version: 66.02
glider: 16
mission: 6
dive: 229
start: 12 30 107 2 41 18
data:
$ID,16
$MISSION,6
$DIVE,229
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,566.1524
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2081150.4
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,023038,6324.058,-542.429,37,1.7,37,-8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-50.2
$GPS2,024026,6323.926,-542.294,16,1.7,33,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.076,-0.208
$KALMAN_X,-23873.5,-240.9,-612.3,203652.9,9017.4
$KALMAN_Y,46476.0,-41.8,8.3,149352.3,-1688.2
$MHEAD_RNG_PITCHd_Wd,208.0,83611,-11.0,-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
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-101.65,0.000,2,0.000,0.000,73,2415,3074
$GC,127,-0.85,-146.6,3.7,-2.4,5,154,12.25,2.58,-8.40,0.000,4,0.176,0.084,2222,3764,3415
$GC,406,-0.85,-146.6,36.8,-10.0,17,413,0.00,2.53,0.00,0.000,6,0.000,0.056,2222,2397,3416
$GC,721,-0.85,-146.6,67.8,-11.4,33,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3416
$GC,1032,-0.85,-146.6,102.0,-7.1,48,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3416
$GC,1341,-0.85,-146.6,119.2,-6.6,63,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3416
$GC,1649,-0.85,-146.6,141.8,-10.2,78,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3416
$GC,1958,-0.85,-146.6,164.2,-5.9,93,1963,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,983,3416
$GC,2008,-0.85,-146.6,167.5,-7.1,95,2012,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2395,3416
$GC,2323,-0.85,-146.6,189.0,-6.5,110,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3416
$GC,2632,-0.85,-146.6,210.5,-6.9,125,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3416
$GC,2942,-0.85,-146.6,233.6,-7.6,140,2946,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3417
$GC,3063,-0.85,-146.6,243.2,-7.8,145,3070,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2395,3417
$GC,3380,-0.85,-146.6,268.6,-7.9,161,3384,0.00,2.60,0.00,0.000,4,0.000,0.078,2222,3764,3417
$GC,3451,-0.85,-146.6,274.6,-8.5,164,3455,0.00,2.55,0.00,0.000,6,0.000,0.061,2222,2394,3417
$GC,3772,-0.85,-146.6,296.5,-6.5,180,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2393,3417
$GC,4082,-0.85,-146.6,316.8,-6.7,195,4086,0.00,2.67,0.00,0.000,4,0.000,0.075,2222,984,3417
$GC,4165,-0.85,-146.6,322.5,-7.0,199,4170,0.00,2.62,0.00,0.000,6,0.000,0.063,2222,2397,3417
$GC,4490,-0.85,-146.6,344.8,-7.1,215,4495,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,982,3418
$GC,4552,-0.85,-146.6,349.4,-7.2,218,4557,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2406,3418
$GC,4878,-0.85,-146.6,373.2,-7.7,234,4883,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,980,3418
$GC,4927,-0.85,-146.6,377.1,-7.7,236,4931,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2401,3418
$GC,5243,-0.85,-146.6,401.7,-7.6,251,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$GC,5552,-0.85,-146.6,424.6,-7.4,266,5556,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,983,3417
$GC,5608,-0.85,-146.6,428.8,-7.7,268,5614,0.00,2.67,0.00,0.000,6,0.000,0.067,2222,2403,3417
$GC,5923,-0.85,-146.6,452.2,-7.3,284,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3416
$GC,6232,-0.85,-146.6,475.4,-7.6,299,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3415
$GC,6541,-0.85,-146.6,497.7,-7.0,314,6545,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,983,3414
$GC,6584,-0.85,-146.6,500.9,-7.2,316,6589,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2401,3414
$GC,6905,-0.85,-146.6,523.2,-6.6,332,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3413
$GC,7214,-0.85,-146.6,543.9,-6.7,347,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3412
$GC,7524,-0.85,-146.6,565.2,-6.9,362,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3412
$GC,7833,-0.85,-146.6,586.2,-6.8,377,7837,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,980,3411
$GC,7881,-0.85,-146.6,589.8,-7.6,379,7886,0.00,2.67,0.00,0.000,6,0.000,0.068,2222,2404,3411
$GC,8203,-0.85,-146.6,612.4,-7.0,395,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3409
$GC,8512,-0.85,-146.6,634.5,-7.6,410,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3408
$GC,8821,-0.85,-146.6,657.5,-7.5,425,8826,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,986,3407
$GC,8871,-0.85,-146.6,661.5,-8.0,427,8875,0.00,2.65,0.00,0.000,6,0.000,0.068,2222,2400,3407
$GC,9192,-0.85,-146.6,685.3,-7.2,443,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3407
$GC,9501,-0.85,-146.6,707.6,-7.1,458,9506,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,982,3406
$GC,9550,-0.85,-146.6,711.2,-7.7,460,9554,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2400,3406
$GC,9872,-0.85,-146.6,732.3,-6.5,476,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3405
$GC,10181,-0.85,-146.6,751.9,-6.2,491,10186,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,986,3404
$GC,10236,-0.85,-146.6,755.5,-7.2,493,10244,0.00,2.65,0.00,0.000,6,0.000,0.069,2222,2400,3404
$GC,10552,-0.85,-146.6,774.9,-6.4,509,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3403
$GC,10861,-0.85,-146.6,795.0,-6.5,524,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3402
$GC,11170,-0.85,-146.6,816.5,-7.0,539,11175,0.00,2.75,0.00,0.000,4,0.000,0.083,2221,980,3402
$GC,11227,-0.85,-146.6,820.6,-7.7,541,11233,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2400,3402
$GC,11542,-0.85,-146.6,842.8,-7.0,557,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3402
$GC,11851,-0.85,-146.6,864.3,-7.0,572,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3401
$GC,12160,-0.85,-146.6,887.0,-7.4,587,12164,0.00,2.72,0.00,0.000,4,0.000,0.082,2222,986,3401
$GC,12209,-0.85,-146.6,890.8,-7.8,589,12213,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2401,3401
$GC,12524,-0.85,-146.6,913.4,-7.1,604,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3401
$GC,12833,-0.85,-146.6,935.4,-7.1,619,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3400
$GC,13143,-0.85,-146.6,956.3,-6.6,634,13144,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3400
$GC,13452,-0.85,-146.6,975.7,-6.0,649,13457,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,985,3400
$GC,13501,-0.85,-146.6,979.0,-6.9,651,13506,0.00,2.65,0.00,0.000,6,0.000,0.068,2222,2404,3400
$STATE,13697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13697,begin apogee
$GC,13703,-0.31,0.0,991.1,6.1,661,13830,0.60,0.00,123.55,1.363,6,0.120,0.000,2338,2193,2817
$STATE,13831,end apogee,CONTROL_FINISHED_OK
$STATE,13831,begin climb
$GC,13833,0.85,146.6,995.3,0.0,667,13965,1.25,2.80,124.55,1.335,4,0.104,0.078,2586,789,2218
$GC,13989,0.87,168.0,990.2,5.4,674,14016,0.00,2.67,19.55,1.288,6,0.000,0.058,2586,2205,2131
$GC,14325,0.87,168.0,968.7,6.5,691,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2130
$GC,14634,0.87,168.0,948.1,6.7,706,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2131
$GC,14944,0.87,168.0,927.5,6.6,721,14945,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2130
$GC,15252,0.87,168.0,906.9,6.5,736,15257,0.00,2.75,0.00,0.000,4,0.000,0.080,2586,787,2129
$GC,15284,0.87,168.0,904.5,7.0,737,15291,0.00,2.65,0.00,0.000,6,0.000,0.059,2586,2204,2129
$GC,15600,0.87,168.0,883.8,6.6,753,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2129
$GC,15909,0.87,168.0,863.0,6.4,768,15910,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2129
$GC,16218,0.87,172.9,843.9,5.9,783,16225,0.00,0.00,5.22,0.981,6,0.000,0.000,2586,2204,2111
$GC,16528,0.89,182.7,826.0,5.7,798,16543,0.00,2.80,9.95,1.105,4,0.000,0.077,2586,789,2072
$GC,16570,0.89,182.7,823.4,6.0,799,16575,0.00,2.65,0.00,0.000,6,0.000,0.058,2586,2204,2071
$GC,16897,0.89,182.7,803.1,6.3,815,16898,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2071
$GC,17207,0.89,182.7,784.8,6.0,830,17208,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2071
$GC,17516,0.90,196.9,766.5,5.6,845,17536,0.00,0.00,13.62,1.127,6,0.000,0.000,2586,2205,2013
$GC,17845,0.90,196.9,746.6,6.3,861,17850,0.00,2.75,0.00,0.000,4,0.000,0.080,2586,787,2013
$GC,17884,0.90,196.9,744.0,6.1,863,17889,0.00,2.65,0.00,0.000,6,0.000,0.061,2586,2207,2012
$GC,18210,0.90,196.9,721.9,7.0,879,18211,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2207,2012
$GC,18519,0.90,196.9,699.5,7.3,894,18524,0.00,2.75,0.00,0.000,4,0.000,0.081,2586,791,2012
$GC,18558,0.90,196.9,696.4,8.1,896,18563,0.00,2.62,0.00,0.000,6,0.000,0.061,2586,2200,2012
$GC,18884,0.90,196.9,671.6,7.6,912,18885,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2012
$GC,19194,0.90,196.9,649.0,7.5,927,19195,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2012
$GC,19503,0.90,196.9,626.1,7.0,942,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2012
$GC,19812,0.90,196.9,603.9,7.1,957,19813,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2012
$GC,20121,0.90,196.9,582.5,7.0,972,20122,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2012
$GC,20431,0.90,196.9,560.3,7.1,987,20432,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2012
$GC,20740,0.90,196.9,539.6,6.6,1002,20744,0.00,2.72,0.00,0.000,4,0.000,0.081,2586,789,2011
$GC,20783,0.90,196.9,536.5,7.7,1004,20787,0.00,2.62,0.00,0.000,6,0.000,0.060,2586,2200,2012
$GC,21110,0.90,196.9,514.6,6.7,1020,21111,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2012
$GC,21419,0.90,196.9,494.9,6.3,1035,21420,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2012
$GC,21729,0.90,196.9,474.6,6.7,1050,21733,0.00,2.72,0.00,0.000,4,0.000,0.080,2586,789,2011
$GC,21772,0.90,196.9,471.4,7.0,1052,21777,0.00,2.60,0.00,0.000,6,0.000,0.060,2586,2197,2012
$GC,22093,0.90,196.9,449.3,6.9,1068,22094,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2197,2011
$GC,22402,0.90,196.9,429.4,6.1,1083,22403,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2197,2011
$GC,22712,0.90,196.9,409.4,7.3,1098,22716,0.00,2.75,0.00,0.000,4,0.000,0.087,2586,3613,2012
$GC,22760,0.90,196.9,405.1,8.9,1100,22765,0.00,2.70,0.00,0.000,6,0.000,0.074,2586,2203,2011
$GC,23082,0.90,196.9,381.0,7.2,1116,23083,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2012
$GC,23392,0.90,196.9,358.0,7.5,1131,23393,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2012
$GC,23700,0.90,196.9,336.6,6.3,1146,23702,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2011
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$GC,24320,0.90,196.9,297.5,6.2,1176,24321,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2011
$GC,24628,0.90,196.9,277.7,6.3,1191,24629,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2012
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$STATE,28495,end climb,SURFACE_DEPTH_REACHED
$STATE,28495,begin surface coast
$FINISH,1.0,1.013716
$STATE,28517,end surface coast,CONTROL_FINISHED_OK
$STATE,28517,begin surface
$SM_CCo,28537,206.40,0.667,2,0,509,566.15
$SM_GC,1.71,0.00,0.00,206.40,0.000,0.000,0.667,70,2403,509,-10.76,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2024
$TCM_TEMP,16.70
$XPDR_PINGS,137
$24V_AH,23.3,40.393
$10V_AH,10.1,20.749
$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
$DEVICE_SECS,25.575,140.000,328.750,206.400,0.000,66.456,71.453,243.253,42.750,0.000,0.000,33.095,2396.281,22876.756,743.385,2654.310,666.255,33.375,2008.344,0.000,2583.799,0.000,56.120
$DEVICE_MAMPS,175.643,87.438,1362.959,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.985,953.190,715.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69390,1380
$CFSIZE,260165632,245182464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,2,0
$GPS,301207,104158,6318.855,-539.833,30,2.8,49,-8.0