version: 66.11
glider: 167
mission: 14
dive: 369
start: 1 10 113 15 10 30
data:
$ID,167
$MISSION,14
$DIVE,369
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,370
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-969295.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,100113,150235,2153.996,12306.248,39,0.8,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-55.8
$GPS2,100113,151004,2153.872,12306.130,4,0.7,4,-3.3
$SPEED_LIMITS,0.154,0.278
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,355.4,214200,-14.5,-8.919,-17.77
$D_GRID,4830
$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,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.59,-185.7,0.0,0.0,0,95,0.00,0.00,-71.55,0.000,2,0.000,0.000,108,2455,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.59,-185.7,3.0,-3.1,7,151,9.45,2.10,-33.33,0.000,4,0.217,0.064,2461,3751,3728,0,0,0,0,0,0,25.01,26.00,26.71
$GC,230,-0.54,-185.7,22.4,-18.0,19,237,0.00,1.88,0.00,0.000,6,0.000,0.024,2461,2451,3728,0,0,0,0,0,0,28.83,26.33,28.83
$GC,538,-0.49,-185.7,67.0,-16.6,45,543,0.12,2.05,0.00,0.000,4,0.151,0.029,2502,1043,3727,0,0,0,0,0,0,26.29,26.29,28.83
$GC,571,-0.44,-185.7,70.9,-16.5,46,577,0.00,2.12,0.00,0.000,6,0.000,0.034,2496,2460,3728,0,0,0,0,0,0,28.83,26.25,28.83
$GC,888,-0.43,-185.7,111.0,-10.7,62,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2463,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1188,-0.42,-185.7,143.3,-11.1,77,1195,0.12,2.08,0.00,0.000,4,0.147,0.031,2536,1058,3728,0,0,0,0,0,0,26.34,26.30,28.83
$GC,1238,-0.43,-185.7,147.6,-9.9,79,1244,0.00,2.08,0.00,0.000,6,0.000,0.034,2536,2454,3728,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1557,-0.52,-185.7,172.6,-7.7,95,1563,0.12,2.10,0.00,0.000,4,0.080,0.031,2441,1048,3728,0,0,0,0,0,0,26.61,26.29,28.83
$GC,1644,-0.51,-185.7,182.3,-11.6,99,1650,0.20,2.12,0.00,0.000,6,0.135,0.040,2496,2454,3728,0,0,0,0,0,0,25.89,26.25,28.83
$GC,1969,-0.53,-185.7,211.5,-8.2,115,1974,0.00,2.00,0.00,0.000,4,0.000,0.046,2495,3769,3728,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2007,-0.55,-185.7,213.4,-8.1,116,2014,0.00,1.88,0.00,0.000,6,0.000,0.018,2495,2427,3727,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2314,-0.57,-185.7,236.0,-6.9,132,2320,0.00,1.98,0.00,0.000,4,0.000,0.037,2495,1081,3730,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2342,-0.60,-185.7,237.7,-6.9,133,2347,0.00,2.08,0.00,0.000,6,0.000,0.044,2495,2458,3728,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2661,-0.63,-185.7,258.2,-6.8,149,2667,0.00,1.98,0.00,0.000,4,0.000,0.045,2495,3756,3727,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2705,-0.66,-185.7,261.5,-7.0,151,2712,0.12,1.83,0.00,0.000,6,0.079,0.018,2420,2437,3727,0,0,0,0,0,0,26.45,26.55,28.83
$GC,3031,-0.63,-185.7,300.0,-13.3,167,3037,0.12,1.98,0.00,0.000,4,0.148,0.028,2460,1077,3726,0,0,0,0,0,0,26.32,26.32,28.83
$GC,3089,-0.62,-185.7,305.5,-13.1,169,3097,0.00,2.05,0.00,0.000,6,0.000,0.035,2460,2451,3726,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3396,-0.63,-185.7,337.6,-8.9,185,3401,0.00,2.00,0.00,0.000,4,0.000,0.046,2459,3764,3725,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3436,-0.64,-185.7,339.8,-8.8,186,3442,0.00,1.83,0.00,0.000,6,0.000,0.018,2459,2448,3724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3740,-0.65,-185.7,368.8,-9.4,202,3745,0.00,1.98,0.00,0.000,4,0.000,0.031,2458,1084,3723,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3792,-0.66,-185.7,373.3,-9.8,204,3797,0.00,2.05,0.00,0.000,6,0.000,0.035,2459,2455,3723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4105,-0.68,-185.7,405.8,-9.7,220,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2455,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.69,-185.7,431.2,-7.5,235,4413,0.00,2.03,0.00,0.000,4,0.000,0.031,2459,1088,3719,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4455,-0.71,-185.7,434.6,-7.3,237,4461,0.00,2.05,0.00,0.000,6,0.000,0.034,2453,2457,3719,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4775,-0.73,-185.7,458.4,-7.4,253,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2457,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.74,-185.7,482.1,-8.0,268,5083,0.00,2.00,0.00,0.000,4,0.000,0.048,2453,3754,3716,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5105,-0.76,-185.7,484.3,-8.0,269,5111,0.00,1.83,-0.08,0.000,6,0.000,0.019,2453,2443,3739,0,0,0,0,0,0,28.83,26.54,25.15
$GC,5424,-0.78,-185.7,511.2,-8.8,285,5431,0.12,1.98,0.00,0.000,4,0.083,0.028,2376,1087,3737,0,0,0,0,0,0,26.60,26.28,28.83
$GC,5469,-0.78,-185.7,516.6,-10.5,287,5475,0.15,2.08,0.00,0.000,6,0.151,0.036,2414,2457,3737,0,0,0,0,0,0,25.89,26.27,28.83
$GC,5793,-0.78,-185.7,554.2,-11.3,303,5799,0.00,2.00,0.00,0.000,4,0.000,0.047,2413,3754,3735,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5827,-0.77,-185.7,556.9,-11.3,304,5832,0.00,1.83,0.00,0.000,6,0.000,0.020,2413,2451,3734,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6140,-0.76,-185.7,592.0,-9.8,320,6145,0.00,2.00,0.00,0.000,4,0.000,0.030,2413,1078,3733,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6178,-0.75,-185.7,594.1,-9.5,321,6184,0.00,2.08,0.00,0.000,6,0.000,0.040,2413,2448,3732,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6487,-0.74,-185.7,622.0,-8.6,333,6492,0.00,2.03,0.00,0.000,4,0.000,0.049,2413,3754,3730,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6590,-0.73,-185.7,631.3,-9.4,336,6595,0.00,1.85,0.00,0.000,6,0.000,0.020,2413,2438,3729,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6917,-0.73,-185.7,664.2,-10.2,347,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2437,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,-0.72,-185.7,695.6,-10.6,357,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2437,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7515,-0.72,-185.7,725.4,-9.7,367,7520,0.00,2.10,0.00,0.000,4,0.000,0.050,2413,3762,3723,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7561,-0.72,-185.7,728.7,-9.7,368,7567,0.00,1.85,0.00,0.000,6,0.000,0.021,2412,2449,3723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7881,-0.72,-185.7,761.7,-10.2,379,7886,0.00,2.08,0.00,0.000,4,0.000,0.050,2411,3761,3721,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7948,-0.72,-185.7,768.4,-10.3,381,7953,0.00,1.85,0.00,0.000,6,0.000,0.023,2411,2459,3720,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8278,-0.72,-185.7,802.5,-10.2,392,8283,0.00,2.08,0.00,0.000,4,0.000,0.051,2410,3762,3718,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8326,-0.72,-185.7,806.1,-10.1,393,8331,0.00,1.88,0.00,0.000,6,0.000,0.022,2411,2443,3718,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8646,-0.72,-185.7,835.3,-8.2,404,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2444,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8945,-0.72,-185.7,859.8,-8.3,414,8950,0.00,2.08,0.00,0.000,4,0.000,0.050,2411,3753,3714,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8979,-0.72,-185.7,862.7,-8.2,415,8984,0.00,1.88,0.00,0.000,6,0.000,0.024,2411,2448,3714,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9314,-0.72,-185.7,890.2,-8.4,426,9319,0.00,2.03,0.00,0.000,4,0.000,0.031,2411,1085,3709,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9351,-0.72,-185.7,893.3,-8.6,427,9357,0.00,2.10,0.00,0.000,6,0.000,0.037,2411,2458,3712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9682,-0.72,-185.7,923.2,-9.3,438,9687,0.00,2.05,0.00,0.000,4,0.000,0.051,2411,3761,3710,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9749,-0.72,-185.7,929.8,-9.8,440,9754,0.00,1.88,0.00,0.000,6,0.000,0.024,2412,2448,3710,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10079,-0.72,-185.7,964.0,-10.4,451,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2446,3708,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10344,begin apogee
$GC,10352,-0.20,0.0,990.9,-9.8,460,10533,0.55,0.00,170.77,1.645,6,0.112,0.000,2590,2179,2973,0,0,0,0,1,0,25.48,28.83,21.62
$STATE,10535,end apogee,CONTROL_FINISHED_OK
$STATE,10535,begin climb
$GC,10538,0.59,185.7,1000.9,0.0,466,10735,0.75,2.58,182.68,1.691,4,0.055,0.048,2852,3606,2210,0,0,0,0,1,0,23.96,23.37,21.33
$GC,10873,0.54,185.7,985.9,9.3,477,10878,0.00,2.08,0.00,0.000,6,0.000,0.028,2858,2233,2212,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11188,0.54,220.6,959.3,7.8,488,11235,0.00,2.22,40.55,1.209,4,0.000,0.039,2858,812,2060,0,0,0,0,0,0,28.83,25.52,23.80
$GC,11297,0.55,251.5,952.0,7.9,491,11333,0.00,2.15,30.58,1.207,6,0.000,0.034,2858,2216,1940,0,0,0,0,0,0,28.83,25.98,23.81
$GC,11642,0.54,251.5,921.2,8.9,503,11647,0.00,2.17,0.00,0.000,4,0.000,0.049,2859,3603,1926,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11724,0.52,251.5,914.6,9.6,505,11730,0.12,2.10,0.00,0.000,6,0.154,0.028,2831,2185,1924,0,0,0,0,0,0,26.04,26.34,28.83
$GC,12041,0.55,269.6,886.8,8.3,516,12069,0.00,2.15,18.02,1.255,4,0.000,0.039,2831,815,1861,0,0,0,0,0,0,28.83,25.90,23.99
$GC,12097,0.57,283.8,884.1,8.5,517,12117,0.00,2.12,15.40,1.237,6,0.000,0.033,2831,2210,1810,0,0,0,0,0,0,28.83,26.03,23.90
$GC,12436,0.61,303.2,852.6,8.3,529,12466,0.00,2.22,20.95,1.239,4,0.000,0.048,2831,3605,1722,0,0,0,0,0,0,28.83,25.75,23.96
$GC,12551,0.63,306.0,844.2,8.8,532,12557,0.12,2.10,0.00,0.000,6,0.079,0.027,2894,2199,1719,0,0,0,0,0,0,26.10,26.16,28.83
$GC,12868,0.61,306.0,809.2,10.8,543,12870,0.12,0.00,0.00,0.000,6,0.138,0.000,2859,2199,1717,0,0,0,0,0,0,26.30,28.83,28.83
$GC,13165,0.63,328.4,784.2,8.2,553,13194,0.00,0.00,26.75,1.212,6,0.000,0.000,2859,2199,1625,0,0,0,0,0,0,28.83,28.83,23.91
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$GC,15779,0.71,379.8,536.9,9.7,649,15785,0.00,2.08,0.00,0.000,6,0.000,0.026,2913,2197,1430,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,20677,end climb,SURFACE_DEPTH_REACHED
$STATE,20677,begin surface coast
$FINISH,0.9,1.010826
$STATE,20699,end surface coast,CONTROL_FINISHED_OK
$STATE,20699,begin surface
$SM_CCo,20779,0.00,0.000,0,0,486,609.08
$SM_GC,1.55,7.43,0.35,0.00,0.028,0.051,0.000,119,2449,486,-7.87,-1.39,609.08,0,0,0,0,0,0,26.23,26.39,28.83
$IRIDIUM_FIX,2145.77,12307.27,100113,090909
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.13
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.70
$XPDR_PINGS,55
$24V_AH,21.3,79.056
$10V_AH,9.8,51.346
$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,21.025,173.650,752.375,0.000,0.000,0.000,0.000,255.775,13.750,0.000,5.549,2929.575,14458.971,843.874,2515.254,471.832,0.000,2401.300,0.000,2176.833,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,64.260,1691.415,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20708.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.313,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,33320,910
$CAP_FILE_SIZE,230694,0
$CFSIZE,260165632,213045248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.100,183.5,1
$GPS,100113,205806,2155.828,12305.606,32,1.3,32,-3.3