version: 66.13
glider: 219
mission: 11
dive: 542
start: 11 22 118 23 31 32
data:
$ID,219
$MISSION,11
$DIVE,542
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$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,390
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55668
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3914
$C_PITCH,2155
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1.2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.58136
$PRESSURE_SLOPE,0.0001078618
$AD7714Ch0Gain,1
$COMPASS_USE,2052
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.25
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,147
$LOGGERDEVICE3,131
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043946085
$SEABIRD_T_H,0.00063626852
$SEABIRD_T_I,2.5989737e-05
$SEABIRD_T_J,3.1806876e-06
$SEABIRD_C_G,-9.6980124
$SEABIRD_C_H,1.1068786
$SEABIRD_C_I,-0.0019018035
$SEABIRD_C_J,0.00022417276
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,11160.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,0.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,0.0
$CP_STARTS,0.0
$CP_NDIVE,1.0
$GPS1,221118,231839,5052.2119,-14228.3291,21,1.5,21,16.2,0.4,57.1,4,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-78.7
$GPS2,221118,233042,5052.1899,-14228.1836,2,1.2,4,16.2,0.4,101.3,9,9.0
$SPEED_LIMITS,0.147,0.242
$TGT_NAME,MLF2_92_TGT
$TGT_LATLONG,5052.710,-14228.395
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,287.3,994,-27.0,-8.462,-30.00,895
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.66,-49.6,126,2243,1369,1356,0.0,0.0,0,121,0.00,0.00,-98.07,0.004,16386,0.000,0.000,125,2237,3096,3113,3080,0,0,0,0,0,0,14.57,28.83,14.60
$GC,125,-0.66,-49.6,124,2237,3112,3080,4.5,-11.9,17,145,8.68,2.53,-1.50,0.056,19204,0.365,0.073,1933,838,3170,3198,3142,0,0,0,0,0,0,13.91,12.96,14.33
$GC,360,-0.66,-49.6,1933,837,3199,3142,59.7,-15.0,61,368,0.00,2.60,0.00,0.000,1030,0.000,0.069,1925,2240,3170,3199,3141,0,0,0,0,0,0,14.31,14.18,14.35
$GC,557,-0.66,-49.6,1925,2241,3200,3141,93.8,-17.5,98,564,0.00,2.60,0.00,0.000,516,0.000,0.060,1920,845,3170,3200,3141,0,0,0,0,0,0,14.76,14.10,14.78
$GC,799,-0.66,-49.6,1925,845,3201,3141,130.1,-14.9,144,805,0.00,2.65,0.00,0.000,1030,0.000,0.072,1915,2251,3171,3201,3141,0,0,0,0,0,0,14.35,14.19,14.40
$GC,1016,-0.66,-49.6,1920,2251,3201,3141,162.2,-14.7,166,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2251,3169,3198,3141,0,0,0,0,0,0,14.78,14.81,14.82
$GC,1226,-0.66,-49.6,1911,2250,3201,3141,194.5,-15.2,187,1231,0.00,2.60,0.00,0.000,516,0.000,0.062,1910,852,3171,3201,3141,0,0,0,0,0,0,14.78,13.97,14.81
$GC,1305,-0.66,-49.6,1921,851,3201,3141,205.5,-14.4,201,1311,0.15,2.62,0.00,0.000,3078,0.261,0.074,1938,2252,3175,3209,3141,0,0,0,0,0,0,13.89,14.17,14.16
$GC,1524,-0.66,-49.6,1933,2250,3201,3140,234.2,-13.2,223,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2251,3170,3201,3140,0,0,0,0,0,0,14.79,14.82,14.81
$GC,1742,-0.66,-49.6,1933,2251,3201,3139,263.4,-13.3,240,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2251,3170,3201,3139,0,0,0,0,0,0,14.75,14.78,14.76
$GC,1942,-0.66,-49.6,1933,2251,3202,3138,289.4,-13.2,250,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2251,3169,3201,3138,0,0,0,0,0,0,14.72,14.78,14.77
$GC,2142,-0.66,-49.6,1933,2251,3201,3137,315.7,-13.2,260,2148,0.00,2.62,0.00,0.000,516,0.000,0.068,1934,850,3169,3201,3137,0,0,0,0,0,0,14.72,14.14,14.74
$GC,2213,-0.66,-49.6,1933,845,3200,3137,325.0,-12.9,273,2218,0.00,2.60,0.00,0.000,1030,0.000,0.061,1926,2252,3169,3201,3137,0,0,0,0,0,0,14.32,14.18,14.37
$GC,2434,-0.66,-49.6,1925,2253,3201,3136,354.0,-13.4,286,2439,0.00,2.60,0.00,0.000,260,0.000,0.085,1915,3657,3167,3199,3136,0,0,0,0,0,0,14.82,14.07,14.81
$GC,2495,-0.66,-49.6,1914,3658,3201,3136,362.1,-12.8,297,2502,0.00,2.50,0.00,0.000,1030,0.000,0.050,1915,2249,3168,3201,3136,0,0,0,0,0,0,14.36,14.26,14.40
$GC,2700,-0.66,-49.6,1915,2248,3201,3142,389.8,-13.5,308,2707,0.00,2.60,0.00,0.000,516,0.000,0.059,1915,836,3167,3201,3134,0,0,0,0,0,0,14.78,14.09,14.81
$GC,2854,-0.66,-49.6,1915,835,3202,3133,410.1,-11.4,337,2860,0.17,2.67,0.00,0.000,3078,0.251,0.074,1941,2247,3167,3201,3133,0,0,0,0,0,0,13.79,14.10,14.09
$GC,3076,-0.66,-49.6,1940,2248,3200,3130,434.3,-10.7,350,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2248,3166,3200,3132,0,0,0,0,0,0,14.75,14.81,14.78
$GC,3276,-0.66,-49.6,1940,2247,3201,3132,455.6,-10.8,360,3282,0.00,2.67,0.00,0.000,516,0.000,0.070,1941,839,3166,3201,3132,0,0,0,0,0,0,14.78,13.93,14.81
$GC,3332,-0.66,-49.6,1940,839,3201,3132,461.9,-10.5,370,3338,0.00,2.62,0.00,0.000,1030,0.000,0.060,1932,2254,3166,3201,3132,0,0,0,0,0,0,14.29,14.15,14.33
$GC,3549,-0.66,-49.6,1932,2254,3201,3127,486.7,-11.6,382,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2254,3167,3203,3131,0,0,0,0,0,0,14.76,14.79,14.79
$GC,3749,-0.66,-49.6,1931,2254,3201,3131,510.4,-11.9,392,3755,0.00,2.60,0.00,0.000,516,0.000,0.057,1933,844,3166,3201,3131,0,0,0,0,0,0,14.77,14.14,14.79
$GC,3856,-0.66,-49.6,1932,844,3201,3130,523.3,-11.9,412,3862,0.00,2.62,0.00,0.000,1030,0.000,0.059,1923,2251,3165,3200,3130,0,0,0,0,0,0,14.27,14.13,14.32
$GC,4084,-0.66,-49.6,1922,2256,3200,3130,552.2,-12.9,426,4089,0.00,2.62,0.00,0.000,260,0.000,0.086,1911,3668,3165,3200,3130,0,0,0,0,0,0,14.66,14.02,14.68
$GC,4124,-0.66,-49.6,1911,3668,3201,3130,557.7,-13.2,433,4131,0.00,2.53,0.00,0.000,1030,0.000,0.049,1912,2247,3165,3201,3130,0,0,0,0,0,0,14.32,14.21,14.35
$GC,4330,-0.66,-49.6,1911,2247,3201,3130,585.1,-13.4,444,4336,0.00,2.60,0.00,0.000,516,0.000,0.060,1911,838,3165,3201,3130,0,0,0,0,0,0,14.76,14.13,14.79
$GC,4452,-0.66,-49.6,1911,839,3201,3130,601.0,-12.9,467,4460,0.17,2.65,0.00,0.000,3078,0.251,0.059,1936,2266,3159,3195,3124,0,0,0,0,0,0,13.75,14.12,14.04
$GC,4657,-0.66,-49.6,1936,2266,3201,3129,624.0,-11.1,478,4663,0.00,2.60,0.00,0.000,260,0.000,0.086,1928,3658,3164,3200,3129,0,0,0,0,0,0,14.71,14.00,14.73
$GC,4724,-0.66,-49.6,1928,3660,3200,3128,631.6,-11.3,490,4729,0.00,2.47,0.00,0.000,1030,0.000,0.047,1928,2249,3164,3201,3128,0,0,0,0,0,0,14.31,14.21,14.35
$GC,4950,-0.66,-49.6,1928,2249,3207,3128,657.8,-11.7,504,4956,0.00,2.60,0.00,0.000,516,0.000,0.060,1924,839,3164,3201,3127,0,0,0,0,0,0,14.71,14.02,14.73
$GC,5084,-0.66,-49.6,1927,839,3194,3127,673.9,-12.3,529,5089,0.00,2.62,0.00,0.000,1030,0.000,0.059,1918,2249,3164,3201,3127,0,0,0,0,0,0,14.23,14.09,14.28
$GC,5305,-0.66,-49.6,1918,2257,3201,3127,701.7,-12.5,542,5310,0.00,2.62,0.00,0.000,260,0.000,0.085,1907,3658,3164,3201,3127,0,0,0,0,0,0,14.76,14.00,14.78
$GC,5354,-0.66,-49.6,1907,3658,3200,3126,708.2,-12.7,551,5360,0.15,2.50,0.00,0.000,3078,0.246,0.047,1938,2249,3163,3200,3126,0,0,0,0,0,0,13.80,14.17,14.07
$GC,5577,-0.66,-49.6,1932,2249,3200,3126,732.9,-11.1,564,5583,0.00,2.60,0.00,0.000,516,0.000,0.060,1937,847,3162,3199,3126,0,0,0,0,0,0,14.77,14.09,14.81
$GC,5741,-0.66,-49.6,1944,844,3200,3122,751.2,-11.0,595,5748,0.00,2.62,0.00,0.000,1030,0.000,0.059,1930,2252,3163,3201,3125,0,0,0,0,0,0,14.22,14.12,14.26
$GC,5947,-0.66,-49.6,1930,2255,3201,3125,773.6,-11.0,606,5953,0.00,2.65,0.00,0.000,260,0.000,0.085,1918,3662,3162,3200,3125,0,0,0,0,0,0,14.71,13.97,14.74
$GC,6013,-0.66,-49.6,1919,3662,3200,3125,781.0,-10.3,618,6018,0.00,2.50,0.00,0.000,1030,0.000,0.047,1919,2248,3162,3200,3125,0,0,0,0,0,0,14.28,14.18,14.31
$GC,6239,-0.66,-49.6,1919,2248,3200,3125,805.7,-11.1,632,6245,0.00,2.60,0.00,0.000,516,0.000,0.060,1919,836,3163,3201,3125,0,0,0,0,0,0,14.69,14.09,14.71
$GC,6378,-0.66,-49.6,1919,835,3200,3125,820.3,-10.4,658,6384,0.12,2.65,0.00,0.000,3078,0.262,0.059,1932,2258,3163,3201,3125,0,0,0,0,0,0,13.75,14.06,14.02
$GC,6595,-0.66,-49.6,1932,2259,3200,3124,841.7,-9.5,670,6600,0.00,2.62,0.00,0.000,260,0.000,0.085,1924,3666,3162,3201,3124,0,0,0,0,0,0,14.75,13.95,14.77
$GC,6676,-0.66,-49.6,1924,3665,3207,3124,849.4,-9.6,685,6683,0.00,2.53,0.00,0.000,1030,0.000,0.049,1920,2250,3161,3198,3124,0,0,0,0,0,0,14.26,14.16,14.31
$GC,6881,-0.66,-49.6,1924,2245,3201,3124,870.3,-10.1,696,6888,0.00,2.62,0.00,0.000,516,0.000,0.060,1924,829,3162,3201,3124,0,0,0,0,0,0,14.74,14.07,14.76
$GC,7036,-0.66,-49.6,1924,829,3201,3124,885.6,-9.9,725,7041,0.00,2.65,0.00,0.000,1030,0.000,0.059,1914,2248,3162,3200,3124,0,0,0,0,0,0,14.19,14.04,14.24
$GC,7257,-0.66,-49.6,1912,2248,3201,3123,908.8,-10.7,738,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2248,3161,3200,3123,0,0,0,0,0,0,14.74,14.80,14.76
$GC,7457,-0.66,-49.6,1914,2248,3200,3123,930.1,-10.5,748,7463,0.00,2.65,0.00,0.000,516,0.000,0.056,1915,827,3161,3201,3122,0,0,0,0,0,0,14.66,14.07,14.66
$GC,7513,-0.66,-49.6,1909,826,3201,3122,936.4,-10.3,758,7518,0.00,2.67,0.00,0.000,1030,0.000,0.059,1903,2257,3161,3201,3122,0,0,0,0,0,0,14.20,14.06,14.25
$GC,7729,-0.66,-49.6,1903,2258,3201,3127,960.8,-11.6,770,7731,0.15,0.00,0.00,0.000,2054,0.285,0.000,1932,2258,3161,3201,3122,0,0,0,0,0,0,13.81,14.15,14.04
$GC,7929,-0.66,-49.6,1932,2258,3200,3121,980.4,-9.4,780,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2258,3160,3200,3121,0,0,0,0,0,0,14.57,14.59,14.59
$STATE,8045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8045,begin apogee
$GC,8054,-0.11,0.0,1933,2113,3201,3116,992.0,-9.8,786,8108,0.68,0.05,44.67,2.615,10246,0.204,0.099,2110,2156,2970,3034,2907,0,0,0,0,0,0,13.71,13.81,12.84
$STATE,8109,end apogee,CONTROL_FINISHED_OK
$STATE,8110,begin climb
$GC,8113,0.66,49.6,2110,2156,3034,2906,995.1,0.0,789,8172,0.82,2.67,47.85,2.542,10500,0.102,0.091,2369,3550,2775,2828,2723,0,0,0,0,0,0,14.22,13.92,12.66
$GC,8201,0.72,92.4,2369,3550,2829,2716,993.5,3.6,801,8250,0.00,2.47,41.95,2.516,9254,0.000,0.057,2379,2181,2599,2652,2547,0,0,0,0,0,0,14.28,14.19,12.66
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$STATE,19561,end climb,SURFACE_DEPTH_REACHED
$STATE,19561,begin surface coast
$FINISH,-0.2,1.024769
$STATE,19573,end surface coast,CONTROL_FINISHED_OK
$STATE,19573,begin surface
$SM_CCo,19594,69.47,0.195,0,0,1375,400.16
$SM_GC,0.51,7.15,0.22,69.47,0.064,0.088,0.195,222,2280,1375,-5.93,-0.65,400.16,0,0,0,0,0,0,14.46,14.48,14.17
$IRIDIUM_FIX,5050.45,-14229.63,221118,180501
$TT8_MAMPS,0.02247,0.650881
$HUMID,49.72
$INTERNAL_PRESSURE,10.0531
$TCM_TEMP,0.00
$XPDR_PINGS,238
$SC_FREEKB,3598752
$24V_AH,12.66,211.588
$10V_AH,12.37,0.000
$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,19.050,249.900,271.950,69.475,0.000,0.000,0.000,424.375,59.500,0.000,14.346,4600.912,10370.919,710.055,4067.593,634.742,0.000,2602.600,0.000,0.000,0.000,0.542,0.000
$DEVICE_MAMPS,364.905,201.195,2614.770,195.075,0.000,0.000,0.000,207.315,420.000,0.000,8.990,12.460,2.190,11.710,30.440,45.420,0.000,16.000,0.000,0.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19663.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.053,0.000,0.000,0.000
$MEM,322724
$DATA_FILE_SIZE,66592,1902
$CAP_FILE_SIZE,220257,0
$CFSIZE,1024409600,899842048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,116.96,1
$GPS,231118,050030,5052.665,-14229.646,27,1.4,27,16.2,0.5,147.4,6,6.4