version: 66.13
glider: 220
mission: 6
dive: 757
start: 3 3 117 16 31 0
data:
$ID,220
$MISSION,6
$DIVE,757
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,5
$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,345
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-05
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$AD7714Ch0Gain,1
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,030317,161630,959.6793,-12441.7725,28,0.9,28,9.0,0.8,148.7,9,3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.18
$_SM_ANGLEo,-67.4
$GPS2,030317,163036,959.7389,-12441.8535,2,0.7,4,9.0,0.7,286.1,12,3.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,73.0,2318,-20.5,-7.729,-26.63,1624
$D_GRID,800
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.04,-84.1,106,2779,1102,1020,0.0,0.0,0,101,0.00,0.00,-76.95,0.000,16390,0.000,0.000,105,2780,3386,3373,3400,0,0,0,0,0,0,14.45,12.61,14.40
$GC,106,-1.04,-84.1,106,2779,3373,3401,4.7,-11.9,3,123,12.10,2.47,0.00,0.000,2564,0.385,0.032,2558,1357,3388,3376,3400,0,0,0,0,0,0,13.84,14.24,14.21
$GC,137,-0.15,-84.1,2558,1358,3378,3400,21.1,-45.2,8,143,1.12,2.83,0.00,0.000,3206,0.236,0.122,2842,2770,3388,3377,3400,0,0,0,0,0,0,13.84,13.91,14.12
$GC,468,-0.45,-92.2,2842,2771,3381,3399,47.0,-7.2,22,473,0.17,2.38,-0.28,0.000,20900,0.078,2.175,2730,3823,3421,3423,3419,0,0,0,0,0,0,14.19,12.98,14.21
$GC,496,-0.61,-92.2,2730,3825,3424,3419,49.8,-9.8,26,500,0.00,1.83,0.00,0.000,1158,0.000,0.063,2728,2750,3421,3423,3419,0,0,0,0,0,0,14.37,14.31,14.38
$GC,832,-0.80,-107.1,2730,2748,3425,3420,76.6,-5.8,41,838,0.17,2.40,0.00,0.000,4772,0.071,0.037,2617,1373,3421,3424,3419,0,0,0,0,0,0,14.21,14.05,14.22
$GC,944,-0.80,-107.1,2617,1374,3425,3420,86.0,-8.1,57,950,0.10,2.75,0.00,0.000,3078,0.234,0.111,2634,2760,3422,3425,3419,0,0,0,0,0,0,13.89,13.90,14.13
$GC,1308,-0.80,-107.1,2635,2761,3426,3420,112.9,-7.4,70,1309,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2759,3422,3425,3419,0,0,0,0,0,0,14.64,14.64,14.65
$GC,1644,-0.80,-107.1,2635,2761,3426,3419,142.4,-8.9,76,1649,0.00,2.25,0.00,0.000,260,0.000,0.183,2627,3823,3421,3424,3419,0,0,0,0,0,0,14.70,13.87,14.70
$GC,1706,-0.80,-107.1,2630,3824,3426,3418,147.8,-8.1,85,1712,0.00,1.85,0.00,0.000,1030,0.000,0.059,2626,2762,3422,3425,3419,0,0,0,0,0,0,14.21,14.16,14.23
$GC,2036,-0.80,-107.1,2626,2762,3426,3416,173.1,-7.8,97,2042,0.00,2.50,0.00,0.000,516,0.000,0.042,2626,1367,3419,3425,3414,0,0,0,0,0,0,14.64,13.88,14.64
$GC,2063,-0.80,-107.1,2627,1370,3426,3414,175.6,-8.8,101,2069,0.00,2.78,0.00,0.000,1030,0.000,0.110,2617,2755,3419,3425,3414,0,0,0,0,0,0,14.21,13.93,14.25
$GC,2428,-0.80,-107.1,2617,2754,3426,3410,209.0,-9.6,111,2433,0.00,2.25,0.00,0.000,260,0.000,0.178,2608,3825,3417,3424,3410,0,0,0,0,0,0,14.65,13.83,14.64
$GC,2511,-0.80,-107.1,2609,3826,3424,3408,217.9,-10.3,123,2516,0.10,1.88,0.00,0.000,3078,0.223,0.060,2638,2762,3416,3425,3408,0,0,0,0,0,0,13.76,14.10,14.00
$GC,2876,-0.89,-107.1,2638,2762,3425,3403,251.6,-9.3,133,2882,0.00,2.53,0.00,0.000,644,0.000,0.041,2637,1365,3413,3425,3401,0,0,0,0,0,0,14.67,13.88,14.68
$GC,2988,-1.00,-107.1,2638,1364,3426,3401,262.1,-9.0,149,2994,0.10,2.78,0.00,0.000,5254,0.109,0.105,2552,2764,3411,3425,3398,0,0,0,0,0,0,14.16,13.90,14.26
$GC,3324,-1.00,-107.1,2553,2765,3426,3395,302.6,-12.2,162,3329,0.00,2.22,0.00,0.000,260,0.000,0.174,2543,3825,3410,3424,3396,0,0,0,0,0,0,14.64,13.79,14.64
$GC,3352,-0.92,-107.1,2544,3825,3425,3396,306.5,-14.1,166,3357,0.20,1.90,0.00,0.000,3206,0.236,0.059,2596,2747,3410,3424,3396,0,0,0,0,0,0,13.62,14.14,13.94
$GC,3717,-0.92,-107.1,2597,2747,3425,3391,346.5,-11.1,176,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2744,3407,3425,3390,0,0,0,0,0,0,14.66,14.65,14.65
$GC,4052,-0.92,-107.1,2596,2748,3425,3387,383.3,-10.7,182,4057,0.00,2.53,0.00,0.000,516,0.000,0.041,2596,1358,3406,3424,3388,0,0,0,0,0,0,14.64,13.75,14.65
$GC,4100,-0.92,-107.1,2596,1359,3426,3386,388.6,-10.2,189,4107,0.00,2.83,0.00,0.000,1030,0.000,0.105,2587,2759,3404,3424,3385,0,0,0,0,0,0,14.18,13.90,14.22
$GC,4445,-0.92,-107.1,2587,2760,3425,3380,421.6,-9.4,196,4449,0.00,2.25,0.00,0.000,260,0.000,0.176,2579,3826,3403,3424,3382,0,0,0,0,0,0,14.63,13.82,14.63
$GC,4534,-0.92,-107.1,2577,3827,3425,3382,430.8,-9.3,209,4540,0.00,1.90,0.00,0.000,1030,0.000,0.062,2577,2765,3403,3424,3382,0,0,0,0,0,0,14.25,14.18,14.26
$GC,4893,-0.92,-107.1,2578,2759,3424,3383,464.6,-9.6,218,4897,0.00,2.28,0.00,0.000,260,0.000,0.168,2570,3823,3400,3419,3382,0,0,0,0,0,0,14.70,13.73,14.70
$GC,4926,-0.92,-107.1,2571,3827,3420,3382,468.5,-11.9,223,4931,0.10,1.90,0.00,0.000,3078,0.238,0.062,2596,2763,3400,3419,3382,0,0,0,0,0,0,13.74,14.14,13.99
$GC,5285,-0.92,-107.1,2596,2764,3417,3377,502.6,-9.7,232,5289,0.00,2.55,0.00,0.000,516,0.000,0.041,2595,1358,3398,3419,3377,0,0,0,0,0,0,14.68,13.85,14.68
$GC,5332,-0.92,-107.1,2595,1358,3420,3377,507.2,-8.6,239,5339,0.00,2.85,0.00,0.000,1030,0.000,0.103,2586,2776,3398,3419,3377,0,0,0,0,0,0,14.18,13.92,14.25
$GC,5676,-0.92,-107.1,2587,2776,3417,3377,543.0,-10.6,246,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2775,3393,3410,3376,0,0,0,0,0,0,14.69,14.69,14.69
$GC,6012,-0.92,-107.1,2587,2776,3416,3375,576.5,-9.9,252,6017,0.00,2.62,0.00,0.000,516,0.000,0.042,2585,1354,3394,3415,3374,0,0,0,0,0,0,14.63,13.89,14.62
$GC,6046,-0.92,-107.1,2586,1354,3416,3375,580.2,-10.5,257,6052,0.00,2.83,0.00,0.000,1030,0.000,0.107,2576,2765,3394,3416,3373,0,0,0,0,0,0,14.17,13.89,14.21
$GC,6404,-0.92,-107.1,2576,2767,3416,3371,616.2,-10.3,266,6409,0.00,2.22,0.00,0.000,260,0.000,0.176,2568,3822,3397,3423,3371,0,0,0,0,0,0,14.71,13.81,14.69
$GC,6452,-0.92,-107.1,2569,3822,3415,3372,621.7,-11.2,273,6459,0.12,1.92,0.00,0.000,3078,0.228,0.064,2600,2765,3392,3415,3370,0,0,0,0,0,0,13.71,14.11,13.98
$GC,6796,-0.92,-107.1,2600,2767,3414,3370,654.4,-9.5,280,6801,0.00,2.58,0.00,0.000,516,0.000,0.042,2599,1354,3391,3413,3369,0,0,0,0,0,0,14.61,13.90,14.62
$GC,6852,-0.92,-107.1,2599,1355,3414,3369,659.4,-7.8,288,6857,0.00,2.85,0.00,0.000,1030,0.000,0.104,2590,2768,3391,3413,3369,0,0,0,0,0,0,14.19,13.91,14.22
$GC,7188,-0.92,-107.1,2591,2768,3413,3368,689.0,-8.8,301,7194,0.00,2.22,0.00,0.000,260,0.000,0.176,2582,3823,3389,3412,3367,0,0,0,0,0,0,14.62,13.82,14.61
$GC,7229,-0.92,-107.1,2583,3825,3413,3368,692.7,-8.4,307,7234,0.00,1.92,0.00,0.000,1030,0.000,0.065,2580,2759,3389,3412,3366,0,0,0,0,0,0,14.21,14.13,14.22
$GC,7580,-0.92,-107.1,2581,2760,3411,3366,724.7,-9.3,315,7585,0.00,2.58,0.00,0.000,516,0.000,0.042,2580,1352,3388,3410,3366,0,0,0,0,0,0,14.68,13.88,14.67
$GC,7607,-0.92,-107.1,2581,1353,3411,3366,727.6,-10.4,319,7612,0.10,2.85,0.00,0.000,3078,0.244,0.106,2597,2769,3388,3410,3366,0,0,0,0,0,0,13.86,13.89,14.12
$GC,7972,-0.92,-107.1,2598,2769,3411,3366,761.1,-9.2,329,7978,0.00,2.22,0.00,0.000,260,0.000,0.177,2590,3825,3387,3410,3364,0,0,0,0,0,0,14.60,13.80,14.60
$GC,8007,-0.92,-107.1,2590,3826,3410,3365,764.6,-10.6,334,8011,0.00,1.92,0.00,0.000,1030,0.000,0.068,2589,2761,3387,3410,3364,0,0,0,0,0,0,14.19,14.12,14.21
$GC,8365,-0.92,-107.1,2590,2761,3408,3364,796.5,-8.8,343,8369,0.00,2.58,0.00,0.000,516,0.000,0.042,2589,1355,3384,3405,3363,0,0,0,0,0,0,14.58,13.90,14.58
$STATE,8401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8401,begin apogee
$GC,8412,-0.23,0.0,2585,2248,3409,3359,800.1,-8.5,349,8506,0.88,0.00,86.38,2.438,10244,0.197,0.000,2818,2247,3051,3091,3012,0,0,0,0,1,0,13.77,13.81,12.71
$STATE,8508,end apogee,CONTROL_FINISHED_OK
$STATE,8508,begin climb
$GC,8512,1.06,107.1,2819,2248,3093,3028,802.0,0.0,350,8651,1.30,2.62,124.38,1.776,10756,0.096,0.051,3222,842,2614,2676,2553,0,0,0,0,0,0,13.57,13.68,13.01
$GC,8722,0.95,110.9,3220,842,2676,2539,797.0,7.5,387,8727,0.00,2.67,0.00,0.000,1190,0.000,0.075,3222,2258,2606,2675,2538,0,0,0,0,0,0,14.01,13.78,14.04
$GC,9080,0.83,110.9,3222,2257,2675,2534,765.5,9.0,396,9081,0.20,0.00,0.00,0.000,4230,0.258,0.000,3171,2259,2603,2674,2533,0,0,0,0,0,0,13.74,14.15,14.07
$GC,9416,0.84,123.9,3172,2258,2675,2531,741.9,6.9,402,9433,0.00,0.00,16.02,1.873,8742,0.000,0.000,3171,2258,2554,2627,2482,0,0,0,0,0,0,14.63,14.32,13.51
$GC,9752,0.86,139.7,3169,2258,2620,2465,719.2,6.7,415,9776,0.00,2.88,16.48,1.886,8484,0.000,0.156,3172,3663,2484,2560,2409,0,0,0,0,0,0,14.62,14.09,13.48
$GC,9821,0.78,139.7,3172,3664,2560,2406,714.1,8.0,425,9827,0.10,2.53,0.00,0.000,5254,0.261,0.053,3157,2221,2482,2559,2405,0,0,0,0,0,0,13.88,14.24,14.16
$GC,10144,0.81,163.7,3157,2218,2560,2401,693.7,6.2,436,10172,0.00,0.00,27.10,1.776,8230,0.000,0.000,3157,2215,2400,2479,2321,0,0,0,0,0,0,14.64,14.24,13.48
$GC,10480,0.82,178.1,3156,2217,2471,2298,671.1,6.8,442,10500,0.00,3.00,15.12,1.870,8484,0.000,0.154,3156,3660,2335,2420,2251,0,0,0,0,0,0,14.61,14.08,13.47
$GC,10529,0.82,178.1,3157,3660,2415,2246,667.3,8.3,449,10534,0.00,2.47,0.00,0.000,1030,0.000,0.054,3167,2255,2328,2414,2243,0,0,0,0,0,0,14.33,14.25,14.34
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$GC,18727,1.21,395.9,3289,3660,1695,1515,4.2,5.7,823,18753,0.00,2.50,18.55,0.167,9254,0.000,0.051,3298,2237,1471,1561,1382,0,0,0,0,0,0,14.23,14.15,14.00
$STATE,18778,end climb,SURFACE_DEPTH_REACHED
$STATE,18778,begin surface coast
$FINISH,-2.5,1.021940
$STATE,18806,end surface coast,CONTROL_FINISHED_OK
$STATE,18806,begin surface
$SM_CCo,18833,53.83,0.147,0,0,1056,500.14
$SM_GC,-2.10,9.18,1.12,53.83,0.057,0.125,0.147,193,2771,1056,-8.38,-0.28,500.14,0,0,0,0,0,0,14.19,13.85,14.07
$IRIDIUM_FIX,953.88,-12442.12,030317,103456
$TT8_MAMPS,0.038199,0.203728
$HUMID,54.60
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3619040
$PM_FREEKB,51170240
$24V_AH,12.61,257.040
$10V_AH,11.89,0.000
$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,26.625,197.125,416.925,53.825,0.000,0.000,0.000,423.575,0.000,0.000,6.114,0.000,15846.565,721.619,2425.787,717.926,0.000,1890.974,0.000,1482.973,0.000,0.839,0.000
$DEVICE_MAMPS,384.795,2174.895,2438.055,146.880,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18875.000,18821.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.688,2.482,0.000,0.000
$MEM,334692
$DATA_FILE_SIZE,29990,829
$CAP_FILE_SIZE,147465,0
$CFSIZE,1024409600,894631936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.038,284.16,1
$GPS,030317,214725,959.988,-12440.692,46,1.3,59,9.0,0.4,156.0,7,7.2