version: 66.11
glider: 187
mission: 2
dive: 526
start: 1 24 113 18 19 25
data:
$ID,187
$MISSION,2
$DIVE,526
$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,470
$T_MISSION,520
$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,140
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1588656.2
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,26
$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,20
$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
$GPS1,240113,180805,4707.136,-12642.070,26,1.8,26,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.4
$GPS2,240113,181851,4707.164,-12642.084,14,2.1,33,18.6
$SPEED_LIMITS,0.122,0.210
$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,222.7,26232,-13.3,-7.021,-18.50
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.47,-136.3,0.0,0.0,0,122,0.00,0.00,-102.70,0.000,2,0.000,0.000,114,2193,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.47,-136.3,3.3,-3.2,18,158,11.65,2.17,-12.93,0.000,4,0.216,0.060,3036,802,3352,0,0,0,0,0,0,24.56,25.51,26.20
$GC,254,-0.47,-136.3,25.2,-15.3,41,261,0.00,2.22,0.00,0.000,6,0.000,0.050,3028,2209,3353,0,0,0,0,0,0,28.83,25.54,28.83
$GC,566,-0.47,-136.3,70.3,-16.0,102,573,0.00,2.25,0.00,0.000,4,0.000,0.062,3017,3613,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,596,-0.47,-136.3,75.1,-15.9,107,603,0.00,2.20,0.00,0.000,6,0.000,0.044,3017,2198,3353,0,0,0,0,0,0,28.83,25.75,28.83
$GC,908,-0.47,-136.3,115.4,-12.6,168,915,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1218,-0.47,-136.3,150.9,-10.6,193,1226,0.00,2.20,0.00,0.000,4,0.000,0.050,3017,804,3353,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1288,-0.47,-136.3,158.2,-10.1,200,1298,0.08,2.22,0.00,0.000,6,0.118,0.050,3037,2200,3354,0,0,0,0,0,0,25.51,25.68,28.83
$GC,1598,-0.47,-136.3,182.8,-7.6,221,1606,0.00,2.28,0.00,0.000,4,0.000,0.062,3029,3602,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1698,-0.47,-136.3,190.8,-8.1,231,1706,0.00,2.22,0.00,0.000,6,0.000,0.043,3029,2197,3353,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2009,-0.47,-136.3,214.9,-7.8,249,2013,0.00,2.20,0.00,0.000,4,0.000,0.050,3029,804,3354,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2047,-0.47,-136.3,218.4,-8.3,251,2053,0.00,2.25,0.00,0.000,6,0.000,0.050,3020,2204,3354,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2368,-0.47,-136.3,249.8,-10.3,267,2373,0.00,2.30,0.00,0.000,4,0.000,0.062,3009,3607,3353,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2409,-0.47,-136.3,254.1,-10.6,269,2414,0.08,2.20,0.00,0.000,6,0.107,0.044,3038,2208,3353,0,0,0,0,0,0,25.63,25.83,28.83
$GC,2728,-0.47,-136.3,282.1,-8.4,285,2733,0.00,2.30,0.00,0.000,4,0.000,0.062,3030,3612,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2788,-0.47,-136.3,287.1,-8.4,288,2793,0.00,2.25,0.00,0.000,6,0.000,0.044,3030,2193,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3108,-0.47,-136.3,313.8,-8.2,304,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3408,-0.47,-136.3,336.4,-7.3,319,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3710,-0.47,-136.3,358.1,-7.3,334,3714,0.00,2.30,0.00,0.000,4,0.000,0.063,3020,3612,3353,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3746,-0.47,-136.3,360.5,-7.4,335,3750,0.00,2.25,0.00,0.000,6,0.000,0.044,3020,2204,3353,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4048,-0.47,-136.3,386.6,-8.9,350,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4358,-0.47,-136.3,415.2,-9.4,363,4364,0.00,2.35,0.00,0.000,4,0.000,0.063,3010,3613,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4396,-0.47,-136.3,418.0,-9.3,364,4401,0.12,2.28,0.00,0.000,6,0.125,0.045,3047,2191,3353,0,0,0,0,0,0,25.61,25.77,28.83
$GC,4709,-0.47,-136.3,441.6,-7.1,375,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2189,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5010,-0.47,-136.3,461.7,-6.5,385,5015,0.00,2.35,0.00,0.000,4,0.000,0.065,3039,3610,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5048,-0.47,-136.3,463.6,-6.5,386,5055,0.00,2.28,0.00,0.000,6,0.000,0.046,3038,2189,3352,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5370,-0.47,-136.3,485.0,-6.3,397,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5670,-0.47,-136.3,504.4,-6.7,407,5675,0.00,2.35,0.00,0.000,4,0.000,0.065,3029,3608,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5709,-0.47,-136.3,506.5,-6.8,408,5714,0.00,2.28,0.00,0.000,6,0.000,0.046,3029,2190,3351,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6029,-0.47,-136.3,532.1,-8.0,419,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6330,-0.47,-136.3,557.7,-8.7,429,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,-0.47,-136.3,583.6,-8.5,439,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,-0.47,-136.3,608.5,-8.2,449,6935,0.00,2.35,0.00,0.000,4,0.000,0.065,3019,3605,3350,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6977,-0.47,-136.3,611.1,-8.2,450,6982,0.00,2.25,0.00,0.000,6,0.000,0.047,3020,2203,3350,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7279,-0.47,-136.3,636.5,-7.5,460,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2201,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7581,-0.47,-136.3,655.8,-6.2,470,7585,0.00,2.33,0.00,0.000,4,0.000,0.067,3010,3604,3348,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7628,-0.47,-136.3,657.7,-6.2,471,7633,0.12,2.28,0.00,0.000,6,0.123,0.047,3047,2189,3349,0,0,0,0,0,0,25.57,25.71,28.83
$GC,7930,-0.47,-136.3,671.8,-4.2,481,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2187,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8231,-0.47,-136.3,685.9,-4.8,491,8235,0.00,2.35,0.00,0.000,4,0.000,0.067,3039,3605,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8268,-0.47,-136.3,687.7,-5.0,492,8272,0.00,2.28,0.00,0.000,6,0.000,0.047,3039,2190,3347,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8580,-0.47,-136.3,706.9,-6.4,503,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2188,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8881,-0.47,-136.3,726.7,-6.8,513,8885,0.00,2.33,0.00,0.000,4,0.000,0.067,3029,3615,3347,0,0,0,0,0,0,28.83,25.35,28.83
$GC,8928,-0.47,-136.3,728.9,-6.9,514,8933,0.00,2.30,0.00,0.000,6,0.000,0.047,3029,2188,3347,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9230,-0.47,-136.3,751.8,-7.1,524,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9531,-0.47,-136.3,773.2,-7.1,534,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9830,-0.47,-136.3,794.1,-6.6,544,9835,0.00,2.35,0.00,0.000,4,0.000,0.067,3020,3604,3346,0,0,0,0,0,0,28.83,25.33,28.83
$GC,9860,-0.47,-136.3,795.8,-6.5,545,9865,0.00,2.25,0.00,0.000,6,0.000,0.048,3020,2198,3346,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10191,-0.47,-136.3,816.7,-6.0,556,10196,0.00,2.25,0.00,0.000,4,0.000,0.054,3020,795,3346,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10250,-0.47,-136.3,820.6,-6.3,558,10257,0.08,2.28,0.00,0.000,6,0.107,0.055,3040,2202,3346,0,0,0,0,0,0,25.34,25.49,28.83
$GC,10581,-0.47,-136.3,836.5,-4.8,569,10585,0.00,2.33,0.00,0.000,4,0.000,0.067,3033,3605,3346,0,0,0,0,0,0,28.83,25.32,28.83
$GC,10649,-0.47,-136.3,839.4,-4.8,571,10655,0.00,2.28,0.00,0.000,6,0.000,0.047,3033,2195,3346,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10970,-0.47,-136.3,858.5,-6.0,582,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2195,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11270,-0.47,-136.3,877.6,-6.5,592,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11571,-0.47,-136.3,897.9,-6.8,602,11575,0.00,2.38,0.00,0.000,4,0.000,0.067,3023,3611,3345,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11618,-0.47,-136.3,900.0,-6.8,603,11622,0.00,2.30,0.00,0.000,6,0.000,0.048,3023,2193,3345,0,0,0,0,0,0,28.83,25.64,28.83
$GC,11920,-0.47,-136.3,923.6,-7.3,613,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2192,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12221,-0.47,-136.3,944.1,-6.6,623,12225,0.00,2.38,0.00,0.000,4,0.000,0.068,3013,3610,3345,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12258,-0.47,-136.3,946.0,-6.6,624,12262,0.00,2.30,0.00,0.000,6,0.000,0.049,3013,2190,3345,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12571,-0.47,-136.3,966.0,-5.9,635,12573,0.10,0.00,0.00,0.000,6,0.148,0.000,3042,2187,3344,0,0,0,0,0,0,26.13,28.83,28.83
$GC,12872,-0.47,-136.3,979.6,-4.3,645,12876,0.00,2.38,0.00,0.000,4,0.000,0.068,3033,3610,3345,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12901,-0.47,-136.3,981.1,-4.4,646,12906,0.00,2.28,0.00,0.000,6,0.000,0.049,3033,2198,3344,0,0,0,0,0,0,28.83,25.62,28.83
$STATE,13108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13108,begin apogee
$GC,13115,-0.22,0.0,990.6,-4.6,653,13246,0.25,0.00,125.85,1.158,6,0.106,0.000,3121,2338,2794,0,0,0,0,0,0,25.72,28.83,22.57
$STATE,13247,end apogee,CONTROL_FINISHED_OK
$STATE,13247,begin climb
$GC,13251,0.47,136.3,993.0,0.0,657,13392,0.68,2.60,134.43,1.121,4,0.070,0.066,3351,3731,2237,0,0,0,0,0,0,24.38,23.33,21.77
$GC,13433,0.47,136.3,982.3,7.7,664,13437,0.00,2.40,0.00,0.000,6,0.000,0.048,3361,2328,2233,0,0,0,0,0,0,28.83,23.97,28.83
$GC,13751,0.47,136.3,950.8,9.6,675,13756,0.00,2.33,0.00,0.000,4,0.000,0.058,3372,915,2227,0,0,0,0,0,0,28.83,25.33,28.83
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$GC,22654,0.50,204.2,237.5,7.8,1006,22658,0.00,2.25,0.00,0.000,4,0.000,0.056,3389,924,1968,0,0,0,0,0,0,28.83,25.51,28.83
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$STATE,25715,end climb,SURFACE_DEPTH_REACHED
$STATE,25716,begin surface coast
$FINISH,1.3,1.025201
$STATE,25759,end surface coast,CONTROL_FINISHED_OK
$STATE,25759,begin surface
$SM_CCo,25839,0.00,0.000,0,0,1126,408.92
$SM_GC,2.03,8.27,0.15,0.00,0.026,0.084,0.000,109,2204,1126,-9.46,1.44,408.92,0,0,0,0,0,0,26.04,26.08,28.83
$IRIDIUM_FIX,4651.23,-12635.12,240113,101030
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.57
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,18.70
$XPDR_PINGS,2
$24V_AH,21.8,73.405
$10V_AH,9.8,57.873
$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,21.950,188.375,503.850,0.000,0.000,25.206,36.317,403.328,0.500,0.000,35.188,3528.597,19013.768,803.509,2655.632,475.852,0.000,2035.152,0.000,2166.092,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,84.150,1158.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,945.900,700.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296840
$DATA_FILE_SIZE,76791,1375
$CAP_FILE_SIZE,196344,0
$CFSIZE,260165632,213520384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150, 72.9,1
$GPS,250113,013124,4705.594,-12644.889,42,1.4,42,18.6