version: 66.07
glider: 500
mission: 5
dive: 105
start: 11 25 110 10 34 45
data:
$ID,500
$MISSION,5
$DIVE,105
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,366
$T_MISSION,720
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-123252.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,104
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,251110,102507,2048.099,12512.048,62,0.9,62,-2.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.9
$GPS2,251110,103350,2047.928,12511.979,13,1.0,13,-2.7
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,0.185
$KALMAN_X,-155638.2,-372.4,261.1,354762.2,-4666.7
$KALMAN_Y,-79457.9,1496.8,-156.9,37840.6,-3912.0
$MHEAD_RNG_PITCHd_Wd,46.7,171905,-15.3,-9.016
$D_GRID,990
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-0.70,-155.7,0.0,0.0,0,128,0.00,0.00,-99.70,0.000,6,0.000,0.000,105,2275,3549,0,0,0,0,0,0
$GC,132,-0.70,-155.7,3.4,-5.9,20,148,10.15,2.38,0.00,0.000,4,0.227,0.041,2797,676,3553,0,0,0,0,0,0
$GC,159,-0.70,-155.7,15.5,-38.7,25,165,0.00,2.38,0.00,0.000,6,0.000,0.044,2781,2284,3554,0,0,0,0,0,0
$GC,358,-0.70,-155.7,72.6,-27.7,48,362,0.00,2.33,0.00,0.000,4,0.000,0.053,2769,3839,3556,0,0,0,0,0,0
$GC,391,-0.70,-155.7,81.9,-28.7,50,397,0.00,2.33,0.00,0.000,6,0.000,0.037,2766,2258,3554,0,0,0,0,0,0
$GC,651,-0.70,-155.7,131.4,-14.9,75,655,0.00,2.30,0.00,0.000,4,0.000,0.047,2769,686,3556,0,0,0,0,0,0
$GC,908,-0.70,-155.7,175.2,-15.9,97,915,0.10,2.33,0.00,0.000,6,0.154,0.044,2790,2264,3557,0,0,0,0,0,0
$GC,1169,-0.70,-155.7,208.3,-13.1,119,1173,0.00,2.30,0.00,0.000,4,0.000,0.043,2790,679,3559,0,0,0,0,0,0
$GC,1180,-0.70,-155.7,210.0,-13.5,119,1185,0.00,2.33,0.00,0.000,6,0.000,0.044,2780,2283,3556,0,0,0,0,0,0
$GC,1494,-0.70,-155.7,250.0,-12.1,135,1498,0.00,2.30,0.00,0.000,4,0.000,0.053,2767,3840,3557,0,0,0,0,0,0
$GC,1560,-0.70,-155.7,259.7,-15.3,138,1565,0.00,2.30,0.00,0.000,6,0.000,0.035,2768,2265,3559,0,0,0,0,0,0
$GC,1888,-0.70,-155.7,299.6,-11.0,154,1892,0.00,2.28,0.00,0.000,4,0.000,0.044,2768,683,3558,0,0,0,0,0,0
$GC,1908,-0.70,-155.7,302.3,-12.1,155,1914,0.10,2.33,0.00,0.000,6,0.150,0.044,2787,2264,3558,0,0,0,0,0,0
$GC,2251,-0.70,-155.7,332.8,-8.6,164,2255,0.00,2.25,0.00,0.000,4,0.000,0.043,2789,689,3560,0,0,0,0,0,0
$GC,2323,-0.70,-155.7,339.7,-9.5,165,2327,0.00,2.28,0.00,0.000,6,0.000,0.043,2778,2283,3557,0,0,0,0,0,0
$GC,2659,-0.70,-155.7,377.1,-11.8,174,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2283,3556,0,0,0,0,0,0
$GC,2984,-0.70,-155.7,414.2,-11.0,182,2988,0.00,2.33,0.00,0.000,4,0.000,0.052,2767,3842,3557,0,0,0,0,0,0
$GC,3011,-0.70,-155.7,417.5,-12.6,182,3015,0.00,2.25,0.00,0.000,6,0.000,0.035,2767,2271,3554,0,0,0,0,0,0
$GC,3341,-0.70,-155.7,448.5,-8.8,190,3345,0.00,2.28,0.00,0.000,4,0.000,0.043,2766,683,3552,0,0,0,0,0,0
$GC,3378,-0.70,-155.7,452.4,-10.2,190,3385,0.10,2.30,0.00,0.000,6,0.148,0.042,2788,2261,3552,0,0,0,0,0,0
$GC,3710,-0.70,-155.7,477.4,-7.5,199,3715,0.00,2.38,0.00,0.000,4,0.000,0.052,2777,3847,3550,0,0,0,0,0,0
$GC,3749,-0.70,-155.7,481.1,-10.2,200,3753,0.00,2.30,0.00,0.000,6,0.000,0.036,2777,2264,3550,0,0,0,0,0,0
$GC,4073,-0.70,-155.7,509.6,-8.9,208,4077,0.00,2.30,0.00,0.000,4,0.000,0.045,2777,682,3547,0,0,0,0,0,0
$GC,4284,-0.70,-155.7,528.9,-9.6,212,4290,0.00,2.33,0.00,0.000,6,0.000,0.041,2763,2268,3545,0,0,0,0,0,0
$GC,4616,-0.70,-155.7,558.0,-8.6,221,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2268,3545,0,0,0,0,0,0
$GC,4941,-0.70,-155.7,583.8,-8.0,229,4946,0.00,2.33,0.00,0.000,4,0.000,0.044,2766,680,3541,0,0,0,0,0,0
$GC,4974,-0.70,-155.7,586.7,-8.7,229,4981,0.12,2.33,0.00,0.000,6,0.179,0.042,2787,2267,3541,0,0,0,0,0,0
$GC,5305,-0.70,-155.7,609.7,-7.3,238,5309,0.00,2.30,0.00,0.000,4,0.000,0.043,2787,678,3539,0,0,0,0,0,0
$GC,5388,-0.70,-155.7,616.4,-8.4,239,5394,0.00,2.30,0.00,0.000,6,0.000,0.041,2777,2271,3538,0,0,0,0,0,0
$GC,5719,-0.70,-155.7,642.1,-7.8,248,5723,0.00,2.38,0.00,0.000,4,0.000,0.054,2765,3847,3536,0,0,0,0,0,0
$GC,5925,-0.70,-155.7,660.7,-9.1,252,5929,0.00,2.28,0.00,0.000,6,0.000,0.037,2765,2267,3534,0,0,0,0,0,0
$GC,6261,-0.70,-155.7,684.5,-6.6,261,6266,0.00,2.30,0.00,0.000,4,0.000,0.045,2765,679,3532,0,0,0,0,0,0
$GC,6350,-0.70,-155.7,691.2,-7.8,263,6355,0.15,2.35,0.00,0.000,6,0.175,0.043,2794,2272,3531,0,0,0,0,0,0
$GC,6675,-0.70,-155.7,712.6,-6.8,271,6679,0.00,2.38,0.00,0.000,4,0.000,0.054,2783,3850,3530,0,0,0,0,0,0
$GC,6759,-0.70,-155.7,719.5,-8.3,273,6763,0.00,2.33,0.00,0.000,6,0.000,0.038,2783,2256,3529,0,0,0,0,0,0
$GC,7082,-0.70,-155.7,745.0,-7.9,281,7087,0.00,2.40,0.00,0.000,4,0.000,0.054,2771,3854,3527,0,0,0,0,0,0
$GC,7137,-0.70,-155.7,750.0,-8.6,282,7142,0.00,2.35,0.00,0.000,6,0.000,0.038,2771,2235,3526,0,0,0,0,0,0
$GC,7450,-0.70,-155.7,773.8,-7.3,290,7454,0.00,2.25,0.00,0.000,4,0.000,0.047,2771,696,3525,0,0,0,0,0,0
$GC,7685,-0.70,-155.7,790.1,-6.8,295,7690,0.12,2.30,0.00,0.000,6,0.181,0.044,2792,2275,3523,0,0,0,0,0,0
$GC,7998,-0.70,-155.7,807.2,-5.4,303,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2272,3522,0,0,0,0,0,0
$GC,8323,-0.70,-155.7,821.7,-4.3,311,8327,0.00,2.30,0.00,0.000,4,0.000,0.047,2792,694,3519,0,0,0,0,0,0
$GC,8418,-0.70,-155.7,826.4,-5.1,313,8422,0.00,2.33,0.00,0.000,6,0.000,0.045,2782,2266,3520,0,0,0,0,0,0
$GC,8737,-0.70,-155.7,840.7,-4.6,321,8741,0.00,2.28,0.00,0.000,4,0.000,0.043,2782,686,3518,0,0,0,0,0,0
$GC,8803,-0.70,-155.7,844.1,-5.3,322,8807,0.00,2.33,0.00,0.000,6,0.000,0.044,2776,2278,3518,0,0,0,0,0,0
$GC,9145,-0.70,-155.7,862.1,-5.3,331,9149,0.00,2.30,0.00,0.000,4,0.000,0.045,2767,693,3517,0,0,0,0,0,0
$GC,9256,-0.70,-155.7,869.0,-6.6,333,9261,0.12,2.33,0.00,0.000,6,0.180,0.045,2792,2281,3514,0,0,0,0,0,0
$GC,9592,-0.70,-155.7,888.0,-5.7,342,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2281,3515,0,0,0,0,0,0
$GC,9917,-0.70,-155.7,906.8,-5.8,350,9921,0.00,2.33,0.00,0.000,4,0.000,0.045,2792,693,3513,0,0,0,0,0,0
$GC,10174,-0.70,-155.7,922.1,-5.7,355,10178,0.00,2.33,0.00,0.000,6,0.000,0.045,2787,2260,3513,0,0,0,0,0,0
$GC,10511,-0.70,-155.7,937.4,-4.4,364,10515,0.00,2.28,0.00,0.000,4,0.000,0.044,2782,690,3512,0,0,0,0,0,0
$GC,10572,-0.70,-155.7,940.4,-4.1,365,10577,0.00,2.35,0.00,0.000,6,0.000,0.046,2770,2271,3513,0,0,0,0,0,0
$GC,10920,-0.70,-155.7,955.2,-4.3,374,10924,0.00,2.30,0.00,0.000,4,0.000,0.046,2770,686,3510,0,0,0,0,0,0
$GC,10992,-0.70,-155.7,958.7,-4.5,375,10997,0.12,2.33,0.00,0.000,6,0.181,0.045,2792,2281,3511,0,0,0,0,0,0
$GC,11322,-0.70,-155.7,974.3,-5.0,383,11326,0.00,2.35,0.00,0.000,4,0.000,0.046,2791,680,3513,0,0,0,0,0,0
$GC,11523,-0.70,-155.7,987.7,-6.6,387,11528,0.00,2.35,0.00,0.000,6,0.000,0.043,2781,2264,3509,0,0,0,0,0,0
$STATE,11579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11579,begin apogee
$GC,11584,-0.23,0.0,991.5,6.8,389,11712,0.47,0.00,124.28,1.390,6,0.128,0.000,2939,1841,2915,0,0,0,0,0,0
$STATE,11714,end apogee,CONTROL_FINISHED_OK
$STATE,11714,begin climb
$GC,11717,0.70,155.7,992.3,0.0,392,11865,0.88,2.65,138.32,1.346,4,0.071,0.052,3250,3443,2281,0,0,0,0,0,0
$GC,11897,0.70,155.7,972.7,14.8,396,11902,0.00,2.55,0.00,0.000,6,0.000,0.045,3262,1871,2274,0,0,0,0,0,0
$GC,12235,0.70,155.7,922.1,15.0,405,12239,0.00,2.50,0.00,0.000,4,0.000,0.058,3275,253,2265,0,0,0,0,0,0
$GC,12255,0.70,155.7,918.8,14.9,405,12260,0.00,2.45,0.00,0.000,6,0.000,0.044,3275,1847,2265,0,0,0,0,0,0
$GC,12597,0.70,155.7,862.8,16.9,414,12602,0.00,2.42,0.00,0.000,4,0.000,0.055,3275,3438,2261,0,0,0,0,0,0
$GC,12714,0.70,155.7,840.6,18.1,416,12720,0.15,2.42,0.00,0.000,6,0.152,0.043,3243,1837,2261,0,0,0,0,0,0
$GC,13045,0.70,155.7,791.6,14.5,424,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1837,2260,0,0,0,0,0,0
$GC,13371,0.70,155.7,744.6,14.4,432,13375,0.00,2.38,0.00,0.000,4,0.000,0.055,3253,256,2259,0,0,0,0,0,0
$GC,13391,0.70,155.7,741.2,14.8,432,13396,0.00,2.40,0.00,0.000,6,0.000,0.045,3253,1846,2258,0,0,0,0,0,0
$GC,13734,0.70,155.7,690.5,15.0,441,13738,0.00,2.40,0.00,0.000,4,0.000,0.056,3254,3437,2258,0,0,0,0,0,0
$GC,13850,0.70,155.7,671.6,16.3,443,13855,0.00,2.42,0.00,0.000,6,0.000,0.045,3267,1855,2258,0,0,0,0,0,0
$GC,14186,0.70,155.7,616.3,16.2,452,14190,0.00,2.42,0.00,0.000,4,0.000,0.055,3265,3436,2258,0,0,0,0,0,0
$GC,14241,0.70,155.7,606.9,16.3,453,14246,0.10,2.42,0.00,0.000,6,0.166,0.046,3249,1819,2257,0,0,0,0,0,0
$GC,14560,0.70,155.7,563.1,13.3,461,14564,0.00,2.45,0.00,0.000,4,0.000,0.055,3248,3436,2256,0,0,0,0,0,0
$GC,14598,0.70,155.7,557.8,13.5,462,14602,0.00,2.40,0.00,0.000,6,0.000,0.047,3259,1843,2256,0,0,0,0,0,0
$GC,14920,0.70,155.7,515.9,12.7,470,14925,0.00,2.42,0.00,0.000,4,0.000,0.057,3259,3445,2256,0,0,0,0,0,0
$GC,14953,0.70,155.7,511.6,12.9,470,14959,0.00,2.42,0.00,0.000,6,0.000,0.049,3271,1841,2256,0,0,0,0,0,0
$GC,15284,0.70,155.7,466.0,14.4,479,15288,0.00,2.38,0.00,0.000,4,0.000,0.056,3284,254,2256,0,0,0,0,0,0
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$STATE,19555,end climb,SURFACE_DEPTH_REACHED
$STATE,19555,begin surface coast
$FINISH,2.4,1.022474
$STATE,19563,end surface coast,CONTROL_FINISHED_OK
$STATE,19563,begin surface
$SM_CCo,19584,82.72,0.596,0,0,875,500.40
$SM_GC,1.09,0.00,0.00,82.72,0.000,0.000,0.596,104,2269,875,-9.11,-0.03,500.40
$IRIDIUM_FIX,2038.68,12510.29,190512,232325
$TT8_MAMPS,0.059059
$HUMID,1078612248
$INTERNAL_PRESSURE,9.13976
$TCM_TEMP,24.80
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8274804736
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57965051904
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,16.870
$10V_AH,10.2,12.419
$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,21.425,212.100,403.600,82.725,0.000,25.326,32.551,305.423,1.500,0.000,14.797,1573.737,15274.613,649.759,2435.036,256.397,33.367,1800.456,0.000,2002.446,0.000,0.542,0.000
$DEVICE_MAMPS,227.032,57.525,1389.804,595.959,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,521.451,0.000,0.000,0.000,0.000,0.000,0.000,20383.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.502,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,26733,768
$CAP_FILE_SIZE,175385,0
$CFSIZE,260165632,215883776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251110,160409,2049.206,12512.909,42,0.9,45,-2.7