version: 66.12
glider: 187
mission: 4
dive: 348
start: 9 13 114 12 4 49
data:
$ID,187
$MISSION,4
$DIVE,348
$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,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,-1593862.1
$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,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$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,48
$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
$GPS1,130914,115506,4733.347,-12551.543,33,1.0,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.3
$GPS2,130914,120419,4733.290,-12551.576,16,1.0,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,216.9,106161,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,395,2402,1439,1219,0.0,0.0,0,80,0.00,0.00,-49.00,0.000,16386,0.000,0.000,395,2402,2562,2649,2475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,395,2406,2650,2475,3.1,-1.5,5,124,12.82,2.58,-17.65,0.000,18948,0.389,0.101,3125,988,3336,3381,3291,0,0,0,0,0,0,13.89,14.14,14.45
$GC,324,-0.59,-116.8,3124,988,3384,3291,44.1,-16.7,29,333,0.00,2.50,0.00,0.000,1030,0.000,0.074,3124,2398,3338,3382,3295,0,0,0,0,0,0,28.83,14.16,28.83
$GC,574,-0.59,-116.8,3124,2398,3383,3295,80.0,-13.5,54,582,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-0.59,-116.8,3124,2398,3384,3295,109.3,-10.7,79,833,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1075,-0.59,-116.8,3127,2398,3390,3295,134.9,-9.8,104,1083,0.00,2.53,0.00,0.000,260,0.000,0.092,3124,3822,3338,3384,3292,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1145,-0.59,-116.8,3120,3823,3384,3295,141.9,-10.1,111,1154,0.00,2.47,0.00,0.000,1030,0.000,0.064,3124,2389,3339,3384,3295,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1395,-0.59,-116.8,3124,2386,3385,3295,166.1,-9.7,136,1404,0.00,2.42,0.00,0.000,516,0.000,0.076,3124,1000,3344,3392,3296,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1527,-0.59,-116.8,3124,1001,3384,3296,180.3,-11.0,149,1536,0.00,2.47,0.00,0.000,1030,0.000,0.073,3125,2411,3339,3384,3295,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1775,-0.59,-116.8,3124,2409,3384,3295,206.8,-10.1,174,1784,0.00,2.50,0.00,0.000,260,0.000,0.092,3124,3809,3339,3384,3295,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1856,-0.59,-116.8,3125,3810,3384,3295,214.8,-9.9,182,1865,0.00,2.42,0.00,0.000,1030,0.000,0.065,3121,2407,3339,3384,3295,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2105,-0.59,-116.8,3124,2405,3384,3295,236.4,-8.6,207,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3338,3386,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2355,-0.59,-116.8,3124,2405,3384,3295,259.3,-9.3,226,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2656,-0.59,-116.8,3129,2402,3384,3294,290.6,-10.4,236,2664,0.00,2.47,0.00,0.000,516,0.000,0.076,3124,984,3339,3384,3294,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2696,-0.59,-116.8,3124,982,3379,3294,294.8,-10.7,240,2704,0.00,2.50,0.00,0.000,1030,0.000,0.073,3130,2397,3341,3384,3298,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3019,-0.59,-116.8,3124,2397,3384,3293,325.4,-8.8,252,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3316,-0.59,-116.8,3124,2397,3384,3297,348.6,-7.6,262,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3616,-0.59,-116.8,3124,2397,3384,3292,370.5,-7.3,272,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2397,3342,3392,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3916,-0.59,-116.8,3124,2397,3379,3290,392.0,-7.2,282,3923,0.00,2.53,0.00,0.000,260,0.000,0.093,3124,3820,3335,3384,3286,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3965,-0.59,-116.8,3124,3818,3382,3288,395.7,-7.6,287,3975,0.00,2.50,0.00,0.000,1030,0.000,0.066,3124,2373,3335,3381,3290,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4278,-0.59,-116.8,3124,2372,3384,3289,417.8,-7.0,298,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2372,3336,3384,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4576,-0.59,-116.8,3124,2372,3383,3288,437.6,-6.5,308,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2371,3335,3383,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4875,-0.59,-116.8,3122,2370,3383,3289,459.4,-7.6,318,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2371,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5177,-0.59,-116.8,3121,2372,3383,3286,484.2,-8.5,328,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2371,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5475,-0.59,-116.8,3124,2371,3382,3284,511.8,-9.4,338,5483,0.00,2.60,0.00,0.000,260,0.000,0.093,3124,3816,3334,3383,3286,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5566,-0.59,-116.8,3123,3817,3383,3286,520.7,-9.9,347,5574,0.00,2.47,0.00,0.000,1030,0.000,0.070,3124,2397,3334,3383,3286,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5899,-0.59,-116.8,3124,2394,3382,3286,551.5,-9.0,360,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,-0.59,-116.8,3124,2399,3382,3287,578.4,-8.8,370,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.59,-116.8,3124,2394,3382,3285,604.4,-8.5,380,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6796,-0.59,-116.8,3124,2394,3382,3284,629.0,-7.9,390,6803,0.00,2.58,0.00,0.000,260,0.000,0.095,3124,3824,3333,3382,3284,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6905,-0.59,-116.8,3124,3824,3381,3285,637.7,-7.9,401,6914,0.00,2.50,0.00,0.000,1030,0.000,0.070,3124,2394,3333,3382,3284,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7216,-0.59,-116.8,3130,2391,3381,3283,660.7,-7.6,412,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7516,-0.59,-116.8,3124,2391,3381,3283,682.1,-7.0,422,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2391,3331,3380,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7816,-0.59,-116.8,3124,2391,3381,3282,701.8,-6.4,432,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3329,3376,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8116,-0.59,-116.8,3124,2392,3380,3282,721.5,-6.3,442,8123,0.00,2.58,0.00,0.000,260,0.000,0.096,3124,3821,3330,3380,3281,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8194,-0.59,-116.8,3129,3815,3379,3281,726.7,-6.6,450,8205,0.00,2.55,0.00,0.000,1030,0.000,0.075,3124,2378,3330,3379,3281,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8509,-0.59,-116.8,3124,2378,3380,3282,746.5,-6.5,461,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2374,3329,3377,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8805,-0.59,-116.8,3124,2380,3380,3281,766.1,-6.4,471,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2377,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9105,-0.59,-116.8,3124,2378,3379,3280,788.4,-7.6,481,9113,0.00,2.62,0.00,0.000,260,0.000,0.096,3124,3823,3329,3380,3279,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9166,-0.59,-116.8,3121,3823,3379,3280,793.1,-8.1,487,9174,0.00,2.50,0.00,0.000,1030,0.000,0.069,3125,2394,3329,3379,3280,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9499,-0.59,-116.8,3124,2386,3379,3279,817.8,-7.6,500,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3329,3379,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9796,-0.59,-116.8,3124,2386,3379,3279,839.8,-7.1,510,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3331,3383,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10096,-0.59,-116.8,3124,2386,3379,3278,859.9,-6.6,520,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10396,-0.59,-116.8,3124,2386,3379,3274,880.7,-7.2,530,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10696,-0.59,-116.8,3123,2386,3379,3278,903.2,-7.4,540,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10995,-0.59,-116.8,3121,2386,3378,3277,925.6,-7.3,550,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11298,-0.59,-116.8,3120,2386,3378,3277,946.8,-7.1,560,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11595,-0.59,-116.8,3124,2386,3378,3277,966.9,-6.3,570,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11897,-0.59,-116.8,3124,2386,3377,3277,986.9,-6.7,580,11904,0.00,2.47,0.00,0.000,516,0.000,0.084,3124,994,3327,3378,3277,0,0,0,0,0,0,28.83,14.15,28.83
$STATE,11941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11941,begin apogee
$GC,11952,-0.25,0.0,3124,2338,3377,3276,990.2,-7.2,585,12064,0.40,0.00,102.85,1.927,10246,0.180,0.000,3240,2338,2858,2931,2785,0,0,0,0,0,0,14.03,28.83,13.06
$STATE,12068,end apogee,CONTROL_FINISHED_OK
$STATE,12068,begin climb
$GC,12072,0.59,116.8,3240,2338,2932,2783,993.3,0.0,589,12190,0.88,0.00,110.43,1.895,10246,0.126,0.000,3515,2338,2381,2510,2253,0,0,0,0,0,0,13.83,28.83,12.81
$GC,12485,0.59,116.8,3511,2338,2509,2248,961.1,9.4,603,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2338,2378,2508,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12789,0.59,116.8,3512,2341,2509,2245,931.6,10.1,613,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2338,2376,2508,2245,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24757,end climb,SURFACE_DEPTH_REACHED
$STATE,24757,begin surface coast
$FINISH,1.4,1.015088
$STATE,24829,end surface coast,CONTROL_FINISHED_OK
$STATE,24830,begin surface
$SM_CCo,24856,52.47,0.099,0,0,1329,375.06
$SM_GC,3.10,9.32,0.12,52.47,0.073,0.168,0.099,398,2416,1329,-9.10,-0.71,375.06,0,0,0,0,0,0,14.23,14.23,14.20
$IRIDIUM_FIX,4716.56,-12548.96,130914,040438
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.54
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3826656
$PM_FREEKB,52514368
$24V_AH,12.8,84.846
$10V_AH,13.1,0.000
$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,23.550,115.825,319.025,52.475,0.000,0.000,0.000,300.500,0.000,0.000,17.228,3201.680,18075.916,633.878,2744.468,789.082,0.000,2365.077,0.000,1992.410,0.000,0.535,0.000
$DEVICE_MAMPS,388.620,167.535,1927.035,99.450,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24843.000,12251.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.807,4.066,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,46497,1316
$CAP_FILE_SIZE,246588,0
$CFSIZE,260034560,222851072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25999.95,0x2378ba,7,5
$CURRENT,0.050,130.8,1
$GPS,130914,190130,4731.369,-12554.228,39,1.4,39,18.7