version: 66.11
glider: 190
mission: 6
dive: 296
start: 12 19 112 10 25 40
data:
$ID,190
$MISSION,6
$DIVE,296
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$HD_C,9.9999997e-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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13270.129
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,191212,101353,2420.568,-3736.790,37,0.8,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-67.8
$GPS2,191212,102511,2420.577,-3736.735,13,1.2,13,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,31.1,41341,-16.4,-7.174,-28.86
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-10.95,0.000,2,0.000,0.000,145,1528,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,141,11.32,2.00,-82.88,0.000,4,0.367,0.127,2605,2576,3626,0,0,0,0,0,0,14.22,14.36,14.69
$GC,372,-0.84,-155.7,25.3,-9.7,34,380,0.00,2.03,0.00,0.000,6,0.000,0.114,2605,1513,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,681,-0.84,-155.7,55.3,-9.1,65,689,0.00,2.00,0.00,0.000,4,0.000,0.103,2605,2571,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,790,-0.84,-155.7,64.9,-8.7,76,799,0.00,2.03,0.00,0.000,6,0.000,0.113,2605,1527,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1101,-0.84,-155.7,90.8,-7.9,107,1109,0.00,1.95,0.00,0.000,4,0.000,0.103,2605,2568,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1171,-0.84,-155.7,96.1,-7.5,114,1181,0.00,1.98,0.00,0.000,6,0.000,0.110,2610,1537,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1481,-0.84,-155.7,120.6,-8.5,145,1489,0.00,1.92,0.00,0.000,4,0.000,0.103,2605,2562,3628,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1590,-0.84,-155.7,130.5,-9.5,156,1599,0.00,1.98,0.00,0.000,6,0.000,0.111,2605,1536,3628,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1901,-0.84,-155.7,163.4,-10.8,187,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1538,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,-0.87,-155.7,191.5,-8.3,217,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1539,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2502,-0.90,-155.7,216.8,-8.4,247,2509,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,463,3629,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2690,-0.90,-155.7,235.0,-9.6,266,2700,0.00,1.95,0.00,0.000,6,0.000,0.082,2604,1535,3629,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3010,-0.90,-155.7,264.1,-9.0,288,3017,0.00,1.95,0.00,0.000,4,0.000,0.104,2604,2580,3628,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3141,-0.92,-155.7,274.5,-8.7,292,3148,0.00,1.98,0.00,0.000,6,0.000,0.109,2605,1545,3628,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3463,-0.96,-155.7,305.4,-9.6,303,3468,0.00,2.08,0.00,0.000,4,0.000,0.135,2604,463,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3642,-0.96,-155.7,323.1,-9.9,309,3648,0.00,1.90,0.00,0.000,6,0.000,0.082,2604,1525,3627,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3972,-0.98,-155.7,349.6,-7.6,320,3978,0.00,1.95,0.00,0.000,4,0.000,0.106,2604,2584,3626,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4001,-1.01,-155.7,351.9,-7.7,321,4009,0.08,2.00,0.00,0.000,6,0.090,0.112,2553,1531,3626,0,0,0,0,0,0,14.45,14.34,28.83
$GC,4335,-0.98,-155.7,381.8,-9.1,332,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1531,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.96,-155.7,410.2,-9.5,342,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1531,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4931,-0.93,-155.7,440.3,-10.1,352,4938,0.12,1.95,0.00,0.000,4,0.254,0.106,2575,2571,3623,0,0,0,0,0,0,14.39,14.37,28.83
$GC,4980,-0.91,-155.7,443.0,-10.0,353,4983,0.00,2.00,0.00,0.000,6,0.000,0.113,2575,1529,3623,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5281,-0.91,-155.7,472.8,-9.2,363,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1529,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5580,-0.91,-155.7,500.4,-9.2,373,5588,0.00,2.00,0.00,0.000,4,0.000,0.106,2567,2582,3621,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5649,-0.91,-155.7,505.9,-9.1,375,5653,0.00,2.03,0.00,0.000,6,0.000,0.112,2568,1525,3621,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5963,-0.91,-155.7,536.5,-9.7,386,5969,0.00,1.98,0.00,0.000,4,0.000,0.109,2565,2572,3619,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6030,-0.91,-155.7,542.3,-9.7,388,6035,0.12,1.98,0.00,0.000,6,0.230,0.112,2596,1542,3619,0,0,0,0,0,0,14.28,14.36,28.83
$GC,6346,-0.91,-155.7,571.3,-8.8,399,6351,0.00,1.92,0.00,0.000,4,0.000,0.111,2591,2578,3618,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6404,-0.93,-155.7,576.1,-8.5,401,6410,0.00,1.98,0.00,0.000,6,0.000,0.114,2592,1551,3618,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6736,-0.97,-155.7,601.5,-7.2,412,6741,0.00,2.12,0.00,0.000,4,0.000,0.141,2592,454,3617,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6973,-0.97,-155.7,619.8,-7.8,420,6980,0.00,1.98,0.00,0.000,6,0.000,0.088,2588,1530,3616,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7306,-1.00,-155.7,644.6,-7.9,431,7311,0.00,2.08,0.00,0.000,4,0.000,0.141,2588,458,3614,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7393,-1.00,-155.7,652.8,-8.7,434,7401,0.00,1.95,0.00,0.000,6,0.000,0.085,2581,1523,3614,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7727,-1.03,-155.7,682.0,-9.0,445,7732,0.00,2.10,0.00,0.000,4,0.000,0.140,2581,450,3613,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7852,-1.03,-155.7,693.8,-9.9,449,7855,0.00,1.92,0.00,0.000,6,0.000,0.089,2579,1495,3612,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8165,-1.03,-155.7,723.2,-9.1,460,8171,0.00,2.05,0.00,0.000,4,0.000,0.113,2572,2579,3611,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8223,-1.03,-155.7,728.6,-9.1,462,8231,0.00,2.12,0.00,0.000,6,0.000,0.117,2572,1486,3611,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8555,-1.03,-155.7,760.1,-9.6,473,8562,0.00,2.05,0.00,0.000,4,0.000,0.112,2567,2578,3610,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8674,-1.03,-155.7,771.5,-9.5,477,8682,0.00,2.05,0.00,0.000,6,0.000,0.116,2566,1514,3610,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9006,-1.03,-155.7,804.9,-10.5,488,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1514,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9305,-1.05,-155.7,837.2,-10.6,498,9311,0.00,2.08,0.00,0.000,4,0.000,0.143,2566,463,3607,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9463,-1.03,-155.7,853.5,-10.9,503,9467,0.00,1.95,0.00,0.000,6,0.000,0.093,2565,1508,3606,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9776,-1.03,-155.7,882.9,-8.6,514,9782,0.00,2.03,0.00,0.000,4,0.000,0.112,2566,2571,3605,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9845,-1.06,-155.7,887.6,-8.1,516,9852,0.00,2.08,0.00,0.000,6,0.000,0.113,2564,1501,3604,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10169,-1.08,-155.7,913.0,-7.9,527,10174,0.00,2.03,0.00,0.000,4,0.000,0.135,2565,460,3602,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10377,-1.06,-155.7,932.0,-9.3,534,10382,0.00,1.85,0.00,0.000,6,0.000,0.085,2559,1487,3602,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10707,-1.06,-155.7,962.5,-9.5,545,10713,0.00,2.08,0.00,0.000,4,0.000,0.112,2553,2583,3601,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10813,-1.06,-155.7,971.4,-9.7,548,10817,0.00,2.12,0.00,0.000,6,0.000,0.112,2553,1490,3599,0,0,0,0,0,0,28.83,14.24,28.83
$STATE,10992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10992,begin apogee
$GC,10999,-0.23,0.0,992.1,-10.5,554,11153,0.90,0.00,150.35,1.818,4,0.207,0.000,2807,1520,2991,0,0,0,0,0,0,14.05,28.83,13.22
$STATE,11155,end apogee,CONTROL_FINISHED_OK
$STATE,11158,begin climb
$GC,11160,0.84,155.7,1002.5,0.0,559,11327,1.08,2.08,157.30,1.810,4,0.103,0.116,3159,2585,2354,0,0,0,0,0,0,14.12,14.07,13.19
$GC,11364,0.88,340.6,1005.8,1.3,566,11564,0.00,2.15,191.20,1.776,6,0.000,0.130,3167,1522,1594,0,0,0,0,0,0,28.83,14.09,13.16
$GC,11886,0.88,340.6,952.1,11.2,584,11894,0.00,2.12,0.00,0.000,4,0.000,0.152,3175,460,1580,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12035,0.88,340.6,934.1,12.1,589,12042,0.00,1.92,0.00,0.000,6,0.000,0.088,3175,1503,1578,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12366,0.88,340.6,896.5,11.1,600,12374,0.00,2.15,0.00,0.000,4,0.000,0.172,3179,461,1577,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12415,0.88,340.6,893.1,11.0,601,12419,0.00,1.92,0.00,0.000,6,0.000,0.095,3179,1499,1577,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12717,0.88,340.6,859.6,10.3,611,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1499,1576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13017,0.88,340.6,831.4,9.0,621,13023,0.00,2.12,0.00,0.000,4,0.000,0.168,3188,464,1575,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13154,0.88,340.6,820.1,9.4,625,13158,0.00,1.90,0.00,0.000,6,0.000,0.090,3186,1492,1575,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13457,0.88,340.6,791.8,9.0,635,13463,0.00,2.10,0.00,0.000,4,0.000,0.163,3195,463,1576,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13504,0.88,340.6,788.7,9.3,636,13508,0.00,1.90,0.00,0.000,6,0.000,0.090,3194,1490,1574,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13805,0.88,340.6,756.5,10.3,646,13813,0.00,2.08,0.00,0.000,4,0.000,0.114,3194,2578,1574,0,0,0,0,0,0,28.83,14.39,28.83
$GC,13866,0.88,340.6,749.9,10.7,648,13873,0.00,2.17,0.00,0.000,6,0.000,0.135,3202,1481,1573,0,0,0,0,0,0,28.83,14.30,28.83
$GC,14196,0.88,340.6,712.3,11.5,659,14203,0.00,2.05,0.00,0.000,4,0.000,0.145,3210,451,1573,0,0,0,0,0,0,28.83,14.26,28.83
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$GC,17169,0.85,340.6,426.3,10.3,758,17177,0.00,2.03,0.00,0.000,4,0.000,0.136,3191,456,1573,0,0,0,0,0,0,28.83,14.15,28.83
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$STATE,21438,end climb,SURFACE_DEPTH_REACHED
$STATE,21438,begin surface coast
$FINISH,1.2,1.010934
$STATE,21473,end surface coast,CONTROL_FINISHED_OK
$STATE,21473,begin surface
$SM_CCo,21494,1.70,0.153,0,0,1562,350.04
$SM_GC,2.97,8.82,0.15,1.70,0.078,0.134,0.153,143,1525,1562,-8.53,-0.59,350.04,0,0,0,0,0,0,14.41,14.45,14.34
$IRIDIUM_FIX,2413.38,-3733.83,191212,030338
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.93
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,7656608
$TM_FREEKB,4837920
$24V_AH,13.2,125.566
$10V_AH,12.7,0.000
$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,23.100,176.675,498.850,1.700,0.000,0.000,0.000,360.850,0.250,0.000,15.217,3071.195,15187.837,870.597,2509.875,521.333,0.000,2331.217,0.000,2017.200,0.000,0.540,0.000
$DEVICE_MAMPS,367.200,173.655,1818.405,153.000,0.000,0.000,0.000,181.305,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21513.000,5358.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.100,13.239,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,40029,1066
$CAP_FILE_SIZE,224570,0
$CFSIZE,260034560,208633856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046,149.0,1
$GPS,191212,162522,2421.734,-3735.763,40,0.8,40,-13.9