version: 66.12
glider: 187
mission: 4
dive: 352
start: 9 14 114 16 53 6
data:
$ID,187
$MISSION,4
$DIVE,352
$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,-1593867.1
$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,25
$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,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
$GPS1,140914,164323,4727.592,-12603.536,38,1.3,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-73.5
$GPS2,140914,165237,4727.527,-12603.521,13,1.2,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,217.7,87680,-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,24,begin dive
$GC,28,-0.59,-116.8,391,2390,1444,1214,0.0,0.0,0,80,0.00,0.00,-47.88,0.000,16386,0.000,0.000,391,2390,2527,2616,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,390,2390,2617,2439,3.1,-1.2,5,125,12.80,2.62,-18.58,0.000,18692,0.386,0.112,3126,3810,3337,3381,3293,0,0,0,0,0,0,13.86,14.16,14.45
$GC,356,-0.59,-116.8,3125,3811,3382,3298,48.1,-14.5,32,364,0.00,2.47,0.00,0.000,1030,0.000,0.065,3126,2390,3340,3382,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,605,-0.59,-116.8,3126,2385,3382,3298,81.9,-12.6,57,614,0.00,2.58,0.00,0.000,260,0.000,0.090,3126,3822,3340,3383,3298,0,0,0,0,0,0,28.83,14.15,28.83
$GC,845,-0.59,-116.8,3126,3821,3383,3299,109.7,-11.1,81,854,0.00,2.47,0.00,0.000,1030,0.000,0.064,3126,2388,3340,3382,3298,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1096,-0.59,-116.8,3126,2386,3383,3299,138.3,-11.6,106,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3340,3382,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1345,-0.59,-116.8,3126,2386,3383,3299,163.3,-9.7,131,1355,0.00,2.55,0.00,0.000,260,0.000,0.090,3126,3809,3341,3383,3299,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1426,-0.59,-116.8,3126,3811,3383,3295,171.3,-9.8,139,1435,0.00,2.42,0.00,0.000,1030,0.000,0.064,3126,2409,3341,3383,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1676,-0.59,-116.8,3122,2406,3383,3301,195.2,-9.2,164,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.59,-116.8,3126,2406,3383,3299,218.6,-9.4,189,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3343,3388,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2175,-0.59,-116.8,3126,2406,3383,3298,241.5,-9.3,214,2184,0.00,2.47,0.00,0.000,516,0.000,0.076,3126,985,3341,3383,3299,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2226,-0.59,-116.8,3127,985,3383,3303,246.1,-9.4,219,2235,0.00,2.47,0.00,0.000,1030,0.000,0.072,3126,2399,3340,3383,3298,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2488,-0.59,-116.8,3126,2399,3383,3298,268.4,-8.5,231,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-0.59,-116.8,3126,2399,3383,3299,293.0,-8.0,241,2793,0.00,2.50,0.00,0.000,260,0.000,0.091,3126,3810,3340,3383,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2864,-0.59,-116.8,3128,3810,3382,3298,300.0,-8.7,249,2874,0.00,2.47,0.00,0.000,1030,0.000,0.064,3126,2405,3337,3378,3297,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3176,-0.59,-116.8,3126,2404,3383,3297,327.4,-8.8,260,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3339,3382,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3476,-0.59,-116.8,3126,2404,3378,3296,352.0,-8.0,270,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-0.59,-116.8,3126,2404,3382,3294,377.1,-8.3,280,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,-0.59,-116.8,3126,2404,3383,3293,403.0,-8.8,290,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4375,-0.59,-116.8,3123,2403,3385,3293,429.4,-8.7,300,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3337,3382,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4676,-0.59,-116.8,3127,2404,3383,3293,454.5,-8.4,310,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3337,3382,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4976,-0.59,-116.8,3126,2403,3382,3291,478.7,-8.1,320,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3337,3382,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5276,-0.59,-116.8,3126,2403,3383,3291,503.7,-8.3,330,5283,0.00,2.53,0.00,0.000,260,0.000,0.093,3126,3810,3336,3383,3290,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5354,-0.59,-116.8,3126,3810,3382,3290,510.9,-9.0,338,5364,0.00,2.50,0.00,0.000,1030,0.000,0.067,3126,2392,3336,3382,3290,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5668,-0.59,-116.8,3126,2390,3382,3284,538.6,-9.1,349,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3336,3383,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5966,-0.59,-116.8,3126,2389,3382,3287,565.1,-8.6,359,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2390,3335,3382,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,-0.59,-116.8,3125,2389,3383,3287,589.9,-7.8,369,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,-0.59,-116.8,3126,2389,3378,3287,612.0,-7.3,379,6574,0.00,2.58,0.00,0.000,260,0.000,0.094,3126,3817,3334,3382,3287,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6625,-0.59,-116.8,3126,3817,3382,3286,616.6,-7.5,385,6633,0.00,2.47,0.00,0.000,1030,0.000,0.070,3126,2404,3334,3382,3286,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6959,-0.59,-116.8,3126,2402,3382,3286,636.4,-5.9,398,6966,0.00,2.55,0.00,0.000,260,0.000,0.092,3132,3823,3334,3382,3286,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7196,-0.59,-116.8,3124,3823,3381,3286,651.7,-6.3,422,7204,0.00,2.55,0.00,0.000,1030,0.000,0.070,3125,2387,3333,3381,3286,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7529,-0.59,-116.8,3126,2389,3381,3286,669.7,-5.4,435,7538,0.00,2.47,0.00,0.000,516,0.000,0.086,3126,994,3333,3381,3285,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7678,-0.59,-116.8,3126,994,3381,3285,679.3,-6.5,450,7685,0.00,2.50,0.00,0.000,1030,0.000,0.074,3131,2412,3333,3381,3285,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8013,-0.59,-116.8,3126,2412,3381,3285,698.3,-5.9,463,8022,0.00,2.50,0.00,0.000,260,0.000,0.093,3126,3807,3333,3381,3285,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8251,-0.59,-116.8,3126,3807,3381,3291,714.4,-7.0,487,8260,0.00,2.47,0.00,0.000,1030,0.000,0.073,3126,2403,3336,3387,3285,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8585,-0.59,-116.8,3126,2405,3380,3283,735.5,-6.4,500,8593,0.00,2.50,0.00,0.000,516,0.000,0.083,3126,993,3334,3380,3288,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8765,-0.59,-116.8,3126,993,3379,3284,747.6,-6.7,518,8772,0.00,2.50,0.00,0.000,1030,0.000,0.076,3127,2410,3332,3380,3284,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9096,-0.59,-116.8,3126,2408,3380,3283,769.7,-6.7,531,9104,0.00,2.53,0.00,0.000,260,0.000,0.096,3122,3809,3331,3380,3283,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9335,-0.59,-116.8,3126,3811,3378,3279,787.6,-7.2,555,9343,0.00,2.50,0.00,0.000,1030,0.000,0.073,3126,2391,3331,3376,3286,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9667,-0.59,-116.8,3126,2389,3378,3284,809.2,-6.4,568,9675,0.00,2.60,0.00,0.000,260,0.000,0.096,3127,3804,3329,3378,3281,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9848,-0.59,-116.8,3126,3806,3378,3283,821.2,-7.0,586,9856,0.00,2.47,0.00,0.000,1030,0.000,0.074,3127,2410,3330,3378,3283,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10178,-0.59,-116.8,3129,2404,3377,3282,842.5,-6.5,599,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3330,3378,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10476,-0.59,-116.8,3126,2404,3378,3282,862.3,-6.9,609,10483,0.00,2.53,0.00,0.000,516,0.000,0.083,3126,984,3330,3378,3282,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10545,-0.59,-116.8,3126,984,3378,3282,867.7,-7.5,616,10553,0.00,2.50,0.00,0.000,1030,0.000,0.076,3126,2395,3330,3378,3282,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10869,-0.59,-116.8,3126,2397,3378,3281,890.1,-6.9,628,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11166,-0.59,-116.8,3126,2397,3378,3281,911.0,-7.2,638,11173,0.00,2.55,0.00,0.000,260,0.000,0.097,3126,3815,3328,3376,3280,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11267,-0.59,-116.8,3126,3813,3377,3281,918.4,-7.4,648,11274,0.00,2.50,0.00,0.000,1030,0.000,0.071,3126,2390,3329,3377,3282,0,0,0,0,0,0,28.83,14.20,28.83
$GC,11589,-0.59,-116.8,3126,2386,3377,3281,940.2,-6.5,660,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2387,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11885,-0.59,-116.8,3126,2387,3377,3281,959.0,-6.0,670,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2387,3328,3377,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12187,-0.59,-116.8,3132,2386,3377,3280,977.9,-6.2,680,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3328,3377,3280,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12392,begin apogee
$GC,12401,-0.25,0.0,3126,2322,3377,3279,991.1,-6.3,687,12509,0.40,0.00,103.28,1.925,10246,0.180,0.000,3241,2319,2857,2927,2788,0,0,0,0,0,0,14.02,28.83,13.07
$STATE,12512,end apogee,CONTROL_FINISHED_OK
$STATE,12512,begin climb
$GC,12517,0.59,116.8,3241,2323,2930,2784,993.6,0.0,690,12637,0.85,0.00,111.00,1.886,10246,0.125,0.000,3511,2322,2379,2508,2250,0,0,0,0,0,0,13.81,28.83,12.78
$GC,12935,0.59,116.8,3511,2322,2508,2247,964.1,9.0,705,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2323,2377,2508,2246,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25343,end climb,SURFACE_DEPTH_REACHED
$STATE,25343,begin surface coast
$FINISH,1.5,1.023803
$STATE,25415,end surface coast,CONTROL_FINISHED_OK
$STATE,25415,begin surface
$SM_CCo,25444,51.22,0.106,0,0,1328,375.06
$SM_GC,3.24,9.40,2.67,51.22,0.077,0.073,0.106,398,2403,1328,-9.10,-0.59,375.06,0,0,0,0,0,0,14.20,14.21,14.18
$IRIDIUM_FIX,4716.56,-12603.05,140914,090904
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.54
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3825376
$PM_FREEKB,52376224
$24V_AH,12.8,85.927
$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,23.575,146.250,320.975,51.225,0.000,0.000,0.000,302.825,0.000,0.000,13.999,3326.706,18365.004,644.429,2867.594,824.835,0.000,2443.690,0.000,2117.983,0.000,0.535,0.000
$DEVICE_MAMPS,386.325,218.025,1924.740,105.570,0.000,0.000,0.000,167.535,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25441.000,12700.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.780,4.057,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,49934,1400
$CAP_FILE_SIZE,253059,0
$CFSIZE,260034560,222400512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25682.53,0x2378ba,7,5
$CURRENT,0.052, 33.3,1
$GPS,140914,235936,4726.998,-12605.956,43,1.2,43,18.7