version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 474
start: 10 1 115 17 53 21
data:
$ID,574
$MISSION,20
$DIVE,474
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,363
$T_MISSION,395
$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,0
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53162
$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,446.92932
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2398326.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2124
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$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,96.25
$MINV_24V,19
$MINV_10V,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.130039
$PRESSURE_SLOPE,0.0001171049
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,165
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,221116,073427,-4603.105,601.257,37,0.9,37,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-72.9
$GPS2,221116,074248,-4603.063,601.340,4,1.0,4,-24.1
$SPEED_LIMITS,0.300,0.310
$TGT_NAME,SOUTH
$TGT_LATLONG,-4620.000,470.000
$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,236.8,72759,-13.1,-9.183,-16.48,3878
$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,16,-0.40,-87.6,131,2104,494,435,0.0,0.0,0,63,0.00,0.00,-45.20,0.000,16386,0.000,0.000,131,2103,1598,1600,1596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.40,-87.6,131,2104,1601,1597,3.2,-0.9,5,131,11.05,2.47,-47.40,0.000,19204,0.249,0.076,2695,3541,2680,2697,2663,0,0,0,0,0,0,24.70,25.27,26.05
$GC,212,-0.40,-87.6,2695,3541,2697,2664,11.0,-10.5,23,221,0.00,2.35,0.00,0.000,1030,0.000,0.053,2695,2136,2680,2697,2664,0,0,0,0,0,0,28.83,25.33,28.83
$GC,281,-0.40,-87.6,2695,2132,2699,2664,20.0,-14.5,32,290,0.00,2.38,0.00,0.000,516,0.000,0.053,2695,709,2681,2699,2664,0,0,0,0,0,0,28.83,25.35,28.83
$GC,300,-0.40,-87.6,2694,709,2699,2664,23.0,-14.8,34,311,0.00,2.38,0.00,0.000,1030,0.000,0.053,2685,2124,2681,2699,2664,0,0,0,0,0,0,28.83,25.37,28.83
$GC,467,-0.40,-87.6,2685,2124,2700,2664,48.0,-15.7,59,474,0.12,2.33,0.00,0.000,2308,0.237,0.059,2708,3542,2681,2699,2664,0,0,0,0,0,0,25.32,25.34,28.83
$GC,531,-0.40,-87.6,2708,3541,2698,2665,56.3,-10.8,70,539,0.00,2.30,0.00,0.000,1030,0.000,0.050,2708,2118,2681,2698,2664,0,0,0,0,0,0,28.83,25.45,28.83
$GC,872,-0.40,-87.6,2708,2114,2700,2664,97.9,-12.8,131,878,0.00,2.30,0.00,0.000,516,0.000,0.053,2708,700,2682,2700,2664,0,0,0,0,0,0,28.83,25.48,28.83
$GC,898,-0.40,-87.6,2708,699,2700,2665,101.2,-13.1,135,907,0.00,2.33,0.00,0.000,1030,0.000,0.053,2698,2125,2682,2700,2664,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1208,-0.40,-87.6,2698,2125,2701,2665,141.4,-12.9,166,1217,0.00,2.30,0.00,0.000,260,0.000,0.061,2688,3538,2682,2700,2665,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1269,-0.40,-87.6,2687,3538,2699,2665,149.1,-11.6,172,1278,0.00,2.30,0.00,0.000,1030,0.000,0.054,2687,2117,2682,2699,2665,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1581,-0.40,-87.6,2687,2113,2700,2665,189.2,-12.7,203,1590,0.00,2.28,0.00,0.000,516,0.000,0.056,2687,711,2682,2700,2665,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1602,-0.40,-87.6,2687,710,2701,2665,192.1,-12.4,205,1612,0.15,2.33,0.00,0.000,3078,0.217,0.054,2713,2127,2683,2701,2665,0,0,0,0,0,0,25.05,25.54,28.83
$GC,1923,-0.40,-87.6,2712,2126,2700,2666,223.5,-9.3,225,1929,0.00,2.28,0.00,0.000,260,0.000,0.060,2704,3542,2683,2701,2665,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1976,-0.40,-87.6,2703,3541,2700,2665,227.1,-9.1,227,1982,0.00,2.28,0.00,0.000,1030,0.000,0.050,2703,2123,2682,2700,2665,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2782,-0.40,-87.6,2703,2120,2700,2665,302.7,-9.5,268,2788,0.00,2.33,0.00,0.000,260,0.000,0.061,2693,3545,2682,2700,2665,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2811,-0.40,-87.6,2693,3545,2700,2664,304.6,-9.6,269,2815,0.00,2.30,0.00,0.000,1030,0.000,0.052,2693,2115,2682,2700,2664,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3617,-0.40,-87.6,2693,2113,2701,2664,392.3,-10.7,309,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2113,2682,2700,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4418,-0.40,-87.6,2693,2112,2700,2664,468.5,-8.8,349,4423,0.00,2.33,0.00,0.000,260,0.000,0.063,2683,3531,2681,2700,2663,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4438,-0.40,-87.6,2682,3531,2699,2662,470.2,-8.8,350,4444,0.12,2.28,0.00,0.000,3078,0.204,0.054,2712,2122,2680,2699,2662,0,0,0,0,0,0,25.24,25.60,28.83
$GC,5258,-0.40,-87.6,2712,2119,2699,2662,529.1,-7.6,391,5264,0.00,2.28,0.00,0.000,516,0.000,0.057,2713,712,2681,2700,2662,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5286,-0.40,-87.6,2713,712,2700,2662,530.7,-7.7,392,5290,0.00,2.30,0.00,0.000,1030,0.000,0.052,2704,2131,2681,2700,2662,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6092,-0.40,-87.6,2704,2130,2700,2661,602.7,-9.7,432,6098,0.00,2.30,0.00,0.000,260,0.000,0.063,2693,3542,2680,2700,2660,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6185,-0.40,-87.6,2693,3542,2700,2660,610.5,-9.7,436,6192,0.00,2.30,0.00,0.000,1030,0.000,0.054,2693,2118,2679,2699,2660,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6994,-0.40,-87.6,2693,2116,2700,2660,697.8,-10.4,477,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2116,2680,2700,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7793,-0.40,-87.6,2693,2115,2700,2659,773.7,-8.6,517,7798,0.00,2.33,0.00,0.000,260,0.000,0.063,2683,3531,2679,2700,2659,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7816,-0.40,-87.6,2682,3531,2699,2659,775.3,-8.6,518,7821,0.12,2.28,0.00,0.000,3078,0.200,0.055,2712,2124,2679,2700,2659,0,0,0,0,0,0,25.20,25.55,28.83
$GC,8629,-0.40,-87.6,2712,2121,2700,2659,825.4,-6.0,559,8634,0.00,2.30,0.00,0.000,516,0.000,0.057,2713,708,2680,2701,2659,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8681,-0.40,-87.6,2713,708,2700,2659,828.0,-6.2,561,8688,0.00,2.33,0.00,0.000,1030,0.000,0.054,2704,2133,2680,2701,2659,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9488,-0.40,-87.6,2704,2132,2701,2659,887.3,-7.6,602,9494,0.00,2.30,0.00,0.000,260,0.000,0.063,2693,3545,2679,2700,2659,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9589,-0.40,-87.6,2693,3545,2699,2658,895.0,-7.7,607,9595,0.00,2.28,0.00,0.000,1030,0.000,0.054,2693,2125,2678,2699,2658,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10410,-0.40,-87.6,2693,2122,2700,2659,960.5,-8.4,648,10415,0.00,2.30,0.00,0.000,516,0.000,0.060,2693,714,2679,2700,2659,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10476,-0.40,-87.6,2693,714,2701,2659,965.9,-8.8,651,10481,0.12,2.30,0.00,0.000,3078,0.212,0.055,2712,2124,2679,2701,2658,0,0,0,0,0,0,25.11,25.50,28.83
$STATE,10961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10962,begin apogee
$GC,10966,0.00,0.0,2712,2124,2700,2658,1000.8,-7.0,675,11046,0.43,0.00,76.30,1.330,10246,0.187,0.000,2839,2124,2322,2359,2285,0,0,0,0,0,0,24.71,28.83,23.16
$STATE,11047,end apogee,CONTROL_FINISHED_OK
$STATE,11047,begin climb
$GC,11049,0.40,87.6,2839,2123,2359,2284,1002.8,0.0,679,11138,0.38,2.55,81.78,1.321,10756,0.086,0.046,2993,682,1964,2018,1910,0,0,0,0,0,0,24.63,23.72,22.39
$GC,11265,0.40,87.6,2993,682,2011,1905,984.1,13.4,689,11269,0.00,2.38,0.00,0.000,1030,0.000,0.043,2993,2105,1958,2012,1905,0,0,0,0,0,0,28.83,24.77,28.83
$GC,12077,0.40,87.6,2993,2105,2008,1899,874.1,13.2,730,12082,0.00,2.30,0.00,0.000,516,0.000,0.047,3002,676,1953,2008,1899,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12178,0.40,87.6,3003,675,2006,1898,860.3,14.0,735,12184,0.00,2.25,0.00,0.000,1030,0.000,0.044,3003,2091,1952,2006,1898,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12997,0.40,87.6,3003,2094,2006,1896,741.6,14.0,776,13002,0.00,2.28,0.00,0.000,516,0.000,0.047,3013,674,1951,2006,1896,0,0,0,0,0,0,28.83,25.69,28.83
$GC,13080,0.40,87.6,3013,674,2003,1896,730.5,13.8,780,13085,0.15,2.28,0.00,0.000,5126,0.244,0.044,2982,2096,1950,2003,1897,0,0,0,0,0,0,25.08,25.74,28.83
$GC,13892,0.40,87.6,2981,2097,2004,1896,633.4,11.9,821,13898,0.00,2.25,0.00,0.000,260,0.000,0.053,2981,3513,1950,2004,1896,0,0,0,0,0,0,28.83,25.67,28.83
$GC,13952,0.40,87.6,2981,3512,2002,1897,625.7,12.7,824,13958,0.00,2.28,0.00,0.000,1030,0.000,0.044,2990,2082,1949,2002,1897,0,0,0,0,0,0,28.83,25.75,28.83
$GC,14774,0.40,87.6,2990,2082,2002,1896,522.6,12.4,865,14779,0.00,2.20,0.00,0.000,516,0.000,0.049,3001,688,1949,2002,1896,0,0,0,0,0,0,28.83,25.70,28.83
$GC,14941,0.40,87.6,3001,688,2001,1895,502.2,12.8,873,14945,0.00,2.25,0.00,0.000,1030,0.000,0.044,3001,2101,1948,2001,1896,0,0,0,0,0,0,28.83,25.76,28.83
$GC,15748,0.40,87.6,3001,2101,2002,1895,406.3,11.2,913,15753,0.00,2.22,0.00,0.000,260,0.000,0.052,3002,3506,1948,2002,1895,0,0,0,0,0,0,28.83,25.67,28.83
$GC,15776,0.40,87.6,3001,3506,2001,1896,404.0,11.2,914,15781,0.15,2.22,0.00,0.000,5126,0.244,0.044,2979,2094,1948,2001,1896,0,0,0,0,0,0,25.08,25.75,28.83
$GC,16583,0.40,87.6,2979,2091,2001,1896,322.5,9.3,954,16588,0.00,2.25,0.00,0.000,516,0.000,0.047,2988,678,1948,2001,1895,0,0,0,0,0,0,28.83,25.70,28.83
$GC,16707,0.40,87.6,2988,678,2000,1895,310.9,9.5,960,16711,0.00,2.28,0.00,0.000,1030,0.000,0.045,2988,2105,1947,2000,1895,0,0,0,0,0,0,28.83,25.74,28.83
$GC,17519,0.47,148.6,2988,2105,2001,1895,245.7,7.6,1001,17578,0.00,2.35,49.40,0.864,8452,0.000,0.051,2989,3512,1715,1789,1642,0,0,0,0,0,0,28.83,25.37,24.20
$GC,17583,0.50,169.9,2989,3511,1789,1642,240.5,8.6,1004,17609,0.00,2.28,19.98,0.830,9222,0.000,0.044,2999,2097,1628,1710,1546,0,0,0,0,0,0,28.83,25.37,24.01
$GC,18416,0.50,169.9,2999,2097,1703,1539,132.6,13.2,1071,18425,0.00,2.28,0.00,0.000,516,0.000,0.049,3010,687,1620,1701,1539,0,0,0,0,0,0,28.83,25.56,28.83
$GC,18552,0.50,169.9,3009,687,1694,1539,115.3,13.7,1084,18558,0.00,2.28,0.00,0.000,1030,0.000,0.042,3010,2107,1617,1696,1539,0,0,0,0,0,0,28.83,25.65,28.83
$GC,18879,0.50,169.9,3009,2111,1696,1539,68.3,13.2,1135,18886,0.00,2.30,0.00,0.000,516,0.000,0.047,3020,681,1618,1697,1539,0,0,0,0,0,0,28.83,25.63,28.83
$GC,18904,0.50,169.9,3020,681,1695,1539,64.5,14.1,1139,18910,0.00,2.25,0.00,0.000,1030,0.000,0.041,3020,2097,1617,1695,1539,0,0,0,0,0,0,28.83,25.70,28.83
$GC,19290,0.50,169.9,3020,2103,1696,1539,11.0,12.5,1200,19300,0.00,2.28,0.00,0.000,260,0.000,0.051,3020,3502,1617,1696,1539,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,19343,end climb,SURFACE_DEPTH_REACHED
$STATE,19343,begin surface coast
$FINISH,2.2,1.022945
$STATE,19367,end surface coast,CONTROL_FINISHED_OK
$STATE,19367,begin surface
$SM_CCo,19386,132.45,0.055,0,0,499,446.93
$SM_GC,2.83,7.75,2.22,132.45,0.041,0.039,0.055,128,2118,499,-8.42,0.74,446.93,0,0,0,0,0,0,25.69,25.80,25.60
$IRIDIUM_FIX,-4548.76,600.87,180909,151540
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.31
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,22.4,49.716
$10V_AH,9.6,64.087
$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,20.550,119.575,227.450,132.450,0.000,29.230,41.232,312.374,0.000,0.000,7.773,3102.833,13325.871,490.460,2916.211,203.299,0.000,1638.761,0.000,2486.552,0.000,0.988,0.000
$DEVICE_MAMPS,249.390,76.500,1330.335,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.773,99.551,529.133,556.497,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353024
$DATA_FILE_SIZE,76929,1210
$CAP_FILE_SIZE,138740,0
$CFSIZE,2097086464,2031255552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.206, 12.3,1
$GPS,221116,131004,-4602.165,600.153,34,0.9,34,-24.1