version: 66.11
glider: 191
mission: 5
dive: 278
start: 12 15 112 1 56 11
data:
$ID,191
$MISSION,5
$DIVE,278
$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,-4168.2598
$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,23
$R_STBD_OVSHOOT,48
$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
$GPS1,151212,014334,2512.806,-3829.721,28,1.2,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-54.0
$GPS2,151212,015541,2512.818,-3829.726,16,1.0,16,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,227.1,73026,-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,-97.3,0.0,0.0,0,71,0.00,0.00,-46.28,0.000,2,0.000,0.000,156,1521,3057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.60,-97.3,3.0,-9.8,3,102,9.73,1.92,-8.73,0.000,4,0.412,0.115,1990,466,3460,1,0,0,0,0,0,13.83,14.43,14.78
$GC,282,-0.55,-97.3,29.4,-10.7,17,285,0.00,1.77,0.00,0.000,6,0.000,0.044,1992,1514,3461,0,0,0,0,0,0,28.83,14.58,28.83
$GC,582,-0.52,-97.3,52.7,-7.7,37,584,0.15,0.00,0.00,0.000,6,0.250,0.000,2018,1515,3461,0,0,0,0,0,0,14.28,28.83,28.83
$GC,881,-0.52,-97.3,76.9,-8.1,57,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.52,-97.3,100.6,-7.3,77,1185,0.00,1.80,0.00,0.000,4,0.000,0.054,2014,2573,3462,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1258,-0.53,-97.3,106.1,-7.3,82,1262,0.00,1.88,0.00,0.000,6,0.000,0.064,2013,1508,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1557,-0.53,-97.3,129.0,-7.5,102,1561,0.00,1.88,0.00,0.000,4,0.000,0.085,2013,464,3462,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1677,-0.52,-97.3,139.0,-8.4,110,1681,0.00,1.77,0.00,0.000,6,0.000,0.041,2002,1522,3463,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1977,-0.52,-97.3,158.7,-5.3,130,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2278,-0.52,-97.3,173.1,-4.7,150,2282,0.00,1.80,0.00,0.000,4,0.000,0.053,1993,2579,3463,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2427,-0.52,-97.3,180.7,-5.2,160,2431,0.00,1.85,0.00,0.000,6,0.000,0.063,1997,1522,3462,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2726,-0.52,-97.3,200.2,-7.2,180,2730,0.00,1.90,0.00,0.000,4,0.000,0.085,1997,462,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2832,-0.51,-97.3,209.0,-8.6,187,2836,0.15,1.77,0.00,0.000,6,0.236,0.042,2023,1522,3463,0,0,0,0,0,0,14.35,14.67,28.83
$GC,3132,-0.53,-97.3,230.6,-7.2,207,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3433,-0.55,-97.3,249.0,-5.7,227,3436,0.00,1.77,0.00,0.000,4,0.000,0.054,2018,2573,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3538,-0.57,-97.3,254.8,-5.5,232,3541,0.00,1.85,0.00,0.000,6,0.000,0.065,2018,1516,3462,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3854,-0.59,-97.3,274.4,-6.4,243,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1512,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-0.61,-97.3,295.3,-7.3,253,4155,0.00,1.80,0.00,0.000,4,0.000,0.054,2010,2576,3461,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4271,-0.63,-97.3,303.0,-7.3,257,4275,0.00,1.85,0.00,0.000,6,0.000,0.066,2010,1520,3461,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4573,-0.64,-97.3,325.4,-6.8,267,4576,0.00,1.90,0.00,0.000,4,0.000,0.087,2011,459,3460,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4631,-0.64,-97.3,328.7,-6.8,269,4635,0.00,1.77,0.00,0.000,6,0.000,0.044,2003,1517,3459,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4933,-0.64,-97.3,347.6,-5.5,279,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.64,-97.3,362.9,-5.0,289,5235,0.00,1.80,0.00,0.000,4,0.000,0.056,1994,2580,3458,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5412,-0.66,-97.3,371.0,-4.9,295,5416,0.00,1.85,0.00,0.000,6,0.000,0.066,1995,1521,3458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5712,-0.66,-97.3,387.4,-5.2,305,5716,0.00,1.90,0.00,0.000,4,0.000,0.088,1995,464,3457,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5771,-0.66,-97.3,390.2,-5.6,307,5775,0.00,1.77,0.00,0.000,6,0.000,0.044,1987,1523,3457,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6072,-0.66,-97.3,409.0,-6.2,317,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1524,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6372,-0.66,-97.3,430.1,-7.4,327,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1524,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,-0.66,-97.3,455.1,-8.7,337,6676,0.00,1.92,0.00,0.000,4,0.000,0.088,1987,458,3455,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6731,-0.64,-97.3,459.3,-9.0,339,6735,0.00,1.80,0.00,0.000,6,0.000,0.045,1979,1527,3455,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7032,-0.63,-97.3,486.4,-8.0,349,7036,0.00,1.80,0.00,0.000,4,0.000,0.057,1971,2581,3453,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7138,-0.63,-97.3,494.0,-7.2,353,7141,0.00,1.88,0.00,0.000,6,0.000,0.067,1971,1515,3452,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7454,-0.62,-97.3,516.0,-7.0,364,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1515,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7753,-0.60,-97.3,537.4,-7.3,374,7757,0.00,1.83,0.00,0.000,4,0.000,0.057,1964,2578,3452,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7857,-0.60,-97.3,545.0,-7.3,378,7862,0.12,1.88,0.00,0.000,6,0.250,0.067,1989,1516,3451,0,0,0,0,0,0,14.35,14.62,28.83
$GC,8174,-0.60,-97.3,565.7,-6.6,389,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1516,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8471,-0.60,-97.3,585.3,-6.5,399,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1516,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,-0.60,-97.3,605.0,-6.7,409,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1516,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,-0.60,-97.3,626.0,-7.1,419,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1516,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9371,-0.60,-97.3,647.8,-7.4,429,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1516,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9672,-0.60,-97.3,668.8,-6.7,439,9676,0.00,1.83,0.00,0.000,4,0.000,0.058,1984,2576,3445,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9821,-0.61,-97.3,677.6,-6.4,444,9825,0.00,1.88,0.00,0.000,6,0.000,0.069,1984,1523,3444,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10123,-0.61,-97.3,696.2,-5.5,454,10126,0.00,1.92,0.00,0.000,4,0.000,0.091,1985,464,3443,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10197,-0.61,-97.3,700.8,-5.9,457,10201,0.00,1.80,0.00,0.000,6,0.000,0.046,1977,1523,3443,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10514,-0.61,-97.3,717.7,-5.6,468,10517,0.00,1.83,0.00,0.000,4,0.000,0.059,1969,2580,3442,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10618,-0.61,-97.3,723.9,-6.0,472,10622,0.00,1.90,0.00,0.000,6,0.000,0.069,1970,1512,3442,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10934,-0.60,-97.3,746.4,-7.5,483,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1512,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11233,-0.59,-97.3,770.0,-7.9,493,11235,0.12,0.00,0.00,0.000,6,0.260,0.000,1995,1513,3440,0,0,0,0,0,0,14.39,28.83,28.83
$GC,11532,-0.60,-97.3,789.3,-6.2,503,11536,0.00,1.85,0.00,0.000,4,0.000,0.059,1990,2577,3439,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11608,-0.62,-97.3,793.9,-6.1,506,11612,0.00,1.90,0.00,0.000,6,0.000,0.070,1990,1520,3438,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11924,-0.62,-97.3,812.8,-5.9,517,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12223,-0.62,-97.3,830.6,-6.0,527,12226,0.00,1.83,0.00,0.000,4,0.000,0.060,1982,2575,3437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12311,-0.63,-97.3,835.3,-6.0,530,12315,0.00,1.90,0.00,0.000,6,0.000,0.071,1981,1520,3436,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12612,-0.63,-97.3,855.0,-6.4,540,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12912,-0.63,-97.3,875.0,-6.9,550,12913,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13212,-0.63,-97.3,896.8,-7.4,560,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13512,-0.63,-97.3,919.7,-7.8,570,13516,0.00,1.85,0.00,0.000,4,0.000,0.060,1974,2577,3433,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13587,-0.63,-97.3,925.7,-7.9,573,13591,0.00,1.92,0.00,0.000,6,0.000,0.073,1974,1517,3433,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13902,-0.63,-97.3,952.8,-8.6,584,13903,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1516,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14202,-0.63,-97.3,976.4,-7.6,594,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1516,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14260,begin apogee
$GC,14266,-0.18,0.0,980.6,-7.2,596,14389,0.57,0.00,114.32,2.077,6,0.203,0.000,2128,1396,3064,0,0,0,0,1,0,14.10,28.83,12.97
$STATE,14391,end apogee,CONTROL_FINISHED_OK
$STATE,14391,begin climb
$GC,14394,0.60,97.3,984.9,0.0,600,14531,0.80,0.00,127.95,2.067,6,0.119,0.000,2377,1396,2665,0,0,0,0,1,0,14.09,28.83,12.95
$GC,14817,0.53,97.3,970.2,6.6,615,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1396,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15118,0.47,97.3,949.4,7.0,625,15120,0.15,0.00,0.00,0.000,6,0.272,0.000,2347,1396,2658,0,0,0,0,0,0,14.35,28.83,28.83
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$STATE,29593,end climb,SURFACE_DEPTH_REACHED
$STATE,29594,begin surface coast
$FINISH,0.1,1.002852
$STATE,29610,end surface coast,CONTROL_FINISHED_OK
$STATE,29610,begin surface
$SM_CCo,29633,4.53,0.789,0,0,1756,320.12
$SM_GC,1.20,6.68,1.98,4.53,0.086,0.045,0.789,159,1508,1756,-6.29,-1.41,320.12,0,0,0,0,0,0,14.60,14.65,13.97
$IRIDIUM_FIX,2503.20,-3825.08,141212,171736
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.22
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.80
$XPDR_PINGS,5
$SC_FREEKB,7663360
$TM_FREEKB,5107776
$24V_AH,12.9,132.625
$10V_AH,12.6,0.000
$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,19.175,137.800,643.450,4.525,0.000,0.000,0.000,403.800,1.250,0.000,18.116,3387.481,22956.678,923.637,2521.246,564.877,0.000,2351.249,0.000,1993.276,0.000,0.549,0.000
$DEVICE_MAMPS,412.335,117.810,2076.975,789.480,0.000,0.000,0.000,172.890,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29660.000,7247.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.298,13.015,0.000,0.000
$MEM,345700
$DATA_FILE_SIZE,43274,1237
$CAP_FILE_SIZE,261242,0
$CFSIZE,260034560,220196864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.058,126.4,1
$GPS,151212,101134,2509.764,-3830.888,39,0.8,40,-14.1