version: 66.07.10.p01
glider: 573
mission: 4
dive: 371
start: 12 22 112 14 0 55
data:
$ID,573
$MISSION,4
$DIVE,371
$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,300
$T_MISSION,325
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-5510.0376
$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,3052
$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,2000
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,29
$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,350
$GPS1,221212,133935,-4148.861,-611.607,37,0.8,37,-22.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-69.5
$GPS2,221212,140035,-4148.982,-611.477,45,0.8,45,-22.2
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4148.982,-556.987
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.247,0.010
$KALMAN_X,-377392.6,44.8,179.0,704612.1,-3258.3
$KALMAN_Y,-227005.3,-227.1,759.8,319635.8,-463.6
$MHEAD_RNG_PITCHd_Wd,112.2,20000,-21.8,-11.111
$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,26,-1.00,-121.6,0.0,0.0,0,111,0.00,0.00,-83.05,0.000,2,0.000,0.000,80,1996,2420,0,0,0,0,0,0
$GC,114,-1.00,-121.6,3.0,-1.5,14,169,10.88,2.38,-35.22,0.000,4,0.232,0.073,2730,589,3359,0,0,0,0,0,0
$GC,233,-0.97,-121.6,10.5,-10.3,33,240,0.05,2.30,0.00,0.000,6,0.171,0.048,2736,1999,3360,0,0,0,0,0,0
$GC,314,-1.00,-121.6,18.6,-9.3,46,321,0.00,0.55,0.00,0.000,4,0.000,0.061,2734,2357,3360,0,0,0,0,0,0
$GC,330,-1.04,-121.6,20.1,-9.6,48,337,0.00,0.57,0.00,0.000,6,0.000,0.057,2734,1992,3361,0,0,0,0,0,0
$GC,411,-1.08,-121.6,28.0,-9.3,61,418,0.10,2.33,0.00,0.000,4,0.099,0.058,2684,592,3360,0,0,0,0,0,0
$GC,500,-1.02,-121.6,38.2,-11.3,76,507,0.12,2.28,0.00,0.000,6,0.155,0.046,2714,2001,3360,0,0,0,0,0,0
$GC,736,-1.02,-121.6,61.2,-9.3,117,742,0.00,2.30,0.00,0.000,4,0.000,0.061,2703,3407,3361,0,0,0,0,0,0
$GC,799,-1.02,-121.6,67.3,-10.1,128,804,0.08,2.22,0.00,0.000,6,0.184,0.049,2721,1999,3361,0,0,0,0,0,0
$GC,1143,-1.06,-121.6,99.4,-9.6,189,1149,0.00,2.30,0.00,0.000,4,0.000,0.058,2722,593,3361,0,0,0,0,0,0
$GC,1238,-1.06,-121.6,109.2,-10.1,195,1244,0.00,2.22,0.00,0.000,6,0.000,0.046,2711,2003,3361,0,0,0,0,0,0
$GC,1559,-1.09,-121.6,139.7,-9.8,216,1563,0.00,2.25,0.00,0.000,4,0.000,0.060,2701,3407,3361,0,0,0,0,0,0
$GC,1606,-1.09,-121.6,144.3,-9.5,219,1610,0.00,2.22,0.00,0.000,6,0.000,0.048,2700,1990,3360,0,0,0,0,0,0
$GC,1930,-1.09,-121.6,174.5,-9.1,240,1934,0.00,2.22,0.00,0.000,4,0.000,0.056,2701,591,3361,0,0,0,0,0,0
$GC,2013,-1.09,-121.6,182.8,-10.0,245,2017,0.00,2.22,0.00,0.000,6,0.000,0.045,2690,2008,3361,0,0,0,0,0,0
$GC,2338,-1.09,-121.6,213.1,-9.1,266,2342,0.00,2.22,0.00,0.000,4,0.000,0.060,2680,3402,3361,0,0,0,0,0,0
$GC,2393,-1.07,-121.6,218.6,-9.9,269,2399,0.10,2.20,0.00,0.000,6,0.175,0.046,2706,1994,3361,0,0,0,0,0,0
$GC,2714,-1.09,-121.6,248.0,-9.4,290,2718,0.00,2.22,0.00,0.000,4,0.000,0.056,2706,590,3361,0,0,0,0,0,0
$GC,2791,-1.09,-121.6,256.2,-9.8,294,2799,0.00,2.25,0.00,0.000,6,0.000,0.045,2695,2002,3361,0,0,0,0,0,0
$GC,3108,-1.09,-121.6,286.4,-9.6,310,3112,0.00,2.25,0.00,0.000,4,0.000,0.055,2695,588,3361,0,0,0,0,0,0
$GC,3197,-1.09,-121.6,295.3,-9.8,314,3201,0.00,2.25,0.00,0.000,6,0.000,0.045,2685,2020,3360,0,0,0,0,0,0
$GC,3524,-1.09,-121.6,326.0,-9.1,330,3529,0.05,1.52,0.00,0.000,4,0.245,0.059,2688,2962,3360,0,0,0,0,0,0
$GC,3557,-1.09,-121.6,329.1,-8.6,331,3561,0.00,1.52,0.00,0.000,6,0.000,0.048,2688,1997,3360,0,0,0,0,0,0
$GC,3881,-1.09,-121.6,359.5,-9.8,347,3885,0.00,1.25,0.00,0.000,4,0.000,0.054,2689,1202,3360,0,0,0,0,0,0
$GC,3965,-1.09,-121.6,368.3,-10.3,350,3973,0.05,1.25,0.00,0.000,6,0.169,0.047,2700,1996,3360,0,0,0,0,0,0
$GC,4283,-1.12,-121.6,396.9,-8.9,366,4287,0.00,2.25,0.00,0.000,4,0.000,0.060,2690,3407,3360,0,0,0,0,0,0
$GC,4351,-1.12,-121.6,403.3,-9.2,369,4356,0.00,2.20,0.00,0.000,6,0.000,0.047,2689,1999,3360,0,0,0,0,0,0
$GC,4681,-1.12,-121.6,432.4,-8.7,380,4685,0.00,2.25,0.00,0.000,4,0.000,0.057,2690,597,3359,0,0,0,0,0,0
$GC,4777,-1.12,-121.6,441.3,-8.8,383,4781,0.00,2.22,0.00,0.000,6,0.000,0.045,2679,2011,3359,0,0,0,0,0,0
$GC,5111,-1.12,-121.6,472.6,-9.5,394,5115,0.00,1.85,0.00,0.000,4,0.000,0.060,2671,3189,3359,0,0,0,0,0,0
$GC,5150,-1.08,-121.6,476.7,-10.4,395,5155,0.12,1.88,0.00,0.000,6,0.168,0.047,2704,1993,3358,0,0,0,0,0,0
$GC,5486,-1.11,-121.6,508.2,-9.5,406,5490,0.00,2.25,0.00,0.000,4,0.000,0.057,2704,596,3358,0,0,0,0,0,0
$GC,5563,-1.11,-121.6,516.3,-10.2,408,5567,0.00,2.22,0.00,0.000,6,0.000,0.046,2694,2004,3358,0,0,0,0,0,0
$GC,5887,-1.11,-121.6,548.8,-10.2,419,5891,0.00,2.22,0.00,0.000,4,0.000,0.060,2684,3404,3357,0,0,0,0,0,0
$GC,5976,-1.11,-121.6,558.1,-10.3,421,5981,0.00,2.20,0.00,0.000,6,0.000,0.047,2684,2000,3357,0,0,0,0,0,0
$GC,6289,-1.11,-121.6,590.4,-10.6,432,6293,0.00,2.28,0.00,0.000,4,0.000,0.058,2684,593,3356,0,0,0,0,0,0
$GC,6367,-1.09,-121.6,599.1,-11.4,434,6371,0.10,2.22,0.00,0.000,6,0.189,0.046,2698,2004,3356,0,0,0,0,0,0
$GC,6692,-1.12,-121.6,631.0,-9.8,445,6696,0.00,2.28,0.00,0.000,4,0.000,0.057,2699,592,3355,0,0,0,0,0,0
$GC,6769,-1.12,-121.6,639.1,-9.8,447,6773,0.00,2.25,0.00,0.000,6,0.000,0.046,2688,2018,3355,0,0,0,0,0,0
$GC,7094,-1.12,-121.6,669.2,-9.0,458,7098,0.00,2.22,0.00,0.000,4,0.000,0.061,2678,3401,3354,0,0,0,0,0,0
$GC,7165,-1.12,-121.6,676.1,-9.4,460,7170,0.00,2.22,0.00,0.000,6,0.000,0.049,2678,1991,3354,0,0,0,0,0,0
$GC,7496,-1.12,-121.6,705.4,-9.0,471,7500,0.00,2.25,0.00,0.000,4,0.000,0.058,2678,595,3353,0,0,0,0,0,0
$GC,7602,-1.10,-121.6,715.7,-9.1,474,7607,0.12,2.22,0.00,0.000,6,0.182,0.046,2700,2001,3353,0,0,0,0,0,0
$GC,7926,-1.13,-121.6,744.9,-9.2,485,7930,0.00,2.28,0.00,0.000,4,0.000,0.058,2700,603,3352,0,0,0,0,0,0
$GC,7998,-1.13,-121.6,752.1,-10.4,487,8002,0.00,2.22,0.00,0.000,6,0.000,0.047,2690,2008,3352,0,0,0,0,0,0
$GC,8328,-1.13,-121.6,786.4,-10.8,498,8332,0.00,2.25,0.00,0.000,4,0.000,0.063,2679,3409,3352,0,0,0,0,0,0
$GC,8371,-1.13,-121.6,791.5,-11.6,499,8376,0.00,2.25,0.00,0.000,6,0.000,0.050,2679,2002,3351,0,0,0,0,0,0
$GC,8696,-1.13,-121.6,827.5,-11.2,510,8700,0.00,2.30,0.00,0.000,4,0.000,0.060,2680,587,3350,0,0,0,0,0,0
$GC,8801,-1.11,-121.6,840.2,-12.5,513,8806,0.10,2.25,0.00,0.000,6,0.192,0.048,2694,2004,3350,0,0,0,0,0,0
$GC,9131,-1.11,-121.6,874.8,-10.0,524,9134,0.00,1.92,0.00,0.000,4,0.000,0.061,2685,3213,3349,0,0,0,0,0,0
$GC,9169,-1.11,-121.6,878.7,-9.6,525,9173,0.00,1.92,0.00,0.000,6,0.000,0.050,2685,1992,3349,0,0,0,0,0,0
$GC,9505,-1.11,-121.6,907.7,-8.2,536,9509,0.00,2.30,0.00,0.000,4,0.000,0.064,2674,3402,3348,0,0,0,0,0,0
$GC,9582,-1.11,-121.6,914.2,-8.2,538,9587,0.08,2.25,0.00,0.000,6,0.197,0.050,2691,1988,3348,0,0,0,0,0,0
$STATE,9782,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9782,begin apogee
$GC,9787,-0.23,0.0,929.6,7.6,545,9892,0.90,0.00,102.12,1.214,6,0.129,0.000,2971,1624,2862,0,0,0,0,0,0
$STATE,9893,end apogee,CONTROL_FINISHED_OK
$STATE,9893,begin climb
$GC,9895,1.00,121.6,933.0,0.0,548,10011,1.15,1.85,106.07,1.184,4,0.066,0.058,3384,611,2366,0,0,0,0,0,0
$GC,10095,0.90,171.5,927.9,8.1,554,10147,0.12,1.73,45.55,1.151,6,0.164,0.044,3349,1632,2161,0,0,0,0,0,0
$GC,10453,0.90,220.1,898.6,8.1,566,10502,0.00,2.47,42.85,1.151,4,0.000,0.063,3360,224,1964,0,0,0,0,0,0
$GC,10576,0.90,256.5,887.8,8.9,569,10616,0.05,2.33,33.17,1.129,6,0.223,0.045,3348,1631,1816,0,0,0,0,0,0
$GC,10952,0.97,295.6,854.9,8.7,582,10992,0.00,2.33,35.15,1.133,4,0.000,0.057,3347,3037,1654,0,0,0,0,0,0
$GC,11065,1.04,317.6,844.1,9.8,585,11091,0.08,2.30,20.40,1.091,6,0.122,0.051,3390,1637,1567,0,0,0,0,0,0
$GC,11410,1.09,333.7,808.4,10.1,597,11430,0.00,2.28,15.35,1.069,4,0.000,0.059,3390,3010,1500,0,0,0,0,0,0
$GC,11463,1.09,350.9,802.9,10.1,598,11485,0.00,2.28,17.05,1.052,6,0.000,0.053,3400,1628,1431,0,0,0,0,0,0
$GC,11805,1.14,382.6,770.6,9.2,610,11840,0.00,2.38,29.30,1.086,4,0.000,0.067,3411,238,1301,0,0,0,0,0,0
$GC,11891,1.17,394.2,762.1,10.4,612,11910,0.00,2.28,11.68,0.979,6,0.000,0.047,3411,1631,1254,0,0,0,0,0,0
$GC,12242,1.23,410.4,726.7,10.1,624,12262,0.10,0.68,15.60,1.020,4,0.101,0.048,3462,2069,1187,0,0,0,0,0,0
$GC,12275,1.20,411.2,722.8,11.1,625,12279,0.08,0.70,0.00,0.000,6,0.161,0.057,3440,1635,1187,0,0,0,0,0,0
$GC,12615,1.24,411.2,684.6,11.3,636,12619,0.00,0.85,0.00,0.000,4,0.000,0.054,3440,2169,1183,0,0,0,0,0,0
$GC,12637,1.26,411.2,682.0,12.1,636,12641,0.00,0.88,0.00,0.000,6,0.000,0.057,3443,1623,1183,0,0,0,0,0,0
$GC,12955,1.31,411.2,643.6,12.2,647,12960,0.08,2.33,0.00,0.000,4,0.125,0.061,3478,3037,1182,0,0,0,0,0,0
$GC,12999,1.25,411.2,637.5,13.2,648,13004,0.12,2.25,0.00,0.000,6,0.188,0.052,3457,1629,1181,0,0,0,0,0,0
$GC,13323,1.28,411.2,595.4,13.1,659,13327,0.00,0.60,0.00,0.000,4,0.000,0.056,3457,2018,1181,0,0,0,0,0,0
$GC,13344,1.28,411.2,592.3,13.7,659,13348,0.00,0.65,0.00,0.000,6,0.000,0.060,3460,1622,1181,0,0,0,0,0,0
$GC,13663,1.30,411.2,549.3,13.8,670,13667,0.00,2.28,0.00,0.000,4,0.000,0.060,3459,3031,1180,0,0,0,0,0,0
$GC,13735,1.28,411.2,538.6,13.5,672,13739,0.00,2.25,0.00,0.000,6,0.000,0.051,3470,1622,1180,0,0,0,0,0,0
$GC,14070,1.28,411.2,491.1,14.1,683,14075,0.00,2.30,0.00,0.000,4,0.000,0.065,3481,214,1180,0,0,0,0,0,0
$GC,14114,1.22,411.2,484.3,15.2,684,14119,0.12,2.25,0.00,0.000,6,0.182,0.046,3449,1632,1179,0,0,0,0,0,0
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$GC,15162,1.29,411.2,350.8,13.0,724,15166,0.00,2.20,0.00,0.000,4,0.000,0.059,3465,3031,1179,0,0,0,0,0,0
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$STATE,17947,end climb,SURFACE_DEPTH_REACHED
$STATE,17947,begin surface coast
$FINISH,2.0,1.013384
$STATE,17979,end surface coast,CONTROL_FINISHED_OK
$STATE,17979,begin surface
$SM_CCo,18056,0.00,0.000,0,0,1039,447.17
$SM_GC,2.87,8.95,0.00,0.00,0.039,0.000,0.000,85,1997,1039,-9.19,-0.08,447.17
$IRIDIUM_FIX,-4135.14,-610.52,221212,131304
$TT8_MAMPS,0.026964
$HUMID,47.44
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.00
$XPDR_PINGS,2
$24V_AH,22.8,59.650
$10V_AH,9.9,51.618
$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,24.025,190.250,493.675,0.000,0.000,81.028,143.059,679.361,0.500,0.000,47.772,2513.000,12050.711,573.359,3918.723,253.123,0.000,1896.591,0.000,2882.632,0.000,1.008,0.000
$DEVICE_MAMPS,244.800,72.675,1214.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.258,1172.841,646.414,86.759,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354500
$DATA_FILE_SIZE,60413,984
$CAP_FILE_SIZE,199429,0
$CFSIZE,2097086464,2045214720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221212,190305,-4149.355,-610.922,39,0.8,39,-22.2