version: 66.11
glider: 190
mission: 6
dive: 443
start: 1 28 113 7 43 51
data:
$ID,190
$MISSION,6
$DIVE,443
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$HD_C,9.9999997e-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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13472.975
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,2
$XPDR_VALID,4
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,280113,073159,2426.131,-3744.025,39,0.7,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-65.6
$GPS2,280113,074318,2426.186,-3744.014,15,0.9,15,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$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,200.3,11793,-16.4,-7.174,-28.86
$D_GRID,990
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-10.35,0.000,2,0.000,0.000,143,1511,1789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.5,0.0,1,145,10.77,2.05,-87.80,0.000,4,0.330,0.164,2621,460,3622,0,0,0,0,0,0,14.13,14.08,14.62
$GC,206,-0.84,-155.7,7.5,-10.0,18,214,0.00,1.95,0.00,0.000,6,0.000,0.085,2618,1518,3623,0,0,0,0,0,0,28.83,14.09,28.83
$GC,516,-0.87,-155.7,36.1,-9.0,49,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1518,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,826,-0.91,-155.7,65.0,-9.5,80,834,0.00,2.10,0.00,0.000,4,0.000,0.137,2618,462,3623,0,0,0,0,0,0,28.83,13.90,28.83
$GC,956,-0.91,-155.7,78.8,-10.8,93,964,0.00,1.90,0.00,0.000,6,0.000,0.081,2618,1505,3623,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1267,-0.94,-155.7,110.5,-9.3,124,1274,0.00,2.00,0.00,0.000,4,0.000,0.105,2618,2583,3623,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1316,-0.98,-155.7,115.3,-9.3,129,1325,0.10,2.08,0.00,0.000,6,0.077,0.115,2561,1513,3623,0,0,0,0,0,0,14.16,14.02,28.83
$GC,1629,-0.98,-155.7,145.5,-9.4,160,1636,0.00,2.08,0.00,0.000,4,0.000,0.134,2561,450,3623,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1687,-0.95,-155.7,152.0,-10.9,166,1694,0.00,1.95,0.00,0.000,6,0.000,0.084,2554,1513,3623,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1995,-0.95,-155.7,184.1,-10.9,197,2006,0.12,1.98,0.00,0.000,4,0.256,0.103,2577,2571,3623,0,0,0,0,0,0,14.05,14.09,28.83
$GC,2066,-0.95,-155.7,190.7,-9.2,204,2074,0.00,2.05,0.00,0.000,6,0.000,0.116,2578,1514,3623,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2377,-0.95,-155.7,219.7,-8.7,235,2384,0.00,2.05,0.00,0.000,4,0.000,0.130,2577,448,3624,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2518,-0.95,-155.7,232.0,-8.8,249,2525,0.00,1.90,0.00,0.000,6,0.000,0.080,2577,1506,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2836,-0.97,-155.7,257.9,-8.4,275,2842,0.00,2.05,0.00,0.000,4,0.000,0.130,2577,453,3624,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2905,-0.97,-155.7,263.3,-8.6,277,2912,0.00,1.88,0.00,0.000,6,0.000,0.077,2577,1492,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3230,-1.00,-155.7,294.5,-9.9,288,3235,0.00,2.03,0.00,0.000,4,0.000,0.135,2577,453,3623,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3305,-1.00,-155.7,300.8,-10.2,290,3313,0.00,1.88,0.00,0.000,6,0.000,0.083,2577,1486,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3619,-1.02,-155.7,334.2,-10.1,301,3625,0.00,2.00,0.00,0.000,4,0.000,0.136,2577,459,3623,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3684,-1.02,-155.7,340.6,-10.4,303,3691,0.00,1.83,0.00,0.000,6,0.000,0.084,2577,1466,3622,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4010,-1.04,-155.7,372.9,-9.6,314,4015,0.00,2.08,0.00,0.000,4,0.000,0.110,2571,2581,3622,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4066,-1.07,-155.7,378.5,-9.4,316,4072,0.00,2.15,0.00,0.000,6,0.000,0.118,2571,1473,3622,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4398,-1.09,-155.7,407.8,-8.6,327,4404,0.00,1.98,0.00,0.000,4,0.000,0.139,2571,459,3621,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4435,-1.09,-155.7,410.4,-8.6,328,4442,0.00,1.85,0.00,0.000,6,0.000,0.085,2567,1473,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4758,-1.11,-155.7,438.1,-8.3,339,4764,0.12,2.00,0.00,0.000,4,0.142,0.135,2507,456,3620,0,0,0,0,0,0,14.57,14.09,28.83
$GC,4886,-1.07,-155.7,451.1,-10.9,343,4893,0.15,1.80,0.00,0.000,6,0.241,0.086,2541,1443,3619,0,0,0,0,0,0,13.90,14.25,28.83
$GC,5210,-1.07,-155.7,484.4,-10.3,354,5215,0.00,2.12,0.00,0.000,4,0.000,0.109,2538,2584,3619,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5255,-1.07,-155.7,487.4,-10.4,355,5264,0.00,2.20,0.00,0.000,6,0.000,0.116,2538,1444,3619,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5565,-1.07,-155.7,522.3,-10.5,366,5572,0.00,1.90,0.00,0.000,4,0.000,0.129,2538,461,3618,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5626,-1.07,-155.7,528.9,-10.7,368,5632,0.00,1.77,0.00,0.000,6,0.000,0.081,2536,1440,3617,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5956,-1.07,-155.7,560.7,-9.2,379,5962,0.00,2.12,0.00,0.000,4,0.000,0.106,2536,2569,3616,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6034,-1.07,-155.7,565.9,-9.0,381,6043,0.00,2.22,0.00,0.000,6,0.000,0.119,2535,1435,3615,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6347,-1.07,-155.7,595.3,-9.4,392,6352,0.00,1.92,0.00,0.000,4,0.000,0.141,2536,455,3615,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6385,-1.07,-155.7,598.3,-9.4,393,6392,0.00,1.83,0.00,0.000,6,0.000,0.090,2531,1443,3614,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6707,-1.07,-155.7,632.7,-10.8,404,6712,0.00,2.12,0.00,0.000,4,0.000,0.111,2523,2574,3613,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6775,-1.07,-155.7,639.1,-10.8,406,6783,0.00,2.20,0.00,0.000,6,0.000,0.115,2524,1438,3612,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7095,-1.07,-155.7,676.2,-11.2,417,7103,0.00,2.17,0.00,0.000,4,0.000,0.111,2523,2577,3612,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7145,-1.07,-155.7,679.5,-11.1,418,7154,0.00,2.20,0.00,0.000,6,0.000,0.116,2523,1442,3612,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7457,-1.07,-155.7,715.9,-11.1,429,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1441,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7755,-1.07,-155.7,747.7,-10.5,439,7762,0.00,1.92,0.00,0.000,4,0.000,0.130,2523,457,3609,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7817,-1.04,-155.7,754.3,-10.7,441,7824,0.12,1.77,0.00,0.000,6,0.282,0.082,2549,1443,3609,0,0,0,0,0,0,13.96,14.26,28.83
$GC,8148,-1.04,-155.7,785.5,-9.1,452,8153,0.00,1.92,0.00,0.000,4,0.000,0.133,2549,457,3607,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8194,-1.04,-155.7,788.4,-9.1,453,8203,0.00,1.80,0.00,0.000,6,0.000,0.081,2549,1437,3607,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8508,-1.06,-155.7,818.4,-9.0,464,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1437,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8806,-1.08,-155.7,845.8,-9.3,474,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1438,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9108,-1.11,-155.7,875.3,-9.9,484,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1438,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9406,-1.13,-155.7,904.2,-9.5,494,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1439,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9707,-1.15,-155.7,930.6,-8.6,504,9713,0.00,2.17,0.00,0.000,4,0.000,0.112,2549,2579,3600,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9755,-1.17,-155.7,933.1,-8.4,505,9764,0.12,2.33,0.00,0.000,6,0.146,0.132,2508,1427,3600,0,0,0,0,0,0,14.13,13.92,28.83
$GC,10070,-1.15,-155.7,963.8,-9.7,516,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1427,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10332,begin apogee
$GC,10340,-0.23,0.0,990.1,-9.9,525,10502,1.12,0.00,154.00,1.824,4,0.228,0.000,2806,1525,2984,0,0,0,0,0,0,13.63,28.83,13.05
$STATE,10508,end apogee,CONTROL_FINISHED_OK
$STATE,10508,begin climb
$GC,10511,0.84,155.7,999.3,0.0,530,10681,1.10,2.03,160.15,1.811,4,0.109,0.122,3164,2578,2354,0,0,0,0,0,0,14.16,14.11,13.10
$GC,10913,0.82,201.1,991.9,5.7,544,10967,0.00,2.10,47.67,1.779,6,0.000,0.145,3170,1514,2166,0,0,0,0,0,0,28.83,14.25,13.24
$GC,11290,0.79,213.4,966.0,6.8,557,11309,0.00,2.15,13.55,1.683,4,0.000,0.171,3178,460,2115,0,0,0,0,0,0,28.83,14.36,13.37
$GC,11499,0.74,213.4,950.4,8.0,563,11507,0.20,2.00,0.00,0.000,6,0.274,0.102,3132,1529,2107,0,0,0,0,0,0,14.12,14.38,28.83
$GC,11823,0.74,213.4,925.8,7.4,574,11828,0.00,1.98,0.00,0.000,4,0.000,0.116,3132,2580,2105,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11978,0.74,213.4,914.9,7.3,579,11986,0.00,2.10,0.00,0.000,6,0.000,0.140,3139,1533,2103,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12303,0.74,222.5,891.5,6.9,590,12311,0.00,2.08,2.58,0.691,4,0.000,0.129,3138,2584,2082,0,0,0,0,0,0,28.83,14.38,13.22
$GC,12380,0.75,222.9,885.8,7.2,593,12386,0.00,2.05,0.00,0.000,6,0.000,0.142,3147,1557,2089,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12712,0.75,234.2,862.6,6.8,604,12739,0.00,1.92,20.30,1.707,4,0.000,0.125,3147,2577,2030,0,0,0,0,0,0,28.83,14.47,13.42
$GC,12820,0.76,243.6,856.3,6.9,607,12838,0.00,2.03,12.10,1.639,6,0.000,0.143,3154,1562,1992,0,0,0,0,0,0,28.83,14.21,13.38
$GC,13162,0.78,277.3,833.0,6.1,619,13207,0.00,2.00,36.95,1.707,4,0.000,0.127,3154,2577,1851,0,0,0,0,0,0,28.83,14.31,13.35
$GC,13269,0.80,318.3,827.7,5.9,622,13319,0.00,2.00,45.25,1.668,6,0.000,0.130,3161,1569,1691,0,0,0,0,0,0,28.83,14.19,13.24
$GC,13642,0.81,325.0,802.1,7.0,635,13648,0.00,1.95,1.33,0.183,4,0.000,0.124,3161,2584,1661,0,0,0,0,0,0,28.83,14.29,14.21
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$GC,22126,0.88,344.8,29.0,10.0,1081,22133,0.00,2.60,0.00,0.000,4,0.000,0.145,3181,454,1572,0,0,0,0,0,0,28.83,14.03,28.83
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$STATE,22393,end climb,SURFACE_DEPTH_REACHED
$STATE,22393,begin surface coast
$FINISH,1.5,1.023917
$STATE,22410,end surface coast,CONTROL_FINISHED_OK
$STATE,22411,begin surface
$SM_CCo,22434,0.52,0.244,0,0,1562,350.04
$SM_GC,3.10,8.88,0.45,0.52,0.074,0.150,0.244,145,1516,1562,-8.53,0.28,350.04,0,0,0,0,0,0,14.28,14.11,14.27
$IRIDIUM_FIX,2418.11,-3747.10,280113,010127
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.45
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.80
$XPDR_PINGS,3
$SC_FREEKB,7600672
$TM_FREEKB,1364218995
$24V_AH,13.1,188.732
$10V_AH,12.2,0.000
$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,23.325,183.000,519.650,0.525,0.000,0.000,0.000,375.100,0.750,0.000,16.518,3166.385,15760.632,913.955,2550.529,708.178,0.000,2449.643,0.000,2104.132,0.000,0.541,0.000
$DEVICE_MAMPS,329.715,171.360,1823.760,244.035,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22461.000,5476.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.007,21.847,0.000,0.000
$MEM,344972
$DATA_FILE_SIZE,40049,1110
$CAP_FILE_SIZE,236277,0
$CFSIZE,260034560,189677568
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,  1.6,1
$GPS,280113,135904,2425.907,-3743.933,30,0.9,30,-13.9