version: 66.11
glider: 189
mission: 7
dive: 430
start: 1 27 113 4 26 12
data:
$ID,189
$MISSION,7
$DIVE,430
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48195.086
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270113,041604,2430.594,-3746.381,37,0.9,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-58.4
$GPS2,270113,042511,2430.604,-3746.398,18,1.0,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.115
$KALMAN_X,222627.0,285.4,287.9,-197106.8,-2730.3
$KALMAN_Y,18545.0,-37.7,-847.4,-26935.5,4076.7
$MHEAD_RNG_PITCHd_Wd,199.8,3166,-21.1,-6.667,-30.00
$D_GRID,990
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.90,0.000,2,0.000,0.000,150,2117,1409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.07,2.47,-49.78,0.000,4,0.186,0.050,2570,551,2719,0,0,0,0,0,0,25.39,25.96,26.70
$GC,345,-1.24,-97.7,19.5,-7.5,32,353,0.12,2.47,0.00,0.000,6,0.138,0.024,2598,2189,2720,0,0,0,0,0,0,25.81,26.33,28.83
$GC,655,-1.24,-97.7,38.9,-6.5,63,662,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,3741,2720,0,0,0,0,0,0,28.83,26.11,28.83
$GC,924,-1.19,-97.7,61.3,-9.0,90,933,0.00,2.42,0.00,0.000,6,0.000,0.021,2588,2101,2721,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1254,-1.16,-97.7,90.6,-8.1,111,1262,0.12,2.65,0.00,0.000,4,0.151,0.039,2610,3749,2721,0,0,0,0,0,0,26.36,26.15,28.83
$GC,1554,-1.16,-97.7,112.2,-6.6,121,1561,0.00,2.42,0.00,0.000,6,0.000,0.021,2610,2105,2722,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1888,-1.16,-97.7,130.0,-4.6,132,1893,0.00,2.62,0.00,0.000,4,0.000,0.038,2597,3757,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2077,-1.14,-97.7,139.9,-5.8,138,2083,0.12,2.42,0.00,0.000,6,0.148,0.021,2630,2079,2722,0,0,0,0,0,0,26.10,26.48,28.83
$GC,2395,-1.17,-97.7,167.9,-9.3,146,2402,0.00,2.67,0.00,0.000,4,0.000,0.038,2619,3751,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2637,-1.17,-97.7,188.7,-8.7,150,2643,0.00,2.40,0.00,0.000,6,0.000,0.021,2619,2097,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2995,-1.19,-97.7,210.2,-5.5,156,3001,0.00,2.38,0.00,0.000,4,0.000,0.037,2619,547,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3093,-1.19,-97.7,213.5,-5.4,157,3101,0.00,2.47,0.00,0.000,6,0.000,0.023,2607,2194,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3415,-1.19,-97.7,233.1,-5.4,163,3421,0.00,2.53,0.00,0.000,4,0.000,0.035,2607,545,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3493,-1.19,-97.7,236.8,-5.5,164,3501,0.00,2.47,0.00,0.000,6,0.000,0.023,2594,2192,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3834,-1.19,-97.7,261.9,-7.1,170,3841,0.00,2.47,0.00,0.000,4,0.000,0.040,2583,3742,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4134,-1.19,-97.7,284.3,-7.6,175,4142,0.08,2.42,0.00,0.000,6,0.128,0.020,2609,2095,2723,0,0,0,0,0,0,26.16,26.50,28.83
$GC,4496,-1.22,-97.7,308.2,-6.6,181,4502,0.00,2.62,0.00,0.000,4,0.000,0.040,2598,3758,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4783,-1.22,-97.7,325.1,-7.1,185,4792,0.00,2.47,0.00,0.000,6,0.000,0.020,2598,2098,2722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5094,-1.22,-97.7,351.5,-7.4,191,5101,0.00,2.65,0.00,0.000,4,0.000,0.040,2586,3748,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5164,-1.22,-97.7,356.0,-7.5,192,5171,0.00,2.45,0.00,0.000,6,0.000,0.021,2586,2094,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5514,-1.22,-97.7,383.4,-7.5,198,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2094,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5814,-1.22,-97.7,404.2,-6.8,203,5822,0.00,2.42,0.00,0.000,4,0.000,0.037,2586,545,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5864,-1.22,-97.7,404.2,-6.8,203,5874,0.10,2.47,0.00,0.000,6,0.131,0.023,2607,2191,2721,0,0,0,0,0,0,26.03,26.44,28.83
$GC,6175,-1.26,-97.7,428.6,-6.8,209,6181,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,3748,2720,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6254,-1.29,-97.7,432.9,-6.8,210,6261,0.00,2.45,0.00,0.000,6,0.000,0.021,2597,2100,2719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6595,-1.33,-97.7,457.8,-7.0,216,6601,0.00,2.40,0.00,0.000,4,0.000,0.037,2597,542,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6664,-1.35,-97.7,462.2,-7.1,217,6671,0.00,2.50,0.00,0.000,6,0.000,0.023,2586,2198,2719,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7015,-1.38,-97.7,486.6,-6.8,223,7021,0.00,2.47,0.00,0.000,4,0.000,0.041,2574,3757,2718,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7114,-1.38,-97.7,491.0,-6.8,224,7121,0.00,2.47,0.00,0.000,6,0.000,0.021,2574,2099,2718,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7494,-1.38,-97.7,522.5,-7.5,229,7502,0.00,2.65,0.00,0.000,4,0.000,0.041,2562,3745,2717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7584,-1.38,-97.7,522.5,-7.5,229,7591,0.00,2.45,0.00,0.000,6,0.000,0.021,2562,2100,2716,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7974,-1.38,-97.7,561.9,-8.2,233,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2100,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8334,-1.38,-97.7,591.6,-8.3,236,8342,0.00,2.67,0.00,0.000,4,0.000,0.041,2550,3744,2713,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8473,-1.38,-97.7,601.9,-8.3,237,8481,0.00,2.45,0.00,0.000,6,0.000,0.021,2550,2105,2713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8816,-1.38,-97.7,630.5,-8.1,240,8821,0.00,2.62,0.00,0.000,4,0.000,0.041,2538,3754,2713,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8944,-1.38,-97.7,640.2,-7.9,241,8951,0.00,2.47,0.00,0.000,6,0.000,0.021,2535,2106,2712,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9295,-1.38,-97.7,670.2,-8.3,244,9301,0.00,2.62,0.00,0.000,4,0.000,0.041,2525,3750,2711,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9373,-1.38,-97.7,670.2,-8.3,244,9382,0.12,2.47,0.00,0.000,6,0.157,0.021,2556,2098,2711,0,0,0,0,0,0,26.04,26.44,28.83
$GC,9774,-1.38,-97.7,710.4,-8.4,248,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2098,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10134,-1.38,-97.7,737.2,-7.6,251,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2098,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10495,-1.38,-97.7,762.4,-7.0,254,10501,0.00,2.65,0.00,0.000,4,0.000,0.042,2546,3753,2708,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10563,-1.38,-97.7,762.4,-7.0,254,10571,0.00,2.47,0.00,0.000,6,0.000,0.022,2546,2107,2708,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10974,-1.38,-97.7,799.7,-7.8,258,10981,0.00,2.67,0.00,0.000,4,0.000,0.041,2534,3748,2707,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11084,-1.38,-97.7,799.7,-7.8,258,11093,0.00,2.45,0.00,0.000,6,0.000,0.023,2534,2114,2706,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11454,-1.38,-97.7,842.3,-8.8,262,11461,0.00,2.65,0.00,0.000,4,0.000,0.042,2522,3739,2705,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11533,-1.38,-97.7,842.3,-8.8,262,11542,0.12,2.47,0.00,0.000,6,0.158,0.022,2553,2095,2705,0,0,0,0,0,0,26.00,26.40,28.83
$GC,11935,-1.38,-97.7,884.2,-8.7,266,11941,0.00,2.45,0.00,0.000,4,0.000,0.041,2553,549,2703,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11983,-1.38,-97.7,884.2,-8.7,266,11991,0.00,2.50,0.00,0.000,6,0.000,0.024,2543,2192,2703,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12295,-1.40,-97.7,912.4,-8.0,269,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2192,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12655,-1.40,-97.7,940.6,-7.8,272,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2192,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13015,-1.42,-97.7,970.9,-8.3,275,13021,0.00,2.58,0.00,0.000,4,0.000,0.040,2543,549,2700,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13074,-1.44,-97.7,970.9,-8.3,275,13081,0.00,2.50,0.00,0.000,6,0.000,0.026,2531,2188,2700,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,13251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13251,begin apogee
$GC,13260,-0.29,0.0,992.4,-8.7,277,13353,1.20,0.00,85.60,1.687,6,0.131,0.000,2900,1576,2320,0,0,0,0,0,0,25.08,28.83,22.99
$STATE,13355,end apogee,CONTROL_FINISHED_OK
$STATE,13355,begin climb
$GC,13358,1.33,97.7,997.3,0.0,282,13458,1.48,2.10,92.28,1.683,4,0.061,0.047,3437,354,1921,0,0,0,0,0,0,25.27,24.89,23.03
$GC,13656,1.17,98.9,985.8,6.6,297,13665,0.22,1.98,0.00,0.000,6,0.160,0.023,3382,1661,1910,0,0,0,0,0,0,25.69,26.20,28.83
$GC,14027,1.09,119.6,964.3,5.6,301,14048,0.00,0.00,19.12,1.580,6,0.000,0.000,3378,1661,1831,0,0,0,0,0,0,28.83,28.83,23.84
$GC,14388,1.02,125.6,940.6,6.4,304,14397,0.17,0.00,6.38,1.355,6,0.158,0.000,3331,1662,1808,0,0,0,0,0,0,25.99,28.83,23.93
$GC,14747,0.99,125.6,916.6,6.7,307,14754,0.00,2.10,0.00,0.000,4,0.000,0.047,3338,353,1805,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15045,0.99,125.6,899.8,6.9,309,15049,0.00,1.98,0.00,0.000,6,0.000,0.025,3338,1660,1804,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15458,0.98,131.8,869.8,6.4,313,15469,0.00,2.15,6.70,1.363,4,0.000,0.047,3348,348,1782,0,0,0,0,0,0,28.83,26.22,23.98
$GC,15538,0.96,138.0,869.8,6.4,313,15551,0.10,1.98,7.43,1.385,6,0.138,0.025,3316,1647,1756,0,0,0,0,0,0,26.01,26.40,23.93
$GC,15920,0.96,138.0,836.3,7.2,317,15927,0.00,2.08,0.00,0.000,4,0.000,0.047,3324,353,1755,0,0,0,0,0,0,28.83,26.13,28.83
$GC,16039,0.96,138.0,826.5,7.6,318,16047,0.00,1.95,0.00,0.000,6,0.000,0.025,3324,1648,1754,0,0,0,0,0,0,28.83,26.44,28.83
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$GC,21616,1.19,173.9,403.2,8.9,374,21617,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1651,1610,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26204,end climb,SURFACE_DEPTH_REACHED
$STATE,26204,begin surface coast
$FINISH,1.4,1.025672
$STATE,26238,end surface coast,CONTROL_FINISHED_OK
$STATE,26238,begin surface
$SM_CCo,26261,57.08,0.124,0,0,1094,300.00
$SM_GC,2.42,8.65,0.82,57.08,0.039,0.028,0.124,154,2215,1094,-8.84,-0.40,300.00,0,0,0,0,0,0,26.35,26.49,25.48
$IRIDIUM_FIX,2413.38,-3748.97,260113,212153
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.98
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,20.70
$XPDR_PINGS,0
$SC_FREEKB,7604736
$TM_FREEKB,4777856
$24V_AH,23.0,74.696
$10V_AH,10.1,66.074
$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,22.050,215.050,256.850,57.075,0.000,27.032,40.518,195.409,0.000,0.000,19.570,2208.922,21324.840,706.196,2044.256,569.799,33.285,1675.396,0.000,1674.144,0.000,0.536,0.000
$DEVICE_MAMPS,185.895,133.110,1686.825,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.824,13.521,0.000,0.000
$MEM,343704
$DATA_FILE_SIZE,13413,537
$CAP_FILE_SIZE,193156,0
$CFSIZE,260034560,211619840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270113,114605,2429.983,-3747.110,33,1.0,34,-14.0