version: 66.11
glider: 191
mission: 5
dive: 245
start: 12 3 112 22 13 26
data:
$ID,191
$MISSION,5
$DIVE,245
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,320
$N_FILEKB,8
$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,-4124.5625
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$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
$GPS1,031212,220152,2449.553,-3718.939,38,0.8,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-53.9
$GPS2,031212,221254,2449.575,-3718.927,16,1.3,16,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,17.1,41571,-13.3,-6.049,-18.38
$D_GRID,980
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-61.88,0.000,2,0.000,0.000,161,1534,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.2,-6.5,4,108,9.68,1.77,-3.22,0.000,4,0.418,0.086,1982,2563,3461,1,0,0,0,0,0,13.85,14.50,14.80
$GC,327,-0.58,-97.3,28.2,-9.5,20,331,0.00,1.85,0.00,0.000,6,0.000,0.064,1978,1517,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,627,-0.54,-97.3,59.9,-10.6,40,631,0.12,1.80,0.00,0.000,4,0.258,0.054,2003,2569,3463,0,0,0,0,0,0,14.35,14.50,28.83
$GC,851,-0.54,-97.3,79.6,-7.9,55,855,0.00,1.85,0.00,0.000,6,0.000,0.066,2003,1521,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1152,-0.53,-97.3,101.5,-6.7,75,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1452,-0.53,-97.3,117.8,-5.2,95,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.53,-97.3,136.4,-7.2,115,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.53,-97.3,159.7,-8.0,135,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-0.53,-97.3,186.1,-8.8,155,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-0.53,-97.3,209.6,-6.7,175,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2952,-0.53,-97.3,226.1,-5.4,195,2955,0.00,1.77,0.00,0.000,4,0.000,0.053,1997,2566,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3042,-0.53,-97.3,231.3,-5.6,201,3046,0.00,1.85,0.00,0.000,6,0.000,0.067,1996,1513,3465,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3346,-0.53,-97.3,250.9,-7.0,221,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.53,-97.3,273.3,-7.9,231,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-0.53,-97.3,299.1,-8.7,241,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4242,-0.53,-97.3,322.4,-7.1,251,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4542,-0.53,-97.3,339.4,-5.2,261,4545,0.00,1.80,0.00,0.000,4,0.000,0.056,1988,2572,3462,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4661,-0.53,-97.3,344.6,-4.9,265,4666,0.12,1.85,0.00,0.000,6,0.235,0.067,2016,1517,3462,0,0,0,0,0,0,14.43,14.66,28.83
$GC,4964,-0.54,-97.3,359.1,-4.8,275,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1517,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5263,-0.55,-97.3,375.5,-5.7,285,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1517,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5562,-0.57,-97.3,394.0,-6.3,295,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1517,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5863,-0.59,-97.3,411.9,-5.8,305,5866,0.00,1.77,0.00,0.000,4,0.000,0.055,2010,2563,3459,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5951,-0.61,-97.3,416.3,-5.8,308,5955,0.00,1.85,0.00,0.000,6,0.000,0.068,2011,1512,3456,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6252,-0.61,-97.3,435.2,-5.9,318,6255,0.00,1.80,0.00,0.000,4,0.000,0.056,2003,2568,3456,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6372,-0.62,-97.3,441.1,-5.7,322,6375,0.00,1.85,0.00,0.000,6,0.000,0.068,2003,1516,3457,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6672,-0.62,-97.3,457.9,-5.2,332,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1516,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,-0.62,-97.3,473.0,-5.1,342,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1516,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7271,-0.62,-97.3,490.5,-6.2,352,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1516,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7571,-0.62,-97.3,512.2,-7.4,362,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1516,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,-0.62,-97.3,534.4,-7.2,372,7876,0.00,1.90,0.00,0.000,4,0.000,0.091,2003,467,3453,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7946,-0.62,-97.3,540.1,-7.5,375,7950,0.00,1.75,0.00,0.000,6,0.000,0.047,1995,1507,3452,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8262,-0.62,-97.3,562.7,-7.1,386,8266,0.00,1.83,0.00,0.000,4,0.000,0.057,1984,2575,3452,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8410,-0.62,-97.3,571.7,-6.6,391,8414,0.00,1.88,0.00,0.000,6,0.000,0.068,1987,1515,3451,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8712,-0.62,-97.3,591.9,-6.5,401,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1514,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,-0.62,-97.3,611.3,-6.5,411,9015,0.00,1.90,0.00,0.000,4,0.000,0.092,1987,467,3449,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9087,-0.61,-97.3,617.0,-7.3,414,9091,0.00,1.77,0.00,0.000,6,0.000,0.047,1979,1517,3449,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9404,-0.60,-97.3,639.9,-7.4,425,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1516,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9702,-0.59,-97.3,664.7,-8.5,435,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10002,-0.59,-97.3,690.0,-8.4,445,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1518,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10301,-0.59,-97.3,713.6,-7.6,455,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10601,-0.59,-97.3,734.6,-6.8,465,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1518,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10902,-0.59,-97.3,754.2,-6.5,475,10906,0.00,1.83,0.00,0.000,4,0.000,0.060,1972,2580,3443,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11007,-0.59,-97.3,760.6,-6.1,479,11011,0.00,1.88,0.00,0.000,6,0.000,0.070,1971,1523,3443,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11324,-0.57,-97.3,780.2,-6.1,490,11328,0.12,1.95,0.00,0.000,4,0.259,0.093,1998,458,3442,0,0,0,0,0,0,14.36,14.40,28.83
$GC,11427,-0.57,-97.3,786.5,-6.0,494,11430,0.00,1.83,0.00,0.000,6,0.000,0.048,1993,1526,3442,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11744,-0.57,-97.3,804.3,-5.9,505,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1527,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12041,-0.57,-97.3,822.8,-6.4,515,12042,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1527,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12342,-0.57,-97.3,843.8,-7.3,525,12343,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1527,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12641,-0.57,-97.3,866.7,-7.7,535,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1532,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12941,-0.57,-97.3,889.0,-7.1,545,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1527,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13242,-0.57,-97.3,910.0,-6.8,555,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1527,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13542,-0.57,-97.3,928.6,-5.9,565,13546,0.00,1.98,0.00,0.000,4,0.000,0.096,1992,464,3436,0,0,0,0,0,0,28.83,14.32,28.83
$GC,13601,-0.57,-97.3,931.5,-6.0,567,13605,0.00,1.83,0.00,0.000,6,0.000,0.050,1984,1521,3436,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13902,-0.57,-97.3,948.1,-4.9,577,13905,0.00,1.85,0.00,0.000,4,0.000,0.062,1976,2581,3435,0,0,0,0,0,0,28.83,14.49,28.83
$GC,14051,-0.57,-97.3,954.3,-4.6,582,14054,0.00,1.92,0.00,0.000,6,0.000,0.073,1976,1514,3434,0,0,0,0,0,0,28.83,14.44,28.83
$GC,14352,-0.57,-97.3,969.9,-5.2,592,14354,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14530,begin apogee
$GC,14536,-0.18,0.0,980.1,-5.7,598,14660,0.55,0.00,116.25,2.136,6,0.210,0.000,2123,1396,3062,0,0,0,0,1,0,14.12,28.83,13.02
$STATE,14662,end apogee,CONTROL_FINISHED_OK
$STATE,14662,begin climb
$GC,14665,0.60,97.3,982.9,0.0,602,14804,0.82,2.05,126.88,2.137,4,0.127,0.103,2385,349,2666,0,0,0,0,1,0,14.07,13.93,12.95
$GC,15027,0.55,125.0,976.1,4.9,614,15085,0.00,1.83,47.58,1.629,6,0.000,0.050,2385,1409,2552,0,0,0,0,1,0,28.83,14.52,13.23
$GC,15402,0.53,158.8,957.6,4.6,627,15466,0.00,1.85,53.90,1.716,4,0.000,0.060,2385,2447,2416,0,0,0,0,1,0,28.83,14.31,13.28
$GC,15569,0.47,173.1,948.6,5.4,633,15613,0.22,1.90,32.78,1.258,6,0.264,0.078,2340,1406,2356,0,0,0,0,1,0,14.21,14.35,13.28
$GC,15913,0.50,210.2,933.3,4.5,644,15977,0.00,0.00,57.58,1.753,6,0.000,0.000,2341,1403,2205,0,0,0,0,1,0,28.83,28.83,13.27
$GC,16273,0.52,230.2,915.0,5.2,656,16319,0.00,0.00,38.80,1.444,6,0.000,0.000,2341,1403,2120,0,0,0,0,1,0,28.83,28.83,13.36
$GC,16603,0.52,230.2,893.9,6.8,667,16604,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1403,2120,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28464,end climb,SURFACE_DEPTH_REACHED
$STATE,28464,begin surface coast
$FINISH,0.1,1.015122
$STATE,28480,end surface coast,CONTROL_FINISHED_OK
$STATE,28480,begin surface
$SM_CCo,28559,0.00,0.000,0,0,1549,371.14
$SM_GC,0.95,6.65,0.20,0.00,0.076,0.086,0.000,155,1530,1549,-6.30,-1.22,371.14,0,0,0,0,0,0,14.59,14.69,28.83
$IRIDIUM_FIX,2437.06,-3718.78,031212,141410
$TT8_MAMPS,0.023219,0.023219
$HUMID,51.33
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.90
$XPDR_PINGS,8
$SC_FREEKB,7676064
$TM_FREEKB,5456128
$24V_AH,13.0,116.673
$10V_AH,12.7,0.000
$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,18.450,108.175,701.100,0.000,0.000,0.000,0.000,362.750,2.000,0.000,17.947,3179.220,22223.434,937.883,2409.415,462.721,0.000,2288.490,0.000,1905.969,0.000,0.549,0.000
$DEVICE_MAMPS,418.455,118.575,2136.645,0.000,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28525.000,6682.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.303,13.018,0.000,0.000
$MEM,344804
$DATA_FILE_SIZE,43331,1177
$CAP_FILE_SIZE,237522,0
$CFSIZE,260034560,224727040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.028,180.7,1
$GPS,041212,061034,2452.106,-3718.645,27,0.8,27,-13.7