version: 66.11
glider: 190
mission: 6
dive: 413
start: 1 20 113 3 32 1
data:
$ID,190
$MISSION,6
$DIVE,413
$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,-13435.239
$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
$GPS1,200113,031735,2445.891,-3747.002,38,0.9,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-62.2
$GPS2,200113,033131,2445.895,-3746.942,15,1.2,16,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,199.1,47033,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-10.90,0.000,2,0.000,0.000,141,1520,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,149,11.40,2.08,-85.97,0.000,4,0.361,0.167,2612,460,3622,0,0,0,0,0,0,14.09,14.12,14.67
$GC,349,-0.84,-155.7,25.9,-12.4,32,358,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1521,3628,0,0,0,0,0,0,28.83,14.21,28.83
$GC,659,-0.84,-155.7,54.7,-10.0,63,668,0.00,1.98,0.00,0.000,4,0.000,0.106,2605,2574,3623,0,0,0,0,0,0,28.83,14.16,28.83
$GC,740,-0.84,-155.7,62.2,-9.7,71,748,0.00,2.03,0.00,0.000,6,0.000,0.116,2605,1532,3625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1051,-0.84,-155.7,97.1,-10.8,102,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1532,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1361,-0.87,-155.7,124.3,-7.3,133,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1532,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1671,-0.90,-155.7,145.4,-7.6,164,1678,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,455,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1869,-0.90,-155.7,162.2,-9.0,184,1878,0.00,1.98,0.00,0.000,6,0.000,0.082,2605,1535,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2180,-0.94,-155.7,188.8,-8.4,215,2188,0.00,1.92,0.00,0.000,4,0.000,0.099,2602,2575,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2231,-0.98,-155.7,192.7,-7.7,220,2238,0.00,2.00,0.00,0.000,6,0.000,0.109,2610,1533,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2541,-1.02,-155.7,217.2,-7.9,251,2549,0.15,2.10,0.00,0.000,4,0.122,0.139,2541,455,3626,0,0,0,0,0,0,14.51,14.10,28.83
$GC,2780,-0.98,-155.7,242.3,-11.4,275,2789,0.10,1.90,0.00,0.000,6,0.236,0.083,2567,1503,3626,0,0,0,0,0,0,13.98,14.26,28.83
$GC,3099,-0.98,-155.7,275.6,-10.7,291,3106,0.00,2.03,0.00,0.000,4,0.000,0.134,2568,464,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3159,-0.98,-155.7,282.6,-11.1,293,3167,0.00,1.90,0.00,0.000,6,0.000,0.083,2562,1511,3625,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3493,-0.98,-155.7,313.4,-8.4,304,3499,0.00,2.05,0.00,0.000,4,0.000,0.135,2562,453,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3569,-0.98,-155.7,318.2,-8.1,306,3577,0.00,1.88,0.00,0.000,6,0.000,0.081,2557,1491,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3880,-0.98,-155.7,344.6,-8.1,317,3887,0.00,2.00,0.00,0.000,4,0.000,0.105,2553,2572,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3978,-0.98,-155.7,351.7,-8.0,320,3985,0.00,2.08,0.00,0.000,6,0.000,0.112,2552,1491,3624,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4300,-0.98,-155.7,379.0,-8.6,331,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1491,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-0.98,-155.7,407.9,-10.2,341,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1491,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4899,-0.98,-155.7,442.3,-11.9,351,4906,0.00,2.00,0.00,0.000,4,0.000,0.132,2553,458,3621,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5052,-0.95,-155.7,461.2,-12.8,356,5057,0.12,1.88,0.00,0.000,6,0.276,0.085,2577,1503,3621,0,0,0,0,0,0,14.09,14.34,28.83
$GC,5382,-0.98,-155.7,496.4,-10.2,367,5387,0.00,2.05,0.00,0.000,4,0.000,0.138,2577,456,3620,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5510,-0.98,-155.7,508.8,-10.4,371,5516,0.00,1.83,0.00,0.000,6,0.000,0.083,2571,1471,3620,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5833,-1.01,-155.7,539.1,-9.0,382,5838,0.00,1.98,0.00,0.000,4,0.000,0.139,2571,460,3619,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5909,-1.01,-155.7,545.0,-9.4,384,5918,0.00,1.85,0.00,0.000,6,0.000,0.083,2566,1478,3618,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6222,-1.03,-155.7,576.3,-9.4,395,6227,0.00,2.00,0.00,0.000,4,0.000,0.138,2566,460,3617,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6309,-1.03,-155.7,585.0,-9.7,398,6316,0.00,1.80,0.00,0.000,6,0.000,0.083,2560,1449,3617,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6643,-1.05,-155.7,612.9,-8.2,409,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1449,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6940,-1.08,-155.7,636.7,-7.9,419,6946,0.00,1.95,0.00,0.000,4,0.000,0.138,2561,463,3614,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7050,-1.08,-155.7,644.2,-8.3,422,7058,0.00,1.75,0.00,0.000,6,0.000,0.083,2556,1434,3614,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7359,-1.08,-155.7,673.9,-9.5,433,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1435,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7659,-1.08,-155.7,706.2,-11.3,443,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1435,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,-1.10,-155.7,739.4,-10.8,453,7968,0.00,1.92,0.00,0.000,4,0.000,0.140,2555,467,3610,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8038,-1.10,-155.7,746.0,-11.0,455,8042,0.00,1.77,0.00,0.000,6,0.000,0.084,2553,1435,3610,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8341,-1.12,-155.7,778.5,-9.9,465,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1435,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8640,-1.14,-155.7,809.0,-10.2,475,8647,0.00,1.92,0.00,0.000,4,0.000,0.142,2553,466,3608,0,0,0,0,0,0,28.83,13.96,28.83
$GC,8721,-1.14,-155.7,815.4,-10.5,477,8729,0.00,1.73,0.00,0.000,6,0.000,0.088,2553,1422,3607,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9032,-1.16,-155.7,850.1,-10.6,488,9034,0.12,0.00,0.00,0.000,6,0.158,0.000,2509,1426,3606,0,0,0,0,0,0,14.49,28.83,28.83
$GC,9332,-1.13,-155.7,883.4,-11.0,498,9337,0.00,2.20,0.00,0.000,4,0.000,0.114,2504,2582,3604,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9399,-1.10,-155.7,889.7,-10.6,500,9408,0.12,2.30,0.00,0.000,6,0.250,0.119,2532,1411,3605,0,0,0,0,0,0,13.95,14.04,28.83
$GC,9723,-1.10,-155.7,918.5,-8.0,511,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1411,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10019,-1.10,-155.7,942.2,-7.9,521,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1411,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10319,-1.10,-155.7,967.7,-9.0,531,10327,0.00,2.25,0.00,0.000,4,0.000,0.113,2526,2573,3601,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10359,-1.10,-155.7,970.4,-9.0,532,10367,0.00,2.28,0.00,0.000,6,0.000,0.121,2526,1414,3601,0,0,0,0,0,0,28.83,13.93,28.83
$STATE,10556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10556,begin apogee
$GC,10564,-0.23,0.0,991.2,-10.1,539,10732,1.05,0.00,158.15,2.494,4,0.227,0.000,2807,1528,2989,0,0,0,0,1,0,13.73,28.83,12.73
$STATE,10737,end apogee,CONTROL_FINISHED_OK
$STATE,10737,begin climb
$GC,10740,0.84,155.7,1002.2,0.0,544,10918,1.10,2.05,167.30,1.835,4,0.111,0.118,3162,2579,2352,0,0,0,0,0,0,14.05,14.01,13.08
$GC,11059,0.82,204.3,1001.7,5.6,555,11116,0.00,2.10,52.03,1.789,6,0.000,0.140,3169,1526,2156,0,0,0,0,0,0,28.83,14.24,13.22
$GC,11440,0.79,204.3,973.1,8.2,568,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1526,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11742,0.75,204.3,947.3,8.7,578,11747,0.12,2.00,0.00,0.000,4,0.301,0.122,3138,2575,2140,0,0,0,0,0,0,14.21,14.37,28.83
$GC,11819,0.73,204.3,942.0,8.7,580,11828,0.00,2.05,0.00,0.000,6,0.000,0.136,3145,1533,2139,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12130,0.73,204.3,913.5,8.5,591,12137,0.00,2.03,0.00,0.000,4,0.000,0.122,3145,2576,2138,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12189,0.73,204.3,908.5,8.5,593,12196,0.00,2.08,0.00,0.000,6,0.000,0.135,3153,1534,2135,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12523,0.73,204.3,882.5,7.6,604,12528,0.00,2.00,0.00,0.000,4,0.000,0.122,3153,2578,2136,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12609,0.71,204.3,875.9,7.3,607,12618,0.12,2.03,0.00,0.000,6,0.268,0.137,3127,1558,2136,0,0,0,0,0,0,14.00,14.19,28.83
$GC,12944,0.74,252.6,856.3,5.6,618,12999,0.00,2.03,50.10,1.742,4,0.000,0.123,3126,2582,1954,0,0,0,0,0,0,28.83,14.28,13.30
$GC,13122,0.76,290.5,845.6,6.0,624,13168,0.00,2.00,40.47,1.705,6,0.000,0.133,3134,1566,1806,0,0,0,0,0,0,28.83,14.21,13.28
$GC,13469,0.76,290.5,819.8,7.9,635,13476,0.00,1.92,0.00,0.000,4,0.000,0.116,3134,2569,1791,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13589,0.76,290.5,809.4,8.6,639,13596,0.00,1.98,0.00,0.000,6,0.000,0.138,3141,1587,1791,0,0,0,0,0,0,28.83,14.22,28.83
$GC,13923,0.76,290.5,778.4,9.7,650,13928,0.00,1.88,0.00,0.000,4,0.000,0.122,3141,2574,1790,0,0,0,0,0,0,28.83,14.27,28.83
$GC,14019,0.76,290.5,769.5,9.8,653,14026,0.00,1.95,0.00,0.000,6,0.000,0.136,3148,1598,1789,0,0,0,0,0,0,28.83,14.21,28.83
$GC,14340,0.76,290.5,737.6,9.4,664,14346,0.00,1.88,0.00,0.000,4,0.000,0.120,3148,2567,1788,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14420,0.76,290.5,731.8,9.3,666,14428,0.00,1.90,0.00,0.000,6,0.000,0.136,3155,1613,1788,0,0,0,0,0,0,28.83,14.13,28.83
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$GC,18409,0.80,290.5,380.5,7.6,799,18417,0.00,1.75,0.00,0.000,4,0.000,0.108,3172,2580,1787,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,22556,end climb,SURFACE_DEPTH_REACHED
$STATE,22559,begin surface coast
$FINISH,1.4,1.012389
$STATE,22579,end surface coast,CONTROL_FINISHED_OK
$STATE,22579,begin surface
$SM_CCo,22603,6.90,0.136,0,0,1562,350.04
$SM_GC,3.31,8.75,0.25,6.90,0.061,0.154,0.136,138,1511,1562,-8.54,0.17,350.04,0,0,0,0,0,0,14.35,14.24,14.23
$IRIDIUM_FIX,2437.06,-3747.71,190113,202005
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.09
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,7612064
$TM_FREEKB,3810304
$24V_AH,12.7,175.800
$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,23.575,173.125,511.875,6.900,0.000,0.000,0.000,443.450,0.250,0.000,16.634,3153.478,15998.933,899.805,2633.512,744.884,0.000,2486.621,0.000,2092.938,0.000,0.542,0.000
$DEVICE_MAMPS,361.080,166.770,2493.900,136.170,0.000,0.000,0.000,175.950,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22622.000,5599.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.783,13.195,0.000,0.000
$MEM,344992
$DATA_FILE_SIZE,40021,1118
$CAP_FILE_SIZE,235466,0
$CFSIZE,260034560,193191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.071, 21.7,1
$GPS,200113,095005,2444.981,-3746.468,27,0.8,27,-13.9