version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 291
start: 4 21 119 0 20 7
data:
$ID,573
$MISSION,30
$DIVE,291
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,0
$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,335
$T_MISSION,345
$T_ABORT,360
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,260
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,542.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.97279
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$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,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,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,210419,000709,-3230.4739,2854.3591,25,0.9,41,-27.0,2.3,244.4,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-57.1
$GPS2,210419,001941,-3230.9270,2853.8335,16,0.9,22,-27.0,1.0,226.6,9,9.5
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3232.802,2841.217
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,287.0,20000,-15.6,-9.950,-18.64,2991
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.82,-194.6,72,1976,579,586,0.0,0.0,0,112,0.00,0.00,-87.12,0.000,16386,0.000,0.000,72,1977,2990,2998,2983,0,0,0,0,0,0,14.98,28.83,14.99
$GC,116,-0.82,-194.6,72,1977,3001,2983,3.0,-5.9,16,146,12.80,2.33,-10.30,0.000,18948,0.302,0.086,2214,607,3606,3675,3538,0,0,0,0,0,0,14.21,13.71,14.47
$GC,184,-0.82,-194.6,2213,606,3677,3538,22.9,-18.5,28,191,0.05,2.35,0.00,0.000,3078,0.362,0.050,2220,2013,3607,3677,3538,0,0,0,0,0,0,14.48,14.71,14.71
$GC,255,-0.82,-194.6,2220,2013,3677,3538,36.4,-19.0,41,262,0.00,2.45,0.00,0.000,2308,0.000,0.077,2216,3413,3607,3677,3538,0,0,0,0,0,0,15.02,14.52,15.02
$GC,330,-0.82,-194.6,2216,3413,3677,3538,48.4,-15.5,55,336,0.00,2.33,0.00,0.000,3078,0.000,0.040,2216,2011,3607,3677,3538,0,0,0,0,0,0,14.69,14.58,14.71
$GC,400,-0.82,-194.6,2216,2010,3677,3538,59.6,-17.9,68,407,0.00,2.42,0.00,0.000,2564,0.000,0.070,2216,605,3607,3677,3538,0,0,0,0,0,0,15.06,14.59,15.06
$GC,439,-0.82,-194.6,2216,605,3677,3538,66.5,-17.0,75,446,0.00,2.35,0.00,0.000,3078,0.000,0.047,2216,2020,3607,3677,3538,0,0,0,0,0,0,14.71,14.61,14.72
$GC,510,-0.82,-194.6,2216,2023,3677,3538,76.9,-13.8,88,516,0.00,2.42,0.00,0.000,2308,0.000,0.076,2214,3412,3607,3677,3538,0,0,0,0,0,0,15.07,14.55,15.07
$GC,785,-0.82,-194.6,2213,3413,3678,3538,111.9,-11.3,142,791,0.00,2.33,0.00,0.000,3078,0.000,0.038,2214,2011,3608,3679,3538,0,0,0,0,0,0,14.74,14.64,14.76
$GC,855,-0.82,-194.6,2214,2011,3678,3538,119.5,-11.2,155,863,0.00,2.50,0.00,0.000,2308,0.000,0.074,2214,3420,3608,3679,3538,0,0,0,0,0,0,15.09,14.64,15.09
$GC,890,-0.82,-194.6,2213,3421,3678,3538,123.3,-10.2,161,897,0.00,2.35,0.00,0.000,3078,0.000,0.038,2213,2000,3608,3678,3538,0,0,0,0,0,0,14.76,14.65,14.78
$GC,962,-0.82,-194.6,2213,2000,3678,3538,130.0,-9.6,174,967,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2000,3608,3678,3538,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1030,-0.82,-194.6,2213,2000,3680,3538,137.0,-10.7,187,1036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,1999,3608,3679,3538,0,0,0,0,0,0,15.09,15.10,15.09
$GC,1098,-0.82,-194.6,2214,2001,3678,3538,144.9,-11.3,200,1105,0.00,2.50,0.00,0.000,2308,0.000,0.073,2214,3421,3608,3679,3538,0,0,0,0,0,0,15.11,14.73,15.11
$GC,1158,-0.82,-194.6,2213,3421,3679,3538,151.8,-12.9,211,1164,0.00,2.33,0.00,0.000,3078,0.000,0.037,2218,2018,3608,3679,3538,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1229,-0.82,-194.6,2213,2017,3678,3538,160.3,-13.3,224,1234,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2017,3608,3679,3538,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1297,-0.82,-194.6,2214,2017,3678,3538,168.8,-11.8,237,1304,0.00,2.47,0.00,0.000,2308,0.000,0.071,2211,3422,3608,3679,3538,0,0,0,0,0,0,15.11,14.73,15.11
$GC,1346,-0.82,-194.6,2210,3422,3679,3538,174.3,-10.8,246,1353,0.05,2.35,0.00,0.000,3078,0.318,0.037,2219,2010,3608,3679,3538,0,0,0,0,0,0,14.54,14.75,14.78
$GC,1415,-0.82,-194.6,2221,2010,3678,3538,181.4,-10.3,259,1422,0.00,2.47,0.00,0.000,2308,0.000,0.072,2221,3412,3608,3679,3538,0,0,0,0,0,0,15.11,14.66,15.10
$GC,1475,-0.82,-194.6,2221,3412,3679,3538,187.2,-9.3,270,1481,0.00,2.33,0.00,0.000,3078,0.000,0.038,2222,2010,3608,3679,3538,0,0,0,0,0,0,14.76,14.64,14.78
$GC,1545,-0.82,-194.6,2221,2010,3678,3538,193.6,-8.8,283,1552,0.00,2.47,0.00,0.000,2308,0.000,0.073,2222,3413,3608,3678,3538,0,0,0,0,0,0,15.10,14.58,15.10
$GC,1589,-0.82,-194.6,2221,3412,3678,3538,197.4,-8.2,291,1595,0.00,2.33,0.00,0.000,3078,0.000,0.038,2222,2004,3608,3679,3538,0,0,0,0,0,0,14.93,14.82,14.95
$GC,1659,-0.82,-194.6,2221,2003,3679,3538,202.9,-8.2,304,1665,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2003,3608,3679,3538,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1728,-0.82,-194.6,2221,2003,3679,3537,208.8,-8.3,317,1734,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2003,3608,3678,3539,0,0,0,0,0,0,15.12,15.12,15.12
$GC,1798,-0.82,-194.6,2219,2003,3678,3538,214.8,-8.8,330,1804,0.00,2.50,0.00,0.000,2308,0.000,0.073,2222,3415,3608,3679,3538,0,0,0,0,0,0,15.11,14.73,15.11
$GC,1837,-0.82,-194.6,2221,3415,3678,3538,218.6,-9.3,337,1844,0.00,2.33,0.00,0.000,3078,0.000,0.037,2221,2013,3608,3679,3538,0,0,0,0,0,0,14.95,14.84,14.96
$GC,1908,-0.82,-194.6,2221,2013,3678,3537,225.1,-9.8,350,1914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2013,3608,3678,3538,0,0,0,0,0,0,15.12,15.13,15.13
$GC,1978,-0.82,-194.6,2222,2012,3678,3538,231.9,-9.9,363,1985,0.00,2.45,0.00,0.000,2308,0.000,0.073,2221,3412,3608,3678,3538,0,0,0,0,0,0,15.12,14.74,15.13
$GC,2032,-0.82,-194.6,2221,3412,3678,3544,237.5,-10.1,373,2039,0.00,2.33,0.00,0.000,3078,0.000,0.037,2221,2013,3607,3678,3537,0,0,0,0,0,0,14.93,14.85,14.96
$GC,2104,-0.82,-194.6,2221,2012,3678,3537,245.0,-11.0,386,2110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2012,3607,3678,3537,0,0,0,0,0,0,15.13,15.14,15.14
$GC,2173,-0.82,-194.6,2221,2012,3677,3537,252.7,-10.6,399,2179,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2012,3607,3678,3537,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2242,-0.82,-194.6,2221,2012,3678,3537,259.7,-10.2,412,2251,0.00,2.50,0.00,0.000,2308,0.000,0.073,2221,3419,3607,3678,3537,0,0,0,0,0,0,15.14,14.74,15.14
$GC,2289,-0.82,-194.6,2221,3420,3677,3537,264.6,-9.7,420,2296,0.00,2.35,0.00,0.000,3078,0.000,0.039,2221,2011,3609,3677,3541,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2359,-0.82,-194.6,2221,2011,3677,3537,271.6,-10.0,433,2365,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2011,3607,3677,3537,0,0,0,0,0,0,15.15,15.15,15.16
$GC,2428,-0.82,-194.6,2221,2011,3677,3537,278.4,-9.7,446,2435,0.00,2.50,0.00,0.000,2308,0.000,0.073,2216,3421,3606,3676,3537,0,0,0,0,0,0,15.14,14.73,15.14
$GC,2458,-0.82,-194.6,2221,3421,3676,3537,280.9,-9.4,451,2464,0.00,2.33,0.00,0.000,3078,0.000,0.039,2221,2007,3606,3676,3537,0,0,0,0,0,0,14.96,14.83,14.97
$GC,2529,-0.82,-194.6,2221,2010,3676,3537,287.2,-9.3,464,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2007,3606,3676,3537,0,0,0,0,0,0,15.13,15.13,15.13
$GC,2599,-0.82,-194.6,2221,2007,3675,3537,294.0,-9.8,477,2606,0.00,2.47,0.00,0.000,2308,0.000,0.073,2220,3411,3607,3677,3537,0,0,0,0,0,0,15.13,14.55,15.16
$GC,2649,-0.82,-194.6,2221,3411,3675,3537,299.1,-9.3,486,2655,0.00,2.33,0.00,0.000,3078,0.000,0.039,2221,2011,3605,3675,3536,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2723,-0.82,-194.6,2221,2011,3675,3536,306.1,-9.9,491,2724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2011,3606,3675,3537,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2843,-0.82,-194.6,2221,2011,3673,3536,317.7,-9.5,497,2848,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3412,3604,3673,3536,0,0,0,0,0,0,15.16,14.76,15.16
$GC,2920,-0.82,-194.6,2217,3412,3672,3536,323.8,-9.4,500,2927,0.00,2.33,0.00,0.000,3078,0.000,0.040,2217,2008,3604,3672,3536,0,0,0,0,0,0,14.97,14.85,14.99
$GC,3046,-0.82,-194.6,2217,2008,3671,3536,337.4,-10.0,507,3051,0.00,2.47,0.00,0.000,2308,0.000,0.074,2217,3417,3603,3671,3536,0,0,0,0,0,0,15.17,14.76,15.18
$GC,3089,-0.82,-194.6,2217,3416,3671,3535,341.9,-10.5,509,3095,0.00,2.33,0.00,0.000,3078,0.000,0.040,2217,2010,3603,3671,3535,0,0,0,0,0,0,14.97,14.84,14.98
$GC,3233,-0.82,-194.6,2217,2010,3671,3534,356.5,-9.8,516,3238,0.00,2.47,0.00,0.000,2308,0.000,0.074,2222,3415,3602,3671,3533,0,0,0,0,0,0,15.18,14.76,15.16
$GC,3276,-0.82,-194.6,2217,3415,3671,3531,360.5,-9.5,518,3282,0.00,2.33,0.00,0.000,3078,0.000,0.041,2217,2007,3602,3671,3533,0,0,0,0,0,0,14.98,14.85,15.00
$GC,3420,-0.82,-194.6,2216,2004,3670,3532,374.4,-9.4,525,3425,0.00,2.47,0.00,0.000,2308,0.000,0.074,2216,3413,3601,3670,3532,0,0,0,0,0,0,15.19,14.76,15.19
$GC,3493,-0.82,-194.6,2216,3412,3675,3532,380.4,-9.6,528,3498,0.00,2.33,0.00,0.000,3078,0.000,0.040,2217,2014,3601,3670,3532,0,0,0,0,0,0,14.99,14.86,15.00
$GC,3626,-0.82,-194.6,2217,2014,3669,3531,394.0,-9.4,535,3632,0.00,2.47,0.00,0.000,2308,0.000,0.077,2217,3414,3599,3668,3530,0,0,0,0,0,0,15.16,14.75,15.17
$GC,3750,-0.82,-194.6,2216,3414,3669,3529,406.9,-10.3,541,3756,0.00,2.35,0.00,0.000,3078,0.000,0.040,2217,2008,3596,3662,3530,0,0,0,0,0,0,14.97,14.86,14.99
$STATE,3872,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3872,begin apogee
$GC,3878,-0.19,0.0,2217,1947,3667,3529,419.5,-10.2,547,4037,1.05,0.00,155.02,1.481,10246,0.160,0.000,2423,1945,2811,2866,2757,0,0,0,0,0,0,14.62,14.34,13.50
$STATE,4038,end apogee,CONTROL_FINISHED_OK
$STATE,4039,begin climb
$GC,4042,0.82,194.6,2423,1944,2870,2751,423.6,0.0,555,4214,1.50,2.50,157.52,1.445,10756,0.085,0.077,2739,574,2016,2069,1963,0,0,0,0,0,0,14.38,14.32,13.50
$GC,4246,0.93,284.5,2739,574,2066,1963,415.5,6.9,565,4331,0.12,2.33,74.95,1.416,11270,0.135,0.044,2782,1968,1651,1710,1593,0,0,0,0,0,0,14.53,14.54,13.53
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$STATE,8001,end climb,SURFACE_DEPTH_REACHED
$STATE,8001,begin surface coast
$FINISH,-0.1,1.023958
$STATE,8022,end surface coast,CONTROL_FINISHED_OK
$STATE,8022,begin surface
$SM_CCo,8105,0.00,0.000,0,0,590,545.05
$SM_GC,0.43,12.95,0.00,0.00,0.046,0.000,0.000,122,1966,590,-7.30,-1.33,545.05,0,0,0,0,0,0,14.79,15.02,14.85
$IRIDIUM_FIX,-3213.52,2857.82,200419,214643
$TT8_MAMPS,0.019474,0.909286
$HUMID,64.25
$INTERNAL_PRESSURE,9.09179
$TCM_TEMP,21.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,390.1,43.8
$SC_FREEKB,3769248
$24V_AH,13.50,164.435
$10V_AH,12.27,0.000
$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
$DEVICE_SECS,28.750,226.350,619.425,0.000,0.000,22.183,16.082,410.038,8.500,0.000,22.993,2638.598,2369.668,936.685,2546.300,358.306,0.000,2106.626,0.000,1880.405,0.000,56.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.794,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,40064,1110
$CAP_FILE_SIZE,239269,0
$CFSIZE,1023623168,980041728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,023630,-3232.631,2850.403,21,1.0,41,-27.0,1.6,238.3,10,7.7