version: 66.11
glider: 191
mission: 5
dive: 373
start: 1 16 113 13 7 19
data:
$ID,191
$MISSION,5
$DIVE,373
$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,320
$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,-5069.6343
$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,22
$R_STBD_OVSHOOT,54
$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,10
$MINV_10V,10
$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
$GPS1,160113,125422,2425.338,-3830.537,38,0.8,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-53.9
$GPS2,160113,130647,2425.389,-3830.527,18,1.0,19,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,154.1,73715,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-61.12,0.000,2,0.000,0.000,157,1524,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.5,-7.2,4,109,10.02,1.83,-2.12,0.000,4,0.415,0.080,1983,2576,3459,2,0,0,0,0,0,13.64,14.51,14.74
$GC,243,-0.57,-97.3,21.7,-8.5,14,251,0.00,1.90,0.00,0.000,6,0.000,0.063,1983,1513,3461,0,0,0,0,0,0,28.83,14.40,28.83
$GC,554,-0.55,-97.3,47.1,-6.8,35,555,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.52,-97.3,71.6,-9.0,55,855,0.15,0.00,0.00,0.000,6,0.236,0.000,2017,1512,3461,0,0,0,0,0,0,14.16,28.83,28.83
$GC,1154,-0.52,-97.3,94.0,-7.1,75,1158,0.00,1.92,0.00,0.000,4,0.000,0.085,2017,461,3461,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1259,-0.51,-97.3,101.4,-7.2,82,1263,0.00,1.77,0.00,0.000,6,0.000,0.041,2012,1508,3461,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1560,-0.51,-97.3,123.8,-8.1,102,1563,0.00,1.83,0.00,0.000,4,0.000,0.051,2004,2576,3461,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1741,-0.52,-97.3,136.8,-6.8,114,1745,0.00,1.88,0.00,0.000,6,0.000,0.062,2004,1516,3461,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2039,-0.52,-97.3,154.7,-5.6,134,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.52,-97.3,173.7,-7.2,154,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.52,-97.3,194.9,-6.5,174,2642,0.00,1.92,0.00,0.000,4,0.000,0.084,2004,463,3462,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2743,-0.52,-97.3,202.2,-7.0,181,2747,0.00,1.77,0.00,0.000,6,0.000,0.041,1996,1521,3462,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3043,-0.52,-97.3,220.3,-6.3,201,3047,0.00,1.80,0.00,0.000,4,0.000,0.052,1988,2577,3462,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3134,-0.52,-97.3,225.9,-6.1,207,3139,0.12,1.88,0.00,0.000,6,0.226,0.062,2015,1520,3463,0,0,0,0,0,0,14.23,14.47,28.83
$GC,3434,-0.54,-97.3,242.1,-5.2,227,3438,0.00,1.92,0.00,0.000,4,0.000,0.084,2015,463,3462,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3540,-0.54,-97.3,248.8,-6.4,234,3543,0.00,1.80,0.00,0.000,6,0.000,0.041,2010,1528,3462,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3841,-0.55,-97.3,266.1,-5.8,245,3845,0.00,1.77,0.00,0.000,4,0.000,0.053,2002,2575,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3989,-0.57,-97.3,274.3,-6.2,250,3992,0.00,1.88,0.00,0.000,6,0.000,0.063,2002,1514,3462,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4288,-0.57,-97.3,295.9,-7.1,260,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4589,-0.57,-97.3,319.4,-8.1,270,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,-0.58,-97.3,343.2,-7.7,280,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5190,-0.59,-97.3,364.9,-7.0,290,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5489,-0.60,-97.3,383.4,-5.7,300,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5789,-0.62,-97.3,398.5,-4.9,310,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6089,-0.63,-97.3,415.5,-6.1,320,6093,0.00,1.90,0.00,0.000,4,0.000,0.086,2002,469,3457,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6193,-0.63,-97.3,423.5,-7.6,324,6197,0.00,1.80,0.00,0.000,6,0.000,0.042,1994,1525,3456,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6509,-0.63,-97.3,446.6,-7.4,335,6513,0.00,1.80,0.00,0.000,4,0.000,0.054,1986,2577,3456,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6628,-0.64,-97.3,454.8,-7.7,339,6631,0.00,1.88,0.00,0.000,6,0.000,0.064,1987,1522,3455,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6929,-0.64,-97.3,478.4,-7.2,349,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7229,-0.64,-97.3,498.7,-6.5,359,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7528,-0.64,-97.3,517.3,-6.2,369,7532,0.00,1.92,0.00,0.000,4,0.000,0.088,1986,466,3453,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7605,-0.64,-97.3,522.4,-6.6,372,7608,0.00,1.80,0.00,0.000,6,0.000,0.044,1979,1525,3452,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7921,-0.64,-97.3,540.8,-5.5,383,7924,0.00,1.80,0.00,0.000,4,0.000,0.056,1971,2576,3451,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8024,-0.64,-97.3,546.3,-5.3,387,8028,0.00,1.90,0.00,0.000,6,0.000,0.066,1971,1512,3451,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8341,-0.63,-97.3,564.2,-5.7,398,8345,0.00,1.92,0.00,0.000,4,0.000,0.089,1971,463,3450,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8415,-0.61,-97.3,569.2,-6.3,401,8419,0.12,1.80,0.00,0.000,6,0.249,0.044,1989,1520,3449,0,0,0,0,0,0,14.21,14.59,28.83
$GC,8733,-0.61,-97.3,586.4,-5.7,412,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9030,-0.61,-97.3,606.6,-6.9,422,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9330,-0.61,-97.3,628.8,-7.5,432,9334,0.00,1.83,0.00,0.000,4,0.000,0.056,1983,2574,3447,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9405,-0.62,-97.3,634.5,-7.6,435,9408,0.00,1.90,0.00,0.000,6,0.000,0.067,1983,1514,3446,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9720,-0.62,-97.3,659.1,-7.7,446,9724,0.00,1.95,0.00,0.000,4,0.000,0.090,1983,461,3446,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9794,-0.62,-97.3,665.3,-8.1,449,9798,0.00,1.83,0.00,0.000,6,0.000,0.044,1976,1524,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10109,-0.62,-97.3,690.1,-7.8,460,10113,0.00,1.83,0.00,0.000,4,0.000,0.057,1968,2576,3444,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10185,-0.62,-97.3,696.2,-8.0,463,10189,0.00,1.90,0.00,0.000,6,0.000,0.068,1968,1522,3444,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10500,-0.62,-97.3,721.0,-7.6,474,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10800,-0.62,-97.3,741.7,-6.7,484,10804,0.00,1.85,0.00,0.000,4,0.000,0.056,1961,2577,3441,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10858,-0.62,-97.3,744.5,-6.5,486,10863,0.12,1.92,0.00,0.000,6,0.245,0.068,1985,1512,3441,0,0,0,0,0,0,14.09,14.39,28.83
$GC,11163,-0.62,-97.3,763.3,-6.0,496,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1512,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11459,-0.62,-97.3,783.2,-6.8,506,11463,0.00,1.95,0.00,0.000,4,0.000,0.093,1985,466,3439,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11548,-0.62,-97.3,788.8,-7.5,509,11552,0.00,1.83,0.00,0.000,6,0.000,0.046,1980,1522,3439,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11850,-0.62,-97.3,811.9,-7.3,519,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1523,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12149,-0.62,-97.3,832.2,-6.3,529,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12451,-0.62,-97.3,848.5,-5.0,539,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1523,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12750,-0.62,-97.3,861.4,-4.2,549,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1523,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13050,-0.62,-97.3,874.2,-4.4,559,13051,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1523,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13351,-0.62,-97.3,890.2,-5.7,569,13354,0.00,2.00,0.00,0.000,4,0.000,0.093,1980,463,3433,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13408,-0.62,-97.3,893.1,-6.1,571,13412,0.00,1.85,0.00,0.000,6,0.000,0.047,1973,1524,3433,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13710,-0.62,-97.3,914.5,-7.1,581,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1526,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14009,-0.62,-97.3,936.5,-7.3,591,14010,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1526,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14310,-0.62,-97.3,958.7,-7.6,601,14311,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1526,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14607,begin apogee
$GC,14614,-0.18,0.0,981.5,-7.8,611,14737,0.57,0.00,114.68,1.932,6,0.207,0.000,2123,1399,3063,0,0,0,0,1,0,13.84,28.83,12.91
$STATE,14739,end apogee,CONTROL_FINISHED_OK
$STATE,14739,begin climb
$GC,14743,0.60,97.3,988.0,0.0,615,14882,0.80,2.05,127.53,1.915,4,0.116,0.101,2381,348,2665,0,0,0,0,1,0,14.12,14.08,12.95
$GC,15104,0.61,174.9,989.6,2.8,627,15218,0.00,1.85,103.60,1.874,6,0.000,0.047,2382,1419,2350,0,0,0,0,1,0,28.83,14.53,13.01
$GC,15526,0.56,174.9,966.0,6.3,642,15527,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1418,2342,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,29507,end climb,SURFACE_DEPTH_REACHED
$STATE,29509,begin surface coast
$FINISH,0.0,1.025448
$STATE,29523,end surface coast,CONTROL_FINISHED_OK
$STATE,29523,begin surface
$SM_CCo,29605,0.00,0.000,0,0,1488,386.10
$SM_GC,1.17,6.75,0.15,0.00,0.072,0.099,0.000,158,1528,1488,-6.28,-1.44,386.10,0,0,0,0,0,0,14.49,14.57,28.83
$IRIDIUM_FIX,2415.74,-3825.91,160113,040440
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.78
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.80
$XPDR_PINGS,5
$SC_FREEKB,7626880
$TM_FREEKB,4110528
$24V_AH,12.9,177.635
$10V_AH,12.4,0.000
$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,19.950,132.275,642.500,0.000,0.000,0.000,0.000,382.925,1.250,0.000,20.236,3348.012,22931.582,889.701,2511.913,654.084,0.000,2297.623,0.000,1998.334,0.000,0.548,0.000
$DEVICE_MAMPS,415.395,110.925,1931.625,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29577.000,6995.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.325,13.036,0.000,0.000
$MEM,345624
$DATA_FILE_SIZE,43291,1224
$CAP_FILE_SIZE,254951,0
$CFSIZE,260034560,207106048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,8,1,0
$CURRENT,0.040,  2.1,1
$GPS,160113,212205,2423.610,-3828.456,39,0.8,39,-14.2