version: 66.11
glider: 167
mission: 14
dive: 382
start: 1 14 113 8 40 29
data:
$ID,167
$MISSION,14
$DIVE,382
$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,-8
$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,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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-971293.12
$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,63
$R_STBD_OVSHOOT,43
$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
$GPS1,140113,083223,2206.125,12231.914,39,1.5,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-56.6
$GPS2,140113,084002,2206.123,12231.883,17,1.5,17,-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,321.3,154906,-14.5,-8.919,-17.77
$D_GRID,4832
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.59,-185.7,0.0,0.0,0,73,0.00,0.00,-51.65,0.000,2,0.000,0.000,108,2454,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.59,-185.7,3.0,-3.7,5,130,9.48,2.10,-32.80,0.000,4,0.216,0.060,2465,3751,3728,0,0,0,0,0,0,25.04,25.96,26.70
$GC,270,-0.55,-185.7,25.8,-12.2,23,278,0.00,1.88,0.00,0.000,6,0.000,0.018,2465,2418,3729,0,0,0,0,0,0,28.83,26.41,28.83
$GC,588,-0.51,-185.7,74.2,-15.2,48,590,0.12,0.00,0.00,0.000,6,0.154,0.000,2499,2417,3729,0,0,0,0,0,0,26.32,28.83,28.83
$GC,888,-0.50,-185.7,113.8,-11.8,63,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2417,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1188,-0.52,-185.7,147.1,-11.3,78,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2417,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1490,-0.54,-185.7,175.3,-8.5,93,1495,0.00,1.95,0.00,0.000,4,0.000,0.030,2499,1060,3729,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1549,-0.57,-185.7,179.1,-7.8,95,1555,0.00,2.08,0.00,0.000,6,0.000,0.033,2499,2449,3729,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1854,-0.64,-185.7,204.2,-7.4,111,1861,0.12,2.05,0.00,0.000,4,0.079,0.028,2407,1064,3729,0,0,0,0,0,0,26.62,26.28,28.83
$GC,1913,-0.66,-185.7,208.5,-8.4,113,1922,0.17,2.08,0.00,0.000,6,0.142,0.034,2447,2451,3729,0,0,0,0,0,0,25.83,26.20,28.83
$GC,2220,-0.66,-185.7,240.3,-9.7,129,2226,0.00,2.03,0.00,0.000,4,0.000,0.046,2441,3768,3729,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2340,-0.64,-185.7,251.2,-10.7,134,2346,0.00,1.85,0.00,0.000,6,0.000,0.018,2441,2450,3729,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2644,-0.63,-185.7,284.8,-11.0,150,2649,0.00,2.00,0.00,0.000,4,0.000,0.030,2441,1065,3729,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2691,-0.63,-185.7,289.8,-11.4,152,2697,0.00,2.08,0.00,0.000,6,0.000,0.034,2440,2452,3729,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3010,-0.62,-185.7,324.8,-9.8,168,3015,0.00,2.00,0.00,0.000,4,0.000,0.047,2440,3761,3728,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3037,-0.61,-185.7,327.2,-9.7,169,3043,0.00,1.90,0.00,0.000,6,0.000,0.021,2440,2440,3729,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3356,-0.61,-185.7,360.9,-10.4,185,3361,0.00,1.98,0.00,0.000,4,0.000,0.029,2440,1067,3727,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3402,-0.61,-185.7,365.2,-10.2,187,3408,0.00,2.10,0.00,0.000,6,0.000,0.036,2440,2455,3727,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3721,-0.61,-185.7,391.1,-7.2,203,3727,0.00,2.00,0.00,0.000,4,0.000,0.048,2439,3758,3726,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3814,-0.61,-185.7,397.3,-7.4,207,3819,0.00,1.85,0.00,0.000,6,0.000,0.020,2440,2444,3725,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4127,-0.61,-185.7,424.1,-9.5,223,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2444,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-0.62,-185.7,454.0,-9.7,238,4434,0.00,2.05,0.00,0.000,4,0.000,0.047,2440,3760,3722,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4482,-0.63,-185.7,458.2,-9.6,240,4488,0.00,1.88,0.00,0.000,6,0.000,0.021,2440,2440,3721,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4797,-0.64,-185.7,481.9,-6.9,256,4802,0.00,1.98,0.00,0.000,4,0.000,0.028,2440,1069,3720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4856,-0.65,-185.7,485.3,-7.1,258,4864,0.00,2.10,0.00,0.000,6,0.000,0.034,2440,2460,3720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5162,-0.66,-185.7,509.8,-7.1,274,5168,0.00,2.00,0.00,0.000,4,0.000,0.048,2440,3758,3718,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5192,-0.68,-185.7,511.6,-7.0,275,5197,0.00,1.88,0.00,0.000,6,0.000,0.022,2440,2437,3716,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5510,-0.69,-185.7,535.1,-7.4,291,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2437,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5813,-0.71,-185.7,559.1,-8.2,306,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2437,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6114,-0.73,-185.7,584.2,-8.2,321,6119,0.00,2.08,0.00,0.000,4,0.000,0.048,2440,3759,3712,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6166,-0.75,-185.7,587.9,-7.9,323,6172,0.00,1.88,0.00,0.000,6,0.000,0.021,2440,2451,3712,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6493,-0.77,-185.7,611.1,-6.8,337,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2448,3710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6791,-0.79,-185.7,631.9,-7.1,347,6797,0.00,2.08,0.00,0.000,4,0.000,0.049,2440,3763,3708,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6834,-0.81,-185.7,634.5,-7.3,348,6841,0.10,1.90,0.00,0.000,6,0.097,0.021,2384,2444,3708,0,0,0,0,0,0,26.30,26.45,28.83
$GC,7162,-0.78,-185.7,673.6,-12.9,359,7168,0.12,2.10,0.00,0.000,4,0.154,0.047,2422,3763,3705,0,0,0,0,0,0,26.25,25.89,28.83
$GC,7220,-0.76,-185.7,678.4,-13.1,360,7227,0.00,1.90,0.00,0.000,6,0.000,0.022,2422,2444,3702,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7528,-0.77,-185.7,717.2,-11.2,371,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2444,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7826,-0.78,-185.7,745.9,-8.8,381,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2444,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.79,-185.7,768.8,-7.8,391,8133,0.00,2.08,0.00,0.000,4,0.000,0.050,2422,3756,3698,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8166,-0.80,-185.7,771.8,-8.0,392,8171,0.00,1.90,0.00,0.000,6,0.000,0.023,2422,2433,3698,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8497,-0.81,-185.7,803.2,-9.8,403,8502,0.00,2.12,0.00,0.000,4,0.000,0.052,2422,3759,3696,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8579,-0.82,-185.7,809.8,-9.9,405,8584,0.00,1.90,0.00,0.000,6,0.000,0.024,2422,2439,3696,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8895,-0.84,-185.7,840.2,-8.6,416,8900,0.00,2.12,0.00,0.000,4,0.000,0.052,2422,3761,3693,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8953,-0.85,-185.7,842.9,-8.2,417,8960,0.00,1.90,0.00,0.000,6,0.000,0.024,2422,2439,3693,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9262,-0.87,-185.7,868.3,-7.6,428,9268,0.12,2.12,0.00,0.000,4,0.081,0.050,2356,3759,3692,0,0,0,0,0,0,26.55,25.75,28.83
$GC,9306,-0.87,-185.7,872.0,-8.1,429,9313,0.12,1.90,0.00,0.000,6,0.157,0.024,2387,2447,3691,0,0,0,0,0,0,25.93,26.36,28.83
$GC,9634,-0.85,-185.7,904.7,-9.7,440,9639,0.00,2.03,0.00,0.000,4,0.000,0.029,2388,1069,3690,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9667,-0.83,-185.7,908.2,-9.7,441,9673,0.00,2.12,0.00,0.000,6,0.000,0.036,2386,2452,3690,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10004,-0.82,-185.7,942.3,-10.3,452,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2452,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10302,-0.80,-185.7,971.3,-9.2,462,10307,0.00,2.05,0.00,0.000,4,0.000,0.029,2387,1075,3686,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10340,-0.79,-185.7,974.5,-9.3,463,10345,0.00,2.12,0.00,0.000,6,0.000,0.037,2386,2448,3686,0,0,0,0,0,0,28.83,25.41,28.83
$STATE,10515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10515,begin apogee
$GC,10523,-0.20,0.0,991.6,-9.2,469,10698,0.65,0.00,164.35,1.317,6,0.118,0.000,2593,2180,2959,0,0,0,0,0,0,25.20,28.83,22.77
$STATE,10700,end apogee,CONTROL_FINISHED_OK
$STATE,10700,begin climb
$GC,10703,0.59,185.7,999.1,0.0,475,10886,0.73,2.55,173.68,1.280,4,0.070,0.047,2850,3606,2200,0,0,0,0,0,0,24.82,24.08,22.29
$GC,10951,0.61,236.0,987.5,7.3,483,11005,0.00,2.10,47.15,1.253,6,0.000,0.028,2858,2236,2002,0,0,0,0,0,0,28.83,25.58,23.30
$GC,11305,0.67,300.5,960.8,6.8,495,11373,0.00,2.33,62.62,1.234,4,0.000,0.038,2863,807,1734,0,0,0,0,0,0,28.83,25.27,23.49
$GC,11442,0.74,363.1,952.3,6.9,499,11511,0.12,2.15,61.85,1.229,6,0.082,0.031,2926,2213,1483,0,0,0,0,0,0,25.89,25.89,23.46
$GC,11819,0.70,363.1,906.0,12.8,512,11825,0.12,2.17,0.00,0.000,4,0.143,0.047,2885,3601,1464,0,0,0,0,0,0,26.15,26.05,28.83
$GC,11878,0.67,363.1,901.5,13.0,513,11885,0.00,2.12,0.00,0.000,6,0.000,0.028,2892,2185,1464,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12186,0.67,363.1,857.9,14.1,524,12192,0.00,2.10,0.00,0.000,4,0.000,0.038,2894,803,1463,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12215,0.66,363.1,857.9,14.1,524,12222,0.00,2.10,0.00,0.000,6,0.000,0.031,2894,2202,1467,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12523,0.66,363.1,809.9,13.6,535,12529,0.00,2.20,0.00,0.000,4,0.000,0.048,2894,3606,1463,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12587,0.64,363.1,800.8,13.5,537,12594,0.00,2.10,0.00,0.000,6,0.000,0.028,2894,2203,1462,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12924,0.64,363.1,764.7,9.5,548,12930,0.00,2.12,0.00,0.000,4,0.000,0.038,2895,799,1461,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12958,0.64,363.1,761.3,9.4,549,12963,0.00,2.12,0.00,0.000,6,0.000,0.029,2895,2214,1466,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13293,0.64,363.1,726.4,10.9,560,13298,0.00,2.20,0.00,0.000,4,0.000,0.049,2895,3606,1459,0,0,0,0,0,0,28.83,25.98,28.83
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$GC,15157,0.67,380.5,541.7,9.6,631,15163,0.00,2.10,0.00,0.000,6,0.000,0.027,2894,2194,1403,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,20325,end climb,SURFACE_DEPTH_REACHED
$STATE,20325,begin surface coast
$FINISH,1.0,1.023209
$STATE,20347,end surface coast,CONTROL_FINISHED_OK
$STATE,20347,begin surface
$SM_CCo,20426,0.00,0.000,0,0,1029,475.64
$SM_GC,1.65,7.40,0.38,0.00,0.029,0.051,0.000,115,2454,1029,-7.86,-1.22,475.64,0,0,0,0,0,0,26.25,26.34,28.83
$IRIDIUM_FIX,2159.71,12208.46,140113,020249
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.30
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.70
$XPDR_PINGS,73
$24V_AH,22.3,82.371
$10V_AH,9.7,53.296
$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,19.900,186.975,607.625,0.000,0.000,0.000,0.000,250.225,18.250,0.000,18.304,2967.598,14173.672,768.525,2494.909,469.190,0.000,2280.468,0.000,2157.913,0.000,0.543,0.000
$DEVICE_MAMPS,216.495,59.670,1316.565,0.000,0.000,0.000,0.000,130.815,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20350.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.368,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,33369,910
$CAP_FILE_SIZE,231098,0
$CFSIZE,260165632,211304448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.120,112.5,1
$GPS,140113,142206,2207.907,12231.181,28,1.7,28,-3.3