version: 66.11
glider: 189
mission: 7
dive: 554
start: 3 5 113 7 55 55
data:
$ID,189
$MISSION,7
$DIVE,554
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$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,100
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-48351.141
$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,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$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,2320
$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,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,050313,074452,2431.201,-3748.637,37,0.9,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-58.7
$GPS2,050313,075453,2431.232,-3748.670,17,1.1,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.108,-0.042
$KALMAN_X,126418.4,-30.8,-748.3,-103360.4,1313.6
$KALMAN_Y,91504.9,6.4,508.1,-100146.6,-256.2
$MHEAD_RNG_PITCHd_Wd,262.7,883,-21.1,-6.667,-30.00
$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,22,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-10.55,0.000,2,0.000,0.000,151,2112,1396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,106,9.05,2.75,-51.33,0.000,4,0.184,0.052,2563,3750,2720,0,0,0,0,0,0,25.35,25.89,26.70
$GC,226,-1.24,-97.7,11.1,-9.5,20,235,0.10,2.47,0.00,0.000,6,0.132,0.021,2595,2094,2720,0,0,0,0,0,0,25.84,26.27,28.83
$GC,536,-1.24,-97.7,33.4,-7.5,51,543,0.00,2.67,0.00,0.000,4,0.000,0.039,2584,3747,2721,0,0,0,0,0,0,28.83,26.00,28.83
$GC,606,-1.22,-97.7,38.8,-8.0,58,614,0.00,2.45,0.00,0.000,6,0.000,0.021,2584,2097,2721,0,0,0,0,0,0,28.83,26.34,28.83
$GC,916,-1.20,-97.7,61.9,-7.5,89,923,0.12,0.00,0.00,0.000,6,0.153,0.000,2615,2097,2722,0,0,0,0,0,0,26.30,28.83,28.83
$GC,1246,-1.20,-97.7,87.5,-8.3,112,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2096,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1546,-1.20,-97.7,115.3,-9.5,122,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2097,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1847,-1.22,-97.7,142.0,-8.5,132,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2097,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2146,-1.24,-97.7,163.9,-7.1,139,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2097,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2447,-1.27,-97.7,180.2,-5.3,144,2452,0.00,2.62,0.00,0.000,4,0.000,0.039,2606,3750,2724,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2508,-1.30,-97.7,183.3,-5.2,145,2513,0.00,2.40,0.00,0.000,6,0.000,0.021,2606,2096,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2866,-1.32,-97.7,205.2,-6.2,151,2872,0.00,2.40,0.00,0.000,4,0.000,0.037,2606,545,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2916,-1.34,-97.7,205.2,-6.2,151,2924,0.00,2.50,0.00,0.000,6,0.000,0.024,2594,2198,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3226,-1.34,-97.7,229.7,-6.9,157,3233,0.00,2.50,0.00,0.000,4,0.000,0.040,2582,3751,2727,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3315,-1.34,-97.7,234.2,-7.0,158,3322,0.00,2.47,0.00,0.000,6,0.000,0.020,2582,2087,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3647,-1.34,-97.7,264.0,-8.5,164,3652,0.00,2.38,0.00,0.000,4,0.000,0.037,2582,539,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3705,-1.34,-97.7,269.8,-8.9,165,3712,0.00,2.47,0.00,0.000,6,0.000,0.023,2570,2195,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4066,-1.34,-97.7,306.1,-10.0,171,4072,0.00,2.50,0.00,0.000,4,0.000,0.041,2558,3753,2724,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4126,-1.34,-97.7,311.9,-9.9,172,4132,0.00,2.40,0.00,0.000,6,0.000,0.021,2558,2097,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4486,-1.34,-97.7,341.8,-7.8,178,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2097,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-1.34,-97.7,361.4,-6.4,183,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2097,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5087,-1.34,-97.7,379.5,-5.9,188,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2097,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,-1.34,-97.7,399.6,-6.9,193,5392,0.00,2.45,0.00,0.000,4,0.000,0.037,2560,553,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5446,-1.34,-97.7,404.1,-7.2,194,5452,0.00,2.47,0.00,0.000,6,0.000,0.024,2547,2195,2722,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5807,-1.34,-97.7,434.0,-8.5,200,5813,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,3748,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5935,-1.32,-97.7,444.7,-8.8,202,5943,0.10,2.45,0.00,0.000,6,0.128,0.021,2568,2090,2721,0,0,0,0,0,0,25.96,26.39,28.83
$GC,6286,-1.32,-97.7,474.7,-8.3,208,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2090,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6587,-1.32,-97.7,498.7,-8.0,213,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2090,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6886,-1.34,-97.7,524.4,-8.5,216,6893,0.00,2.42,0.00,0.000,4,0.000,0.038,2569,552,2719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6935,-1.36,-97.7,524.4,-8.5,216,6942,0.00,2.47,0.00,0.000,6,0.000,0.024,2558,2195,2719,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7247,-1.36,-97.7,557.9,-9.2,219,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2195,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7606,-1.36,-97.7,588.5,-8.7,222,7613,0.00,2.60,0.00,0.000,4,0.000,0.037,2559,550,2717,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7726,-1.36,-97.7,598.2,-8.4,223,7732,0.00,2.53,0.00,0.000,6,0.000,0.025,2547,2181,2716,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8087,-1.36,-97.7,620.5,-6.6,226,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2181,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8447,-1.36,-97.7,639.6,-5.3,229,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2181,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8806,-1.36,-97.7,667.2,-7.1,232,8813,0.00,2.60,0.00,0.000,4,0.000,0.038,2547,546,2713,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8926,-1.36,-97.7,679.1,-8.2,233,8932,0.00,2.47,0.00,0.000,6,0.000,0.024,2534,2180,2713,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9287,-1.36,-97.7,717.6,-10.6,236,9293,0.00,2.55,0.00,0.000,4,0.000,0.039,2535,547,2712,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9365,-1.36,-97.7,717.6,-10.6,236,9373,0.10,2.55,0.00,0.000,6,0.137,0.025,2555,2180,2711,0,0,0,0,0,0,25.84,26.27,28.83
$GC,9766,-1.38,-97.7,756.5,-8.1,240,9773,0.00,2.60,0.00,0.000,4,0.000,0.039,2556,543,2711,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9856,-1.41,-97.7,756.5,-8.1,240,9862,0.00,2.50,0.00,0.000,6,0.000,0.025,2545,2188,2710,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10246,-1.43,-97.7,783.2,-5.5,244,10253,0.00,2.60,0.00,0.000,4,0.000,0.039,2546,532,2710,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10336,-1.45,-97.7,783.2,-5.5,244,10342,0.00,2.53,0.00,0.000,6,0.000,0.026,2533,2186,2709,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10726,-1.45,-97.7,821.0,-7.9,248,10733,0.00,2.62,0.00,0.000,4,0.000,0.039,2533,543,2708,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10815,-1.45,-97.7,821.0,-7.9,248,10822,0.00,2.53,0.00,0.000,6,0.000,0.025,2522,2188,2707,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11207,-1.45,-97.7,870.6,-10.4,252,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2188,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11566,-1.45,-97.7,905.1,-9.8,255,11573,0.00,2.62,0.00,0.000,4,0.000,0.041,2522,549,2705,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11705,-1.45,-97.7,915.4,-9.3,256,11713,0.00,2.53,0.00,0.000,6,0.000,0.025,2510,2196,2705,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12047,-1.45,-97.7,939.4,-7.1,259,12052,0.00,2.60,0.00,0.000,4,0.000,0.041,2509,543,2704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12115,-1.45,-97.7,939.4,-7.1,259,12123,0.10,2.60,0.00,0.000,6,0.179,0.026,2524,2185,2704,0,0,0,0,0,0,25.84,26.22,28.83
$GC,12526,-1.45,-97.7,967.1,-5.7,263,12532,0.00,2.58,0.00,0.000,4,0.000,0.041,2524,546,2703,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12596,-1.45,-97.7,967.1,-5.7,263,12602,0.00,2.50,0.00,0.000,6,0.000,0.026,2513,2185,2702,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,12882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12883,begin apogee
$GC,12892,-0.29,0.0,995.2,-7.4,266,12984,1.25,0.00,86.20,1.641,6,0.124,0.000,2900,1577,2320,0,0,0,0,0,0,24.87,28.83,22.96
$STATE,12986,end apogee,CONTROL_FINISHED_OK
$STATE,12986,begin climb
$GC,12990,1.33,97.7,1000.1,0.0,271,13087,1.48,0.00,92.82,1.631,6,0.062,0.000,3430,1577,1920,0,0,0,0,0,0,25.29,28.83,22.93
$GC,13387,1.25,145.2,988.3,4.3,291,13432,0.00,0.00,42.83,1.616,6,0.000,0.000,3430,1577,1727,0,0,0,0,0,0,28.83,28.83,23.33
$GC,13828,1.15,150.3,960.9,6.4,298,13838,0.20,2.03,4.78,1.207,4,0.167,0.050,3380,347,1706,0,0,0,0,0,0,25.79,26.08,23.96
$GC,14047,1.06,155.4,953.9,6.4,299,14058,0.12,1.98,6.43,1.336,6,0.151,0.025,3343,1661,1685,0,0,0,0,0,0,25.83,26.36,23.96
$GC,14413,1.03,155.4,921.3,6.9,303,14418,0.00,2.10,0.00,0.000,4,0.000,0.049,3351,346,1687,0,0,0,0,0,0,28.83,26.08,28.83
$GC,14537,1.00,155.4,911.8,7.2,304,14544,0.00,1.98,0.00,0.000,6,0.000,0.025,3351,1651,1683,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14889,1.00,155.4,883.0,8.0,307,14894,0.00,2.05,0.00,0.000,4,0.000,0.048,3361,352,1683,0,0,0,0,0,0,28.83,26.06,28.83
$GC,14976,1.00,155.4,883.0,8.0,307,14984,0.15,1.98,0.00,0.000,6,0.158,0.025,3323,1671,1682,0,0,0,0,0,0,25.91,26.41,28.83
$GC,15368,1.00,155.4,842.1,8.5,311,15374,0.00,2.47,0.00,0.000,4,0.000,0.036,3323,3199,1681,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15518,1.00,155.4,831.8,8.6,312,15524,0.00,2.53,0.00,0.000,6,0.000,0.031,3333,1579,1681,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,18959,1.14,181.7,561.9,8.5,341,18965,0.00,1.98,0.00,0.000,4,0.000,0.048,3356,355,1573,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,25275,end climb,SURFACE_DEPTH_REACHED
$STATE,25275,begin surface coast
$FINISH,1.4,1.025942
$STATE,25296,end surface coast,CONTROL_FINISHED_OK
$STATE,25296,begin surface
$SM_CCo,25324,54.83,0.125,0,0,1093,300.00
$SM_GC,2.22,8.70,2.83,54.83,0.037,0.026,0.125,154,2185,1093,-8.82,-0.42,300.00,0,0,0,0,0,0,26.22,26.22,25.34
$IRIDIUM_FIX,2418.11,-3743.78,050313,010131
$TT8_MAMPS,0.027713,0.027713
$HUMID,62.87
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7557088
$TM_FREEKB,4251136
$24V_AH,22.9,92.391
$10V_AH,9.6,82.188
$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,22.025,187.200,259.225,54.825,0.000,25.875,45.417,212.555,0.000,0.000,18.700,2005.033,20796.031,644.962,1878.221,644.035,33.279,1526.036,0.000,1499.783,0.000,0.535,0.000
$DEVICE_MAMPS,183.600,97.155,1640.925,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.955,13.678,0.000,0.000
$MEM,343688
$DATA_FILE_SIZE,13438,517
$CAP_FILE_SIZE,180507,0
$CFSIZE,260034560,200757248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050313,150004,2430.911,-3750.739,27,0.8,27,-14.0