version: 66.04
glider: 5
mission: 5
dive: 267
start: 1 1 109 20 33 55
data:
$ID,5
$MISSION,5
$DIVE,267
$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,550
$T_MISSION,580
$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,2
$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,-92488.75
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,16
$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
$GPS1,202710,6035.159,-515.172,51,1.6,52,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.7
$GPS2,203337,6035.111,-515.186,12,1.2,18,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,142.1,65580,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,78,0.00,0.00,-60.80,0.000,2,0.000,0.000,420,1954,3010
$GC,81,-0.97,-146.6,3.1,-3.9,3,112,10.80,2.55,-12.82,0.000,4,0.140,0.077,2481,598,3431
$GC,275,-0.75,-146.6,26.3,-11.7,11,282,0.28,2.53,0.00,0.000,6,0.087,0.052,2538,2009,3431
$GC,592,-0.68,-146.6,51.7,-8.1,27,596,0.00,2.53,0.00,0.000,4,0.000,0.064,2539,3407,3431
$GC,642,-0.68,-146.6,56.0,-8.4,29,646,0.00,2.50,0.00,0.000,6,0.000,0.049,2539,2007,3431
$GC,958,-0.62,-146.6,81.2,-8.1,44,960,0.12,0.00,0.00,0.000,6,0.091,0.000,2565,2007,3431
$GC,1267,-0.62,-146.6,104.0,-7.7,59,1272,0.00,2.58,0.00,0.000,4,0.000,0.063,2566,3415,3432
$GC,1289,-0.62,-146.6,105.7,-7.2,60,1294,0.00,2.50,0.00,0.000,6,0.000,0.049,2566,2012,3432
$GC,1611,-0.62,-146.6,129.1,-6.8,76,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2012,3432
$GC,1921,-0.62,-146.6,149.8,-6.6,91,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2013,3432
$GC,2229,-0.62,-146.6,171.7,-7.2,106,2234,0.00,2.55,0.00,0.000,4,0.000,0.064,2565,3415,3432
$GC,2251,-0.62,-146.6,173.4,-7.2,107,2256,0.00,2.50,0.00,0.000,6,0.000,0.049,2566,2012,3432
$GC,2573,-0.62,-146.6,196.6,-7.3,123,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2012,3432
$GC,2882,-0.62,-146.6,218.1,-6.5,138,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2012,3432
$GC,3191,-0.62,-146.6,237.8,-6.2,153,3195,0.00,2.55,0.00,0.000,4,0.000,0.067,2565,598,3432
$GC,3218,-0.62,-146.6,239.6,-6.5,154,3222,0.00,2.55,0.00,0.000,6,0.000,0.053,2565,2028,3432
$GC,3534,-0.62,-146.6,259.8,-6.6,169,3539,0.00,2.65,0.00,0.000,4,0.000,0.071,2565,593,3432
$GC,3606,-0.62,-146.6,265.0,-7.3,172,3611,0.00,2.53,0.00,0.000,6,0.000,0.054,2565,2006,3432
$GC,3923,-0.62,-146.6,286.4,-6.6,187,3927,0.00,2.55,0.00,0.000,4,0.000,0.068,2565,3411,3432
$GC,3945,-0.67,-146.6,287.8,-6.0,188,3949,0.00,2.58,0.00,0.000,6,0.000,0.055,2566,1980,3433
$GC,4266,-0.67,-146.6,305.6,-5.2,204,4270,0.00,2.53,0.00,0.000,4,0.000,0.073,2565,591,3432
$GC,4305,-0.67,-146.6,308.0,-6.2,205,4312,0.00,2.50,0.00,0.000,6,0.000,0.055,2566,1991,3432
$GC,4623,-0.71,-146.6,325.2,-5.8,221,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1991,3432
$GC,4931,-0.76,-146.6,343.9,-6.1,236,4936,0.15,2.62,0.00,0.000,4,0.057,0.077,2523,595,3432
$GC,4954,-0.72,-146.6,345.5,-6.9,237,4958,0.00,2.50,0.00,0.000,6,0.000,0.060,2523,1978,3432
$GC,5275,-0.64,-146.6,369.6,-7.6,253,5277,0.15,0.00,0.00,0.000,6,0.093,0.000,2556,1979,3432
$GC,5585,-0.64,-146.6,388.3,-6.0,268,5589,0.00,2.62,0.00,0.000,4,0.000,0.077,2556,3414,3431
$GC,5613,-0.64,-146.6,390.3,-7.0,269,5618,0.00,2.65,0.00,0.000,6,0.000,0.064,2557,1966,3431
$GC,5929,-0.64,-146.6,411.7,-6.4,284,5933,0.00,2.70,0.00,0.000,4,0.000,0.077,2556,3410,3431
$GC,5969,-0.64,-146.6,414.1,-6.8,286,5973,0.00,2.62,0.00,0.000,6,0.000,0.065,2556,1977,3430
$GC,6296,-0.64,-146.6,433.6,-6.4,302,6300,0.00,2.58,0.00,0.000,4,0.000,0.082,2556,584,3430
$GC,6340,-0.64,-146.6,437.0,-7.6,304,6344,0.00,2.53,0.00,0.000,6,0.000,0.066,2556,1970,3430
$GC,6662,-0.64,-146.6,458.8,-6.7,320,6666,0.00,2.67,0.00,0.000,4,0.000,0.083,2556,3409,3428
$GC,6706,-0.68,-146.6,461.8,-7.1,322,6710,0.00,2.65,0.00,0.000,6,0.000,0.070,2556,1974,3428
$GC,7027,-0.68,-146.6,484.1,-6.8,338,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1974,3427
$GC,7336,-0.68,-146.6,505.0,-6.7,353,7341,0.00,2.72,0.00,0.000,4,0.000,0.087,2556,3406,3426
$GC,7358,-0.73,-146.6,506.5,-7.0,354,7363,0.00,2.65,0.00,0.000,6,0.000,0.072,2557,1980,3426
$GC,7680,-0.73,-146.6,527.6,-6.3,370,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1979,3425
$GC,7990,-0.73,-146.6,548.6,-6.9,385,7994,0.00,2.70,0.00,0.000,4,0.000,0.087,2556,3404,3424
$GC,8017,-0.77,-146.6,550.6,-7.2,386,8022,0.12,2.65,0.00,0.000,6,0.071,0.074,2526,1981,3424
$GC,8334,-0.73,-146.6,575.4,-7.8,401,8339,0.00,2.72,0.00,0.000,4,0.000,0.087,2526,3405,3423
$GC,8368,-0.69,-146.6,578.4,-8.6,402,8375,0.10,2.62,0.00,0.000,6,0.116,0.074,2546,2000,3423
$GC,8684,-0.69,-146.6,599.4,-6.5,418,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2001,3422
$GC,8993,-0.69,-146.6,619.8,-6.9,433,8998,0.00,2.70,0.00,0.000,4,0.000,0.089,2546,3409,3420
$GC,9015,-0.69,-146.6,621.4,-6.8,434,9020,0.00,2.60,0.00,0.000,6,0.000,0.075,2546,2008,3420
$GC,9336,-0.69,-146.6,645.0,-7.6,450,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3420
$GC,9645,-0.69,-146.6,667.2,-7.2,465,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3418
$GC,9955,-0.69,-146.6,690.5,-7.4,480,9959,0.00,2.67,0.00,0.000,4,0.000,0.090,2546,3405,3418
$GC,10004,-0.69,-146.6,694.5,-7.9,482,10009,0.00,2.60,0.00,0.000,6,0.000,0.076,2546,2014,3417
$GC,10320,-0.69,-146.6,718.2,-7.4,497,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2014,3417
$GC,10630,-0.69,-146.6,741.1,-7.8,512,10634,0.00,2.67,0.00,0.000,4,0.000,0.090,2546,3406,3416
$GC,10657,-0.69,-146.6,743.6,-8.4,513,10662,0.00,2.60,0.00,0.000,6,0.000,0.075,2546,2017,3416
$GC,10973,-0.69,-146.6,767.0,-7.5,528,10974,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2017,3415
$GC,11283,-0.69,-146.6,789.5,-7.2,543,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2017,3415
$GC,11591,-0.69,-146.6,811.3,-6.8,558,11596,0.00,2.67,0.00,0.000,4,0.000,0.093,2546,3404,3414
$GC,11613,-0.69,-146.6,813.0,-7.3,559,11617,0.00,2.60,0.00,0.000,6,0.000,0.078,2546,2022,3414
$GC,11934,-0.69,-146.6,834.4,-6.9,575,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3413
$GC,12243,-0.69,-146.6,855.1,-6.6,590,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2022,3413
$GC,12552,-0.69,-146.6,873.8,-6.1,605,12557,0.00,2.65,0.00,0.000,4,0.000,0.094,2546,3404,3412
$GC,12575,-0.69,-146.6,875.2,-6.0,606,12579,0.00,2.62,0.00,0.000,4,0.000,0.079,2546,2010,3412
$STATE,12580,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12580,begin apogee
$GC,12587,-0.33,0.0,875.7,6.3,606,12721,0.35,0.00,131.10,1.573,6,0.094,0.000,2621,2205,2832
$STATE,12722,end apogee,CONTROL_FINISHED_OK
$STATE,12722,begin climb
$GC,12725,0.97,146.6,880.9,0.0,613,12871,1.38,2.78,134.95,1.518,4,0.081,0.090,2908,3595,2234
$GC,12880,0.87,146.6,875.8,6.1,620,12885,0.00,2.70,0.00,0.000,6,0.000,0.077,2908,2194,2234
$GC,13203,0.85,167.5,858.8,5.4,636,13229,0.12,2.78,19.98,1.420,4,0.107,0.093,2885,786,2150
$GC,13274,0.89,191.7,854.8,5.3,639,13307,0.00,2.67,23.83,1.441,6,0.000,0.077,2885,2190,2049
$GC,13619,0.99,215.0,836.6,5.4,656,13649,0.12,2.83,22.52,1.447,4,0.069,0.091,2916,793,1954
$GC,13672,0.99,215.0,833.3,6.1,658,13676,0.00,2.65,0.00,0.000,6,0.000,0.077,2916,2179,1955
$GC,13988,0.99,215.0,812.7,6.5,673,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2179,1955
$GC,14297,0.99,215.0,793.0,6.3,688,14302,0.00,2.70,0.00,0.000,4,0.000,0.094,2916,792,1956
$GC,14342,0.99,220.2,790.1,5.9,690,14358,0.00,2.60,6.78,1.243,6,0.000,0.078,2916,2166,1934
$GC,14668,1.01,226.8,770.9,5.8,706,14678,0.00,0.00,7.78,1.289,6,0.000,0.000,2916,2166,1907
$GC,14977,1.01,226.8,751.4,6.7,721,14982,0.00,2.70,0.00,0.000,4,0.000,0.094,2916,783,1906
$GC,15017,1.01,226.8,748.5,6.5,723,15021,0.00,2.60,0.00,0.000,6,0.000,0.078,2916,2162,1906
$GC,15344,1.01,226.8,726.7,6.7,739,15349,0.00,2.67,0.00,0.000,4,0.000,0.094,2916,786,1907
$GC,15372,1.01,226.8,724.7,7.1,740,15377,0.00,2.58,0.00,0.000,6,0.000,0.076,2916,2148,1906
$GC,15688,1.01,226.8,704.9,6.1,755,15693,0.00,2.65,0.00,0.000,4,0.000,0.094,2916,786,1906
$GC,15710,1.01,226.8,703.3,7.1,756,15715,0.00,2.55,0.00,0.000,6,0.000,0.077,2916,2139,1906
$GC,16032,1.05,253.6,685.6,5.3,772,16059,0.00,0.00,25.38,1.438,6,0.000,0.000,2916,2139,1797
$GC,16360,1.05,253.6,666.2,6.2,788,16364,0.00,2.60,0.00,0.000,4,0.000,0.093,2916,791,1797
$GC,16393,1.05,253.6,663.8,6.8,789,16399,0.00,2.55,0.00,0.000,6,0.000,0.077,2916,2139,1797
$GC,16709,1.07,266.2,644.7,5.7,805,16731,0.00,2.72,12.75,1.351,4,0.000,0.092,2916,790,1745
$GC,16743,1.09,278.0,642.5,5.7,806,16762,0.00,2.55,12.18,1.328,6,0.000,0.076,2916,2125,1698
$GC,17088,1.15,278.0,622.2,6.1,823,17093,0.15,2.62,0.00,0.000,4,0.069,0.092,2952,786,1698
$GC,17116,1.10,278.0,619.8,8.4,824,17120,0.00,2.53,0.00,0.000,6,0.000,0.077,2952,2121,1698
$GC,17432,1.04,278.0,594.7,8.1,839,17434,0.15,0.00,0.00,0.000,6,0.102,0.000,2924,2122,1698
$GC,17741,1.04,278.0,573.9,6.8,854,17746,0.00,2.58,0.00,0.000,4,0.000,0.092,2924,791,1698
$GC,17774,1.04,278.0,571.2,8.6,855,17781,0.00,2.50,0.00,0.000,6,0.000,0.077,2924,2120,1698
$GC,18091,1.04,278.0,549.6,6.6,871,18095,0.00,2.58,0.00,0.000,4,0.000,0.091,2924,790,1698
$GC,18113,1.04,278.0,548.0,6.5,872,18117,0.00,2.47,0.00,0.000,6,0.000,0.076,2924,2103,1698
$GC,18433,1.04,278.0,527.1,6.4,888,18435,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2104,1698
$GC,18743,1.04,278.0,507.1,6.5,903,18747,0.00,2.55,0.00,0.000,4,0.000,0.091,2924,786,1698
$GC,18776,1.04,278.0,504.9,7.6,904,18782,0.00,2.45,0.00,0.000,6,0.000,0.075,2924,2093,1698
$GC,19092,1.04,278.0,484.4,6.5,920,19093,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2092,1698
$GC,19401,1.08,278.0,463.4,6.6,935,19405,0.00,2.53,0.00,0.000,4,0.000,0.089,2924,784,1698
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$GC,20773,1.09,292.3,363.9,5.6,1002,20794,0.00,2.50,13.60,1.185,4,0.000,0.083,2919,792,1640
$GC,20828,1.16,292.3,360.5,6.2,1004,20833,0.15,2.45,0.00,0.000,6,0.065,0.069,2957,2100,1639
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$GC,22146,1.11,292.3,254.5,9.3,1068,22150,0.00,2.42,0.00,0.000,6,0.000,0.064,2957,2113,1640
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$GC,25192,1.17,329.2,7.8,9.9,1216,25197,0.00,2.78,0.00,0.000,6,0.000,0.053,2957,2074,1489
$STATE,25258,end climb,SURFACE_DEPTH_REACHED
$STATE,25258,begin surface coast
$FINISH,0.4,1.013674
$STATE,25300,end surface coast,CONTROL_FINISHED_OK
$STATE,25300,begin surface
$SM_CCo,25384,0.00,0.000,0,0,1488,329.68
$SM_GC,1.29,11.18,0.00,0.00,0.042,0.000,0.000,421,1973,1488,-10.40,-0.74,329.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1789
$TCM_TEMP,16.50
$XPDR_PINGS,200
$ALTIM_TOP_PING,18.6,18.0
$ALTIM_BOTTOM_PING,801.3,84.3
$24V_AH,23.5,46.525
$10V_AH,10.0,22.919
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$DEVICE_SECS,25.625,236.100,442.950,0.000,0.000,37.762,31.149,167.103,57.500,0.000,0.000,18.928,2214.969,19787.477,612.442,2467.725,678.554,0.000,1891.310,0.000,2404.654,0.000,50.378,0.000
$DEVICE_MAMPS,139.594,94.341,1573.117,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,900.826,827.975,666.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63136,1221
$CAP_FILE_SIZE,184536,0
$CFSIZE,254472192,235900928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,72,0,0
$GPS,020109,033827,6033.562,-507.557,30,3.1,49,-6.9