version: 66.04
glider: 144
mission: 15
dive: 126
start: 7 23 109 21 30 32
data:
$ID,144
$MISSION,15
$DIVE,126
$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,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-63366.707
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,212331,5012.362,-14439.780,39,1.9,39,18.6
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-65.5
$GPS2,212938,5012.417,-14439.766,12,1.5,12,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152,0.071
$KALMAN_X,-64813.1,483.7,14.2,89407.9,-2102.7
$KALMAN_Y,65262.9,-298.3,-137.5,-41264.0,1989.7
$MHEAD_RNG_PITCHd_Wd,46.5,19774,-12.3,-5.500
$D_GRID,1001
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.78,0.000,2,0.000,0.000,100,2311,2741
$GC,62,-0.68,-117.3,3.7,-6.3,4,89,6.93,2.28,-15.12,0.000,4,0.245,0.074,1837,3714,3412
$GC,326,-0.49,-117.3,42.8,-13.5,27,331,0.20,2.20,0.00,0.000,6,0.127,0.034,1896,2299,3413
$GC,653,-0.58,-117.3,66.3,-6.7,57,658,0.10,2.22,0.00,0.000,4,0.067,0.045,1832,887,3415
$GC,772,-0.44,-117.3,79.9,-12.6,67,777,0.28,2.22,0.00,0.000,6,0.124,0.040,1907,2305,3415
$GC,1088,-0.57,-117.3,103.1,-7.0,82,1092,0.12,2.22,0.00,0.000,4,0.058,0.044,1831,887,3416
$GC,1120,-0.45,-117.3,106.4,-11.1,83,1125,0.28,2.22,0.00,0.000,6,0.123,0.047,1908,2309,3416
$GC,1441,-0.61,-117.3,127.7,-6.1,99,1443,0.15,0.00,0.00,0.000,6,0.053,0.000,1819,2309,3416
$GC,1750,-0.45,-117.3,157.8,-9.7,113,1755,0.22,2.20,0.00,0.000,4,0.121,0.045,1895,897,3416
$GC,1800,-0.65,-117.3,161.4,-6.3,114,1804,0.12,2.20,0.00,0.000,6,0.058,0.041,1810,2306,3416
$GC,2113,-0.51,-117.3,192.0,-10.2,124,2117,0.22,2.22,0.00,0.000,4,0.127,0.055,1876,3721,3415
$GC,2181,-0.72,-117.3,197.1,-6.7,126,2185,0.12,2.17,0.00,0.000,6,0.061,0.038,1795,2299,3415
$GC,2515,-0.52,-117.3,232.7,-10.5,137,2520,0.28,2.20,0.00,0.000,4,0.126,0.046,1886,895,3415
$GC,2578,-0.73,-117.3,237.1,-6.3,139,2582,0.12,2.20,0.00,0.000,6,0.061,0.047,1797,2305,3415
$GC,2912,-0.56,-117.3,269.8,-10.0,150,2914,0.28,0.00,0.00,0.000,6,0.125,0.000,1882,2305,3415
$GC,3219,-0.73,-117.3,285.6,-5.0,160,3221,0.15,0.00,0.00,0.000,6,0.053,0.000,1791,2305,3414
$GC,3555,-0.55,-117.3,319.2,-10.3,168,3560,0.28,2.22,0.00,0.000,4,0.126,0.046,1879,896,3413
$GC,3617,-0.75,-117.3,323.7,-6.3,169,3622,0.12,2.20,0.00,0.000,6,0.061,0.046,1800,2304,3413
$GC,3983,-0.61,-117.3,359.0,-9.9,175,3988,0.20,2.25,0.00,0.000,4,0.130,0.054,1861,3717,3412
$GC,4027,-0.77,-117.3,362.3,-6.4,175,4031,0.10,2.17,0.00,0.000,6,0.071,0.034,1794,2294,3413
$GC,4342,-0.61,-117.3,392.3,-9.8,181,4347,0.20,2.20,0.00,0.000,4,0.127,0.048,1861,894,3412
$GC,4392,-0.74,-117.3,396.1,-6.6,181,4396,0.10,2.20,0.00,0.000,6,0.071,0.045,1796,2303,3412
$GC,4701,-0.59,-117.3,424.4,-9.3,186,4706,0.22,2.22,0.00,0.000,4,0.128,0.052,1870,896,3411
$GC,4745,-0.77,-117.3,427.6,-6.5,186,4750,0.12,2.20,0.00,0.000,6,0.061,0.047,1786,2303,3411
$GC,5061,-0.59,-117.3,457.9,-9.8,192,5066,0.25,2.22,0.00,0.000,4,0.129,0.050,1867,897,3411
$GC,5099,-0.76,-117.3,460.7,-5.7,192,5104,0.10,2.20,0.00,0.000,6,0.069,0.044,1797,2303,3411
$GC,5420,-0.64,-117.3,487.6,-8.6,198,5421,0.22,0.00,0.00,0.000,6,0.125,0.000,1866,2303,3410
$GC,5723,-0.80,-117.3,503.7,-5.1,203,5725,0.15,0.00,0.00,0.000,6,0.055,0.000,1782,2302,3410
$GC,6026,-0.62,-117.3,530.5,-9.1,208,6030,0.25,2.22,0.00,0.000,4,0.129,0.055,1864,897,3410
$GC,6075,-0.79,-117.3,533.4,-5.4,208,6080,0.12,2.20,0.00,0.000,6,0.061,0.048,1791,2303,3410
$GC,6387,-0.66,-117.3,557.1,-7.8,213,6389,0.22,0.00,0.00,0.000,6,0.127,0.000,1860,2303,3409
$GC,6689,-0.80,-117.3,571.3,-4.5,218,6690,0.12,0.00,0.00,0.000,6,0.061,0.000,1784,2303,3409
$GC,6991,-0.63,-117.3,596.0,-8.3,223,6993,0.28,0.00,0.00,0.000,6,0.126,0.000,1868,2303,3409
$GC,7296,-0.81,-117.3,608.8,-4.1,228,7297,0.15,0.00,0.00,0.000,6,0.055,0.000,1783,2303,3409
$GC,7598,-0.65,-117.3,634.8,-8.9,233,7602,0.22,2.22,0.00,0.000,4,0.128,0.056,1857,900,3408
$GC,7660,-0.81,-117.3,639.3,-7.1,234,7664,0.10,2.20,0.00,0.000,6,0.072,0.048,1786,2307,3408
$GC,8025,-0.67,-117.3,673.8,-9.7,240,8030,0.20,2.22,0.00,0.000,4,0.128,0.059,1848,3709,3408
$GC,8092,-0.82,-117.3,679.0,-7.2,241,8096,0.10,2.15,0.00,0.000,6,0.077,0.042,1793,2302,3407
$GC,8457,-0.71,-117.3,712.7,-9.2,247,8462,0.17,2.22,0.00,0.000,4,0.130,0.050,1845,890,3408
$GC,8520,-0.82,-117.3,717.3,-7.3,248,8524,0.00,2.22,0.00,0.000,6,0.000,0.046,1837,2313,3407
$GC,8886,-0.89,-117.3,741.9,-6.7,254,8888,0.12,0.00,0.00,0.000,6,0.070,0.000,1775,2313,3407
$GC,9189,-0.72,-117.3,770.1,-9.4,259,9191,0.22,0.00,0.00,0.000,6,0.131,0.000,1843,2313,3406
$GC,9492,-0.83,-117.3,787.8,-5.7,264,9494,0.10,0.00,0.00,0.000,6,0.078,0.000,1797,2313,3406
$GC,9795,-0.75,-117.3,810.8,-7.6,269,9800,0.15,2.28,0.00,0.000,4,0.130,0.051,1840,887,3406
$GC,9833,-0.85,-117.3,813.6,-6.0,269,9838,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2300,3406
$GC,10155,-0.93,-117.3,831.4,-5.5,275,10156,0.12,0.00,0.00,0.000,6,0.074,0.000,1781,2300,3406
$GC,10457,-0.79,-117.3,854.8,-7.9,280,10459,0.17,0.00,0.00,0.000,6,0.134,0.000,1832,2300,3406
$GC,10761,-0.86,-117.3,871.3,-5.3,285,10765,0.00,2.25,0.00,0.000,4,0.000,0.058,1832,891,3406
$GC,10794,-0.93,-117.3,873.3,-6.7,285,10799,0.10,2.22,0.00,0.000,6,0.081,0.044,1778,2314,3406
$GC,11126,-0.78,-117.3,900.3,-8.3,291,11131,0.17,2.22,0.00,0.000,4,0.135,0.057,1827,3710,3406
$GC,11152,-0.78,-117.3,902.4,-7.0,291,11157,0.00,2.20,0.00,0.000,6,0.000,0.041,1827,2306,3406
$GC,11491,-0.84,-117.3,923.4,-6.3,297,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2305,3406
$GC,11793,-0.90,-117.3,943.3,-6.5,302,11798,0.08,2.25,0.00,0.000,4,0.104,0.054,1790,889,3406
$GC,11843,-0.78,-117.3,947.8,-8.5,302,11848,0.17,2.22,0.00,0.000,6,0.146,0.050,1829,2301,3405
$GC,12154,-0.85,-117.3,968.0,-6.4,307,12158,0.00,2.25,0.00,0.000,4,0.000,0.052,1829,887,3406
$GC,12187,-0.92,-117.3,970.5,-6.9,307,12192,0.08,2.22,0.00,0.000,6,0.099,0.048,1787,2304,3406
$STATE,12456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12456,begin apogee
$GC,12462,-0.22,0.0,992.1,8.1,312,12557,0.52,0.00,92.60,1.342,6,0.130,0.000,1953,2304,2931
$STATE,12558,end apogee,CONTROL_FINISHED_OK
$STATE,12558,begin climb
$GC,12561,0.68,117.3,993.4,0.0,313,12662,0.55,0.00,98.12,1.314,6,0.081,0.000,2146,2304,2452
$GC,12926,0.40,117.3,971.7,7.8,319,12931,0.20,2.35,0.00,0.000,4,0.164,0.056,2099,896,2442
$GC,12953,0.30,117.3,969.8,5.8,319,12958,0.15,2.30,0.00,0.000,6,0.141,0.049,2060,2305,2440
$GC,13291,0.38,142.8,954.1,4.6,325,13318,0.10,2.35,20.65,1.240,4,0.076,0.060,2102,3716,2348
$GC,13353,0.21,142.8,949.8,6.9,326,13358,0.25,2.28,0.00,0.000,6,0.166,0.038,2047,2307,2345
$GC,13719,0.51,142.8,929.6,5.8,332,13723,0.17,2.30,0.00,0.000,4,0.071,0.057,2121,894,2342
$GC,13850,0.41,142.8,920.8,7.7,334,13855,0.12,2.28,0.00,0.000,6,0.143,0.044,2089,2307,2341
$GC,14215,0.41,142.8,899.2,5.8,340,14219,0.00,2.28,0.00,0.000,4,0.000,0.058,2089,3717,2341
$GC,14271,0.32,142.8,895.2,7.8,340,14278,0.08,2.25,0.00,0.000,6,0.158,0.041,2074,2304,2340
$GC,14581,0.38,157.9,879.7,5.0,346,14596,0.00,0.00,12.95,1.167,6,0.000,0.000,2074,2304,2287
$GC,14884,0.47,175.8,864.9,4.9,351,14908,0.10,2.38,16.42,1.181,4,0.077,0.061,2118,3716,2213
$GC,14942,0.27,175.8,860.6,8.3,351,14949,0.28,2.28,0.00,0.000,6,0.162,0.042,2054,2296,2211
$GC,15252,0.61,181.8,844.7,5.3,357,15264,0.20,2.33,6.15,0.960,4,0.067,0.054,2138,3724,2189
$GC,15372,0.35,181.8,834.5,9.6,358,15377,0.28,2.25,0.00,0.000,6,0.160,0.044,2071,2296,2188
$GC,15682,0.59,194.8,818.6,5.1,363,15702,0.17,2.35,12.43,1.121,4,0.067,0.058,2158,887,2136
$GC,15770,0.39,194.8,812.3,7.9,364,15775,0.28,2.30,0.00,0.000,6,0.144,0.044,2080,2315,2134
$GC,16113,0.52,225.2,796.4,4.5,370,16148,0.12,2.38,26.95,1.174,4,0.061,0.060,2138,3714,2012
$GC,16181,0.33,225.2,791.0,8.6,371,16186,0.28,2.28,0.00,0.000,6,0.154,0.038,2073,2302,2010
$GC,16542,0.69,229.9,772.7,5.3,377,16552,0.20,2.28,4.90,0.838,4,0.067,0.055,2154,892,1992
$GC,16636,0.56,229.9,765.9,8.1,378,16641,0.12,2.28,0.00,0.000,6,0.140,0.048,2122,2309,1991
$GC,16969,0.51,229.9,743.6,6.7,384,16972,0.00,2.25,0.00,0.000,4,0.000,0.057,2123,3711,1990
$GC,17018,0.42,229.9,739.5,7.8,384,17023,0.15,2.22,0.00,0.000,6,0.151,0.037,2091,2293,1990
$GC,17329,0.53,237.3,723.0,5.2,389,17339,0.10,0.00,7.55,0.973,6,0.070,0.000,2146,2292,1963
$GC,17632,0.38,237.3,695.4,9.4,394,17637,0.20,2.30,0.00,0.000,4,0.142,0.054,2084,3710,1961
$GC,17653,0.34,237.3,693.4,7.7,394,17657,0.00,2.22,0.00,0.000,6,0.000,0.042,2091,2295,1961
$GC,17991,0.44,237.3,673.0,6.0,400,17995,0.00,2.25,0.00,0.000,4,0.000,0.052,2101,884,1960
$GC,18013,0.56,237.3,671.7,5.9,400,18017,0.00,2.25,0.00,0.000,6,0.000,0.041,2101,2310,1959
$GC,18351,0.67,237.3,651.3,6.0,406,18356,0.15,2.25,0.00,0.000,4,0.059,0.056,2182,3721,1959
$GC,18384,0.35,237.3,647.8,11.3,406,18389,0.43,2.22,0.00,0.000,6,0.162,0.038,2072,2292,1959
$GC,18710,0.78,237.3,626.5,6.7,412,18715,0.25,2.25,0.00,0.000,4,0.065,0.058,2172,3710,1958
$GC,18760,0.55,237.3,622.1,11.6,412,18764,0.22,2.20,0.00,0.000,6,0.161,0.040,2122,2296,1958
$GC,19069,0.55,237.3,599.0,7.3,417,19073,0.00,2.22,0.00,0.000,4,0.000,0.051,2131,892,1958
$GC,19091,0.55,237.3,597.3,6.6,417,19095,0.00,2.22,0.00,0.000,6,0.000,0.048,2131,2310,1958
$GC,19440,0.48,237.3,570.1,7.8,423,19445,0.10,2.22,0.00,0.000,4,0.152,0.052,2106,3711,1958
$GC,19478,0.48,237.3,567.0,7.7,423,19482,0.00,2.20,0.00,0.000,6,0.000,0.038,2114,2293,1958
$GC,19805,0.48,237.3,546.1,6.4,429,19809,0.00,2.28,0.00,0.000,4,0.000,0.052,2114,3717,1958
$GC,19844,0.48,237.3,543.1,8.2,429,19848,0.00,2.20,0.00,0.000,6,0.000,0.035,2123,2293,1958
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$GC,20771,0.48,237.3,478.0,6.9,445,20775,0.00,2.28,0.00,0.000,4,0.000,0.054,2123,3717,1958
$GC,20799,0.43,237.3,475.6,8.5,445,20804,0.15,2.20,0.00,0.000,6,0.145,0.035,2092,2293,1958
$GC,21131,0.60,266.5,460.2,4.5,451,21159,0.12,0.00,25.38,0.961,6,0.061,0.000,2170,2292,1844
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$STATE,27096,end climb,SURFACE_DEPTH_REACHED
$STATE,27097,begin surface coast
$FINISH,1.0,1.019425
$STATE,27141,end surface coast,CONTROL_FINISHED_OK
$STATE,27141,begin surface
$SM_CCo,27216,0.00,0.000,0,0,1507,349.31
$SM_GC,1.90,5.43,0.00,0.00,0.037,0.000,0.000,101,2302,1507,-8.60,-0.03,349.31
$IRIDIUM_FIX,4949.70,-14444.52,171098,131342
$TT8_MAMPS,0.028379
$HUMID,1651
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,14.70
$XPDR_PINGS,73
$24V_AH,23.6,20.976
$10V_AH,10.7,16.262
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.000,219.300,388.525,0.000,0.000,28.171,24.962,190.946,18.250,0.000,0.000,13.512,1658.403,22534.307,539.271,2241.175,600.405,33.374,1663.893,0.000,2230.030,0.000,0.527,0.000
$DEVICE_MAMPS,244.673,73.632,1342.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,491.930,553.915,716.956,1194.977,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41284,696
$CAP_FILE_SIZE,193065,0
$CFSIZE,260165632,248942592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240709,050531,5013.985,-14436.061,45,1.9,45,18.6