version: 66.13
glider: 527
mission: 5
dive: 41
start: 5 23 119 23 27 55
data:
$ID,527
$MISSION,5
$DIVE,41
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55590
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,180
$PITCH_MAX,3650
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,50
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,30
$C_ROLL_DIVE,2850
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3925
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00065
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-173.77016
$PRESSURE_SLOPE,0.00010843292
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.38999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.004412075
$SEABIRD_T_H,0.00063827372
$SEABIRD_T_I,2.6317541e-05
$SEABIRD_T_J,3.254017e-06
$SEABIRD_C_G,-9.9840622
$SEABIRD_C_H,1.1688964
$SEABIRD_C_I,-0.0016958674
$SEABIRD_C_J,0.00021397673
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,230519,232040,5934.9790,-2127.0901,48,0.8,58,-12.7,0.6,340.2,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.4
$GPS2,230519,232715,5934.9976,-2127.1279,10,0.8,22,-12.7,0.0,102.9,10,8.5
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N
$TGT_LATLONG,5940.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.1,9265,-18.5,-11.000,-21.07,2319
$D_GRID,1000
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.48,-165.5,124,2865,1834,1911,0.0,0.0,0,103,0.00,0.00,-85.53,0.008,16390,0.000,0.000,121,2865,3577,3752,3403,0,0,0,0,0,0,14.60,13.03,14.62
$GC,105,-0.48,-165.5,121,2865,3752,3404,5.0,-9.0,9,122,11.88,1.95,0.00,0.000,2308,0.401,0.145,2560,3847,3578,3752,3404,0,0,0,0,0,0,14.08,14.23,14.36
$GC,299,-0.48,-165.5,2559,3847,3753,3404,41.9,-12.7,47,304,0.00,1.80,0.00,0.000,1030,0.000,0.095,2560,2843,3578,3752,3404,0,0,0,0,0,0,14.56,14.47,14.58
$GC,491,-0.48,-165.5,2559,2840,3753,3404,67.0,-13.6,67,496,0.00,1.85,0.00,0.000,516,0.000,0.091,2559,1784,3578,3753,3404,0,0,0,0,0,0,14.78,14.51,14.79
$GC,513,-0.48,-165.5,2559,1781,3753,3404,70.2,-14.4,71,518,0.00,2.03,0.00,0.000,1030,0.000,0.138,2552,2849,3578,3753,3404,0,0,0,0,0,0,14.59,14.45,14.63
$GC,705,-0.48,-165.5,2552,2848,3752,3404,96.3,-13.9,91,711,0.00,1.92,0.00,0.000,260,0.000,0.166,2545,3843,3578,3753,3404,0,0,0,0,0,0,14.81,14.31,14.83
$GC,801,-0.48,-165.5,2545,3842,3753,3404,110.5,-13.7,110,809,0.12,1.75,0.00,0.000,3078,0.242,0.087,2572,2846,3578,3753,3404,0,0,0,0,0,0,14.44,14.57,14.62
$GC,988,-0.48,-165.5,2572,2846,3753,3404,132.8,-12.0,129,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2846,3578,3753,3404,0,0,0,0,0,0,14.84,14.86,14.86
$GC,1168,-0.48,-165.5,2572,2846,3753,3404,154.6,-12.3,147,1173,0.00,1.95,0.00,0.000,260,0.000,0.163,2567,3844,3578,3753,3404,0,0,0,0,0,0,14.87,14.40,14.88
$GC,1194,-0.48,-165.5,2567,3844,3753,3404,158.0,-11.7,152,1201,0.00,1.75,0.00,0.000,1030,0.000,0.088,2567,2846,3578,3753,3404,0,0,0,0,0,0,14.70,14.61,14.72
$GC,1380,-0.48,-165.5,2567,2845,3753,3404,181.0,-12.7,171,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2846,3578,3753,3404,0,0,0,0,0,0,14.85,14.87,14.87
$GC,1560,-0.48,-165.5,2566,2846,3753,3404,204.1,-12.9,189,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2846,3578,3753,3404,0,0,0,0,0,0,14.86,14.88,14.88
$GC,1740,-0.48,-165.5,2567,2846,3753,3404,226.9,-12.5,207,1746,0.00,1.95,0.00,0.000,260,0.000,0.164,2560,3846,3578,3753,3404,0,0,0,0,0,0,14.88,14.42,14.90
$GC,1777,-0.48,-165.5,2560,3845,3753,3404,231.6,-12.7,214,1784,0.00,1.75,0.00,0.000,1030,0.000,0.089,2560,2850,3578,3752,3404,0,0,0,0,0,0,14.72,14.63,14.75
$GC,1962,-0.48,-165.5,2559,2850,3753,3404,255.8,-12.8,231,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2850,3578,3753,3404,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2262,-0.48,-165.5,2559,2850,3753,3404,293.6,-12.6,246,2268,0.00,1.92,0.00,0.000,260,0.000,0.164,2553,3840,3578,3753,3404,0,0,0,0,0,0,14.93,14.47,14.95
$GC,2305,-0.48,-165.5,2552,3840,3753,3404,298.8,-12.4,254,2310,0.00,1.75,0.00,0.000,1030,0.000,0.087,2553,2838,3578,3753,3404,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2627,-0.48,-165.5,2552,2838,3753,3405,340.1,-13.0,273,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2838,3578,3752,3404,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2927,-0.48,-165.5,2552,2838,3753,3404,378.6,-12.9,288,2933,0.00,1.95,0.00,0.000,260,0.000,0.164,2544,3843,3578,3753,3404,0,0,0,0,0,0,14.97,14.48,14.99
$GC,2975,-0.48,-165.5,2545,3842,3753,3404,384.8,-12.7,297,2981,0.12,1.73,0.00,0.000,3078,0.238,0.088,2573,2848,3578,3753,3403,0,0,0,0,0,0,14.56,14.69,14.73
$GC,3293,-0.48,-165.5,2573,2848,3753,3404,419.6,-10.7,315,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2848,3578,3753,3404,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3593,-0.48,-165.5,2573,2848,3753,3403,450.6,-10.2,330,3598,0.00,1.95,0.00,0.000,260,0.000,0.168,2568,3848,3578,3753,3404,0,0,0,0,0,0,14.96,14.45,14.97
$GC,3624,-0.48,-165.5,2568,3848,3753,3403,453.9,-10.3,336,3631,0.00,1.75,0.00,0.000,1030,0.000,0.091,2568,2849,3578,3753,3404,0,0,0,0,0,0,14.78,14.69,14.81
$GC,3938,-0.48,-165.5,2568,2850,3753,3404,485.2,-9.9,353,3943,0.00,1.92,0.00,0.000,260,0.000,0.166,2561,3840,3578,3753,3404,0,0,0,0,0,0,14.97,14.49,14.99
$GC,3981,-0.48,-165.5,2561,3840,3752,3404,489.6,-10.1,361,3986,0.00,1.73,0.00,0.000,1030,0.000,0.089,2561,2849,3578,3752,3404,0,0,0,0,0,0,14.79,14.70,14.81
$GC,4303,-0.48,-165.5,2561,2850,3752,3404,522.5,-10.1,380,4309,0.00,1.83,0.00,0.000,516,0.000,0.087,2561,1785,3578,3752,3404,0,0,0,0,0,0,14.98,14.69,15.00
$GC,4335,-0.48,-165.5,2560,1784,3752,3404,525.7,-9.4,386,4341,0.00,2.00,0.00,0.000,1030,0.000,0.138,2554,2850,3578,3752,3404,0,0,0,0,0,0,14.76,14.60,14.80
$GC,4648,-0.48,-165.5,2553,2850,3752,3404,558.5,-10.4,403,4653,0.00,1.90,0.00,0.000,260,0.000,0.170,2546,3843,3577,3752,3403,0,0,0,0,0,0,14.98,14.47,15.00
$GC,4759,-0.48,-165.5,2546,3843,3751,3404,569.8,-10.0,425,4765,0.00,1.75,0.00,0.000,1030,0.000,0.089,2547,2839,3578,3752,3404,0,0,0,0,0,0,14.80,14.70,14.82
$GC,5072,-0.48,-165.5,2546,2838,3751,3404,603.0,-10.6,442,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2838,3577,3751,3404,0,0,0,0,0,0,14.99,15.01,15.01
$GC,5372,-0.48,-165.5,2546,2838,3751,3404,635.1,-10.5,457,5378,0.00,1.98,0.00,0.000,260,0.000,0.171,2538,3847,3577,3750,3404,0,0,0,0,0,0,15.00,14.47,15.01
$GC,5424,-0.48,-165.5,2538,3847,3749,3404,640.3,-10.0,467,5430,0.15,1.75,0.00,0.000,3078,0.228,0.091,2575,2848,3576,3749,3403,0,0,0,0,0,0,14.57,14.71,14.76
$GC,5737,-0.48,-165.5,2574,2848,3749,3404,665.5,-8.3,484,5743,0.00,1.83,0.00,0.000,548,0.000,0.090,2575,1787,3576,3749,3404,0,0,0,0,0,0,15.00,14.70,15.02
$GC,5770,-0.48,-165.5,2575,1785,3749,3404,668.3,-8.1,490,5775,0.00,2.00,0.00,0.000,1062,0.000,0.138,2569,2853,3576,3749,3404,0,0,0,0,0,0,14.78,14.61,14.81
$GC,6082,-0.48,-165.5,2569,2853,3748,3404,696.5,-9.3,507,6087,0.00,1.90,0.00,0.000,260,0.000,0.173,2562,3842,3576,3748,3404,0,0,0,0,0,0,15.00,14.48,15.02
$GC,6138,-0.48,-165.5,2562,3843,3748,3404,701.8,-9.1,518,6145,0.00,1.75,0.00,0.000,1030,0.000,0.091,2562,2844,3575,3747,3404,0,0,0,0,0,0,14.81,14.71,14.83
$GC,6444,-0.48,-165.5,2562,2844,3747,3404,731.0,-9.6,534,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2844,3575,3747,3403,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6745,-0.48,-165.5,2562,2844,3746,3404,759.6,-9.4,549,6750,0.00,1.98,0.00,0.000,260,0.000,0.174,2555,3848,3575,3746,3404,0,0,0,0,0,0,15.01,14.42,15.02
$GC,6796,-0.48,-165.5,2555,3848,3745,3404,764.7,-9.7,559,6802,0.00,1.75,0.00,0.000,1030,0.000,0.092,2555,2849,3575,3746,3404,0,0,0,0,0,0,14.81,14.71,14.84
$GC,7108,-0.48,-165.5,2554,2848,3745,3404,796.5,-10.5,576,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2848,3574,3745,3404,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7408,-0.48,-165.5,2554,2848,3745,3404,828.0,-10.5,591,7414,0.00,1.95,0.00,0.000,260,0.000,0.174,2548,3842,3573,3744,3403,0,0,0,0,0,0,15.00,14.50,15.02
$GC,7440,-0.48,-165.5,2547,3842,3744,3403,831.6,-10.9,597,7446,0.00,1.75,0.00,0.000,1030,0.000,0.092,2548,2843,3574,3744,3404,0,0,0,0,0,0,14.81,14.71,14.84
$GC,7752,-0.48,-165.5,2547,2842,3743,3404,866.0,-11.2,614,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2842,3574,3744,3404,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8053,-0.48,-165.5,2547,2842,3743,3403,900.3,-11.4,629,8059,0.00,1.98,0.00,0.000,260,0.000,0.177,2540,3845,3573,3743,3403,0,0,0,0,0,0,15.00,14.47,15.02
$GC,8096,-0.48,-165.5,2540,3844,3742,3404,905.2,-11.8,637,8102,0.15,1.75,0.00,0.000,3078,0.222,0.093,2576,2848,3574,3744,3404,0,0,0,0,0,0,14.59,14.71,14.76
$GC,8419,-0.48,-165.5,2576,2847,3742,3403,935.3,-9.4,656,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2848,3573,3742,3404,0,0,0,0,0,0,15.01,15.03,15.02
$GC,8719,-0.48,-165.5,2576,2848,3742,3403,964.5,-9.7,671,8724,0.00,1.95,0.00,0.000,260,0.000,0.173,2572,3842,3572,3741,3403,0,0,0,0,0,0,15.01,14.47,15.03
$GC,8745,-0.48,-165.5,2571,3842,3742,3404,967.1,-10.2,676,8751,0.00,1.75,0.00,0.000,1030,0.000,0.093,2572,2847,3572,3741,3403,0,0,0,0,0,0,14.78,14.67,14.81
$STATE,8982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8982,begin apogee
$GC,8986,-0.10,0.0,2572,2601,3742,3404,990.8,-9.9,690,9152,0.43,0.00,162.70,2.360,10246,0.184,0.000,2694,2601,2900,2923,2877,0,0,0,0,0,0,14.59,13.64,12.44
$STATE,9153,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9155,0.48,165.5,2693,2601,2922,2876,997.2,0.0,698,9331,0.62,2.12,167.77,2.306,10756,0.120,0.091,2891,1540,2225,2219,2232,0,0,0,0,0,0,13.74,13.33,12.21
$GC,9399,0.51,165.5,2892,1540,2218,2230,980.6,9.6,745,9406,0.00,2.10,0.00,0.000,1094,0.000,0.123,2891,2597,2223,2218,2229,0,0,0,0,0,0,13.85,13.75,13.87
$GC,9703,0.51,165.5,2891,2597,2218,2223,947.1,11.4,761,9709,0.00,2.08,0.00,0.000,260,0.000,0.160,2891,3665,2220,2218,2223,0,0,0,0,0,0,14.54,14.25,14.55
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$GC,14047,0.51,165.5,2897,2594,2219,2214,319.5,12.8,1036,14053,0.00,1.80,0.00,0.000,516,0.000,0.079,2903,1526,2217,2220,2214,0,0,0,0,0,0,14.99,14.73,15.00
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$STATE,16415,end climb,SURFACE_DEPTH_REACHED
$STATE,16415,begin surface coast
$FINISH,0.2,1.027005
$STATE,16438,end surface coast,CONTROL_FINISHED_OK
$STATE,16438,begin surface
$SM_CCo,16453,92.03,0.869,1,0,1880,250.20
$SM_GC,0.88,7.90,0.55,92.03,0.070,0.138,0.869,173,2860,1880,-7.93,-0.20,250.20,0,0,0,0,1,0,14.67,14.56,13.43
$IRIDIUM_FIX,5934.78,-2140.99,230519,182431
$TT8_MAMPS,0.023219,0.877079
$HUMID,37.75
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3882176
$24V_AH,12.21,0.000
$10V_AH,12.79,19.881
$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,21.825,137.275,330.475,92.025,0.000,0.000,0.000,265.125,0.000,0.000,31.486,3081.750,10882.714,678.238,2208.538,101.287,0.000,1987.489,0.000,1841.512,0.000,0.536,0.000
$DEVICE_MAMPS,400.860,176.715,2360.025,869.040,0.000,0.000,0.000,196.605,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16449.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.095,0.000,0.000,0.000
$MEM,304276
$DATA_FILE_SIZE,46598,1284
$CAP_FILE_SIZE,156663,0
$CFSIZE,2097872896,2087911424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.011,354.00,1
$GPS,240519,040515,5937.409,-2126.769,38,0.8,52,-12.7,0.9,162.9,10,9.1