version: 66.11
glider: 190
mission: 6
dive: 359
start: 1 5 113 12 44 59
data:
$ID,190
$MISSION,6
$DIVE,359
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$HD_C,9.9999997e-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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,-13367.211
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,2
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,050113,123122,2442.339,-3833.160,37,0.8,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-66.4
$GPS2,050113,124429,2442.276,-3833.182,14,1.1,14,-14.1
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$TGT_RADIUS,1852.000
$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,264.2,20053,-16.4,-7.174,-28.86
$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,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-10.80,0.000,2,0.000,0.000,142,1517,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.3,0.0,1,139,11.20,2.10,-80.00,0.000,4,0.356,0.161,2614,463,3626,0,0,0,0,0,0,14.15,14.13,14.69
$GC,371,-0.82,-155.7,27.9,-11.1,34,379,0.00,1.90,0.00,0.000,6,0.000,0.083,2609,1524,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,678,-0.82,-155.7,58.7,-9.8,65,687,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2585,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,759,-0.82,-155.7,66.6,-9.9,73,767,0.00,2.03,0.00,0.000,6,0.000,0.112,2605,1530,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1069,-0.82,-155.7,97.9,-10.2,104,1077,0.00,1.98,0.00,0.000,4,0.000,0.105,2605,2579,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1118,-0.82,-155.7,102.6,-9.7,109,1126,0.00,2.03,0.00,0.000,6,0.000,0.114,2605,1529,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1428,-0.82,-155.7,130.0,-9.9,140,1437,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,462,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1488,-0.82,-155.7,136.3,-10.6,146,1498,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1531,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1798,-0.85,-155.7,164.4,-8.3,177,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1531,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2099,-0.88,-155.7,188.3,-7.9,207,2107,0.00,2.10,0.00,0.000,4,0.000,0.136,2605,460,3628,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2231,-0.88,-155.7,198.8,-8.4,220,2238,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1529,3628,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2540,-0.92,-155.7,223.4,-7.6,251,2547,0.00,2.08,0.00,0.000,4,0.000,0.136,2605,456,3628,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2690,-0.92,-155.7,235.1,-7.5,266,2698,0.00,1.85,0.00,0.000,6,0.000,0.081,2605,1504,3628,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3009,-0.96,-155.7,256.4,-6.5,292,3015,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,459,3628,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3109,-0.98,-155.7,262.5,-6.7,295,3116,0.00,1.80,0.00,0.000,6,0.000,0.079,2604,1475,3628,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3431,-1.03,-155.7,285.3,-7.4,306,3433,0.15,0.00,0.00,0.000,6,0.122,0.000,2543,1476,3627,0,0,0,0,0,0,14.65,28.83,28.83
$GC,3730,-1.00,-155.7,316.6,-11.2,316,3735,0.00,2.00,0.00,0.000,4,0.000,0.102,2536,2575,3626,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3777,-0.98,-155.7,319.9,-11.2,317,3787,0.15,2.10,0.00,0.000,6,0.228,0.112,2573,1478,3626,0,0,0,0,0,0,14.26,14.34,28.83
$GC,4091,-0.98,-155.7,356.8,-11.5,328,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1477,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4388,-1.00,-155.7,393.2,-12.1,338,4396,0.00,1.95,0.00,0.000,4,0.000,0.134,2573,465,3624,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4518,-1.00,-155.7,408.1,-12.5,342,4525,0.00,1.85,0.00,0.000,6,0.000,0.083,2567,1486,3624,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4840,-1.00,-155.7,445.2,-10.8,353,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1486,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5138,-1.00,-155.7,475.3,-9.7,363,5145,0.00,2.03,0.00,0.000,4,0.000,0.136,2567,456,3622,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5208,-1.00,-155.7,481.2,-9.7,365,5215,0.00,1.85,0.00,0.000,6,0.000,0.083,2560,1476,3622,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5528,-1.00,-155.7,511.7,-9.2,376,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1476,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5829,-1.00,-155.7,540.7,-9.8,386,5837,0.00,1.98,0.00,0.000,4,0.000,0.137,2560,466,3619,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5888,-1.00,-155.7,546.9,-10.1,388,5895,0.00,1.83,0.00,0.000,6,0.000,0.085,2553,1469,3619,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6218,-1.00,-155.7,580.1,-10.2,399,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1469,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6520,-1.00,-155.7,609.3,-9.6,409,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1469,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6818,-1.00,-155.7,634.6,-8.0,419,6826,0.00,2.00,0.00,0.000,4,0.000,0.136,2553,457,3616,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6879,-1.00,-155.7,639.9,-8.4,421,6885,0.00,1.83,0.00,0.000,6,0.000,0.087,2549,1461,3615,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7209,-1.00,-155.7,666.0,-7.9,432,7216,0.00,2.08,0.00,0.000,4,0.000,0.112,2545,2566,3613,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7307,-1.00,-155.7,672.7,-7.5,435,7315,0.00,2.15,0.00,0.000,6,0.000,0.119,2545,1462,3613,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7629,-1.00,-155.7,699.3,-8.4,446,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1462,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7928,-1.00,-155.7,725.0,-8.6,456,7935,0.00,2.00,0.00,0.000,4,0.000,0.144,2545,457,3610,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7977,-1.00,-155.7,727.7,-8.6,457,7981,0.00,1.85,0.00,0.000,6,0.000,0.093,2540,1454,3610,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8280,-1.00,-155.7,756.3,-9.0,467,8285,0.00,2.12,0.00,0.000,4,0.000,0.119,2538,2575,3609,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8368,-1.00,-155.7,764.5,-9.1,470,8376,0.12,2.20,0.00,0.000,6,0.230,0.125,2568,1456,3608,0,0,0,0,0,0,14.18,14.20,28.83
$GC,8702,-1.03,-155.7,796.3,-10.4,481,8707,0.00,1.95,0.00,0.000,4,0.000,0.151,2568,462,3608,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8798,-1.03,-155.7,807.0,-11.5,484,8804,0.00,1.85,0.00,0.000,6,0.000,0.095,2563,1456,3606,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9122,-1.05,-155.7,846.8,-12.1,495,9127,0.00,2.00,0.00,0.000,4,0.000,0.149,2563,457,3606,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9198,-1.05,-155.7,854.3,-12.2,497,9206,0.00,1.85,0.00,0.000,6,0.000,0.096,2557,1444,3605,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9512,-1.08,-155.7,891.4,-10.7,508,9518,0.00,1.98,0.00,0.000,4,0.000,0.150,2557,457,3605,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9647,-1.08,-155.7,904.0,-10.5,512,9651,0.00,1.80,0.00,0.000,6,0.000,0.096,2553,1420,3604,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9949,-1.10,-155.7,932.6,-8.3,522,9957,0.00,1.92,0.00,0.000,4,0.000,0.151,2553,467,3602,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10028,-1.10,-155.7,937.7,-8.3,524,10039,0.00,1.77,0.00,0.000,6,0.000,0.100,2553,1407,3602,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10341,-1.12,-155.7,962.8,-7.6,535,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1406,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10640,-1.14,-155.7,986.1,-8.0,545,10645,0.00,1.90,0.00,0.000,4,0.000,0.154,2553,462,3599,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,10695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10695,begin apogee
$GC,10704,-0.23,0.0,991.6,-8.5,547,10930,0.95,0.00,214.52,1.527,4,0.231,0.000,2808,1515,2985,0,0,0,0,0,0,13.85,28.83,13.28
$STATE,10931,end apogee,CONTROL_FINISHED_OK
$STATE,10931,begin climb
$GC,10934,0.84,155.7,1003.5,0.0,554,11103,1.08,2.05,159.48,1.812,4,0.108,0.125,3158,2579,2354,0,0,0,0,0,0,14.14,14.10,13.12
$GC,11171,0.82,208.4,1001.9,5.5,563,11232,0.00,2.15,55.60,1.772,6,0.000,0.143,3166,1523,2139,0,0,0,0,0,0,28.83,14.18,13.21
$GC,11552,0.79,208.4,970.9,8.4,576,11553,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1523,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11854,0.76,208.4,946.3,8.2,586,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1522,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12152,0.73,208.4,923.0,7.6,596,12159,0.17,2.05,0.00,0.000,4,0.291,0.123,3126,2580,2118,0,0,0,0,0,0,14.21,14.37,28.83
$GC,12213,0.73,208.4,918.6,7.4,598,12219,0.00,2.08,0.00,0.000,6,0.000,0.137,3134,1529,2118,0,0,0,0,0,0,28.83,14.18,28.83
$GC,12544,0.75,239.1,897.1,6.2,609,12580,0.00,2.00,30.62,1.738,4,0.000,0.121,3134,2589,2010,0,0,0,0,0,0,28.83,14.43,13.48
$GC,12642,0.77,278.6,891.7,5.9,612,12694,0.00,2.10,42.20,1.724,6,0.000,0.135,3141,1533,1848,0,0,0,0,0,0,28.83,14.31,13.35
$GC,12992,0.79,304.5,868.9,6.4,624,13025,0.00,2.08,28.00,1.697,4,0.000,0.129,3141,2579,1741,0,0,0,0,0,0,28.83,14.32,13.45
$GC,13104,0.79,309.1,861.1,7.0,628,13110,0.00,2.05,0.00,0.000,6,0.000,0.142,3149,1557,1734,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13435,0.79,309.1,836.3,7.9,639,13440,0.00,1.95,0.00,0.000,4,0.000,0.125,3149,2585,1731,0,0,0,0,0,0,28.83,14.34,28.83
$GC,13524,0.79,309.1,828.7,8.3,642,13531,0.00,2.03,0.00,0.000,6,0.000,0.135,3156,1560,1730,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13855,0.79,309.1,799.9,8.9,653,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1560,1730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14153,0.79,309.1,771.3,9.9,663,14160,0.00,1.95,0.00,0.000,4,0.000,0.117,3156,2582,1729,0,0,0,0,0,0,28.83,14.31,28.83
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$GC,16736,0.89,354.9,538.8,8.4,749,16742,0.00,1.83,0.00,0.000,4,0.000,0.111,3165,2584,1541,0,0,0,0,0,0,28.83,14.30,28.83
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$STATE,22296,end climb,SURFACE_DEPTH_REACHED
$STATE,22296,begin surface coast
$FINISH,1.3,1.011381
$STATE,22324,end surface coast,CONTROL_FINISHED_OK
$STATE,22324,begin surface
$SM_CCo,22407,0.00,0.000,0,0,1545,354.46
$SM_GC,2.53,8.82,0.15,0.00,0.076,0.162,0.000,145,1511,1545,-8.52,0.23,354.46,0,0,0,0,0,0,14.40,14.36,28.83
$IRIDIUM_FIX,2437.06,-3833.29,050113,060647
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.01
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.80
$XPDR_PINGS,4
$SC_FREEKB,7632544
$TM_FREEKB,4285376
$24V_AH,13.1,152.082
$10V_AH,12.5,0.000
$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,23.150,173.275,580.650,0.000,0.000,0.000,0.000,425.250,1.000,0.000,15.430,3117.757,15890.159,947.778,2571.810,648.566,0.000,2498.982,0.000,2046.204,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,162.180,1812.285,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.775,13.254,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,39981,1108
$CAP_FILE_SIZE,233496,0
$CFSIZE,260034560,200343552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.020, 74.4,1
$GPS,050113,185934,2441.487,-3834.719,25,0.9,25,-14.1