version: 66.12
glider: 187
mission: 4
dive: 106
start: 7 12 114 17 49 26
data:
$ID,187
$MISSION,4
$DIVE,106
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-1593338.6
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,120714,174054,4745.093,-12527.982,50,1.2,50,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-74.0
$GPS2,120714,174900,4745.062,-12528.032,13,1.5,24,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,57.0,25472,-14.0,-7.333,-18.81,2445
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,394,2435,1465,1194,0.0,0.0,0,91,0.00,0.00,-58.72,0.000,16386,0.000,0.000,394,2435,2876,2933,2820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,394,2435,2933,2820,3.8,-3.6,6,125,12.70,2.55,-8.12,0.000,18948,0.409,0.111,3130,1021,3338,3384,3293,0,0,0,0,0,0,14.17,14.34,14.56
$GC,355,-0.59,-116.8,3125,1021,3388,3295,56.8,-15.8,32,364,0.00,2.42,0.00,0.000,1030,0.000,0.086,3130,2420,3341,3388,3295,0,0,0,0,0,0,28.83,14.42,28.83
$GC,605,-0.59,-116.8,3125,2420,3391,3299,90.1,-12.2,57,614,0.00,2.40,0.00,0.000,516,0.000,0.084,3125,1023,3340,3386,3295,0,0,0,0,0,0,28.83,14.47,28.83
$GC,665,-0.59,-116.8,3123,1022,3390,3295,97.3,-12.0,63,675,0.00,2.42,0.00,0.000,1030,0.000,0.084,3130,2430,3342,3390,3295,0,0,0,0,0,0,28.83,14.47,28.83
$GC,916,-0.59,-116.8,3124,2429,3390,3295,127.2,-11.9,88,925,0.00,2.42,0.00,0.000,516,0.000,0.087,3124,1023,3344,3394,3295,0,0,0,0,0,0,28.83,14.50,28.83
$GC,985,-0.59,-116.8,3125,1023,3390,3296,135.1,-11.2,95,995,0.00,2.42,0.00,0.000,1030,0.000,0.085,3125,2425,3343,3390,3296,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1236,-0.59,-116.8,3124,2426,3394,3296,159.3,-9.3,120,1245,0.00,2.45,0.00,0.000,516,0.000,0.089,3125,1020,3342,3390,3295,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1295,-0.59,-116.8,3125,1021,3390,3295,165.5,-10.6,126,1304,0.00,2.45,0.00,0.000,1030,0.000,0.086,3123,2434,3342,3390,3295,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1545,-0.59,-116.8,3124,2434,3390,3295,189.6,-9.6,151,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2434,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1796,-0.59,-116.8,3125,2434,3390,3293,212.5,-9.3,176,1804,0.00,2.45,0.00,0.000,516,0.000,0.090,3124,1016,3342,3390,3295,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1895,-0.59,-116.8,3126,1016,3386,3295,221.8,-9.5,186,1904,0.00,2.45,0.00,0.000,1030,0.000,0.089,3125,2432,3342,3389,3296,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2145,-0.59,-116.8,3125,2432,3390,3295,244.7,-9.8,211,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2432,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2416,-0.59,-116.8,3125,2432,3390,3295,271.8,-10.1,224,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2432,3340,3386,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-0.59,-116.8,3124,2432,3389,3294,302.6,-10.0,234,2723,0.00,2.45,0.00,0.000,516,0.000,0.092,3125,1014,3342,3390,3294,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2784,-0.59,-116.8,3124,1014,3390,3294,310.0,-10.7,241,2793,0.00,2.47,0.00,0.000,1030,0.000,0.090,3124,2421,3342,3390,3294,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3108,-0.59,-116.8,3125,2421,3390,3292,340.8,-9.5,253,3115,0.00,2.40,0.00,0.000,516,0.000,0.091,3124,1023,3342,3391,3293,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3144,-0.59,-116.8,3125,1023,3390,3293,344.7,-9.6,257,3153,0.00,2.47,0.00,0.000,1030,0.000,0.089,3124,2428,3341,3390,3293,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3468,-0.59,-116.8,3125,2427,3388,3292,373.5,-8.9,269,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2427,3343,3395,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3765,-0.59,-116.8,3125,2427,3389,3291,398.8,-8.2,279,3774,0.00,2.42,0.00,0.000,516,0.000,0.093,3129,1023,3340,3390,3291,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3885,-0.59,-116.8,3124,1023,3389,3290,409.3,-8.7,291,3894,0.00,2.45,0.00,0.000,1030,0.000,0.091,3125,2422,3335,3381,3290,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4218,-0.59,-116.8,3124,2422,3388,3290,437.6,-8.6,304,4226,0.00,2.42,0.00,0.000,516,0.000,0.094,3125,1022,3339,3388,3290,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4265,-0.59,-116.8,3126,1022,3388,3290,442.0,-9.0,309,4275,0.00,2.47,0.00,0.000,1030,0.000,0.090,3125,2425,3338,3388,3289,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4579,-0.59,-116.8,3125,2424,3387,3289,468.4,-8.5,320,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2425,3338,3387,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,-0.59,-116.8,3125,2424,3386,3289,492.9,-8.1,330,4883,0.00,2.45,0.00,0.000,516,0.000,0.096,3124,1009,3338,3388,3289,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4925,-0.59,-116.8,3125,1012,3386,3289,497.2,-8.7,335,4936,0.00,2.50,0.00,0.000,1030,0.000,0.090,3124,2424,3334,3381,3288,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5239,-0.59,-116.8,3125,2425,3381,3288,522.9,-8.2,346,5246,0.00,2.42,0.00,0.000,516,0.000,0.099,3124,1024,3336,3385,3288,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5276,-0.59,-116.8,3125,1024,3385,3288,526.2,-8.3,350,5284,0.00,2.45,0.00,0.000,1030,0.000,0.092,3129,2437,3336,3385,3287,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5599,-0.59,-116.8,3125,2434,3385,3287,550.3,-7.4,362,5607,0.00,2.47,0.00,0.000,516,0.000,0.099,3124,1019,3335,3384,3286,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5657,-0.59,-116.8,3124,1018,3385,3283,554.8,-7.5,368,5665,0.00,2.45,0.00,0.000,1030,0.000,0.094,3125,2422,3339,3391,3287,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5989,-0.59,-116.8,3124,2422,3385,3286,577.3,-6.7,381,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2421,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6287,-0.59,-116.8,3124,2422,3390,3286,598.9,-7.2,391,6295,0.00,2.42,0.00,0.000,516,0.000,0.096,3124,1024,3335,3385,3286,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6327,-0.59,-116.8,3123,1024,3384,3286,602.0,-7.8,395,6335,0.00,2.42,0.00,0.000,1030,0.000,0.093,3124,2426,3335,3384,3286,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6647,-0.59,-116.8,3124,2425,3383,3289,624.9,-6.9,407,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2425,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6947,-0.59,-116.8,3124,2425,3383,3285,647.1,-7.7,417,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2425,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7246,-0.59,-116.8,3125,2425,3383,3285,670.6,-7.9,427,7255,0.00,2.45,0.00,0.000,516,0.000,0.099,3125,1023,3334,3383,3285,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7316,-0.59,-116.8,3125,1022,3382,3285,676.5,-8.5,434,7324,0.00,2.50,0.00,0.000,1030,0.000,0.094,3124,2432,3331,3378,3285,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7639,-0.59,-116.8,3124,2431,3382,3284,700.8,-7.4,446,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2431,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7937,-0.59,-116.8,3125,2431,3382,3283,724.0,-7.6,456,7945,0.00,2.47,0.00,0.000,516,0.000,0.100,3125,1021,3333,3382,3284,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7986,-0.59,-116.8,3125,1023,3382,3283,728.0,-8.2,461,7995,0.00,2.47,0.00,0.000,1030,0.000,0.095,3124,2421,3332,3382,3283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8300,-0.59,-116.8,3125,2421,3382,3283,750.6,-7.2,472,8307,0.00,2.42,0.00,0.000,516,0.000,0.100,3124,1024,3332,3382,3282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8346,-0.59,-116.8,3124,1024,3382,3282,754.6,-8.2,477,8355,0.00,2.47,0.00,0.000,1030,0.000,0.094,3125,2421,3332,3382,3282,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8660,-0.59,-116.8,3124,2418,3382,3282,777.4,-7.1,488,8667,0.00,2.50,0.00,0.000,260,0.000,0.113,3124,3836,3332,3382,3282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8726,-0.59,-116.8,3124,3841,3383,3282,782.6,-7.4,495,8736,0.00,2.47,0.00,0.000,1030,0.000,0.090,3125,2428,3331,3381,3282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9050,-0.59,-116.8,3124,2427,3378,3281,807.9,-8.1,507,9058,0.00,2.47,0.00,0.000,516,0.000,0.110,3124,1023,3331,3381,3281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9139,-0.59,-116.8,3125,1023,3381,3287,814.9,-7.3,516,9146,0.00,2.45,0.00,0.000,1030,0.000,0.094,3124,2433,3331,3381,3282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9471,-0.59,-116.8,3124,2433,3381,3281,838.5,-7.2,529,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2433,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9768,-0.59,-116.8,3124,2433,3381,3280,857.4,-5.6,539,9778,0.00,2.50,0.00,0.000,516,0.000,0.103,3125,1014,3330,3381,3280,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9799,-0.59,-116.8,3125,1014,3384,3280,857.4,-0.9,542,9807,0.00,2.47,0.00,0.000,1030,0.000,0.098,3124,2425,3331,3382,3280,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,9915,end dive,NO_VERTICAL_VELOCITY
$STATE,9915,begin apogee
$GC,9924,-0.25,0.0,3124,2327,3381,3280,857.4,0.0,548,10027,0.38,0.00,98.65,1.755,10246,0.161,0.000,3242,2327,2859,2935,2784,0,0,0,0,0,0,14.54,28.83,13.31
$STATE,10030,end apogee,CONTROL_FINISHED_OK
$STATE,10031,begin climb
$GC,10034,0.59,116.8,3243,2327,2933,2779,857.0,0.0,551,10156,0.85,2.78,106.07,1.720,10500,0.145,0.115,3506,3747,2377,2521,2234,0,0,0,0,0,0,13.92,13.75,13.16
$GC,10387,0.59,116.8,3507,3746,2513,2234,834.9,10.7,588,10399,0.00,2.58,0.00,0.000,1030,0.000,0.100,3508,2333,2373,2513,2233,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10698,0.59,116.8,3513,2332,2512,2229,810.4,7.4,599,10708,0.00,2.60,0.00,0.000,260,0.000,0.116,3508,3748,2373,2513,2233,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,20816,end climb,SURFACE_DEPTH_REACHED
$STATE,20816,begin surface coast
$FINISH,1.0,1.023164
$STATE,20860,end surface coast,CONTROL_FINISHED_OK
$STATE,20860,begin surface
$SM_CCo,20885,29.55,0.112,0,0,1328,375.06
$SM_GC,2.52,9.32,0.17,29.55,0.089,0.160,0.112,393,2425,1328,-9.11,-0.76,375.06,0,0,0,0,0,0,14.36,14.40,14.37
$IRIDIUM_FIX,4729.30,-12527.05,120714,111122
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.81
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3904096
$PM_FREEKB,59527968
$24V_AH,13.2,25.287
$10V_AH,13.1,0.000
$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,23.375,193.925,344.825,29.550,0.000,0.000,0.000,249.400,0.000,0.000,25.371,2878.990,14596.482,684.234,2519.837,700.763,0.000,2303.696,0.000,1870.288,0.000,0.535,0.000
$DEVICE_MAMPS,408.510,159.885,1754.910,111.690,0.000,0.000,0.000,172.890,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20882.000,10168.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.903,4.070,0.000,0.000
$MEM,290772
$DATA_FILE_SIZE,43365,1223
$CAP_FILE_SIZE,234500,0
$CFSIZE,260034560,247767040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,23507.78,0x2378ba,7,5
$CURRENT,0.136,326.0,1
$GPS,120714,233954,4747.209,-12526.238,61,0.9,61,18.7