version: 66.11
glider: 191
mission: 5
dive: 320
start: 12 29 112 15 51 58
data:
$ID,191
$MISSION,5
$DIVE,320
$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,-5000.8691
$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,25
$R_STBD_OVSHOOT,47
$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,10
$MINV_10V,10
$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
$GPS1,291212,153604,2405.433,-3750.090,34,1.1,35,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-51.7
$GPS2,291212,155129,2405.493,-3750.020,19,0.9,20,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,56.2,76774,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-61.22,0.000,2,0.000,0.000,155,1517,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.3,-6.6,4,110,10.02,1.83,-4.05,0.000,4,0.419,0.080,1984,2571,3462,1,0,0,0,0,0,13.81,14.50,14.76
$GC,329,-0.58,-97.3,30.1,-10.4,20,332,0.00,1.90,0.00,0.000,6,0.000,0.064,1984,1510,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,629,-0.55,-97.3,61.9,-11.0,40,633,0.00,1.83,0.00,0.000,4,0.000,0.051,1977,2567,3464,0,0,0,0,0,0,28.83,14.46,28.83
$GC,719,-0.54,-97.3,71.1,-10.1,46,724,0.15,1.88,0.00,0.000,6,0.239,0.063,2010,1518,3462,0,0,0,0,0,0,14.22,14.45,28.83
$GC,1019,-0.54,-97.3,93.5,-6.1,66,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-0.54,-97.3,107.2,-4.1,86,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1619,-0.54,-97.3,123.9,-6.6,106,1622,0.00,1.92,0.00,0.000,4,0.000,0.086,2010,463,3467,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1679,-0.54,-97.3,128.7,-8.0,110,1683,0.00,1.77,0.00,0.000,6,0.000,0.042,2006,1517,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1979,-0.54,-97.3,154.0,-8.3,130,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2279,-0.54,-97.3,176.9,-6.8,150,2282,0.00,1.92,0.00,0.000,4,0.000,0.084,2004,460,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2355,-0.53,-97.3,182.2,-7.3,155,2359,0.00,1.80,0.00,0.000,6,0.000,0.042,1996,1524,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2654,-0.53,-97.3,197.3,-4.3,175,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1525,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2954,-0.53,-97.3,211.2,-5.1,195,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1530,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.53,-97.3,229.2,-6.5,215,3257,0.00,1.80,0.00,0.000,4,0.000,0.054,1989,2577,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3314,-0.53,-97.3,233.1,-6.5,219,3319,0.12,1.88,0.00,0.000,6,0.231,0.063,2016,1514,3463,0,0,0,0,0,0,14.31,14.54,28.83
$GC,3614,-0.55,-97.3,252.5,-6.9,238,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3915,-0.57,-97.3,274.5,-7.1,248,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1514,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4215,-0.59,-97.3,292.8,-5.6,258,4219,0.00,1.90,0.00,0.000,4,0.000,0.086,2016,463,3462,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4290,-0.60,-97.3,297.4,-6.0,261,4293,0.00,1.80,0.00,0.000,6,0.000,0.043,2010,1529,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4607,-0.61,-97.3,314.2,-4.9,272,4610,0.00,1.77,0.00,0.000,4,0.000,0.054,2003,2576,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4680,-0.63,-97.3,317.7,-4.6,275,4684,0.00,1.85,0.00,0.000,6,0.000,0.064,2003,1521,3462,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4997,-0.63,-97.3,330.9,-4.2,286,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-0.64,-97.3,345.8,-5.4,296,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5595,-0.64,-97.3,367.0,-7.8,306,5599,0.00,1.80,0.00,0.000,4,0.000,0.054,1995,2577,3460,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5699,-0.65,-97.3,376.0,-8.6,310,5703,0.00,1.88,0.00,0.000,6,0.000,0.065,1995,1517,3459,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6014,-0.65,-97.3,403.4,-8.4,321,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1517,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6314,-0.65,-97.3,426.3,-7.5,331,6318,0.00,1.92,0.00,0.000,4,0.000,0.088,1995,459,3458,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6388,-0.65,-97.3,432.5,-8.1,334,6392,0.00,1.80,0.00,0.000,6,0.000,0.044,1987,1519,3458,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6705,-0.65,-97.3,456.5,-7.6,345,6708,0.00,1.80,0.00,0.000,4,0.000,0.055,1979,2577,3457,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6778,-0.65,-97.3,461.9,-7.3,348,6782,0.00,1.88,0.00,0.000,6,0.000,0.066,1979,1519,3457,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7094,-0.65,-97.3,483.9,-6.9,359,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7393,-0.65,-97.3,504.1,-6.7,369,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1518,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7695,-0.65,-97.3,522.5,-5.9,379,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7993,-0.65,-97.3,540.9,-6.4,389,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8294,-0.65,-97.3,560.4,-6.5,399,8298,0.00,1.92,0.00,0.000,4,0.000,0.090,1979,466,3452,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8414,-0.64,-97.3,568.3,-7.6,403,8418,0.00,1.80,0.00,0.000,6,0.000,0.046,1972,1521,3452,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8714,-0.62,-97.3,592.1,-7.7,413,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1522,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9015,-0.61,-97.3,615.5,-7.8,423,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1523,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9314,-0.60,-97.3,640.4,-8.3,433,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1522,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,-0.59,-97.3,663.7,-7.6,443,9619,0.00,1.83,0.00,0.000,4,0.000,0.057,1964,2581,3448,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9748,-0.59,-97.3,673.4,-7.2,448,9753,0.15,1.90,0.00,0.000,6,0.239,0.068,1996,1520,3447,0,0,0,0,0,0,14.08,14.38,28.83
$GC,10067,-0.60,-97.3,691.3,-5.4,459,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1519,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10365,-0.61,-97.3,706.8,-5.2,469,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10665,-0.63,-97.3,722.1,-5.2,479,10669,0.00,1.95,0.00,0.000,4,0.000,0.093,1996,464,3445,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10739,-0.63,-97.3,726.9,-6.2,482,10743,0.00,1.83,0.00,0.000,6,0.000,0.047,1990,1527,3444,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11054,-0.63,-97.3,747.3,-6.5,493,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1529,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11354,-0.63,-97.3,766.2,-6.1,503,11358,0.00,1.83,0.00,0.000,4,0.000,0.059,1983,2574,3443,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11429,-0.64,-97.3,770.5,-6.0,506,11433,0.00,1.92,0.00,0.000,6,0.000,0.070,1984,1514,3442,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11747,-0.64,-97.3,789.3,-5.7,517,11750,0.00,1.95,0.00,0.000,4,0.000,0.093,1979,463,3441,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11819,-0.64,-97.3,794.0,-6.1,520,11822,0.00,1.83,0.00,0.000,6,0.000,0.047,1975,1523,3440,0,0,0,0,0,0,28.83,14.56,28.83
$GC,12136,-0.64,-97.3,812.1,-5.8,531,12139,0.00,1.85,0.00,0.000,4,0.000,0.059,1968,2582,3440,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12239,-0.64,-97.3,818.6,-6.2,535,12243,0.00,1.92,0.00,0.000,6,0.000,0.070,1968,1518,3439,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12554,-0.64,-97.3,839.8,-6.8,546,12557,0.00,1.95,0.00,0.000,4,0.000,0.095,1968,467,3438,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12629,-0.62,-97.3,845.4,-7.3,549,12633,0.00,1.83,0.00,0.000,6,0.000,0.048,1960,1519,3438,0,0,0,0,0,0,28.83,14.51,28.83
$GC,12947,-0.61,-97.3,867.4,-7.1,560,12948,0.12,0.00,0.00,0.000,6,0.257,0.000,1986,1520,3438,0,0,0,0,0,0,14.28,28.83,28.83
$GC,13244,-0.61,-97.3,887.2,-6.7,570,13248,0.00,1.98,0.00,0.000,4,0.000,0.095,1986,463,3437,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13348,-0.61,-97.3,895.1,-7.5,574,13352,0.00,1.85,0.00,0.000,6,0.000,0.048,1980,1524,3436,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13664,-0.61,-97.3,917.7,-7.2,585,13668,0.00,1.85,0.00,0.000,4,0.000,0.060,1973,2576,3435,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13769,-0.61,-97.3,925.0,-7.0,589,13773,0.00,1.95,0.00,0.000,6,0.000,0.073,1973,1514,3435,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14083,-0.61,-97.3,947.7,-7.2,600,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1514,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14385,-0.61,-97.3,968.8,-7.0,610,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1513,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14561,begin apogee
$GC,14567,-0.18,0.0,981.1,-6.7,616,14696,0.57,0.00,116.65,2.052,6,0.208,0.000,2123,1398,3063,0,0,0,0,1,0,13.95,28.83,12.89
$STATE,14698,end apogee,CONTROL_FINISHED_OK
$STATE,14698,begin climb
$GC,14701,0.60,97.3,985.4,0.0,620,14840,0.85,1.95,127.07,1.964,4,0.121,0.059,2382,2460,2665,0,0,0,0,1,0,14.12,14.07,12.94
$GC,15059,0.56,123.1,978.4,5.0,633,15118,0.00,1.95,44.80,1.494,6,0.000,0.077,2390,1395,2561,0,0,0,0,1,0,28.83,14.46,13.19
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$STATE,28382,end climb,SURFACE_DEPTH_REACHED
$STATE,28382,begin surface coast
$FINISH,0.2,1.025423
$STATE,28397,end surface coast,CONTROL_FINISHED_OK
$STATE,28398,begin surface
$SM_CCo,28477,0.00,0.000,0,0,1405,406.46
$SM_GC,0.83,6.55,0.15,0.00,0.060,0.105,0.000,153,1523,1405,-6.30,-1.44,406.46,0,0,0,0,0,0,14.56,14.66,28.83
$IRIDIUM_FIX,2356.84,-3748.36,291212,151559
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.74
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,25.70
$XPDR_PINGS,8
$SC_FREEKB,7647232
$TM_FREEKB,4664608
$24V_AH,12.9,152.595
$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,20.225,154.425,810.625,0.000,0.000,0.000,0.000,494.800,2.000,0.000,20.619,3252.439,21812.137,1110.180,2576.036,618.175,0.000,2628.956,0.000,1943.320,0.000,0.549,0.000
$DEVICE_MAMPS,419.220,117.810,2051.730,0.000,0.000,0.000,0.000,182.070,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28444.000,6552.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.092,12.997,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43328,1182
$CAP_FILE_SIZE,258565,0
$CFSIZE,260034560,214347776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,16,2,0
$CURRENT,0.006,261.9,1
$GPS,291212,234758,2407.755,-3748.018,39,0.9,40,-14.0