version: 66.11
glider: 189
mission: 7
dive: 15
start: 9 16 112 3 26 42
data:
$ID,189
$MISSION,7
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,450
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46190.84
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2534
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,160912,031034,2447.368,-3746.403,28,0.9,29,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.2
$GPS2,160912,032543,2447.350,-3746.377,17,1.2,18,-13.9
$SPEED_LIMITS,0.127,0.219
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.019,-0.218
$KALMAN_X,-1509.6,81.4,387.9,27163.5,-610.2
$KALMAN_Y,5165.2,-80.3,-42.2,16683.5,2314.0
$MHEAD_RNG_PITCHd_Wd,188.9,49743,-14.4,-7.333,-18.53
$D_GRID,990
$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,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.00,-146.6,0.0,0.0,0,64,0.00,0.00,-42.62,0.000,2,0.000,0.000,161,1843,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.00,-146.6,2.8,-5.6,4,98,9.65,2.28,-15.05,0.000,4,0.220,0.061,2670,430,3134,0,0,0,0,0,0,25.98,26.22,26.54
$GC,244,-0.79,-146.6,29.7,-18.8,21,251,0.28,2.15,0.00,0.000,6,0.153,0.029,2739,1880,3135,0,0,0,0,0,0,26.20,26.39,28.83
$GC,551,-0.72,-146.6,68.1,-10.1,44,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1880,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.66,-146.6,96.6,-9.6,59,853,0.15,0.00,0.00,0.000,6,0.145,0.000,2782,1880,3137,0,0,0,0,0,0,26.49,28.83,28.83
$GC,1151,-0.66,-146.6,120.8,-7.0,74,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1880,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-0.66,-146.6,142.1,-7.8,89,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1880,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-0.66,-146.6,165.1,-7.4,104,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1880,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.68,-146.6,189.9,-8.7,119,2056,0.00,2.22,0.00,0.000,4,0.000,0.047,2783,422,3137,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2142,-0.68,-146.6,197.7,-9.5,123,2147,0.00,2.12,0.00,0.000,6,0.000,0.029,2774,1878,3137,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2454,-0.70,-146.6,223.5,-6.8,139,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1879,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,-0.73,-146.6,243.8,-7.3,154,2760,0.00,2.22,0.00,0.000,4,0.000,0.047,2774,421,3136,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2903,-0.73,-146.6,256.3,-8.5,161,2908,0.00,2.15,0.00,0.000,6,0.000,0.029,2765,1885,3135,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3220,-0.75,-146.6,284.2,-9.2,177,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1886,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.77,-146.6,310.9,-8.7,190,3525,0.00,2.22,0.00,0.000,4,0.000,0.047,2765,429,3133,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3571,-0.79,-146.6,313.8,-8.7,191,3577,0.00,2.12,0.00,0.000,6,0.000,0.030,2755,1883,3132,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3884,-0.79,-146.6,337.0,-6.0,202,3889,0.00,2.10,0.00,0.000,4,0.000,0.044,2745,3283,3131,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3930,-0.79,-146.6,338.9,-5.9,203,3935,0.00,2.12,0.00,0.000,6,0.000,0.028,2745,1829,3131,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4248,-0.79,-146.6,360.7,-7.3,214,4253,0.00,2.15,0.00,0.000,4,0.000,0.049,2745,419,3130,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4310,-0.79,-146.6,366.2,-8.1,216,4315,0.00,2.12,0.00,0.000,6,0.000,0.030,2735,1879,3130,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4642,-0.79,-146.6,397.1,-9.6,227,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1879,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4941,-0.79,-146.6,424.6,-9.1,237,4946,0.00,2.22,0.00,0.000,4,0.000,0.048,2735,427,3127,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5082,-0.79,-146.6,436.3,-9.7,241,5088,0.00,2.15,0.00,0.000,6,0.000,0.031,2724,1886,3126,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5394,-0.79,-146.6,463.6,-7.9,252,5400,0.00,2.25,0.00,0.000,4,0.000,0.049,2724,420,3126,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5445,-0.79,-146.6,466.2,-7.9,253,5450,0.00,2.15,0.00,0.000,6,0.000,0.031,2714,1886,3125,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5757,-0.79,-146.6,493.0,-8.2,264,5763,0.10,2.25,0.00,0.000,4,0.163,0.047,2741,421,3124,0,0,0,0,0,0,26.74,26.75,28.83
$GC,5834,-0.79,-146.6,497.9,-8.1,266,5839,0.00,2.15,0.00,0.000,6,0.000,0.030,2731,1888,3123,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6150,-0.79,-146.6,524.5,-8.1,277,6156,0.00,2.10,0.00,0.000,4,0.000,0.045,2721,3283,3122,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6196,-0.79,-146.6,527.0,-8.1,278,6201,0.00,2.12,0.00,0.000,6,0.000,0.029,2721,1832,3122,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6513,-0.79,-146.6,554.3,-8.1,289,6519,0.00,2.17,0.00,0.000,4,0.000,0.050,2721,425,3121,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6609,-0.79,-146.6,562.2,-8.5,292,6615,0.12,2.15,0.00,0.000,6,0.150,0.030,2745,1886,3120,0,0,0,0,0,0,26.67,26.82,28.83
$GC,6937,-0.83,-146.6,586.1,-7.3,303,6943,0.00,2.10,0.00,0.000,4,0.000,0.045,2736,3280,3119,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6989,-0.87,-146.6,588.6,-7.6,304,6994,0.00,2.12,0.00,0.000,6,0.000,0.029,2736,1834,3119,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7302,-0.90,-146.6,614.6,-7.6,315,7307,0.00,2.15,0.00,0.000,4,0.000,0.050,2736,432,3118,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7424,-0.90,-146.6,624.4,-8.0,319,7429,0.00,2.12,0.00,0.000,6,0.000,0.030,2726,1879,3117,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7757,-0.92,-146.6,650.4,-8.1,330,7762,0.00,2.10,0.00,0.000,4,0.000,0.046,2715,3272,3116,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7828,-0.95,-146.6,655.7,-8.4,332,7833,0.00,2.12,0.00,0.000,6,0.000,0.029,2715,1827,3115,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8150,-0.95,-146.6,688.6,-10.3,343,8155,0.00,2.15,0.00,0.000,4,0.000,0.050,2716,426,3113,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8266,-0.95,-146.6,699.1,-11.2,346,8272,0.00,2.12,0.00,0.000,6,0.000,0.030,2705,1879,3113,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8572,-0.95,-146.6,733.6,-10.0,357,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1879,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8872,-0.95,-146.6,759.2,-8.0,367,8877,0.00,2.25,0.00,0.000,4,0.000,0.050,2705,423,3111,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8968,-0.95,-146.6,767.0,-8.3,370,8973,0.00,2.15,0.00,0.000,6,0.000,0.031,2694,1883,3111,0,0,0,0,0,0,28.83,26.80,28.83
$GC,9295,-0.95,-146.6,792.4,-7.9,381,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1883,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9594,-0.95,-146.6,818.3,-8.9,391,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1883,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9894,-0.95,-146.6,846.1,-9.3,401,9900,0.00,2.25,0.00,0.000,4,0.000,0.051,2698,432,3107,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10005,-0.95,-146.6,855.8,-10.1,404,10010,0.00,2.15,0.00,0.000,6,0.000,0.031,2684,1887,3107,0,0,0,0,0,0,28.83,26.80,28.83
$GC,10317,-0.95,-146.6,888.8,-9.8,415,10323,0.00,2.25,0.00,0.000,4,0.000,0.051,2683,434,3106,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10353,-0.95,-146.6,892.1,-9.8,416,10358,0.00,2.15,0.00,0.000,6,0.000,0.031,2674,1884,3106,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10681,-0.95,-146.6,926.5,-10.2,427,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1884,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10980,-0.95,-146.6,955.5,-9.5,437,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1884,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11280,-0.95,-146.6,983.3,-9.4,447,11285,0.00,2.25,0.00,0.000,4,0.000,0.052,2674,434,3104,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,11371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11371,begin apogee
$GC,11376,-0.29,0.0,993.0,-10.3,450,11502,0.73,0.00,118.10,1.706,6,0.122,0.000,2904,1876,2533,0,0,0,0,0,0,26.56,28.83,23.87
$STATE,11504,end apogee,CONTROL_FINISHED_OK
$STATE,11504,begin climb
$GC,11505,1.00,146.6,997.1,0.0,454,11644,1.20,2.30,127.78,1.661,4,0.072,0.043,3321,3270,1934,0,0,0,0,0,0,24.99,24.73,23.76
$GC,11696,0.92,223.0,991.0,4.7,460,11771,0.12,2.25,66.03,1.631,6,0.172,0.031,3302,1838,1623,0,0,0,0,0,0,25.32,25.44,23.77
$GC,12099,0.83,223.0,945.7,11.1,474,12104,0.12,2.28,0.00,0.000,4,0.165,0.053,3274,425,1616,0,0,0,0,0,0,26.00,26.06,28.83
$GC,12141,0.74,223.0,942.2,11.0,475,12146,0.12,2.20,0.00,0.000,6,0.154,0.031,3242,1876,1615,0,0,0,0,0,0,26.04,26.16,28.83
$GC,12464,0.70,223.0,911.5,9.0,486,12469,0.00,2.15,0.00,0.000,4,0.000,0.044,3241,3275,1614,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12540,0.66,223.0,905.5,9.2,488,12546,0.12,2.17,0.00,0.000,6,0.156,0.032,3217,1836,1614,0,0,0,0,0,0,26.28,26.39,28.83
$GC,12858,0.66,223.0,878.0,8.2,499,12863,0.00,2.20,0.00,0.000,4,0.000,0.044,3217,3272,1613,0,0,0,0,0,0,28.83,26.47,28.83
$GC,12929,0.66,223.0,872.7,8.4,501,12934,0.00,2.15,0.00,0.000,6,0.000,0.032,3227,1836,1613,0,0,0,0,0,0,28.83,26.50,28.83
$GC,13252,0.66,223.0,847.1,7.3,512,13253,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1836,1612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13551,0.70,253.0,827.5,6.3,522,13582,0.00,0.00,24.65,1.583,6,0.000,0.000,3226,1836,1500,0,0,0,0,0,0,28.83,28.83,24.83
$GC,13881,0.70,253.0,803.8,7.5,533,13886,0.00,2.22,0.00,0.000,4,0.000,0.044,3226,3272,1498,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13957,0.70,253.0,798.6,8.1,535,13962,0.00,2.17,0.00,0.000,6,0.000,0.032,3237,1837,1498,0,0,0,0,0,0,28.83,26.33,28.83
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$GC,16328,0.67,253.0,577.8,9.4,614,16334,0.15,2.15,0.00,0.000,6,0.143,0.031,3216,1835,1496,0,0,0,0,0,0,26.58,26.70,28.83
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$STATE,22727,end climb,SURFACE_DEPTH_REACHED
$STATE,22727,begin surface coast
$FINISH,0.4,1.024672
$STATE,22758,end surface coast,CONTROL_FINISHED_OK
$STATE,22758,begin surface
$SM_CCo,22777,12.65,0.135,0,0,1307,300.00
$SM_GC,2.44,8.15,2.20,12.65,0.039,0.030,0.135,164,1834,1307,-8.84,0.59,300.00,0,0,0,0,0,0,26.79,26.78,26.58
$IRIDIUM_FIX,2439.44,-3735.42,150912,202046
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.42
$INTERNAL_PRESSURE,9.14363
$TCM_TEMP,24.50
$XPDR_PINGS,13
$SC_FREEKB,7764128
$TM_FREEKB,7816512
$24V_AH,23.8,5.241
$10V_AH,10.1,4.039
$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,21.625,156.325,349.400,12.650,0.000,27.597,41.953,503.537,3.250,0.000,18.702,2912.460,16991.023,509.354,3076.617,197.511,33.244,1717.817,0.000,2195.984,0.000,0.538,0.000
$DEVICE_MAMPS,219.555,61.200,1705.950,135.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22787.000,5680.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.693,13.632,0.000,0.000
$MEM,344896
$DATA_FILE_SIZE,26690,908
$CAP_FILE_SIZE,232119,0
$CFSIZE,260034560,254676992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160912,094734,2444.679,-3745.614,29,0.9,30,-13.9