version: 66.12
glider: 187
mission: 4
dive: 452
start: 10 5 114 23 54 30
data:
$ID,187
$MISSION,4
$DIVE,452
$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,-1594013.6
$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,26
$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
$GPS1,051014,234424,4738.634,-12542.877,69,1.4,69,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-73.3
$GPS2,051014,235401,4738.531,-12542.810,13,2.0,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,219.3,120820,-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,29,-0.59,-116.8,393,2402,1454,1207,0.0,0.0,0,81,0.00,0.00,-48.08,0.000,16386,0.000,0.000,393,2402,2571,2658,2485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,393,2402,2659,2486,3.1,-1.8,5,125,12.90,2.60,-16.20,0.000,18692,0.385,0.110,3124,3806,3337,3382,3293,0,0,0,0,0,0,13.78,14.07,14.46
$GC,356,-0.59,-116.8,3121,3806,3382,3302,47.8,-14.7,32,365,0.00,2.45,0.00,0.000,1030,0.000,0.063,3124,2394,3339,3382,3297,0,0,0,0,0,0,28.83,14.17,28.83
$GC,605,-0.59,-116.8,3125,2389,3384,3304,78.9,-11.0,57,614,0.00,2.55,0.00,0.000,260,0.000,0.088,3130,3806,3340,3382,3298,0,0,0,0,0,0,28.83,14.12,28.83
$GC,695,-0.59,-116.8,3125,3806,3384,3299,90.7,-13.6,66,704,0.00,2.45,0.00,0.000,1030,0.000,0.062,3125,2389,3341,3384,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,945,-0.59,-116.8,3124,2382,3385,3299,118.9,-10.5,91,953,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3342,3385,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1195,-0.59,-116.8,3125,2385,3385,3299,140.6,-7.9,116,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3343,3387,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1445,-0.59,-116.8,3125,2384,3385,3299,162.0,-9.0,141,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2383,3342,3385,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-0.59,-116.8,3125,2384,3385,3299,184.5,-9.0,166,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3342,3385,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-0.59,-116.8,3125,2384,3385,3299,209.2,-10.7,191,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2195,-0.59,-116.8,3124,2383,3386,3300,234.3,-9.5,216,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2465,-0.59,-116.8,3122,2383,3384,3297,258.5,-8.8,237,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,-0.59,-116.8,3125,2384,3385,3294,282.0,-7.6,247,2774,0.00,2.58,0.00,0.000,260,0.000,0.089,3124,3808,3339,3384,3295,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2856,-0.59,-116.8,3125,3808,3383,3295,289.3,-8.0,256,2864,0.00,2.45,0.00,0.000,1030,0.000,0.064,3125,2396,3337,3380,3295,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3188,-0.59,-116.8,3125,2394,3384,3294,315.3,-8.1,269,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3486,-0.59,-116.8,3125,2392,3382,3293,343.4,-9.5,279,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3785,-0.59,-116.8,3125,2394,3384,3291,369.4,-8.0,289,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3341,3392,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4086,-0.59,-116.8,3128,2392,3384,3290,392.8,-7.7,299,4094,0.00,2.47,0.00,0.000,516,0.000,0.079,3124,993,3337,3384,3290,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4184,-0.59,-116.8,3125,993,3383,3290,400.7,-7.7,309,4192,0.00,2.53,0.00,0.000,1030,0.000,0.073,3125,2394,3336,3383,3290,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4508,-0.59,-116.8,3125,2393,3383,3288,424.7,-7.4,321,4515,0.00,2.55,0.00,0.000,260,0.000,0.091,3125,3811,3335,3383,3288,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4585,-0.59,-116.8,3125,3813,3383,3288,431.0,-8.0,329,4594,0.00,2.47,0.00,0.000,1030,0.000,0.067,3126,2398,3333,3379,3288,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4898,-0.59,-116.8,3124,2397,3382,3286,455.1,-7.9,340,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5196,-0.59,-116.8,3128,2397,3382,3286,478.7,-7.8,350,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3335,3384,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5495,-0.59,-116.8,3125,2397,3382,3286,501.6,-7.5,360,5503,0.00,2.50,0.00,0.000,516,0.000,0.080,3125,984,3334,3382,3286,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5546,-0.59,-116.8,3125,985,3382,3286,505.7,-8.3,365,5555,0.00,2.53,0.00,0.000,1030,0.000,0.074,3125,2405,3334,3382,3286,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5858,-0.59,-116.8,3125,2405,3381,3286,527.9,-7.1,376,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3333,3381,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6155,-0.59,-116.8,3124,2405,3381,3285,549.5,-7.3,386,6163,0.00,2.58,0.00,0.000,260,0.000,0.096,3124,3823,3333,3381,3285,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6265,-0.59,-116.8,3125,3823,3381,3285,558.0,-7.7,397,6274,0.00,2.50,0.00,0.000,1030,0.000,0.067,3125,2390,3332,3380,3285,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6578,-0.59,-116.8,3125,2387,3379,3284,579.8,-6.9,408,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2387,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,-0.59,-116.8,3125,2387,3378,3283,600.3,-6.9,418,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2387,3331,3380,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7176,-0.59,-116.8,3127,2387,3379,3282,620.0,-6.5,428,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3331,3380,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7476,-0.59,-116.8,3124,2387,3380,3282,639.6,-6.4,438,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7776,-0.59,-116.8,3126,2387,3379,3282,660.0,-6.9,448,7783,0.00,2.60,0.00,0.000,260,0.000,0.095,3130,3807,3330,3379,3282,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7845,-0.59,-116.8,3124,3807,3378,3282,665.3,-7.4,455,7854,0.00,2.47,0.00,0.000,1030,0.000,0.070,3125,2394,3330,3378,3282,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8168,-0.59,-116.8,3121,2395,3375,3281,689.5,-7.7,467,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3329,3378,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8465,-0.59,-116.8,3124,2395,3378,3280,713.7,-8.3,477,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3333,3385,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8766,-0.59,-116.8,3125,2395,3385,3280,737.8,-7.9,487,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3329,3378,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,-0.59,-116.8,3123,2395,3377,3279,759.5,-7.0,497,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9366,-0.59,-116.8,3125,2395,3377,3279,778.4,-6.1,507,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3328,3377,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9665,-0.59,-116.8,3125,2395,3377,3283,797.0,-6.1,517,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3327,3377,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9966,-0.59,-116.8,3120,2395,3377,3277,814.9,-6.2,527,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3327,3377,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10265,-0.59,-116.8,3125,2401,3377,3277,833.9,-6.5,537,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3330,3384,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10566,-0.59,-116.8,3125,2395,3383,3277,854.0,-6.8,547,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3326,3376,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10865,-0.59,-116.8,3125,2395,3376,3277,874.1,-6.7,557,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3326,3376,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11165,-0.59,-116.8,3125,2395,3379,3276,893.4,-6.5,567,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3326,3376,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11466,-0.59,-116.8,3125,2395,3376,3276,912.7,-6.4,577,11474,0.00,2.60,0.00,0.000,260,0.000,0.096,3122,3808,3325,3375,3276,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11535,-0.59,-116.8,3125,3808,3375,3276,917.6,-7.1,584,11543,0.00,2.47,0.00,0.000,1030,0.000,0.071,3130,2406,3325,3375,3276,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11859,-0.59,-116.8,3130,2404,3374,3275,937.9,-6.2,596,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3325,3375,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12155,-0.59,-116.8,3124,2404,3375,3275,957.2,-6.5,606,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3325,3375,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12456,-0.59,-116.8,3125,2404,3375,3275,975.8,-6.2,616,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3324,3374,3274,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12692,begin apogee
$GC,12701,-0.25,0.0,3124,2317,3380,3274,990.4,-5.9,624,12815,0.40,0.00,105.97,1.909,10246,0.174,0.000,3241,2314,2857,2928,2787,0,0,0,0,0,0,13.92,28.83,12.88
$STATE,12819,end apogee,CONTROL_FINISHED_OK
$STATE,12819,begin climb
$GC,12823,0.59,116.8,3241,2314,2927,2786,993.4,0.0,628,12950,0.85,2.70,112.45,1.884,10756,0.122,0.086,3515,932,2378,2507,2250,0,0,0,0,0,0,13.78,13.45,12.59
$GC,12990,0.59,116.8,3519,932,2506,2250,986.0,7.3,645,13000,0.00,2.60,0.00,0.000,1030,0.000,0.076,3517,2333,2378,2507,2250,0,0,0,0,0,0,28.83,13.64,28.83
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$STATE,25991,end climb,SURFACE_DEPTH_REACHED
$STATE,25991,begin surface coast
$FINISH,1.3,1.011738
$STATE,26042,end surface coast,CONTROL_FINISHED_OK
$STATE,26042,begin surface
$SM_CCo,26071,28.77,0.101,0,0,1329,375.06
$SM_GC,2.28,9.38,2.65,28.77,0.064,0.071,0.101,395,2399,1329,-9.10,-0.76,375.06,0,0,0,0,0,0,14.21,14.22,14.16
$IRIDIUM_FIX,4719.74,-12541.92,051014,161607
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.47
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3793376
$PM_FREEKB,50036704
$24V_AH,12.6,107.438
$10V_AH,12.6,0.000
$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,23.750,121.750,364.900,28.775,0.000,0.000,0.000,313.400,0.000,0.000,17.327,3294.551,19022.801,637.581,2860.730,838.432,0.000,2459.121,0.000,2076.625,0.000,0.536,0.000
$DEVICE_MAMPS,384.795,149.175,1909.440,100.980,0.000,0.000,0.000,168.300,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26075.000,13014.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.780,4.038,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,46629,1369
$CAP_FILE_SIZE,256338,0
$CFSIZE,260034560,213082112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,27649.65,0x2378ba,7,5
$CURRENT,0.011, 75.7,1
$GPS,061014,071110,4737.162,-12546.185,48,2.0,48,18.7