version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 125
start: 12 29 115 19 10 30
data:
$ID,542
$MISSION,12
$DIVE,125
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$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,340
$T_MISSION,355
$T_ABORT,720
$T_TURN,500
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53125
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29806.725
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2570
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2909
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.38863
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,20
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,115
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,291215,190405,-4304.273,824.409,39,1.3,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.9
$GPS2,291215,191004,-4304.273,824.515,17,1.1,17,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$TGT_RADIUS,1000.000
$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,352.9,15337,-17.9,-9.804,-20.77,2280
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-146.0,163,2004,1965,1915,0.0,0.0,0,66,0.00,0.00,-48.97,0.000,16386,0.000,0.000,163,2004,3261,3333,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,163,2004,3333,3190,3.2,-5.2,6,88,8.32,2.38,-5.12,0.000,18948,0.224,0.078,2352,581,3507,3566,3449,0,0,0,0,0,0,25.58,25.91,26.32
$GC,182,-0.68,-146.0,2352,581,3567,3451,29.4,-15.0,23,192,0.00,2.30,0.00,0.000,1030,0.000,0.054,2344,2002,3509,3567,3451,0,0,0,0,0,0,28.83,25.98,28.83
$GC,332,-0.68,-146.0,2344,2002,3566,3451,55.2,-17.7,48,341,0.00,2.33,0.00,0.000,516,0.000,0.064,2344,586,3509,3567,3451,0,0,0,0,0,0,28.83,26.01,28.83
$GC,379,-0.68,-146.0,2344,586,3567,3451,63.4,-18.2,55,386,0.00,2.25,0.00,0.000,1030,0.000,0.054,2334,2011,3509,3567,3451,0,0,0,0,0,0,28.83,26.05,28.83
$GC,710,-0.68,-146.0,2334,2011,3567,3452,122.4,-16.3,104,719,0.00,2.25,0.00,0.000,516,0.000,0.063,2334,589,3509,3567,3452,0,0,0,0,0,0,28.83,26.11,28.83
$GC,742,-0.68,-146.0,2334,588,3567,3452,128.0,-16.4,107,746,0.00,2.22,0.00,0.000,1030,0.000,0.054,2324,2004,3510,3567,3453,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1048,-0.68,-146.0,2324,2004,3567,3453,178.1,-16.5,137,1057,0.00,2.28,0.00,0.000,516,0.000,0.064,2324,579,3510,3567,3453,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1145,-0.68,-146.0,2324,579,3567,3453,193.6,-15.4,146,1154,0.15,2.22,0.00,0.000,3078,0.172,0.054,2351,1997,3511,3568,3454,0,0,0,0,0,0,26.02,26.21,28.83
$GC,1456,-0.68,-146.0,2351,1997,3567,3454,232.8,-13.2,177,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1998,3510,3567,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1755,-0.68,-146.0,2351,1998,3567,3455,274.0,-13.5,207,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1997,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2055,-0.68,-146.0,2351,1998,3567,3455,313.3,-12.7,237,2064,0.00,2.25,0.00,0.000,516,0.000,0.065,2351,585,3511,3567,3455,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2099,-0.68,-146.0,2351,585,3567,3455,318.6,-13.1,241,2106,0.00,2.25,0.00,0.000,1030,0.000,0.054,2343,1987,3511,3567,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2407,-0.68,-146.0,2343,1988,3567,3455,359.0,-13.2,272,2417,0.00,2.22,0.00,0.000,516,0.000,0.064,2343,588,3511,3567,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2442,-0.68,-146.0,2343,587,3567,3456,363.4,-13.4,275,2450,0.00,2.22,0.00,0.000,1030,0.000,0.055,2333,2001,3511,3567,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2752,-0.68,-146.0,2333,2002,3567,3455,406.3,-13.8,304,2757,0.00,2.25,0.00,0.000,516,0.000,0.067,2333,589,3511,3567,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2792,-0.68,-146.0,2333,589,3567,3456,411.9,-13.8,306,2796,0.00,2.25,0.00,0.000,1030,0.000,0.055,2323,1991,3511,3567,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3110,-0.68,-146.0,2323,1991,3567,3456,456.5,-14.0,322,3116,0.00,2.25,0.00,0.000,516,0.000,0.067,2323,582,3511,3567,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3142,-0.68,-146.0,2323,582,3567,3456,459.4,-14.1,323,3154,0.15,2.28,0.00,0.000,3078,0.168,0.056,2351,2000,3511,3567,3456,0,0,0,0,0,0,26.15,26.32,28.83
$GC,3449,-0.68,-146.0,2351,2000,3567,3455,498.5,-12.4,339,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2000,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3751,-0.68,-146.0,2351,1999,3567,3455,537.0,-12.8,354,3756,0.00,2.25,0.00,0.000,516,0.000,0.068,2351,586,3511,3567,3455,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3798,-0.68,-146.0,2351,586,3567,3455,542.1,-12.9,356,3802,0.00,2.25,0.00,0.000,1030,0.000,0.057,2343,2008,3511,3567,3455,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4111,-0.68,-146.0,2343,2008,3567,3456,585.7,-13.4,372,4117,0.00,2.22,0.00,0.000,260,0.000,0.065,2332,3408,3511,3567,3455,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4130,-0.68,-146.0,2332,3409,3567,3455,588.3,-13.4,373,4134,0.00,2.20,0.00,0.000,1030,0.000,0.054,2332,1996,3511,3567,3456,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4447,-0.68,-146.0,2332,1995,3567,3455,632.0,-13.9,389,4452,0.00,2.25,0.00,0.000,516,0.000,0.070,2332,586,3511,3567,3456,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4530,-0.68,-146.0,2332,586,3566,3455,643.3,-13.8,393,4534,0.00,2.22,0.00,0.000,1030,0.000,0.058,2322,1994,3510,3566,3455,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4847,-0.68,-146.0,2322,1995,3567,3456,689.0,-14.4,409,4851,0.00,2.25,0.00,0.000,516,0.000,0.070,2322,586,3511,3567,3455,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4871,-0.68,-146.0,2322,585,3566,3455,691.3,-14.4,410,4875,0.15,2.25,0.00,0.000,3078,0.171,0.059,2350,2006,3511,3567,3455,0,0,0,0,0,0,26.15,26.33,28.83
$GC,5183,-0.68,-146.0,2350,2006,3567,3455,730.4,-12.1,426,5189,0.00,2.28,0.00,0.000,516,0.000,0.070,2350,586,3511,3567,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5203,-0.68,-146.0,2349,587,3567,3455,732.9,-12.2,427,5207,0.00,2.22,0.00,0.000,1030,0.000,0.059,2342,1995,3511,3567,3455,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5519,-0.68,-146.0,2341,1995,3566,3456,773.6,-12.9,443,5523,0.00,2.25,0.00,0.000,260,0.000,0.067,2331,3408,3510,3566,3455,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5536,-0.68,-146.0,2330,3408,3566,3456,775.7,-12.9,444,5541,0.00,2.22,0.00,0.000,1030,0.000,0.057,2331,1986,3511,3566,3456,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5856,-0.68,-146.0,2330,1985,3565,3456,820.2,-13.5,460,5862,0.00,2.22,0.00,0.000,516,0.000,0.072,2331,592,3510,3565,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5938,-0.68,-146.0,2331,592,3565,3455,831.0,-13.6,464,5943,0.00,2.20,0.00,0.000,1030,0.000,0.060,2321,1994,3510,3565,3455,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6256,-0.68,-146.0,2321,1994,3565,3456,875.9,-13.9,480,6262,0.12,2.25,0.00,0.000,2308,0.177,0.066,2348,3416,3510,3565,3456,0,0,0,0,0,0,26.25,26.31,28.83
$GC,6283,-0.68,-146.0,2347,3416,3565,3456,878.6,-13.8,481,6287,0.00,2.25,0.00,0.000,1030,0.000,0.056,2348,1983,3509,3564,3455,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6595,-0.68,-146.0,2347,1982,3564,3455,913.2,-10.6,497,6599,0.00,2.25,0.00,0.000,516,0.000,0.072,2347,583,3509,3563,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6659,-0.68,-146.0,2347,584,3563,3455,919.1,-10.6,500,6663,0.00,2.25,0.00,0.000,1030,0.000,0.060,2338,1998,3509,3563,3455,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6972,-0.68,-146.0,2338,1998,3563,3455,954.7,-11.2,516,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1998,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,-0.68,-146.0,2338,1999,3563,3455,987.8,-10.8,531,7278,0.00,2.28,0.00,0.000,516,0.000,0.071,2338,587,3508,3562,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7299,-0.68,-146.0,2338,587,3562,3455,990.0,-10.9,532,7304,0.00,2.28,0.00,0.000,1030,0.000,0.061,2328,1989,3508,3562,3455,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,7391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7391,begin apogee
$GC,7395,-0.14,0.0,2328,1866,3562,3455,1001.5,-11.4,537,7533,0.62,0.00,133.55,1.803,10246,0.137,0.000,2524,1866,2908,2982,2835,0,0,0,0,0,0,26.13,28.83,23.25
$STATE,7534,end apogee,CONTROL_FINISHED_OK
$STATE,7534,begin climb
$GC,7536,0.68,146.0,2523,1865,2982,2836,1007.2,0.0,544,7686,0.73,2.58,141.35,1.779,10756,0.048,0.071,2804,468,2313,2376,2250,0,0,0,0,0,0,24.35,23.33,22.39
$GC,7870,0.68,146.0,1952,467,2329,2239,976.3,16.0,560,7875,0.00,2.42,0.00,0.000,1030,0.000,0.060,2805,1866,2306,2368,2245,0,0,0,0,0,0,28.83,24.89,28.83
$GC,8189,0.68,146.0,2804,1865,2367,2240,926.8,15.3,576,8194,0.00,2.35,0.00,0.000,260,0.000,0.067,2805,3285,2303,2367,2240,0,0,0,0,0,0,28.83,25.54,28.83
$GC,8236,0.68,146.0,2804,3285,2366,2239,920.4,15.8,578,8240,0.00,2.30,0.00,0.000,1030,0.000,0.058,2814,1875,2303,2366,2240,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8548,0.68,146.0,2814,1875,2366,2237,870.8,15.0,594,8554,0.00,2.30,0.00,0.000,260,0.000,0.067,2814,3285,2301,2366,2237,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8569,0.68,146.0,2814,3285,2365,2237,867.7,15.0,595,8575,0.10,2.28,0.00,0.000,5126,0.208,0.058,2798,1871,2301,2365,2237,0,0,0,0,0,0,25.65,25.86,28.83
$GC,8888,0.68,146.0,2798,1871,2366,2236,822.1,14.2,611,8894,0.00,2.30,0.00,0.000,260,0.000,0.066,2794,3290,2301,2366,2236,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8901,0.68,146.0,2794,3290,2365,2236,822.1,14.2,611,8909,0.00,2.30,0.00,0.000,1030,0.000,0.058,2803,1864,2301,2366,2236,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9208,0.68,146.0,2803,1864,2365,2235,772.8,15.3,627,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1864,2300,2365,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9508,0.68,146.0,2803,1864,2365,2234,727.5,14.7,642,9512,0.00,2.30,0.00,0.000,260,0.000,0.067,2804,3291,2299,2365,2234,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9577,0.68,146.0,2803,3291,2365,2234,718.7,15.5,645,9584,0.00,2.28,0.00,0.000,1030,0.000,0.058,2814,1869,2299,2365,2234,0,0,0,0,0,0,28.83,26.15,28.83
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$GC,12951,0.68,146.0,2799,1865,2363,2233,276.4,11.3,864,12960,0.00,2.28,0.00,0.000,516,0.000,0.073,2809,457,2297,2362,2233,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,15312,end climb,SURFACE_DEPTH_REACHED
$STATE,15312,begin surface coast
$FINISH,-0.2,1.014431
$STATE,15338,end surface coast,CONTROL_FINISHED_OK
$STATE,15338,begin surface
$SM_CCo,15354,32.53,0.147,0,0,1968,230.09
$SM_GC,1.34,6.82,2.50,32.53,0.043,0.060,0.147,170,1994,1968,-7.40,-0.65,230.09,0,0,0,0,0,0,26.46,26.32,26.06
$IRIDIUM_FIX,-4250.85,826.16,251008,040433
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.53
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,23.518
$10V_AH,10.1,19.027
$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,17.725,173.000,274.900,32.525,0.000,23.204,41.605,181.366,49.250,0.000,18.587,3131.252,8966.265,499.632,2970.126,175.837,0.000,1687.775,0.000,2483.339,0.000,298.840,0.000
$DEVICE_MAMPS,224.145,84.915,1803.105,146.880,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.562,79.752,721.044,1774.002,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352712
$DATA_FILE_SIZE,73752,1168
$CAP_FILE_SIZE,177169,0
$CFSIZE,259248128,248582144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.162, 82.4,1
$GPS,291215,232803,-4302.754,824.754,30,0.8,30,-25.0