version: 66.11
glider: 191
mission: 5
dive: 111
start: 10 20 112 5 45 40
data:
$ID,191
$MISSION,5
$DIVE,111
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3944.8164
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$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
$GPS1,201012,053505,2353.998,-3731.593,42,0.8,42,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-58.4
$GPS2,201012,054512,2354.028,-3731.592,16,0.9,16,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$TGT_RADIUS,1852.000
$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,96.6,19960,-13.3,-6.049,-18.38
$D_GRID,980
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-61.58,0.000,6,0.000,0.000,159,1525,3460,0,0,0,0,0,0,28.83,28.83,14.88
$GC,88,-0.60,-97.3,4.0,-7.7,4,101,9.38,0.00,0.00,0.000,6,0.422,0.000,1987,1525,3463,1,0,0,0,0,0,14.26,28.83,28.83
$GC,401,-0.52,-97.3,50.3,-13.5,25,403,0.12,0.00,0.00,0.000,6,0.280,0.000,2015,1527,3464,0,0,0,0,0,0,14.54,28.83,28.83
$GC,701,-0.48,-97.3,78.6,-8.1,45,705,0.00,1.75,0.00,0.000,4,0.000,0.057,2010,2564,3465,0,0,0,0,0,0,28.83,14.74,28.83
$GC,837,-0.46,-97.3,88.3,-6.7,54,841,0.12,1.83,0.00,0.000,6,0.244,0.067,2038,1518,3466,0,0,0,0,0,0,14.62,14.76,28.83
$GC,1136,-0.46,-97.3,108.6,-7.7,74,1140,0.00,1.88,0.00,0.000,4,0.000,0.089,2038,466,3466,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1257,-0.44,-97.3,119.3,-9.2,82,1261,0.00,1.75,0.00,0.000,6,0.000,0.047,2032,1512,3469,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1557,-0.43,-97.3,142.8,-7.2,102,1560,0.00,1.80,0.00,0.000,4,0.000,0.057,2024,2577,3466,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1631,-0.43,-97.3,148.3,-7.4,107,1634,0.00,1.85,0.00,0.000,6,0.000,0.068,2024,1514,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1931,-0.41,-97.3,173.3,-8.2,127,1935,0.00,1.80,0.00,0.000,4,0.000,0.057,2017,2576,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2021,-0.41,-97.3,180.6,-8.3,133,2025,0.15,1.85,0.00,0.000,6,0.227,0.068,2055,1514,3466,0,0,0,0,0,0,14.62,14.80,28.83
$GC,2321,-0.43,-97.3,203.5,-7.5,153,2325,0.00,1.88,0.00,0.000,4,0.000,0.090,2052,461,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2366,-0.43,-97.3,207.2,-7.9,156,2369,0.00,1.77,0.00,0.000,6,0.000,0.047,2047,1520,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2667,-0.44,-97.3,226.6,-5.7,176,2670,0.00,1.80,0.00,0.000,4,0.000,0.059,2039,2584,3465,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2891,-0.46,-97.3,237.4,-4.4,191,2895,0.00,1.85,0.00,0.000,6,0.000,0.070,2039,1521,3464,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3206,-0.46,-97.3,251.4,-4.3,211,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3506,-0.46,-97.3,264.9,-4.8,221,3510,0.00,1.88,0.00,0.000,4,0.000,0.090,2039,465,3464,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3565,-0.46,-97.3,267.4,-5.2,223,3569,0.00,1.77,0.00,0.000,6,0.000,0.047,2031,1525,3463,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3866,-0.46,-97.3,287.1,-6.9,233,3869,0.00,1.77,0.00,0.000,4,0.000,0.059,2024,2577,3463,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3955,-0.46,-97.3,292.5,-7.3,236,3959,0.00,1.85,0.00,0.000,6,0.000,0.070,2024,1514,3462,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4256,-0.46,-97.3,317.9,-8.0,246,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1513,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.46,-97.3,340.6,-7.3,256,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1513,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4856,-0.46,-97.3,364.7,-8.3,266,4860,0.00,1.80,0.00,0.000,4,0.000,0.060,2016,2577,3460,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5005,-0.46,-97.3,375.6,-7.9,271,5008,0.00,1.85,0.00,0.000,6,0.000,0.071,2016,1516,3459,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5306,-0.46,-97.3,398.3,-6.7,281,5310,0.00,1.88,0.00,0.000,4,0.000,0.092,2016,465,3458,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5381,-0.45,-97.3,403.6,-6.9,284,5386,0.15,1.77,0.00,0.000,6,0.239,0.049,2043,1521,3458,0,0,0,0,0,0,14.66,14.90,28.83
$GC,5698,-0.47,-97.3,417.6,-4.4,295,5701,0.00,1.80,0.00,0.000,4,0.000,0.061,2037,2581,3457,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5802,-0.49,-97.3,422.6,-4.8,299,5806,0.00,1.85,0.00,0.000,6,0.000,0.071,2037,1521,3456,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6117,-0.50,-97.3,442.2,-6.6,310,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1520,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,-0.52,-97.3,464.2,-7.5,320,6420,0.00,1.80,0.00,0.000,4,0.000,0.060,2030,2580,3453,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6491,-0.54,-97.3,469.8,-7.6,323,6495,0.00,1.88,0.00,0.000,6,0.000,0.072,2030,1512,3454,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6806,-0.54,-97.3,493.0,-7.0,334,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7106,-0.54,-97.3,510.5,-5.4,344,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1511,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-0.55,-97.3,525.1,-4.8,354,7411,0.00,1.88,0.00,0.000,4,0.000,0.094,2030,466,3450,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7481,-0.55,-97.3,529.4,-5.4,357,7485,0.00,1.80,0.00,0.000,6,0.000,0.052,2022,1530,3450,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7796,-0.55,-97.3,548.0,-6.7,368,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1531,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8096,-0.55,-97.3,572.3,-8.5,378,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1531,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8396,-0.55,-97.3,596.8,-7.8,388,8400,0.00,1.77,0.00,0.000,4,0.000,0.063,2015,2575,3446,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8485,-0.55,-97.3,602.2,-7.3,391,8489,0.00,1.85,0.00,0.000,6,0.000,0.073,2014,1521,3447,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8786,-0.55,-97.3,623.2,-6.3,401,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9086,-0.55,-97.3,640.5,-5.7,411,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9386,-0.55,-97.3,659.7,-6.8,421,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9686,-0.55,-97.3,681.3,-7.2,431,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,-0.55,-97.3,704.3,-7.7,441,9990,0.00,1.83,0.00,0.000,4,0.000,0.063,2007,2579,3441,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10075,-0.55,-97.3,709.8,-7.5,444,10079,0.00,1.88,0.00,0.000,6,0.000,0.073,2007,1518,3440,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10376,-0.55,-97.3,733.3,-7.3,454,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1519,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10676,-0.55,-97.3,755.0,-7.2,464,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1519,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10976,-0.55,-97.3,777.6,-7.8,474,10980,0.00,1.83,0.00,0.000,4,0.000,0.063,1999,2577,3438,0,0,0,0,0,0,28.83,14.79,28.83
$GC,11095,-0.55,-97.3,785.6,-7.7,478,11098,0.00,1.88,0.00,0.000,6,0.000,0.075,1998,1520,3437,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11396,-0.55,-97.3,812.0,-8.4,488,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11696,-0.55,-97.3,834.7,-7.2,498,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11996,-0.55,-97.3,853.4,-5.8,508,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12296,-0.55,-97.3,870.6,-5.8,518,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12596,-0.55,-97.3,888.0,-5.8,528,12597,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12897,-0.55,-97.3,904.6,-5.6,538,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13196,-0.55,-97.3,921.1,-5.6,548,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13496,-0.55,-97.3,939.6,-6.3,558,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13796,-0.55,-97.3,959.7,-6.7,568,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14094,begin apogee
$GC,14099,-0.18,0.0,981.0,-7.3,578,14217,0.47,0.00,109.93,2.139,6,0.216,0.000,2127,1399,3062,0,0,0,0,1,0,14.54,28.83,13.29
$STATE,14219,end apogee,CONTROL_FINISHED_OK
$STATE,14219,begin climb
$GC,14221,0.60,97.3,984.9,0.0,582,14355,0.85,0.00,124.68,2.160,6,0.142,0.000,2380,1399,2665,0,0,0,0,1,0,14.15,28.83,13.21
$GC,14652,0.57,128.7,972.6,4.7,597,14712,0.00,2.03,50.35,1.746,4,0.000,0.108,2388,349,2538,0,0,0,0,1,0,28.83,14.28,13.49
$GC,14785,0.50,136.4,965.6,5.7,601,14822,0.15,1.85,26.38,1.050,6,0.276,0.054,2357,1407,2503,0,0,0,0,1,0,14.32,14.48,13.69
$GC,15116,0.47,136.4,943.6,6.5,612,15118,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1408,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15417,0.43,136.4,924.3,6.4,622,15418,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1407,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15716,0.40,136.4,903.8,7.0,632,15721,0.15,1.83,0.00,0.000,4,0.271,0.064,2322,2450,2499,0,0,0,0,0,0,14.54,14.75,28.83
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$STATE,28585,end climb,SURFACE_DEPTH_REACHED
$STATE,28585,begin surface coast
$FINISH,0.8,1.024605
$STATE,28601,end surface coast,CONTROL_FINISHED_OK
$STATE,28601,begin surface
$SM_CCo,28618,17.60,0.746,0,0,1634,350.04
$SM_GC,1.03,6.55,0.17,17.60,0.071,0.101,0.746,158,1527,1634,-6.29,-1.27,350.04,0,0,0,0,0,0,14.76,14.79,14.33
$IRIDIUM_FIX,2345.05,-3735.55,191012,212154
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.63
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,26.70
$XPDR_PINGS,5
$SC_FREEKB,7727520
$TM_FREEKB,6834592
$24V_AH,13.2,54.469
$10V_AH,13.4,0.000
$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,18.850,103.800,619.125,17.600,0.000,0.000,0.000,356.075,1.250,0.000,16.888,3190.296,22501.463,868.291,2399.612,277.359,0.000,2196.932,0.000,1879.591,0.000,0.551,0.000
$DEVICE_MAMPS,421.515,118.575,2159.595,745.875,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28641.000,6693.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.160,13.122,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,43330,1180
$CAP_FILE_SIZE,241222,0
$CFSIZE,260034560,242802688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.059,123.7,1
$GPS,201012,134404,2353.903,-3727.435,26,1.0,26,-14.0