version: 66.07.10.p01
glider: 573
mission: 4
dive: 46
start: 10 5 112 12 35 45
data:
$ID,573
$MISSION,4
$DIVE,46
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$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,450
$T_MISSION,520
$T_ABORT,720
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-4109.0308
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1863
$C_ROLL_CLIMB,1664
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,-87.947678
$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,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$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,20
$GC_LAST_COLLECTION,25
$GPS1,051012,122745,-4248.911,-935.330,41,2.3,60,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-72.8
$GPS2,051012,123451,-4248.947,-935.305,15,2.2,34,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,0.001
$KALMAN_X,-28412.2,76.8,1232.9,62886.1,-6392.4
$KALMAN_Y,-37860.3,-72.0,370.7,20561.2,-5761.9
$MHEAD_RNG_PITCHd_Wd,111.2,28136,-15.4,-7.407
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,82,0.00,0.00,-55.10,0.000,2,0.000,0.000,92,1866,2918,0,0,0,0,0,0
$GC,84,-0.71,-121.6,3.1,-1.6,9,116,11.57,2.28,-11.98,0.000,4,0.269,0.075,2776,3265,3360,0,0,0,0,0,0
$GC,380,-0.60,-121.6,42.4,-13.2,59,386,0.17,2.20,0.00,0.000,6,0.166,0.044,2824,1849,3362,0,0,0,0,0,0
$GC,617,-0.54,-121.6,69.2,-11.3,100,622,0.08,0.90,0.00,0.000,4,0.211,0.054,2838,2422,3362,0,0,0,0,0,0
$GC,765,-0.52,-121.6,84.5,-10.0,126,772,0.00,0.88,0.00,0.000,6,0.000,0.048,2838,1852,3362,0,0,0,0,0,0
$GC,1108,-0.49,-121.6,118.1,-9.9,171,1112,0.10,0.98,0.00,0.000,4,0.181,0.054,2860,2472,3362,0,0,0,0,0,0
$GC,1245,-0.49,-121.6,129.8,-8.5,183,1248,0.00,0.93,0.00,0.000,6,0.000,0.047,2860,1866,3362,0,0,0,0,0,0
$GC,1576,-0.49,-121.6,157.6,-8.2,214,1579,0.00,0.45,0.00,0.000,4,0.000,0.055,2858,2176,3362,0,0,0,0,0,0
$GC,1748,-0.49,-121.6,170.4,-6.6,229,1751,0.00,0.45,0.00,0.000,6,0.000,0.054,2858,1866,3362,0,0,0,0,0,0
$GC,2079,-0.49,-121.6,196.1,-7.8,260,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1866,3362,0,0,0,0,0,0
$GC,2398,-0.49,-121.6,223.9,-9.2,290,2401,0.00,0.25,0.00,0.000,4,0.000,0.065,2857,2049,3363,0,0,0,0,0,0
$GC,2537,-0.49,-121.6,236.8,-8.5,302,2539,0.00,0.28,0.00,0.000,6,0.000,0.060,2857,1859,3362,0,0,0,0,0,0
$GC,2856,-0.49,-121.6,261.7,-7.4,325,2859,0.00,0.65,0.00,0.000,4,0.000,0.054,2854,2295,3363,0,0,0,0,0,0
$GC,2983,-0.49,-121.6,271.6,-7.9,330,2990,0.00,0.68,0.00,0.000,6,0.000,0.048,2854,1850,3363,0,0,0,0,0,0
$GC,3299,-0.49,-121.6,295.3,-7.5,346,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1851,3363,0,0,0,0,0,0
$GC,3610,-0.49,-121.6,319.0,-7.8,361,3613,0.00,0.77,0.00,0.000,4,0.000,0.053,2850,2362,3363,0,0,0,0,0,0
$GC,3760,-0.49,-121.6,331.2,-8.0,367,3766,0.00,0.77,0.00,0.000,6,0.000,0.047,2850,1855,3363,0,0,0,0,0,0
$GC,4078,-0.49,-121.6,357.4,-8.3,383,4081,0.00,0.75,0.00,0.000,4,0.000,0.054,2847,2350,3363,0,0,0,0,0,0
$GC,4191,-0.49,-121.6,367.4,-8.4,388,4195,0.03,0.73,0.00,0.000,6,0.164,0.049,2857,1864,3363,0,0,0,0,0,0
$GC,4522,-0.49,-121.6,395.5,-8.5,404,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1865,3363,0,0,0,0,0,0
$GC,4833,-0.49,-121.6,422.4,-8.8,419,4837,0.00,0.25,0.00,0.000,4,0.000,0.066,2856,2049,3363,0,0,0,0,0,0
$GC,5074,-0.49,-121.6,444.0,-8.4,429,5076,0.00,0.28,0.00,0.000,6,0.000,0.061,2856,1859,3362,0,0,0,0,0,0
$GC,5385,-0.49,-121.6,469.6,-8.0,444,5389,0.00,0.73,0.00,0.000,4,0.000,0.054,2853,2340,3362,0,0,0,0,0,0
$GC,5491,-0.49,-121.6,478.3,-8.2,448,5499,0.00,0.73,0.00,0.000,6,0.000,0.050,2853,1864,3362,0,0,0,0,0,0
$GC,5826,-0.49,-121.6,505.7,-8.3,464,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1864,3361,0,0,0,0,0,0
$GC,6132,-0.49,-121.6,531.6,-8.5,474,6136,0.00,0.50,0.00,0.000,4,0.000,0.057,2851,2202,3361,0,0,0,0,0,0
$GC,6254,-0.49,-121.6,542.5,-8.9,477,6258,0.00,0.52,0.00,0.000,6,0.000,0.054,2850,1856,3360,0,0,0,0,0,0
$GC,6572,-0.49,-121.6,570.3,-8.9,488,6575,0.00,0.45,0.00,0.000,4,0.000,0.057,2849,2165,3360,0,0,0,0,0,0
$GC,6710,-0.49,-121.6,582.6,-8.3,492,6714,0.00,0.45,0.00,0.000,6,0.000,0.055,2849,1862,3359,0,0,0,0,0,0
$GC,7045,-0.49,-121.6,610.2,-8.0,503,7048,0.00,0.57,0.00,0.000,4,0.000,0.056,2846,2248,3359,0,0,0,0,0,0
$GC,7155,-0.49,-121.6,619.2,-8.4,506,7160,0.05,0.60,0.00,0.000,6,0.215,0.053,2859,1854,3359,0,0,0,0,0,0
$GC,7484,-0.51,-121.6,643.7,-7.5,517,7488,0.00,0.57,0.00,0.000,4,0.000,0.057,2856,2247,3359,0,0,0,0,0,0
$GC,7629,-0.54,-121.6,654.7,-7.9,521,7633,0.00,0.60,0.00,0.000,6,0.000,0.053,2857,1855,3358,0,0,0,0,0,0
$GC,7958,-0.56,-121.6,680.1,-7.6,532,7962,0.00,0.60,0.00,0.000,4,0.000,0.056,2854,2252,3357,0,0,0,0,0,0
$GC,8133,-0.59,-121.6,693.1,-7.1,537,8137,0.05,0.57,0.00,0.000,6,0.076,0.054,2816,1866,3357,0,0,0,0,0,0
$GC,8467,-0.55,-121.6,722.4,-8.7,548,8471,0.10,1.20,0.00,0.000,4,0.184,0.058,2836,2626,3357,0,0,0,0,0,0
$GC,8583,-0.55,-121.6,731.2,-7.2,551,8587,0.00,1.17,0.00,0.000,6,0.000,0.048,2836,1865,3357,0,0,0,0,0,0
$GC,8906,-0.55,-121.6,756.6,-8.2,562,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1865,3356,0,0,0,0,0,0
$GC,9213,-0.55,-121.6,781.8,-8.2,572,9216,0.00,1.40,0.00,0.000,4,0.000,0.058,2830,2752,3356,0,0,0,0,0,0
$GC,9347,-0.55,-121.6,792.8,-7.7,576,9351,0.00,1.38,0.00,0.000,6,0.000,0.048,2830,1860,3355,0,0,0,0,0,0
$GC,9687,-0.55,-121.6,822.1,-8.9,587,9690,0.00,0.95,0.00,0.000,4,0.000,0.057,2826,2469,3355,0,0,0,0,0,0
$GC,9780,-0.55,-121.6,830.1,-8.5,589,9787,0.05,0.95,0.00,0.000,6,0.214,0.050,2838,1856,3354,0,0,0,0,0,0
$GC,10093,-0.55,-121.6,854.3,-7.8,600,10096,0.00,1.12,0.00,0.000,4,0.000,0.057,2833,2573,3355,0,0,0,0,0,0
$GC,10237,-0.55,-121.6,866.2,-8.2,604,10242,0.00,1.12,0.00,0.000,6,0.000,0.048,2833,1850,3354,0,0,0,0,0,0
$GC,10567,-0.55,-121.6,893.1,-8.0,615,10570,0.00,1.12,0.00,0.000,4,0.000,0.057,2828,2568,3354,0,0,0,0,0,0
$GC,10671,-0.55,-121.6,901.8,-7.6,618,10676,0.00,1.10,0.00,0.000,6,0.000,0.046,2828,1856,3354,0,0,0,0,0,0
$GC,11007,-0.55,-121.6,928.5,-8.1,629,11010,0.00,0.68,0.00,0.000,4,0.000,0.057,2825,2302,3353,0,0,0,0,0,0
$GC,11142,-0.55,-121.6,939.2,-7.1,633,11146,0.00,0.65,0.00,0.000,6,0.000,0.053,2825,1867,3353,0,0,0,0,0,0
$GC,11482,-0.55,-121.6,966.4,-7.7,644,11483,0.08,0.00,0.00,0.000,6,0.202,0.000,2842,1867,3353,0,0,0,0,0,0
$GC,11788,-0.55,-121.6,989.2,-7.5,654,11791,0.00,0.40,0.00,0.000,4,0.000,0.061,2841,2153,3353,0,0,0,0,0,0
$GC,11923,-0.55,-121.6,999.3,-7.2,658,11927,0.00,0.43,0.00,0.000,6,0.000,0.058,2840,1862,3353,0,0,0,0,0,0
$STATE,11931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11932,begin apogee
$GC,11935,-0.23,0.0,1000.3,7.2,658,12039,0.30,0.00,100.57,1.333,6,0.139,0.000,2941,1662,2861,0,0,0,0,0,0
$STATE,12040,end apogee,CONTROL_FINISHED_OK
$STATE,12040,begin climb
$GC,12041,0.71,121.6,1003.5,0.0,661,12151,0.93,0.00,104.18,1.291,6,0.103,0.000,3241,1661,2366,0,0,0,0,0,0
$GC,12469,0.71,165.0,983.6,5.6,675,12509,0.00,0.00,38.25,1.265,6,0.000,0.000,3241,1661,2189,0,0,0,0,0,0
$GC,12806,0.73,191.7,962.4,6.3,686,12835,0.00,0.00,24.23,1.240,6,0.000,0.000,3241,1661,2080,0,0,0,0,0,0
$GC,13142,0.77,234.4,942.9,5.7,697,13187,0.08,0.45,38.80,1.259,4,0.126,0.065,3277,1395,1906,0,0,0,0,0,0
$GC,13281,0.77,234.4,932.9,7.4,701,13283,0.00,0.45,0.00,0.000,6,0.000,0.056,3277,1670,1901,0,0,0,0,0,0
$GC,13606,0.77,234.4,908.5,7.5,712,13609,0.00,0.65,0.00,0.000,4,0.000,0.061,3279,1264,1899,0,0,0,0,0,0
$GC,13722,0.77,234.4,899.8,8.1,715,13726,0.00,0.65,0.00,0.000,6,0.000,0.052,3279,1668,1898,0,0,0,0,0,0
$GC,14045,0.77,234.4,875.5,7.6,726,14046,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1667,1898,0,0,0,0,0,0
$GC,14352,0.77,245.5,853.8,7.0,736,14363,0.00,0.00,9.62,1.087,6,0.000,0.000,3279,1668,1861,0,0,0,0,0,0
$GC,14658,0.77,251.9,832.7,7.1,746,14667,0.00,0.00,7.20,1.002,6,0.000,0.000,3279,1667,1835,0,0,0,0,0,0
$GC,14964,0.79,251.9,809.8,7.7,756,14968,0.00,0.62,0.00,0.000,4,0.000,0.061,3282,1266,1834,0,0,0,0,0,0
$GC,15058,0.82,251.9,802.1,8.8,758,15064,0.00,0.65,0.00,0.000,6,0.000,0.051,3282,1674,1834,0,0,0,0,0,0
$GC,15371,0.82,251.9,775.7,8.6,769,15372,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1674,1833,0,0,0,0,0,0
$GC,15677,0.82,251.9,748.1,9.1,779,15681,0.00,0.30,0.00,0.000,4,0.000,0.069,3283,1465,1832,0,0,0,0,0,0
$GC,15821,0.84,251.9,734.1,10.5,783,15825,0.00,0.32,0.00,0.000,6,0.000,0.061,3283,1674,1832,0,0,0,0,0,0
$GC,16151,0.86,251.9,700.7,10.4,794,16154,0.00,0.47,0.00,0.000,4,0.000,0.065,3285,1368,1832,0,0,0,0,0,0
$GC,16261,0.86,251.9,688.7,10.2,797,16263,0.00,0.47,0.00,0.000,6,0.000,0.058,3285,1670,1832,0,0,0,0,0,0
$GC,16587,0.88,251.9,654.5,10.3,808,16590,0.00,0.47,0.00,0.000,4,0.000,0.063,3287,1361,1832,0,0,0,0,0,0
$GC,16697,0.88,251.9,643.0,9.5,811,16699,0.00,0.47,0.00,0.000,6,0.000,0.057,3287,1663,1832,0,0,0,0,0,0
$GC,17022,0.88,251.9,611.7,9.3,822,17026,0.00,0.52,0.00,0.000,4,0.000,0.064,3290,1323,1832,0,0,0,0,0,0
$GC,17138,0.88,251.9,601.1,8.4,825,17142,0.00,0.55,0.00,0.000,6,0.000,0.056,3290,1674,1833,0,0,0,0,0,0
$GC,17462,0.88,251.9,572.7,8.1,836,17465,0.00,0.75,0.00,0.000,4,0.000,0.062,3293,1199,1832,0,0,0,0,0,0
$GC,17555,0.88,251.9,565.1,8.2,838,17561,0.00,0.75,0.00,0.000,6,0.000,0.052,3293,1674,1832,0,0,0,0,0,0
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$GC,23003,0.88,251.9,51.7,9.1,1229,23008,0.00,0.28,0.00,0.000,6,0.000,0.064,3316,1674,1833,0,0,0,0,0,0
$GC,23237,0.88,251.9,30.6,9.7,1270,23244,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1674,1834,0,0,0,0,0,0
$GC,23480,0.88,251.9,6.4,10.6,1311,23487,0.00,0.32,0.00,0.000,4,0.000,0.065,3317,1452,1834,0,0,0,0,0,0
$STATE,23518,end climb,SURFACE_DEPTH_REACHED
$STATE,23518,begin surface coast
$FINISH,1.8,1.026677
$STATE,23531,end surface coast,CONTROL_FINISHED_OK
$STATE,23531,begin surface
$SM_CCo,23606,0.00,0.000,0,0,1830,252.90
$SM_GC,2.45,8.45,0.00,0.00,0.044,0.000,0.000,86,1867,1830,-9.11,0.11,252.90
$IRIDIUM_FIX,-4233.25,-934.98,051012,050548
$TT8_MAMPS,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.6,11.833
$10V_AH,10.3,10.598
$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
$DEVICE_SECS,22.025,55.050,322.850,0.000,0.000,27.160,41.966,225.195,0.000,0.000,37.772,3437.775,15780.992,423.136,4258.236,123.667,33.346,1947.338,0.000,3876.554,0.000,1.006,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.310,1580.126,868.767,114.837,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354128
$DATA_FILE_SIZE,77022,1319
$CAP_FILE_SIZE,198432,0
$CFSIZE,2097086464,2087911424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051012,191023,-4251.264,-933.444,40,0.8,40,-21.4