version: 66.10
glider: 169
mission: 5
dive: 417
start: 1 28 112 14 19 26
data:
$ID,169
$MISSION,5
$DIVE,417
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,360
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,35
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-11403.791
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,280112,141137,2332.638,12320.642,33,1.3,33,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.3
$GPS2,280112,141904,2332.495,12320.733,13,2.5,32,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2341.342,12327.497
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,38.3,20000,-15.4,-9.167
$D_GRID,3053
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.50,0.000,2,0.000,0.000,109,2675,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.60,-175.2,3.9,-9.4,14,124,7.28,2.28,-10.45,0.000,4,0.237,0.037,1819,1172,3695,0,0,0,0,0,0,24.79,26.08,26.55
$GC,186,-0.54,-175.2,34.6,-23.1,30,193,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2653,3695,0,0,0,0,0,0,28.83,25.96,28.83
$GC,499,-0.40,-175.2,142.7,-37.7,91,506,0.22,2.22,0.00,0.000,4,0.166,0.025,1886,1173,3695,0,0,0,0,0,0,25.72,26.17,28.83
$GC,591,-0.45,-175.2,157.2,-9.0,108,597,0.00,2.28,0.00,0.000,6,0.000,0.037,1875,2653,3695,0,0,0,0,0,0,28.83,26.12,28.83
$GC,902,-0.42,-175.2,203.1,-14.9,167,911,0.00,2.17,0.00,0.000,4,0.000,0.028,1875,1175,3695,0,0,0,0,0,0,28.83,26.22,28.83
$GC,975,-0.46,-175.2,211.2,-8.3,174,984,0.00,2.25,0.00,0.000,6,0.000,0.039,1867,2649,3695,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1283,-0.44,-175.2,248.2,-13.0,205,1292,0.00,2.20,0.00,0.000,4,0.000,0.028,1866,1165,3695,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1327,-0.44,-175.2,253.1,-12.1,209,1334,0.00,2.33,0.00,0.000,6,0.000,0.040,1858,2664,3696,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1636,-0.42,-175.2,294.4,-14.0,240,1645,0.00,2.20,0.00,0.000,4,0.000,0.028,1858,1173,3695,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1681,-0.43,-175.2,299.2,-11.5,244,1687,0.00,2.28,0.00,0.000,6,0.000,0.038,1855,2652,3695,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1987,-0.43,-175.2,330.5,-9.8,275,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2651,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.43,-175.2,360.0,-9.8,305,2299,0.00,2.17,0.00,0.000,4,0.000,0.028,1854,1178,3695,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2332,-0.46,-175.2,364.1,-9.3,309,2341,0.00,2.25,0.00,0.000,6,0.000,0.039,1851,2650,3695,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2642,-0.46,-175.2,396.1,-9.7,340,2645,0.00,1.77,0.00,0.000,4,0.000,0.045,1842,3815,3694,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2696,-0.49,-175.2,400.8,-9.0,345,2703,0.00,1.80,0.00,0.000,6,0.000,0.024,1842,2564,3693,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3003,-0.50,-175.2,427.9,-7.9,376,3007,0.00,2.03,0.00,0.000,4,0.000,0.028,1842,1176,3692,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3035,-0.51,-175.2,430.6,-8.5,379,3044,0.00,2.28,0.00,0.000,6,0.000,0.037,1833,2654,3692,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3345,-0.51,-175.2,458.5,-9.6,410,3353,0.00,2.20,0.00,0.000,4,0.000,0.028,1834,1170,3690,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3387,-0.53,-175.2,462.2,-9.2,414,3396,0.00,2.30,0.00,0.000,6,0.000,0.038,1825,2652,3690,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3696,-0.53,-175.2,495.1,-10.9,445,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2652,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3997,-0.53,-175.2,528.9,-11.7,475,4006,0.00,2.17,0.00,0.000,4,0.000,0.028,1825,1181,3686,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4070,-0.57,-175.2,536.6,-10.0,482,4079,0.00,2.25,0.00,0.000,6,0.000,0.039,1817,2642,3686,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4378,-0.57,-175.2,571.1,-9.5,513,4381,0.00,1.83,0.00,0.000,4,0.000,0.047,1808,3825,3684,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4411,-0.57,-175.2,574.4,-10.7,516,4418,0.00,1.85,0.00,0.000,6,0.000,0.024,1809,2572,3683,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4722,-0.56,-175.2,606.9,-9.9,544,4727,0.00,2.03,0.00,0.000,4,0.000,0.030,1809,1181,3681,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4759,-0.56,-175.2,610.7,-9.7,546,4766,0.10,2.30,0.00,0.000,6,0.141,0.040,1831,2651,3681,0,0,0,0,0,0,25.95,26.08,28.83
$GC,5083,-0.57,-175.2,634.0,-7.3,562,5088,0.00,2.22,0.00,0.000,4,0.000,0.031,1832,1174,3679,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5121,-0.60,-175.2,636.8,-7.1,564,5127,0.00,2.33,0.00,0.000,6,0.000,0.041,1825,2662,3678,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5442,-0.61,-175.2,660.7,-7.7,580,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2662,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.62,-175.2,684.9,-8.2,595,5745,0.00,1.77,0.00,0.000,4,0.000,0.047,1817,3818,3674,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5763,-0.64,-175.2,686.4,-8.1,596,5768,0.00,1.83,0.00,0.000,6,0.000,0.024,1817,2566,3673,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6084,-0.65,-175.2,713.4,-8.6,612,6089,0.00,1.98,0.00,0.000,4,0.000,0.046,1809,3816,3671,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6116,-0.66,-175.2,714.9,-8.5,613,6123,0.00,1.83,0.00,0.000,6,0.000,0.024,1809,2566,3671,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6423,-0.66,-175.2,743.8,-9.4,629,6427,0.00,2.08,0.00,0.000,4,0.000,0.030,1809,1176,3670,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6453,-0.66,-175.2,745.7,-9.2,630,6457,0.00,2.33,0.00,0.000,6,0.000,0.040,1800,2653,3669,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6761,-0.66,-175.2,778.4,-10.6,645,6767,0.00,1.83,0.00,0.000,4,0.000,0.047,1791,3822,3667,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6804,-0.66,-175.2,782.8,-10.8,647,6807,0.00,1.83,0.00,0.000,6,0.000,0.024,1791,2574,3667,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7115,-0.64,-175.2,820.0,-11.9,663,7121,0.00,2.00,0.00,0.000,4,0.000,0.048,1781,3820,3665,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7148,-0.63,-175.2,822.5,-11.9,664,7155,0.00,1.83,0.00,0.000,6,0.000,0.025,1781,2573,3665,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7456,-0.61,-175.2,865.2,-13.5,680,7458,0.10,0.00,0.00,0.000,6,0.151,0.000,1810,2572,3664,0,0,0,0,0,0,26.34,28.83,28.83
$GC,7755,-0.61,-175.2,897.6,-10.3,695,7761,0.00,2.00,0.00,0.000,4,0.000,0.049,1800,3813,3662,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7778,-0.62,-175.2,899.8,-10.3,696,7781,0.00,1.83,0.00,0.000,6,0.000,0.027,1800,2572,3662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8096,-0.62,-175.2,930.2,-9.0,712,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2570,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8395,-0.62,-175.2,955.6,-8.4,727,8401,0.00,2.00,0.00,0.000,4,0.000,0.048,1791,3813,3659,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8444,-0.62,-175.2,959.0,-8.4,729,8448,0.00,1.85,0.00,0.000,6,0.000,0.027,1791,2583,3659,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8755,-0.62,-175.2,988.5,-9.5,745,8761,0.00,2.10,0.00,0.000,4,0.000,0.031,1791,1171,3658,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,8774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8774,begin apogee
$GC,8781,-0.20,0.0,990.3,-9.5,746,8945,0.45,0.05,155.52,1.187,6,0.093,0.050,1941,2462,2973,0,0,0,0,0,0,25.71,24.53,23.27
$STATE,8946,end apogee,CONTROL_FINISHED_OK
$STATE,8947,begin climb
$GC,8949,0.60,175.2,997.1,0.0,754,9126,0.70,2.28,167.27,1.190,4,0.047,0.047,2212,3809,2256,0,0,0,0,0,0,25.15,24.80,23.25
$GC,9174,0.50,175.2,976.9,18.4,766,9181,0.17,2.12,0.00,0.000,6,0.187,0.028,2173,2465,2239,0,0,0,0,0,0,25.10,25.51,28.83
$GC,9494,0.45,175.2,930.1,13.5,782,9500,0.00,2.15,0.00,0.000,4,0.000,0.046,2172,3812,2232,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9528,0.39,175.2,927.3,13.6,783,9536,0.17,2.08,0.00,0.000,6,0.168,0.028,2137,2456,2232,0,0,0,0,0,0,25.60,26.05,28.83
$GC,9834,0.37,175.2,893.7,9.4,799,9840,0.00,2.12,0.00,0.000,4,0.000,0.035,2147,1055,2229,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9877,0.35,177.9,890.1,9.1,801,9881,0.00,2.28,0.00,0.000,6,0.000,0.039,2147,2525,2229,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10191,0.32,177.9,860.5,9.2,817,10197,0.12,2.00,0.00,0.000,4,0.158,0.043,2109,3814,2228,0,0,0,0,0,0,26.03,25.98,28.83
$GC,10223,0.30,178.8,858.6,9.1,818,10229,0.00,2.05,0.00,0.000,6,0.000,0.028,2119,2463,2227,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10532,0.36,229.5,834.8,7.4,834,10588,0.00,2.20,41.15,1.163,4,0.000,0.036,2131,1057,2047,0,0,0,0,1,0,28.83,25.51,23.58
$GC,10611,0.41,268.6,828.5,7.8,838,10663,0.00,2.33,40.45,1.187,6,0.000,0.038,2130,2523,1884,0,0,0,0,1,0,28.83,25.63,23.39
$GC,10971,0.41,268.6,794.8,9.5,856,10978,0.00,2.12,1.50,0.206,4,0.000,0.046,2130,3817,1881,0,0,0,0,0,0,28.83,25.84,25.18
$GC,10999,0.41,268.6,792.8,9.6,857,11003,0.00,2.10,0.00,0.000,6,0.000,0.028,2141,2456,1883,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11308,0.41,268.6,758.4,11.1,872,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2454,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11607,0.41,268.6,725.5,10.5,887,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2454,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11906,0.41,268.6,694.0,10.5,902,11912,0.00,2.10,0.00,0.000,4,0.000,0.036,2151,1059,1887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11934,0.41,268.6,691.8,10.4,903,11938,0.00,2.28,0.00,0.000,6,0.000,0.039,2152,2522,1887,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12244,0.41,268.6,654.8,12.0,918,12249,0.00,2.03,0.00,0.000,4,0.000,0.046,2151,3817,1887,0,0,0,0,0,0,28.83,25.94,28.83
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$GC,15091,0.56,342.9,347.5,9.3,1178,15098,0.00,2.28,0.00,0.000,6,0.000,0.035,2175,2533,1553,0,0,0,0,0,0,28.83,25.91,28.83
$GC,15398,0.58,342.9,316.6,9.3,1209,15402,0.00,2.03,0.00,0.000,4,0.000,0.045,2176,3822,1553,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,18195,end climb,SURFACE_DEPTH_REACHED
$STATE,18195,begin surface coast
$FINISH,0.6,1.023691
$STATE,18217,end surface coast,CONTROL_FINISHED_OK
$STATE,18217,begin surface
$SM_CCo,18233,29.23,0.120,0,0,1242,425.10
$SM_GC,1.29,5.35,2.50,29.23,0.029,0.034,0.120,124,2652,1242,-5.80,-0.42,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12317.29,280112,090905
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.46
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.3,87.019
$10V_AH,9.9,51.963
$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,15.625,178.100,500.225,29.225,0.000,31.047,19.282,233.725,0.000,0.000,34.306,3890.394,10463.377,692.611,3213.645,424.071,0.000,2247.361,0.000,2754.144,0.000,0.542,0.000
$DEVICE_MAMPS,237.150,50.490,1190.340,120.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1116.099,2128.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330412
$DATA_FILE_SIZE,107004,1640
$CAP_FILE_SIZE,197131,0
$CFSIZE,260165632,184557568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280112,192501,2333.334,12322.638,40,1.8,40,-3.3