version: 66.07.10.p01
glider: 573
mission: 9
dive: 19
start: 4 23 115 8 59 16
data:
$ID,573
$MISSION,9
$DIVE,19
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$T_BOOST_BLACKOUT,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,160
$T_MISSION,180
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,230
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,2
$DIRECT_CONTROL,0
$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,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,-13544.948
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3050
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2169
$C_ROLL_CLIMB,1673
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2762
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-86.704987
$PRESSURE_SLOPE,0.00011693723
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,18
$GPS1,230415,085053,-3431.817,2554.738,37,1.5,37,-28.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.8
$GPS2,230415,085853,-3431.923,2554.545,45,1.1,46,-28.0
$SPEED_LIMITS,0.180,0.319
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3425.000,2548.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,35.0,16260,-15.1,-10.417
$D_GRID,500
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.02,-223.8,0.0,0.0,0,86,0.00,0.00,-59.30,0.000,2,0.000,0.000,69,2184,2594,0,0,0,0,0,0
$GC,88,-1.02,-223.8,3.2,-4.2,7,133,11.48,2.53,-26.50,0.000,4,0.263,0.107,2708,760,3678,0,0,0,0,0,0
$GC,288,-0.84,-223.8,39.7,-20.9,37,296,0.28,2.58,0.00,0.000,6,0.182,0.113,2771,2177,3683,0,0,0,0,0,0
$GC,401,-0.81,-223.8,57.6,-13.5,56,411,0.05,2.45,0.00,0.000,4,0.246,0.100,2771,3589,3683,0,0,0,0,0,0
$GC,493,-0.81,-223.8,68.2,-10.1,71,502,0.05,2.38,0.00,0.000,6,0.186,0.080,2781,2174,3683,0,0,0,0,0,0
$GC,606,-0.81,-223.8,79.3,-10.3,90,615,0.00,2.50,0.00,0.000,4,0.000,0.103,2781,746,3684,0,0,0,0,0,0
$GC,633,-0.81,-223.8,82.0,-10.6,94,643,0.03,2.65,0.00,0.000,6,0.210,0.122,2779,2165,3684,0,0,0,0,0,0
$GC,749,-0.81,-223.8,94.2,-11.0,113,756,0.00,2.42,0.00,0.000,4,0.000,0.099,2769,3596,3685,0,0,0,0,0,0
$GC,798,-0.81,-223.8,99.5,-10.6,121,807,0.08,2.42,0.00,0.000,6,0.185,0.086,2784,2162,3685,0,0,0,0,0,0
$GC,912,-0.81,-223.8,111.5,-10.0,140,920,0.00,2.47,0.00,0.000,4,0.000,0.103,2784,740,3686,0,0,0,0,0,0
$GC,934,-0.81,-223.8,114.0,-11.0,143,942,0.00,2.58,0.00,0.000,6,0.000,0.113,2776,2175,3686,0,0,0,0,0,0
$GC,1049,-0.81,-223.8,127.4,-12.2,162,1058,0.00,2.42,0.00,0.000,4,0.000,0.099,2765,3589,3686,0,0,0,0,0,0
$GC,1071,-0.81,-223.8,129.8,-11.8,165,1079,0.08,2.40,0.00,0.000,6,0.180,0.086,2781,2170,3686,0,0,0,0,0,0
$GC,1186,-0.81,-223.8,142.9,-11.3,184,1194,0.00,2.50,0.00,0.000,4,0.000,0.109,2781,746,3687,0,0,0,0,0,0
$GC,1231,-0.81,-223.8,148.3,-12.3,191,1240,0.05,2.53,0.00,0.000,6,0.245,0.110,2780,2169,3687,0,0,0,0,0,0
$GC,1347,-0.81,-223.8,162.2,-11.8,210,1356,0.00,2.42,0.00,0.000,4,0.000,0.097,2770,3589,3687,0,0,0,0,0,0
$GC,1382,-0.83,-223.8,166.0,-12.0,215,1390,0.00,2.40,0.00,0.000,6,0.000,0.087,2770,2170,3687,0,0,0,0,0,0
$GC,1495,-0.83,-223.8,179.5,-11.5,234,1507,0.00,2.50,0.00,0.000,4,0.000,0.110,2770,747,3687,0,0,0,0,0,0
$GC,1537,-0.83,-223.8,184.8,-13.1,240,1547,0.05,2.55,0.00,0.000,6,0.197,0.106,2774,2172,3687,0,0,0,0,0,0
$GC,1655,-0.83,-223.8,198.9,-11.9,259,1662,0.00,2.40,0.00,0.000,4,0.000,0.098,2764,3599,3687,0,0,0,0,0,0
$GC,1687,-0.83,-223.8,203.1,-12.5,264,1697,0.03,2.47,0.00,0.000,6,0.134,0.093,2773,2171,3687,0,0,0,0,0,0
$GC,1805,-0.83,-223.8,216.8,-12.2,283,1812,0.00,2.47,0.00,0.000,4,0.000,0.109,2773,737,3686,0,0,0,0,0,0
$GC,1839,-0.83,-223.8,221.2,-12.8,288,1848,0.03,2.55,0.00,0.000,6,0.231,0.106,2770,2161,3686,0,0,0,0,0,0
$GC,1955,-0.83,-223.8,234.9,-11.8,307,1963,0.00,2.42,0.00,0.000,4,0.000,0.104,2761,3590,3686,0,0,0,0,0,0
$GC,1983,-0.83,-223.8,238.4,-12.5,311,1991,0.08,2.45,0.00,0.000,6,0.182,0.096,2776,2161,3686,0,0,0,0,0,0
$GC,2097,-0.83,-223.8,251.7,-11.3,330,2106,0.00,2.47,0.00,0.000,4,0.000,0.109,2776,747,3686,0,0,0,0,0,0
$GC,2147,-0.83,-223.8,257.4,-11.7,338,2156,0.00,2.55,0.00,0.000,6,0.000,0.109,2767,2163,3686,0,0,0,0,0,0
$GC,2264,-0.83,-223.8,270.5,-11.4,357,2272,0.03,2.42,0.00,0.000,4,0.289,0.106,2764,3594,3686,0,0,0,0,0,0
$GC,2292,-0.83,-223.8,274.0,-11.8,361,2300,0.08,2.45,0.00,0.000,6,0.183,0.099,2780,2168,3685,0,0,0,0,0,0
$GC,2406,-0.83,-223.8,286.2,-10.5,380,2415,0.00,2.50,0.00,0.000,4,0.000,0.109,2779,741,3685,0,0,0,0,0,0
$GC,2462,-0.83,-223.8,292.1,-11.1,389,2470,0.00,2.58,0.00,0.000,6,0.000,0.117,2771,2173,3685,0,0,0,0,0,0
$GC,2575,-0.83,-223.8,304.8,-11.3,408,2584,0.00,2.50,0.00,0.000,4,0.000,0.115,2760,3590,3685,0,0,0,0,0,0
$GC,2609,-0.83,-223.8,308.5,-11.1,413,2617,0.08,2.50,0.00,0.000,6,0.182,0.108,2775,2162,3685,0,0,0,0,0,0
$GC,2725,-0.83,-223.8,320.7,-10.8,432,2734,0.00,2.50,0.00,0.000,4,0.000,0.112,2776,743,3685,0,0,0,0,0,0
$GC,2771,-0.83,-223.8,325.7,-10.7,439,2780,0.03,2.55,0.00,0.000,6,0.296,0.116,2774,2169,3684,0,0,0,0,0,0
$GC,2888,-0.83,-223.8,338.2,-10.5,458,2896,0.00,2.55,0.00,0.000,4,0.000,0.122,2764,3593,3684,0,0,0,0,0,0
$GC,2923,-0.83,-223.8,342.0,-11.0,463,2932,0.08,2.50,0.00,0.000,6,0.185,0.109,2779,2167,3684,0,0,0,0,0,0
$GC,3038,-0.83,-223.8,353.9,-10.4,482,3047,0.00,2.50,0.00,0.000,4,0.000,0.107,2779,739,3684,0,0,0,0,0,0
$GC,3096,-0.83,-223.8,359.8,-10.3,491,3105,0.00,2.58,0.00,0.000,6,0.000,0.113,2770,2177,3684,0,0,0,0,0,0
$GC,3210,-0.83,-223.8,372.6,-11.2,510,3219,0.00,2.53,0.00,0.000,4,0.000,0.121,2760,3591,3683,0,0,0,0,0,0
$GC,3244,-0.83,-223.8,376.2,-10.7,515,3253,0.08,2.50,0.00,0.000,6,0.184,0.110,2774,2167,3683,0,0,0,0,0,0
$STATE,3287,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3287,begin apogee
$GC,3291,-0.25,0.0,380.5,10.7,521,3473,0.57,0.00,174.48,0.841,6,0.140,0.000,2962,1668,2762,0,0,0,0,0,0
$STATE,3473,end apogee,CONTROL_FINISHED_OK
$STATE,3473,begin climb
$GC,3475,1.02,223.8,390.5,0.0,546,3668,1.25,2.47,182.60,0.809,4,0.091,0.065,3386,252,1849,0,0,0,0,0,0
$GC,3796,0.85,223.8,363.2,14.3,593,3804,0.22,2.38,0.00,0.000,6,0.158,0.051,3326,1687,1843,0,0,0,0,0,0
$GC,3913,0.77,223.8,349.8,10.7,612,3922,0.10,0.00,0.00,0.000,6,0.187,0.000,3302,1692,1842,0,0,0,0,0,0
$GC,4033,0.75,241.4,338.3,9.9,631,4054,0.00,0.00,15.62,0.751,6,0.000,0.000,3302,1692,1776,0,0,0,0,0,0
$GC,4163,0.71,245.6,325.3,10.3,652,4174,0.10,2.50,4.55,0.567,4,0.178,0.073,3287,251,1760,0,0,0,0,0,0
$GC,4204,0.72,268.2,321.4,9.7,658,4230,0.00,2.35,20.77,0.762,6,0.000,0.050,3287,1659,1667,0,0,0,0,0,0
$GC,4340,0.77,313.8,309.0,9.0,679,4386,0.00,2.58,39.67,0.773,4,0.000,0.087,3287,3086,1481,0,0,0,0,0,0
$GC,4406,0.80,335.3,302.5,9.7,688,4431,0.00,2.50,19.33,0.737,6,0.000,0.076,3297,1656,1395,0,0,0,0,0,0
$GC,4541,0.80,335.3,288.1,10.7,709,4548,0.00,2.38,0.00,0.000,4,0.000,0.073,3307,257,1389,0,0,0,0,0,0
$GC,4609,0.80,335.3,280.0,11.8,720,4618,0.00,2.38,0.00,0.000,6,0.000,0.051,3308,1675,1388,0,0,0,0,0,0
$GC,4728,0.80,335.3,266.9,11.0,739,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1676,1387,0,0,0,0,0,0
$GC,4841,0.80,335.3,254.1,11.0,758,4851,0.00,2.40,0.00,0.000,4,0.000,0.071,3317,265,1387,0,0,0,0,0,0
$GC,4879,0.80,335.3,250.1,11.8,763,4886,0.00,2.30,0.00,0.000,6,0.000,0.049,3317,1684,1386,0,0,0,0,0,0
$GC,4993,0.80,335.3,236.4,11.4,782,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1685,1386,0,0,0,0,0,0
$GC,5111,0.80,335.3,223.6,11.0,801,5118,0.00,2.38,0.00,0.000,4,0.000,0.070,3325,259,1386,0,0,0,0,0,0
$GC,5138,0.80,335.3,220.3,12.0,805,5146,0.08,2.28,0.00,0.000,6,0.166,0.047,3307,1679,1386,0,0,0,0,0,0
$GC,5255,0.80,335.3,207.2,11.0,824,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1679,1385,0,0,0,0,0,0
$GC,5373,0.80,335.3,194.6,10.6,843,5380,0.00,2.35,0.00,0.000,4,0.000,0.068,3317,257,1385,0,0,0,0,0,0
$GC,5402,0.80,335.3,191.4,11.6,847,5409,0.00,2.28,0.00,0.000,6,0.000,0.047,3317,1677,1385,0,0,0,0,0,0
$GC,5516,0.80,335.3,178.2,11.5,866,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1678,1385,0,0,0,0,0,0
$GC,5634,0.80,335.3,165.4,10.9,885,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1678,1385,0,0,0,0,0,0
$GC,5748,0.80,335.3,152.3,12.0,904,5757,0.00,2.38,0.00,0.000,4,0.000,0.068,3326,258,1384,0,0,0,0,0,0
$GC,5777,0.78,335.3,148.9,12.5,908,5786,0.05,2.30,0.00,0.000,6,0.134,0.048,3308,1674,1384,0,0,0,0,0,0
$GC,5896,0.78,335.3,135.0,11.5,927,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1674,1384,0,0,0,0,0,0
$GC,6012,0.78,335.3,121.5,11.4,946,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1674,1384,0,0,0,0,0,0
$GC,6130,0.78,336.8,108.1,10.4,965,6137,0.00,2.33,0.00,0.000,4,0.000,0.070,3318,259,1384,0,0,0,0,0,0
$GC,6170,0.78,336.8,103.5,11.9,971,6178,0.05,2.30,0.00,0.000,6,0.201,0.054,3305,1687,1384,0,0,0,0,0,0
$GC,6286,0.79,346.1,91.1,10.1,990,6303,0.00,2.38,8.62,0.599,4,0.000,0.088,3305,3080,1350,0,0,0,0,0,0
$GC,6323,0.79,346.1,87.3,10.7,995,6330,0.00,2.28,0.00,0.000,6,0.000,0.063,3314,1667,1351,0,0,0,0,0,0
$GC,6440,0.79,346.1,74.9,10.7,1014,6449,0.00,2.33,0.00,0.000,4,0.000,0.070,3324,268,1351,0,0,0,0,0,0
$GC,6499,0.79,346.1,68.0,12.5,1023,6507,0.08,2.25,0.00,0.000,6,0.168,0.050,3306,1673,1350,0,0,0,0,0,0
$GC,6616,0.82,352.5,55.8,10.2,1042,6626,0.00,0.00,7.03,0.543,6,0.000,0.000,3306,1674,1324,0,0,0,0,0,0
$GC,6737,0.93,417.9,45.3,8.4,1061,6798,0.12,2.50,55.03,0.653,4,0.080,0.083,3373,3087,1057,0,0,0,0,0,0
$GC,6867,0.88,417.9,28.8,14.5,1080,6877,0.12,2.35,0.00,0.000,6,0.124,0.061,3341,1677,1053,0,0,0,0,0,0
$GC,6953,0.88,417.9,18.7,11.2,1093,6962,0.00,2.40,0.00,0.000,4,0.000,0.067,3352,255,1051,0,0,0,0,0,0
$GC,7045,0.88,417.9,7.1,13.3,1107,7055,0.05,2.33,0.00,0.000,6,0.135,0.050,3333,1668,1050,0,0,0,0,0,0
$STATE,7081,end climb,SURFACE_DEPTH_REACHED
$STATE,7081,begin surface coast
$FINISH,1.2,1.019407
$STATE,7114,end surface coast,CONTROL_FINISHED_OK
$STATE,7114,begin surface
$SM_CCo,7190,0.00,0.000,0,0,1046,420.93
$SM_GC,1.90,8.70,0.00,0.00,0.045,0.000,0.000,63,2172,1046,-9.19,0.08,420.93
$IRIDIUM_FIX,-3422.54,2551.77,170208,222227
$TT8_MAMPS,0.026964
$HUMID,60.23
$INTERNAL_PRESSURE,9.31366
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,380.5,7.7
$24V_AH,23.9,5.158
$10V_AH,10.3,3.442
$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,24.100,163.025,527.700,0.000,0.000,29.952,31.207,282.337,7.500,0.000,48.450,2626.887,663.053,694.126,3542.940,141.160,0.000,1852.575,0.000,2827.834,0.000,49.410,0.000
$DEVICE_MAMPS,296.055,143.055,840.735,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.097,2877.358,1952.316,3110.283,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331588
$DATA_FILE_SIZE,80382,1117
$CAP_FILE_SIZE,144063,0
$CFSIZE,2097086464,2089943040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.436,237.7,1
$GPS,230415,110005,-3431.616,2553.029,27,1.1,27,-28.0