version: 66.04
glider: 5
mission: 5
dive: 79
start: 11 17 108 20 29 30
data:
$ID,5
$MISSION,5
$DIVE,79
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-88795.516
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,202007,6209.498,-302.547,33,0.9,33,-6.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-60.4
$GPS2,202841,6209.408,-302.589,16,1.4,16,-6.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.196,-0.147
$KALMAN_X,46413.7,403.7,-58.5,102324.7,-3237.1
$KALMAN_Y,-15906.4,-601.2,-634.1,-151119.2,399.1
$MHEAD_RNG_PITCHd_Wd,133.1,135846,-14.8,-8.000
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,99,0.00,0.00,-81.68,0.000,2,0.000,0.000,425,1966,3369
$GC,103,-1.22,-146.6,4.1,-3.9,4,125,10.45,2.55,-1.45,0.000,4,0.141,0.077,2428,595,3431
$GC,378,-0.99,-146.6,51.4,-14.7,16,383,0.28,2.53,0.00,0.000,6,0.094,0.052,2483,2007,3432
$GC,701,-0.94,-146.6,89.6,-11.8,32,705,0.00,2.60,0.00,0.000,4,0.000,0.066,2483,589,3432
$GC,863,-0.89,-146.6,108.7,-11.7,39,868,0.10,2.53,0.00,0.000,6,0.108,0.052,2503,2003,3433
$GC,1179,-0.89,-146.6,140.4,-10.1,54,1184,0.00,2.58,0.00,0.000,4,0.000,0.066,2503,597,3433
$GC,1207,-0.89,-146.6,143.5,-10.9,55,1211,0.00,2.50,0.00,0.000,6,0.000,0.053,2503,1994,3433
$GC,1522,-0.89,-146.6,174.6,-9.5,70,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1995,3434
$GC,1832,-0.89,-146.6,202.3,-8.5,85,1836,0.00,2.55,0.00,0.000,4,0.000,0.066,2503,3407,3434
$GC,1849,-0.89,-146.6,203.9,-8.6,86,1854,0.00,2.55,0.00,0.000,6,0.000,0.052,2503,1981,3434
$GC,2175,-0.89,-146.6,231.6,-8.2,102,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1981,3435
$GC,2485,-0.89,-146.6,258.1,-9.1,117,2489,0.00,2.62,0.00,0.000,4,0.000,0.065,2503,3412,3434
$GC,2524,-0.89,-146.6,261.7,-9.0,119,2528,0.00,2.55,0.00,0.000,6,0.000,0.054,2503,1991,3435
$GC,2851,-0.89,-146.6,286.5,-7.1,135,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1990,3435
$GC,3160,-0.89,-146.6,312.0,-9.3,150,3164,0.00,2.53,0.00,0.000,4,0.000,0.070,2503,597,3435
$GC,3193,-0.89,-146.6,315.2,-9.6,151,3199,0.00,2.47,0.00,0.000,6,0.000,0.055,2503,1977,3435
$GC,3508,-0.89,-146.6,342.2,-8.2,167,3513,0.00,2.60,0.00,0.000,4,0.000,0.071,2503,3402,3435
$GC,3530,-0.89,-146.6,344.2,-8.5,168,3535,0.00,2.58,0.00,0.000,6,0.000,0.059,2503,1981,3435
$GC,3851,-0.89,-146.6,371.4,-8.6,184,3855,0.00,2.55,0.00,0.000,4,0.000,0.076,2503,587,3435
$GC,3959,-0.89,-146.6,381.0,-9.5,189,3963,0.00,2.50,0.00,0.000,6,0.000,0.061,2503,1968,3434
$GC,4285,-0.89,-146.6,410.8,-9.2,205,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1969,3434
$GC,4594,-0.89,-146.6,438.2,-8.4,220,4599,0.00,2.67,0.00,0.000,4,0.000,0.081,2503,3408,3434
$GC,4635,-0.95,-146.6,441.7,-9.0,222,4639,0.00,2.67,0.00,0.000,6,0.000,0.068,2503,1954,3433
$GC,4962,-1.00,-146.6,471.0,-8.8,238,4966,0.00,2.75,0.00,0.000,4,0.000,0.082,2503,3410,3432
$GC,5006,-1.06,-146.6,474.9,-8.3,240,5011,0.15,2.65,0.00,0.000,6,0.063,0.068,2464,1973,3432
$GC,5334,-0.99,-146.6,507.1,-10.0,256,5338,0.00,2.72,0.00,0.000,4,0.000,0.084,2464,3411,3430
$GC,5374,-0.94,-146.6,511.3,-11.4,258,5379,0.15,2.65,0.00,0.000,6,0.101,0.071,2493,1978,3430
$GC,5701,-0.94,-146.6,541.9,-9.4,274,5705,0.00,2.72,0.00,0.000,4,0.000,0.084,2493,3412,3429
$GC,5741,-0.94,-146.6,545.9,-9.8,276,5745,0.00,2.65,0.00,0.000,6,0.000,0.071,2493,1979,3429
$GC,6067,-0.94,-146.6,573.9,-7.8,292,6072,0.00,2.70,0.00,0.000,4,0.000,0.084,2493,3404,3429
$GC,6094,-0.94,-146.6,576.3,-8.2,293,6099,0.00,2.62,0.00,0.000,6,0.000,0.071,2493,1990,3428
$GC,6410,-0.94,-146.6,602.5,-8.6,308,6414,0.00,2.58,0.00,0.000,4,0.000,0.085,2493,593,3427
$GC,6472,-0.94,-146.6,608.0,-9.1,311,6477,0.00,2.58,0.00,0.000,6,0.000,0.071,2493,1991,3427
$GC,6799,-0.94,-146.6,635.6,-8.5,327,6803,0.00,2.67,0.00,0.000,4,0.000,0.091,2493,3409,3425
$GC,6831,-0.94,-146.6,638.7,-9.1,328,6838,0.00,2.67,0.00,0.000,6,0.000,0.074,2493,1977,3425
$GC,7148,-0.98,-146.6,667.2,-9.3,344,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1977,3425
$GC,7457,-0.98,-146.6,696.7,-9.4,359,7461,0.00,2.75,0.00,0.000,4,0.000,0.090,2493,3411,3424
$GC,7501,-1.02,-146.6,701.1,-9.8,361,7505,0.00,2.65,0.00,0.000,6,0.000,0.075,2493,1995,3424
$GC,7822,-1.07,-146.6,729.7,-8.9,377,7827,0.12,2.72,0.00,0.000,4,0.073,0.091,2463,3409,3423
$GC,7850,-1.07,-146.6,732.6,-11.0,378,7854,0.00,2.65,0.00,0.000,6,0.000,0.077,2463,1998,3423
$GC,8166,-1.02,-146.6,764.2,-9.8,393,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1998,3422
$GC,8475,-0.97,-146.6,794.6,-9.8,408,8480,0.12,2.72,0.00,0.000,4,0.110,0.092,2486,3409,3421
$GC,8499,-0.97,-146.6,796.8,-9.8,409,8503,0.00,2.65,0.00,0.000,6,0.000,0.078,2486,2002,3421
$GC,8820,-0.97,-146.6,825.7,-9.0,425,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2002,3420
$GC,9129,-0.97,-146.6,852.7,-8.5,440,9133,0.00,2.70,0.00,0.000,4,0.000,0.091,2486,3405,3420
$GC,9156,-0.97,-146.6,855.1,-9.0,441,9160,0.00,2.62,0.00,0.000,6,0.000,0.076,2486,2006,3419
$GC,9472,-0.97,-146.6,880.9,-8.0,456,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2006,3419
$GC,9782,-0.97,-146.6,905.6,-8.0,471,9786,0.00,2.70,0.00,0.000,4,0.000,0.091,2486,3407,3418
$GC,9803,-0.97,-146.6,907.5,-8.5,472,9808,0.00,2.58,0.00,0.000,6,0.000,0.077,2486,2025,3418
$GC,10124,-0.97,-146.6,933.3,-8.0,488,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3418
$GC,10433,-0.97,-146.6,957.8,-8.1,503,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3417
$GC,10742,-0.97,-146.6,983.0,-8.0,518,10743,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2025,3417
$STATE,10842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10843,begin apogee
$GC,10850,-0.33,0.0,991.5,8.3,523,10977,0.68,0.00,124.22,1.668,6,0.094,0.000,2626,2258,2833
$STATE,10978,end apogee,CONTROL_FINISHED_OK
$STATE,10978,begin climb
$GC,10981,1.22,146.6,996.1,0.0,529,11115,1.60,2.78,125.38,1.624,4,0.080,0.093,2962,3658,2234
$GC,11163,1.15,154.4,987.8,7.7,537,11177,0.00,2.70,8.65,1.354,6,0.000,0.081,2962,2250,2202
$GC,11503,1.12,164.3,961.8,7.6,554,11518,0.00,2.78,9.88,1.397,4,0.000,0.093,2963,841,2162
$GC,11565,1.06,164.3,956.5,8.5,556,11570,0.17,2.67,0.00,0.000,6,0.104,0.077,2930,2245,2162
$GC,11895,1.16,197.0,934.1,6.8,572,11930,0.00,2.83,29.58,1.552,4,0.000,0.092,2930,841,2028
$GC,11959,1.21,197.0,928.9,8.7,574,11964,0.15,2.67,0.00,0.000,6,0.069,0.077,2965,2235,2028
$GC,12280,1.21,197.0,901.7,8.5,590,12284,0.00,2.72,0.00,0.000,4,0.000,0.093,2966,839,2027
$GC,12319,1.21,197.0,898.2,9.0,592,12324,0.00,2.62,0.00,0.000,6,0.000,0.077,2965,2221,2027
$GC,12647,1.21,197.0,869.6,9.2,608,12651,0.00,2.70,0.00,0.000,4,0.000,0.094,2966,840,2027
$GC,12668,1.21,197.0,867.4,9.6,609,12672,0.00,2.58,0.00,0.000,6,0.000,0.077,2965,2204,2027
$GC,12989,1.21,197.0,837.6,9.3,625,12993,0.00,2.65,0.00,0.000,4,0.000,0.094,2965,838,2027
$GC,13010,1.21,197.0,835.4,9.5,626,13014,0.00,2.58,0.00,0.000,6,0.000,0.076,2966,2196,2027
$GC,13331,1.21,197.0,807.1,8.7,642,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2196,2026
$GC,13640,1.21,197.0,779.2,9.2,657,13644,0.00,2.65,0.00,0.000,4,0.000,0.094,2965,836,2026
$GC,13672,1.21,197.0,775.8,9.6,658,13679,0.00,2.55,0.00,0.000,6,0.000,0.077,2966,2187,2026
$GC,13988,1.21,197.0,748.1,8.4,674,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2187,2026
$GC,14297,1.21,197.0,721.8,8.7,689,14302,0.00,2.60,0.00,0.000,4,0.000,0.091,2966,838,2026
$GC,14338,1.21,197.0,718.1,9.2,691,14342,0.00,2.53,0.00,0.000,6,0.000,0.076,2966,2178,2026
$GC,14665,1.21,197.0,690.0,8.6,707,14669,0.00,2.83,0.00,0.000,4,0.000,0.093,2965,3659,2025
$GC,14686,1.21,197.0,688.0,9.4,708,14690,0.00,2.80,0.00,0.000,6,0.000,0.077,2965,2173,2026
$GC,15006,1.21,197.0,660.0,9.0,724,15010,0.00,2.50,0.00,0.000,4,0.000,0.090,2965,843,2025
$GC,15040,1.21,197.0,656.7,9.7,725,15044,0.00,2.53,0.00,0.000,6,0.000,0.075,2966,2188,2026
$GC,15355,1.21,197.0,629.1,8.7,740,15357,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2188,2025
$GC,15665,1.21,197.0,602.7,8.3,755,15666,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2188,2025
$GC,15975,1.24,216.9,578.7,7.3,770,15997,0.00,2.70,17.42,1.357,4,0.000,0.087,2966,843,1947
$GC,16031,1.25,222.8,574.2,7.8,772,16043,0.00,2.53,6.78,1.170,6,0.000,0.074,2966,2169,1923
$GC,16352,1.25,226.1,549.0,7.9,788,16362,0.00,2.58,4.53,1.004,4,0.000,0.087,2966,844,1910
$GC,16396,1.26,228.0,545.3,7.9,790,16400,0.00,2.47,0.00,0.000,6,0.000,0.074,2966,2153,1909
$GC,16718,1.28,242.2,520.9,7.5,806,16739,0.00,2.60,14.82,1.296,4,0.000,0.088,2966,840,1844
$GC,16751,1.28,242.2,518.2,9.1,807,16755,0.00,2.45,0.00,0.000,6,0.000,0.072,2965,2131,1844
$GC,17067,1.32,242.2,492.9,8.2,822,17068,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2132,1844
$GC,17376,1.41,268.1,469.8,7.1,837,17406,0.17,2.58,23.00,1.300,4,0.063,0.086,3006,846,1737
$GC,17429,1.33,268.1,464.8,9.9,839,17433,0.00,2.42,0.00,0.000,6,0.000,0.072,3006,2125,1738
$GC,17745,1.28,268.1,431.4,10.8,854,17751,0.15,2.90,0.00,0.000,4,0.102,0.087,2978,3657,1740
$GC,17786,1.28,268.1,427.1,11.8,856,17790,0.00,2.85,0.00,0.000,6,0.000,0.072,2978,2130,1740
$GC,18113,1.32,268.1,396.1,9.2,872,18114,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2130,1740
$GC,18421,1.32,268.1,369.8,8.2,887,18422,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2130,1740
$GC,18731,1.32,268.3,345.3,8.0,902,18736,0.00,2.90,0.00,0.000,4,0.000,0.081,2978,3657,1740
$GC,18758,1.32,268.3,342.8,9.5,903,18763,0.00,2.83,0.00,0.000,6,0.000,0.067,2978,2131,1740
$GC,19074,1.32,268.3,315.5,8.8,918,19078,0.00,2.90,0.00,0.000,4,0.000,0.081,2978,3661,1741
$GC,19106,1.32,268.3,312.0,10.5,919,19113,0.00,2.78,0.00,0.000,6,0.000,0.064,2978,2151,1741
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$GC,19755,1.41,268.3,254.3,9.1,951,19757,0.12,0.00,0.00,0.000,6,0.065,0.000,3011,2165,1742
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$GC,21503,1.39,286.6,95.9,11.7,1034,21507,0.00,2.40,0.00,0.000,6,0.000,0.054,3020,2172,1663
$GC,21819,1.34,286.6,52.9,14.0,1049,21824,0.15,2.70,0.00,0.000,4,0.091,0.065,2991,3660,1664
$GC,21864,1.40,286.6,47.2,14.0,1051,21869,0.00,2.70,0.00,0.000,6,0.000,0.056,2991,2157,1665
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$GC,22198,1.50,286.6,7.8,10.5,1067,22204,0.00,2.38,0.00,0.000,6,0.000,0.052,3024,2164,1666
$STATE,22243,end climb,SURFACE_DEPTH_REACHED
$STATE,22243,begin surface coast
$FINISH,0.8,1.027335
$STATE,22265,end surface coast,CONTROL_FINISHED_OK
$STATE,22265,begin surface
$SM_CCo,22348,0.00,0.000,0,0,1664,286.51
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1776
$TCM_TEMP,16.80
$XPDR_PINGS,223
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.5,14.466
$10V_AH,10.0,6.242
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$DEVICE_SECS,26.300,236.950,381.600,0.000,0.000,75.517,101.414,145.550,64.750,0.000,0.000,16.673,1998.321,17327.566,560.636,2270.245,699.930,33.356,1745.447,0.000,2211.676,0.000,58.518,0.000
$DEVICE_MAMPS,141.128,93.574,1668.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.474,726.249,540.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53625,1071
$CAP_FILE_SIZE,174518,0
$CFSIZE,254472192,248279040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,72,0,0
$GPS,181108,024326,6207.285,-257.230,51,1.6,52,-6.2