version: 66.13
glider: 191
mission: 8
dive: 263
start: 11 7 116 22 42 31
data:
$ID,191
$MISSION,8
$DIVE,263
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,6
$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,420
$T_MISSION,440
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54430
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0087299999
$HD_C,7.1299997e-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,515
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3888
$C_PITCH,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2793
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-151.91774
$PRESSURE_SLOPE,0.00010696654
$AD7714Ch0Gain,1
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,071116,222703,946.7060,-12447.7666,29,0.7,29,9.2,0.0,0.0,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.4
$GPS2,071116,224210,946.8356,-12447.6748,17,0.7,17,9.2,0.0,0.0,11,9.0
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,101.5,2603,-27.2,-7.857,-30.00,791
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.18,-42.3,157,1826,889,523,0.0,0.0,0,107,0.00,0.00,-74.82,0.000,16390,0.000,0.000,157,1827,2966,2979,2954,0,0,0,0,0,0,14.71,13.12,14.73
$GC,111,-1.18,-42.3,157,1828,2980,2956,1.8,-2.3,2,128,11.45,2.42,0.00,0.000,2308,0.383,0.046,2530,3247,2968,2980,2957,0,0,0,0,0,0,14.21,14.52,14.54
$GC,164,-0.73,-42.3,2530,3249,2984,2956,28.7,-38.4,10,170,0.70,2.30,0.00,0.000,3206,0.332,0.041,2687,1866,2970,2983,2957,0,0,0,0,0,0,14.18,14.53,14.52
$GC,499,-0.73,-42.3,2688,1864,2994,2952,82.8,-8.2,25,506,0.00,2.38,0.00,0.000,516,0.000,0.055,2692,464,2975,2999,2951,0,0,0,0,0,0,14.83,14.56,14.85
$GC,547,-0.73,-42.3,2693,464,2994,2952,87.4,-9.0,32,556,0.00,2.33,0.00,0.000,1030,0.000,0.032,2685,1870,2972,2993,2951,0,0,0,0,0,0,14.69,14.63,14.71
$GC,864,-0.75,-55.0,2685,1868,2994,2950,107.4,-6.2,42,870,0.00,2.38,0.00,0.000,548,0.000,0.054,2685,464,2971,2992,2951,0,0,0,0,0,0,14.88,14.61,14.90
$GC,967,-0.75,-55.0,2683,464,2994,2952,115.2,-7.9,57,975,0.00,2.53,0.00,0.000,1030,0.000,0.033,2675,1991,2972,2993,2951,0,0,0,0,0,0,14.72,14.66,14.73
$GC,1311,-0.75,-55.0,2675,1992,2993,2949,142.4,-7.9,64,1319,0.00,2.60,0.00,0.000,516,0.000,0.053,2675,465,2971,2993,2949,0,0,0,0,0,0,14.89,14.63,14.92
$GC,1437,-0.75,-55.0,2676,465,2993,2949,153.8,-9.2,82,1444,0.00,2.47,0.00,0.000,1030,0.000,0.034,2662,1967,2969,2992,2947,0,0,0,0,0,0,14.70,14.68,14.71
$GC,1760,-0.75,-55.0,2666,1973,2993,2943,182.7,-8.9,93,1766,0.00,2.58,0.00,0.000,516,0.000,0.054,2665,461,2968,2993,2943,0,0,0,0,0,0,14.90,14.62,14.92
$GC,1850,-0.75,-55.0,2666,462,2993,2941,191.7,-9.9,106,1857,0.15,2.38,0.00,0.000,3078,0.296,0.034,2684,1903,2966,2992,2941,0,0,0,0,0,0,14.32,14.69,14.63
$GC,2208,-0.89,-55.0,2684,1904,2993,2937,221.9,-8.3,115,2214,0.12,2.47,0.00,0.000,4740,0.147,0.053,2638,458,2964,2992,2936,0,0,0,0,0,0,14.59,14.57,14.64
$GC,2249,-0.89,-55.0,2638,459,2994,2935,226.2,-11.1,121,2255,0.00,2.38,0.00,0.000,1030,0.000,0.034,2629,1900,2963,2992,2934,0,0,0,0,0,0,14.73,14.68,14.76
$GC,2600,-0.89,-55.0,2629,1901,2993,2931,265.4,-11.3,129,2614,0.00,2.28,0.00,0.000,260,0.000,0.054,2618,3261,2961,2992,2930,0,0,0,0,0,0,14.94,14.65,14.96
$GC,2634,-0.89,-55.0,2618,3263,2993,2929,269.4,-11.5,133,2647,0.00,2.25,0.00,0.000,1030,0.000,0.038,2619,1893,2960,2992,2929,0,0,0,0,0,0,14.77,14.70,14.79
$GC,3004,-0.89,-55.0,2619,1894,2993,2924,311.5,-11.4,143,3017,0.00,2.42,0.00,0.000,516,0.000,0.057,2619,470,2955,2991,2920,0,0,0,0,0,0,14.97,14.70,14.99
$GC,3234,-0.89,-55.0,2619,470,2993,2921,338.6,-11.8,175,3247,0.12,2.28,0.00,0.000,3078,0.311,0.033,2635,1855,2956,2992,2920,0,0,0,0,0,0,14.32,14.73,14.62
$GC,3577,-0.89,-55.0,2635,1855,2993,2916,373.4,-9.9,188,3590,0.00,2.38,0.00,0.000,516,0.000,0.057,2638,468,2953,2992,2915,0,0,0,0,0,0,14.97,14.66,14.99
$GC,3631,-0.89,-55.0,2638,468,2993,2916,379.2,-10.6,195,3645,0.00,2.28,0.00,0.000,1030,0.000,0.034,2631,1849,2953,2992,2914,0,0,0,0,0,0,14.80,14.74,14.81
$GC,3975,-0.89,-55.0,2631,1849,3000,2912,413.6,-10.1,202,3989,0.00,2.38,0.00,0.000,516,0.000,0.058,2631,467,2951,2992,2911,0,0,0,0,0,0,14.98,14.65,15.00
$GC,4121,-0.89,-55.0,2631,468,2993,2910,430.4,-11.4,222,4135,0.00,2.20,0.00,0.000,1030,0.000,0.034,2621,1817,2951,2992,2910,0,0,0,0,0,0,14.81,14.75,14.83
$GC,4492,-0.89,-55.0,2622,1817,2992,2905,467.2,-9.7,232,4505,0.00,2.33,0.00,0.000,516,0.000,0.057,2622,461,2948,2992,2905,0,0,0,0,0,0,14.98,14.66,15.00
$GC,4546,-0.89,-55.0,2622,462,2993,2905,472.9,-10.4,239,4560,0.12,2.20,0.00,0.000,3078,0.305,0.035,2636,1792,2948,2992,2904,0,0,0,0,0,0,14.32,14.73,14.61
$GC,4891,-0.89,-55.0,2636,1792,2993,2902,503.7,-8.8,246,4904,0.00,2.47,0.00,0.000,260,0.000,0.054,2627,3262,2947,2993,2902,0,0,0,0,0,0,14.96,14.65,14.98
$GC,4980,-0.89,-55.0,2627,3263,2999,2901,511.9,-9.2,258,4993,0.00,2.45,0.00,0.000,1030,0.000,0.040,2627,1784,2946,2992,2900,0,0,0,0,0,0,14.78,14.70,14.81
$GC,5350,-0.89,-55.0,2627,1783,2993,2899,545.3,-9.1,268,5363,0.00,2.25,0.00,0.000,516,0.000,0.059,2624,470,2945,2992,2898,0,0,0,0,0,0,14.97,14.64,15.00
$GC,5552,-0.89,-55.0,2627,471,2993,2895,567.0,-10.5,296,5565,0.00,2.15,0.00,0.000,1030,0.000,0.034,2619,1787,2943,2992,2895,0,0,0,0,0,0,14.78,14.72,14.80
$GC,5924,-0.89,-55.0,2619,1788,2993,2892,603.0,-9.9,306,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1787,2942,2992,2892,0,0,0,0,0,0,14.95,14.97,14.97
$GC,6258,-0.89,-55.0,2620,1789,2993,2889,632.5,-8.5,312,6272,0.00,2.30,0.00,0.000,516,0.000,0.060,2619,464,2941,2992,2890,0,0,0,0,0,0,14.96,14.61,14.98
$GC,6341,-0.89,-55.0,2620,464,2993,2890,639.9,-9.0,323,6354,0.00,2.15,0.00,0.000,1030,0.000,0.036,2610,1772,2940,2992,2889,0,0,0,0,0,0,14.78,14.72,14.81
$GC,6663,-0.89,-55.0,2610,1773,2993,2887,667.7,-8.8,333,6676,0.12,2.53,0.00,0.000,2308,0.323,0.053,2628,3262,2939,2992,2887,0,0,0,0,0,0,14.20,14.52,14.38
$GC,6725,-0.89,-55.0,2628,3263,2993,2886,673.1,-8.6,341,6738,0.00,2.53,0.00,0.000,1030,0.000,0.040,2628,1759,2939,2992,2886,0,0,0,0,0,0,14.73,14.66,14.76
$GC,7069,-0.89,-55.0,2628,1759,2993,2885,702.4,-8.5,354,7082,0.00,2.22,0.00,0.000,516,0.000,0.060,2627,467,2938,2992,2885,0,0,0,0,0,0,14.95,14.61,14.96
$GC,7207,-0.89,-55.0,2627,463,2993,2884,714.8,-8.9,373,7220,0.00,2.10,0.00,0.000,1030,0.000,0.035,2620,1740,2937,2992,2883,0,0,0,0,0,0,14.75,14.69,14.77
$GC,7528,-0.89,-55.0,2620,1739,2992,2882,742.3,-8.6,383,7541,0.00,2.60,0.00,0.000,260,0.000,0.056,2608,3262,2936,2992,2881,0,0,0,0,0,0,14.95,14.59,14.97
$GC,7618,-0.89,-55.0,2607,3263,2993,2882,750.4,-9.0,395,7631,0.15,2.55,0.00,0.000,3078,0.293,0.041,2636,1754,2936,2992,2881,0,0,0,0,0,0,14.21,14.64,14.54
$GC,7989,-0.99,-55.3,2629,1749,2993,2879,779.8,-7.8,405,8002,0.00,2.22,0.00,0.000,676,0.000,0.063,2639,469,2935,2992,2878,0,0,0,0,0,0,14.95,14.57,14.97
$GC,8108,-0.99,-55.3,2639,470,2994,2877,789.8,-8.5,421,8121,0.00,2.10,0.00,0.000,1030,0.000,0.035,2631,1739,2934,2992,2877,0,0,0,0,0,0,14.74,14.69,14.77
$GC,8450,-0.99,-55.3,2634,1739,2993,2876,818.7,-8.5,434,8463,0.00,2.60,0.00,0.000,260,0.000,0.057,2621,3261,2933,2992,2875,0,0,0,0,0,0,14.92,14.57,14.95
$GC,8491,-0.99,-55.3,2622,3260,2994,2876,822.3,-9.2,439,8504,0.00,2.58,0.00,0.000,1030,0.000,0.041,2621,1730,2933,2992,2875,0,0,0,0,0,0,14.71,14.63,14.75
$GC,8854,-0.99,-55.3,2622,1729,2993,2875,853.5,-8.3,448,8868,0.00,2.15,0.00,0.000,516,0.000,0.062,2621,477,2933,2992,2874,0,0,0,0,0,0,14.95,14.52,14.96
$GC,8979,-0.99,-55.3,2622,478,2993,2873,864.8,-9.1,465,8992,0.00,2.03,0.00,0.000,1030,0.000,0.035,2613,1706,2932,2992,2873,0,0,0,0,0,0,14.73,14.68,14.75
$GC,9315,-0.99,-55.3,2611,1706,2993,2872,893.8,-8.5,477,9328,0.00,2.67,0.00,0.000,260,0.000,0.056,2597,3265,2935,2992,2878,0,0,0,0,0,0,14.91,14.56,14.93
$GC,9377,-0.99,-55.3,2601,3266,2993,2871,899.5,-9.1,485,9390,0.00,2.65,0.00,0.000,1030,0.000,0.041,2601,1704,2931,2992,2871,0,0,0,0,0,0,14.69,14.60,14.71
$GC,9720,-0.99,-55.3,2601,1706,2993,2871,930.4,-9.1,498,9733,0.00,2.15,0.00,0.000,516,0.000,0.063,2601,468,2931,2992,2870,0,0,0,0,0,0,14.92,14.54,14.94
$GC,9896,-0.99,-55.3,2602,468,2992,2870,947.4,-9.5,522,9910,0.00,2.03,0.00,0.000,1030,0.000,0.036,2594,1680,2930,2992,2868,0,0,0,0,0,0,14.69,14.62,14.71
$GC,10239,-0.99,-55.3,2590,1681,2992,2867,978.8,-9.3,535,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1680,2929,2992,2867,0,0,0,0,0,0,14.89,14.91,14.91
$STATE,10403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10403,begin apogee
$GC,10411,-0.21,0.0,2593,1766,2993,2867,993.8,-8.7,538,10473,1.08,0.00,52.17,1.977,10244,0.276,0.000,2855,1765,2792,2878,2707,0,0,0,0,0,0,14.21,14.35,13.56
$STATE,10475,end apogee,CONTROL_FINISHED_OK
$STATE,10475,begin climb
$GC,10479,1.20,55.3,2856,1766,2876,2698,996.7,0.0,539,10555,1.50,0.00,63.65,2.221,11270,0.155,0.000,3307,1766,2563,2663,2464,0,0,0,0,0,0,14.23,14.54,13.20
$GC,10916,1.20,55.3,3307,1768,2663,2442,960.6,9.2,561,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1764,2551,2661,2442,0,0,0,0,0,0,14.70,14.73,14.72
$GC,11252,1.20,55.3,3307,1767,2662,2440,930.2,9.0,567,11265,0.00,2.38,0.00,0.000,260,0.000,0.050,3307,3156,2550,2661,2440,0,0,0,0,0,0,14.80,14.50,14.81
$GC,11321,1.11,55.3,3307,3156,2662,2440,924.0,8.9,576,11335,0.00,2.38,0.00,0.000,1158,0.000,0.038,3316,1742,2550,2661,2440,0,0,0,0,0,0,14.57,14.54,14.59
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$STATE,23447,end climb,SURFACE_DEPTH_REACHED
$STATE,23447,begin surface coast
$FINISH,0.2,1.020796
$STATE,23476,end surface coast,CONTROL_FINISHED_OK
$STATE,23476,begin surface
$SM_CCo,23504,137.12,0.121,0,0,692,515.13
$SM_GC,1.18,9.85,0.65,137.12,0.081,0.037,0.121,161,1858,692,-8.60,-2.21,515.13,0,0,0,0,0,0,14.57,14.70,14.46
$IRIDIUM_FIX,942.94,-12448.77,071116,152645
$TT8_MAMPS,0.038948,0.403711
$HUMID,52.44
$INTERNAL_PRESSURE,9.15533
$TCM_TEMP,26.60
$XPDR_PINGS,0
$SC_FREEKB,7667360
$PM_FREEKB,57224256
$TM_FREEKB,5561696
$24V_AH,13.12,101.194
$10V_AH,13.02,0.000
$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,27.050,221.150,356.400,137.125,0.000,0.000,0.000,460.750,0.000,0.000,18.481,0.000,18956.271,763.201,4077.580,728.244,0.000,3029.475,0.000,2104.684,0.000,0.549,0.000
$DEVICE_MAMPS,383.265,116.280,2220.795,120.870,0.000,0.000,0.000,175.950,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23535.000,23480.000,3161.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.631,2.124,16.275,0.000
$MEM,311908
$DATA_FILE_SIZE,43329,1231
$CAP_FILE_SIZE,201447,0
$CFSIZE,260034560,216506368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,92.03,1
$GPS,081116,051757,946.569,-12445.275,39,0.7,39,9.2,0.0,0.0,11,7.5