version: 67.00
glider: 249
mission: 8
dive: 1027
start: 4 30 123 19 13 13
data:
$ID,249
$MISSION,8
$DIVE,1027
$N_DIVES,0
$STOP_T,0
$D_SURF,4
$D_FLARE,3
$D_TGT,680
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,0
$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,240
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72955
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.020747701
$HD_C,5.7000002e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,20000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3000
$C_PITCH,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,16
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,215
$ROLL_MAX,3825
$ROLL_DEG,60
$C_ROLL_DIVE,2240
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.054949999
$ROLL_TIMEOUT,25
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,506
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,139.57843
$FG_AHR_24V,290.79242
$PHONE_SUPPLY,2
$PRESSURE_YINT,-179.54233
$PRESSURE_SLOPE,0.00021665409
$COMPASS_USE,16388
$ALTIM_PING_FIT,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,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,-1
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,300423,190528,4653.311,-12459.481,31,1.1,31,15.5
$_CALLS,1
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.3
$GPS2,300423,191251,4653.359,-12459.581,1,0.7,3,15.5
$SPEED_LIMITS,0.164,0.174
$TGT_NAME,WESTPORT
$TGT_LATLONG,4653.000,-12500.000
$TGT_RADIUS,2500.000
$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,203.0,850,-19.6,-9.444,-30.00,2000,0.259
$D_GRID,718
$IRON,1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,16.23,16386,-107.06,-1.44,0.00,604.7,606.6,602.8,178.0,2178.7,0.00,0.00,0,115.45,69.79,0.00,0.00,0.005,0.000,0.000,2291.66,2471.56,2111.75,178.31,2179.00,0,0,0,14.92,30.00,30.00
$GC,117.67,18983,-107.06,-1.44,-60.00,2294.6,2470.1,2119.2,178.2,2178.8,3.20,-3.55,14,242.06,17.82,16.12,2.91,0.006,0.197,0.066,3327.94,3553.12,3102.75,2040.75,1134.38,0,0,0,15.06,15.26,14.86
$GC,268.46,3205,-107.06,-1.33,0.00,3329.2,3550.8,3107.6,2040.4,1134.1,35.74,-16.75,27,287.51,0.00,0.20,2.78,0.000,0.170,0.026,3330.44,3551.94,3108.94,2067.69,2267.44,0,0,0,30.00,15.51,15.83
$GC,472.87,0,-107.06,-1.33,0.00,3329.8,3549.6,3110.1,2067.6,2267.0,65.59,-14.28,65,479.01,0.00,0.00,0.00,0.000,0.000,0.000,3330.06,3549.44,3110.69,2067.69,2267.44,0,0,0,30.00,30.00,30.00
$GC,664.77,516,-107.06,-1.33,-60.00,3329.8,3549.2,3110.5,2067.3,2267.2,89.90,-11.78,103,684.25,0.00,0.00,3.14,0.000,0.000,0.061,3330.12,3549.25,3111.00,2066.38,1134.69,0,0,0,30.00,30.00,15.66
$GC,700.20,1028,-107.06,-1.33,0.00,3329.8,3548.6,3111.1,2067.1,1134.1,94.02,-11.94,107,718.09,0.00,0.00,2.77,0.000,0.000,0.024,3330.34,3549.19,3111.50,2066.81,2266.81,0,0,0,30.00,30.00,15.87
$GC,903.44,516,-107.06,-1.33,-60.00,3329.8,3548.8,3110.9,2066.9,2267.2,117.09,-11.37,130,922.93,0.00,0.00,3.13,0.000,0.000,0.060,3330.28,3549.81,3110.75,2067.00,1133.62,0,0,0,30.00,30.00,15.67
$GC,938.66,1028,-107.06,-1.33,0.00,3330.0,3548.6,3111.4,2067.2,1133.1,121.10,-11.48,134,956.54,0.00,0.00,2.76,0.000,0.000,0.024,3330.50,3549.44,3111.56,2067.62,2267.56,0,0,0,30.00,30.00,15.88
$GC,1261.91,516,-107.06,-1.33,-60.00,3330.2,3548.0,3112.3,2067.3,2267.1,156.17,-10.97,166,1281.39,0.00,0.00,3.13,0.000,0.000,0.060,3330.81,3548.06,3113.56,2065.56,1134.19,0,0,0,30.00,30.00,15.68
$GC,1307.13,1028,-107.06,-1.33,0.00,3330.2,3547.9,3112.4,2067.5,1134.2,161.20,-11.19,172,1325.02,0.00,0.00,2.76,0.000,0.000,0.024,3330.75,3548.81,3112.69,2068.12,2267.50,0,0,0,30.00,30.00,15.88
$GC,1630.38,516,-107.06,-1.33,-60.00,3330.8,3548.6,3113.0,2067.1,2267.6,197.27,-10.54,204,1649.88,0.00,0.00,3.14,0.000,0.000,0.060,3330.62,3548.25,3113.00,2067.44,1133.69,0,0,0,30.00,30.00,15.68
$GC,1680.61,1028,-107.06,-1.33,0.00,3330.6,3547.9,3113.3,2067.5,1133.2,202.88,-11.22,211,1699.00,0.00,0.00,2.76,0.000,0.000,0.024,3330.78,3548.38,3113.19,2067.56,2270.00,0,0,0,30.00,30.00,15.89
$GC,2004.51,516,-107.06,-1.33,-60.00,3330.8,3548.1,3113.6,2067.6,2269.4,236.80,-10.57,243,2024.22,0.00,0.00,3.14,0.000,0.000,0.060,3331.09,3547.94,3114.25,2067.38,1135.06,0,0,0,30.00,30.00,15.67
$GC,2070.02,1028,-107.06,-1.33,0.00,3330.7,3547.6,3113.8,2067.3,1134.1,243.97,-10.83,253,2088.11,0.00,0.00,2.77,0.000,0.000,0.025,3331.72,3548.44,3115.00,2066.25,2268.50,0,0,0,30.00,30.00,15.88
$GC,2393.51,516,-107.06,-1.33,-60.00,3330.9,3548.2,3113.5,2067.1,2268.6,278.93,-10.38,285,2413.62,0.00,0.00,3.14,0.000,0.000,0.060,3330.84,3548.12,3113.56,2067.31,1135.12,0,0,0,30.00,30.00,15.67
$GC,2444.39,1028,-107.06,-1.33,0.00,3330.7,3547.8,3113.6,2067.5,1134.8,284.53,-10.68,292,2462.50,0.00,0.00,2.76,0.000,0.000,0.025,3332.28,3549.12,3115.44,2067.19,2267.75,0,0,0,30.00,30.00,15.88
$GC,2767.90,516,-107.06,-1.33,-60.00,3331.2,3548.3,3114.0,2067.6,2267.4,316.36,-9.92,324,2787.61,0.00,0.00,3.14,0.000,0.000,0.060,3331.62,3548.38,3114.88,2067.31,1134.69,0,0,0,30.00,30.00,15.66
$GC,2828.38,1028,-107.06,-1.33,0.00,3331.1,3548.1,3114.1,2067.2,1134.4,322.71,-10.31,333,2846.88,0.00,0.00,2.77,0.000,0.000,0.025,3332.19,3548.94,3115.44,2066.25,2266.44,0,0,0,30.00,30.00,15.88
$GC,3152.29,0,-107.06,-1.33,0.00,3330.6,3547.8,3113.4,2067.6,2267.3,354.28,-9.73,365,3156.35,0.00,0.00,0.00,0.000,0.000,0.000,3330.91,3547.06,3114.75,2067.75,2266.75,0,0,0,30.00,30.00,30.00
$GC,3462.32,516,-107.06,-1.33,-60.00,3330.5,3547.4,3113.7,2067.3,2267.4,387.50,-12.05,396,3482.04,0.00,0.00,3.14,0.000,0.000,0.062,3331.19,3547.88,3114.50,2067.00,1133.81,0,0,0,30.00,30.00,15.65
$GC,3527.82,1028,-107.06,-1.33,0.00,3331.0,3547.9,3114.1,2067.6,1133.1,395.02,-11.63,406,3545.92,0.00,0.00,2.78,0.000,0.000,0.025,3331.44,3548.56,3114.31,2067.56,2267.06,0,0,0,30.00,30.00,15.87
$GC,3851.43,516,-107.06,-1.33,-60.00,3330.0,3546.8,3113.2,2067.0,2266.4,431.98,-11.80,438,3871.13,0.00,0.00,3.13,0.000,0.000,0.062,3330.53,3546.75,3114.31,2067.31,1134.75,0,0,0,30.00,30.00,15.64
$GC,3931.91,1028,-107.06,-1.33,0.00,3330.0,3546.3,3113.7,2067.4,1134.0,441.67,-11.35,451,3950.40,0.00,0.00,2.80,0.000,0.000,0.025,3331.47,3548.00,3114.94,2066.75,2266.12,0,0,0,30.00,30.00,15.86
$GC,4255.82,516,-107.06,-1.33,-60.00,3329.9,3545.9,3113.9,2067.2,2266.6,474.72,-10.42,483,4275.52,0.00,0.00,3.16,0.000,0.000,0.062,3330.34,3545.62,3115.06,2067.19,1134.50,0,0,0,30.00,30.00,15.63
$GC,4306.29,1028,-107.06,-1.33,0.00,3329.9,3545.9,3113.9,2067.4,1134.3,480.52,-11.04,490,4324.41,0.00,0.00,2.79,0.000,0.000,0.025,3330.03,3546.12,3113.94,2067.75,2266.62,0,0,0,30.00,30.00,15.86
$GC,4629.81,516,-107.06,-1.33,-60.00,3329.1,3544.7,3113.6,2067.4,2267.7,516.96,-11.17,522,4649.52,0.00,0.00,3.14,0.000,0.000,0.062,3330.78,3546.38,3115.19,2066.94,1134.81,0,0,0,30.00,30.00,15.63
$GC,4680.28,1028,-107.06,-1.33,0.00,3329.3,3545.0,3113.6,2067.3,1134.2,522.56,-10.93,529,4698.78,0.00,0.00,2.79,0.000,0.000,0.026,3329.59,3544.62,3114.56,2067.44,2266.75,0,0,0,30.00,30.00,15.85
$GC,5004.22,516,-107.06,-1.33,-60.00,3328.7,3543.8,3113.6,2067.2,2267.2,557.72,-10.66,561,5023.94,0.00,0.00,3.17,0.000,0.000,0.063,3329.44,3544.81,3114.06,2067.31,1135.00,0,0,0,30.00,30.00,15.62
$GC,5059.97,1028,-107.06,-1.33,0.00,3328.9,3543.8,3114.1,2067.1,1134.4,563.53,-10.61,569,5078.45,0.00,0.00,2.79,0.000,0.000,0.026,3329.06,3544.56,3113.56,2067.12,2265.88,0,0,0,30.00,30.00,15.85
$GC,5383.98,516,-107.06,-1.33,-60.00,3328.6,3543.6,3113.6,2067.1,2266.3,594.45,-9.55,601,5403.69,0.00,0.00,3.16,0.000,0.000,0.063,3329.53,3543.69,3115.38,2065.31,1133.88,0,0,0,30.00,30.00,15.62
$GC,5449.47,1028,-107.06,-1.33,0.00,3328.3,3542.5,3114.2,2067.5,1133.4,600.86,-9.84,611,5467.57,0.00,0.00,2.78,0.000,0.000,0.026,3328.53,3543.06,3114.00,2067.25,2267.62,0,0,0,30.00,30.00,15.85
$GC,5772.99,516,-107.06,-1.33,-60.00,3328.0,3541.9,3114.1,2067.1,2267.4,630.99,-9.89,643,5793.09,0.00,0.00,3.14,0.000,0.000,0.063,3328.12,3542.88,3113.38,2067.56,1136.00,0,0,0,30.00,30.00,15.60
$GC,5828.88,1028,-107.06,-1.33,0.00,3327.9,3542.2,3113.6,2067.4,1135.4,636.95,-10.71,651,5846.98,0.00,0.00,2.77,0.000,0.000,0.026,3328.09,3542.19,3114.00,2067.94,2266.25,0,0,0,30.00,30.00,15.84
$GC,6152.38,516,-107.06,-1.33,-60.00,3327.3,3540.6,3113.9,2067.5,2266.0,669.90,-10.57,683,6172.11,0.00,0.00,3.14,0.000,0.000,0.063,3327.97,3541.75,3114.19,2066.88,1134.38,0,0,0,30.00,30.00,15.60
$GC,6207.90,1028,-107.06,-1.33,0.00,3327.3,3541.1,3113.6,2067.4,1134.2,676.29,-12.27,691,6226.41,0.00,0.00,2.78,0.000,0.000,0.026,3328.59,3541.56,3115.62,2067.62,2266.94,0,0,0,30.00,30.00,15.84
$STATE,6251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6251,begin apogee
$GC,6258.01,10243,0.00,-0.31,0.00,3327.3,3541.1,3113.5,2066.9,2039.7,680.84,-10.44,695,6393.08,85.31,1.93,0.19,1.887,0.135,0.121,2890.59,3022.69,2758.50,2311.94,2149.69,0,0,0,10.37,15.44,15.13
$STATE,6397,end apogee,CONTROL_FINISHED_OK
$STATE,6397,begin climb
$GC,6400.79,10759,107.06,1.44,-60.00,2886.7,3021.2,2752.2,2314.2,2149.8,687.21,0.00,704,6563.12,89.29,3.10,3.37,1.844,0.088,0.076,2450.34,2531.62,2369.06,2742.50,997.88,0,0,0,11.63,15.55,15.02
$GC,6570.14,11303,349.98,1.93,0.00,2446.3,2531.1,2361.6,2742.8,998.0,697.15,-3.04,724,6868.38,198.04,0.77,2.79,1.838,0.052,0.021,1463.28,1521.44,1405.12,2868.62,2136.25,0,0,0,11.51,15.47,15.61
$GC,7174.29,16678,350.24,1.93,60.00,1453.0,1520.9,1385.1,2868.1,2135.5,652.93,9.43,795,7194.40,0.00,0.00,3.13,0.000,0.000,0.084,1453.34,1521.25,1385.44,2868.94,3201.44,0,0,0,30.00,30.00,15.63
$GC,7355.31,17414,350.24,1.93,0.00,1452.3,1521.5,1383.1,2868.5,3199.9,633.93,10.94,828,7373.40,0.00,0.00,2.78,0.000,0.000,0.023,1451.88,1521.19,1382.56,2867.88,2064.31,0,0,0,30.00,30.00,15.83
$GC,7679.20,548,352.31,1.93,-60.00,1451.3,1521.0,1381.6,2868.3,2065.2,602.92,9.34,860,7698.91,0.00,0.00,3.06,0.000,0.000,0.080,1451.47,1521.44,1381.50,2868.12,997.19,0,0,0,30.00,30.00,15.65
$GC,7759.69,1028,352.31,1.93,0.00,1450.9,1521.2,1380.5,2868.4,997.2,594.78,10.28,873,7777.79,0.00,0.00,2.74,0.000,0.000,0.023,1451.09,1521.62,1380.56,2868.38,2132.19,0,0,0,30.00,30.00,15.87
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$GC,10273.75,1028,446.24,2.12,0.00,1064.2,1117.2,1011.3,2918.2,997.5,352.49,11.92,1152,10291.85,0.00,0.00,2.76,0.000,0.000,0.023,1064.59,1117.56,1011.62,2918.56,2130.50,0,0,0,30.00,30.00,15.90
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$STATE,13915,end climb,SURFACE_DEPTH_REACHED
$STATE,13915,begin surface coast
$FINISH,-0.5,0.999843
$STATE,13976,end surface coast,CONTROL_FINISHED_OK
$STATE,13976,begin surface
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$SM_GC,0.98,0.00,19.87,0.49,0.000,0.044,0.044,714.8,739.1,690.5,178.2,2277.4,0,0,0,30.00,15.77,15.87
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4653.31,-12500.04,300423,152144
$TCM_TEMP,265.76
$XPDR_PINGS,0,13.0,10.5
$HUMID,55.15
$TEMP,84.47
$INTERNAL_PRESSURE,8.53686
$24V_AH,14.26,351.088
$10V_AH,15.00,0.000
$FG_AHR_24Vo,291.063
$FG_AHR_10Vo,139.609
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,632.405,42.640,202.885,194.049,0.000,15.978,6763.686,181.758,0.000,7524.841,2567.699,0.000,0.000,0.000,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM0,60108,1,0,0
$MEM1,65508,1,0,0
$MEM2,951604,812,78764,98
$DATA_FILE_SIZE,48014,1633
$CAP_FILE_SIZE,383491,0
$SDSIZE,4028416,3712128
$SDFILEDIR,6029,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$MAGCAL,1.000000,0.018748,0.010586,-0.022162,1.047582,-0.121953,-0.011516,0.000818,0.995395,491.9,-189.8,-8.8,36,0.0305,0
$GPS,300423,230941,4653.056,-12500.903,23,0.8,26,15.6