version: 66.11
glider: 191
mission: 5
dive: 270
start: 12 12 112 7 39 37
data:
$ID,191
$MISSION,5
$DIVE,270
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,320
$N_FILEKB,8
$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,-4157.8154
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,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,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$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
$GPS1,121212,072734,2512.438,-3810.272,28,1.0,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-58.3
$GPS2,121212,073906,2512.490,-3810.333,19,1.0,19,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,301.5,56424,-13.3,-6.049,-18.38
$D_GRID,980
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-58.42,0.000,6,0.000,0.000,154,1531,3461,0,0,0,0,0,0,28.83,28.83,14.80
$GC,89,-0.60,-97.3,4.3,-8.3,4,104,9.85,1.77,0.00,0.000,4,0.419,0.056,1984,2574,3463,1,0,0,0,0,0,13.88,14.57,28.83
$GC,327,-0.58,-97.3,31.2,-7.9,20,331,0.00,1.88,0.00,0.000,6,0.000,0.066,1984,1516,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,627,-0.53,-97.3,60.7,-10.1,40,631,0.12,1.77,0.00,0.000,4,0.256,0.052,2005,2560,3469,0,0,0,0,0,0,14.38,14.57,28.83
$GC,778,-0.53,-97.3,72.1,-6.7,50,781,0.00,1.85,0.00,0.000,6,0.000,0.065,2005,1513,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1077,-0.52,-97.3,94.9,-7.5,70,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1512,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1377,-0.52,-97.3,109.8,-4.1,90,1381,0.00,1.90,0.00,0.000,4,0.000,0.085,2005,458,3469,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1559,-0.50,-97.3,121.0,-6.7,102,1563,0.00,1.77,0.00,0.000,6,0.000,0.042,1997,1517,3465,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1857,-0.50,-97.3,142.9,-7.3,122,1859,0.12,0.00,0.00,0.000,6,0.243,0.000,2025,1517,3466,0,0,0,0,0,0,14.46,28.83,28.83
$GC,2158,-0.52,-97.3,159.9,-5.3,142,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1517,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2458,-0.54,-97.3,176.9,-5.5,162,2461,0.00,1.80,0.00,0.000,4,0.000,0.053,2020,2574,3467,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2683,-0.56,-97.3,189.6,-5.6,177,2687,0.00,1.85,0.00,0.000,6,0.000,0.064,2020,1520,3467,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2982,-0.58,-97.3,207.5,-6.3,197,2985,0.00,1.90,0.00,0.000,4,0.000,0.086,2020,459,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3057,-0.58,-97.3,212.6,-7.1,202,3061,0.00,1.77,0.00,0.000,6,0.000,0.043,2011,1517,3467,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3358,-0.59,-97.3,230.7,-5.9,222,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3657,-0.60,-97.3,249.4,-6.5,242,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3972,-0.61,-97.3,271.1,-7.0,253,3975,0.00,1.77,0.00,0.000,4,0.000,0.054,2004,2575,3465,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4062,-0.63,-97.3,276.1,-6.8,256,4065,0.00,1.85,0.00,0.000,6,0.000,0.066,2004,1513,3464,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4362,-0.63,-97.3,297.9,-7.1,266,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4662,-0.63,-97.3,319.1,-7.0,276,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4962,-0.63,-97.3,338.5,-6.4,286,4965,0.00,1.80,0.00,0.000,4,0.000,0.055,1996,2577,3462,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5038,-0.64,-97.3,343.1,-6.2,289,5041,0.00,1.85,0.00,0.000,6,0.000,0.067,1996,1520,3462,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5352,-0.64,-97.3,364.2,-6.8,300,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1520,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5651,-0.64,-97.3,384.9,-7.2,310,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5953,-0.64,-97.3,408.6,-8.0,320,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1519,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6252,-0.64,-97.3,430.5,-7.1,330,6255,0.00,1.80,0.00,0.000,4,0.000,0.056,1988,2579,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6357,-0.64,-97.3,437.6,-6.7,334,6361,0.00,1.85,0.00,0.000,6,0.000,0.067,1988,1520,3459,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6673,-0.64,-97.3,456.9,-5.9,345,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1517,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,-0.64,-97.3,475.0,-6.0,355,6975,0.00,1.90,0.00,0.000,4,0.000,0.089,1988,460,3457,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7062,-0.62,-97.3,480.1,-6.5,358,7065,0.00,1.77,0.00,0.000,6,0.000,0.045,1980,1518,3457,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7362,-0.61,-97.3,502.0,-7.4,368,7366,0.00,1.80,0.00,0.000,4,0.000,0.057,1972,2579,3455,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7497,-0.61,-97.3,512.6,-7.9,373,7501,0.00,1.85,0.00,0.000,6,0.000,0.067,1973,1521,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7814,-0.60,-97.3,540.5,-8.9,384,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,-0.58,-97.3,567.1,-9.1,394,8116,0.00,1.80,0.00,0.000,4,0.000,0.057,1965,2576,3453,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8187,-0.57,-97.3,574.1,-9.2,397,8192,0.15,1.88,0.00,0.000,6,0.244,0.068,1998,1513,3453,0,0,0,0,0,0,14.33,14.62,28.83
$GC,8503,-0.57,-97.3,599.6,-7.8,408,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1512,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8802,-0.57,-97.3,622.0,-7.2,418,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9101,-0.57,-97.3,641.1,-6.1,428,9105,0.00,1.90,0.00,0.000,4,0.000,0.090,1998,463,3452,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9178,-0.57,-97.3,646.0,-6.3,431,9181,0.00,1.77,0.00,0.000,6,0.000,0.045,1993,1520,3450,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9492,-0.57,-97.3,664.0,-5.5,442,9495,0.00,1.80,0.00,0.000,4,0.000,0.058,1985,2577,3449,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9641,-0.57,-97.3,671.3,-5.3,447,9645,0.00,1.88,0.00,0.000,6,0.000,0.068,1985,1513,3449,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9943,-0.57,-97.3,687.5,-5.1,457,9946,0.00,1.90,0.00,0.000,4,0.000,0.091,1985,466,3447,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10017,-0.56,-97.3,692.3,-6.1,460,10022,0.12,1.80,0.00,0.000,6,0.252,0.047,2003,1525,3447,0,0,0,0,0,0,14.33,14.66,28.83
$GC,10335,-0.58,-97.3,709.3,-5.6,471,10338,0.00,1.80,0.00,0.000,4,0.000,0.059,1998,2576,3446,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10421,-0.59,-97.3,714.0,-6.1,474,10425,0.00,1.88,0.00,0.000,6,0.000,0.068,1994,1519,3446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10722,-0.59,-97.3,736.0,-7.3,484,10726,0.00,1.92,0.00,0.000,4,0.000,0.091,1998,463,3445,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10810,-0.59,-97.3,742.0,-7.9,487,10814,0.00,1.80,0.00,0.000,6,0.000,0.046,1996,1522,3444,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11112,-0.59,-97.3,764.8,-6.7,497,11116,0.00,1.83,0.00,0.000,4,0.000,0.058,1982,2584,3444,0,0,0,0,0,0,28.83,14.60,28.83
$GC,11187,-0.59,-97.3,769.5,-6.4,500,11191,0.00,1.90,0.00,0.000,6,0.000,0.070,1982,1516,3443,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11504,-0.59,-97.3,788.4,-5.6,511,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1515,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11803,-0.59,-97.3,805.7,-6.0,521,11806,0.00,1.92,0.00,0.000,4,0.000,0.093,1982,466,3441,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11876,-0.59,-97.3,811.0,-6.9,524,11880,0.00,1.80,0.00,0.000,6,0.000,0.048,1975,1519,3441,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12192,-0.59,-97.3,834.9,-7.9,535,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12492,-0.59,-97.3,858.6,-7.8,545,12495,0.00,1.83,0.00,0.000,4,0.000,0.059,1966,2577,3439,0,0,0,0,0,0,28.83,14.56,28.83
$GC,12596,-0.59,-97.3,866.5,-7.5,549,12601,0.12,1.90,0.00,0.000,6,0.251,0.071,1992,1519,3439,0,0,0,0,0,0,14.21,14.50,28.83
$GC,12914,-0.60,-97.3,886.9,-6.1,560,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13212,-0.60,-97.3,904.0,-5.6,570,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13513,-0.62,-97.3,920.4,-5.5,580,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13813,-0.63,-97.3,937.1,-5.7,590,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14113,-0.64,-97.3,955.0,-6.2,600,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14412,-0.65,-97.3,975.2,-7.0,610,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1515,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14499,begin apogee
$GC,14506,-0.18,0.0,981.8,-7.3,613,14634,0.50,0.00,116.12,2.130,6,0.200,0.000,2129,1398,3065,0,0,0,0,1,0,14.12,28.83,12.95
$STATE,14636,end apogee,CONTROL_FINISHED_OK
$STATE,14636,begin climb
$GC,14638,0.60,97.3,987.4,0.0,617,14777,0.82,1.95,127.28,2.137,4,0.119,0.060,2381,2463,2666,0,0,0,0,1,0,14.11,14.00,12.91
$GC,14967,0.61,164.0,987.1,3.2,629,15071,0.00,1.92,91.57,1.997,6,0.000,0.076,2389,1403,2394,0,0,0,0,1,0,28.83,14.45,13.04
$GC,15388,0.55,164.0,960.5,7.1,643,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1403,2387,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,29037,end climb,SURFACE_DEPTH_REACHED
$STATE,29037,begin surface coast
$FINISH,0.8,1.025270
$STATE,29054,end surface coast,CONTROL_FINISHED_OK
$STATE,29054,begin surface
$SM_CCo,29073,18.33,0.723,0,0,1756,320.12
$SM_GC,1.05,6.45,0.15,18.33,0.061,0.100,0.723,159,1521,1756,-6.29,-1.50,320.12,0,0,0,0,0,0,14.57,14.69,14.07
$IRIDIUM_FIX,2500.82,-3806.49,111212,232344
$TT8_MAMPS,0.023968,0.023968
$HUMID,52.20
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,26.00
$XPDR_PINGS,5
$SC_FREEKB,7666432
$TM_FREEKB,5194400
$24V_AH,12.9,128.818
$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,18.725,122.925,561.925,18.325,0.000,0.000,0.000,368.900,1.250,0.000,21.063,3333.625,22599.336,819.983,2497.229,524.407,0.000,2202.124,0.000,1979.897,0.000,0.549,0.000
$DEVICE_MAMPS,419.220,120.105,2136.645,722.925,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29099.000,7361.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.300,13.023,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,43244,1223
$CAP_FILE_SIZE,249220,0
$CFSIZE,260034560,221339648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.050,126.6,1
$GPS,121212,154553,2513.007,-3812.813,39,0.8,39,-14.0