version: 67.00
glider: 511
mission: 21
dive: 487
start: 6 3 123 15 33 19
data:
$ID,511
$MISSION,21
$DIVE,487
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,40
$D_BOOST,20
$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,200
$T_MISSION,400
$T_ABORT,450
$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
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53737
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003548
$HD_B,0.01122
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,0
$RAFOS_HIT_WINDOW,0
$RAFOS_MMODEM,0
$PITCH_MIN,197
$PITCH_MAX,3817
$C_PITCH,2447
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2730
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$SHORTING_PLUG,1
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,25.900713
$FG_AHR_24V,67.711998
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.03943
$PRESSURE_SLOPE,0.00010718
$COMPASS_USE,0
$ALTIM_PING_FIT,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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.96e-06
$INT_PRESSURE_YINT,2.4000001
$DEEPGLIDER,0
$MOTHERBOARD,6
$DEVICE1,10
$DEVICE2,27
$DEVICE3,38
$DEVICE4,51
$DEVICE5,71
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,18
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,5
$SIM_W,0
$SEABIRD_T_G,0.0043565538
$SEABIRD_T_H,0.00062579219
$SEABIRD_T_I,2.403178e-05
$SEABIRD_T_J,2.6144669e-06
$SEABIRD_C_G,-10.106528
$SEABIRD_C_H,1.1356341
$SEABIRD_C_I,-0.0027123312
$SEABIRD_C_J,0.00029710407
$SEABIRD_C_Z,0
$GPS1,030623,150704,2237.333,-15752.943,22,0.8,41,9.8
$_CALLS,8
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-62.5
$GPS2,030623,153303,2237.492,-15753.221,11,0.8,18,9.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,BSE
$TGT_LATLONG,2231.440,-15745.420
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,97.7,17427,-18.7,-10.000,-21.94
$D_GRID,600
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,1,end surface,CONTROL_FINISHED_OK
$STATE,1,begin dive
$GC,3.42,2,-145.99,-0.80,0.00,251.9,256.6,247.2,179.6,2312.1,0.00,0.00,0,95.76,91.18,0.00,0.00,0.005,0.000,0.000,2693.72,2708.69,2678.75,179.69,2312.81,0,0,0,14.02,30.00,30.00
$GC,96.05,551,-145.99,-0.80,-40.00,2692.7,2708.5,2676.9,179.7,2314.4,3.11,-2.84,18,128.34,13.35,12.56,2.54,0.007,0.353,0.074,3339.16,3395.06,3283.25,2187.88,839.12,0,0,0,14.29,14.99,15.21
$GC,240.93,1030,-145.99,-0.80,0.00,3688.2,4095.9,3280.4,2190.2,839.8,27.49,-15.01,47,246.41,0.00,0.00,2.32,0.000,0.000,0.030,3688.53,4095.94,3281.12,2190.56,2301.44,0,0,0,30.00,30.00,15.85
$GC,370.95,516,-145.99,-0.80,-40.00,3368.6,3455.6,3281.6,2188.2,2302.8,47.75,-15.77,62,375.57,0.00,0.00,2.51,0.000,0.000,0.074,3374.66,3467.56,3281.75,2190.12,839.19,0,0,0,30.00,30.00,15.74
$GC,480.98,1028,-145.99,-0.80,0.00,3688.2,4095.9,3280.6,2190.7,839.3,64.74,-15.10,73,485.56,0.00,0.00,2.33,0.000,0.000,0.030,3688.34,4095.94,3280.75,2189.62,2298.19,0,0,0,30.00,30.00,15.88
$GC,730.16,260,-145.99,-0.80,40.00,3333.0,3386.4,3279.7,2190.2,2298.5,101.41,-13.94,98,735.44,0.00,0.00,2.38,0.000,0.000,0.080,3324.91,3370.00,3279.81,2189.56,3704.12,0,0,0,30.00,30.00,15.80
$GC,745.11,1028,-145.99,-0.80,0.00,3324.3,3366.8,3281.8,2189.6,3702.2,103.41,-13.88,99,750.40,0.00,0.00,2.30,0.000,0.000,0.022,3322.09,3366.62,3277.56,2192.31,2232.62,0,0,0,30.00,30.00,15.93
$GC,990.18,260,-145.99,-0.80,40.00,3369.8,3460.1,3279.5,2189.8,2230.6,134.94,-12.79,124,995.49,0.00,0.00,2.50,0.000,0.000,0.076,3324.06,3369.94,3278.19,2190.25,3705.06,0,0,0,30.00,30.00,15.84
$GC,1030.20,1028,-145.99,-0.80,0.00,3323.5,3367.2,3279.8,2190.2,3702.9,140.01,-12.55,128,1035.46,0.00,0.00,2.30,0.000,0.000,0.022,3326.03,3370.19,3281.88,2189.25,2233.12,0,0,0,30.00,30.00,15.92
$GC,1280.27,260,-145.99,-0.80,40.00,3688.2,4095.9,3280.4,2190.0,2229.3,171.24,-12.41,153,1285.56,0.00,0.00,2.48,0.000,0.000,0.069,3445.97,3614.06,3277.88,2188.44,3703.50,0,0,0,30.00,30.00,15.88
$GC,1340.28,1028,-145.99,-0.80,0.00,3332.6,3386.0,3279.2,2189.8,3706.4,178.67,-12.40,159,1345.54,0.00,0.00,2.29,0.000,0.000,0.019,3688.19,4095.94,3280.44,2190.25,2229.25,0,0,0,30.00,30.00,15.96
$GC,1591.20,516,-145.99,-0.80,-40.00,3688.1,4095.9,3280.2,2190.1,2226.9,208.09,-11.31,184,1595.79,0.00,0.00,2.36,0.000,0.000,0.078,3688.03,4095.94,3280.12,2190.06,839.31,0,0,0,30.00,30.00,15.80
$GC,1640.35,1028,-145.99,-0.80,0.00,3327.8,3376.3,3279.2,2189.9,839.4,213.31,-10.44,189,1645.63,0.00,0.00,2.31,0.000,0.000,0.028,3332.78,3382.94,3282.62,2190.69,2302.31,0,0,0,30.00,30.00,15.95
$GC,1891.29,0,-145.99,-0.80,0.00,3328.9,3378.2,3279.6,2190.2,2304.4,238.27,-10.24,214,1892.64,0.00,0.00,0.00,0.000,0.000,0.000,3330.69,3381.19,3280.19,2187.81,2305.94,0,0,0,30.00,30.00,30.00
$GC,2131.38,292,-145.99,-0.80,40.00,3326.1,3375.3,3276.9,2189.8,2304.4,261.98,-9.66,238,2135.91,0.00,0.00,2.35,0.000,0.000,0.072,3327.53,3376.56,3278.50,2189.75,3701.00,0,0,0,30.00,30.00,15.87
$GC,2165.46,1060,-145.99,-0.80,0.00,3331.4,3384.2,3278.5,2189.5,3704.3,265.31,-9.66,241,2170.76,0.00,0.00,2.30,0.000,0.000,0.021,3328.94,3382.06,3275.81,2191.38,2230.50,0,0,0,30.00,30.00,15.96
$GC,2410.56,548,-145.99,-0.80,-40.00,3685.5,4095.9,3275.1,2190.1,2228.6,287.30,-8.72,266,2415.85,0.00,0.00,2.36,0.000,0.000,0.078,3685.34,4095.94,3274.75,2190.44,841.12,0,0,0,30.00,30.00,15.79
$GC,2445.53,1060,-145.99,-0.80,0.00,3685.3,4095.9,3274.7,2190.2,841.3,290.55,-9.19,269,2450.83,0.00,0.00,2.30,0.000,0.000,0.027,3685.41,4095.94,3274.88,2190.56,2303.88,0,0,0,30.00,30.00,15.97
$GC,2690.63,32,-145.99,-0.80,0.00,3328.4,3384.3,3272.5,2189.7,2303.5,312.05,-8.90,294,2691.97,0.00,0.00,0.00,0.000,0.000,0.000,3324.84,3374.81,3274.88,2189.62,2302.19,0,0,0,30.00,30.00,30.00
$GC,2930.70,292,-145.99,-0.80,40.00,3684.0,4095.9,3272.1,2190.3,2305.4,333.52,-8.73,318,2935.97,0.00,0.00,2.34,0.000,0.000,0.072,3684.75,4095.94,3273.56,2190.94,3701.62,0,0,0,30.00,30.00,15.86
$GC,2980.69,1060,-145.99,-0.80,0.00,3683.5,4095.9,3271.0,2189.4,3700.2,338.07,-9.12,323,2985.95,0.00,0.00,2.29,0.000,0.000,0.021,3683.84,4095.94,3271.75,2189.25,2233.94,0,0,0,30.00,30.00,15.94
$GC,3230.76,32,-145.99,-0.80,0.00,3399.4,3529.9,3269.0,2190.2,2229.9,360.09,-8.34,348,3232.11,0.00,0.00,0.00,0.000,0.000,0.000,3388.78,3509.81,3267.75,2187.38,2230.25,0,0,0,30.00,30.00,30.00
$GC,3470.82,548,-145.99,-0.80,-40.00,3331.7,3398.1,3265.4,2188.9,2228.2,379.81,-7.90,372,3476.10,0.00,0.00,2.37,0.000,0.000,0.079,3343.88,3421.81,3265.94,2188.75,842.94,0,0,0,30.00,30.00,15.76
$GC,3490.80,1060,-145.99,-0.80,0.00,3314.8,3367.2,3262.4,2188.8,843.1,381.48,-8.08,374,3496.07,0.00,0.00,2.30,0.000,0.000,0.025,3316.22,3367.75,3264.69,2189.75,2308.69,0,0,0,30.00,30.00,15.94
$GC,3760.86,292,-145.99,-0.80,40.00,3314.2,3366.3,3262.2,2190.1,2310.0,403.55,-8.32,398,3766.14,0.00,0.00,2.38,0.000,0.000,0.080,3314.38,3366.38,3262.38,2188.81,3702.69,0,0,0,30.00,30.00,15.81
$GC,3800.84,1060,-145.99,-0.80,0.00,3315.4,3368.2,3262.7,2191.2,3706.8,406.86,-8.29,399,3806.12,0.00,0.00,2.31,0.000,0.000,0.021,3315.97,3367.25,3264.69,2189.81,2229.38,0,0,0,30.00,30.00,15.95
$GC,4081.77,32,-145.99,-0.80,0.00,3312.9,3366.8,3259.0,2189.9,2227.8,430.67,-8.57,406,4083.12,0.00,0.00,0.00,0.000,0.000,0.000,3313.75,3368.25,3259.25,2187.56,2228.06,0,0,0,30.00,30.00,30.00
$GC,4321.75,292,-145.99,-0.80,40.00,3314.4,3373.6,3255.3,2189.8,2227.8,452.82,-9.27,412,4326.35,0.00,0.00,2.52,0.000,0.000,0.071,3315.50,3374.94,3256.06,2188.50,3702.06,0,0,0,30.00,30.00,15.83
$GC,4360.89,1060,-145.99,-0.80,0.00,3315.1,3375.7,3254.5,2189.8,3704.6,456.76,-9.43,413,4366.18,0.00,0.00,2.32,0.000,0.000,0.020,3314.41,3375.25,3253.56,2190.06,2227.50,0,0,0,30.00,30.00,15.97
$GC,4640.91,548,-145.99,-0.80,-40.00,3314.5,3375.5,3253.4,2190.1,2226.1,483.18,-9.35,420,4646.19,0.00,0.00,2.37,0.000,0.000,0.076,3315.03,3374.75,3255.31,2189.75,843.81,0,0,0,30.00,30.00,15.76
$GC,4665.88,1060,-145.99,-0.80,0.00,3313.9,3375.3,3252.6,2188.4,843.8,485.54,-9.35,420,4671.15,0.00,0.00,2.30,0.000,0.000,0.024,3313.62,3374.38,3252.88,2188.81,2305.94,0,0,0,30.00,30.00,15.96
$GC,4921.79,32,-145.99,-0.80,0.00,3313.7,3376.4,3251.1,2189.4,2308.2,506.45,-8.05,427,4923.13,0.00,0.00,0.00,0.000,0.000,0.000,3310.81,3372.31,3249.31,2189.12,2307.75,0,0,0,30.00,30.00,30.00
$GC,5161.82,32,-145.99,-0.80,0.00,3310.0,3371.4,3248.5,2189.4,2306.2,524.29,-7.41,433,5163.16,0.00,0.00,0.00,0.000,0.000,0.000,3311.25,3371.44,3251.06,2187.75,2305.19,0,0,0,30.00,30.00,30.00
$GC,5401.83,32,-145.99,-0.80,0.00,3307.9,3370.8,3245.1,2190.2,2306.8,541.53,-7.19,439,5403.18,0.00,0.00,0.00,0.000,0.000,0.000,3307.50,3369.19,3245.81,2186.50,2308.12,0,0,0,30.00,30.00,30.00
$GC,5641.85,548,-145.99,-0.80,-40.00,3306.5,3369.9,3243.2,2189.2,2305.9,559.75,-7.65,445,5646.44,0.00,0.00,2.47,0.000,0.000,0.075,3308.69,3372.25,3245.12,2189.81,842.38,0,0,0,30.00,30.00,15.70
$GC,5670.97,1060,-145.99,-0.80,0.00,3306.7,3370.1,3243.3,2189.7,842.1,562.23,-7.65,445,5676.25,0.00,0.00,2.31,0.000,0.000,0.023,3307.44,3370.25,3244.62,2190.06,2304.31,0,0,0,30.00,30.00,15.94
$GC,5921.00,292,-145.99,-0.80,40.00,3304.6,3370.2,3238.9,2190.2,2305.4,582.33,-8.08,452,5926.27,0.00,0.00,2.36,0.000,0.000,0.075,3306.75,3371.06,3242.44,2188.25,3702.50,0,0,0,30.00,30.00,15.77
$GC,5981.01,1060,-145.99,-0.80,0.00,3306.0,3368.6,3243.4,2190.4,3700.9,587.37,-8.14,453,5986.29,0.00,0.00,2.32,0.000,0.000,0.021,3303.47,3367.19,3239.75,2190.19,2227.19,0,0,0,30.00,30.00,15.93
$STATE,6161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6161,begin apogee
$GC,6162.34,3,0.00,-0.17,0.00,3303.2,3367.6,3238.7,2190.0,1864.4,602.28,-8.29,458,6275.55,110.08,1.00,0.14,1.740,0.132,0.133,2731.31,2841.06,2621.56,2397.62,2014.06,0,0,0,10.74,15.73,15.29
$STATE,6276,end apogee,CONTROL_FINISHED_OK
$STATE,6276,begin climb
$GC,6275.94,3,145.99,0.80,0.00,2730.3,2838.8,2621.9,2397.5,2013.9,607.40,0.00,460,6404.01,123.00,1.40,0.00,1.749,0.026,0.000,2134.78,2311.62,1957.94,2761.19,2012.75,0,0,0,12.10,15.40,30.00
$GC,6641.04,295,175.02,0.84,40.00,2133.7,2311.6,1955.8,2761.4,2014.2,591.50,8.67,470,6671.62,24.59,0.28,2.26,1.628,0.207,0.063,2014.53,2197.69,1831.38,2708.19,3346.19,0,0,0,11.66,15.68,15.57
$GC,6766.04,1063,214.90,0.89,0.00,2014.3,2196.9,1831.7,2710.9,3346.3,581.53,8.17,473,6804.46,33.80,0.09,2.41,1.642,0.146,0.044,1851.94,2037.44,1666.44,2749.00,1889.31,0,0,0,11.78,15.61,15.77
$GC,7077.12,517,214.90,0.89,-40.00,1849.7,2034.8,1664.7,2748.6,1889.7,548.93,10.89,481,7081.81,0.00,0.12,2.54,0.000,0.231,0.123,1851.38,2036.50,1666.25,2725.00,489.44,0,0,0,30.00,15.69,15.66
$GC,7146.18,1029,214.90,0.89,0.00,1848.4,2033.0,1663.8,2726.0,489.8,541.71,10.81,482,7151.47,0.00,0.00,2.33,0.000,0.000,0.023,1849.22,2033.56,1664.88,2727.75,1957.19,0,0,0,30.00,30.00,15.89
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$GC,8856.48,550,248.95,0.93,-40.00,1740.5,1919.6,1561.4,2741.2,1902.3,360.30,9.68,554,8868.23,7.67,0.00,2.54,1.145,0.000,0.121,1711.88,1887.25,1536.50,2740.50,492.44,0,0,0,11.80,30.00,15.68
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$GC,9206.55,1063,283.71,0.97,0.00,1624.8,1794.1,1455.6,2767.9,3357.2,326.80,9.38,590,9223.40,12.73,0.09,2.43,1.253,0.244,0.045,1570.88,1738.44,1403.31,2750.19,1894.00,0,0,0,12.26,15.55,15.76
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$STATE,12476,end climb,SURFACE_DEPTH_REACHED
$STATE,12476,begin surface coast
$FINISH,-0.2,0.998417
$STATE,12501,end surface coast,CONTROL_FINISHED_OK
$STATE,12501,begin surface
$SM_CCo,12580.58,0.00,0.000,0,252.9,261.9,244.0,607.62
$SM_GC,0.46,0.00,11.57,1.75,0.000,0.024,0.025,252.9,261.9,244.0,180.3,2248.4,0,0,0,30.00,15.75,15.85
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,2236.25,-15751.54,030623,152401
$TCM_TEMP,24.30
$XPDR_PINGS,221
$HUMID,58.19
$TEMP,18.04
$INTERNAL_PRESSURE,9.05718
$24V_AH,14.64,142.700
$10V_AH,15.00,0.000
$FG_AHR_24Vo,67.872
$FG_AHR_10Vo,25.953
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,749.605,28.980,143.245,1056.805,55.250,31.490,4152.506,9937.886,2069.967,0.000,0.000,0.000
$DEVICE_MAMPS,1749.304,392.368,132.592,231.754,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1416.777,1405.392,1049.157,0.000,1000.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,0.000,42.060,0.000,0.000,0.000,0.000,0.000
$MEM,1168000,33,14808,92
$DATA_FILE_SIZE,92198,949
$CAP_FILE_SIZE,308648,0
$SDSIZE,3931136,3840064
$SDFILEDIR,1518,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,286.1,1
$GPS,030623,190349,2237.441,-15753.037,22,0.8,42,9.8