version: 66.10
glider: 176
mission: 5
dive: 488
start: 6 25 112 18 36 37
data:
$ID,176
$MISSION,5
$DIVE,488
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$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,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-8246.3936
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2620
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,250612,182801,1818.882,12333.672,40,1.3,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.2
$GPS2,250612,183608,1818.958,12333.744,13,1.0,13,-2.1
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,248.1,137852,-13.2,-8.250
$D_GRID,4866
$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,16,-0.54,-170.3,0.0,0.0,0,83,0.00,0.00,-64.57,0.000,2,0.000,0.000,178,2663,2259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.54,-170.3,3.3,-7.1,11,131,8.75,1.75,-28.33,0.000,4,0.228,0.067,2335,3779,3625,0,0,0,0,0,0,25.01,26.07,26.73
$GC,264,-0.54,-170.3,52.8,-26.0,41,270,0.00,1.70,0.00,0.000,6,0.000,0.022,2335,2526,3624,0,0,0,0,0,0,28.83,26.46,28.83
$GC,592,-0.54,-170.3,161.1,-24.5,102,600,0.00,1.92,0.00,0.000,4,0.000,0.026,2335,1152,3624,0,0,0,0,0,0,28.83,26.36,28.83
$GC,626,-0.54,-170.3,168.4,-23.1,107,633,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2644,3624,0,0,0,0,0,0,28.83,26.17,28.83
$GC,957,-0.54,-170.3,234.5,-18.1,151,961,0.00,1.67,0.00,0.000,4,0.000,0.050,2325,3769,3624,0,0,0,0,0,0,28.83,26.13,28.83
$GC,990,-0.54,-170.3,240.0,-18.0,154,994,0.10,1.67,0.00,0.000,6,0.161,0.022,2354,2538,3624,0,0,0,0,0,0,26.19,26.48,28.83
$GC,1301,-0.54,-170.3,284.4,-14.0,185,1303,0.08,0.00,0.00,0.000,6,0.132,0.000,2292,2534,3624,0,0,0,0,0,0,26.58,28.83,28.83
$GC,1602,-0.54,-170.3,337.1,-16.3,215,1604,0.17,0.00,0.00,0.000,6,0.156,0.000,2345,2533,3623,0,0,0,0,0,0,26.12,28.83,28.83
$GC,1901,-0.54,-170.3,369.0,-10.5,245,1910,0.00,1.95,0.00,0.000,4,0.000,0.024,2345,1138,3621,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1966,-0.54,-170.3,375.0,-9.5,251,1973,0.00,2.28,0.00,0.000,6,0.000,0.043,2345,2643,3621,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2274,-0.54,-170.3,410.7,-11.9,282,2283,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1154,3618,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2307,-0.54,-170.3,414.4,-11.4,285,2316,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2633,3618,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2616,-0.54,-170.3,444.4,-8.9,316,2625,0.00,2.15,-0.08,0.000,4,0.000,0.036,2345,1152,3643,0,0,0,0,0,0,28.83,26.34,25.45
$GC,2659,-0.54,-170.3,448.0,-8.6,320,2668,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2632,3643,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2972,-0.54,-170.3,476.7,-10.1,351,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2633,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.54,-170.3,507.6,-9.8,382,3290,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1152,3637,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3315,-0.54,-170.3,510.8,-9.4,385,3322,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2641,3637,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3623,-0.54,-170.3,537.1,-7.9,416,3632,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1145,3633,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3656,-0.54,-170.3,539.4,-7.4,419,3664,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2632,3633,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3966,-0.54,-170.3,560.6,-6.6,450,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2632,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4268,-0.54,-170.3,580.1,-6.6,480,4277,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1150,3627,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4320,-0.54,-170.3,583.7,-6.6,485,4329,0.00,2.30,0.00,0.000,6,0.000,0.045,2344,2641,3626,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4642,-0.54,-170.3,606.3,-7.1,513,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2642,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4940,-0.54,-170.3,628.3,-7.8,528,4945,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1153,3621,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5002,-0.54,-170.3,633.0,-8.0,531,5007,0.00,2.30,0.00,0.000,6,0.000,0.045,2344,2646,3620,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5320,-0.54,-170.3,659.5,-8.4,547,5324,0.00,1.73,0.00,0.000,4,0.000,0.057,2344,3764,3618,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5344,-0.54,-170.3,661.3,-8.5,548,5348,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2485,3617,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5663,-0.54,-170.3,688.1,-8.2,564,5668,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3758,3615,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5695,-0.54,-170.3,689.6,-8.2,565,5701,0.00,1.70,0.00,0.000,6,0.000,0.023,2344,2475,3615,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6003,-0.54,-170.3,713.5,-7.1,581,6008,0.00,1.90,0.00,0.000,4,0.000,0.026,2345,1150,3612,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6030,-0.54,-170.3,715.0,-7.1,582,6034,0.00,2.30,0.00,0.000,6,0.000,0.045,2344,2641,3612,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6337,-0.54,-170.3,735.2,-6.1,597,6343,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1160,3610,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6366,-0.54,-170.3,736.3,-6.0,598,6377,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2635,3610,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6677,-0.54,-170.3,753.2,-5.1,614,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2635,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6977,-0.54,-170.3,769.2,-5.8,629,6982,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1159,3606,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7026,-0.54,-170.3,771.7,-5.9,631,7035,0.00,2.30,0.00,0.000,6,0.000,0.045,2344,2646,3606,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7337,-0.54,-170.3,793.6,-7.3,647,7341,0.00,1.73,0.00,0.000,4,0.000,0.058,2344,3763,3604,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7440,-0.54,-170.3,801.8,-8.0,652,7444,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2503,3603,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7762,-0.54,-170.3,829.5,-8.9,668,7767,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3765,3602,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7864,-0.54,-170.3,838.3,-8.7,673,7867,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2521,3601,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8185,-0.54,-170.3,865.5,-8.0,689,8190,0.00,1.92,0.00,0.000,4,0.000,0.027,2344,1146,3600,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8234,-0.54,-170.3,868.7,-8.1,691,8238,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2646,3600,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8542,-0.54,-170.3,892.2,-7.3,706,8545,0.00,1.73,0.00,0.000,4,0.000,0.058,2344,3768,3599,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8644,-0.54,-170.3,899.5,-7.2,711,8648,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2508,3598,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8968,-0.54,-170.3,924.1,-7.7,727,8971,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3765,3597,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9157,-0.54,-170.3,938.6,-7.9,736,9161,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2521,3596,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9472,-0.54,-170.3,964.8,-8.0,752,9478,0.00,1.92,0.00,0.000,4,0.000,0.028,2344,1155,3595,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9571,-0.54,-170.3,973.0,-7.9,757,9577,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2636,3595,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,9808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9809,begin apogee
$GC,9815,-0.17,0.0,991.4,-7.5,769,9973,0.32,0.15,147.85,1.691,6,0.084,0.085,2471,2554,2928,0,0,0,0,0,0,25.99,24.44,22.70
$STATE,9974,end apogee,CONTROL_FINISHED_OK
$STATE,9974,begin climb
$GC,9977,0.54,170.3,1000.6,0.0,777,10153,0.60,2.42,163.15,1.647,4,0.050,0.030,2722,1069,2233,0,0,0,0,0,0,25.05,24.12,22.13
$GC,10338,0.54,170.3,965.0,14.5,795,10343,0.15,2.30,0.00,0.000,6,0.161,0.047,2683,2542,2222,0,0,0,0,0,0,25.67,25.94,28.83
$GC,10656,0.54,170.3,919.6,14.4,811,10661,0.00,1.90,0.00,0.000,4,0.000,0.058,2682,3763,2220,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10717,0.54,170.3,910.2,15.5,814,10721,0.00,1.90,0.00,0.000,6,0.000,0.026,2692,2460,2218,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11038,0.54,170.3,863.1,14.2,830,11044,0.00,2.08,0.00,0.000,4,0.000,0.057,2692,3773,2217,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11091,0.54,170.3,856.6,15.1,832,11099,0.10,1.90,0.00,0.000,6,0.203,0.025,2678,2464,2217,0,0,0,0,0,0,25.90,26.27,28.83
$GC,11400,0.54,170.3,814.7,12.2,848,11406,0.00,2.03,0.00,0.000,4,0.000,0.031,2688,1061,2216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11431,0.54,170.3,812.2,12.2,849,11438,0.00,2.30,0.00,0.000,6,0.000,0.047,2688,2546,2215,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11740,0.54,170.3,772.8,11.8,865,11741,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2546,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12039,0.54,170.3,739.3,10.9,880,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2546,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12338,0.54,170.3,706.4,10.4,895,12344,0.00,2.20,0.00,0.000,4,0.000,0.030,2699,1069,2214,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12387,0.54,170.3,702.5,9.8,897,12392,0.08,2.25,0.00,0.000,6,0.182,0.045,2682,2536,2213,0,0,0,0,0,0,25.79,25.90,28.83
$GC,12694,0.54,170.3,672.1,9.2,912,12699,0.00,1.92,0.00,0.000,4,0.000,0.056,2682,3773,2213,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12726,0.54,170.3,670.2,9.4,913,12733,0.00,1.90,0.00,0.000,6,0.000,0.023,2692,2454,2213,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13035,0.54,170.3,637.0,10.5,929,13040,0.00,2.05,0.00,0.000,4,0.000,0.054,2692,3761,2213,0,0,0,0,0,0,28.83,25.73,28.83
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$GC,16471,0.62,231.8,283.3,10.0,1252,16480,0.00,2.05,0.00,0.000,4,0.000,0.050,2704,3773,1973,0,0,0,0,0,0,28.83,25.82,28.83
$GC,16525,0.62,231.8,277.4,11.7,1257,16532,0.00,1.92,0.00,0.000,6,0.000,0.023,2712,2447,1973,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,19732,end climb,SURFACE_DEPTH_REACHED
$STATE,19732,begin surface coast
$FINISH,0.7,1.021425
$STATE,19796,end surface coast,CONTROL_FINISHED_OK
$STATE,19796,begin surface
$SM_CCo,19872,0.00,0.000,0,0,563,580.38
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$IRIDIUM_FIX,1810.04,12336.37,250612,121220
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.69
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.30
$XPDR_PINGS,1
$24V_AH,22.1,103.378
$10V_AH,9.8,63.185
$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,19.375,172.225,584.250,0.000,0.000,29.047,22.550,271.800,0.250,0.000,17.277,4446.858,10893.171,738.068,3757.539,485.877,0.000,2464.440,0.000,3064.796,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,95.625,1690.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1203.090,2452.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329620
$DATA_FILE_SIZE,133894,1772
$CAP_FILE_SIZE,212698,0
$CFSIZE,260165632,172187648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203, 79.6,1
$GPS,260612,000855,1818.645,12333.913,35,2.0,35,-2.1