version: 67.00
glider: 511
mission: 21
dive: 856
start: 8 3 123 5 55 43
data:
$ID,511
$MISSION,21
$DIVE,856
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,620
$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,208
$T_MISSION,450
$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,1
$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,380
$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,0
$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,2470
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$PITCH_GAIN,22
$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,2380
$C_ROLL_CLIMB,1950
$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,2580
$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,39.449879
$FG_AHR_24V,131.90346
$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
$GPS1,030823,054849,2253.915,-15857.740,20,0.8,43,9.8
$_CALLS,1
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-58.0
$GPS2,030823,055527,2253.991,-15857.855,2,0.8,9,9.8
$SPEED_LIMITS,0.139,0.231
$TGT_NAME,BSW
$TGT_LATLONG,2231.440,-15814.580
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.242,-0.083
$KALMAN_X,-30285.7,-794.1,-590.6,19301.6,-1671.9
$KALMAN_Y,4597.1,306.1,-124.6,-9169.1,397.9
$MHEAD_RNG_PITCHd_Wd,109.6,85001,-15.2,-8.013,-19.14
$D_GRID,500
$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,3.37,2,-145.99,-0.87,0.00,252.3,255.9,248.8,175.8,2426.4,0.00,0.00,0,94.78,89.93,0.00,0.00,0.005,0.000,0.000,2685.16,2703.00,2667.31,176.00,2431.81,0,0,0,14.69,30.00,30.00
$GC,95.08,35,-145.99,-0.87,0.00,2684.0,2703.6,2664.4,176.1,2430.1,3.33,-3.20,18,122.79,11.00,13.05,0.00,0.007,0.363,0.000,3173.47,3220.81,3126.12,2191.38,2428.19,0,0,0,15.06,14.73,30.00
$GC,179.57,516,-145.99,-0.87,-40.00,3172.4,3219.3,3125.5,2191.9,2428.8,15.71,-11.67,35,184.90,0.00,0.00,2.52,0.000,0.000,0.060,3185.56,3246.56,3124.56,2189.38,946.94,0,0,0,30.00,30.00,15.56
$GC,199.65,1030,-145.99,-0.87,0.00,3195.0,3265.4,3124.6,2191.2,947.0,18.20,-12.03,39,204.96,0.00,0.00,2.39,0.000,0.000,0.049,3184.91,3244.25,3125.56,2190.38,2398.12,0,0,0,30.00,30.00,15.58
$GC,264.60,260,-145.99,-0.87,40.00,3172.5,3220.4,3124.7,2191.2,2398.4,25.40,-10.93,52,269.94,0.00,0.00,2.52,0.000,0.000,0.110,3171.62,3217.81,3125.44,2190.44,3806.25,0,0,0,30.00,30.00,15.40
$GC,304.63,1028,-145.99,-0.87,0.00,3172.0,3219.3,3124.6,2190.7,3809.1,30.14,-12.34,60,309.91,0.00,0.00,2.30,0.000,0.000,0.018,3173.50,3219.50,3127.50,2190.44,2329.88,0,0,0,30.00,30.00,15.74
$GC,554.71,260,-145.99,-0.87,40.00,3171.4,3217.4,3125.4,2190.9,2328.6,60.08,-12.69,85,560.12,0.00,0.00,2.65,0.000,0.000,0.102,3169.91,3216.69,3123.12,2189.25,3814.38,0,0,0,30.00,30.00,15.42
$GC,669.74,1028,-145.99,-0.87,0.00,3220.7,3316.7,3124.6,2191.4,3815.1,72.97,-10.96,96,675.04,0.00,0.00,2.31,0.000,0.000,0.020,3171.31,3216.56,3126.06,2189.44,2331.62,0,0,0,30.00,30.00,15.79
$GC,914.82,260,-145.99,-0.87,40.00,3170.2,3216.0,3124.4,2191.0,2330.6,96.42,-9.57,121,920.23,0.00,0.00,2.64,0.000,0.000,0.098,3176.66,3227.69,3125.62,2192.12,3809.88,0,0,0,30.00,30.00,15.43
$GC,1019.83,1028,-145.99,-0.87,0.00,3182.7,3241.5,3123.9,2191.4,3810.5,106.92,-10.08,131,1025.12,0.00,0.00,2.30,0.000,0.000,0.018,3171.81,3217.31,3126.31,2190.75,2326.50,0,0,0,30.00,30.00,15.79
$GC,1264.89,260,-145.99,-0.87,40.00,3170.4,3216.1,3124.8,2191.8,2327.6,130.38,-9.17,156,1270.31,0.00,0.00,2.64,0.000,0.000,0.098,3170.75,3216.19,3125.31,2189.69,3810.50,0,0,0,30.00,30.00,15.45
$GC,1324.91,1028,-145.99,-0.87,0.00,3170.9,3217.1,3124.7,2190.9,3810.6,136.04,-9.54,162,1330.17,0.00,0.00,2.28,0.000,0.000,0.017,3171.19,3216.50,3125.88,2190.88,2324.62,0,0,0,30.00,30.00,15.75
$GC,1574.95,260,-145.99,-0.87,40.00,3206.2,3288.0,3124.4,2191.1,2323.2,160.14,-9.52,187,1580.36,0.00,0.00,2.65,0.000,0.000,0.101,3225.75,3326.38,3125.12,2190.38,3801.88,0,0,0,30.00,30.00,15.42
$GC,1634.95,1028,-145.99,-0.87,0.00,3250.7,3376.8,3124.6,2191.4,3803.6,165.57,-9.04,193,1640.21,0.00,0.00,2.27,0.000,0.000,0.017,3198.31,3270.75,3125.88,2191.31,2328.06,0,0,0,30.00,30.00,15.78
$GC,1885.04,260,-145.99,-0.87,40.00,3376.5,3628.0,3125.1,2190.8,2325.6,185.63,-8.12,218,1890.45,0.00,0.00,2.62,0.000,0.000,0.093,3192.53,3258.06,3127.00,2190.12,3811.00,0,0,0,30.00,30.00,15.48
$GC,1945.07,1028,-145.99,-0.87,0.00,3179.3,3234.0,3124.6,2191.3,3812.4,190.67,-8.51,224,1950.32,0.00,0.00,2.29,0.000,0.000,0.016,3186.03,3246.00,3126.06,2190.56,2318.50,0,0,0,30.00,30.00,15.80
$GC,2195.10,260,-145.99,-0.87,40.00,3498.3,3871.9,3124.8,2191.2,2317.9,214.36,-9.74,249,2200.52,0.00,0.00,2.65,0.000,0.000,0.100,3174.16,3225.12,3123.19,2189.94,3802.50,0,0,0,30.00,30.00,15.43
$GC,2240.03,1028,-145.99,-0.87,0.00,3173.7,3222.2,3125.1,2191.2,3805.3,218.58,-9.46,253,2245.32,0.00,0.00,2.27,0.000,0.000,0.016,3180.78,3237.19,3124.38,2190.25,2322.25,0,0,0,30.00,30.00,15.80
$GC,2485.11,292,-145.99,-0.87,40.00,3202.0,3280.0,3124.1,2190.9,2323.7,239.33,-7.55,278,2490.53,0.00,0.00,2.62,0.000,0.000,0.094,3610.09,4095.94,3124.25,2192.06,3814.44,0,0,0,30.00,30.00,15.47
$GC,2560.13,1060,-145.99,-0.87,0.00,3176.2,3228.4,3123.9,2192.5,3814.2,244.99,-7.61,285,2565.42,0.00,0.00,2.29,0.000,0.000,0.017,3177.94,3235.06,3120.81,2192.12,2329.12,0,0,0,30.00,30.00,15.81
$GC,2805.15,260,-145.99,-0.87,40.00,3172.2,3221.6,3122.7,2191.2,2327.3,263.76,-8.24,310,2810.56,0.00,0.00,2.62,0.000,0.000,0.088,3178.53,3232.81,3124.25,2189.56,3814.44,0,0,0,30.00,30.00,15.49
$GC,2870.13,1028,-145.99,-0.87,0.00,3185.3,3249.1,3121.6,2191.4,3815.1,269.22,-8.37,316,2875.42,0.00,0.00,2.30,0.000,0.000,0.016,3171.44,3224.00,3118.88,2190.31,2321.25,0,0,0,30.00,30.00,15.80
$GC,3115.19,516,-145.99,-0.87,-40.00,3608.3,4095.9,3120.6,2191.5,2321.1,291.08,-9.19,341,3120.47,0.00,0.00,2.33,0.000,0.000,0.061,3608.56,4095.94,3121.19,2191.19,951.50,0,0,0,30.00,30.00,15.59
$GC,3250.20,1028,-145.99,-0.87,0.00,3607.8,4095.9,3119.6,2191.2,951.9,302.69,-8.26,354,3255.50,0.00,0.00,2.36,0.000,0.000,0.038,3607.00,4095.94,3118.06,2191.19,2409.12,0,0,0,30.00,30.00,15.69
$GC,3495.28,548,-145.99,-0.87,-40.00,3606.5,4095.9,3117.1,2191.2,2408.4,320.27,-6.76,379,3500.59,0.00,0.00,2.51,0.000,0.000,0.065,3606.69,4095.94,3117.44,2191.06,945.75,0,0,0,30.00,30.00,15.56
$GC,3515.26,1060,-145.99,-0.87,0.00,3606.4,4095.9,3116.9,2191.3,946.0,321.66,-6.91,381,3520.55,0.00,0.00,2.38,0.000,0.000,0.039,3606.66,4095.94,3117.38,2191.00,2404.75,0,0,0,30.00,30.00,15.68
$GC,3765.31,260,-145.99,-0.87,40.00,3606.0,4095.9,3116.0,2191.1,2406.1,339.73,-8.04,406,3770.61,0.00,0.00,2.47,0.000,0.000,0.098,3606.06,4095.94,3116.19,2189.38,3811.06,0,0,0,30.00,30.00,15.42
$GC,3835.41,1028,-145.99,-0.87,0.00,3605.5,4095.9,3115.0,2191.1,3811.7,345.82,-8.88,413,3840.67,0.00,0.00,2.28,0.000,0.000,0.017,3605.66,4095.94,3115.38,2191.38,2327.50,0,0,0,30.00,30.00,15.79
$GC,4085.41,548,-145.99,-0.87,-40.00,3166.3,3219.2,3113.3,2190.6,2327.1,366.94,-7.78,438,4090.69,0.00,0.00,2.34,0.000,0.000,0.062,3200.88,3289.06,3112.69,2190.56,947.88,0,0,0,30.00,30.00,15.56
$GC,4110.38,1060,-145.99,-0.87,0.00,3168.9,3223.6,3114.1,2190.2,947.8,368.88,-7.58,440,4115.68,0.00,0.00,2.38,0.000,0.000,0.041,3168.66,3223.25,3114.06,2189.25,2402.12,0,0,0,30.00,30.00,15.64
$GC,4355.52,548,-145.99,-0.87,-40.00,3165.3,3220.5,3110.1,2190.6,2405.6,385.49,-6.50,465,4360.82,0.00,0.00,2.49,0.000,0.000,0.060,3165.31,3219.19,3111.44,2189.94,947.19,0,0,0,30.00,30.00,15.57
$GC,4390.46,1060,-145.99,-0.87,0.00,3166.7,3223.3,3110.1,2190.9,947.9,387.97,-6.86,468,4395.77,0.00,0.00,2.38,0.000,0.000,0.038,3167.72,3224.88,3110.56,2191.06,2405.25,0,0,0,30.00,30.00,15.66
$GC,4635.54,548,-145.99,-0.87,-40.00,3172.3,3238.6,3106.1,2190.4,2404.7,406.33,-7.80,487,4640.84,0.00,0.00,2.50,0.000,0.000,0.060,3162.84,3219.38,3106.31,2192.44,949.44,0,0,0,30.00,30.00,15.59
$GC,4690.57,1060,-145.99,-0.87,0.00,3166.8,3226.9,3106.6,2190.6,948.4,410.77,-7.89,488,4695.85,0.00,0.00,2.36,0.000,0.000,0.032,3166.97,3226.94,3107.00,2190.00,2409.50,0,0,0,30.00,30.00,15.69
$GC,4955.56,516,-145.99,-0.87,-40.00,3168.1,3230.2,3106.1,2192.1,2410.6,432.67,-8.29,495,4960.87,0.00,0.00,2.52,0.000,0.000,0.062,3166.50,3231.62,3101.38,2191.50,948.62,0,0,0,30.00,30.00,15.57
$GC,5005.56,1028,-145.99,-0.87,0.00,3600.0,4095.9,3104.1,2191.1,948.8,436.74,-8.25,496,5010.84,0.00,0.00,2.36,0.000,0.000,0.032,3158.53,3212.75,3104.31,2191.06,2415.06,0,0,0,30.00,30.00,15.70
$GC,5275.67,292,-145.99,-0.87,40.00,3154.6,3209.5,3099.8,2190.8,2413.7,458.03,-7.90,503,5280.98,0.00,0.00,2.52,0.000,0.000,0.115,3156.06,3210.69,3101.44,2188.00,3804.44,0,0,0,30.00,30.00,15.29
$GC,5310.62,1060,-145.99,-0.87,0.00,3153.8,3207.9,3099.6,2191.1,3806.0,460.75,-7.90,503,5315.90,0.00,0.00,2.29,0.000,0.000,0.017,3155.19,3209.19,3101.19,2191.38,2325.38,0,0,0,30.00,30.00,15.75
$GC,5555.67,292,-145.99,-0.87,40.00,3153.5,3209.2,3097.8,2190.8,2324.5,478.68,-7.38,510,5561.10,0.00,0.00,2.70,0.000,0.000,0.109,3152.16,3208.69,3095.62,2189.75,3809.12,0,0,0,30.00,30.00,15.31
$GC,5595.68,1060,-145.99,-0.87,0.00,3152.2,3207.4,3097.1,2191.0,3808.5,481.65,-7.38,511,5600.94,0.00,0.00,2.29,0.000,0.000,0.017,3153.03,3207.12,3098.94,2189.62,2327.69,0,0,0,30.00,30.00,15.71
$STATE,5875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5875,begin apogee
$GC,5877.55,3,0.00,-0.23,0.00,3150.6,3207.1,3094.0,2189.8,1905.3,502.60,-7.50,518,5992.45,111.49,1.01,0.12,1.540,0.118,0.142,2580.03,2686.12,2473.94,2400.06,2036.25,0,0,0,10.28,15.50,15.12
$STATE,5992,end apogee,CONTROL_FINISHED_OK
$STATE,5992,begin climb
$GC,5992.88,519,145.99,0.87,-40.00,2582.8,2686.9,2478.7,2401.9,2035.6,508.14,0.00,520,6127.96,125.07,1.62,2.79,1.553,0.032,0.102,1984.59,2171.62,1797.56,2804.62,515.00,0,0,0,11.63,15.31,15.08
$GC,6194.86,1063,229.75,0.97,0.00,1983.3,2169.6,1797.1,2805.1,514.6,503.45,4.93,525,6266.82,67.64,0.17,2.37,1.505,0.225,0.025,1641.81,1822.38,1461.25,2773.94,2007.81,0,0,0,11.77,15.32,15.64
$GC,6509.89,261,229.75,0.97,40.00,1640.8,1820.1,1461.6,2774.1,2006.8,474.62,9.44,533,6515.31,0.00,0.02,2.37,0.000,0.380,0.077,1641.88,1821.38,1462.38,2791.00,3380.19,0,0,0,30.00,30.36,15.56
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$GC,8260.04,517,234.57,0.98,-40.00,1622.8,1795.9,1449.7,2800.2,1910.6,322.78,8.13,642,8265.51,0.00,0.11,2.54,0.000,0.220,0.102,1624.06,1796.56,1451.56,2780.69,513.12,0,0,0,30.00,15.38,15.28
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$GC,8850.13,295,240.34,0.99,40.00,1623.0,1796.2,1449.8,2776.3,2005.6,274.38,7.80,701,8860.85,6.94,0.04,2.38,0.957,0.241,0.077,1600.53,1769.81,1431.25,2799.25,3385.25,0,0,0,10.95,15.59,15.40
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$STATE,11711,end climb,SURFACE_DEPTH_REACHED
$STATE,11711,begin surface coast
$FINISH,-0.2,1.010259
$STATE,11736,end surface coast,CONTROL_FINISHED_OK
$STATE,11736,begin surface
$SM_CCo,11816.66,0.00,0.000,0,318.2,390.6,245.7,554.83
$SM_GC,0.52,0.00,11.79,3.10,0.000,0.029,0.043,318.2,390.6,245.7,183.3,2402.7,0,0,0,30.00,15.72,15.65
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,2253.53,-15808.00,030823,021756
$TCM_TEMP,23.30
$XPDR_PINGS,117
$HUMID,60.18
$TEMP,18.50
$INTERNAL_PRESSURE,9.1112
$24V_AH,14.38,261.772
$10V_AH,15.00,0.000
$FG_AHR_24Vo,132.064
$FG_AHR_10Vo,39.474
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,876.485,29.720,172.420,275.750,29.250,23.197,3322.478,8841.762,1909.401,0.000,0.000,0.000
$DEVICE_MAMPS,1553.160,395.648,141.776,208.581,420.000,10.110,8.190,2.190,18.880,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.196,1161.722,1177.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.720,8.200,34.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1168304,41,14524,83
$DATA_FILE_SIZE,92411,1014
$CAP_FILE_SIZE,332300,0
$SDSIZE,3931136,3769696
$SDFILEDIR,2625,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030823,091334,2254.206,-15858.398,29,0.8,47,9.8