version: 66.11
glider: 191
mission: 5
dive: 250
start: 12 5 112 14 6 0
data:
$ID,191
$MISSION,5
$DIVE,250
$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,-4131.3296
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,051212,135434,2501.772,-3718.933,27,0.9,27,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-58.3
$GPS2,051212,140530,2501.804,-3718.930,14,1.3,14,-13.7
$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,19.2,18968,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-60.70,0.000,6,0.000,0.000,153,1510,3459,0,0,0,0,0,0,28.83,28.83,14.79
$GC,89,-0.60,-97.3,3.7,-8.1,4,104,9.73,1.83,0.00,0.000,4,0.418,0.052,1983,2583,3463,1,0,0,0,0,0,13.88,14.59,28.83
$GC,327,-0.58,-97.3,31.3,-8.8,20,330,0.00,1.90,0.00,0.000,6,0.000,0.067,1983,1512,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,627,-0.54,-97.3,58.6,-8.6,40,631,0.12,1.88,0.00,0.000,4,0.262,0.054,2004,2591,3464,0,0,0,0,0,0,14.35,14.52,28.83
$GC,852,-0.54,-97.3,71.9,-5.4,55,855,0.00,1.90,0.00,0.000,6,0.000,0.065,2004,1514,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1151,-0.54,-97.3,91.3,-7.0,75,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1514,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1451,-0.54,-97.3,116.8,-8.9,95,1455,0.00,1.90,0.00,0.000,4,0.000,0.089,2004,461,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1512,-0.53,-97.3,122.3,-9.3,99,1516,0.00,1.80,0.00,0.000,6,0.000,0.044,1996,1529,3468,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1812,-0.51,-97.3,146.1,-7.3,119,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1530,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2111,-0.51,-97.3,167.8,-7.7,139,2115,0.00,1.80,0.00,0.000,4,0.000,0.055,1988,2581,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2201,-0.51,-97.3,174.3,-7.4,145,2206,0.15,1.88,0.00,0.000,6,0.233,0.066,2022,1511,3466,0,0,0,0,0,0,14.29,14.54,28.83
$GC,2502,-0.53,-97.3,195.1,-6.7,165,2506,0.00,1.83,0.00,0.000,4,0.000,0.054,2017,2579,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2638,-0.55,-97.3,202.9,-5.7,174,2641,0.00,1.85,0.00,0.000,6,0.000,0.064,2022,1521,3466,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2938,-0.56,-97.3,218.9,-4.8,194,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-0.57,-97.3,233.0,-4.7,214,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-0.58,-97.3,247.9,-5.2,234,3542,0.00,1.80,0.00,0.000,4,0.000,0.054,2010,2579,3465,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3626,-0.60,-97.3,251.8,-5.2,238,3630,0.00,1.85,0.00,0.000,6,0.000,0.065,2010,1520,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3927,-0.60,-97.3,271.8,-6.9,248,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4227,-0.60,-97.3,294.6,-8.0,258,4231,0.00,1.90,0.00,0.000,4,0.000,0.088,2009,461,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4331,-0.60,-97.3,303.9,-8.9,262,4335,0.00,1.77,0.00,0.000,6,0.000,0.044,2002,1521,3463,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4648,-0.60,-97.3,330.8,-8.5,273,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4946,-0.60,-97.3,354.1,-7.4,283,4950,0.00,1.77,0.00,0.000,4,0.000,0.055,1994,2576,3461,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5036,-0.60,-97.3,359.3,-6.9,286,5039,0.00,1.85,0.00,0.000,6,0.000,0.067,1994,1520,3461,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5337,-0.60,-97.3,380.5,-6.7,296,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5637,-0.60,-97.3,400.9,-6.9,306,5640,0.00,1.80,0.00,0.000,4,0.000,0.055,1986,2578,3460,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5742,-0.60,-97.3,407.7,-6.5,310,5745,0.00,1.85,0.00,0.000,6,0.000,0.066,1986,1519,3459,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6057,-0.59,-97.3,429.6,-7.1,321,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1519,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6357,-0.59,-97.3,450.6,-7.0,331,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6657,-0.59,-97.3,470.2,-6.4,341,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6957,-0.59,-97.3,488.8,-6.2,351,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7257,-0.59,-97.3,508.2,-6.5,361,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.59,-97.3,528.2,-6.7,371,7560,0.00,1.90,0.00,0.000,4,0.000,0.090,1986,465,3455,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7646,-0.58,-97.3,534.0,-7.5,374,7650,0.00,1.77,0.00,0.000,6,0.000,0.046,1978,1520,3454,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7947,-0.57,-97.3,558.6,-8.2,384,7951,0.00,1.80,0.00,0.000,4,0.000,0.057,1970,2576,3453,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8051,-0.57,-97.3,567.7,-8.8,388,8056,0.15,1.88,0.00,0.000,6,0.239,0.069,2004,1512,3453,0,0,0,0,0,0,14.32,14.60,28.83
$GC,8369,-0.58,-97.3,594.6,-8.7,399,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8667,-0.59,-97.3,619.8,-8.2,409,8671,0.00,1.83,0.00,0.000,4,0.000,0.057,1999,2577,3451,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8773,-0.61,-97.3,628.1,-7.9,413,8776,0.00,1.88,0.00,0.000,6,0.000,0.069,1999,1518,3451,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9086,-0.61,-97.3,650.6,-6.6,424,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1518,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,-0.61,-97.3,667.5,-5.2,434,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1519,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9687,-0.61,-97.3,681.1,-4.5,444,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9988,-0.61,-97.3,696.2,-5.4,454,9991,0.00,1.83,0.00,0.000,4,0.000,0.058,1991,2579,3446,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10077,-0.62,-97.3,700.6,-5.8,457,10080,0.00,1.90,0.00,0.000,6,0.000,0.070,1991,1508,3447,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10377,-0.62,-97.3,722.0,-7.0,467,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1508,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10677,-0.62,-97.3,743.7,-7.2,477,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1508,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10977,-0.62,-97.3,762.8,-6.0,487,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1508,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11277,-0.62,-97.3,780.2,-5.8,497,11281,0.00,1.85,0.00,0.000,4,0.000,0.059,1983,2577,3442,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11396,-0.62,-97.3,786.1,-5.7,501,11399,0.00,1.90,0.00,0.000,6,0.000,0.071,1983,1514,3442,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11697,-0.62,-97.3,805.1,-6.4,511,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1514,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11997,-0.62,-97.3,825.5,-7.0,521,12001,0.00,1.85,0.00,0.000,4,0.000,0.060,1975,2578,3441,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12101,-0.62,-97.3,832.7,-7.0,525,12105,0.00,1.90,0.00,0.000,6,0.000,0.071,1975,1516,3440,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12418,-0.62,-97.3,855.4,-7.3,536,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1516,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12716,-0.62,-97.3,877.4,-7.3,546,12720,0.00,1.85,0.00,0.000,4,0.000,0.060,1967,2578,3439,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12852,-0.62,-97.3,887.2,-7.3,551,12856,0.00,1.90,0.00,0.000,6,0.000,0.071,1967,1518,3439,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13168,-0.60,-97.3,910.7,-7.4,562,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1518,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13468,-0.59,-97.3,932.6,-7.2,572,13470,0.12,0.00,0.00,0.000,6,0.271,0.000,1993,1518,3437,0,0,0,0,0,0,14.28,28.83,28.83
$GC,13767,-0.59,-97.3,950.3,-5.7,582,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14068,-0.60,-97.3,966.1,-5.1,592,14069,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14364,begin apogee
$GC,14371,-0.18,0.0,980.5,-4.7,602,14495,0.50,0.00,115.65,2.123,6,0.205,0.000,2129,1399,3064,0,0,0,0,1,0,14.12,28.83,13.02
$STATE,14497,end apogee,CONTROL_FINISHED_OK
$STATE,14497,begin climb
$GC,14499,0.60,97.3,983.2,0.0,606,14638,0.80,2.05,127.28,2.136,4,0.124,0.103,2390,349,2666,0,0,0,0,1,0,14.08,13.94,12.94
$GC,14861,0.52,102.1,973.2,5.8,618,14869,0.00,1.83,3.80,2.000,6,0.000,0.050,2384,1409,2644,0,0,0,0,0,0,28.83,14.52,13.38
$GC,15165,0.49,126.3,956.8,5.0,628,15221,0.15,0.00,43.83,1.552,6,0.273,0.000,2353,1409,2548,0,0,0,0,1,0,14.25,28.83,13.35
$GC,15524,0.48,145.5,938.3,5.2,640,15569,0.00,0.00,38.33,1.428,6,0.000,0.000,2353,1409,2469,0,0,0,0,1,0,28.83,28.83,13.38
$GC,15854,0.45,145.5,917.6,6.6,651,15855,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1409,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16152,0.42,145.5,898.4,6.3,661,16153,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1409,2466,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28285,end climb,SURFACE_DEPTH_REACHED
$STATE,28285,begin surface coast
$FINISH,0.1,1.025463
$STATE,28301,end surface coast,CONTROL_FINISHED_OK
$STATE,28301,begin surface
$SM_CCo,28380,0.00,0.000,0,0,1280,436.88
$SM_GC,0.92,6.80,0.17,0.00,0.072,0.093,0.000,161,1523,1280,-6.29,-1.44,436.88,0,0,0,0,0,0,14.53,14.62,28.83
$IRIDIUM_FIX,2451.31,-3719.77,051212,060602
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.78
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,25.90
$XPDR_PINGS,9
$SC_FREEKB,7674144
$TM_FREEKB,5404768
$24V_AH,12.9,119.192
$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,19.650,126.900,720.825,0.000,0.000,0.000,0.000,354.825,2.250,0.000,15.404,3199.062,21998.975,977.761,2384.218,464.376,0.000,2307.653,0.000,1884.845,0.000,0.549,0.000
$DEVICE_MAMPS,417.690,118.575,2135.880,0.000,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28348.000,6770.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.304,13.014,0.000,0.000
$MEM,344760
$DATA_FILE_SIZE,43279,1180
$CAP_FILE_SIZE,245376,0
$CFSIZE,260034560,224059392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.027,229.1,1
$GPS,051212,220022,2504.422,-3718.654,40,0.9,40,-13.7