version: 66.06
glider: 146
mission: 9
dive: 205
start: 4 14 114 3 22 22
data:
$ID,146
$MISSION,9
$DIVE,205
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$D_NO_BLEED,200
$D_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,266
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,633.60986
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-328040.75
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3004
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3060
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.187134
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,025329,2245.817,-15805.072,41,1.2,41,10.1
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-68.7
$GPS2,032124,2245.830,-15805.329,10,2.0,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.049,0.255
$KALMAN_X,-174339.1,-102.2,41.6,157755.5,-609.1
$KALMAN_Y,26620.8,-98.1,-296.4,-32613.4,313.1
$MHEAD_RNG_PITCHd_Wd,0.8,34511,-17.5,-10.025
$D_GRID,800
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.28,-146.0,0.0,0.0,0,105,0.00,0.00,-86.65,0.000,2,0.000,0.000,457,2206,3643,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.0,-7.5,11,126,12.62,2.55,-0.22,0.000,4,0.164,0.040,2717,3793,3657,0,0,0,0,0,0
$GC,296,-1.18,-146.0,38.8,-15.8,35,301,0.15,2.50,0.00,0.000,6,0.120,0.025,2745,2207,3658,0,0,0,0,0,0
$GC,565,-1.10,-146.0,76.5,-13.7,59,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2207,3658,0,0,0,0,0,0
$GC,826,-1.04,-146.0,106.7,-10.7,84,831,0.15,2.58,0.00,0.000,4,0.110,0.036,2777,3794,3658,0,0,0,0,0,0
$GC,855,-1.04,-146.0,109.7,-10.0,86,860,0.00,2.47,0.00,0.000,6,0.000,0.021,2776,2216,3658,0,0,0,0,0,0
$GC,1120,-1.04,-146.0,133.6,-8.6,110,1124,0.00,2.58,0.00,0.000,4,0.000,0.049,2776,638,3658,0,0,0,0,0,0
$GC,1155,-1.09,-146.0,136.9,-8.7,112,1165,0.00,2.47,0.00,0.000,6,0.000,0.025,2776,2224,3658,0,0,0,0,0,0
$GC,1423,-1.09,-146.0,160.2,-9.0,137,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2224,3658,0,0,0,0,0,0
$GC,1686,-1.14,-146.0,185.0,-9.0,162,1690,0.00,2.60,0.00,0.000,4,0.000,0.047,2776,632,3658,0,0,0,0,0,0
$GC,1733,-1.19,-146.0,189.0,-9.4,165,1738,0.15,2.40,0.00,0.000,6,0.057,0.025,2716,2206,3658,0,0,0,0,0,0
$GC,1996,-1.11,-146.0,218.3,-11.3,189,2001,0.20,2.58,0.00,0.000,4,0.087,0.045,2759,632,3658,0,0,0,0,0,0
$GC,2055,-1.11,-146.0,224.2,-9.2,193,2061,0.00,2.40,0.00,0.000,6,0.000,0.019,2759,2188,3658,0,0,0,0,0,0
$GC,2318,-1.11,-146.0,247.2,-8.6,218,2322,0.00,2.55,0.00,0.000,4,0.000,0.039,2759,3778,3658,0,0,0,0,0,0
$GC,2353,-1.11,-146.0,249.8,-9.2,220,2357,0.00,2.47,0.00,0.000,6,0.000,0.021,2759,2187,3658,0,0,0,0,0,0
$GC,2620,-1.17,-146.0,270.6,-7.2,244,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2188,3658,0,0,0,0,0,0
$GC,2884,-1.22,-146.0,290.2,-8.4,269,2889,0.00,2.60,0.00,0.000,4,0.000,0.043,2759,3778,3658,0,0,0,0,0,0
$GC,2940,-1.30,-146.0,295.5,-8.6,273,2949,0.12,2.50,0.00,0.000,6,0.028,0.022,2698,2211,3657,0,0,0,0,0,0
$GC,3206,-1.25,-146.0,321.9,-9.8,298,3211,0.15,0.00,0.00,0.000,6,0.094,0.000,2730,2211,3657,0,0,0,0,0,0
$GC,3469,-1.25,-146.0,345.5,-9.2,323,3473,0.00,2.70,0.00,0.000,4,0.000,0.071,2730,632,3656,0,0,0,0,0,0
$GC,3502,-1.25,-146.0,348.2,-9.1,325,3507,0.00,2.50,0.00,0.000,6,0.000,0.031,2730,2190,3656,0,0,0,0,0,0
$GC,3769,-1.25,-146.0,371.1,-8.1,349,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2189,3655,0,0,0,0,0,0
$GC,4031,-1.25,-146.0,391.1,-7.7,374,4036,0.00,2.65,0.00,0.000,4,0.000,0.054,2730,3789,3653,0,0,0,0,0,0
$GC,4065,-1.25,-146.0,393.1,-7.5,376,4069,0.00,2.55,0.00,0.000,6,0.000,0.035,2730,2208,3653,0,0,0,0,0,0
$GC,4332,-1.29,-146.0,411.9,-7.7,400,4336,0.00,2.80,0.00,0.000,4,0.000,0.085,2730,629,3651,0,0,0,0,0,0
$GC,4356,-1.29,-146.0,414.0,-7.8,401,4362,0.00,2.58,0.00,0.000,6,0.000,0.041,2730,2205,3651,0,0,0,0,0,0
$GC,4619,-1.33,-146.0,434.7,-7.7,426,4624,0.00,2.75,0.00,0.000,4,0.000,0.074,2730,631,3649,0,0,0,0,0,0
$GC,4644,-1.38,-146.0,436.8,-8.0,427,4650,0.12,2.58,0.00,0.000,6,0.066,0.042,2680,2193,3648,0,0,0,0,0,0
$GC,4907,-1.32,-146.0,460.4,-8.7,452,4909,0.15,0.00,0.00,0.000,6,0.093,0.000,2714,2193,3647,0,0,0,0,0,0
$GC,5163,-1.32,-146.0,477.9,-6.4,476,5167,0.00,2.78,0.00,0.000,4,0.000,0.082,2714,632,3645,0,0,0,0,0,0
$GC,5184,-1.32,-146.0,479.7,-6.8,477,5193,0.00,2.62,0.00,0.000,6,0.000,0.047,2714,2194,3645,0,0,0,0,0,0
$GC,5452,-1.32,-146.0,496.9,-6.4,502,5456,0.00,2.75,0.00,0.000,4,0.000,0.071,2714,3800,3644,0,0,0,0,0,0
$GC,5495,-1.32,-146.0,500.2,-7.6,505,5499,0.00,2.65,0.00,0.000,6,0.000,0.044,2714,2208,3644,0,0,0,0,0,0
$GC,5763,-1.32,-146.0,519.7,-7.4,529,5768,0.00,2.72,0.00,0.000,4,0.000,0.068,2714,3797,3642,0,0,0,0,0,0
$GC,5819,-1.32,-146.0,524.7,-8.5,533,5825,0.00,2.67,0.00,0.000,6,0.000,0.051,2714,2207,3642,0,0,0,0,0,0
$GC,6082,-1.32,-146.0,543.5,-6.9,558,6087,0.00,2.75,0.00,0.000,4,0.000,0.067,2714,3795,3639,0,0,0,0,0,0
$GC,6106,-1.32,-146.0,545.0,-7.5,559,6111,0.00,2.67,0.00,0.000,6,0.000,0.058,2714,2206,3639,0,0,0,0,0,0
$GC,6374,-1.37,-146.0,562.9,-6.6,583,6378,0.00,2.78,0.00,0.000,4,0.000,0.071,2714,3794,3638,0,0,0,0,0,0
$GC,6403,-1.37,-146.0,565.3,-7.3,585,6408,0.00,2.67,0.00,0.000,6,0.000,0.055,2714,2217,3637,0,0,0,0,0,0
$GC,6666,-1.41,-146.0,583.4,-7.0,609,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2217,3636,0,0,0,0,0,0
$GC,6929,-1.45,-146.0,603.9,-8.0,631,6935,0.12,2.85,0.00,0.000,4,0.067,0.088,2664,3797,3634,0,0,0,0,0,0
$GC,6946,-1.45,-146.0,605.7,-8.4,631,6951,0.10,2.78,0.00,0.000,6,0.113,0.070,2687,2217,3635,0,0,0,0,0,0
$GC,7207,-1.45,-146.0,630.2,-9.5,638,7212,0.00,2.88,0.00,0.000,4,0.000,0.093,2687,3794,3633,0,0,0,0,0,0
$GC,7247,-1.45,-146.0,634.1,-10.5,639,7252,0.00,2.85,0.00,0.000,6,0.000,0.088,2687,2213,3632,0,0,0,0,0,0
$GC,7532,-1.45,-146.0,659.5,-8.5,646,7537,0.00,2.95,0.00,0.000,4,0.000,0.104,2687,3793,3631,0,0,0,0,0,0
$GC,7553,-1.45,-146.0,661.6,-9.3,646,7558,0.00,2.90,0.00,0.000,6,0.000,0.094,2687,2223,3631,0,0,0,0,0,0
$GC,7809,-1.45,-146.0,681.4,-7.5,653,7813,0.00,3.00,0.00,0.000,4,0.000,0.114,2687,3796,3629,0,0,0,0,0,0
$GC,7853,-1.45,-146.0,685.1,-8.3,654,7857,0.00,2.92,0.00,0.000,6,0.000,0.106,2687,2235,3629,0,0,0,0,0,0
$GC,8130,-1.45,-146.0,705.8,-7.4,661,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2236,3628,0,0,0,0,0,0
$GC,8375,-1.45,-146.0,723.4,-7.3,667,8380,0.00,3.12,0.00,0.000,4,0.000,0.139,2687,3794,3627,0,0,0,0,0,0
$GC,8402,-1.45,-146.0,725.7,-7.8,667,8407,0.00,3.10,0.00,0.000,6,0.000,0.131,2687,2232,3627,0,0,0,0,0,0
$GC,8653,-1.45,-146.0,743.0,-6.9,673,8657,0.00,3.15,0.00,0.000,4,0.000,0.147,2687,3790,3626,0,0,0,0,0,0
$GC,8687,-1.45,-146.0,745.6,-7.8,673,8692,0.00,3.15,0.00,0.000,6,0.000,0.143,2687,2235,3625,0,0,0,0,0,0
$GC,8937,-1.45,-146.0,762.5,-6.7,680,8942,0.00,3.58,0.00,0.000,4,0.000,0.192,2687,621,3624,0,0,0,0,0,0
$GC,8977,-1.45,-146.0,765.4,-7.3,681,8982,0.00,3.20,0.00,0.000,6,0.000,0.138,2687,2234,3624,0,0,0,0,0,0
$GC,9262,-1.45,-146.0,784.1,-6.6,688,9267,0.00,3.35,0.00,0.000,4,0.000,0.178,2687,3797,3623,0,0,0,0,0,0
$GC,9289,-1.45,-146.0,786.3,-7.4,688,9294,0.00,3.30,0.00,0.000,6,0.000,0.166,2687,2241,3623,0,0,1,0,0,0
$STATE,9496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9496,begin apogee
$GC,9502,-0.31,0.0,800.6,6.7,693,9624,1.10,0.00,118.82,1.177,6,0.069,0.000,2935,2374,3060,0,0,0,0,0,0
$STATE,9625,end apogee,CONTROL_FINISHED_OK
$STATE,9625,begin climb
$GC,9629,1.28,146.0,802.5,0.0,696,9767,1.42,3.45,128.32,1.147,4,0.033,0.182,3289,3940,2463,0,0,0,0,0,0
$GC,9797,1.10,146.0,789.8,12.6,700,9804,0.22,3.40,0.00,0.000,6,0.103,0.164,3243,2372,2459,0,0,1,0,0,0
$GC,10082,1.05,146.3,760.4,10.0,707,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2372,2453,0,0,0,0,0,0
$GC,10326,0.99,148.7,736.4,9.9,713,10332,0.12,3.38,0.00,0.000,4,0.126,0.166,3219,778,2452,0,0,0,0,0,0
$GC,10351,0.97,161.6,734.1,9.4,713,10370,0.00,3.10,13.62,1.033,6,0.000,0.118,3219,2368,2400,0,0,0,0,0,0
$GC,10656,1.00,187.5,706.8,8.8,721,10683,0.00,0.00,25.08,1.074,6,0.000,0.000,3219,2369,2295,0,0,0,0,0,0
$GC,10899,1.02,201.0,683.9,9.4,727,10914,0.00,0.00,13.15,1.012,6,0.000,0.000,3219,2369,2240,0,0,0,0,0,0
$GC,11181,1.03,205.6,656.0,9.8,734,11189,0.00,0.00,5.40,0.811,6,0.000,0.000,3219,2369,2221,0,0,0,0,0,0
$GC,11425,1.03,209.6,631.9,9.8,740,11432,0.00,0.00,5.07,0.783,6,0.000,0.000,3219,2369,2205,0,0,0,0,0,0
$GC,11670,1.04,212.4,607.4,9.9,746,11680,0.00,2.88,4.28,0.706,4,0.000,0.087,3219,3949,2193,0,0,0,0,0,0
$GC,11697,1.04,217.3,604.6,9.8,746,11708,0.00,2.78,6.40,0.844,6,0.000,0.058,3219,2350,2174,0,0,0,0,0,0
$GC,11964,1.07,237.7,579.8,9.1,768,11991,0.00,3.08,19.92,0.996,4,0.000,0.112,3219,785,2091,0,0,0,0,0,0
$GC,12028,1.07,237.7,572.9,11.0,773,12034,0.00,2.70,0.00,0.000,6,0.000,0.051,3219,2363,2088,0,0,0,0,0,0
$GC,12292,1.11,237.7,546.6,10.6,798,12298,0.10,2.88,0.00,0.000,4,0.091,0.083,3249,778,2087,0,0,0,0,0,0
$GC,12315,1.11,237.7,544.3,10.8,799,12319,0.00,2.62,0.00,0.000,6,0.000,0.046,3249,2349,2086,0,0,0,0,0,0
$GC,12581,1.11,237.7,511.7,12.5,823,12586,0.00,2.75,0.00,0.000,4,0.000,0.066,3249,3939,2086,0,0,0,0,0,0
$GC,12634,1.11,237.7,504.3,12.6,827,12638,0.00,2.67,0.00,0.000,6,0.000,0.043,3248,2348,2085,0,0,0,0,0,0
$GC,12896,1.11,237.7,472.2,12.1,851,12901,0.00,2.72,0.00,0.000,4,0.000,0.051,3248,3950,2085,0,0,0,0,0,0
$GC,12954,1.11,237.7,464.5,14.3,855,12963,0.00,2.67,0.00,0.000,6,0.000,0.039,3248,2369,2084,0,0,0,0,0,0
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$GC,13839,1.11,237.7,364.6,10.7,935,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2348,2083,0,0,0,0,0,0
$GC,14092,1.13,259.1,339.9,9.0,959,14117,0.00,2.72,19.77,0.838,4,0.000,0.046,3249,3939,2003,0,0,0,0,0,0
$GC,14157,1.13,259.1,334.0,10.4,964,14161,0.00,2.58,0.00,0.000,6,0.000,0.031,3248,2357,2000,0,0,0,0,0,0
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$STATE,17074,end climb,SURFACE_DEPTH_REACHED
$STATE,17074,begin surface coast
$FINISH,-0.1,1.024114
$STATE,17110,end surface coast,CONTROL_FINISHED_OK
$STATE,17110,begin surface
$SM_CCo,17133,259.45,0.515,0,0,476,633.61
$SM_GC,0.28,0.00,0.00,259.45,0.000,0.000,0.515,458,2121,476,-11.71,-2.49,633.61
$IRIDIUM_FIX,2234.68,-15807.58,090703,030338
$TT8_MAMPS,0.026078
$HUMID,57.79
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.70
$XPDR_PINGS,26
$24V_AH,23.2,29.873
$10V_AH,10.2,33.604
$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
$DEVICE_SECS,28.800,220.900,403.375,259.450,0.000,142.374,200.110,857.839,6.500,0.000,17.354,2245.996,10239.522,796.074,3985.032,1786.356,33.370,2076.404,0.000,4008.581,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,853.241,900.545,1175.318,1264.658,2407.703,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,101641,1240
$CAP_FILE_SIZE,208147,0
$CFSIZE,260165632,165138432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140414,081336,2247.558,-15805.312,40,1.5,40,10.1