version: 66.02
glider: 103
mission: 7
dive: 91
start: 11 26 107 7 22 37
data:
$ID,103
$MISSION,7
$DIVE,91
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-63885.926
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.98249
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,071631,6136.344,-854.779,37,1.2,43,-9.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-58.2
$GPS2,072132,6136.381,-854.690,13,1.2,13,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,0.046
$KALMAN_X,-78979.0,407.6,26.8,60641.7,5411.9
$KALMAN_Y,91980.8,-81.8,-98.5,-87363.1,-960.3
$MHEAD_RNG_PITCHd_Wd,291.2,35518,-11.1,-6.000
$D_GRID,778
$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
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-61.45,0.000,2,0.000,0.000,47,2883,3484
$GC,85,-1.10,-146.6,4.1,-9.0,3,107,11.93,2.65,-0.28,0.000,4,0.157,0.081,2164,1489,3500
$GC,347,-1.10,-146.6,29.2,-9.5,14,355,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2896,3500
$GC,663,-1.10,-146.6,50.0,-6.4,30,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3500
$GC,973,-1.10,-146.6,73.0,-8.9,45,977,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1484,3500
$GC,1015,-1.10,-146.6,76.5,-7.1,47,1020,0.00,2.70,0.00,0.000,6,0.000,0.076,2164,2899,3500
$GC,1342,-1.10,-146.6,96.4,-6.8,63,1347,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1483,3500
$GC,1368,-1.10,-146.6,98.7,-8.2,64,1373,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2893,3500
$GC,1690,-1.10,-146.6,119.1,-6.3,80,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3500
$GC,2000,-1.10,-146.6,141.2,-7.0,95,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3500
$GC,2308,-1.10,-146.6,163.5,-7.2,110,2312,0.00,2.58,0.00,0.000,4,0.000,0.068,2164,1487,3500
$GC,2340,-1.10,-146.6,166.0,-7.7,111,2347,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3500
$GC,2656,-1.10,-146.6,190.4,-7.5,127,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,2965,-1.10,-146.6,215.1,-8.2,142,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,3274,-1.10,-146.6,242.0,-8.8,157,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,3583,-1.10,-146.6,270.3,-9.0,172,3588,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1481,3500
$GC,3615,-1.10,-146.6,273.0,-8.7,173,3622,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2900,3500
$GC,3931,-1.10,-146.6,298.9,-8.3,189,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,4240,-1.10,-146.6,324.4,-8.0,204,4244,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1480,3500
$GC,4279,-1.10,-146.6,327.6,-8.2,206,4284,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2901,3500
$GC,4604,-1.10,-146.6,351.8,-7.0,222,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3500
$GC,4913,-1.10,-146.6,374.3,-7.4,237,4918,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1481,3500
$GC,4979,-1.10,-146.6,379.2,-7.6,240,4984,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2893,3500
$GC,5306,-1.10,-146.6,403.1,-7.1,256,5310,0.00,2.55,0.00,0.000,4,0.000,0.065,2164,1482,3500
$GC,5348,-1.10,-146.6,406.2,-7.4,258,5353,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2894,3500
$GC,5675,-1.10,-146.6,428.4,-6.5,274,5679,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1485,3500
$GC,5702,-1.10,-146.6,430.3,-7.0,275,5706,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2899,3500
$GC,6023,-1.10,-146.6,452.9,-7.3,291,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3500
$GC,6332,-1.10,-146.6,474.6,-6.8,306,6337,0.00,2.55,0.00,0.000,4,0.000,0.062,2164,1482,3500
$GC,6409,-1.10,-146.6,479.5,-6.7,309,6416,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2895,3500
$GC,6725,-1.10,-146.6,496.2,-4.5,325,6729,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1482,3500
$GC,6773,-1.10,-146.6,498.6,-5.1,327,6778,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3500
$GC,7095,-1.10,-146.6,513.4,-4.8,343,7099,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1482,3500
$GC,7178,-1.10,-146.6,517.3,-4.9,347,7182,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2899,3500
$GC,7503,-1.10,-146.6,533.4,-5.1,363,7508,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1482,3500
$GC,7587,-1.10,-146.6,537.4,-4.9,367,7592,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2899,3500
$GC,7913,-1.10,-146.6,555.6,-5.8,383,7917,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1483,3500
$GC,8029,-1.10,-146.6,563.1,-7.0,388,8033,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2891,3500
$GC,8350,-1.10,-146.6,585.7,-7.7,404,8354,0.00,2.53,0.00,0.000,4,0.000,0.055,2163,1477,3500
$GC,8439,-1.10,-146.6,593.3,-8.7,408,8444,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2904,3500
$GC,8765,-1.10,-146.6,621.5,-8.6,424,8769,0.00,2.53,0.00,0.000,4,0.000,0.053,2164,1474,3500
$GC,8818,-1.10,-146.6,626.1,-8.7,426,8825,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2891,3500
$GC,9135,-1.10,-146.6,651.4,-8.1,442,9139,0.00,2.50,0.00,0.000,4,0.000,0.052,2164,1480,3500
$GC,9183,-1.10,-146.6,655.6,-8.5,444,9188,0.00,2.60,0.00,0.000,6,0.000,0.060,2164,2899,3500
$GC,9504,-1.10,-146.6,681.7,-8.1,460,9508,0.00,2.53,0.00,0.000,4,0.000,0.050,2164,1472,3500
$GC,9543,-1.10,-146.6,684.9,-7.9,462,9547,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2901,3500
$GC,9868,-1.10,-146.6,708.1,-6.7,478,9872,0.00,2.50,0.00,0.000,4,0.000,0.049,2164,1474,3500
$GC,9957,-1.10,-146.6,713.6,-5.9,482,9961,0.00,2.58,0.00,0.000,6,0.000,0.057,2164,2903,3500
$GC,10283,-1.10,-146.6,731.3,-5.1,498,10287,0.00,2.50,0.00,0.000,4,0.000,0.048,2164,1480,3500
$GC,10344,-1.10,-146.6,734.5,-5.5,501,10348,0.00,2.55,0.00,0.000,6,0.000,0.057,2164,2900,3500
$GC,10669,-1.10,-146.6,755.7,-7.3,517,10673,0.00,2.50,0.00,0.000,4,0.000,0.046,2164,1479,3500
$GC,10711,-1.10,-146.6,759.0,-7.9,519,10716,0.00,2.58,0.00,0.000,6,0.000,0.056,2164,2898,3500
$STATE,11037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11037,begin apogee
$GC,11043,-0.42,0.0,779.1,6.3,535,11172,0.73,0.00,125.40,1.258,6,0.070,0.000,2317,1767,2901
$STATE,11172,end apogee,CONTROL_FINISHED_OK
$STATE,11172,begin climb
$GC,11174,1.10,146.6,783.6,0.0,541,11306,1.52,2.62,123.97,1.221,4,0.048,0.066,2651,378,2303
$GC,11339,1.10,146.6,777.4,7.0,549,11344,0.00,2.50,0.00,0.000,6,0.000,0.034,2651,1797,2303
$GC,11666,1.10,146.6,759.4,7.6,565,11670,0.00,2.47,0.00,0.000,4,0.000,0.058,2651,3160,2303
$GC,11922,1.13,164.8,745.2,5.5,576,11944,0.00,2.45,16.73,1.131,6,0.000,0.041,2651,1763,2229
$GC,12253,1.13,166.6,726.1,5.9,592,12257,0.00,2.58,0.00,0.000,4,0.000,0.060,2651,3162,2229
$GC,12464,1.13,166.6,713.5,6.3,601,12471,0.00,2.45,0.00,0.000,6,0.000,0.041,2651,1780,2228
$GC,12780,1.15,183.4,695.4,5.5,617,12802,0.00,2.65,17.17,1.139,4,0.000,0.061,2651,3166,2153
$GC,12885,1.15,183.4,689.0,6.2,621,12892,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,1773,2153
$GC,13200,1.15,183.4,668.1,6.6,637,13204,0.00,2.53,0.00,0.000,4,0.000,0.062,2651,3158,2152
$GC,13356,1.15,183.4,657.3,6.7,644,13360,0.00,2.47,0.00,0.000,6,0.000,0.045,2651,1774,2153
$GC,13682,1.15,183.4,634.1,6.8,660,13687,0.00,2.53,0.00,0.000,4,0.000,0.062,2651,3162,2152
$GC,13788,1.15,183.4,626.9,6.8,665,13793,0.00,2.42,0.00,0.000,6,0.000,0.046,2651,1774,2152
$GC,14120,1.15,183.4,603.2,7.0,681,14125,0.00,2.55,0.00,0.000,4,0.000,0.063,2651,3164,2152
$GC,14197,1.15,183.4,596.8,8.2,684,14204,0.00,2.47,0.00,0.000,6,0.000,0.047,2651,1779,2152
$GC,14512,1.15,183.4,570.8,8.6,700,14517,0.00,2.53,0.00,0.000,4,0.000,0.064,2651,3160,2152
$GC,14676,1.15,183.4,557.0,8.7,707,14680,0.00,2.47,0.00,0.000,6,0.000,0.049,2651,1772,2152
$GC,14990,1.15,183.4,530.0,8.3,722,14994,0.00,2.55,0.00,0.000,4,0.000,0.065,2651,3164,2152
$GC,15062,1.15,183.4,523.7,9.3,725,15066,0.00,2.47,0.00,0.000,6,0.000,0.050,2651,1770,2152
$GC,15383,1.15,183.4,498.1,8.1,741,15387,0.00,2.58,0.00,0.000,4,0.000,0.065,2650,3165,2152
$GC,15459,1.15,183.4,491.4,8.7,744,15466,0.00,2.50,0.00,0.000,6,0.000,0.054,2651,1781,2152
$GC,15775,1.15,183.4,463.9,8.7,760,15779,0.00,2.55,0.00,0.000,4,0.000,0.067,2651,3165,2152
$GC,15907,1.15,183.4,452.7,8.4,766,15912,0.00,2.53,0.00,0.000,6,0.000,0.056,2651,1776,2152
$GC,16234,1.15,183.4,426.7,7.9,782,16238,0.00,2.58,0.00,0.000,4,0.000,0.068,2651,3161,2152
$GC,16322,1.15,183.4,419.7,7.8,786,16326,0.00,2.53,0.00,0.000,6,0.000,0.058,2651,1779,2152
$GC,16648,1.15,183.4,396.4,6.9,802,16652,0.00,2.55,0.00,0.000,4,0.000,0.071,2651,3159,2153
$GC,16787,1.15,183.4,387.1,6.8,808,16792,0.00,2.53,0.00,0.000,6,0.000,0.057,2651,1776,2153
$GC,17108,1.15,183.4,367.5,6.0,824,17112,0.00,2.55,0.00,0.000,4,0.000,0.071,2651,3162,2153
$GC,17241,1.15,185.8,359.8,5.9,830,17251,0.00,2.50,3.88,0.658,6,0.000,0.058,2651,1776,2143
$GC,17567,1.17,198.6,341.6,5.6,846,17589,0.00,2.67,12.00,0.900,4,0.000,0.070,2650,3165,2092
$GC,17729,1.22,243.1,333.1,4.8,853,17773,0.12,2.53,36.88,0.947,6,0.041,0.059,2694,1775,1910
$GC,18094,1.22,243.1,307.9,7.7,871,18098,0.00,2.60,0.00,0.000,4,0.000,0.074,2694,3159,1910
$GC,18215,1.22,243.1,297.4,8.0,876,18222,0.00,2.55,0.00,0.000,6,0.000,0.058,2694,1772,1910
$GC,18531,1.22,243.1,270.2,9.0,892,18535,0.00,2.60,0.00,0.000,4,0.000,0.073,2694,3161,1910
$GC,18636,1.22,243.1,260.2,9.9,897,18640,0.00,2.53,0.00,0.000,6,0.000,0.058,2694,1766,1910
$GC,18962,1.22,243.1,232.0,8.6,913,18966,0.00,2.60,0.00,0.000,4,0.000,0.074,2694,3158,1910
$GC,19067,1.22,243.1,222.1,8.9,918,19072,0.00,2.53,0.00,0.000,6,0.000,0.061,2694,1772,1910
$GC,19393,1.22,243.1,191.8,9.6,934,19397,0.00,2.60,0.00,0.000,4,0.000,0.074,2694,3162,1910
$GC,19499,1.22,243.1,180.9,10.0,939,19504,0.00,2.53,0.00,0.000,6,0.000,0.061,2694,1770,1910
$GC,19825,1.22,243.1,146.3,9.3,955,19830,0.00,2.62,0.00,0.000,4,0.000,0.074,2694,3166,1910
$GC,19914,1.22,243.1,138.1,8.9,959,19918,0.00,2.53,0.00,0.000,6,0.000,0.061,2694,1776,1910
$GC,20240,1.22,243.1,102.4,10.3,975,20245,0.00,2.60,0.00,0.000,4,0.000,0.074,2694,3159,1910
$GC,20317,1.22,243.1,94.9,7.4,978,20325,0.00,2.55,0.00,0.000,6,0.000,0.063,2694,1776,1911
$GC,20633,1.22,243.1,78.9,7.2,994,20637,0.00,2.60,0.00,0.000,4,0.000,0.075,2694,3158,1911
$GC,20716,1.22,243.1,71.4,8.1,998,20721,0.00,2.53,0.00,0.000,6,0.000,0.062,2694,1774,1911
$GC,21042,1.22,243.1,38.9,10.1,1014,21047,0.00,2.60,0.00,0.000,4,0.000,0.075,2694,3158,1911
$GC,21130,1.22,243.1,30.4,10.0,1018,21135,0.00,2.55,0.00,0.000,6,0.000,0.064,2694,1783,1911
$GC,21457,1.22,243.1,3.2,10.0,1034,21459,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1783,1911
$STATE,21477,end climb,SURFACE_DEPTH_REACHED
$STATE,21477,begin surface coast
$FINISH,-0.5,1.027237
$STATE,21498,end surface coast,CONTROL_FINISHED_OK
$STATE,21499,begin surface
$SM_CCo,21519,46.70,0.721,1,0,1677,300.00
$SM_GC,0.05,0.00,0.00,46.70,0.000,0.000,0.721,50,2876,1677,-10.86,-0.68,300.00
$IRIDIUM_FIX,6112.75,-855.07,261107,050541
$TT8_MAMPS,0.028379
$HUMID,2061
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.50
$XPDR_PINGS,2
$24V_AH,23.4,19.942
$10V_AH,10.1,8.174
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.825,229.725,336.025,46.700,0.000,37.520,25.615,143.704,7.000,0.000,0.000,13.968,1987.972,16266.658,579.586,2659.842,389.783,33.353,1887.761,0.000,2605.823,0.000,43.039
$DEVICE_MAMPS,157.235,100.477,1257.880,720.980,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,724.981,741.916,605.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53756,1036
$CFSIZE,260165632,253747200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,66,1,0
$GPS,261107,132308,6136.783,-855.229,27,1.7,27,-9.2