version: 66.11
glider: 167
mission: 14
dive: 228
start: 12 4 112 19 16 45
data:
$ID,167
$MISSION,14
$DIVE,228
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,410
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-969023.19
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,0
$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,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,041212,190923,2311.033,12149.470,37,1.7,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.8
$GPS2,041212,191618,2311.102,12149.491,4,1.6,4,-3.5
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,87.1,224493,-13.8,-8.049,-17.28
$D_GRID,3396
$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,19,-0.53,-171.1,0.0,0.0,0,83,0.00,0.00,-61.65,0.000,2,0.000,0.000,110,2469,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.53,-171.1,3.2,-3.6,6,133,9.65,2.12,-27.42,0.000,4,0.219,0.042,2521,1027,3668,0,0,0,0,0,0,25.10,26.19,26.63
$GC,159,-0.47,-171.1,13.1,-14.7,13,164,0.00,2.10,0.00,0.000,6,0.000,0.032,2520,2432,3669,0,0,0,0,0,0,28.83,26.13,28.83
$GC,473,-0.41,-171.1,66.2,-18.4,40,479,0.12,2.05,0.00,0.000,4,0.152,0.047,2560,3766,3669,0,0,0,0,0,0,26.28,26.18,28.83
$GC,491,-0.36,-171.1,66.2,-18.4,40,499,0.00,1.88,0.00,0.000,6,0.000,0.018,2559,2419,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,799,-0.40,-171.1,98.6,-6.7,56,805,0.00,1.92,0.00,0.000,4,0.000,0.027,2559,1062,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,858,-0.44,-171.1,101.9,-6.8,58,864,0.00,2.05,0.00,0.000,6,0.000,0.030,2559,2458,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1165,-0.49,-171.1,127.3,-7.9,74,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2458,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1465,-0.55,-171.1,148.1,-7.0,89,1471,0.12,2.00,0.00,0.000,4,0.078,0.027,2467,1075,3671,0,0,0,0,0,0,26.71,26.48,28.83
$GC,1509,-0.58,-171.1,153.2,-9.1,91,1515,0.15,2.03,0.00,0.000,6,0.134,0.032,2511,2450,3671,0,0,0,0,0,0,26.16,26.41,28.83
$GC,1834,-0.60,-171.1,182.2,-8.5,107,1839,0.00,1.98,0.00,0.000,4,0.000,0.046,2510,3758,3671,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1887,-0.62,-171.1,185.5,-7.9,109,1892,0.00,1.83,0.00,0.000,6,0.000,0.018,2510,2435,3671,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2200,-0.65,-171.1,210.0,-8.3,125,2206,0.00,2.03,0.00,0.000,4,0.000,0.045,2508,3756,3670,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2299,-0.68,-171.1,217.4,-8.8,129,2305,0.00,1.80,0.00,0.000,6,0.000,0.018,2507,2448,3670,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2604,-0.71,-171.1,242.7,-7.9,145,2610,0.10,1.98,0.00,0.000,4,0.091,0.024,2438,1070,3669,0,0,0,0,0,0,26.73,26.51,28.83
$GC,2683,-0.70,-171.1,250.2,-11.0,148,2690,0.12,2.05,0.00,0.000,6,0.149,0.031,2472,2459,3668,0,0,0,0,0,0,26.18,26.43,28.83
$GC,2988,-0.70,-171.1,283.6,-10.1,164,2994,0.00,1.98,0.00,0.000,4,0.000,0.046,2471,3763,3667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3052,-0.71,-171.1,289.9,-10.0,167,3058,0.00,1.83,0.00,0.000,6,0.000,0.018,2472,2435,3667,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3376,-0.71,-171.1,318.4,-8.5,183,3381,0.00,2.03,0.00,0.000,4,0.000,0.045,2472,3754,3666,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3424,-0.73,-171.1,322.3,-8.7,185,3429,0.00,1.80,0.00,0.000,6,0.000,0.018,2472,2440,3665,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3742,-0.74,-171.1,351.8,-9.4,201,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2440,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4044,-0.75,-171.1,379.3,-9.0,216,4049,0.00,1.92,0.00,0.000,4,0.000,0.025,2472,1087,3662,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4149,-0.77,-171.1,388.9,-9.1,221,4154,0.00,2.03,0.00,0.000,6,0.000,0.031,2472,2453,3662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4472,-0.78,-171.1,416.6,-8.4,237,4477,0.00,2.00,0.00,0.000,4,0.000,0.047,2468,3765,3659,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4519,-0.80,-171.1,420.4,-8.6,239,4525,0.00,1.83,0.00,0.000,6,0.000,0.021,2472,2457,3659,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4839,-0.81,-171.1,447.7,-7.4,255,4841,0.00,0.00,-0.08,0.000,6,0.000,0.000,2472,2457,3677,0,0,0,0,0,0,28.83,28.83,25.47
$GC,5138,-0.84,-171.1,470.2,-8.2,270,5144,0.12,2.03,0.00,0.000,4,0.083,0.044,2394,3764,3677,0,0,0,0,0,0,26.69,26.26,28.83
$GC,5177,-0.84,-171.1,472.9,-8.9,271,5184,0.12,1.85,0.00,0.000,6,0.154,0.020,2426,2431,3678,0,0,0,0,0,0,26.25,26.65,28.83
$GC,5483,-0.83,-171.1,509.0,-11.3,287,5488,0.00,1.92,0.00,0.000,4,0.000,0.025,2427,1079,3676,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5529,-0.81,-171.1,513.9,-11.3,289,5535,0.00,2.03,0.00,0.000,6,0.000,0.031,2427,2449,3675,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5850,-0.79,-171.1,549.6,-11.4,305,5855,0.00,2.00,0.00,0.000,4,0.000,0.047,2426,3755,3673,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5893,-0.78,-171.1,554.7,-11.3,307,5898,0.00,1.83,0.00,0.000,6,0.000,0.021,2426,2449,3674,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6217,-0.76,-171.1,591.2,-11.3,323,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2449,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6527,-0.75,-171.1,624.7,-10.7,335,6529,0.12,0.00,0.00,0.000,6,0.148,0.000,2461,2450,3670,0,0,0,0,0,0,26.45,28.83,28.83
$GC,6829,-0.77,-171.1,649.2,-7.7,345,6834,0.00,2.03,0.00,0.000,4,0.000,0.047,2461,3753,3668,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6857,-0.79,-171.1,649.2,-7.7,345,6864,0.00,1.83,0.00,0.000,6,0.000,0.022,2461,2446,3667,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7165,-0.81,-171.1,674.5,-7.8,356,7170,0.00,2.05,0.00,0.000,4,0.000,0.049,2461,3752,3665,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7213,-0.83,-171.1,677.4,-7.8,357,7219,0.00,1.83,0.00,0.000,6,0.000,0.023,2461,2449,3665,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7535,-0.86,-171.1,703.2,-7.7,368,7537,0.12,0.00,0.00,0.000,6,0.083,0.000,2397,2448,3663,0,0,0,0,0,0,26.68,28.83,28.83
$GC,7832,-0.82,-171.1,736.3,-10.9,378,7834,0.12,0.00,0.00,0.000,6,0.154,0.000,2430,2447,3661,0,0,0,0,0,0,26.41,28.83,28.83
$GC,8132,-0.82,-171.1,763.2,-9.1,388,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2446,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8432,-0.82,-171.1,791.6,-9.8,398,8437,0.00,2.05,0.00,0.000,4,0.000,0.049,2427,3758,3657,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8479,-0.82,-171.1,794.8,-9.6,399,8485,0.00,1.85,0.00,0.000,6,0.000,0.024,2427,2457,3656,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8799,-0.82,-171.1,825.1,-8.7,410,8804,0.00,2.05,0.00,0.000,4,0.000,0.049,2427,3762,3655,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8836,-0.82,-171.1,828.2,-8.7,411,8841,0.00,1.88,0.00,0.000,6,0.000,0.024,2427,2445,3655,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9164,-0.82,-171.1,856.8,-8.9,422,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2444,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9465,-0.82,-171.1,883.3,-8.6,432,9470,0.00,2.05,0.00,0.000,4,0.000,0.050,2427,3752,3653,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9562,-0.82,-171.1,891.5,-8.8,435,9568,0.00,1.85,0.00,0.000,6,0.000,0.024,2427,2446,3652,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9894,-0.82,-171.1,919.2,-8.5,446,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2446,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10191,-0.82,-171.1,945.3,-8.8,456,10196,0.00,2.05,0.00,0.000,4,0.000,0.050,2427,3753,3649,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10258,-0.82,-171.1,951.2,-9.0,458,10263,0.00,1.85,0.00,0.000,6,0.000,0.025,2427,2459,3648,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10588,-0.82,-171.1,982.8,-9.8,469,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2457,3647,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10674,begin apogee
$GC,10681,-0.27,0.0,991.2,-9.4,472,10842,0.55,0.00,154.02,1.307,6,0.112,0.000,2606,2296,2965,0,0,0,0,0,0,25.66,28.83,22.59
$STATE,10844,end apogee,CONTROL_FINISHED_OK
$STATE,10844,begin climb
$GC,10846,0.53,171.1,997.3,0.0,477,11018,0.75,2.47,163.57,1.362,4,0.062,0.047,2868,3698,2264,0,0,0,0,0,0,24.44,23.77,22.17
$GC,11097,0.47,171.1,983.7,9.2,485,11104,0.00,2.12,0.00,0.000,6,0.000,0.028,2874,2334,2255,0,0,0,0,0,0,28.83,25.19,28.83
$GC,11404,0.41,171.1,949.8,10.2,496,11410,0.12,2.15,0.00,0.000,4,0.152,0.034,2843,907,2250,0,0,0,0,0,0,26.04,26.12,28.83
$GC,11493,0.38,171.1,943.9,9.6,498,11499,0.00,2.10,0.00,0.000,6,0.000,0.031,2843,2302,2247,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11801,0.35,171.1,916.0,8.4,509,11807,0.00,2.20,0.00,0.000,4,0.000,0.047,2843,3698,2248,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11859,0.32,171.1,912.6,8.6,510,11867,0.15,2.10,0.00,0.000,6,0.158,0.029,2803,2290,2248,0,0,0,0,0,0,26.01,26.39,28.83
$GC,12168,0.33,209.6,889.0,6.8,521,12208,0.00,0.00,35.80,1.300,6,0.000,0.000,2803,2290,2110,0,0,0,0,0,0,28.83,28.83,23.79
$GC,12526,0.36,235.8,863.2,7.2,533,12555,0.00,0.00,26.70,1.258,6,0.000,0.000,2803,2291,2004,0,0,0,0,0,0,28.83,28.83,23.94
$GC,12858,0.39,281.9,840.8,6.6,544,12907,0.00,0.00,46.85,1.149,6,0.000,0.000,2803,2290,1817,0,0,0,0,0,0,28.83,28.83,23.89
$GC,13188,0.45,337.6,820.3,6.3,555,13247,0.12,0.00,56.03,1.121,6,0.081,0.000,2870,2287,1590,0,0,0,0,0,0,26.32,28.83,23.82
$GC,13547,0.45,337.6,784.0,10.3,567,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2287,1575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13846,0.45,337.6,755.0,9.5,577,13847,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2288,1573,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16294,0.49,337.6,521.9,10.2,670,16299,0.00,2.08,0.00,0.000,6,0.000,0.030,2871,2301,1568,0,0,0,0,0,0,28.83,26.35,28.83
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$STATE,22347,end climb,SURFACE_DEPTH_REACHED
$STATE,22347,begin surface coast
$FINISH,0.8,1.022262
$STATE,22367,end surface coast,CONTROL_FINISHED_OK
$STATE,22367,begin surface
$SM_CCo,22448,0.00,0.000,0,0,876,513.17
$SM_GC,1.82,7.53,2.33,0.00,0.031,0.026,0.000,117,2452,876,-7.98,-1.27,513.17,0,0,0,0,0,0,26.34,26.34,28.83
$IRIDIUM_FIX,2302.75,12147.66,041212,131337
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.74
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,11
$24V_AH,22.2,51.594
$10V_AH,10.1,33.567
$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,21.075,166.700,595.525,0.000,0.000,0.000,0.000,232.100,2.750,0.000,5.643,3150.920,15959.805,754.643,2536.347,454.170,0.000,2254.323,0.000,2227.037,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,57.375,1362.465,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22382.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.421,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,36729,1002
$CAP_FILE_SIZE,237378,0
$CFSIZE,260165632,227135488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152, 17.8,1
$GPS,051212,013205,2312.910,12153.804,28,0.9,28,-3.5