version: 66.12
glider: 187
mission: 4
dive: 364
start: 9 18 114 9 20 30
data:
$ID,187
$MISSION,4
$DIVE,364
$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,-1593887.9
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,180914,091006,4708.563,-12645.917,88,1.4,88,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-72.9
$GPS2,180914,092001,4708.608,-12645.813,14,1.4,14,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,200.8,23984,-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,28,-0.59,-116.8,393,2403,1445,1213,0.0,0.0,0,80,0.00,0.00,-48.05,0.000,16386,0.000,0.000,393,2403,2553,2640,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,393,2403,2637,2467,3.1,-1.9,5,123,12.35,2.58,-16.33,0.000,18692,0.366,0.110,3123,3808,3335,3380,3290,0,0,0,0,0,0,13.84,14.16,14.45
$GC,186,-0.59,-116.8,3124,3808,3381,3297,24.8,-21.2,15,195,0.00,2.42,0.00,0.000,1030,0.000,0.063,3124,2407,3339,3381,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,436,-0.59,-116.8,3124,2403,3383,3293,62.4,-11.0,40,443,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,685,-0.59,-116.8,3124,2403,3385,3299,93.8,-13.0,65,694,0.00,2.47,0.00,0.000,516,0.000,0.073,3124,981,3341,3385,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,716,-0.59,-116.8,3124,984,3385,3299,97.7,-13.2,68,724,0.00,2.47,0.00,0.000,1030,0.000,0.069,3124,2403,3342,3385,3299,0,0,0,0,0,0,28.83,14.22,28.83
$GC,965,-0.59,-116.8,3124,2403,3388,3299,123.8,-9.4,93,975,0.00,2.47,0.00,0.000,260,0.000,0.087,3125,3809,3342,3386,3299,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1135,-0.59,-116.8,3123,3809,3386,3299,142.8,-11.6,110,1144,0.00,2.47,0.00,0.000,1030,0.000,0.060,3124,2363,3342,3386,3299,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1385,-0.59,-116.8,3123,2359,3386,3298,170.3,-10.9,135,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2360,3342,3386,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,-0.59,-116.8,3124,2357,3386,3295,196.9,-10.1,160,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2359,3342,3386,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,-0.59,-116.8,3124,2359,3393,3294,219.0,-8.5,185,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2359,3342,3386,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2135,-0.59,-116.8,3124,2359,3385,3297,240.3,-8.3,210,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2359,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2405,-0.59,-116.8,3124,2359,3386,3295,264.8,-9.4,227,2413,0.00,2.58,0.00,0.000,260,0.000,0.090,3124,3807,3340,3385,3295,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2465,-0.59,-116.8,3124,3810,3385,3294,270.9,-10.1,233,2472,0.00,2.42,0.00,0.000,1030,0.000,0.064,3120,2398,3339,3385,3294,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2800,-0.59,-116.8,3124,2396,3385,3293,301.7,-9.0,246,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2393,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3095,-0.59,-116.8,3125,2395,3385,3291,328.3,-8.9,256,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3338,3385,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3395,-0.59,-116.8,3124,2396,3387,3289,351.9,-7.7,266,3403,0.00,2.53,0.00,0.000,260,0.000,0.090,3124,3809,3337,3384,3291,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3464,-0.59,-116.8,3126,3809,3384,3289,357.4,-8.0,273,3473,0.00,2.47,0.00,0.000,1030,0.000,0.064,3125,2405,3337,3384,3290,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3788,-0.59,-116.8,3124,2402,3383,3288,381.8,-7.6,285,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3335,3383,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4085,-0.59,-116.8,3123,2402,3383,3286,405.3,-7.8,295,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-0.59,-116.8,3124,2402,3382,3286,428.7,-7.8,305,4392,0.00,2.53,0.00,0.000,260,0.000,0.091,3124,3809,3332,3382,3282,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4475,-0.59,-116.8,3124,3806,3382,3286,436.2,-8.4,314,4483,0.00,2.45,0.00,0.000,1030,0.000,0.066,3124,2391,3333,3381,3286,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4807,-0.59,-116.8,3124,2384,3382,3285,462.6,-8.1,327,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2387,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5106,-0.59,-116.8,3124,2387,3381,3285,486.7,-8.0,337,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3332,3381,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5405,-0.59,-116.8,3124,2387,3381,3283,510.9,-7.9,347,5413,0.00,2.55,0.00,0.000,260,0.000,0.093,3124,3806,3330,3380,3281,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5485,-0.59,-116.8,3124,3810,3380,3280,517.3,-8.1,355,5494,0.00,2.45,0.00,0.000,1030,0.000,0.069,3124,2402,3331,3380,3283,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5797,-0.59,-116.8,3124,2402,3380,3286,540.3,-7.3,366,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3328,3375,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6095,-0.59,-116.8,3126,2402,3380,3281,561.8,-7.1,376,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6395,-0.59,-116.8,3127,2402,3379,3281,583.0,-7.2,386,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6695,-0.59,-116.8,3124,2402,3378,3280,606.2,-8.1,396,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3329,3378,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6995,-0.59,-116.8,3121,2402,3378,3277,630.7,-8.1,406,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7295,-0.59,-116.8,3124,2401,3378,3274,654.7,-7.8,416,7302,0.00,2.53,0.00,0.000,260,0.000,0.093,3124,3810,3334,3384,3284,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7385,-0.59,-116.8,3124,3805,3377,3278,661.7,-8.1,425,7393,0.00,2.45,0.00,0.000,1030,0.000,0.069,3124,2403,3327,3377,3278,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7717,-0.59,-116.8,3121,2402,3377,3277,683.9,-6.5,438,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3324,3372,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8016,-0.59,-116.8,3129,2402,3377,3277,701.9,-5.8,448,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3330,3377,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8315,-0.59,-116.8,3124,2402,3376,3276,719.4,-6.0,458,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3326,3376,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8616,-0.59,-116.8,3124,2402,3376,3276,739.6,-7.3,468,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3326,3376,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8915,-0.59,-116.8,3124,2400,3375,3275,761.9,-7.5,478,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3325,3375,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9215,-0.59,-116.8,3120,2402,3375,3274,785.0,-7.7,488,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3324,3375,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9515,-0.59,-116.8,3127,2402,3375,3274,807.1,-7.2,498,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3324,3375,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9815,-0.59,-116.8,3124,2402,3374,3274,827.0,-6.3,508,9822,0.00,2.55,0.00,0.000,260,0.000,0.094,3124,3809,3323,3374,3272,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9875,-0.59,-116.8,3124,3805,3375,3273,830.7,-6.2,514,9883,0.00,2.47,0.00,0.000,1030,0.000,0.068,3124,2387,3322,3368,3277,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10207,-0.59,-116.8,3124,2383,3374,3273,850.3,-5.8,527,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10505,-0.59,-116.8,3124,2382,3374,3272,867.0,-5.4,537,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,3323,3374,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10805,-0.59,-116.8,3124,2383,3373,3272,884.5,-5.9,547,10813,0.00,2.60,0.00,0.000,260,0.000,0.095,3124,3817,3322,3373,3272,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10895,-0.59,-116.8,3124,3814,3373,3271,890.1,-6.3,556,10903,0.00,2.47,0.00,0.000,1030,0.000,0.071,3125,2405,3322,3373,3271,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11228,-0.59,-116.8,3124,2403,3372,3271,911.0,-6.4,569,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3322,3373,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11525,-0.59,-116.8,3124,2403,3373,3271,931.5,-6.9,579,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3322,3373,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11825,-0.59,-116.8,3124,2406,3372,3270,952.4,-6.9,589,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3321,3372,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12125,-0.59,-116.8,3124,2403,3372,3270,972.8,-6.8,599,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3324,3378,3270,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12392,begin apogee
$GC,12402,-0.25,0.0,3124,2318,3372,3270,990.8,-6.7,608,12516,0.40,0.00,102.40,1.919,10246,0.177,0.000,3240,2317,2856,2928,2785,0,0,0,0,0,0,14.00,28.83,13.05
$STATE,12519,end apogee,CONTROL_FINISHED_OK
$STATE,12519,begin climb
$GC,12523,0.59,116.8,3240,2317,2927,2784,994.7,0.0,612,12642,0.88,0.00,110.40,1.889,10758,0.124,0.000,3514,2314,2381,2507,2255,0,0,0,0,0,0,13.83,28.83,12.78
$GC,12935,0.59,116.8,3513,2317,2508,2249,967.3,8.7,628,12945,0.00,2.53,0.00,0.000,516,0.000,0.090,3519,936,2380,2512,2248,0,0,0,0,0,0,28.83,13.95,28.83
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$STATE,25460,end climb,SURFACE_DEPTH_REACHED
$STATE,25460,begin surface coast
$FINISH,1.2,1.023440
$STATE,25491,end surface coast,CONTROL_FINISHED_OK
$STATE,25492,begin surface
$SM_CCo,25520,10.77,0.099,0,0,1328,375.06
$SM_GC,3.85,9.30,2.65,10.77,0.050,0.069,0.099,390,2395,1328,-9.09,-0.88,375.06,0,0,0,0,0,0,14.26,14.20,14.16
$IRIDIUM_FIX,4651.23,-12555.82,180914,010152
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.23
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3821536
$PM_FREEKB,51966496
$24V_AH,12.8,89.231
$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,23.150,135.375,374.375,10.775,0.000,0.000,0.000,335.650,0.000,0.000,18.267,3257.416,18521.877,659.902,2844.369,820.815,0.000,2474.361,0.000,2074.004,0.000,0.537,0.000
$DEVICE_MAMPS,366.435,180.540,1919.385,99.450,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25514.000,12694.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.828,4.052,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,46668,1357
$CAP_FILE_SIZE,254847,0
$CFSIZE,260034560,221061120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26637.04,0x2378ba,7,5
$CURRENT,0.086,255.1,1
$GPS,180914,162830,4706.322,-12650.316,96,0.9,96,18.6