version: 66.07
glider: 511
mission: 5
dive: 247
start: 1 7 111 4 26 15
data:
$ID,511
$MISSION,5
$DIVE,247
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46793.816
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,246
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,070111,040737,1806.392,12721.188,32,1.3,32,-2.1
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.3
$GPS2,070111,042520,1806.615,12721.199,9,1.7,9,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.080
$KALMAN_X,-539032.4,323.6,1966.6,511179.7,-16643.8
$KALMAN_Y,544220.4,-315.5,1115.3,-822527.4,223.5
$MHEAD_RNG_PITCHd_Wd,113.9,82748,-9.9,-6.000
$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
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,98,0.00,0.00,-70.30,0.000,2,0.000,0.000,28,2138,2749,0,0,0,0,0,0
$GC,101,-0.58,-146.0,3.5,-3.0,14,134,10.43,2.25,-15.07,0.000,4,0.249,0.070,2454,726,3488,0,0,1,0,0,0
$GC,213,-0.58,-146.0,29.6,-15.0,38,218,0.00,2.25,0.00,0.000,6,0.000,0.051,2446,2145,3490,0,0,0,0,0,0
$GC,410,-0.58,-146.0,63.1,-18.5,57,414,0.00,2.25,0.00,0.000,4,0.000,0.064,2435,3559,3489,0,0,0,0,0,0
$GC,460,-0.58,-146.0,71.9,-16.2,62,465,0.00,2.15,0.00,0.000,6,0.000,0.041,2436,2134,3489,0,0,0,0,0,0
$GC,720,-0.58,-146.0,120.5,-19.1,87,724,0.00,2.15,0.00,0.000,4,0.000,0.051,2436,733,3490,0,0,0,0,0,0
$GC,807,-0.58,-146.0,133.7,-13.5,96,814,0.12,2.22,0.00,0.000,6,0.163,0.048,2469,2151,3492,0,0,0,0,0,0
$GC,1071,-0.58,-146.0,159.1,-9.9,121,1075,0.00,2.20,0.00,0.000,4,0.000,0.060,2464,3558,3489,0,0,0,0,0,0
$GC,1131,-0.58,-146.0,164.5,-7.5,127,1135,0.00,2.15,0.00,0.000,6,0.000,0.041,2467,2148,3490,0,0,0,0,0,0
$GC,1392,-0.58,-146.0,183.3,-6.3,151,1396,0.00,2.15,0.00,0.000,4,0.000,0.048,2467,735,3488,0,0,0,0,0,0
$GC,1444,-0.58,-146.0,186.8,-7.5,156,1448,0.00,2.20,0.00,0.000,6,0.000,0.048,2467,2146,3490,0,0,0,0,0,0
$GC,1714,-0.58,-146.0,206.6,-7.2,177,1718,0.00,2.22,0.00,0.000,4,0.000,0.061,2468,3562,3490,0,0,0,0,0,0
$GC,1764,-0.58,-146.0,209.9,-5.8,179,1769,0.00,2.17,0.00,0.000,6,0.000,0.041,2467,2141,3492,0,0,0,0,0,0
$GC,2084,-0.58,-146.0,226.0,-4.3,195,2088,0.00,2.12,0.00,0.000,4,0.000,0.048,2467,737,3489,0,0,0,0,0,0
$GC,2120,-0.58,-146.0,228.1,-5.6,196,2126,0.00,2.20,0.00,0.000,6,0.000,0.048,2467,2149,3489,0,0,0,0,0,0
$GC,2437,-0.58,-146.0,247.0,-6.4,212,2441,0.00,2.22,0.00,0.000,4,0.000,0.060,2464,3554,3489,0,0,0,0,0,0
$GC,2469,-0.58,-146.0,249.1,-6.1,213,2473,0.00,2.17,0.00,0.000,6,0.000,0.041,2467,2138,3489,0,0,0,0,0,0
$GC,2784,-0.58,-146.0,267.8,-5.3,228,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2137,3488,0,0,0,0,0,0
$GC,3093,-0.58,-146.0,281.2,-4.2,243,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2137,3487,0,0,0,0,0,0
$GC,3403,-0.58,-146.0,297.1,-5.7,258,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2137,3485,0,0,0,0,0,0
$GC,3708,-0.58,-146.0,317.8,-6.9,267,3712,0.00,2.15,0.00,0.000,4,0.000,0.049,2467,737,3483,0,0,0,0,0,0
$GC,3735,-0.58,-146.0,319.8,-7.6,267,3739,0.00,2.20,0.00,0.000,6,0.000,0.049,2468,2146,3483,0,0,0,0,0,0
$GC,4070,-0.58,-146.0,337.0,-4.4,276,4074,0.00,2.22,0.00,0.000,4,0.000,0.061,2466,3556,3482,0,0,0,0,0,0
$GC,4113,-0.58,-146.0,338.8,-4.5,277,4117,0.00,2.15,0.00,0.000,6,0.000,0.041,2468,2134,3481,0,0,0,0,0,0
$GC,4440,-0.58,-146.0,359.3,-7.1,285,4443,0.00,2.15,0.00,0.000,4,0.000,0.051,2466,747,3480,0,0,0,0,0,0
$GC,4581,-0.58,-146.0,370.1,-7.8,288,4585,0.00,2.17,0.00,0.000,6,0.000,0.050,2467,2148,3479,0,0,0,0,0,0
$GC,4899,-0.58,-146.0,396.1,-8.5,296,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2148,3478,0,0,0,0,0,0
$GC,5223,-0.58,-146.0,424.2,-8.4,304,5228,0.00,2.25,-0.10,0.000,4,0.000,0.076,2467,3547,3497,0,0,0,0,0,0
$GC,5359,-0.58,-146.0,437.0,-9.9,307,5363,0.00,2.15,0.00,0.000,6,0.000,0.046,2467,2142,3496,0,0,0,0,0,0
$GC,5685,-0.58,-146.0,466.3,-8.8,315,5689,0.00,2.30,0.00,0.000,4,0.000,0.066,2472,3561,3493,0,0,0,0,0,0
$GC,5782,-0.58,-146.0,475.0,-9.2,317,5786,0.00,2.17,0.00,0.000,6,0.000,0.045,2467,2139,3494,0,0,0,0,0,0
$GC,6104,-0.58,-146.0,502.2,-8.5,325,6108,0.00,2.15,0.00,0.000,4,0.000,0.051,2466,742,3493,0,0,0,0,0,0
$GC,6164,-0.58,-146.0,507.7,-9.5,326,6169,0.00,2.20,0.00,0.000,6,0.000,0.051,2466,2149,3492,0,0,0,0,0,0
$GC,6514,-0.58,-146.0,538.5,-8.8,335,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2145,3490,0,0,0,0,0,0
$GC,6838,-0.58,-146.0,568.2,-9.1,343,6842,0.00,2.25,0.00,0.000,4,0.000,0.064,2467,3557,3488,0,0,0,0,0,0
$GC,6888,-0.58,-146.0,573.1,-9.9,344,6892,0.00,2.20,0.00,0.000,6,0.000,0.048,2467,2148,3491,0,0,0,0,0,0
$GC,7210,-0.58,-146.0,599.7,-8.0,352,7214,0.00,2.20,0.00,0.000,4,0.000,0.053,2466,737,3486,0,0,0,0,0,0
$GC,7237,-0.58,-146.0,602.0,-8.1,352,7241,0.00,2.20,0.00,0.000,6,0.000,0.049,2467,2148,3486,0,0,1,0,0,0
$GC,7572,-0.58,-146.0,627.8,-8.0,361,7576,0.00,2.25,0.00,0.000,4,0.000,0.066,2467,3552,3484,0,0,0,0,0,0
$GC,7627,-0.58,-146.0,632.6,-8.7,362,7631,0.00,2.17,0.00,0.000,6,0.000,0.048,2467,2142,3483,0,0,0,0,0,0
$GC,7940,-0.58,-146.0,659.3,-8.6,370,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2135,3482,0,0,0,0,0,0
$GC,8265,-0.58,-146.0,688.4,-8.9,378,8269,0.00,2.17,0.00,0.000,4,0.000,0.054,2467,740,3484,0,0,0,0,0,0
$GC,8330,-0.58,-146.0,694.3,-9.5,379,8334,0.00,2.22,0.00,0.000,6,0.000,0.052,2467,2146,3480,0,0,0,0,0,0
$GC,8674,-0.58,-146.0,725.1,-9.1,388,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2146,3478,0,0,0,0,0,0
$GC,8999,-0.58,-146.0,753.1,-8.5,396,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2146,3477,0,0,0,0,0,0
$GC,9324,-0.58,-146.0,781.2,-8.8,404,9328,0.00,2.33,0.00,0.000,4,0.000,0.068,2467,3557,3475,0,0,0,0,0,0
$GC,9366,-0.58,-146.0,784.9,-9.7,405,9371,0.00,2.17,0.00,0.000,6,0.000,0.046,2472,2142,3474,0,0,0,0,0,0
$GC,9693,-0.58,-146.0,813.7,-8.9,413,9697,0.00,2.20,0.00,0.000,4,0.000,0.055,2467,736,3472,0,0,0,0,0,0
$GC,9743,-0.58,-146.0,818.3,-10.1,414,9747,0.00,2.22,0.00,0.000,6,0.000,0.051,2467,2148,3472,0,0,0,0,0,0
$GC,10061,-0.58,-146.0,845.1,-8.6,422,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2148,3471,0,0,0,0,0,0
$GC,10385,-0.58,-146.0,873.0,-8.7,430,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2148,3469,0,0,0,0,0,0
$GC,10711,-0.58,-146.0,901.7,-8.9,438,10715,0.00,2.22,0.00,0.000,4,0.000,0.056,2467,744,3467,0,0,0,0,0,0
$GC,10761,-0.58,-146.0,906.3,-9.5,439,10765,0.00,2.20,0.00,0.000,6,0.000,0.051,2466,2142,3467,0,0,0,0,0,0
$GC,11083,-0.58,-146.0,935.0,-9.1,447,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2142,3466,0,0,0,0,0,0
$GC,11408,-0.58,-146.0,964.7,-9.1,455,11412,0.00,2.30,0.00,0.000,4,0.000,0.070,2464,3555,3464,0,0,0,0,0,0
$GC,11555,-0.58,-146.0,978.1,-8.6,458,11559,0.00,2.20,0.00,0.000,6,0.000,0.049,2466,2145,3465,0,0,0,0,0,0
$STATE,11703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11703,begin apogee
$GC,11709,-0.28,0.0,990.8,8.5,462,11835,0.28,0.00,123.60,1.350,6,0.076,0.000,2581,2032,2894,0,0,0,0,0,0
$STATE,11871,end apogee,CONTROL_FINISHED_OK
$STATE,11871,begin climb
$GC,11873,0.58,146.0,997.5,0.0,465,12011,0.68,2.42,128.62,1.318,4,0.057,0.057,2850,646,2296,0,0,0,0,0,0
$GC,12251,0.58,146.0,953.0,16.1,473,12255,0.00,2.28,0.00,0.000,6,0.000,0.054,2850,2052,2281,0,0,0,0,0,0
$GC,12595,0.58,146.0,896.7,16.2,482,12599,0.00,2.30,0.00,0.000,4,0.000,0.070,2850,3463,2278,0,0,0,0,0,0
$GC,12669,0.58,146.0,884.0,16.1,483,12673,0.00,2.22,0.00,0.000,6,0.000,0.050,2860,2056,2279,0,0,0,0,0,0
$GC,13008,0.58,146.0,828.8,16.2,492,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2054,2277,0,0,0,0,0,0
$GC,13333,0.58,146.0,777.8,15.4,500,13337,0.00,2.25,0.00,0.000,4,0.000,0.059,2871,635,2276,0,0,0,0,0,0
$GC,13383,0.58,146.0,769.8,14.6,501,13388,0.15,2.25,0.00,0.000,6,0.212,0.054,2837,2050,2275,0,0,0,0,0,0
$GC,13702,0.58,146.0,726.8,13.4,509,13706,0.00,2.30,0.00,0.000,4,0.000,0.070,2837,3459,2278,0,0,0,0,0,0
$GC,13798,0.58,146.0,713.3,14.8,511,13802,0.00,2.25,0.00,0.000,6,0.000,0.051,2846,2043,2274,0,0,0,0,0,0
$GC,14120,0.58,146.0,671.6,13.2,519,14124,0.00,2.28,0.00,0.000,4,0.000,0.061,2856,629,2274,0,0,0,0,0,0
$GC,14138,0.58,146.0,669.2,12.4,519,14142,0.00,2.25,0.00,0.000,6,0.000,0.056,2856,2043,2272,0,0,0,0,0,0
$GC,14482,0.58,146.0,625.4,12.8,528,14486,0.00,2.25,0.00,0.000,4,0.000,0.060,2867,631,2272,0,0,0,0,0,0
$GC,14524,0.58,146.0,619.4,14.6,529,14529,0.12,2.28,0.00,0.000,6,0.211,0.055,2839,2052,2273,0,0,0,0,0,0
$GC,14852,0.58,146.0,578.7,12.0,537,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2046,2272,0,0,0,0,0,0
$GC,15177,0.58,146.0,544.4,10.1,545,15181,0.00,2.30,0.00,0.000,4,0.000,0.070,2839,3457,2275,0,0,0,0,0,0
$GC,15298,0.58,146.0,530.8,12.5,547,15302,0.00,2.25,0.00,0.000,6,0.000,0.051,2848,2045,2270,0,0,0,0,0,0
$GC,15633,0.58,146.0,496.5,10.3,556,15637,0.00,2.28,0.00,0.000,4,0.000,0.060,2858,627,2272,0,0,0,0,0,0
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$STATE,20990,end climb,SURFACE_DEPTH_REACHED
$STATE,20990,begin surface coast
$FINISH,0.7,1.022826
$STATE,21020,end surface coast,CONTROL_FINISHED_OK
$STATE,21020,begin surface
$SM_CCo,21038,122.40,0.564,0,0,852,500.40
$SM_GC,1.41,0.00,0.00,122.40,0.000,0.000,0.564,48,2156,852,-8.13,0.45,500.40
$IRIDIUM_FIX,1758.70,12719.87,010712,222204
$TT8_MAMPS,0.058292
$HUMID,1078692248
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.50
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8384675840
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53330280448
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,52.044
$10V_AH,10.0,34.891
$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,19.600,182.950,345.075,122.400,0.000,52.678,71.631,690.363,0.750,0.000,11.477,1803.933,16235.201,580.214,3238.793,360.195,33.372,1884.282,0.000,2366.770,0.000,0.544,0.000
$DEVICE_MAMPS,249.275,82.836,1349.920,563.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,603.368,0.000,0.000,0.000,0.000,0.000,0.000,20528.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.922,0.000,0.000
$MEM,354972
$DATA_FILE_SIZE,33415,898
$CAP_FILE_SIZE,194376,0
$CFSIZE,260165632,236961792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070111,102036,1805.575,12723.352,49,1.5,49,-2.0