version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 48
start: 10 26 117 2 8 18
data:
$ID,542
$MISSION,17
$DIVE,48
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$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,340
$T_MISSION,355
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,180
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1905
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2375
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-176.5815
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,261017,015902,-5244.8018,-4012.8479,36,0.9,36,-6.7,0.0,0.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.1
$GPS2,261017,020735,-5244.7739,-4012.8062,17,0.8,18,-6.7,0.0,358.6,11,9.9
$SPEED_LIMITS,0.269,0.279
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,161.5,6295,-16.4,-9.804,-19.34,2709
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.54,-87.6,135,1986,1397,1278,0.0,0.0,0,75,0.00,0.00,-56.70,0.000,16390,0.000,0.000,135,1986,2734,2807,2662,0,0,0,0,0,0,25.92,24.80,25.94
$GC,77,-0.54,-87.6,134,1986,2807,2664,4.1,-6.2,8,93,9.27,2.38,0.00,0.000,2308,0.258,0.075,2376,3400,2736,2808,2665,0,0,0,0,0,0,25.43,25.60,25.60
$GC,349,-0.54,-87.6,2375,3401,2810,2664,59.0,-16.7,56,358,0.00,2.42,0.00,0.000,1030,0.000,0.072,2376,1972,2737,2810,2664,0,0,0,0,0,0,25.85,25.79,25.89
$GC,405,-0.54,-87.6,2374,1972,2810,2664,69.2,-18.9,65,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1971,2737,2810,2664,0,0,0,0,0,0,26.14,26.15,26.15
$GC,458,-0.54,-87.6,2374,1971,2810,2664,79.3,-18.1,74,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1971,2737,2810,2664,0,0,0,0,0,0,26.16,26.17,26.17
$GC,514,-0.54,-87.6,2375,1972,2811,2664,89.4,-18.7,83,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1972,2737,2810,2664,0,0,0,0,0,0,26.18,26.20,26.19
$GC,567,-0.54,-87.6,2375,1971,2810,2664,99.4,-18.7,92,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1971,2737,2810,2664,0,0,0,0,0,0,26.20,26.22,26.21
$GC,618,-0.54,-87.6,2375,1972,2810,2664,108.9,-18.1,101,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1971,2737,2810,2664,0,0,0,0,0,0,26.22,26.23,26.23
$GC,751,-0.54,-87.6,2375,1971,2810,2664,132.1,-17.6,126,757,0.00,2.38,0.00,0.000,516,0.000,0.085,2376,560,2737,2810,2664,0,0,0,0,0,0,26.26,25.91,26.27
$GC,795,-0.54,-87.6,2375,560,2810,2664,139.6,-16.3,134,802,0.08,2.38,0.00,0.000,3078,0.196,0.071,2386,1973,2737,2810,2664,0,0,0,0,0,0,25.85,25.94,25.96
$GC,930,-0.54,-87.6,2385,1973,2810,2664,160.0,-14.7,159,936,0.00,2.35,0.00,0.000,260,0.000,0.081,2377,3394,2737,2810,2664,0,0,0,0,0,0,26.30,25.96,26.32
$GC,988,-0.54,-87.6,2376,3394,2810,2664,167.9,-14.4,169,994,0.00,2.35,0.00,0.000,1030,0.000,0.067,2377,1980,2737,2810,2664,0,0,0,0,0,0,26.13,25.99,26.14
$GC,1121,-0.54,-87.6,2376,1981,2810,2664,188.8,-15.8,194,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1980,2737,2810,2664,0,0,0,0,0,0,26.34,26.36,26.35
$GC,1253,-0.54,-87.6,2376,1980,2810,2664,208.3,-14.9,219,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1980,2737,2810,2664,0,0,0,0,0,0,26.37,26.39,26.38
$GC,1387,-0.54,-87.6,2376,1980,2810,2664,228.7,-14.9,244,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1980,2737,2810,2664,0,0,0,0,0,0,26.39,26.41,26.41
$GC,1520,-0.54,-87.6,2376,1980,2810,2664,249.4,-15.6,269,1527,0.00,2.35,0.00,0.000,516,0.000,0.083,2377,568,2737,2810,2664,0,0,0,0,0,0,26.42,26.07,26.43
$GC,1565,-0.54,-87.6,2376,568,2810,2664,256.7,-15.6,277,1572,0.10,2.35,0.00,0.000,3078,0.205,0.070,2393,1978,2737,2810,2664,0,0,0,0,0,0,26.00,26.10,26.16
$GC,1700,-0.54,-87.6,2392,1978,2810,2664,275.9,-14.5,302,1707,0.00,2.38,0.00,0.000,260,0.000,0.084,2384,3400,2737,2810,2664,0,0,0,0,0,0,26.44,26.09,26.45
$GC,1730,-0.54,-87.6,2383,3400,2810,2664,280.3,-14.2,307,1737,0.00,2.35,0.00,0.000,1030,0.000,0.068,2384,1983,2737,2810,2664,0,0,0,0,0,0,26.25,26.10,26.26
$GC,1866,-0.54,-87.6,2384,1982,2810,2664,300.5,-14.9,332,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1983,2737,2810,2664,0,0,0,0,0,0,26.46,26.46,26.46
$GC,1999,-0.54,-87.6,2383,1982,2810,2664,320.5,-14.3,357,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1983,2737,2810,2664,0,0,0,0,0,0,26.47,26.48,26.48
$GC,2131,-0.54,-87.6,2383,1982,2810,2664,339.8,-14.5,382,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1982,2737,2810,2664,0,0,0,0,0,0,26.48,26.50,26.50
$GC,2265,-0.54,-87.6,2383,1983,2810,2664,359.1,-14.7,407,2272,0.00,2.35,0.00,0.000,516,0.000,0.083,2384,565,2737,2810,2664,0,0,0,0,0,0,26.50,26.15,26.51
$GC,2300,-0.54,-87.6,2383,565,2810,2664,364.4,-15.1,413,2306,0.00,2.35,0.00,0.000,1030,0.000,0.070,2374,1978,2737,2810,2664,0,0,0,0,0,0,26.31,26.17,26.33
$GC,2433,-0.54,-87.6,2373,1978,2810,2664,384.9,-15.0,438,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1978,2737,2810,2664,0,0,0,0,0,0,26.51,26.52,26.52
$GC,2566,-0.54,-87.6,2373,1978,2810,2664,404.8,-15.0,463,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1978,2737,2810,2664,0,0,0,0,0,0,26.52,26.53,26.53
$GC,2699,-0.54,-87.6,2373,1978,2810,2664,424.5,-14.7,488,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1978,2737,2810,2664,0,0,0,0,0,0,26.53,26.55,26.54
$GC,2834,-0.54,-87.6,2373,1978,2809,2664,443.6,-14.3,513,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1978,2737,2810,2664,0,0,0,0,0,0,26.54,26.55,26.55
$GC,2966,-0.54,-87.6,2373,1978,2810,2664,462.2,-13.8,538,2972,0.00,2.33,0.00,0.000,260,0.000,0.082,2363,3396,2737,2810,2664,0,0,0,0,0,0,26.55,26.21,26.57
$GC,3011,-0.54,-87.6,2362,3397,2809,2664,468.4,-13.7,546,3019,0.08,2.33,0.00,0.000,3078,0.180,0.066,2393,1980,2737,2810,2664,0,0,0,0,0,0,26.14,26.23,26.29
$GC,3147,-0.54,-87.6,2392,1980,2810,2664,486.3,-12.8,571,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1980,2737,2810,2664,0,0,0,0,0,0,26.56,26.58,26.57
$GC,3281,-0.54,-87.6,2392,1979,2810,2664,503.4,-12.8,596,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1980,2737,2810,2664,0,0,0,0,0,0,26.57,26.58,26.58
$GC,3605,-0.54,-87.6,2392,1980,2810,2664,545.1,-13.1,657,3612,0.00,2.35,0.00,0.000,516,0.000,0.082,2393,554,2737,2810,2664,0,0,0,0,0,0,26.59,26.25,26.60
$GC,3638,-0.54,-87.6,2392,554,2810,2664,550.0,-14.0,663,3645,0.00,2.35,0.00,0.000,1030,0.000,0.070,2385,1974,2737,2810,2664,0,0,0,0,0,0,26.40,26.26,26.42
$GC,3962,-0.54,-87.6,2384,1974,2810,2664,592.7,-13.0,724,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1974,2737,2810,2664,0,0,0,0,0,0,26.60,26.62,26.62
$GC,4285,-0.54,-87.6,2384,1974,2810,2664,633.7,-12.4,785,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1974,2737,2810,2664,0,0,0,0,0,0,26.63,26.64,26.63
$GC,4605,-0.54,-87.6,2384,1974,2810,2664,673.9,-12.2,846,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1974,2737,2810,2664,0,0,0,0,0,0,26.64,26.65,26.65
$GC,4928,-0.54,-87.6,2384,1974,2810,2664,713.9,-12.4,907,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1974,2736,2810,2663,0,0,0,0,0,0,26.65,26.67,26.66
$GC,5247,-0.54,-87.6,2384,1974,2810,2663,754.3,-12.8,968,5257,0.00,2.35,0.00,0.000,260,0.000,0.083,2374,3387,2736,2810,2663,0,0,0,0,0,0,26.66,26.32,26.67
$GC,5273,-0.54,-87.6,2373,3387,2810,2664,757.7,-12.8,972,5280,0.00,2.33,0.00,0.000,1030,0.000,0.067,2374,1970,2737,2810,2664,0,0,0,0,0,0,26.39,26.33,26.43
$GC,5599,-0.54,-87.6,2373,1969,2810,2664,799.3,-12.8,1033,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1969,2736,2809,2664,0,0,0,0,0,0,26.67,26.68,26.67
$GC,5918,-0.54,-87.6,2373,1969,2810,2664,840.8,-13.1,1094,5924,0.00,2.33,0.00,0.000,516,0.000,0.083,2374,569,2737,2810,2664,0,0,0,0,0,0,26.67,26.33,26.69
$GC,5968,-0.54,-87.6,2373,569,2810,2664,847.7,-13.4,1103,5975,0.08,2.33,0.00,0.000,3078,0.187,0.070,2393,1980,2737,2810,2664,0,0,0,0,0,0,26.25,26.34,26.41
$GC,6293,-0.54,-87.6,2393,1980,2810,2663,886.5,-12.3,1164,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1980,2737,2811,2664,0,0,0,0,0,0,26.68,26.70,26.70
$GC,6616,-0.54,-87.6,2393,1980,2810,2664,924.3,-11.6,1225,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1980,2736,2810,2663,0,0,0,0,0,0,26.69,26.70,26.70
$GC,6935,-0.54,-87.6,2392,1980,2810,2664,961.4,-11.1,1286,6942,0.00,2.33,0.00,0.000,260,0.000,0.083,2384,3403,2737,2810,2664,0,0,0,0,0,0,26.70,26.34,26.70
$GC,6965,-0.54,-87.6,2384,3403,2810,2664,964.8,-11.3,1291,6972,0.00,2.33,0.00,0.000,1030,0.000,0.066,2384,1980,2737,2810,2664,0,0,0,0,0,0,26.43,26.38,26.46
$STATE,7277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7278,begin apogee
$GC,7282,-0.14,0.0,2384,1896,2810,2664,1000.3,-10.7,1350,7370,0.43,0.00,82.15,1.814,10246,0.166,0.000,2521,1895,2374,2456,2293,0,0,0,0,0,0,26.28,24.22,23.28
$STATE,7371,end apogee,CONTROL_FINISHED_OK
$STATE,7371,begin climb
$GC,7372,0.54,87.6,2520,1895,2457,2292,1004.2,0.0,1364,7467,0.73,2.72,86.55,1.742,10500,0.117,0.082,2751,3322,2016,2105,1927,0,0,0,0,0,0,24.41,23.56,22.65
$GC,7501,0.58,123.4,2751,3323,2100,1923,998.2,8.4,1385,7544,0.00,2.58,35.88,1.698,9222,0.000,0.068,2762,1913,1872,1963,1781,0,0,0,0,0,0,24.13,24.07,22.37
$GC,7861,0.58,123.4,2761,1913,1958,1767,960.8,10.8,1452,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1913,1862,1957,1767,0,0,0,0,0,0,25.15,25.18,25.17
$GC,8185,0.58,123.4,2761,1913,1956,1765,927.2,10.4,1513,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1913,1860,1956,1765,0,0,0,0,0,0,25.64,25.65,25.65
$GC,8505,0.58,123.4,2761,1913,1954,1765,893.1,10.5,1574,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1913,1859,1954,1765,0,0,0,0,0,0,25.90,25.92,25.92
$GC,8828,0.58,123.4,2761,1913,1954,1763,858.1,11.2,1635,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1913,1858,1954,1763,0,0,0,0,0,0,26.08,26.09,26.09
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$STATE,17068,end climb,SURFACE_DEPTH_REACHED
$STATE,17068,begin surface coast
$FINISH,0.2,1.012885
$STATE,17097,end surface coast,CONTROL_FINISHED_OK
$STATE,17097,begin surface
$SM_CCo,17171,0.00,0.000,0,0,1416,234.99
$SM_GC,1.53,6.95,0.15,0.00,0.049,0.103,0.000,180,1986,1416,-7.40,-0.45,234.99,0,0,0,0,0,0,26.03,26.01,26.09
$IRIDIUM_FIX,-5220.79,-4013.35,251017,211824
$TT8_MAMPS,0.020972,0.237433
$HUMID,60.55
$INTERNAL_PRESSURE,9.28714
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.37,12.973
$10V_AH,10.11,18.814
$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,18.350,162.375,300.700,0.000,0.000,36.217,43.894,287.969,0.000,0.000,18.757,6314.225,2187.477,593.189,8280.262,292.159,0.000,3053.572,0.000,7886.662,0.000,1.005,0.000
$DEVICE_MAMPS,257.805,112.455,1813.815,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.392,138.607,7417.557,1545.747,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343460
$DATA_FILE_SIZE,197152,3156
$CAP_FILE_SIZE,276891,0
$CFSIZE,259248128,251850752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7507.48,0x2338b8,1,24
$CURRENT,0.062,32.54,1
$GPS,261017,065533,-5246.237,-4010.702,34,1.0,34,-6.7,1.0,73.4,9,8.9