version: 66.11
glider: 189
mission: 7
dive: 568
start: 3 9 113 10 54 7
data:
$ID,189
$MISSION,7
$DIVE,568
$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,-48368.754
$T_RSLEEP,28
$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
$GPS1,090313,104258,2431.095,-3747.296,37,0.8,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-60.4
$GPS2,090313,105305,2431.108,-3747.323,19,0.9,19,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.114,0.017
$KALMAN_X,95033.5,99.9,552.6,-71144.3,-4725.8
$KALMAN_Y,93388.9,145.5,530.0,-102422.9,-713.6
$MHEAD_RNG_PITCHd_Wd,95.7,1558,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.07,0.000,2,0.000,0.000,150,2177,1383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.25,2.62,-51.05,0.000,4,0.189,0.053,2569,3744,2720,0,0,0,0,0,0,25.23,25.84,26.68
$GC,295,-1.26,-97.7,15.1,-8.7,27,303,0.00,2.45,0.00,0.000,6,0.000,0.021,2569,2107,2720,0,0,0,0,0,0,28.83,26.28,28.83
$GC,605,-1.22,-97.7,40.1,-8.2,58,612,0.15,0.00,0.00,0.000,6,0.151,0.000,2609,2107,2720,0,0,0,0,0,0,26.15,28.83,28.83
$GC,915,-1.22,-97.7,63.7,-7.4,89,922,0.00,2.45,0.00,0.000,4,0.000,0.037,2609,545,2721,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1035,-1.19,-97.7,73.4,-8.0,101,1043,0.00,2.53,0.00,0.000,6,0.000,0.024,2598,2187,2721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1355,-1.19,-97.7,99.1,-8.4,113,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2188,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1655,-1.19,-97.7,126.8,-9.4,123,1661,0.00,2.58,0.00,0.000,4,0.000,0.035,2598,545,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1725,-1.19,-97.7,132.3,-9.3,125,1731,0.00,2.47,0.00,0.000,6,0.000,0.023,2586,2197,2722,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2045,-1.19,-97.7,160.9,-8.2,134,2047,0.12,0.00,0.00,0.000,6,0.155,0.000,2624,2197,2722,0,0,0,0,0,0,26.28,28.83,28.83
$GC,2345,-1.23,-97.7,181.4,-6.7,139,2351,0.00,2.55,0.00,0.000,4,0.000,0.035,2620,539,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2435,-1.25,-97.7,185.3,-6.5,140,2441,0.00,2.42,0.00,0.000,6,0.000,0.024,2609,2190,2723,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2765,-1.28,-97.7,206.3,-5.8,146,2771,0.00,2.53,0.00,0.000,4,0.000,0.034,2609,545,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2814,-1.31,-97.7,206.3,-5.8,146,2823,0.00,2.47,0.00,0.000,6,0.000,0.023,2597,2193,2723,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3126,-1.31,-97.7,229.2,-6.7,152,3132,0.00,2.47,0.00,0.000,4,0.000,0.041,2585,3753,2723,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3204,-1.31,-97.7,233.7,-7.0,153,3211,0.00,2.45,0.00,0.000,6,0.000,0.020,2585,2096,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3545,-1.31,-97.7,262.5,-8.1,159,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2096,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3846,-1.31,-97.7,284.3,-7.1,164,3851,0.00,2.38,0.00,0.000,4,0.000,0.037,2585,534,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3905,-1.31,-97.7,288.1,-6.8,165,3911,0.00,2.47,0.00,0.000,6,0.000,0.023,2573,2190,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4265,-1.31,-97.7,308.7,-5.6,171,4271,0.00,2.55,0.00,0.000,4,0.000,0.036,2574,546,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4335,-1.31,-97.7,312.4,-5.7,172,4341,0.00,2.45,0.00,0.000,6,0.000,0.023,2561,2190,2723,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4685,-1.31,-97.7,334.9,-6.5,178,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2190,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4985,-1.31,-97.7,359.4,-8.2,183,4991,0.00,2.58,0.00,0.000,4,0.000,0.036,2561,545,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5046,-1.31,-97.7,365.0,-8.6,184,5052,0.05,2.53,0.00,0.000,6,0.117,0.029,2577,2182,2722,0,0,0,0,0,0,24.72,24.29,28.83
$GC,5405,-1.31,-97.7,399.1,-9.6,190,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2182,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5705,-1.31,-97.7,427.2,-9.3,195,5711,0.00,2.58,0.00,0.000,4,0.000,0.037,2577,542,2720,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5755,-1.31,-97.7,427.2,-9.3,195,5762,0.00,2.47,0.00,0.000,6,0.000,0.024,2563,2188,2721,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6065,-1.31,-97.7,456.4,-7.7,201,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2188,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6365,-1.31,-97.7,474.7,-6.0,206,6371,0.00,2.53,0.00,0.000,4,0.000,0.036,2567,545,2719,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6486,-1.31,-97.7,482.0,-5.9,208,6491,0.00,2.50,0.00,0.000,6,0.000,0.024,2555,2196,2718,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6905,-1.31,-97.7,510.5,-7.0,214,6911,0.00,2.60,0.00,0.000,4,0.000,0.037,2555,544,2717,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6974,-1.31,-97.7,510.5,-7.0,214,6982,0.10,2.55,0.00,0.000,6,0.135,0.024,2575,2189,2717,0,0,0,0,0,0,25.87,26.30,28.83
$GC,7386,-1.33,-97.7,551.7,-8.6,218,7391,0.00,2.55,0.00,0.000,4,0.000,0.037,2575,542,2716,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7444,-1.36,-97.7,551.7,-8.6,218,7451,0.00,2.47,0.00,0.000,6,0.000,0.024,2565,2184,2716,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7865,-1.38,-97.7,592.9,-8.6,222,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2184,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8226,-1.40,-97.7,619.7,-7.6,225,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2184,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8585,-1.43,-97.7,643.3,-6.7,228,8592,0.00,2.58,0.00,0.000,4,0.000,0.038,2565,547,2712,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8665,-1.45,-97.7,643.3,-6.7,228,8671,0.00,2.47,0.00,0.000,6,0.000,0.024,2553,2180,2712,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9066,-1.45,-97.7,676.2,-6.8,232,9072,0.00,2.55,0.00,0.000,4,0.000,0.039,2553,543,2711,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9104,-1.45,-97.7,676.2,-6.8,232,9111,0.00,2.53,0.00,0.000,6,0.000,0.025,2541,2195,2711,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9425,-1.45,-97.7,706.2,-8.1,235,9431,0.00,2.60,0.00,0.000,4,0.000,0.038,2541,550,2711,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9485,-1.45,-97.7,706.2,-8.1,235,9491,0.00,2.47,0.00,0.000,6,0.000,0.025,2529,2185,2710,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9905,-1.45,-97.7,752.9,-9.7,239,9911,0.00,2.60,0.00,0.000,4,0.000,0.038,2529,547,2709,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10005,-1.45,-97.7,752.9,-9.7,239,10011,0.00,2.45,0.00,0.000,6,0.000,0.025,2517,2190,2708,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10386,-1.45,-97.7,799.6,-9.7,243,10391,0.00,2.58,0.00,0.000,4,0.000,0.040,2517,544,2707,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10454,-1.45,-97.7,799.6,-9.7,243,10461,0.00,2.53,0.00,0.000,6,0.000,0.025,2505,2195,2706,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10865,-1.43,-97.7,841.3,-8.7,247,10872,0.12,2.58,0.00,0.000,4,0.163,0.039,2537,548,2706,0,0,0,0,0,0,26.27,25.93,28.83
$GC,10945,-1.41,-97.7,841.3,-8.7,247,10952,0.00,2.50,0.00,0.000,6,0.000,0.026,2527,2186,2706,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11345,-1.41,-97.7,885.2,-9.1,251,11351,0.00,2.60,0.00,0.000,4,0.000,0.039,2527,555,2704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11454,-1.41,-97.7,885.2,-9.1,251,11463,0.08,2.55,0.00,0.000,6,0.143,0.026,2539,2182,2704,0,0,0,0,0,0,25.84,26.22,28.83
$GC,11826,-1.41,-97.7,932.6,-9.9,255,11831,0.00,2.58,0.00,0.000,4,0.000,0.041,2540,543,2703,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11904,-1.41,-97.7,932.6,-9.9,255,11912,0.00,2.58,0.00,0.000,6,0.000,0.026,2529,2186,2702,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12305,-1.41,-97.7,973.2,-8.5,259,12311,0.00,2.60,0.00,0.000,4,0.000,0.040,2529,551,2702,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12426,-1.41,-97.7,982.3,-8.0,260,12431,0.00,2.45,0.00,0.000,6,0.000,0.026,2517,2193,2701,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,12541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12541,begin apogee
$GC,12550,-0.29,0.0,990.9,-7.6,261,12643,1.25,0.00,85.75,1.649,6,0.125,0.000,2903,1578,2319,0,0,0,0,0,0,24.79,28.83,22.94
$STATE,12645,end apogee,CONTROL_FINISHED_OK
$STATE,12645,begin climb
$GC,12650,1.33,97.7,993.2,0.0,266,12752,1.45,2.10,92.22,1.626,4,0.058,0.047,3437,348,1920,0,0,0,0,0,0,25.34,24.98,22.95
$GC,12814,1.18,97.7,987.0,7.3,274,12824,0.20,2.00,0.00,0.000,6,0.163,0.024,3381,1668,1915,0,0,0,0,0,0,25.39,25.92,28.83
$GC,13206,1.08,97.7,955.8,7.8,279,13212,0.12,2.08,0.00,0.000,4,0.180,0.046,3359,353,1908,0,0,0,0,0,0,26.09,26.06,28.83
$GC,13354,1.00,97.7,948.3,7.4,280,13362,0.10,1.95,0.00,0.000,6,0.172,0.024,3331,1663,1907,0,0,0,0,0,0,25.96,26.37,28.83
$GC,13686,0.99,129.8,931.4,5.1,283,13722,0.00,2.58,27.90,1.582,4,0.000,0.035,3330,3206,1790,0,0,0,0,0,0,28.83,25.65,23.58
$GC,13897,1.00,169.4,925.6,4.7,284,13942,0.00,2.53,37.17,1.576,6,0.000,0.031,3341,1573,1629,0,0,0,0,0,0,28.83,26.08,23.39
$GC,14289,1.00,170.1,893.8,6.6,288,14294,0.00,2.62,0.00,0.000,4,0.000,0.035,3341,3208,1623,0,0,0,0,0,0,28.83,26.11,28.83
$GC,14424,1.00,170.1,883.9,7.3,289,14432,0.10,2.55,0.00,0.000,6,0.183,0.030,3326,1582,1621,0,0,0,0,0,0,25.88,26.20,28.83
$GC,14765,1.00,170.1,851.8,8.8,292,14771,0.00,2.58,0.00,0.000,4,0.000,0.035,3326,3202,1620,0,0,0,0,0,0,28.83,26.14,28.83
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$GC,18115,1.26,215.3,576.6,10.8,320,18122,0.12,2.60,0.00,0.000,4,0.083,0.034,3426,3208,1437,0,0,0,0,0,0,26.51,26.08,28.83
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$STATE,24052,end climb,SURFACE_DEPTH_REACHED
$STATE,24052,begin surface coast
$FINISH,1.4,1.026029
$STATE,24074,end surface coast,CONTROL_FINISHED_OK
$STATE,24074,begin surface
$SM_CCo,24100,38.92,0.124,0,0,1093,300.00
$SM_GC,2.24,8.68,0.82,38.92,0.034,0.034,0.124,152,2180,1093,-8.83,-0.65,300.00,0,0,0,0,0,0,26.14,26.30,25.28
$IRIDIUM_FIX,2427.58,-3751.46,090313,030337
$TT8_MAMPS,0.029211,0.029211
$HUMID,63.66
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.40
$XPDR_PINGS,325
$SC_FREEKB,7551712
$TM_FREEKB,4193184
$24V_AH,22.9,94.510
$10V_AH,8.1,84.191
$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,22.350,212.325,285.450,38.925,0.000,33.780,39.300,204.947,81.250,0.000,20.824,1910.448,19672.885,677.775,1809.842,660.859,33.259,1555.225,0.000,1428.910,0.000,0.535,0.000
$DEVICE_MAMPS,188.955,52.785,1649.340,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24088.000,2642.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.594,14.336,0.000,0.000
$MEM,343664
$DATA_FILE_SIZE,13387,481
$CAP_FILE_SIZE,177949,0
$CFSIZE,260034560,199561216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090313,173735,2431.378,-3746.555,26,0.9,26,-13.9