.67
$GC,12038,0.67,170.3,2272,1697,2188,1772,760.9,10.5,1062,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,1697,1979,2186,1772,0,0,0,0,0,0,14.99,15.00,15.00
$GC,12357,0.67,170.3,2272,1696,2187,1773,728.3,10.0,1070,12362,0.00,0.93,0.00,0.000,516,0.000,0.061,2275,1182,1979,2186,1772,0,0,0,0,0,0,14.96,14.50,15.00
$GC,12417,0.67,170.3,2276,1181,2186,1772,722.3,9.9,1082,12422,0.00,0.90,0.00,0.000,1030,0.000,0.041,2275,1701,1979,2186,1772,0,0,0,0,0,0,14.67,14.59,14.65
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$STATE,19523,end climb,SURFACE_DEPTH_REACHED
$STATE,19523,begin surface coast
$FINISH,0.2,1.014051
$STATE,19544,end surface coast,CONTROL_FINISHED_OK
$STATE,19544,begin surface
$SM_CCo,19563,128.15,0.103,0,0,1253,350.29
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$IRIDIUM_FIX,5758.28,-2317.78,060918,170630
$TT8_MAMPS,0.038948,0.749
$HUMID,41.69
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,19.10
$XPDR_PINGS,8
$SC_FREEKB,3717952
$CP_FREE,15679062016.000000
$24V_AH,12.69,0.000
$10V_AH,12.41,168.960
$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,17.175,70.125,316.525,128.150,0.000,0.000,0.000,532.025,2.000,0.000,18.282,0.000,16000.692,700.260,3236.520,588.246,0.000,2336.776,0.000,2025.528,0.000,0.537,0.000
$DEVICE_MAMPS,410.805,476.595,2161.890,103.275,0.000,0.000,0.000,177.480,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.435,0.000,25.000,0.000
$MEM,333888
$DATA_FILE_SIZE,49988,1422
$CAP_FILE_SIZE,166110,0
$CFSIZE,260165632,187146240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9956.24,0x235320,1,24
$CURRENT,0.419,1.52,1
$GPS,070918,041656,5805.365,-2318.654,38,1.6,43,-15.2,0.2,25.3,6,6.3