version: 66.11
glider: 167
mission: 14
dive: 401
start: 1 19 113 2 48 35
data:
$ID,167
$MISSION,14
$DIVE,401
$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,390
$T_MISSION,410
$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,170
$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,-971316.88
$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,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$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,72
$R_STBD_OVSHOOT,52
$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
$GPS1,190113,023353,2224.672,12221.418,38,1.1,38,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-62.5
$GPS2,190113,024806,2224.554,12221.320,52,1.3,52,-3.4
$SPEED_LIMITS,0.147,0.260
$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,295.2,119024,-14.7,-8.462,-18.01
$D_GRID,4836
$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,-0.69,-166.2,0.0,0.0,0,84,0.00,0.00,-62.58,0.000,2,0.000,0.000,108,2465,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.69,-166.2,3.2,-3.4,6,131,9.40,2.10,-27.05,0.000,4,0.220,0.061,2426,3751,3647,0,0,0,0,0,0,25.01,25.98,26.72
$GC,360,-0.65,-166.2,48.4,-17.5,32,367,0.00,1.85,0.00,0.000,6,0.000,0.019,2426,2441,3648,0,0,0,0,0,0,28.83,26.41,28.83
$GC,670,-0.61,-166.2,97.2,-14.9,48,672,0.15,0.00,0.00,0.000,6,0.151,0.000,2467,2441,3647,0,0,0,0,0,0,26.19,28.83,28.83
$GC,969,-0.60,-166.2,136.1,-12.6,63,974,0.00,2.03,0.00,0.000,4,0.000,0.033,2467,1071,3652,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1017,-0.59,-166.2,141.2,-11.2,65,1022,0.00,2.05,0.00,0.000,6,0.000,0.037,2465,2434,3648,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1335,-0.59,-166.2,176.9,-11.6,81,1341,0.00,2.03,0.00,0.000,4,0.000,0.035,2466,1075,3648,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1359,-0.59,-166.2,179.7,-11.7,82,1365,0.00,2.08,0.00,0.000,6,0.000,0.037,2465,2454,3648,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1683,-0.59,-166.2,210.7,-9.2,98,1688,0.00,2.00,0.00,0.000,4,0.000,0.047,2464,3755,3648,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1736,-0.59,-166.2,215.1,-10.0,100,1741,0.00,1.85,0.00,0.000,6,0.000,0.020,2464,2436,3648,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2049,-0.59,-166.2,246.9,-9.1,116,2054,0.00,1.98,0.00,0.000,4,0.000,0.031,2464,1086,3648,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2086,-0.59,-166.2,249.0,-8.9,117,2093,0.00,2.05,0.00,0.000,6,0.000,0.036,2464,2454,3648,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2392,-0.59,-166.2,279.6,-9.9,133,2397,0.00,2.00,0.00,0.000,4,0.000,0.047,2463,3757,3648,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2429,-0.59,-166.2,281.8,-9.9,134,2437,0.00,1.83,0.00,0.000,6,0.000,0.018,2463,2438,3648,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2735,-0.59,-166.2,311.9,-9.8,150,2741,0.00,2.05,0.00,0.000,4,0.000,0.047,2462,3751,3646,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2788,-0.59,-166.2,316.5,-10.2,152,2793,0.00,1.80,0.00,0.000,6,0.000,0.018,2462,2448,3646,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3101,-0.59,-166.2,350.2,-9.6,168,3106,0.00,2.00,0.00,0.000,4,0.000,0.031,2463,1090,3645,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3184,-0.59,-166.2,357.5,-8.9,172,3190,0.00,2.05,0.00,0.000,6,0.000,0.035,2463,2458,3644,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3508,-0.59,-166.2,379.1,-6.1,188,3513,0.00,2.05,0.00,0.000,4,0.000,0.039,2462,1088,3643,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3531,-0.59,-166.2,380.6,-6.2,189,3536,0.00,2.05,0.00,0.000,6,0.000,0.034,2462,2449,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3855,-0.60,-166.2,404.7,-8.9,205,3860,0.00,2.03,0.00,0.000,4,0.000,0.050,2462,3755,3641,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3892,-0.61,-166.2,406.9,-9.0,206,3900,0.00,1.83,0.00,0.000,6,0.000,0.018,2463,2435,3641,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4199,-0.62,-166.2,437.4,-9.1,222,4205,0.00,1.95,0.00,0.000,4,0.000,0.029,2462,1092,3639,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4223,-0.64,-166.2,439.6,-9.0,223,4229,0.00,2.05,0.00,0.000,6,0.000,0.034,2462,2459,3639,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4547,-0.66,-166.2,468.0,-8.5,239,4553,0.00,2.05,-0.08,0.000,4,0.000,0.041,2462,1100,3666,0,0,0,0,0,0,28.83,26.13,25.39
$GC,4591,-0.68,-166.2,471.8,-8.5,241,4596,0.00,2.05,0.00,0.000,6,0.000,0.034,2463,2457,3665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4915,-0.70,-166.2,499.0,-8.2,257,4920,0.00,2.03,0.00,0.000,4,0.000,0.029,2462,1094,3664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4933,-0.73,-166.2,499.0,-8.2,257,4940,0.00,2.05,0.00,0.000,6,0.000,0.034,2462,2452,3664,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5239,-0.76,-166.2,524.7,-8.3,273,5241,0.12,0.00,0.00,0.000,6,0.079,0.000,2388,2452,3662,0,0,0,0,0,0,26.59,28.83,28.83
$GC,5540,-0.74,-166.2,557.8,-11.7,288,5547,0.12,2.08,0.00,0.000,4,0.153,0.049,2426,3759,3660,0,0,0,0,0,0,26.23,25.82,28.83
$GC,5665,-0.74,-166.2,571.6,-10.8,294,5671,0.00,1.85,0.00,0.000,6,0.000,0.020,2426,2454,3659,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6001,-0.74,-166.2,603.4,-8.4,310,6006,0.00,2.00,0.00,0.000,4,0.000,0.029,2426,1086,3657,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6089,-0.74,-166.2,608.5,-7.8,312,6097,0.00,2.05,0.00,0.000,6,0.000,0.034,2426,2447,3657,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6395,-0.74,-166.2,630.7,-6.2,323,6400,0.00,2.05,0.00,0.000,4,0.000,0.052,2426,3750,3654,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6462,-0.74,-166.2,634.7,-6.2,325,6468,0.00,1.85,0.00,0.000,6,0.000,0.020,2426,2445,3654,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6793,-0.74,-166.2,657.1,-7.4,336,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2446,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.74,-166.2,684.5,-10.0,346,7098,0.00,2.10,0.00,0.000,4,0.000,0.052,2426,3762,3650,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7159,-0.74,-166.2,691.4,-10.4,348,7164,0.00,1.88,0.00,0.000,6,0.000,0.021,2426,2440,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7490,-0.74,-166.2,724.6,-9.7,359,7495,0.00,2.00,0.00,0.000,4,0.000,0.034,2426,1091,3648,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7547,-0.74,-166.2,728.0,-9.6,360,7554,0.00,2.10,0.00,0.000,6,0.000,0.036,2426,2449,3647,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7854,-0.74,-166.2,759.0,-9.1,371,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2449,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,-0.74,-166.2,784.7,-8.2,381,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2449,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8453,-0.74,-166.2,808.9,-7.9,391,8458,0.00,2.08,0.00,0.000,4,0.000,0.054,2426,3755,3641,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8488,-0.74,-166.2,811.5,-7.9,392,8493,0.00,1.88,0.00,0.000,6,0.000,0.021,2425,2438,3641,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8823,-0.74,-166.2,837.4,-7.7,403,8828,0.00,2.12,0.00,0.000,4,0.000,0.054,2426,3758,3636,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8867,-0.74,-166.2,840.1,-7.7,404,8872,0.00,1.85,0.00,0.000,6,0.000,0.021,2426,2457,3639,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9192,-0.74,-166.2,864.8,-7.4,415,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2455,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9491,-0.74,-166.2,889.8,-8.6,425,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2451,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,-0.74,-166.2,916.1,-8.7,435,9795,0.00,2.03,0.00,0.000,4,0.000,0.031,2426,1086,3634,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9823,-0.74,-166.2,919.2,-8.8,436,9829,0.00,2.12,0.00,0.000,6,0.000,0.042,2426,2455,3634,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10160,-0.74,-166.2,947.5,-8.2,447,10165,0.00,2.08,0.00,0.000,4,0.000,0.054,2426,3757,3632,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10197,-0.74,-166.2,950.4,-8.1,448,10203,0.00,1.88,0.00,0.000,6,0.000,0.022,2426,2447,3632,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10530,-0.74,-166.2,974.8,-6.8,459,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2447,3631,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10764,begin apogee
$GC,10770,-0.27,0.0,990.8,-6.6,467,10932,0.45,0.00,152.12,1.341,6,0.111,0.000,2572,2187,2961,0,0,0,0,0,0,25.43,28.83,22.84
$STATE,10934,end apogee,CONTROL_FINISHED_OK
$STATE,10934,begin climb
$GC,10936,0.69,166.2,994.5,0.0,472,11103,0.93,2.30,156.30,1.296,4,0.078,0.039,2894,852,2280,0,0,0,0,0,0,24.66,24.00,22.29
$GC,11151,0.66,166.2,981.7,8.7,479,11157,0.00,2.15,0.00,0.000,6,0.000,0.034,2894,2208,2271,0,0,0,0,0,0,28.83,25.26,28.83
$GC,11467,0.63,166.2,946.0,10.8,490,11472,0.00,2.22,0.00,0.000,4,0.000,0.050,2894,3607,2266,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11550,0.59,166.2,938.4,11.2,492,11556,0.17,2.05,0.00,0.000,6,0.155,0.028,2854,2227,2264,0,0,0,0,0,0,25.75,26.24,28.83
$GC,11866,0.58,166.2,908.5,8.6,503,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2226,2263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12166,0.57,170.2,883.3,8.3,513,12171,0.00,2.15,0.00,0.000,4,0.000,0.040,2854,814,2262,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12209,0.56,175.8,880.5,8.3,514,12216,0.00,2.10,1.17,0.209,6,0.000,0.034,2854,2203,2249,0,0,0,0,0,0,28.83,26.08,24.98
$GC,12537,0.58,198.4,853.9,7.7,525,12574,0.00,2.30,29.35,1.242,4,0.000,0.050,2854,3594,2152,0,0,0,0,0,0,28.83,25.53,23.78
$GC,12632,0.56,198.4,845.8,8.5,528,12638,0.00,2.10,0.00,0.000,6,0.000,0.028,2854,2199,2148,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12964,0.59,217.8,819.3,7.8,539,12990,0.00,0.00,20.50,1.236,6,0.000,0.000,2854,2199,2073,0,0,0,0,0,0,28.83,28.83,23.89
$GC,13292,0.61,235.6,793.0,7.9,550,13315,0.00,2.35,18.42,1.226,4,0.000,0.050,2854,3602,2001,0,0,0,0,0,0,28.83,25.72,23.91
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$GC,17747,0.87,444.0,387.7,7.5,733,17786,0.00,2.28,28.90,0.927,4,0.000,0.047,2911,3594,1147,0,0,0,0,0,0,28.83,25.66,24.10
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$STATE,21544,end climb,SURFACE_DEPTH_REACHED
$STATE,21544,begin surface coast
$FINISH,0.9,1.023301
$STATE,21575,end surface coast,CONTROL_FINISHED_OK
$STATE,21575,begin surface
$SM_CCo,21653,0.00,0.000,0,0,1085,461.90
$SM_GC,1.77,7.40,0.32,0.00,0.028,0.045,0.000,130,2463,1085,-7.86,-1.67,461.90,0,0,0,0,0,0,26.02,26.44,28.83
$IRIDIUM_FIX,2216.01,12223.80,190113,020216
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.62
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.80
$XPDR_PINGS,88
$24V_AH,22.3,86.597
$10V_AH,9.7,55.744
$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,19.900,190.900,603.450,0.000,0.000,0.000,0.000,483.300,22.000,0.000,54.470,3088.682,15299.634,749.976,2862.185,495.662,0.000,2553.362,0.000,2272.260,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,61.200,1341.045,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21594.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.358,0.000,0.000,0.000
$MEM,323736
$DATA_FILE_SIZE,36694,944
$CAP_FILE_SIZE,237469,0
$CFSIZE,260165632,209412096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.132, 95.6,1
$GPS,190113,085053,2225.507,12220.679,42,1.2,42,-3.4