version: 66.07
glider: 543
mission: 6
dive: 382
start: 2 21 113 8 48 6
data:
$ID,543
$MISSION,6
$DIVE,382
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$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,400
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-8950.3711
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1628
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3400
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.913475
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043127281
$SEABIRD_T_H,0.00062185986
$SEABIRD_T_I,2.2048062e-05
$SEABIRD_T_J,2.2117231e-06
$SEABIRD_C_G,-10.303595
$SEABIRD_C_H,1.1762303
$SEABIRD_C_I,-0.001936322
$SEABIRD_C_J,0.00024357962
$GPS1,210213,083504,-4232.315,850.820,39,1.0,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-59.5
$GPS2,210213,084705,-4232.268,850.855,17,1.4,17,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.140,-0.199
$KALMAN_X,23897.8,-93.2,-42.8,43399.7,1819.6
$KALMAN_Y,330259.7,-136.8,-233.8,-334007.2,4936.4
$MHEAD_RNG_PITCHd_Wd,240.3,42339,-14.7,-8.333
$D_GRID,1000
$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
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.50,0.000,2,0.000,0.000,47,3422,2537,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.2,-3.9,5,104,5.90,2.22,-16.88,0.000,4,0.227,0.044,1467,1992,3072,0,0,0,0,0,0
$GC,135,-0.47,-146.1,7.9,-8.0,13,146,0.00,2.30,0.00,0.000,6,0.000,0.055,1458,3383,3073,0,0,0,0,0,0
$GC,225,-0.47,-146.1,17.1,-10.3,26,236,0.00,0.90,0.00,0.000,4,0.000,0.059,1454,3945,3074,0,0,0,0,0,0
$GC,272,-0.47,-146.1,22.3,-11.0,32,283,0.00,0.80,0.00,0.000,6,0.000,0.035,1454,3420,3074,0,0,0,0,0,0
$GC,364,-0.47,-146.1,31.9,-10.6,45,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3420,3075,0,0,0,0,0,0
$GC,614,-0.47,-146.1,59.6,-10.6,86,625,0.00,2.17,0.00,0.000,4,0.000,0.029,1454,1979,3075,0,0,0,0,0,0
$GC,696,-0.47,-146.1,67.3,-9.2,99,703,0.08,2.33,0.00,0.000,6,0.121,0.056,1469,3394,3075,0,0,0,0,0,0
$GC,1053,-0.47,-146.1,94.3,-7.5,160,1059,0.00,0.88,0.00,0.000,4,0.000,0.059,1466,3949,3076,0,0,0,0,0,0
$GC,1164,-0.47,-146.1,103.8,-8.5,174,1167,0.00,0.82,0.00,0.000,6,0.000,0.035,1466,3399,3076,0,0,0,0,0,0
$GC,1492,-0.47,-146.1,128.9,-7.8,195,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3399,3077,0,0,0,0,0,0
$GC,1804,-0.47,-146.1,153.6,-7.6,215,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3399,3077,0,0,0,0,0,0
$GC,2115,-0.47,-146.1,177.9,-7.8,235,2121,0.00,2.15,0.00,0.000,4,0.000,0.029,1466,1972,3077,0,0,0,0,0,0
$GC,2171,-0.47,-146.1,182.4,-7.4,238,2175,0.00,2.33,0.00,0.000,6,0.000,0.054,1456,3412,3077,0,0,0,0,0,0
$GC,2497,-0.47,-146.1,209.8,-8.5,259,2503,0.00,0.85,0.00,0.000,4,0.000,0.058,1452,3951,3077,0,0,0,0,0,0
$GC,2552,-0.47,-146.1,214.9,-8.9,262,2556,0.00,0.82,0.00,0.000,6,0.000,0.034,1452,3398,3077,0,0,0,0,0,0
$GC,2886,-0.47,-146.1,243.5,-8.4,283,2890,0.00,2.12,0.00,0.000,4,0.000,0.028,1452,1970,3077,0,0,0,0,0,0
$GC,2925,-0.47,-146.1,247.1,-8.0,285,2933,0.08,2.35,0.00,0.000,6,0.120,0.056,1467,3400,3077,0,0,0,0,0,0
$GC,3249,-0.47,-146.1,269.2,-6.6,302,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3400,3077,0,0,0,0,0,0
$GC,3559,-0.47,-146.1,289.4,-6.3,317,3564,0.00,0.90,0.00,0.000,4,0.000,0.060,1464,3953,3077,0,0,0,0,0,0
$GC,3630,-0.47,-146.1,294.2,-7.1,320,3636,0.00,0.82,0.00,0.000,6,0.000,0.034,1464,3401,3077,0,0,0,0,0,0
$GC,3967,-0.47,-146.1,315.2,-6.1,336,3970,0.00,2.12,0.00,0.000,4,0.000,0.028,1464,1973,3077,0,0,0,0,0,0
$GC,4001,-0.47,-146.1,317.5,-6.1,337,4008,0.00,2.33,0.00,0.000,6,0.000,0.054,1454,3410,3077,0,0,0,0,0,0
$GC,4320,-0.47,-146.1,339.8,-7.3,353,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3409,3076,0,0,0,0,0,0
$GC,4629,-0.47,-146.1,363.7,-7.9,368,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3410,3077,0,0,0,0,0,0
$GC,4939,-0.47,-146.1,389.0,-8.1,383,4944,0.00,2.17,0.00,0.000,4,0.000,0.028,1454,1968,3076,0,0,0,0,0,0
$GC,4992,-0.47,-146.1,393.7,-8.2,385,4997,0.12,2.33,0.00,0.000,6,0.145,0.053,1476,3407,3076,0,0,0,0,0,0
$GC,5334,-0.47,-146.1,417.3,-6.9,398,5338,0.00,0.85,0.00,0.000,4,0.000,0.060,1473,3945,3076,0,0,0,0,0,0
$GC,5411,-0.47,-146.1,423.3,-7.7,400,5414,0.00,0.82,0.00,0.000,6,0.000,0.035,1473,3399,3075,0,0,0,0,0,0
$GC,5741,-0.47,-146.1,446.7,-7.1,411,5745,0.00,2.12,0.00,0.000,4,0.000,0.029,1473,1972,3075,0,0,0,0,0,0
$GC,5785,-0.47,-146.1,450.0,-7.5,412,5789,0.00,2.33,0.00,0.000,6,0.000,0.053,1463,3406,3076,0,0,0,0,0,0
$GC,6104,-0.47,-146.1,474.7,-7.8,423,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3074,0,0,0,0,0,0
$GC,6410,-0.47,-146.1,498.9,-7.9,433,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3406,3075,0,0,0,0,0,0
$GC,6717,-0.47,-146.1,521.8,-7.2,443,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3074,0,0,0,0,0,0
$GC,7022,-0.47,-146.1,541.6,-6.2,453,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3073,0,0,0,0,0,0
$GC,7329,-0.47,-146.1,559.6,-5.8,463,7333,0.00,2.17,0.00,0.000,4,0.000,0.029,1463,1964,3073,0,0,0,0,0,0
$GC,7363,-0.47,-146.1,561.7,-5.7,464,7367,0.00,2.35,0.00,0.000,6,0.000,0.053,1452,3410,3072,0,0,0,0,0,0
$GC,7693,-0.47,-146.1,582.3,-6.4,475,7697,0.00,2.17,0.00,0.000,4,0.000,0.028,1451,1964,3071,0,0,0,0,0,0
$GC,7726,-0.47,-146.1,584.8,-6.5,476,7731,0.12,2.35,0.00,0.000,6,0.147,0.054,1474,3405,3072,0,0,0,0,0,0
$GC,8057,-0.47,-146.1,603.6,-5.8,487,8063,0.00,0.88,0.00,0.000,4,0.000,0.059,1471,3954,3071,0,0,0,0,0,0
$GC,8098,-0.47,-146.1,606.3,-6.8,488,8103,0.00,0.85,0.00,0.000,6,0.000,0.035,1471,3395,3071,0,0,0,0,0,0
$GC,8436,-0.47,-146.1,627.7,-6.6,499,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3395,3071,0,0,0,0,0,0
$GC,8741,-0.47,-146.1,648.2,-6.9,509,8746,0.00,2.15,0.00,0.000,4,0.000,0.030,1471,1972,3070,0,0,0,0,0,0
$GC,8791,-0.47,-146.1,651.6,-6.9,510,8795,0.00,2.33,0.00,0.000,6,0.000,0.053,1460,3406,3070,0,0,0,0,0,0
$GC,9115,-0.47,-146.1,675.9,-7.3,521,9119,0.00,0.85,0.00,0.000,4,0.000,0.059,1456,3943,3069,0,0,0,0,0,0
$GC,9159,-0.47,-146.1,679.5,-7.8,522,9163,0.00,0.82,0.00,0.000,6,0.000,0.036,1456,3397,3069,0,0,0,0,0,0
$GC,9491,-0.47,-146.1,704.1,-7.4,533,9494,0.00,2.12,0.00,0.000,4,0.000,0.031,1456,1976,3069,0,0,0,0,0,0
$GC,9557,-0.47,-146.1,709.2,-7.4,535,9562,0.10,2.33,0.00,0.000,6,0.154,0.053,1471,3407,3069,0,0,0,0,0,0
$GC,9888,-0.47,-146.1,730.3,-6.1,546,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3407,3068,0,0,0,0,0,0
$GC,10194,-0.47,-146.1,750.4,-6.7,556,10198,0.00,2.15,0.00,0.000,4,0.000,0.030,1472,1975,3068,0,0,0,0,0,0
$GC,10233,-0.47,-146.1,753.1,-6.5,557,10237,0.00,2.33,0.00,0.000,6,0.000,0.054,1462,3407,3067,0,0,0,0,0,0
$GC,10558,-0.47,-146.1,775.6,-6.9,568,10561,0.00,0.85,0.00,0.000,4,0.000,0.060,1458,3941,3067,0,0,0,0,0,0
$GC,10628,-0.47,-146.1,780.5,-7.0,570,10632,0.00,0.82,0.00,0.000,6,0.000,0.037,1459,3397,3067,0,0,0,0,0,0
$GC,10969,-0.47,-146.1,803.8,-6.6,581,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3396,3067,0,0,0,0,0,0
$GC,11276,-0.47,-146.1,823.5,-6.4,591,11280,0.00,2.15,0.00,0.000,4,0.000,0.031,1459,1969,3066,0,0,0,0,0,0
$GC,11320,-0.47,-146.1,826.6,-6.1,592,11324,0.00,2.35,0.00,0.000,6,0.000,0.054,1448,3409,3065,0,0,0,0,0,0
$GC,11639,-0.47,-146.1,850.3,-7.8,603,11642,0.00,0.85,0.00,0.000,4,0.000,0.061,1444,3942,3065,0,0,0,0,0,0
$GC,11678,-0.47,-146.1,853.9,-8.9,604,11682,0.08,0.82,0.00,0.000,6,0.127,0.037,1469,3401,3065,0,0,0,0,0,0
$GC,12014,-0.47,-146.1,876.6,-6.8,615,12019,0.00,2.20,0.00,0.000,4,0.000,0.031,1469,1968,3065,0,0,0,0,0,0
$GC,12054,-0.47,-146.1,879.8,-7.5,616,12060,0.00,2.35,0.00,0.000,6,0.000,0.054,1460,3398,3064,0,0,0,0,0,0
$GC,12393,-0.47,-146.1,905.2,-7.7,627,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3398,3064,0,0,0,0,0,0
$STATE,12633,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12633,begin apogee
$GC,12640,-0.13,0.0,923.5,7.5,635,12791,0.40,0.00,148.00,1.209,6,0.125,0.000,1582,3272,2473,0,0,0,0,0,0
$STATE,12793,end apogee,CONTROL_FINISHED_OK
$STATE,12793,begin climb
$GC,12796,0.47,146.1,928.0,0.0,640,12955,0.57,2.40,149.50,1.169,4,0.080,0.029,1787,1861,1872,0,0,0,0,0,0
$GC,12979,0.47,146.1,912.0,10.7,645,12983,0.00,2.53,0.00,0.000,6,0.000,0.050,1787,3285,1865,0,0,0,0,0,0
$GC,13293,0.47,146.1,872.1,13.2,655,13297,0.00,1.08,0.00,0.000,4,0.000,0.058,1787,3941,1857,0,0,0,0,0,0
$GC,13387,0.47,146.1,858.0,15.6,657,13394,0.00,1.02,0.00,0.000,6,0.000,0.033,1792,3273,1856,0,0,0,0,0,0
$GC,13701,0.47,146.1,814.9,13.7,668,13704,0.00,1.10,0.00,0.000,4,0.000,0.058,1792,3952,1855,0,0,0,0,0,0
$GC,13812,0.47,146.1,797.4,15.4,671,13816,0.00,1.02,0.00,0.000,6,0.000,0.033,1797,3273,1854,0,0,0,0,0,0
$GC,14142,0.47,146.1,749.9,14.7,682,14148,0.00,1.10,0.00,0.000,4,0.000,0.057,1797,3953,1853,0,0,0,0,0,0
$GC,14286,0.47,146.1,726.6,17.0,686,14289,0.00,1.02,0.00,0.000,6,0.000,0.032,1802,3271,1853,0,0,0,0,0,0
$GC,14622,0.47,146.1,677.4,14.0,697,14625,0.00,1.10,0.00,0.000,4,0.000,0.057,1802,3955,1852,0,0,0,0,0,0
$GC,14699,0.47,146.1,665.0,16.4,699,14703,0.00,1.00,0.00,0.000,6,0.000,0.032,1807,3286,1852,0,0,0,0,0,0
$GC,15029,0.47,146.1,617.9,14.3,710,15033,0.00,1.08,0.00,0.000,4,0.000,0.057,1807,3957,1852,0,0,0,0,0,0
$GC,15200,0.47,146.1,590.6,16.4,715,15205,0.10,1.00,0.00,0.000,6,0.164,0.031,1783,3283,1851,0,0,0,0,0,0
$GC,15541,0.47,146.1,547.5,12.4,726,15545,0.00,1.08,0.00,0.000,4,0.000,0.057,1783,3953,1850,0,0,0,0,0,0
$GC,15651,0.47,146.1,532.5,14.3,729,15655,0.00,1.00,0.00,0.000,6,0.000,0.032,1786,3280,1850,0,0,0,0,0,0
$GC,15987,0.47,146.1,490.5,12.1,740,15991,0.00,1.08,0.00,0.000,4,0.000,0.057,1786,3955,1850,0,0,0,0,0,0
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$GC,19829,0.47,146.1,30.3,9.7,1013,19836,0.00,1.08,0.00,0.000,4,0.000,0.055,1796,3954,1849,0,0,0,0,0,0
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$STATE,20092,end climb,SURFACE_DEPTH_REACHED
$STATE,20093,begin surface coast
$FINISH,1.3,1.024874
$STATE,20134,end surface coast,CONTROL_FINISHED_OK
$STATE,20134,begin surface
$SM_CCo,20150,40.28,0.693,1,0,1534,230.09
$SM_GC,2.51,0.00,0.00,40.28,0.000,0.000,0.693,47,3420,1534,-4.94,0.57,230.09
$IRIDIUM_FIX,-4215.72,853.65,210213,020250
$TT8_MAMPS,0.025466
$HUMID,56.22
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.2,63.888
$10V_AH,9.8,45.621
$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,12.300,114.775,297.500,40.275,0.000,34.535,24.885,464.457,0.000,0.000,20.331,2698.438,13182.835,440.588,3351.181,1236.812,33.401,1714.601,0.000,3142.529,0.000,1.014,0.000
$DEVICE_MAMPS,227.205,71.145,1209.465,693.090,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.600,2320.095,1130.740,514.041,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354056
$DATA_FILE_SIZE,77104,1058
$CAP_FILE_SIZE,174364,0
$CFSIZE,259252224,232284160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,210213,142604,-4233.032,849.563,40,0.8,40,-25.1