version: 66.11
glider: 129
mission: 4
dive: 206
start: 12 24 112 4 7 17
data:
$ID,129
$MISSION,4
$DIVE,206
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,-2910.6895
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,241212,035836,1751.944,12425.863,40,1.3,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-55.6
$GPS2,241212,040649,1751.940,12425.927,12,1.5,12,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$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,270.6,238998,-14.2,-8.462,-17.62
$D_GRID,4291
$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,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,0.0,0.0,0,85,0.00,0.00,-64.80,0.000,2,0.000,0.000,47,1902,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.54,-175.2,3.1,-4.3,11,138,7.85,2.12,-32.72,0.000,4,0.241,0.048,1969,3299,3126,0,0,0,0,0,0,25.23,26.07,26.47
$GC,246,-0.47,-175.2,37.4,-28.2,36,252,0.12,1.98,0.00,0.000,6,0.164,0.024,2001,1921,3126,0,0,0,0,0,0,25.88,26.24,28.83
$GC,559,-0.40,-175.2,138.5,-30.0,54,565,0.10,2.00,0.00,0.000,4,0.190,0.028,2026,531,3126,0,0,0,0,0,0,26.22,26.31,28.83
$GC,738,-0.36,-175.2,172.3,-19.2,62,745,0.00,1.98,0.00,0.000,6,0.000,0.022,2017,1919,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1044,-0.33,-175.2,225.3,-15.8,78,1050,0.12,2.03,0.00,0.000,4,0.157,0.027,2058,527,3126,0,0,0,0,0,0,26.22,26.36,28.83
$GC,1097,-0.31,-175.2,231.7,-15.3,80,1102,0.00,2.00,0.00,0.000,6,0.000,0.021,2050,1941,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1409,-0.31,-175.2,267.1,-10.1,96,1416,0.00,2.03,0.00,0.000,4,0.000,0.034,2040,3332,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1448,-0.31,-175.2,269.5,-10.0,97,1454,0.00,2.00,0.00,0.000,6,0.000,0.021,2040,1900,3127,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1754,-0.31,-175.2,300.7,-10.5,113,1759,0.00,1.95,0.00,0.000,4,0.000,0.030,2040,544,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1880,-0.31,-175.2,313.5,-10.4,119,1886,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1941,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2199,-0.31,-175.2,347.0,-10.6,135,2204,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,550,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2256,-0.31,-175.2,351.9,-10.9,137,2262,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1927,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2562,-0.31,-175.2,381.9,-8.1,153,2567,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3305,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2599,-0.31,-175.2,383.6,-7.8,154,2607,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1934,3124,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2905,-0.31,-175.2,405.4,-6.8,170,2911,0.00,2.00,0.00,0.000,4,0.000,0.031,2033,534,3122,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3012,-0.31,-175.2,413.9,-8.4,175,3018,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1927,3122,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3336,-0.31,-175.2,439.0,-7.8,191,3341,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,541,3120,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3378,-0.31,-175.2,442.7,-8.1,193,3384,0.00,1.98,0.00,0.000,6,0.000,0.022,2030,1931,3120,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3702,-0.32,-175.2,466.0,-6.9,209,3707,0.00,2.03,0.00,0.000,4,0.000,0.035,2033,3309,3117,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3749,-0.33,-175.2,468.8,-6.6,211,3754,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1924,3117,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4068,-0.35,-175.2,492.2,-7.3,227,4074,0.00,2.00,-0.10,0.000,4,0.000,0.043,2033,540,3138,0,0,0,0,0,0,28.83,26.36,25.96
$GC,4173,-0.35,-175.2,501.0,-8.6,232,4178,0.00,1.98,0.00,0.000,6,0.000,0.021,2032,1927,3138,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4496,-0.36,-175.2,526.3,-8.1,248,4502,0.00,2.03,0.00,0.000,4,0.000,0.036,2033,3300,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4540,-0.38,-175.2,529.6,-7.9,250,4547,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1916,3136,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4865,-0.39,-175.2,553.0,-6.7,266,4870,0.00,2.00,0.00,0.000,4,0.000,0.031,2033,537,3135,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4932,-0.41,-175.2,557.6,-7.1,269,4938,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1927,3135,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5252,-0.42,-175.2,574.9,-5.6,285,5257,0.00,2.03,0.00,0.000,4,0.000,0.036,2033,3299,3132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5275,-0.44,-175.2,576.2,-5.6,286,5280,0.00,1.95,0.00,0.000,6,0.000,0.022,2032,1928,3132,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5598,-0.46,-175.2,596.9,-6.7,302,5604,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,532,3130,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5707,-0.47,-175.2,604.3,-7.9,306,5713,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1934,3130,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6027,-0.49,-175.2,628.8,-7.4,317,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1934,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6327,-0.50,-175.2,649.5,-6.6,327,6333,0.10,2.05,0.00,0.000,4,0.117,0.031,1987,536,3126,0,0,0,0,0,0,26.51,26.31,28.83
$GC,6350,-0.52,-175.2,649.5,-6.6,327,6356,0.00,2.00,0.00,0.000,6,0.000,0.023,1979,1933,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6664,-0.52,-175.2,683.8,-10.4,338,6669,0.00,2.05,0.00,0.000,4,0.000,0.031,1979,542,3124,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6700,-0.52,-175.2,687.6,-10.7,339,6707,0.00,2.00,0.00,0.000,6,0.000,0.024,1970,1934,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7031,-0.51,-175.2,723.9,-10.6,350,7036,0.00,2.05,0.00,0.000,4,0.000,0.031,1970,543,3122,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7065,-0.50,-175.2,727.6,-10.7,351,7071,0.12,2.00,0.00,0.000,6,0.160,0.024,1995,1924,3122,0,0,0,0,0,0,26.03,26.39,28.83
$GC,7399,-0.50,-175.2,754.0,-7.3,362,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1924,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7699,-0.50,-175.2,776.3,-7.7,372,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1925,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7999,-0.50,-175.2,800.6,-8.3,382,8004,0.00,2.08,0.00,0.000,4,0.000,0.034,1995,528,3117,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8026,-0.50,-175.2,800.6,-8.3,382,8033,0.00,2.03,0.00,0.000,6,0.000,0.024,1988,1934,3117,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8333,-0.50,-175.2,830.5,-9.1,393,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1934,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8632,-0.50,-175.2,856.9,-8.5,403,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1934,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8933,-0.50,-175.2,880.9,-7.8,413,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1934,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9232,-0.50,-175.2,903.9,-7.7,423,9237,0.00,2.05,0.00,0.000,4,0.000,0.037,1979,3307,3113,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9284,-0.50,-175.2,906.5,-7.8,424,9290,0.00,1.98,0.00,0.000,6,0.000,0.024,1978,1935,3113,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9597,-0.50,-175.2,935.3,-8.5,435,9603,0.00,2.05,0.00,0.000,4,0.000,0.034,1978,528,3111,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9725,-0.50,-175.2,947.1,-9.6,439,9730,0.00,2.00,0.00,0.000,6,0.000,0.024,1969,1926,3111,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10055,-0.50,-175.2,976.5,-8.5,450,10057,0.10,0.00,0.00,0.000,6,0.166,0.000,1995,1931,3111,0,0,0,0,0,0,26.34,28.83,28.83
$STATE,10260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10261,begin apogee
$GC,10265,-0.17,0.0,990.5,-6.4,457,10418,0.30,0.00,145.55,1.408,6,0.121,0.000,2099,1927,2408,0,0,0,0,0,0,25.82,28.83,22.96
$STATE,10420,end apogee,CONTROL_FINISHED_OK
$STATE,10420,begin climb
$GC,10422,0.54,175.2,994.8,0.0,462,10595,0.70,2.45,158.05,1.357,4,0.092,0.037,2331,519,1697,0,0,0,0,0,0,24.26,23.58,22.31
$GC,10612,0.57,247.0,987.0,6.1,468,10688,0.00,2.17,66.43,1.325,6,0.000,0.021,2331,1889,1400,0,0,0,0,0,0,28.83,24.20,22.31
$GC,10989,0.60,276.7,956.1,7.5,481,11022,0.00,2.22,26.02,1.307,4,0.000,0.037,2331,3287,1279,0,0,0,0,0,0,28.83,25.19,23.89
$GC,11075,0.63,300.4,951.1,7.7,483,11103,0.00,2.08,21.92,1.284,6,0.000,0.024,2332,1890,1185,0,0,0,0,0,0,28.83,25.67,23.84
$GC,11411,0.65,300.4,921.0,8.6,495,11417,0.10,2.15,0.00,0.000,4,0.118,0.033,2371,3301,1178,0,0,0,0,0,0,26.13,26.05,28.83
$GC,11439,0.67,300.4,921.0,8.6,495,11446,0.00,2.05,0.00,0.000,6,0.000,0.026,2373,1901,1178,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11745,0.67,300.4,884.7,10.5,506,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1901,1177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12045,0.67,300.4,855.0,9.6,516,12050,0.00,2.12,0.00,0.000,4,0.000,0.036,2373,3302,1175,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12109,0.67,300.4,848.6,9.7,518,12114,0.00,2.10,0.00,0.000,6,0.000,0.028,2373,1871,1176,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12444,0.67,300.4,816.3,9.6,529,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1871,1175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12742,0.67,300.4,787.0,9.7,539,12747,0.00,2.17,0.00,0.000,4,0.000,0.035,2373,3304,1174,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12784,0.67,300.4,783.5,10.0,540,12789,0.00,2.08,0.00,0.000,6,0.000,0.026,2373,1886,1175,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13108,0.67,300.4,750.4,9.9,551,13113,0.00,2.15,0.00,0.000,4,0.000,0.035,2373,3304,1174,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13141,0.67,300.4,746.9,10.1,552,13146,0.00,2.08,0.00,0.000,6,0.000,0.026,2373,1887,1174,0,0,0,0,0,0,28.83,26.36,28.83
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$GC,20968,1.12,548.1,6.5,12.4,945,20975,0.00,2.00,0.00,0.000,4,0.000,0.029,2523,3275,207,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,21025,end climb,SURFACE_DEPTH_REACHED
$STATE,21026,begin surface coast
$FINISH,1.1,1.016737
$STATE,21057,end surface coast,CONTROL_FINISHED_OK
$STATE,21057,begin surface
$SM_CCo,21133,0.00,0.000,0,0,207,540.15
$SM_GC,1.76,6.30,0.00,0.00,0.042,0.000,0.000,49,1878,207,-6.48,-1.33,540.15,0,0,0,0,0,0,26.25,28.83,28.83
$IRIDIUM_FIX,1745.10,12427.25,231212,212141
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.49
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3941280
$24V_AH,22.3,40.525
$10V_AH,10.1,29.323
$FG_AHR_24Vo,120.571
$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,16.250,187.300,615.950,0.000,0.000,0.000,0.000,312.275,0.000,0.000,13.434,3135.154,14625.943,767.607,2709.356,379.773,0.000,2411.536,0.000,2290.487,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,48.195,1408.365,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21074.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.925,0.000,0.000,0.000
$MEM,329556
$DATA_FILE_SIZE,36752,961
$CAP_FILE_SIZE,236390,0
$CFSIZE,260034560,231092224
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 32.0,1
$GPS,241212,100036,1752.190,12423.318,28,1.6,28,-2.0