version: 66.11
glider: 191
mission: 5
dive: 141
start: 10 30 112 5 31 16
data:
$ID,191
$MISSION,5
$DIVE,141
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,-3986.5225
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$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,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$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
$GPS1,301012,052005,2507.298,-3718.509,38,0.9,38,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-51.6
$GPS2,301012,053047,2507.275,-3718.481,19,1.2,19,-13.7
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,348.5,9113,-13.3,-6.049,-18.38
$D_GRID,980
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-62.10,0.000,2,0.000,0.000,156,1522,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.7,-8.0,4,104,9.30,1.90,-0.30,0.000,4,0.414,0.105,1995,459,3461,1,0,0,0,0,0,14.16,14.60,14.77
$GC,252,-0.52,-97.3,32.0,-14.1,15,257,0.12,1.77,0.00,0.000,6,0.271,0.047,2015,1512,3463,0,0,0,0,0,0,14.45,14.68,28.83
$GC,551,-0.48,-97.3,64.6,-10.3,35,555,0.00,1.83,0.00,0.000,4,0.000,0.057,2010,2579,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,733,-0.46,-97.3,79.5,-7.8,47,737,0.12,1.85,0.00,0.000,6,0.244,0.065,2037,1518,3465,0,0,0,0,0,0,14.51,14.64,28.83
$GC,1032,-0.45,-97.3,99.8,-6.8,67,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1331,-0.45,-97.3,119.3,-6.6,87,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-0.45,-97.3,139.5,-6.7,107,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.45,-97.3,159.1,-6.4,127,1934,0.00,1.80,0.00,0.000,4,0.000,0.054,2031,2580,3466,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2022,-0.46,-97.3,164.7,-6.3,133,2025,0.00,1.85,0.00,0.000,6,0.000,0.066,2031,1521,3466,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2321,-0.46,-97.3,186.9,-7.4,153,2325,0.00,1.80,0.00,0.000,4,0.000,0.055,2024,2579,3465,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2396,-0.46,-97.3,192.4,-7.4,158,2400,0.00,1.85,0.00,0.000,6,0.000,0.066,2024,1518,3465,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2697,-0.46,-97.3,215.4,-7.8,178,2700,0.00,1.88,0.00,0.000,4,0.000,0.089,2024,467,3464,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2817,-0.44,-97.3,225.5,-8.5,186,2821,0.12,1.77,0.00,0.000,6,0.248,0.046,2042,1520,3465,0,0,0,0,0,0,14.54,14.76,28.83
$GC,3117,-0.45,-97.3,242.0,-4.3,206,3121,0.00,1.80,0.00,0.000,4,0.000,0.057,2038,2579,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3237,-0.48,-97.3,246.5,-3.4,214,3241,0.00,1.85,0.00,0.000,6,0.000,0.066,2038,1519,3464,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3551,-0.48,-97.3,260.5,-5.1,228,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3851,-0.48,-97.3,280.9,-7.6,238,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-0.49,-97.3,305.2,-8.3,248,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,-0.50,-97.3,328.3,-7.4,258,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1519,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4752,-0.51,-97.3,345.3,-4.7,268,4756,0.00,1.80,0.00,0.000,4,0.000,0.057,2030,2577,3460,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4841,-0.53,-97.3,348.3,-4.1,271,4845,0.00,1.85,0.00,0.000,6,0.000,0.068,2030,1518,3459,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5141,-0.53,-97.3,360.5,-4.0,281,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1518,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5442,-0.53,-97.3,376.3,-6.0,291,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.53,-97.3,396.5,-6.8,301,5745,0.00,1.80,0.00,0.000,4,0.000,0.058,2023,2577,3456,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5831,-0.54,-97.3,401.6,-6.8,304,5835,0.00,1.85,0.00,0.000,6,0.000,0.069,2023,1519,3456,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6131,-0.54,-97.3,424.9,-7.8,314,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6432,-0.54,-97.3,448.3,-7.5,324,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1519,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6731,-0.54,-97.3,469.2,-6.6,334,6734,0.00,1.80,0.00,0.000,4,0.000,0.057,2015,2579,3454,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6866,-0.55,-97.3,477.7,-6.3,339,6870,0.00,1.85,0.00,0.000,6,0.000,0.068,2015,1521,3453,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7182,-0.55,-97.3,498.3,-6.5,350,7185,0.00,1.90,0.00,0.000,4,0.000,0.092,2015,464,3453,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7271,-0.54,-97.3,503.8,-7.1,353,7274,0.00,1.77,0.00,0.000,6,0.000,0.047,2008,1521,3452,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7571,-0.54,-97.3,525.3,-6.7,363,7575,0.00,1.80,0.00,0.000,4,0.000,0.060,2000,2578,3451,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7706,-0.54,-97.3,534.4,-6.7,368,7710,0.00,1.85,0.00,0.000,6,0.000,0.069,1999,1522,3450,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8023,-0.53,-97.3,557.5,-7.5,379,8026,0.00,1.90,0.00,0.000,4,0.000,0.092,1999,464,3449,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8097,-0.51,-97.3,563.7,-8.2,382,8101,0.15,1.80,0.00,0.000,6,0.249,0.049,2025,1531,3449,0,0,0,0,0,0,14.51,14.81,28.83
$GC,8412,-0.52,-97.3,584.9,-6.7,393,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1533,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,-0.53,-97.3,606.7,-7.2,403,8716,0.00,1.77,0.00,0.000,4,0.000,0.061,2019,2574,3447,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8801,-0.54,-97.3,612.2,-7.4,406,8804,0.00,1.88,0.00,0.000,6,0.000,0.070,2020,1511,3446,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9102,-0.54,-97.3,636.9,-7.9,416,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1511,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9401,-0.54,-97.3,659.3,-7.3,426,9405,0.00,1.83,0.00,0.000,4,0.000,0.061,2012,2575,3445,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9567,-0.56,-97.3,671.1,-7.2,432,9570,0.00,1.88,0.00,0.000,6,0.000,0.071,2012,1514,3443,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9881,-0.56,-97.3,692.7,-6.6,443,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10181,-0.56,-97.3,709.4,-5.2,453,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1514,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10483,-0.56,-97.3,723.4,-4.3,463,10486,0.00,1.83,0.00,0.000,4,0.000,0.062,2004,2574,3440,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10570,-0.56,-97.3,726.5,-4.1,466,10574,0.00,1.88,0.00,0.000,6,0.000,0.072,2004,1517,3441,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10872,-0.56,-97.3,743.0,-5.7,476,10876,0.00,1.83,0.00,0.000,4,0.000,0.062,1996,2574,3439,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10946,-0.56,-97.3,747.7,-6.2,479,10950,0.00,1.88,0.00,0.000,6,0.000,0.073,1996,1517,3440,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11263,-0.55,-97.3,771.2,-7.8,490,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1518,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11561,-0.55,-97.3,793.5,-7.3,500,11564,0.00,1.83,0.00,0.000,4,0.000,0.063,1989,2573,3439,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11666,-0.55,-97.3,800.9,-7.1,504,11670,0.00,1.88,0.00,0.000,6,0.000,0.073,1989,1520,3437,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11984,-0.54,-97.3,823.9,-7.2,515,11987,0.00,1.83,0.00,0.000,4,0.000,0.063,1981,2575,3436,0,0,0,0,0,0,28.83,14.71,28.83
$GC,12130,-0.54,-97.3,833.3,-6.9,520,12134,0.15,1.88,0.00,0.000,6,0.244,0.073,2014,1521,3436,0,0,0,0,0,0,14.45,14.69,28.83
$GC,12433,-0.54,-97.3,853.5,-6.5,530,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12731,-0.55,-97.3,874.2,-7.0,540,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13033,-0.56,-97.3,894.4,-6.6,550,13034,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13331,-0.56,-97.3,912.5,-5.7,560,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13632,-0.57,-97.3,929.9,-6.1,570,13636,0.00,1.83,0.00,0.000,4,0.000,0.063,2009,2573,3431,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13780,-0.59,-97.3,938.4,-6.3,575,13784,0.00,1.90,0.00,0.000,6,0.000,0.076,2009,1515,3431,0,0,0,0,0,0,28.83,14.66,28.83
$GC,14081,-0.59,-97.3,959.8,-6.9,585,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1516,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14379,begin apogee
$GC,14385,-0.18,0.0,981.1,-7.1,595,14504,0.43,0.00,111.00,2.157,6,0.209,0.000,2125,1396,3062,0,0,0,0,1,0,14.46,28.83,13.25
$STATE,14506,end apogee,CONTROL_FINISHED_OK
$STATE,14506,begin climb
$GC,14508,0.60,97.3,985.1,0.0,599,14644,0.85,0.00,127.12,2.255,6,0.142,0.000,2377,1396,2665,0,0,0,0,1,0,14.13,28.83,13.11
$GC,14936,0.53,97.3,968.3,6.3,614,14937,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1396,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15237,0.47,97.3,948.7,6.6,624,15239,0.15,0.00,0.00,0.000,6,0.272,0.000,2346,1396,2659,0,0,0,0,0,0,14.40,28.83,28.83
$GC,15538,0.46,113.6,931.9,5.4,634,15581,0.00,1.98,32.83,1.320,4,0.000,0.107,2352,348,2599,0,0,0,0,1,0,28.83,14.59,13.73
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$STATE,29187,end climb,SURFACE_DEPTH_REACHED
$STATE,29187,begin surface coast
$FINISH,0.2,1.024899
$STATE,29202,end surface coast,CONTROL_FINISHED_OK
$STATE,29202,begin surface
$SM_CCo,29220,23.88,0.757,0,0,1635,350.04
$SM_GC,0.48,6.55,0.15,23.88,0.068,0.095,0.757,165,1522,1635,-6.28,-1.36,350.04,0,0,0,0,0,0,14.68,14.77,14.31
$IRIDIUM_FIX,2456.07,-3715.98,291012,212140
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.91
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,26.80
$XPDR_PINGS,2
$SC_FREEKB,7716000
$TM_FREEKB,6523616
$24V_AH,13.1,68.237
$10V_AH,13.4,0.000
$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,18.375,122.400,563.000,23.875,0.000,0.000,0.000,374.700,0.500,0.000,20.547,3324.022,22876.973,827.048,2501.202,350.438,0.000,2207.041,0.000,1961.015,0.000,0.552,0.000
$DEVICE_MAMPS,413.865,120.105,2255.220,757.350,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29245.000,7117.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.181,13.081,0.000,0.000
$MEM,344764
$DATA_FILE_SIZE,43297,1214
$CAP_FILE_SIZE,249988,0
$CFSIZE,260034560,238702592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.033,137.1,1
$GPS,301012,134004,2509.694,-3719.536,41,0.8,41,-13.7