version: 66.11
glider: 187
mission: 2
dive: 316
start: 11 25 112 10 17 33
data:
$ID,187
$MISSION,2
$DIVE,316
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-1588160
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,251112,101029,4744.165,-12525.013,37,1.1,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-75.7
$GPS2,251112,101700,4744.192,-12524.913,11,1.1,16,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,212.2,145336,-13.4,-7.333,-18.42
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-146.0,0.0,0.0,0,93,0.00,0.00,-74.55,0.000,2,0.000,0.000,105,2195,2820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.48,-146.0,3.7,-4.5,12,126,11.35,2.35,-11.90,0.000,4,0.216,0.074,3023,3607,3392,0,0,0,0,0,0,24.97,25.53,26.13
$GC,199,-0.48,-146.0,27.6,-19.2,30,207,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2195,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,517,-0.48,-146.0,73.4,-13.5,91,524,0.00,2.30,0.00,0.000,4,0.000,0.062,3012,3608,3396,0,0,0,0,0,0,28.83,25.57,28.83
$GC,562,-0.48,-146.0,79.7,-13.8,99,568,0.00,2.17,0.00,0.000,6,0.000,0.043,3012,2191,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,884,-0.48,-146.0,122.7,-13.0,160,889,0.00,2.15,0.00,0.000,4,0.000,0.049,3012,792,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,944,-0.48,-146.0,130.1,-12.1,164,951,0.10,2.17,0.00,0.000,6,0.119,0.050,3040,2198,3397,0,0,0,0,0,0,25.53,25.73,28.83
$GC,1262,-0.48,-146.0,159.5,-9.1,185,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.48,-146.0,186.6,-8.8,205,1566,0.00,2.22,0.00,0.000,4,0.000,0.063,3031,3607,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1620,-0.48,-146.0,192.1,-9.1,209,1626,0.00,2.12,0.00,0.000,6,0.000,0.043,3031,2199,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1930,-0.48,-146.0,221.0,-9.3,226,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2194,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.48,-146.0,249.2,-9.6,241,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2194,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.48,-146.0,276.9,-8.8,256,2533,0.00,2.28,0.00,0.000,4,0.000,0.063,3021,3609,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2571,-0.48,-146.0,280.8,-9.0,258,2575,0.00,2.17,0.00,0.000,6,0.000,0.043,3021,2194,3396,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2894,-0.48,-146.0,311.6,-9.0,274,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2189,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3193,-0.48,-146.0,338.9,-9.2,289,3199,0.00,2.30,0.00,0.000,4,0.000,0.063,3011,3619,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3226,-0.48,-146.0,340.8,-9.2,290,3233,0.00,2.17,0.00,0.000,6,0.000,0.044,3011,2191,3396,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3536,-0.48,-146.0,372.9,-10.3,306,3542,0.12,2.28,0.00,0.000,4,0.148,0.062,3043,3613,3395,0,0,0,0,0,0,26.05,25.66,28.83
$GC,3563,-0.48,-146.0,375.0,-10.2,307,3567,0.00,2.15,0.00,0.000,6,0.000,0.044,3043,2199,3395,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3872,-0.48,-146.0,399.7,-7.8,322,3877,0.00,2.12,0.00,0.000,4,0.000,0.051,3043,804,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3894,-0.48,-146.0,401.2,-7.8,323,3901,0.00,2.17,0.00,0.000,6,0.000,0.051,3035,2207,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4201,-0.48,-146.0,426.3,-8.1,334,4206,0.00,2.22,0.00,0.000,4,0.000,0.064,3024,3610,3395,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4260,-0.48,-146.0,431.4,-8.2,336,4264,0.00,2.17,0.00,0.000,6,0.000,0.045,3024,2197,3394,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4592,-0.48,-146.0,459.8,-8.4,347,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2194,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4892,-0.48,-146.0,484.7,-8.3,357,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2194,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5192,-0.48,-146.0,510.1,-8.7,367,5198,0.00,2.30,0.00,0.000,4,0.000,0.066,3014,3613,3393,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5215,-0.48,-146.0,510.1,-8.7,367,5222,0.00,2.17,0.00,0.000,6,0.000,0.045,3013,2195,3393,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5522,-0.48,-146.0,540.9,-9.4,378,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2194,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,-0.48,-146.0,568.4,-9.3,388,5828,0.00,2.30,0.00,0.000,4,0.000,0.066,3004,3609,3392,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5866,-0.48,-146.0,571.3,-9.4,389,5871,0.12,2.17,0.00,0.000,6,0.136,0.045,3040,2190,3392,0,0,0,0,0,0,25.69,25.88,28.83
$GC,6179,-0.48,-146.0,596.4,-7.4,400,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2187,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6479,-0.48,-146.0,618.0,-7.3,410,6485,0.00,2.28,0.00,0.000,4,0.000,0.066,3031,3606,3391,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6532,-0.48,-146.0,620.3,-7.4,411,6539,0.00,2.15,0.00,0.000,6,0.000,0.046,3031,2199,3391,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6839,-0.48,-146.0,645.8,-7.6,422,6844,0.00,2.25,0.00,0.000,4,0.000,0.067,3021,3602,3390,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6868,-0.48,-146.0,648.2,-7.6,423,6874,0.00,2.17,0.00,0.000,6,0.000,0.046,3022,2192,3390,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7199,-0.48,-146.0,674.0,-7.8,434,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2190,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7499,-0.48,-146.0,697.7,-7.9,444,7504,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3612,3390,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7572,-0.48,-146.0,703.0,-8.3,446,7576,0.00,2.17,0.00,0.000,6,0.000,0.046,3011,2197,3390,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7884,-0.48,-146.0,730.7,-8.5,457,7890,0.00,2.28,0.00,0.000,4,0.000,0.067,3001,3608,3389,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7927,-0.48,-146.0,733.5,-8.6,458,7932,0.15,2.17,0.00,0.000,6,0.125,0.047,3045,2203,3389,0,0,0,0,0,0,25.63,25.84,28.83
$GC,8240,-0.48,-146.0,754.3,-6.0,469,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2199,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,-0.48,-146.0,771.8,-5.4,479,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2199,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8840,-0.48,-146.0,789.3,-5.4,489,8846,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3610,3388,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8893,-0.48,-146.0,791.1,-5.7,490,8900,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2197,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9200,-0.48,-146.0,810.8,-6.0,501,9206,0.00,2.28,0.00,0.000,4,0.000,0.068,3028,3605,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9253,-0.48,-146.0,812.7,-6.1,502,9260,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2196,3387,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9560,-0.48,-146.0,834.7,-6.5,513,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2195,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9861,-0.48,-146.0,855.0,-6.8,523,9866,0.00,2.28,0.00,0.000,4,0.000,0.069,3018,3600,3386,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9903,-0.48,-146.0,857.2,-6.9,524,9907,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,2195,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10215,-0.48,-146.0,881.1,-7.4,535,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2194,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10516,-0.48,-146.0,902.5,-7.0,545,10521,0.00,2.28,0.00,0.000,4,0.000,0.069,3008,3599,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10580,-0.48,-146.0,906.9,-7.2,547,10586,0.12,2.17,0.00,0.000,6,0.130,0.046,3044,2189,3386,0,0,0,0,0,0,25.63,25.80,28.83
$GC,10906,-0.48,-146.0,924.1,-4.9,558,10912,0.00,2.33,0.00,0.000,4,0.000,0.067,3036,3606,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10944,-0.48,-146.0,925.8,-5.0,559,10947,0.00,2.17,0.00,0.000,6,0.000,0.047,3036,2201,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11266,-0.48,-146.0,943.7,-5.7,570,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11566,-0.48,-146.0,961.1,-5.9,580,11572,0.00,2.28,0.00,0.000,4,0.000,0.070,3026,3601,3385,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11604,-0.48,-146.0,963.0,-6.1,581,11608,0.00,2.20,0.00,0.000,6,0.000,0.048,3026,2190,3385,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11921,-0.48,-146.0,983.6,-6.4,592,11927,0.00,2.30,0.00,0.000,4,0.000,0.069,3017,3605,3385,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11955,-0.48,-146.0,985.6,-6.4,593,11959,0.00,2.20,0.00,0.000,6,0.000,0.048,3017,2190,3385,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,12034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12034,begin apogee
$GC,12041,-0.22,0.0,991.8,-7.2,596,12178,0.30,0.00,129.27,1.180,6,0.110,0.000,3120,2330,2794,0,0,0,0,0,0,25.67,28.83,23.24
$STATE,12179,end apogee,CONTROL_FINISHED_OK
$STATE,12179,begin climb
$GC,12182,0.48,146.0,995.6,0.0,600,12334,0.65,2.58,138.95,1.141,4,0.077,0.067,3344,3720,2197,0,0,0,0,0,0,24.39,23.34,22.31
$GC,12352,0.49,181.8,988.2,6.0,606,12397,0.00,2.35,34.75,1.092,6,0.000,0.047,3354,2332,2050,0,0,0,0,0,0,28.83,23.80,22.41
$GC,12698,0.49,181.8,951.2,10.0,618,12704,0.00,2.33,0.00,0.000,4,0.000,0.057,3365,915,2042,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12730,0.49,181.8,948.1,10.0,619,12734,0.00,2.30,0.00,0.000,6,0.000,0.057,3365,2320,2041,0,0,0,0,0,0,28.83,25.01,28.83
$GC,13053,0.49,181.8,912.7,11.0,630,13058,0.00,2.30,0.00,0.000,4,0.000,0.070,3365,3730,2040,0,0,0,0,0,0,28.83,25.34,28.83
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$GC,22754,0.56,359.2,39.9,5.1,1210,22808,0.00,2.33,46.85,0.581,4,0.000,0.051,3370,918,1327,0,0,0,0,0,0,28.83,25.27,24.49
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$STATE,23180,end climb,SURFACE_DEPTH_REACHED
$STATE,23180,begin surface coast
$FINISH,1.3,1.014336
$STATE,23222,end surface coast,CONTROL_FINISHED_OK
$STATE,23222,begin surface
$SM_CCo,23302,0.00,0.000,0,0,1316,362.55
$SM_GC,2.24,8.38,0.20,0.00,0.029,0.071,0.000,109,2191,1316,-9.47,1.24,362.55,0,0,0,0,0,0,25.84,25.80,28.83
$IRIDIUM_FIX,4729.30,-12603.53,251112,040403
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.68
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,22.3,43.874
$10V_AH,10.1,36.250
$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,21.900,197.400,450.275,0.000,0.000,27.244,43.703,186.423,0.000,0.000,19.576,3384.696,16374.924,583.505,2928.179,416.537,0.000,2018.024,0.000,2639.978,0.000,0.535,0.000
$DEVICE_MAMPS,216.495,82.620,1180.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.489,750.969,521.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,73625,1296
$CAP_FILE_SIZE,192108,0
$CFSIZE,260165632,231854080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056, 59.4,1
$GPS,251112,164706,4742.786,-12528.399,33,1.4,33,18.7