version: 66.10
glider: 169
mission: 5
dive: 144
start: 12 7 111 6 8 14
data:
$ID,169
$MISSION,5
$DIVE,144
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,225
$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,425
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10462.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,071211,060107,2309.455,12206.962,30,1.1,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.1
$GPS2,071211,060750,2309.654,12206.987,15,1.1,15,-3.1
$SPEED_LIMITS,0.204,0.374
$TGT_NAME,HEADING
$TGT_LATLONG,2302.018,12158.689
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,228.1,20000,-14.6,-11.786
$D_GRID,4533
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-292.0,0.0,0.0,0,115,0.00,0.00,-95.43,0.000,2,0.000,0.000,117,2668,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.72,-292.0,3.0,-6.4,17,154,6.40,2.25,-20.88,0.000,4,0.220,0.042,1777,1170,3963,0,0,0,0,0,0,25.53,26.07,26.40
$GC,201,-0.63,-292.0,36.8,-33.1,32,209,0.15,2.30,0.00,0.000,6,0.168,0.048,1806,2655,3963,0,0,0,0,0,0,25.79,26.02,28.83
$GC,513,-0.51,-292.0,153.1,-34.9,93,520,0.12,1.77,0.00,0.000,4,0.177,0.047,1835,3819,3963,0,0,0,0,0,0,26.03,26.16,28.83
$GC,553,-0.41,-292.0,166.3,-32.2,100,560,0.12,1.80,0.00,0.000,6,0.149,0.026,1877,2562,3964,0,0,0,0,0,0,26.05,26.31,28.83
$GC,864,-0.41,-292.0,211.9,-11.4,151,873,0.00,1.98,0.00,0.000,4,0.000,0.049,1868,3813,3964,0,0,0,0,0,0,28.83,26.25,28.83
$GC,910,-0.43,-292.0,216.2,-10.6,155,916,0.00,1.80,0.00,0.000,6,0.000,0.026,1868,2556,3964,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1216,-0.43,-292.0,246.5,-9.8,186,1224,0.00,1.98,0.00,0.000,4,0.000,0.046,1859,3814,3964,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1261,-0.45,-292.0,250.5,-9.6,190,1268,0.00,1.80,0.00,0.000,6,0.000,0.026,1859,2555,3964,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1567,-0.45,-292.0,286.4,-12.1,221,1575,0.00,1.95,0.00,0.000,4,0.000,0.046,1850,3817,3963,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1612,-0.46,-292.0,291.0,-11.5,225,1618,0.00,1.80,0.00,0.000,6,0.000,0.025,1850,2555,3962,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1918,-0.46,-292.0,331.0,-12.0,256,1921,0.00,1.95,0.00,0.000,4,0.000,0.045,1840,3815,3961,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1978,-0.49,-292.0,336.7,-9.9,261,1984,0.00,1.80,0.00,0.000,6,0.000,0.026,1840,2555,3960,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2284,-0.49,-292.0,372.7,-11.2,292,2293,0.00,2.00,0.00,0.000,4,0.000,0.030,1840,1174,3960,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2306,-0.49,-292.0,375.0,-11.1,294,2314,0.00,2.25,0.00,0.000,6,0.000,0.041,1832,2661,3959,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2616,-0.48,-292.0,413.2,-12.0,325,2619,0.00,1.77,0.00,0.000,4,0.000,0.049,1823,3808,3958,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2678,-0.50,-292.0,420.1,-10.3,331,2681,0.00,1.77,0.00,0.000,6,0.000,0.026,1823,2567,3957,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2989,-0.49,-292.0,460.6,-13.7,362,2997,0.00,1.92,0.00,0.000,4,0.000,0.047,1814,3815,3955,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3022,-0.49,-292.0,464.7,-13.1,365,3030,0.08,1.83,0.00,0.000,6,0.100,0.026,1846,2557,3954,0,0,0,0,0,0,26.32,26.53,28.83
$GC,3331,-0.52,-292.0,492.1,-6.9,396,3339,0.00,1.98,0.00,0.000,4,0.000,0.047,1837,3822,3952,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3362,-0.55,-292.0,494.2,-6.8,399,3366,0.00,1.83,0.00,0.000,6,0.000,0.027,1837,2561,3952,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3674,-0.57,-292.0,514.9,-6.7,430,3683,0.00,2.00,0.00,0.000,4,0.000,0.031,1837,1182,3950,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3716,-0.61,-292.0,517.4,-6.2,434,3725,0.00,2.22,0.00,0.000,6,0.000,0.041,1829,2660,3949,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4026,-0.62,-292.0,541.6,-9.2,465,4035,0.00,2.17,0.00,0.000,4,0.000,0.031,1829,1178,3947,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4051,-0.63,-292.0,543.5,-8.9,467,4058,0.00,2.22,0.00,0.000,6,0.000,0.043,1824,2654,3947,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4358,-0.64,-292.0,571.7,-9.5,498,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2654,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4662,-0.65,-292.0,599.4,-9.3,528,4665,0.00,1.80,0.00,0.000,4,0.000,0.050,1816,3822,3943,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4706,-0.67,-292.0,603.6,-9.3,531,4710,0.00,1.83,0.00,0.000,6,0.000,0.028,1816,2560,3943,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5019,-0.67,-292.0,635.4,-10.2,547,5025,0.00,1.95,0.00,0.000,4,0.000,0.050,1808,3815,3941,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5059,-0.68,-292.0,639.4,-10.4,549,5062,0.00,1.80,0.00,0.000,6,0.000,0.027,1808,2570,3940,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5380,-0.68,-292.0,675.1,-11.3,565,5386,0.00,2.00,0.00,0.000,4,0.000,0.031,1808,1185,3937,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5400,-0.68,-292.0,677.3,-11.3,566,5404,0.00,2.25,0.00,0.000,6,0.000,0.043,1799,2658,3937,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5723,-0.67,-292.0,714.1,-11.2,582,5726,0.00,1.77,0.00,0.000,4,0.000,0.050,1791,3812,3935,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5752,-0.66,-292.0,716.5,-10.9,583,5756,0.00,1.80,0.00,0.000,6,0.000,0.028,1790,2570,3935,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6067,-0.65,-292.0,755.4,-12.4,599,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2560,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6364,-0.64,-292.0,792.4,-12.0,614,6370,0.00,1.98,0.00,0.000,4,0.000,0.050,1780,3818,3931,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6406,-0.64,-292.0,797.2,-12.0,616,6410,0.00,1.83,0.00,0.000,6,0.000,0.027,1781,2574,3931,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6725,-0.62,-292.0,835.8,-12.0,632,6727,0.10,0.00,0.00,0.000,6,0.151,0.000,1810,2572,3929,0,0,0,0,0,0,26.45,28.83,28.83
$GC,7025,-0.63,-292.0,861.6,-8.4,647,7030,0.00,1.95,0.00,0.000,4,0.000,0.051,1800,3810,3928,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7068,-0.65,-292.0,865.0,-8.4,649,7071,0.00,1.80,0.00,0.000,6,0.000,0.028,1800,2569,3927,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7384,-0.65,-292.0,892.8,-8.7,665,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2560,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7685,-0.66,-292.0,918.0,-8.4,680,7690,0.00,1.98,0.00,0.000,4,0.000,0.050,1791,3816,3924,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7728,-0.67,-292.0,921.5,-8.6,682,7732,0.00,1.83,0.00,0.000,6,0.000,0.028,1791,2559,3923,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8039,-0.67,-292.0,950.7,-9.3,698,8045,0.00,1.98,0.00,0.000,4,0.000,0.050,1782,3816,3922,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8063,-0.67,-292.0,952.8,-9.4,699,8066,0.00,1.83,0.00,0.000,6,0.000,0.028,1782,2562,3922,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8375,-0.66,-292.0,986.5,-11.3,715,8380,0.00,2.03,0.00,0.000,4,0.000,0.032,1782,1181,3920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8397,-0.66,-292.0,988.7,-11.2,716,8401,0.00,2.25,0.00,0.000,6,0.000,0.044,1771,2655,3919,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,8412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8412,begin apogee
$GC,8418,-0.20,0.0,990.7,-10.9,717,8629,0.47,0.12,204.77,1.182,6,0.102,0.087,1938,2530,2977,0,0,0,0,0,0,25.98,24.64,23.86
$STATE,8630,end apogee,CONTROL_FINISHED_OK
$STATE,8630,begin climb
$GC,8632,0.72,292.0,1002.0,0.0,727,8911,0.82,2.50,267.90,1.171,4,0.050,0.040,2257,1066,1776,0,0,0,0,0,0,24.79,24.13,23.33
$GC,8955,0.64,292.0,953.3,25.1,743,8962,0.12,2.38,0.00,0.000,6,0.149,0.042,2220,2527,1759,0,0,0,0,0,0,24.59,24.74,28.83
$GC,9275,0.56,292.0,881.6,22.1,759,9280,0.00,2.03,0.00,0.000,4,0.000,0.050,2220,3814,1754,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9376,0.48,292.0,857.8,23.7,764,9381,0.17,2.08,0.00,0.000,6,0.158,0.034,2175,2464,1753,0,0,0,0,0,0,25.55,25.88,28.83
$GC,9696,0.45,292.0,805.4,15.9,780,9701,0.00,2.10,0.00,0.000,4,0.000,0.047,2175,3809,1751,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9737,0.41,292.0,798.5,16.5,782,9742,0.15,2.05,0.00,0.000,6,0.158,0.031,2145,2461,1752,0,0,0,0,0,0,25.80,26.07,28.83
$GC,10052,0.39,292.0,759.1,12.1,798,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2459,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10350,0.39,292.0,721.8,12.7,813,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2459,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10651,0.38,292.0,683.0,13.1,828,10656,0.00,2.12,0.00,0.000,4,0.000,0.047,2144,3810,1751,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10693,0.37,292.0,677.3,13.7,830,10697,0.00,2.03,0.00,0.000,6,0.000,0.031,2154,2465,1750,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11005,0.36,292.0,631.6,14.9,846,11011,0.00,2.10,0.00,0.000,4,0.000,0.038,2165,1066,1750,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11030,0.35,292.0,628.8,14.7,847,11037,0.15,2.22,0.00,0.000,6,0.135,0.041,2122,2523,1749,0,0,0,0,0,0,26.00,26.20,28.83
$GC,11347,0.46,370.1,594.8,9.7,865,11418,0.12,2.12,59.10,1.063,4,0.079,0.047,2197,3812,1469,0,0,0,0,1,0,26.44,25.29,24.41
$GC,11458,0.43,370.1,575.9,18.8,876,11468,0.20,2.10,1.48,0.181,6,0.145,0.032,2151,2465,1472,0,0,0,0,0,0,25.36,25.53,25.29
$GC,11768,0.44,370.1,537.8,12.1,907,11778,0.00,2.15,2.08,0.256,4,0.000,0.041,2161,1055,1471,0,0,0,0,0,0,28.83,25.94,24.43
$GC,11834,0.48,379.5,530.4,11.5,913,11861,0.00,2.28,18.67,0.851,6,0.000,0.041,2161,2530,1424,0,0,0,0,0,0,28.83,25.95,25.01
$GC,12160,0.48,379.5,488.5,13.3,946,12164,0.00,2.22,0.00,0.000,4,0.000,0.041,2172,1068,1415,0,0,0,0,0,0,28.83,25.98,28.83
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$GC,12857,0.49,379.5,388.3,15.0,1015,12865,0.00,2.08,0.00,0.000,4,0.000,0.040,2193,1068,1413,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12909,0.50,379.5,381.0,13.4,1020,12918,0.00,2.22,0.00,0.000,6,0.000,0.041,2193,2523,1412,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,15676,end climb,SURFACE_DEPTH_REACHED
$STATE,15677,begin surface coast
$FINISH,0.2,1.022178
$STATE,15689,end surface coast,CONTROL_FINISHED_OK
$STATE,15689,begin surface
$SM_CCo,15765,0.00,0.000,0,0,449,620.61
$SM_GC,0.79,5.53,0.20,0.00,0.030,0.062,0.000,113,2679,449,-5.80,-0.23,620.61,0,0,0,0,0,0
$IRIDIUM_FIX,2300.41,12207.78,071211,010135
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.3,31.459
$10V_AH,10.2,22.434
$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,15.800,155.700,753.950,0.000,0.000,31.300,42.501,197.991,0.000,0.000,16.819,3331.556,8778.292,816.412,2883.022,340.207,0.000,2270.728,0.000,2456.528,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,87.210,1181.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.362,1855.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324688
$DATA_FILE_SIZE,93546,1427
$CAP_FILE_SIZE,181509,0
$CFSIZE,260165632,209547264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071211,103206,2310.385,12205.880,40,1.5,40,-3.1