version: 66.12
glider: 187
mission: 4
dive: 396
start: 9 28 114 0 42 51
data:
$ID,187
$MISSION,4
$DIVE,396
$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,-1593940.1
$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,20
$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
$GPS1,280914,003323,4747.165,-12524.524,81,1.7,81,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-75.1
$GPS2,280914,004225,4747.177,-12524.687,16,1.9,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,86.6,19959,-14.0,-7.333,-18.81,2445
$D_GRID,751
$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,-116.8,388,2402,1447,1214,0.0,0.0,0,81,0.00,0.00,-48.65,0.000,16386,0.000,0.000,385,2400,2586,2669,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,388,2400,2671,2503,3.3,-1.7,5,124,12.80,2.58,-16.17,0.000,18948,0.383,0.099,3127,983,3336,3380,3293,0,0,0,0,0,0,13.83,14.17,14.49
$GC,224,-0.59,-116.8,3128,983,3383,3295,28.9,-16.3,19,235,0.00,2.55,0.00,0.000,1030,0.000,0.073,3129,2395,3338,3381,3295,0,0,0,0,0,0,28.83,14.11,28.83
$GC,475,-0.59,-116.8,3128,2395,3382,3296,63.8,-13.6,44,483,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2395,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,724,-0.59,-116.8,3125,2394,3384,3296,94.7,-13.3,69,733,0.00,2.55,0.00,0.000,260,0.000,0.090,3127,3822,3341,3385,3297,0,0,0,0,0,0,28.83,14.15,28.83
$GC,915,-0.59,-116.8,3128,3821,3384,3297,119.0,-12.0,88,924,0.00,2.47,0.00,0.000,1030,0.000,0.062,3127,2383,3340,3384,3297,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1164,-0.59,-116.8,3128,2382,3384,3297,146.7,-10.5,113,1173,0.00,2.55,0.00,0.000,260,0.000,0.088,3128,3812,3339,3382,3297,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1235,-0.59,-116.8,3127,3809,3390,3298,154.2,-10.2,120,1243,0.00,2.42,0.00,0.000,1030,0.000,0.060,3129,2405,3341,3384,3298,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1484,-0.59,-116.8,3128,2404,3384,3297,177.9,-9.0,145,1493,0.00,2.50,0.00,0.000,516,0.000,0.074,3129,983,3338,3379,3297,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1565,-0.59,-116.8,3127,983,3384,3292,185.6,-9.6,153,1574,0.00,2.50,0.00,0.000,1030,0.000,0.071,3126,2402,3344,3391,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1814,-0.59,-116.8,3127,2404,3384,3297,207.2,-8.9,178,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,-0.59,-116.8,3124,2403,3384,3297,228.6,-8.5,203,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3343,3384,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-0.59,-116.8,3127,2401,3384,3296,250.6,-8.8,228,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2615,-0.59,-116.8,3127,2401,3384,3295,277.1,-8.7,238,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2401,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2916,-0.59,-116.8,3127,2401,3384,3294,303.2,-8.5,248,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-0.59,-116.8,3127,2401,3380,3293,328.4,-8.4,258,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3516,-0.59,-116.8,3127,2401,3383,3292,352.8,-7.9,268,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3336,3384,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3817,-0.59,-116.8,3127,2402,3384,3291,377.3,-8.0,278,3824,0.00,2.53,0.00,0.000,260,0.000,0.093,3126,3809,3337,3384,3291,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3875,-0.59,-116.8,3129,3809,3383,3291,382.2,-7.9,284,3882,0.00,2.45,0.00,0.000,1030,0.000,0.064,3127,2394,3337,3383,3291,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4209,-0.59,-116.8,3127,2395,3390,3289,408.1,-7.7,297,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3339,3390,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4504,-0.59,-116.8,3127,2395,3383,3288,430.6,-7.2,307,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3335,3383,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4805,-0.59,-116.8,3127,2390,3378,3287,452.3,-7.2,317,4813,0.00,2.58,0.00,0.000,260,0.000,0.093,3126,3819,3331,3379,3283,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4853,-0.59,-116.8,3127,3819,3383,3287,456.2,-8.0,322,4863,0.00,2.50,0.00,0.000,1030,0.000,0.066,3126,2401,3335,3383,3287,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5168,-0.59,-116.8,3124,2404,3382,3286,479.8,-7.8,333,5176,0.00,2.50,0.00,0.000,516,0.000,0.078,3127,987,3332,3383,3282,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5214,-0.59,-116.8,3127,987,3383,3286,484.1,-9.0,338,5224,0.00,2.55,0.00,0.000,1030,0.000,0.073,3128,2397,3334,3382,3286,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5529,-0.59,-116.8,3127,2397,3377,3286,508.4,-7.5,349,5537,0.00,2.55,0.00,0.000,260,0.000,0.092,3127,3822,3334,3382,3286,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5576,-0.59,-116.8,3127,3822,3382,3282,512.3,-8.1,354,5586,0.00,2.50,0.00,0.000,1030,0.000,0.065,3127,2405,3333,3382,3285,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5890,-0.59,-116.8,3127,2410,3382,3286,535.9,-7.8,365,5897,0.00,2.50,0.00,0.000,516,0.000,0.078,3127,990,3334,3382,3286,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5958,-0.59,-116.8,3127,990,3381,3286,541.6,-8.1,372,5966,0.00,2.50,0.00,0.000,1030,0.000,0.074,3132,2403,3333,3382,3285,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6281,-0.59,-116.8,3124,2403,3382,3285,566.6,-7.7,384,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3335,3381,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6579,-0.59,-116.8,3127,2403,3381,3284,588.0,-7.0,394,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3332,3381,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6878,-0.59,-116.8,3128,2403,3381,3283,608.5,-6.8,404,6886,0.00,2.53,0.00,0.000,260,0.000,0.095,3127,3808,3332,3381,3284,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6987,-0.59,-116.8,3127,3808,3380,3283,616.8,-7.5,415,6997,0.00,2.53,0.00,0.000,1030,0.000,0.070,3127,2402,3333,3380,3286,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7302,-0.59,-116.8,3127,2400,3379,3285,637.9,-6.7,426,7309,0.00,2.50,0.00,0.000,516,0.000,0.079,3124,986,3328,3375,3282,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7348,-0.59,-116.8,3127,986,3380,3282,641.2,-7.1,431,7358,0.00,2.55,0.00,0.000,1030,0.000,0.074,3127,2395,3329,3380,3278,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7659,-0.59,-116.8,3127,2395,3379,3284,661.3,-6.4,442,7667,0.00,2.50,0.00,0.000,516,0.000,0.079,3127,987,3331,3380,3282,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7708,-0.59,-116.8,3128,988,3380,3282,664.7,-7.2,447,7718,0.00,2.55,0.00,0.000,1030,0.000,0.075,3127,2396,3330,3379,3282,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8022,-0.59,-116.8,3127,2397,3379,3281,683.9,-6.0,458,8030,0.00,2.55,0.00,0.000,260,0.000,0.095,3127,3815,3330,3379,3281,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8099,-0.59,-116.8,3127,3813,3379,3281,689.3,-6.6,466,8109,0.00,2.53,0.00,0.000,1030,0.000,0.069,3127,2399,3330,3379,3281,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8413,-0.59,-116.8,3127,2400,3377,3281,708.3,-6.2,477,8420,0.00,2.47,0.00,0.000,516,0.000,0.079,3127,1006,3330,3379,3281,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8460,-0.59,-116.8,3127,1002,3378,3281,711.7,-7.0,482,8469,0.00,2.50,0.00,0.000,1030,0.000,0.076,3127,2408,3329,3377,3281,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8770,-0.59,-116.8,3127,2411,3376,3280,732.4,-6.6,493,8778,0.00,2.53,0.00,0.000,260,0.000,0.095,3127,3813,3331,3382,3280,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8879,-0.59,-116.8,3126,3813,3377,3278,740.2,-7.1,504,8889,0.00,2.47,0.00,0.000,1030,0.000,0.070,3127,2404,3329,3378,3280,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,9097,end dive,NO_VERTICAL_VELOCITY
$STATE,9097,begin apogee
$GC,9106,-0.25,0.0,3127,2317,3378,3279,740.8,0.0,512,9210,0.35,0.00,99.62,1.606,10246,0.124,0.000,3243,2319,2859,2931,2787,0,0,0,0,0,0,14.15,28.83,13.20
$STATE,9214,end apogee,CONTROL_FINISHED_OK
$STATE,9214,begin climb
$GC,9218,0.59,116.8,3243,2319,2930,2783,740.6,0.0,515,9334,0.82,2.75,103.93,1.580,10500,0.106,0.093,3515,3743,2383,2507,2260,0,0,0,0,0,0,13.91,13.69,13.00
$GC,9506,0.59,116.8,3514,3743,2510,2252,721.9,9.3,542,9517,0.00,2.53,0.00,0.000,1030,0.000,0.076,3519,2341,2379,2506,2252,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9820,0.59,116.8,3520,2341,2506,2250,696.3,8.4,553,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2341,2381,2507,2256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10118,0.59,116.8,3519,2341,2506,2248,671.4,8.1,563,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2341,2377,2506,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10420,0.59,116.8,3519,2341,2506,2247,648.1,7.7,573,10430,0.00,2.53,0.00,0.000,516,0.000,0.086,3519,916,2376,2506,2247,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10519,0.59,116.8,3520,917,2506,2247,640.5,7.3,583,10529,0.00,2.50,0.00,0.000,1030,0.000,0.076,3522,2336,2376,2506,2247,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10839,0.59,116.8,3520,2335,2505,2243,615.6,7.9,595,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2335,2376,2506,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11144,0.59,116.8,3519,2335,2506,2240,592.5,7.4,605,11154,0.00,2.53,0.00,0.000,260,0.000,0.096,3520,3734,2376,2506,2246,0,0,0,0,0,0,28.83,14.18,28.83
$GC,11253,0.59,116.8,3520,3736,2506,2246,582.1,9.0,616,11264,0.00,2.50,0.00,0.000,1030,0.000,0.075,3520,2320,2375,2506,2245,0,0,0,0,0,0,28.83,14.23,28.83
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$STATE,19344,end climb,SURFACE_DEPTH_REACHED
$STATE,19345,begin surface coast
$FINISH,1.4,1.015415
$STATE,19383,end surface coast,CONTROL_FINISHED_OK
$STATE,19383,begin surface
$SM_CCo,19411,18.58,0.100,0,0,1328,375.06
$SM_GC,2.42,9.43,2.40,18.58,0.066,0.069,0.100,394,2406,1328,-9.11,0.79,375.06,0,0,0,0,0,0,14.23,14.20,14.17
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$TT8_MAMPS,0.024717,0.024717
$HUMID,49.76
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3811296
$PM_FREEKB,50862944
$24V_AH,13.0,98.106
$10V_AH,13.3,0.000
$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,24.000,176.425,336.725,18.575,0.000,0.000,0.000,294.050,0.000,0.000,16.954,2794.154,13310.448,643.946,2463.543,742.078,0.000,2237.358,0.000,1813.727,0.000,0.536,0.000
$DEVICE_MAMPS,382.500,171.360,1605.735,100.215,0.000,0.000,0.000,164.475,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19406.000,9341.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.073,4.077,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,43373,1183
$CAP_FILE_SIZE,224216,0
$CFSIZE,260034560,217419776
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,20605.73,0x2378ba,7,5
$INTR,1,8775.66,0x213678,0,24
$CURRENT,0.130,321.8,1
$GPS,280914,060829,4747.839,-12523.158,51,1.5,56,18.7