version: 66.03
glider: 119
mission: 5
dive: 308
start: 12 22 108 21 8 19
data:
$ID,119
$MISSION,5
$DIVE,308
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,600
$T_MISSION,660
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-215430.84
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,2837
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-2.9385166
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,210101,4803.537,-12552.678,42,1.6,42,18.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-69.3
$GPS2,210727,4803.529,-12552.706,12,1.1,12,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.191,-0.040
$KALMAN_X,-54581.4,-319.0,24.6,-14231.2,-925.1
$KALMAN_Y,374113.3,119.8,-47.6,-253818.3,5199.2
$MHEAD_RNG_PITCHd_Wd,83.0,18686,-11.5,-5.500
$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
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,75,0.00,0.00,-51.72,0.000,2,0.000,0.000,861,2225,2480
$GC,79,-0.67,-117.3,3.2,-3.3,5,122,12.25,0.00,-28.25,0.000,6,0.143,0.000,2648,2225,3316
$GC,440,-0.43,-117.3,43.5,-11.9,41,447,0.30,2.40,0.00,0.000,4,0.084,0.061,2702,788,3316
$GC,471,-0.30,-117.3,46.1,-10.7,46,478,0.17,2.22,0.00,0.000,6,0.080,0.044,2731,2196,3316
$GC,818,-0.81,-117.3,65.7,-7.2,107,825,0.57,2.33,0.00,0.000,4,0.046,0.057,2618,783,3316
$GC,866,-0.88,-117.3,70.0,-8.9,115,872,0.00,2.12,0.00,0.000,6,0.000,0.044,2618,2128,3317
$GC,1197,-0.65,-117.3,104.9,-9.6,154,1202,0.20,2.47,0.00,0.000,4,0.084,0.066,2655,3600,3316
$GC,1238,-0.58,-117.3,107.9,-7.1,157,1242,0.00,2.40,0.00,0.000,6,0.000,0.043,2655,2094,3316
$GC,1570,-0.53,-117.3,131.2,-6.2,188,1575,0.15,2.58,0.00,0.000,4,0.084,0.065,2681,3608,3316
$GC,1604,-0.62,-117.3,133.2,-5.2,190,1610,0.00,2.40,0.00,0.000,6,0.000,0.044,2681,2109,3316
$GC,1933,-0.71,-117.3,150.3,-5.9,221,1935,0.20,0.00,0.00,0.000,6,0.052,0.000,2638,2108,3316
$GC,2239,-0.60,-117.3,174.6,-7.9,236,2244,0.15,2.55,0.00,0.000,4,0.086,0.065,2667,3606,3317
$GC,2287,-0.60,-117.3,178.1,-6.4,238,2291,0.00,2.38,0.00,0.000,6,0.000,0.044,2667,2130,3316
$GC,2609,-0.60,-117.3,195.3,-5.1,254,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2128,3316
$GC,2919,-0.60,-117.3,211.4,-5.4,269,2924,0.00,2.50,0.00,0.000,4,0.000,0.067,2667,3607,3316
$GC,2969,-0.65,-117.3,214.6,-6.5,271,2974,0.00,2.35,0.00,0.000,6,0.000,0.044,2667,2145,3316
$GC,3285,-0.65,-117.3,232.8,-5.9,286,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2139,3316
$GC,3596,-0.69,-117.3,250.4,-5.5,301,3600,0.00,2.45,0.00,0.000,4,0.000,0.067,2667,3604,3317
$GC,3628,-0.69,-117.3,252.5,-6.0,302,3635,0.00,2.33,0.00,0.000,6,0.000,0.044,2668,2167,3316
$GC,3944,-0.69,-117.3,269.6,-5.6,318,3948,0.00,2.30,0.00,0.000,4,0.000,0.065,2667,805,3316
$GC,3971,-0.75,-117.3,271.3,-6.0,319,3976,0.17,2.15,0.00,0.000,6,0.054,0.044,2631,2185,3316
$GC,4293,-0.63,-117.3,296.1,-7.7,335,4297,0.15,2.35,0.00,0.000,4,0.087,0.067,2659,3597,3316
$GC,4348,-0.63,-117.3,299.9,-6.3,337,4355,0.00,2.20,0.00,0.000,6,0.000,0.044,2660,2203,3317
$GC,4657,-0.63,-117.3,316.4,-5.3,343,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,3316
$GC,4960,-0.63,-117.3,331.2,-4.8,348,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,3316
$GC,5263,-0.63,-117.3,348.4,-5.8,353,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,3316
$GC,5566,-0.63,-117.3,368.4,-6.7,358,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,3316
$GC,5869,-0.63,-117.3,388.1,-6.4,363,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2199,3316
$GC,6173,-0.63,-117.3,406.2,-5.9,368,6178,0.00,2.38,0.00,0.000,4,0.000,0.070,2659,3605,3316
$GC,6200,-0.63,-117.3,407.9,-6.4,368,6204,0.00,2.22,0.00,0.000,6,0.000,0.044,2660,2219,3316
$GC,6539,-0.63,-117.3,426.9,-5.5,374,6543,0.00,2.40,0.00,0.000,4,0.000,0.068,2660,801,3316
$GC,6566,-0.68,-117.3,428.4,-6.1,374,6570,0.00,2.22,0.00,0.000,6,0.000,0.045,2659,2224,3316
$GC,6897,-0.68,-117.3,448.4,-6.1,380,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2224,3316
$GC,7200,-0.68,-117.3,461.8,-4.1,385,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2224,3316
$GC,7504,-0.68,-117.3,471.3,-3.2,390,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2224,3315
$GC,7807,-0.72,-117.3,484.8,-4.6,395,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2224,3315
$GC,8112,-0.77,-117.3,501.9,-5.7,400,8117,0.15,2.38,0.00,0.000,4,0.061,0.070,2628,798,3315
$GC,8133,-0.77,-117.3,503.5,-6.9,400,8137,0.00,2.22,0.00,0.000,6,0.000,0.047,2628,2208,3315
$GC,8478,-0.67,-117.3,529.8,-7.8,406,8480,0.15,0.00,0.00,0.000,6,0.088,0.000,2653,2208,3315
$GC,8780,-0.67,-117.3,550.1,-6.6,411,8784,0.00,2.35,0.00,0.000,4,0.000,0.071,2653,798,3315
$GC,8807,-0.67,-117.3,551.9,-6.4,411,8811,0.00,2.20,0.00,0.000,6,0.000,0.050,2653,2184,3315
$GC,9139,-0.67,-117.3,569.4,-5.1,417,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2184,3314
$GC,9441,-0.67,-117.3,585.7,-5.6,422,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2185,3314
$GC,9744,-0.67,-117.3,604.4,-6.2,427,9748,0.00,2.33,0.00,0.000,4,0.000,0.074,2653,793,3314
$GC,9783,-0.73,-117.3,606.5,-5.4,427,9787,0.00,2.22,0.00,0.000,6,0.000,0.051,2653,2197,3314
$GC,10105,-0.86,-117.3,623.4,-5.3,433,10110,0.20,2.38,0.00,0.000,4,0.053,0.074,2608,3604,3314
$GC,10358,-0.69,-117.3,640.0,-7.0,436,10364,0.22,2.85,0.00,0.000,6,0.085,0.051,2646,1853,3313
$GC,10668,-0.69,-117.3,654.0,-4.4,441,10673,0.00,2.95,0.00,0.000,4,0.000,0.071,2646,3598,3313
$GC,10740,-0.69,-117.3,657.7,-5.9,442,10744,0.00,2.70,0.00,0.000,6,0.000,0.051,2645,1931,3312
$GC,11095,-0.69,-117.3,675.3,-5.0,448,11099,0.00,2.83,0.00,0.000,4,0.000,0.071,2646,3601,3312
$GC,11167,-0.69,-117.3,679.6,-6.0,449,11171,0.00,2.58,0.00,0.000,6,0.000,0.051,2645,2003,3312
$GC,11520,-0.69,-117.3,699.3,-5.8,455,11525,0.00,2.70,0.00,0.000,4,0.000,0.074,2645,3598,3312
$GC,11586,-0.69,-117.3,703.2,-5.9,456,11590,0.00,2.45,0.00,0.000,6,0.000,0.051,2646,2071,3312
$GC,11953,-0.69,-117.3,725.3,-6.2,462,11958,0.00,2.60,0.00,0.000,4,0.000,0.074,2645,3604,3312
$GC,11980,-0.69,-117.3,727.3,-7.1,462,11984,0.00,2.40,0.00,0.000,6,0.000,0.050,2646,2107,3311
$GC,12319,-0.69,-117.3,747.8,-6.2,468,12320,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2108,3312
$GC,12621,-0.69,-117.3,766.0,-6.0,473,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2106,3312
$STATE,12861,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12861,begin apogee
$GC,12868,-0.23,0.0,779.3,5.5,477,12972,0.60,0.00,101.95,1.364,6,0.072,0.000,2749,2210,2837
$STATE,12973,end apogee,CONTROL_FINISHED_OK
$STATE,12973,begin climb
$GC,12976,0.67,117.3,780.5,0.0,478,13098,1.12,2.58,110.40,1.318,4,0.057,0.074,2941,3596,2357
$GC,13170,0.44,117.3,774.2,7.8,481,13175,0.28,2.38,0.00,0.000,6,0.091,0.051,2899,2207,2358
$GC,13531,0.46,127.0,755.4,5.2,487,13546,0.00,2.42,10.75,1.216,4,0.000,0.084,2898,792,2318
$GC,13608,0.41,127.0,750.9,5.8,488,13612,0.00,2.17,0.00,0.000,6,0.000,0.053,2899,2143,2318
$GC,13962,0.41,127.0,730.5,5.8,494,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2143,2319
$GC,14265,0.42,137.9,714.5,5.2,499,14281,0.00,2.35,11.45,1.231,4,0.000,0.080,2899,788,2274
$GC,14298,0.43,146.5,712.5,5.2,499,14312,0.00,2.15,9.57,1.173,6,0.000,0.051,2899,2136,2239
$GC,14628,0.43,146.5,692.2,6.2,505,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2136,2239
$GC,14931,0.43,146.5,675.0,5.7,510,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2136,2239
$GC,15235,0.43,146.5,658.1,5.5,515,15239,0.00,2.25,0.00,0.000,4,0.000,0.078,2899,793,2239
$GC,15290,0.43,146.5,654.8,5.7,515,15294,0.00,2.05,0.00,0.000,6,0.000,0.051,2899,2091,2239
$GC,15605,0.43,146.5,635.3,6.3,521,15606,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2091,2239
$GC,15908,0.43,146.5,616.8,6.2,526,15912,0.00,2.58,0.00,0.000,4,0.000,0.074,2899,3605,2239
$GC,15952,0.43,146.5,614.0,6.4,526,15956,0.00,2.45,0.00,0.000,6,0.000,0.051,2899,2107,2239
$GC,16273,0.51,175.5,598.8,4.6,532,16302,0.00,0.00,27.35,1.251,6,0.000,0.000,2899,2107,2120
$GC,16576,0.61,207.1,585.4,4.5,537,16610,0.15,2.33,28.95,1.230,4,0.061,0.079,2934,789,1992
$GC,16661,0.54,207.1,579.8,7.8,538,16665,0.00,2.20,0.00,0.000,6,0.000,0.048,2934,2124,1992
$GC,17004,0.54,207.1,554.8,7.4,544,17008,0.00,2.25,0.00,0.000,4,0.000,0.077,2934,783,1992
$GC,17059,0.47,207.1,550.0,8.9,544,17066,0.17,2.05,0.00,0.000,6,0.090,0.049,2905,2081,1992
$GC,17369,0.55,207.1,530.4,6.2,550,17373,0.00,2.15,0.00,0.000,4,0.000,0.077,2905,792,1992
$GC,17418,0.60,207.1,527.4,5.9,550,17423,0.12,1.98,0.00,0.000,6,0.064,0.048,2931,2052,1992
$GC,17727,0.60,207.1,505.8,7.1,555,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2053,1992
$GC,18031,0.60,207.1,484.7,6.9,560,18032,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2054,1992
$GC,18333,0.60,207.1,463.3,7.0,565,18334,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2054,1992
$GC,18636,0.60,207.1,441.8,7.1,570,18638,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2054,1992
$GC,18940,0.60,207.1,420.5,7.1,575,18941,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2054,1992
$GC,19243,0.60,207.1,398.2,7.4,580,19247,0.00,2.60,0.00,0.000,4,0.000,0.070,2932,3605,1992
$GC,19269,0.60,207.1,396.0,7.7,580,19273,0.00,2.50,0.00,0.000,6,0.000,0.050,2932,2057,1992
$GC,19607,0.60,207.1,371.4,7.2,586,19610,0.00,2.15,0.00,0.000,4,0.000,0.074,2932,786,1992
$GC,19656,0.60,207.1,367.3,7.9,586,19660,0.00,2.05,0.00,0.000,6,0.000,0.047,2932,2046,1992
$GC,19977,0.60,207.1,342.3,7.9,592,19981,0.00,2.62,0.00,0.000,4,0.000,0.068,2932,3597,1992
$GC,20009,0.60,207.1,339.6,7.6,592,20014,0.00,2.53,0.00,0.000,6,0.000,0.050,2932,2041,1992
$GC,20335,0.60,207.1,316.9,7.0,598,20338,0.00,2.12,0.00,0.000,4,0.000,0.071,2932,781,1992
$GC,20379,0.60,207.1,313.5,7.1,598,20383,0.00,2.00,0.00,0.000,6,0.000,0.047,2932,2044,1992
$GC,20707,0.60,207.1,293.0,5.7,606,20708,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2044,1992
$GC,21018,0.60,207.1,274.0,6.8,621,21020,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2044,1992
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$GC,21634,0.60,207.1,226.1,8.0,651,21636,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2044,1992
$GC,21944,0.60,207.1,203.0,7.2,666,21949,0.00,2.62,0.00,0.000,4,0.000,0.067,2932,3598,1992
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$GC,23475,0.64,207.1,95.6,5.5,773,23479,0.00,2.47,0.00,0.000,6,0.000,0.046,2932,2073,1993
$GC,23803,0.70,207.1,77.6,5.7,806,23809,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2073,1993
$GC,24147,0.85,241.0,62.3,4.4,867,24188,0.25,2.67,29.90,0.898,4,0.050,0.064,2987,3599,1854
$GC,24419,0.75,241.0,41.5,7.9,915,24426,0.15,2.42,0.00,0.000,6,0.101,0.047,2965,2113,1854
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$STATE,25068,end climb,SURFACE_DEPTH_REACHED
$STATE,25068,begin surface coast
$FINISH,1.0,1.020020
$STATE,25101,end surface coast,CONTROL_FINISHED_OK
$STATE,25101,begin surface
$SM_CCo,25123,51.95,0.834,0,0,1410,350.04
$SM_GC,1.88,0.00,0.00,51.95,0.000,0.000,0.834,863,2208,1410,-8.91,0.23,350.04
$IRIDIUM_FIX,4745.30,-12553.59,180398,121259
$TT8_MAMPS,0.027612
$HUMID,2002
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,62.7
$24V_AH,21.9,79.836
$10V_AH,10.4,58.846
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$DEVICE_SECS,29.425,175.700,330.325,51.950,0.000,31.197,26.686,197.612,6.500,0.000,0.000,14.378,1894.336,20150.844,545.964,2350.344,610.262,33.375,1685.902,0.000,2322.207,0.000,43.734
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,669.675,797.860,1201.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47436,981
$CAP_FILE_SIZE,166020,0
$CFSIZE,260165632,234876928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231208,040907,4805.304,-12549.199,34,1.4,34,18.9