version: 66.06
glider: 108
mission: 14
dive: 50
start: 6 15 110 13 50 34
data:
$ID,108
$MISSION,14
$DIVE,50
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51740
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-179698.17
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3112
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3058
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-21.817678
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387706
$SEABIRD_T_H,0.00063929392
$SEABIRD_T_I,2.2459495e-05
$SEABIRD_T_J,2.0328812e-06
$SEABIRD_C_G,-10.121161
$SEABIRD_C_H,1.1529624
$SEABIRD_C_I,-0.002153415
$SEABIRD_C_J,0.0002365096
$GPS1,134327,6659.722,-5656.936,24,2.2,43,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-75.8
$GPS2,135014,6659.690,-5657.007,9,1.4,9,-37.5
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,84.2,8938,-18.1,-10.000
$D_GRID,674
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,52,0.00,0.00,-34.42,0.000,2,0.000,0.000,333,2248,2633,0,0,0,0,0,0
$GC,56,-0.78,-146.1,3.0,-2.1,7,123,10.18,2.33,-48.20,0.000,4,0.237,0.075,2938,847,3657,0,0,0,0,0,0
$GC,180,-0.78,-146.1,10.4,-10.8,30,185,0.00,2.33,0.00,0.000,6,0.000,0.062,2931,2259,3659,0,0,0,0,0,0
$GC,523,-0.78,-146.1,47.9,-10.5,91,529,0.00,2.28,0.00,0.000,4,0.000,0.060,2931,844,3661,0,0,0,0,0,0
$GC,569,-0.78,-146.1,52.7,-10.3,99,574,0.00,2.30,0.00,0.000,6,0.000,0.064,2921,2251,3661,0,0,0,0,0,0
$GC,913,-0.78,-146.1,90.5,-11.6,160,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2251,3661,0,0,0,0,0,0
$GC,1248,-0.78,-146.1,125.8,-9.8,199,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2251,3661,0,0,0,0,0,0
$GC,1569,-0.78,-146.1,156.7,-9.4,229,1572,0.00,2.15,0.00,0.000,4,0.000,0.075,2911,3598,3661,0,0,0,0,0,0
$GC,1608,-0.78,-146.1,160.9,-10.5,232,1614,0.12,2.10,0.00,0.000,6,0.160,0.051,2945,2245,3661,0,0,0,0,0,0
$GC,1933,-0.78,-146.1,184.5,-6.9,263,1937,0.00,2.17,0.00,0.000,4,0.000,0.062,2945,839,3661,0,0,0,0,0,0
$GC,1966,-0.78,-146.1,186.8,-7.6,265,1972,0.00,2.28,0.00,0.000,6,0.000,0.064,2938,2253,3661,0,0,0,0,0,0
$GC,2291,-0.78,-146.1,211.2,-7.4,296,2295,0.00,2.15,0.00,0.000,4,0.000,0.074,2927,3607,3661,0,0,0,0,0,0
$GC,2331,-0.78,-146.1,214.5,-8.0,299,2336,0.00,2.10,0.00,0.000,6,0.000,0.051,2927,2238,3660,0,0,0,0,0,0
$GC,2656,-0.78,-146.1,240.8,-8.1,330,2660,0.00,2.15,0.00,0.000,4,0.000,0.061,2927,843,3661,0,0,0,0,0,0
$GC,2690,-0.78,-146.1,243.8,-8.3,332,2697,0.10,2.28,0.00,0.000,6,0.163,0.064,2945,2260,3661,0,0,0,0,0,0
$GC,3016,-0.78,-146.1,267.8,-7.2,363,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2260,3661,0,0,0,0,0,0
$GC,3337,-0.78,-146.1,289.9,-6.8,393,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2260,3661,0,0,0,0,0,0
$GC,3656,-0.78,-146.1,312.0,-6.9,423,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2260,3661,0,0,0,0,0,0
$GC,3984,-0.78,-146.1,334.5,-6.8,454,3988,0.00,2.10,0.00,0.000,4,0.000,0.074,2937,3594,3661,0,0,0,0,0,0
$GC,4030,-0.78,-146.1,338.0,-7.3,458,4033,0.00,2.05,0.00,0.000,6,0.000,0.050,2937,2249,3661,0,0,0,0,0,0
$GC,4361,-0.78,-146.1,361.9,-6.9,489,4364,0.00,2.17,0.00,0.000,4,0.000,0.060,2937,840,3661,0,0,0,0,0,0
$GC,4435,-0.78,-146.1,367.3,-7.2,495,4439,0.00,2.25,0.00,0.000,6,0.000,0.062,2927,2253,3661,0,0,0,0,0,0
$GC,4760,-0.78,-146.1,392.0,-7.4,525,4764,0.00,2.12,0.00,0.000,4,0.000,0.073,2917,3606,3662,0,0,0,0,0,0
$GC,4821,-0.78,-146.1,397.1,-8.4,530,4827,0.10,2.08,0.00,0.000,6,0.163,0.049,2944,2248,3662,0,0,0,0,0,0
$GC,5146,-0.78,-146.1,417.8,-6.5,561,5150,0.00,2.17,0.00,0.000,4,0.000,0.060,2944,835,3662,0,0,0,0,0,0
$GC,5213,-0.78,-146.1,422.3,-6.6,566,5218,0.00,2.25,0.00,0.000,6,0.000,0.061,2936,2253,3662,0,0,0,0,0,0
$GC,5538,-0.78,-146.1,444.0,-6.9,597,5542,0.00,2.10,0.00,0.000,4,0.000,0.073,2926,3595,3663,0,0,0,0,0,0
$GC,5606,-0.78,-146.1,449.1,-7.4,603,5610,0.00,2.08,0.00,0.000,6,0.000,0.048,2926,2235,3663,0,0,0,0,0,0
$GC,5937,-0.78,-146.1,472.9,-7.1,634,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2235,3663,0,0,0,0,0,0
$GC,6258,-0.78,-146.1,496.2,-7.6,664,6262,0.00,2.15,0.00,0.000,4,0.000,0.059,2926,837,3664,0,0,0,0,0,0
$GC,6322,-0.78,-146.1,501.0,-7.4,669,6327,0.10,2.22,0.00,0.000,6,0.158,0.061,2945,2256,3664,0,0,0,0,0,0
$GC,6647,-0.78,-146.1,522.0,-6.3,699,6651,0.00,2.08,0.00,0.000,4,0.000,0.073,2936,3594,3664,0,0,0,0,0,0
$GC,6687,-0.78,-146.1,524.7,-7.3,702,6692,0.00,2.05,0.00,0.000,6,0.000,0.048,2936,2252,3664,0,0,0,0,0,0
$GC,7012,-0.78,-146.1,546.7,-6.8,733,7016,0.00,2.15,0.00,0.000,4,0.000,0.058,2936,836,3664,0,0,0,0,0,0
$GC,7069,-0.78,-146.1,550.9,-7.3,737,7075,0.00,2.22,0.00,0.000,6,0.000,0.061,2927,2248,3664,0,0,0,0,0,0
$GC,7395,-0.78,-146.1,573.1,-6.8,768,7398,0.00,2.12,0.00,0.000,4,0.000,0.073,2916,3604,3664,0,0,0,0,0,0
$GC,7445,-0.78,-146.1,576.9,-7.5,772,7452,0.10,2.08,0.00,0.000,6,0.163,0.048,2944,2244,3664,0,0,0,0,0,0
$GC,7770,-0.78,-146.1,596.5,-6.0,803,7774,0.00,2.15,0.00,0.000,4,0.000,0.060,2944,847,3665,0,0,0,0,0,0
$GC,7837,-0.78,-146.1,600.6,-6.4,808,7841,0.00,2.20,0.00,0.000,6,0.000,0.062,2937,2252,3665,0,0,0,0,0,0
$GC,8172,-0.78,-146.1,623.0,-6.7,819,8176,0.00,2.10,0.00,0.000,4,0.000,0.074,2927,3595,3665,0,0,0,0,0,0
$GC,8217,-0.78,-146.1,626.4,-8.0,820,8220,0.00,2.05,0.00,0.000,6,0.000,0.049,2926,2252,3665,0,0,0,0,0,0
$GC,8541,-0.78,-146.1,649.1,-7.0,831,8545,0.00,2.17,0.00,0.000,4,0.000,0.060,2926,839,3664,0,0,0,0,0,0
$GC,8619,-0.78,-146.1,655.3,-8.6,833,8623,0.10,2.25,0.00,0.000,6,0.160,0.064,2945,2259,3664,0,0,0,0,0,0
$STATE,8756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8756,begin apogee
$GC,8763,-0.17,0.0,664.2,6.3,838,8888,0.40,0.00,122.55,1.260,6,0.122,0.000,3079,2195,3058,0,0,0,0,0,0
$STATE,8890,end apogee,CONTROL_FINISHED_OK
$STATE,8890,begin climb
$GC,8892,0.78,146.1,665.7,0.0,842,9019,0.62,0.00,123.65,1.197,6,0.079,0.000,3292,2194,2462,0,0,0,0,0,0
$GC,9307,0.78,146.1,624.6,10.9,856,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2194,2456,0,0,0,0,0,0
$GC,9613,0.78,146.1,590.7,11.0,870,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2194,2455,0,0,0,0,0,0
$GC,9932,0.78,146.1,551.9,12.3,900,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2194,2454,0,0,0,0,0,0
$GC,10250,0.78,146.1,512.7,12.3,930,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2194,2452,0,0,0,0,0,0
$GC,10572,0.78,146.1,473.8,12.5,960,10576,0.00,2.28,0.00,0.000,4,0.000,0.074,3292,3595,2452,0,0,0,0,0,0
$GC,10613,0.78,146.1,468.0,14.9,963,10617,0.00,2.20,0.00,0.000,6,0.000,0.051,3302,2190,2452,0,0,0,0,0,0
$GC,10938,0.78,146.1,423.7,13.4,993,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2190,2451,0,0,0,0,0,0
$GC,11256,0.78,146.1,382.2,13.0,1023,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2190,2451,0,0,0,0,0,0
$GC,11577,0.78,146.1,340.9,12.7,1053,11581,0.00,2.28,0.00,0.000,4,0.000,0.071,3302,3606,2451,0,0,0,0,0,0
$GC,11599,0.78,146.1,337.3,13.9,1054,11605,0.12,2.20,0.00,0.000,6,0.181,0.051,3280,2187,2451,0,0,0,0,0,0
$GC,11924,0.78,146.1,302.1,10.8,1085,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2188,2451,0,0,0,0,0,0
$GC,12245,0.78,146.1,266.6,11.7,1115,12249,0.00,2.17,0.00,0.000,4,0.000,0.060,3288,786,2452,0,0,0,0,0,0
$GC,12262,0.78,146.1,264.4,11.0,1116,12266,0.00,2.25,0.00,0.000,6,0.000,0.061,3288,2206,2452,0,0,0,0,0,0
$GC,12592,0.78,146.1,227.0,10.6,1147,12596,0.00,2.17,0.00,0.000,4,0.000,0.071,3288,3591,2452,0,0,0,0,0,0
$GC,12631,0.78,146.1,222.1,13.0,1150,12635,0.00,2.15,0.00,0.000,6,0.000,0.051,3298,2198,2452,0,0,0,0,0,0
$GC,12956,0.78,146.1,184.1,11.6,1180,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2197,2452,0,0,0,0,0,0
$GC,13277,0.78,146.1,147.8,10.9,1210,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2197,2453,0,0,0,0,0,0
$GC,13595,0.78,146.1,113.3,11.0,1240,13596,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2197,2453,0,0,0,0,0,0
$GC,13922,0.78,146.1,78.7,10.6,1287,13927,0.00,2.17,0.00,0.000,4,0.000,0.061,3308,792,2454,0,0,0,0,0,0
$GC,13985,0.78,147.7,72.2,9.9,1298,13991,0.10,2.25,0.00,0.000,6,0.175,0.061,3283,2208,2454,0,0,0,0,0,0
$GC,14331,0.86,207.4,43.4,7.3,1359,14387,0.00,2.33,46.97,0.877,4,0.000,0.073,3283,3598,2210,0,0,0,0,0,0
$GC,14438,0.88,224.3,33.8,9.2,1379,14459,0.00,2.22,14.30,0.792,6,0.000,0.051,3290,2197,2143,0,0,0,0,0,0
$FREEZE,8.56,3.429,-1.825,0,1,0
$FREEZE,8.05,3.461,-1.823,0,1,0
$FREEZE,7.55,3.476,-1.823,0,1,0
$FREEZE,7.15,3.485,-1.822,0,1,0
$FREEZE,6.68,3.484,-1.821,0,1,0
$FREEZE,6.14,3.467,-1.819,0,1,0
$FREEZE,5.67,3.437,-1.817,0,1,0
$FREEZE,5.20,3.473,-1.812,0,1,0
$FREEZE,4.78,3.417,-1.806,0,1,0
$FREEZE,4.29,3.397,-1.806,0,1,0
$FREEZE,3.95,3.396,-1.805,0,1,0
$FREEZE,3.50,3.397,-1.804,0,1,0
$FREEZE,3.08,3.399,-1.803,0,1,0
$FREEZE,2.65,3.399,-1.803,0,1,0
$STATE,14790,end climb,SURFACE_DEPTH_REACHED
$STATE,14790,begin surface coast
$FREEZE,2.28,3.402,-1.803,0,1,0
$FREEZE,1.94,3.402,-1.802,0,1,0
$FREEZE,1.65,3.267,-1.810,0,1,0
$FREEZE,1.82,3.355,-1.286,0,1,0
$FREEZE,1.68,3.334,-0.421,0,1,0
$FREEZE,1.65,3.347,-1.734,0,1,0
$FREEZE,1.75,3.341,-0.909,0,1,0
$FREEZE,1.65,3.293,-1.719,0,1,0
$FINISH,1.6,1.024994
$STATE,14838,end surface coast,CONTROL_FINISHED_OK
$STATE,14838,begin surface
$SM_CCo,14857,59.60,0.825,0,0,1835,300.00
$SM_GC,2.68,0.00,0.00,59.60,0.000,0.000,0.825,337,2265,1835,-12.77,0.42,300.00
$RAFOS_CLK,573
$RAFOS,6,1276620546,16.833334,16.818333,88,87,44,43,40,40,823,824,815,1925,413,1467
$RAFOS,5,1276620074,16.700001,16.687222,115,100,42,39,39,39,600,601,151,61,1903,1606
$RAFOS,4,1276619583,16.566668,16.550833,47,45,45,43,42,42,1690,731,1136,1715,1455,1804
$RAFOS,3,1276619105,16.433332,16.418056,43,41,40,40,40,40,1784,239,995,777,867,1544
$RAFOS,2,1276618650,16.299999,16.291666,44,41,40,39,38,38,1116,1924,361,61,1,1545
$RAFOS,1,1276618157,16.166666,16.154722,63,51,47,46,44,44,969,970,1390,494,571,1389
$RAFOS,0,1276617664,16.033333,16.017778,43,43,42,41,39,39,1213,1603,1932,150,36,1694
$RAFOS_FIX,6701.237305,-5657.241211,150610,161650,3,89,0.29
$IRIDIUM_FIX,6631.12,-5707.31,090999,090941
$TT8_MAMPS,0.027612
$HUMID,40.27
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,550.4,128.5
$24V_AH,23.5,9.154
$10V_AH,10.3,4.784
$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,19.950,104.850,307.475,59.600,0.000,25.075,34.699,198.248,2.000,0.000,11.036,2407.921,9523.717,511.367,2254.783,623.156,0.000,1652.370,0.000,2238.554,2520.000,16.216,0.000
$DEVICE_MAMPS,237.003,102.778,1260.181,825.292,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.683,1027.437,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135636
$DATA_FILE_SIZE,56714,1450
$CAP_FILE_SIZE,152812,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.7
$GPS,150610,180037,6701.917,-5655.718,27,1.0,27,-37.5