version: 66.12
glider: 187
mission: 4
dive: 133
start: 7 17 114 11 50 55
data:
$ID,187
$MISSION,4
$DIVE,133
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,8
$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,-1593373
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$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,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,170714,113900,4736.814,-12543.122,50,1.8,50,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.1
$GPS2,170714,115025,4736.733,-12543.174,17,1.4,17,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,218.9,118508,-14.0,-7.333,-18.81,2445
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,25,-0.59,-116.8,390,2426,1454,1148,0.0,0.0,0,89,0.00,0.00,-57.58,0.000,16386,0.000,0.000,390,2425,2814,2878,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.59,-116.8,391,2425,2878,2753,3.6,-3.7,6,129,12.88,2.50,-9.35,0.000,18692,0.409,0.119,3124,3834,3338,3384,3292,0,0,0,0,0,0,14.13,14.32,14.54
$GC,359,-0.59,-116.8,3124,3838,3387,3293,55.4,-14.1,33,370,0.00,2.42,0.00,0.000,1030,0.000,0.070,3124,2412,3340,3387,3293,0,0,0,0,0,0,28.83,14.42,28.83
$GC,610,-0.59,-116.8,3124,2408,3390,3291,88.9,-12.4,58,620,0.00,2.50,0.00,0.000,260,0.000,0.096,3125,3841,3342,3389,3296,0,0,0,0,0,0,28.83,14.44,28.83
$GC,840,-0.59,-116.8,3124,3839,3390,3294,117.7,-11.3,81,851,0.00,2.40,0.00,0.000,1030,0.000,0.069,3124,2426,3343,3393,3294,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1091,-0.59,-116.8,3124,2425,3390,3295,144.5,-10.4,106,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2426,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-0.59,-116.8,3124,2425,3392,3295,172.2,-11.1,131,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2425,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.59,-116.8,3124,2425,3390,3295,198.6,-10.1,156,1603,0.00,2.40,0.00,0.000,516,0.000,0.082,3124,1017,3344,3390,3298,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1683,-0.59,-116.8,3124,1012,3390,3294,208.1,-10.5,165,1693,0.00,2.42,0.00,0.000,1030,0.000,0.079,3124,2429,3342,3390,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1933,-0.59,-116.8,3124,2428,3390,3293,231.3,-8.8,190,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2428,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.59,-116.8,3124,2428,3390,3291,253.6,-9.0,213,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2425,3343,3391,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2483,-0.59,-116.8,3124,2428,3390,3290,282.0,-9.5,223,2493,0.00,2.40,0.00,0.000,516,0.000,0.084,3124,1018,3339,3389,3290,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2573,-0.59,-116.8,3124,1018,3389,3290,291.1,-10.2,232,2584,0.00,2.42,0.00,0.000,1030,0.000,0.084,3124,2428,3339,3390,3289,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2904,-0.59,-116.8,3124,2427,3389,3288,322.7,-9.7,245,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2427,3339,3390,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,-0.59,-116.8,3124,2427,3389,3287,350.7,-9.3,255,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2427,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-0.59,-116.8,3124,2427,3389,3286,378.3,-9.4,265,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2429,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3804,-0.59,-116.8,3124,2427,3389,3285,407.2,-9.3,275,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2427,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4104,-0.59,-116.8,3124,2427,3388,3284,434.1,-8.8,285,4114,0.00,2.42,0.00,0.000,516,0.000,0.090,3126,1019,3335,3388,3283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4164,-0.59,-116.8,3124,1019,3388,3283,439.5,-9.2,291,4174,0.00,2.45,0.00,0.000,1030,0.000,0.089,3124,2429,3335,3388,3283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4493,-0.59,-116.8,3124,2429,3387,3282,467.5,-8.3,304,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2428,3334,3387,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4794,-0.59,-116.8,3124,2426,3386,3281,491.8,-8.1,314,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2430,3333,3386,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5093,-0.59,-116.8,3124,2429,3381,3284,514.9,-7.3,324,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2429,3331,3383,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.59,-116.8,3124,2429,3385,3279,537.5,-7.9,334,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2429,3332,3385,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.59,-116.8,3124,2429,3385,3279,561.8,-8.2,344,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2429,3331,3385,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5994,-0.59,-116.8,3124,2429,3391,3277,583.4,-6.9,354,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2429,3331,3384,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6294,-0.59,-116.8,3124,2429,3383,3277,604.7,-7.3,364,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2429,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6594,-0.59,-116.8,3124,2430,3379,3276,627.7,-7.5,374,6604,0.00,2.45,0.00,0.000,516,0.000,0.096,3124,1014,3329,3383,3276,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6714,-0.59,-116.8,3124,1015,3382,3276,637.4,-8.2,386,6724,0.00,2.45,0.00,0.000,1030,0.000,0.093,3124,2422,3329,3382,3276,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7044,-0.59,-116.8,3124,2422,3382,3275,663.1,-7.5,399,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2422,3328,3381,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,-0.59,-116.8,3124,2422,3382,3274,685.8,-7.7,409,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2422,3328,3382,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7644,-0.59,-116.8,3124,2422,3382,3273,709.4,-7.9,419,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2423,3327,3382,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7944,-0.59,-116.8,3124,2422,3382,3273,732.4,-7.4,429,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2422,3327,3382,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8244,-0.59,-116.8,3124,2422,3382,3272,754.7,-7.5,439,8254,0.00,2.45,0.00,0.000,516,0.000,0.095,3120,1017,3326,3381,3271,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8313,-0.59,-116.8,3130,1017,3381,3272,760.2,-8.3,446,8323,0.00,2.45,0.00,0.000,1030,0.000,0.090,3124,2425,3330,3386,3275,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8637,-0.59,-116.8,3124,2425,3381,3271,784.4,-7.5,458,8647,0.00,2.47,0.00,0.000,260,0.000,0.109,3121,3840,3325,3380,3271,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8727,-0.59,-116.8,3124,3840,3380,3271,791.5,-7.5,467,8737,0.00,2.42,0.00,0.000,1030,0.000,0.084,3123,2427,3326,3381,3271,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9057,-0.59,-116.8,3124,2426,3380,3270,815.4,-7.2,480,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2426,3325,3380,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9357,-0.59,-116.8,3124,2426,3380,3269,836.9,-7.1,490,9371,0.00,2.45,0.00,0.000,516,0.000,0.097,3123,1008,3322,3380,3265,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9470,-0.59,-116.8,3124,1009,3380,3269,845.5,-7.4,501,9481,0.00,2.47,0.00,0.000,1030,0.000,0.090,3124,2431,3324,3380,3269,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9784,-0.59,-116.8,3122,2428,3380,3269,866.2,-6.5,512,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2431,3324,3380,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10084,-0.59,-116.8,3124,2431,3380,3268,885.1,-6.4,522,10093,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2431,3323,3379,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10384,-0.59,-116.8,3124,2431,3380,3275,905.5,-7.0,532,10393,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2431,3325,3375,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10683,-0.59,-116.8,3124,2431,3379,3268,927.3,-7.3,542,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2431,3323,3379,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10984,-0.59,-116.8,3124,2432,3379,3268,948.8,-7.2,552,10994,0.00,2.47,0.00,0.000,516,0.000,0.096,3124,1012,3323,3379,3268,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11044,-0.59,-116.8,3124,1012,3379,3268,953.7,-8.0,558,11054,0.00,2.42,0.00,0.000,1030,0.000,0.091,3120,2421,3323,3379,3268,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11374,-0.59,-116.8,3124,2420,3379,3267,977.4,-7.0,571,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2425,3326,3386,3267,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11551,begin apogee
$GC,11560,-0.25,0.0,3124,2315,3379,3267,990.0,-7.0,577,11666,0.40,0.00,99.15,1.919,10246,0.203,0.000,3240,2316,2858,2938,2779,0,0,0,0,0,0,14.50,28.83,13.27
$STATE,11668,end apogee,CONTROL_FINISHED_OK
$STATE,11668,begin climb
$GC,11672,0.59,116.8,3240,2316,2935,2776,993.1,0.0,580,11788,0.88,0.00,108.15,1.887,10246,0.150,0.000,3513,2316,2382,2529,2236,0,0,0,0,0,0,13.90,28.83,13.12
$GC,12068,0.59,116.8,3513,2316,2522,2228,965.9,8.7,594,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2316,2374,2521,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12371,0.59,116.8,3513,2316,2529,2226,939.4,8.9,604,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2315,2374,2522,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12671,0.59,116.8,3513,2316,2521,2225,913.7,8.6,614,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2315,2373,2521,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12971,0.59,116.8,3513,2316,2520,2224,888.8,8.3,624,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2316,2369,2515,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13271,0.59,116.8,3513,2319,2520,2224,862.8,8.7,634,13281,0.00,2.55,0.00,0.000,260,0.000,0.112,3513,3741,2372,2520,2224,0,0,0,0,0,0,28.83,14.53,28.83
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$STATE,23993,end climb,SURFACE_DEPTH_REACHED
$STATE,23993,begin surface coast
$FINISH,0.9,1.011548
$STATE,24024,end surface coast,CONTROL_FINISHED_OK
$STATE,24024,begin surface
$SM_CCo,24112,0.00,0.000,0,0,1273,388.80
$SM_GC,1.93,9.35,2.33,0.00,0.086,0.076,0.000,399,2424,1273,-9.10,0.88,388.80,0,0,0,0,0,0,14.42,14.45,28.83
$IRIDIUM_FIX,4719.74,-12509.99,170714,111102
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.95
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3895456
$PM_FREEKB,59037248
$24V_AH,13.1,30.277
$10V_AH,13.5,0.000
$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,23.725,138.475,371.900,0.000,0.000,0.000,0.000,372.900,0.000,0.000,18.283,3098.903,17344.844,616.590,2973.710,742.811,0.000,2607.396,0.000,1968.677,0.000,0.537,0.000
$DEVICE_MAMPS,409.275,146.115,1919.385,0.000,0.000,0.000,0.000,173.655,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24048.000,427.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.807,5.816,0.000,0.000
$MEM,290812
$DATA_FILE_SIZE,46628,1284
$CAP_FILE_SIZE,255627,0
$CFSIZE,260034560,245456896
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,25094.23,0x2378ba,7,5
$INTR,1,9359.72,0x234488,0,24
$CURRENT,0.044,152.8,1
$GPS,170714,183456,4734.750,-12546.131,82,1.2,82,18.7