version: 66.11
glider: 191
mission: 5
dive: 146
start: 10 31 112 21 38 4
data:
$ID,191
$MISSION,5
$DIVE,146
$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,-3993.1912
$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,21
$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
$GPS1,311012,212634,2511.716,-3728.333,41,1.0,41,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-54.4
$GPS2,311012,213735,2511.612,-3728.309,18,1.0,18,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,309.8,126841,-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,22,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-62.42,0.000,2,0.000,0.000,161,1525,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.5,-6.8,4,102,9.27,0.00,-0.60,0.000,6,0.415,0.000,1987,1525,3461,1,0,0,0,0,0,14.16,28.83,14.78
$GC,402,-0.54,-97.3,47.0,-11.6,25,405,0.00,1.77,0.00,0.000,4,0.000,0.058,1982,2567,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,491,-0.48,-97.3,57.1,-11.7,31,496,0.20,1.85,0.00,0.000,6,0.249,0.067,2029,1514,3464,0,0,0,0,0,0,14.45,14.66,28.83
$GC,791,-0.47,-97.3,82.9,-7.3,51,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1091,-0.46,-97.3,104.2,-7.4,71,1095,0.00,1.80,0.00,0.000,4,0.000,0.055,2023,2576,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1166,-0.46,-97.3,109.3,-6.7,76,1170,0.00,1.85,0.00,0.000,6,0.000,0.065,2023,1515,3464,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1466,-0.44,-97.3,133.2,-9.1,96,1470,0.00,1.88,0.00,0.000,4,0.000,0.087,2023,463,3466,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1617,-0.41,-97.3,147.0,-8.5,106,1622,0.15,1.75,0.00,0.000,6,0.243,0.044,2050,1514,3465,0,0,0,0,0,0,14.41,14.78,28.83
$GC,1917,-0.43,-97.3,165.8,-6.7,126,1921,0.00,1.80,0.00,0.000,4,0.000,0.056,2044,2576,3465,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2006,-0.45,-97.3,172.0,-6.9,132,2010,0.00,1.85,0.00,0.000,6,0.000,0.066,2044,1519,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2307,-0.46,-97.3,189.9,-5.1,152,2310,0.00,1.88,0.00,0.000,4,0.000,0.088,2044,461,3465,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2381,-0.46,-97.3,194.3,-5.9,157,2385,0.00,1.77,0.00,0.000,6,0.000,0.045,2036,1521,3465,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2682,-0.46,-97.3,207.4,-4.2,177,2685,0.00,1.80,0.00,0.000,4,0.000,0.057,2028,2584,3465,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2787,-0.48,-97.3,211.9,-4.4,184,2790,0.00,1.88,0.00,0.000,6,0.000,0.067,2028,1511,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3086,-0.48,-97.3,229.3,-6.6,204,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3389,-0.48,-97.3,251.0,-7.3,224,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1511,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3686,-0.48,-97.3,272.4,-6.8,234,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1511,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-0.48,-97.3,290.4,-5.8,244,3990,0.00,1.83,0.00,0.000,4,0.000,0.057,2020,2583,3461,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4122,-0.49,-97.3,298.1,-5.8,249,4125,0.00,1.88,0.00,0.000,6,0.000,0.068,2021,1511,3461,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4436,-0.49,-97.3,320.6,-7.6,260,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1511,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4736,-0.49,-97.3,344.8,-8.3,270,4740,0.00,1.83,0.00,0.000,4,0.000,0.058,2012,2580,3459,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4811,-0.49,-97.3,350.9,-8.2,273,4814,0.00,1.85,0.00,0.000,6,0.000,0.068,2013,1521,3459,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5127,-0.49,-97.3,377.1,-7.9,284,5130,0.00,1.80,0.00,0.000,4,0.000,0.057,2005,2577,3458,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5215,-0.49,-97.3,382.6,-7.4,287,5219,0.00,1.85,0.00,0.000,6,0.000,0.068,2005,1520,3461,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5517,-0.48,-97.3,406.2,-7.4,297,5519,0.12,0.00,0.00,0.000,6,0.255,0.000,2032,1519,3456,0,0,0,0,0,0,14.59,28.83,28.83
$GC,5816,-0.49,-97.3,426.8,-7.1,307,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1519,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6117,-0.50,-97.3,448.8,-7.5,317,6121,0.00,1.90,0.00,0.000,4,0.000,0.091,2032,462,3455,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6205,-0.50,-97.3,454.8,-7.9,320,6208,0.00,1.77,0.00,0.000,6,0.000,0.047,2027,1520,3455,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6506,-0.50,-97.3,477.4,-7.1,330,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6806,-0.50,-97.3,498.3,-7.0,340,6810,0.00,1.80,0.00,0.000,4,0.000,0.058,2017,2578,3452,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6941,-0.52,-97.3,507.5,-6.8,345,6945,0.00,1.85,0.00,0.000,6,0.000,0.069,2019,1520,3452,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7256,-0.52,-97.3,529.7,-6.9,356,7260,0.00,1.80,0.00,0.000,4,0.000,0.059,2012,2576,3451,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7375,-0.53,-97.3,536.4,-6.5,360,7379,0.00,1.85,0.00,0.000,6,0.000,0.070,2012,1520,3450,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7677,-0.53,-97.3,555.7,-5.9,370,7680,0.00,1.80,0.00,0.000,4,0.000,0.059,2004,2576,3449,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7752,-0.53,-97.3,559.8,-5.7,373,7755,0.00,1.85,0.00,0.000,6,0.000,0.070,2004,1521,3447,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8067,-0.53,-97.3,578.6,-6.0,384,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8366,-0.53,-97.3,597.9,-6.7,394,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,-0.53,-97.3,617.9,-6.8,404,8670,0.00,1.80,0.00,0.000,4,0.000,0.060,1997,2576,3446,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8786,-0.53,-97.3,625.0,-6.8,408,8789,0.00,1.88,0.00,0.000,6,0.000,0.070,1996,1513,3444,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9087,-0.52,-97.3,649.5,-8.3,418,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9387,-0.51,-97.3,675.4,-8.9,428,9390,0.00,1.83,0.00,0.000,4,0.000,0.060,1988,2576,3443,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9491,-0.51,-97.3,684.6,-8.8,432,9496,0.15,1.88,0.00,0.000,6,0.239,0.071,2023,1517,3443,0,0,0,0,0,0,14.49,14.73,28.83
$GC,9807,-0.52,-97.3,708.1,-7.0,443,9811,0.00,1.83,0.00,0.000,4,0.000,0.060,2017,2576,3442,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9942,-0.54,-97.3,716.7,-6.4,448,9945,0.00,1.88,0.00,0.000,6,0.000,0.071,2017,1517,3442,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10257,-0.54,-97.3,735.4,-5.6,459,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10557,-0.54,-97.3,752.7,-5.8,469,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10857,-0.56,-97.3,770.5,-6.0,479,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11157,-0.57,-97.3,789.0,-6.3,489,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1517,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11457,-0.58,-97.3,808.9,-6.8,499,11460,0.00,1.83,0.00,0.000,4,0.000,0.063,2010,2574,3436,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11591,-0.59,-97.3,818.3,-7.0,504,11595,0.00,1.88,0.00,0.000,6,0.000,0.073,2010,1520,3436,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11907,-0.59,-97.3,842.2,-7.6,515,11908,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12206,-0.59,-97.3,863.0,-6.4,525,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12507,-0.59,-97.3,880.3,-5.7,535,12511,0.00,1.83,0.00,0.000,4,0.000,0.063,2002,2574,3433,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12656,-0.61,-97.3,888.1,-5.9,540,12660,0.00,1.88,0.00,0.000,6,0.000,0.074,2002,1522,3432,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12956,-0.61,-97.3,909.1,-7.2,550,12960,0.00,1.83,0.00,0.000,4,0.000,0.063,1994,2574,3431,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13075,-0.61,-97.3,916.7,-7.3,554,13079,0.00,1.90,0.00,0.000,6,0.000,0.074,1994,1513,3431,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13377,-0.61,-97.3,943.0,-8.6,564,13381,0.00,1.85,0.00,0.000,4,0.000,0.064,1986,2573,3430,0,0,0,0,0,0,28.83,14.59,28.83
$GC,13465,-0.61,-97.3,949.4,-8.6,567,13469,0.00,1.90,0.00,0.000,6,0.000,0.076,1986,1515,3431,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13767,-0.60,-97.3,977.6,-8.6,577,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13794,begin apogee
$GC,13800,-0.18,0.0,980.1,-8.5,578,13918,0.52,0.00,109.45,2.149,6,0.219,0.000,2128,1396,3063,0,0,0,0,1,0,14.50,28.83,13.25
$STATE,13919,end apogee,CONTROL_FINISHED_OK
$STATE,13919,begin climb
$GC,13921,0.60,97.3,984.8,0.0,582,14058,0.85,2.05,125.03,2.176,4,0.139,0.104,2390,349,2665,0,0,0,0,1,0,14.14,13.99,13.16
$GC,14171,0.50,133.4,981.4,4.5,591,14238,0.20,1.85,56.60,1.805,6,0.275,0.051,2346,1408,2518,0,0,0,0,1,0,14.17,14.40,13.30
$GC,14532,0.50,156.8,962.5,5.1,603,14581,0.00,0.00,41.62,1.561,6,0.000,0.000,2347,1408,2422,0,0,0,0,1,0,28.83,28.83,13.54
$GC,14862,0.47,156.8,942.8,6.3,614,14864,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1408,2420,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28061,end climb,SURFACE_DEPTH_REACHED
$STATE,28062,begin surface coast
$FINISH,0.1,1.024906
$STATE,28078,end surface coast,CONTROL_FINISHED_OK
$STATE,28078,begin surface
$SM_CCo,28095,52.22,0.756,0,0,1635,350.04
$SM_GC,0.60,6.57,0.17,52.22,0.073,0.103,0.756,156,1528,1635,-6.30,-1.30,350.04,0,0,0,0,0,0,14.70,14.73,14.24
$IRIDIUM_FIX,2503.20,-3727.44,311012,131358
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.07
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,26.70
$XPDR_PINGS,3
$SC_FREEKB,7714080
$TM_FREEKB,6471200
$24V_AH,13.2,70.475
$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,18.550,137.300,572.900,52.225,0.000,0.000,0.000,391.900,0.750,0.000,19.490,3265.170,21825.861,889.682,2473.281,347.622,0.000,2273.540,0.000,1919.721,0.000,0.550,0.000
$DEVICE_MAMPS,415.395,119.340,2176.425,755.820,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28120.000,6815.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.228,13.088,0.000,0.000
$MEM,344760
$DATA_FILE_SIZE,43325,1173
$CAP_FILE_SIZE,250081,0
$CFSIZE,260034560,238022656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.058,145.9,1
$GPS,011112,052834,2512.275,-3730.809,40,0.9,40,-13.8