version: 66.11
glider: 187
mission: 2
dive: 173
start: 10 21 112 15 15 26
data:
$ID,187
$MISSION,2
$DIVE,173
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-1587844.4
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,211012,150805,4733.120,-12541.645,33,1.6,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-76.3
$GPS2,211012,151454,4733.032,-12541.624,12,1.8,17,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,233.3,116370,-13.4,-7.333,-18.42
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,74,0.00,0.00,-54.97,0.000,2,0.000,0.000,106,2164,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.48,-146.0,3.1,-3.2,9,106,11.32,0.00,-13.27,0.000,6,0.221,0.000,3032,2163,3391,0,0,0,0,0,0,25.20,28.83,26.00
$GC,423,-0.48,-146.0,68.1,-14.2,73,430,0.00,2.28,0.00,0.000,4,0.000,0.061,3023,3593,3397,0,0,0,0,0,0,28.83,25.71,28.83
$GC,542,-0.48,-146.0,85.2,-13.7,95,549,0.00,2.15,0.00,0.000,6,0.000,0.042,3023,2174,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,862,-0.48,-146.0,123.8,-12.2,152,866,0.00,2.15,0.00,0.000,4,0.000,0.050,3023,764,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,910,-0.48,-146.0,129.6,-12.1,155,915,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2174,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1225,-0.48,-146.0,168.2,-11.9,176,1230,0.00,2.20,0.00,0.000,4,0.000,0.063,3002,3587,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1339,-0.48,-146.0,181.1,-12.0,183,1347,0.15,2.15,0.00,0.000,6,0.132,0.042,3045,2162,3399,0,0,0,0,0,0,25.85,26.03,28.83
$GC,1656,-0.48,-146.0,209.3,-8.1,203,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2158,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,-0.48,-146.0,233.1,-7.8,218,1962,0.00,2.28,0.00,0.000,4,0.000,0.062,3037,3591,3398,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2009,-0.48,-146.0,236.6,-8.2,220,2017,0.00,2.15,0.00,0.000,6,0.000,0.043,3037,2160,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2317,-0.48,-146.0,264.0,-8.5,236,2322,0.00,2.25,0.00,0.000,4,0.000,0.063,3027,3592,3397,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2349,-0.48,-146.0,265.7,-8.6,237,2356,0.00,2.12,0.00,0.000,6,0.000,0.044,3027,2175,3397,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2657,-0.48,-146.0,295.8,-9.7,253,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2175,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,-0.48,-146.0,324.4,-9.3,268,2963,0.00,2.20,0.00,0.000,4,0.000,0.064,3016,3584,3396,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3004,-0.48,-146.0,328.1,-9.2,270,3008,0.00,2.12,0.00,0.000,6,0.000,0.044,3017,2176,3396,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3312,-0.48,-146.0,358.1,-9.4,285,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3611,-0.48,-146.0,387.2,-9.8,300,3617,0.00,2.25,0.00,0.000,4,0.000,0.064,3006,3595,3395,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3654,-0.48,-146.0,391.3,-10.0,302,3659,0.12,2.15,0.00,0.000,6,0.136,0.044,3042,2168,3395,0,0,0,0,0,0,26.01,26.17,28.83
$GC,3978,-0.48,-146.0,419.6,-8.7,315,3983,0.00,2.25,0.00,0.000,4,0.000,0.065,3032,3591,3395,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4007,-0.48,-146.0,422.1,-8.5,316,4013,0.00,2.15,0.00,0.000,6,0.000,0.046,3033,2173,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4337,-0.48,-146.0,451.7,-9.1,327,4343,0.00,2.25,0.00,0.000,4,0.000,0.065,3023,3590,3394,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4361,-0.48,-146.0,451.7,-9.1,327,4367,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,2167,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4667,-0.48,-146.0,483.9,-10.0,338,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2164,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4967,-0.48,-146.0,513.2,-9.7,348,4973,0.00,2.28,0.00,0.000,4,0.000,0.066,3013,3595,3392,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5027,-0.48,-146.0,519.4,-9.9,350,5033,0.00,2.17,0.00,0.000,6,0.000,0.046,3012,2164,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5358,-0.48,-146.0,552.9,-10.1,361,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2162,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5657,-0.48,-146.0,581.7,-9.3,371,5663,0.00,2.28,0.00,0.000,4,0.000,0.066,3002,3597,3391,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5710,-0.48,-146.0,584.5,-9.3,372,5719,0.15,2.15,0.00,0.000,6,0.129,0.045,3045,2168,3391,0,0,0,0,0,0,26.01,26.20,28.83
$GC,6018,-0.48,-146.0,607.8,-6.8,383,6023,0.00,2.22,0.00,0.000,4,0.000,0.066,3037,3584,3391,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6061,-0.48,-146.0,609.7,-6.7,384,6065,0.00,2.12,0.00,0.000,6,0.000,0.047,3037,2181,3391,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6373,-0.48,-146.0,632.3,-6.7,395,6379,0.00,2.22,0.00,0.000,4,0.000,0.067,3027,3587,3390,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6403,-0.48,-146.0,634.4,-6.7,396,6409,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2173,3390,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6733,-0.48,-146.0,659.0,-7.5,407,6738,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3595,3390,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6781,-0.48,-146.0,661.5,-7.7,408,6785,0.00,2.15,0.00,0.000,6,0.000,0.046,3017,2173,3390,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7088,-0.48,-146.0,688.7,-8.5,418,7093,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3588,3389,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7156,-0.48,-146.0,694.2,-8.8,420,7161,0.12,2.17,0.00,0.000,6,0.136,0.047,3043,2169,3389,0,0,0,0,0,0,26.02,26.17,28.83
$GC,7474,-0.48,-146.0,717.4,-7.1,431,7480,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3587,3389,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7534,-0.48,-146.0,721.9,-7.2,433,7540,0.00,2.12,0.00,0.000,6,0.000,0.047,3034,2181,3388,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7864,-0.48,-146.0,746.2,-7.3,444,7870,0.00,2.22,0.00,0.000,4,0.000,0.068,3025,3582,3388,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7902,-0.48,-146.0,748.5,-7.5,445,7906,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2169,3388,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8219,-0.48,-146.0,775.1,-8.4,456,8224,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3588,3388,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8262,-0.48,-146.0,777.6,-8.4,457,8266,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2174,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8574,-0.48,-146.0,807.8,-9.2,468,8580,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3599,3387,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8627,-0.48,-146.0,810.5,-9.2,469,8635,0.12,2.17,0.00,0.000,6,0.135,0.047,3040,2170,3387,0,0,0,0,0,0,26.01,26.16,28.83
$GC,8935,-0.48,-146.0,834.0,-6.5,480,8940,0.00,2.25,0.00,0.000,4,0.000,0.068,3031,3592,3387,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8973,-0.48,-146.0,836.0,-6.5,481,8977,0.00,2.17,0.00,0.000,6,0.000,0.048,3031,2166,3387,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9290,-0.48,-146.0,857.4,-6.4,492,9296,0.00,2.25,0.00,0.000,4,0.000,0.068,3022,3583,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9344,-0.48,-146.0,859.3,-6.4,493,9350,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,2169,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9650,-0.48,-146.0,882.4,-7.2,504,9656,0.00,2.30,0.00,0.000,4,0.000,0.069,3012,3596,3386,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9713,-0.48,-146.0,887.1,-7.7,506,9717,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,2166,3386,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10036,-0.48,-146.0,912.3,-7.5,517,10042,0.00,2.25,0.00,0.000,4,0.000,0.068,3002,3586,3385,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10095,-0.48,-146.0,917.0,-7.7,519,10102,0.15,2.17,0.00,0.000,6,0.129,0.048,3046,2166,3385,0,0,0,0,0,0,25.98,26.15,28.83
$GC,10426,-0.48,-146.0,934.7,-5.1,530,10431,0.00,2.28,0.00,0.000,4,0.000,0.069,3037,3593,3385,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10456,-0.48,-146.0,936.3,-5.1,531,10461,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2178,3385,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10785,-0.48,-146.0,954.6,-5.6,542,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2177,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11086,-0.48,-146.0,971.3,-5.6,552,11091,0.00,2.25,0.00,0.000,4,0.000,0.070,3028,3585,3384,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11158,-0.48,-146.0,975.0,-6.0,554,11162,0.00,2.17,0.00,0.000,6,0.000,0.049,3028,2163,3384,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,11408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11408,begin apogee
$GC,11415,-0.22,0.0,991.6,-6.1,563,11547,0.28,0.00,126.15,1.191,6,0.114,0.000,3122,2319,2793,0,0,0,0,0,0,25.97,28.83,23.68
$STATE,11550,end apogee,CONTROL_FINISHED_OK
$STATE,11550,begin climb
$GC,11553,0.48,146.0,994.7,0.0,567,11696,0.65,2.47,133.23,1.158,4,0.082,0.055,3354,906,2196,0,0,0,0,0,0,24.56,23.70,22.97
$GC,11710,0.48,146.7,985.0,7.3,573,11715,0.00,2.35,0.00,0.000,6,0.000,0.055,3354,2289,2193,0,0,0,0,0,0,28.83,23.96,28.83
$GC,12039,0.48,146.7,950.4,10.7,584,12045,0.00,2.38,0.00,0.000,4,0.000,0.069,3354,3709,2186,0,0,0,0,0,0,28.83,25.05,28.83
$GC,12114,0.48,146.7,942.9,11.5,586,12120,0.00,2.25,0.00,0.000,6,0.000,0.048,3365,2304,2185,0,0,0,0,0,0,28.83,25.24,28.83
$GC,12430,0.48,146.7,904.9,11.3,597,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2297,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12729,0.48,146.7,872.0,10.7,607,12735,0.00,2.33,0.00,0.000,4,0.000,0.068,3365,3722,2184,0,0,0,0,0,0,28.83,25.62,28.83
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$GC,17681,0.48,146.7,419.7,8.3,771,17687,0.00,2.30,0.00,0.000,4,0.000,0.068,3363,3721,2181,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,23120,end climb,SURFACE_DEPTH_REACHED
$STATE,23120,begin surface coast
$FINISH,1.0,1.023093
$STATE,23168,end surface coast,CONTROL_FINISHED_OK
$STATE,23168,begin surface
$SM_CCo,23250,0.00,0.000,0,0,1437,332.87
$SM_GC,1.79,8.35,2.45,0.00,0.027,0.046,0.000,117,2167,1437,-9.46,1.05,332.87,0,0,0,0,0,0,25.82,25.72,28.83
$IRIDIUM_FIX,4716.56,-12533.74,211012,080858
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.25
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.0,25.001
$10V_AH,10.2,21.064
$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,22.100,213.800,412.175,0.000,0.000,27.427,41.684,206.500,0.000,0.000,20.039,3429.943,16229.197,532.555,3056.269,401.960,0.000,2025.642,0.000,2744.463,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,80.325,1191.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.481,755.749,521.033,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73685,1297
$CAP_FILE_SIZE,199567,0
$CFSIZE,260165632,243384320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093, 59.9,1
$GPS,211012,214405,4732.437,-12544.561,31,0.9,31,18.7