version: 66.12
glider: 187
mission: 4
dive: 350
start: 9 14 114 2 18 12
data:
$ID,187
$MISSION,4
$DIVE,350
$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,-1593864.6
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,140914,020824,4730.304,-12557.786,42,1.2,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.6
$GPS2,140914,021743,4730.230,-12557.806,15,1.2,15,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,219.3,96464,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,397,2404,1439,1216,0.0,0.0,0,81,0.00,0.00,-48.35,0.000,16386,0.000,0.000,398,2403,2543,2631,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,397,2403,2633,2457,3.1,-1.5,5,132,12.70,2.60,-18.45,0.000,18692,0.384,0.112,3129,3809,3336,3380,3292,0,0,0,0,0,0,13.85,14.18,14.46
$GC,362,-0.59,-116.8,3127,3811,3382,3298,44.8,-12.5,33,372,0.00,2.45,0.00,0.000,1030,0.000,0.063,3127,2412,3339,3381,3297,0,0,0,0,0,0,28.83,14.16,28.83
$GC,612,-0.59,-116.8,3127,2410,3383,3297,73.7,-11.2,58,621,0.00,2.50,0.00,0.000,260,0.000,0.087,3127,3806,3339,3382,3297,0,0,0,0,0,0,28.83,14.16,28.83
$GC,722,-0.59,-116.8,3127,3805,3382,3298,85.0,-10.0,69,732,0.00,2.45,0.00,0.000,1030,0.000,0.063,3127,2388,3338,3378,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,972,-0.59,-116.8,3127,2384,3383,3299,111.6,-11.9,94,981,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3337,3377,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1222,-0.59,-116.8,3127,2384,3383,3298,142.9,-12.6,119,1231,0.00,2.55,0.00,0.000,260,0.000,0.088,3123,3808,3341,3384,3298,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1282,-0.59,-116.8,3125,3808,3384,3298,150.2,-12.1,125,1292,0.00,2.45,0.00,0.000,1030,0.000,0.064,3127,2390,3343,3390,3297,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1532,-0.59,-116.8,3127,2386,3384,3298,177.4,-10.3,150,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2386,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1782,-0.59,-116.8,3127,2386,3383,3298,202.0,-9.8,175,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3339,3381,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2032,-0.59,-116.8,3127,2386,3383,3298,226.3,-9.7,200,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.59,-116.8,3127,2386,3383,3298,249.9,-8.6,225,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,-0.59,-116.8,3127,2386,3383,3297,270.5,-8.0,234,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.59,-116.8,3127,2385,3383,3296,294.9,-8.1,244,2840,0.00,2.42,0.00,0.000,516,0.000,0.078,3127,1000,3334,3373,3295,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2882,-0.59,-116.8,3127,1000,3384,3295,298.9,-8.1,249,2892,0.00,2.45,0.00,0.000,1030,0.000,0.074,3127,2397,3339,3383,3296,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3195,-0.59,-116.8,3127,2397,3383,3294,323.0,-7.8,260,3202,0.00,2.53,0.00,0.000,260,0.000,0.092,3127,3807,3338,3383,3294,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3262,-0.59,-116.8,3129,3808,3391,3294,328.6,-7.9,267,3270,0.00,2.47,0.00,0.000,1030,0.000,0.067,3127,2406,3338,3383,3294,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3585,-0.59,-116.8,3126,2405,3383,3293,354.7,-8.7,279,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2404,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3883,-0.59,-116.8,3127,2405,3383,3292,381.9,-9.2,289,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3337,3383,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-0.59,-116.8,3127,2404,3383,3291,408.7,-8.9,299,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3337,3383,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4483,-0.59,-116.8,3127,2405,3383,3290,434.4,-8.2,309,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2405,3336,3383,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,-0.59,-116.8,3128,2404,3383,3289,457.5,-7.5,319,4789,0.00,2.53,0.00,0.000,260,0.000,0.092,3127,3813,3335,3383,3288,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4872,-0.59,-116.8,3127,3813,3384,3288,464.6,-7.7,328,4880,0.00,2.47,0.00,0.000,1030,0.000,0.066,3127,2391,3333,3383,3284,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5205,-0.59,-116.8,3127,2387,3382,3287,488.2,-7.0,341,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2386,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-0.59,-116.8,3127,2386,3383,3287,511.5,-8.0,351,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5803,-0.59,-116.8,3127,2386,3382,3286,537.3,-8.5,361,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6102,-0.59,-116.8,3127,2385,3382,3286,562.8,-8.4,371,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6403,-0.59,-116.8,3127,2386,3377,3285,586.2,-7.7,381,6411,0.00,2.58,0.00,0.000,260,0.000,0.093,3127,3817,3333,3382,3285,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6481,-0.59,-116.8,3126,3817,3381,3285,592.1,-7.4,389,6491,0.00,2.53,0.00,0.000,1030,0.000,0.069,3127,2397,3335,3386,3285,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6796,-0.59,-116.8,3127,2397,3381,3285,615.1,-7.5,400,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.59,-116.8,3127,2397,3381,3284,635.6,-6.6,410,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3332,3381,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7392,-0.59,-116.8,3124,2396,3381,3283,655.7,-6.8,420,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3338,3388,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7693,-0.59,-116.8,3126,2397,3381,3283,675.5,-6.5,430,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3331,3380,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7992,-0.59,-116.8,3127,2397,3380,3282,694.1,-5.9,440,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8293,-0.59,-116.8,3127,2397,3380,3282,711.5,-5.8,450,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8592,-0.59,-116.8,3127,2397,3374,3282,729.4,-5.9,460,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,-0.59,-116.8,3127,2397,3381,3281,748.3,-6.5,470,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2394,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9192,-0.59,-116.8,3127,2398,3379,3281,769.8,-7.2,480,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9493,-0.59,-116.8,3127,2397,3379,3281,789.9,-6.6,490,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9793,-0.59,-116.8,3127,2397,3379,3280,808.5,-6.1,500,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10093,-0.59,-116.8,3127,2402,3378,3279,826.1,-5.6,510,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2397,3329,3379,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10393,-0.59,-116.8,3127,2397,3378,3278,842.7,-5.6,520,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10693,-0.59,-116.8,3127,2397,3378,3278,861.3,-6.6,530,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3326,3375,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10993,-0.59,-116.8,3127,2398,3378,3278,881.7,-6.9,540,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11293,-0.59,-116.8,3127,2397,3378,3278,903.4,-7.5,550,11300,0.00,2.58,0.00,0.000,260,0.000,0.096,3127,3814,3328,3378,3278,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11402,-0.59,-116.8,3128,3814,3377,3277,912.2,-8.0,561,11412,0.00,2.53,0.00,0.000,1030,0.000,0.073,3127,2407,3327,3378,3277,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11715,-0.59,-116.8,3127,2407,3377,3277,936.0,-7.7,572,11722,0.00,2.53,0.00,0.000,516,0.000,0.086,3124,989,3327,3377,3277,0,0,0,0,0,0,28.83,14.15,28.83
$GC,11812,-0.59,-116.8,3127,989,3377,3277,943.8,-8.0,582,11820,0.00,2.53,0.00,0.000,1030,0.000,0.079,3127,2404,3327,3378,3277,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12136,-0.59,-116.8,3127,2404,3375,3275,967.2,-7.2,594,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3327,3377,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12432,-0.59,-116.8,3128,2404,3377,3276,989.3,-7.6,604,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2404,3326,3377,3276,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12459,begin apogee
$GC,12468,-0.25,0.0,3127,2333,3377,3278,991.8,-7.7,605,12581,0.40,0.00,103.00,1.926,10246,0.181,0.000,3243,2327,2857,2931,2784,0,0,0,0,0,0,14.04,28.83,13.05
$STATE,12585,end apogee,CONTROL_FINISHED_OK
$STATE,12585,begin climb
$GC,12588,0.59,116.8,3243,2328,2931,2783,996.9,0.0,609,12707,0.88,0.00,110.47,1.900,10246,0.125,0.000,3516,2328,2381,2510,2253,0,0,0,0,0,0,13.83,28.83,12.79
$GC,13002,0.59,116.8,3516,2328,2508,2248,973.9,7.4,623,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2328,2378,2508,2248,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25408,end climb,SURFACE_DEPTH_REACHED
$STATE,25408,begin surface coast
$FINISH,1.5,1.019580
$STATE,25469,end surface coast,CONTROL_FINISHED_OK
$STATE,25469,begin surface
$SM_CCo,25495,53.17,0.101,0,0,1329,375.06
$SM_GC,3.04,9.43,0.12,53.17,0.072,0.165,0.101,389,2407,1329,-9.12,-0.71,375.06,0,0,0,0,0,0,14.21,14.21,14.18
$IRIDIUM_FIX,4710.21,-12556.72,130914,191906
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3826016
$PM_FREEKB,52444224
$24V_AH,12.8,85.375
$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,23.775,125.700,315.125,53.175,0.000,0.000,0.000,305.675,0.000,0.000,16.329,3254.858,18594.068,638.608,2793.466,807.507,0.000,2401.519,0.000,2044.258,0.000,0.536,0.000
$DEVICE_MAMPS,384.030,165.240,1926.270,100.980,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25482.000,12761.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.803,4.037,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,46570,1344
$CAP_FILE_SIZE,251470,0
$CFSIZE,260034560,222625792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25573.81,0x2378ba,7,5
$CURRENT,0.069,144.7,1
$GPS,140914,092535,4728.095,-12600.395,41,1.0,41,18.7