version: 66.07
glider: 511
mission: 5
dive: 280
start: 1 16 111 4 33 28
data:
$ID,511
$MISSION,5
$DIVE,280
$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,440
$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,-47770.723
$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,2595
$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,2160
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,29
$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,279
$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
$GPS1,160111,042307,1747.727,12758.729,34,1.3,35,-2.0
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-72.0
$GPS2,160111,043232,1747.651,12758.600,14,1.4,14,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.149,-0.155
$KALMAN_X,-608799.6,-391.3,68.8,648425.2,218.6
$KALMAN_Y,628405.9,125.3,-523.4,-940612.9,7831.7
$MHEAD_RNG_PITCHd_Wd,138.1,8656,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,99,0.00,0.00,-70.78,0.000,2,0.000,0.000,42,2178,2982,0,0,0,0,0,0
$GC,102,-0.58,-146.0,4.2,-5.4,7,129,10.15,2.28,-9.82,0.000,4,0.249,0.067,2402,738,3487,0,0,0,0,0,0
$GC,328,-0.58,-146.0,63.8,-20.6,31,333,0.00,2.22,0.00,0.000,6,0.000,0.051,2393,2153,3489,0,0,0,0,0,0
$GC,588,-0.58,-146.0,125.9,-23.2,56,592,0.00,2.20,0.00,0.000,4,0.000,0.054,2392,739,3489,0,0,0,0,0,0
$GC,662,-0.58,-146.0,140.2,-20.0,63,667,0.00,2.25,0.00,0.000,6,0.000,0.052,2383,2161,3489,0,0,0,0,0,0
$GC,922,-0.58,-146.0,191.2,-19.8,88,926,0.00,2.20,0.00,0.000,4,0.000,0.054,2383,747,3490,0,0,0,0,0,0
$GC,983,-0.58,-146.0,201.1,-15.2,94,989,0.12,2.22,0.00,0.000,6,0.166,0.051,2404,2162,3490,0,0,0,0,0,0
$GC,1297,-0.58,-146.0,238.6,-11.2,110,1301,0.00,2.20,0.00,0.000,4,0.000,0.054,2407,744,3491,0,0,0,0,0,0
$GC,1363,-0.58,-146.0,244.8,-9.2,113,1367,0.00,2.20,0.00,0.000,6,0.000,0.052,2405,2158,3491,0,0,0,0,0,0
$GC,1698,-0.58,-146.0,279.5,-11.2,129,1702,0.00,2.22,0.00,0.000,4,0.000,0.054,2405,739,3491,0,0,0,0,0,0
$GC,1731,-0.58,-146.0,283.4,-11.1,130,1735,0.00,2.25,0.00,0.000,6,0.000,0.054,2403,2170,3491,0,0,0,0,0,0
$GC,2044,-0.58,-146.0,311.4,-8.4,142,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2170,3491,0,0,0,0,0,0
$GC,2368,-0.58,-146.0,341.6,-9.6,150,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2170,3492,0,0,0,0,0,0
$GC,2693,-0.58,-146.0,371.6,-9.1,158,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2170,3489,0,0,0,0,0,0
$GC,3019,-0.58,-146.0,397.9,-7.8,166,3023,0.00,2.28,0.00,0.000,4,0.000,0.059,2405,742,3487,0,0,0,0,0,0
$GC,3064,-0.58,-146.0,401.9,-8.6,167,3069,0.00,2.25,0.00,0.000,6,0.000,0.054,2405,2158,3486,0,0,0,0,0,0
$GC,3386,-0.58,-146.0,425.2,-7.2,175,3390,0.00,2.25,0.00,0.000,4,0.000,0.058,2405,741,3483,0,0,0,0,0,0
$GC,3423,-0.58,-146.0,428.1,-7.9,175,3427,0.00,2.25,0.00,0.000,6,0.000,0.055,2405,2164,3483,0,0,0,0,0,0
$GC,3758,-0.58,-146.0,453.2,-7.7,184,3762,0.00,2.25,0.00,0.000,4,0.000,0.058,2405,738,3481,0,0,0,0,0,0
$GC,3790,-0.58,-146.0,456.0,-8.7,184,3794,0.00,2.25,0.00,0.000,6,0.000,0.055,2405,2159,3481,0,0,0,0,0,0
$GC,4125,-0.58,-146.0,481.3,-7.4,193,4129,0.00,2.28,0.00,0.000,4,0.000,0.067,2404,3574,3477,0,0,0,0,0,0
$GC,4157,-0.58,-146.0,483.6,-6.8,193,4161,0.00,2.22,0.00,0.000,6,0.000,0.045,2404,2150,3477,0,0,0,0,0,0
$GC,4487,-0.58,-146.0,507.1,-7.1,201,4491,0.00,2.20,0.00,0.000,4,0.000,0.053,2404,742,3478,0,0,0,0,0,0
$GC,4538,-0.58,-146.0,511.0,-8.0,202,4542,0.00,2.25,0.00,0.000,6,0.000,0.052,2405,2162,3475,0,0,0,0,0,0
$GC,4855,-0.58,-146.0,535.4,-7.8,210,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2162,3472,0,0,0,0,0,0
$GC,5180,-0.58,-146.0,560.5,-7.7,218,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2162,3469,0,0,0,0,0,0
$GC,5506,-0.58,-146.0,583.5,-6.7,226,5510,0.00,2.22,0.00,0.000,4,0.000,0.057,2404,753,3466,0,0,0,0,0,0
$GC,5565,-0.58,-146.0,587.4,-6.0,227,5569,0.00,2.25,0.00,0.000,6,0.000,0.052,2404,2167,3466,0,0,0,0,0,0
$GC,5914,-0.58,-146.0,606.2,-5.3,236,5918,0.00,2.25,0.00,0.000,4,0.000,0.056,2404,746,3464,0,0,0,0,0,0
$GC,5942,-0.58,-146.0,607.9,-6.4,236,5946,0.00,2.25,0.00,0.000,6,0.000,0.054,2404,2166,3464,0,0,0,0,0,0
$GC,6281,-0.58,-146.0,626.5,-5.6,245,6285,0.00,2.25,0.00,0.000,4,0.000,0.057,2404,753,3462,0,0,0,0,0,0
$GC,6309,-0.58,-146.0,628.4,-7.6,245,6313,0.00,2.22,0.00,0.000,6,0.000,0.052,2404,2158,3462,0,0,0,0,0,0
$GC,6644,-0.58,-146.0,649.9,-6.8,254,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2158,3460,0,0,0,0,0,0
$GC,6968,-0.58,-146.0,674.7,-7.8,262,6972,0.00,2.25,0.00,0.000,4,0.000,0.058,2405,750,3458,0,0,0,0,0,0
$GC,7005,-0.58,-146.0,677.8,-9.3,262,7011,0.00,2.22,0.00,0.000,6,0.000,0.051,2404,2167,3456,0,0,0,0,0,0
$GC,7335,-0.58,-146.0,702.4,-7.5,271,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2167,3457,0,0,0,0,0,0
$GC,7661,-0.58,-146.0,726.0,-7.1,279,7665,0.00,2.28,0.00,0.000,4,0.000,0.059,2404,746,3454,0,0,0,0,0,0
$GC,7697,-0.58,-146.0,728.8,-7.6,279,7701,0.00,2.25,0.00,0.000,6,0.000,0.052,2404,2162,3454,0,0,0,0,0,0
$GC,8032,-0.58,-146.0,749.1,-5.8,288,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2162,3453,0,0,0,0,0,0
$GC,8358,-0.58,-146.0,766.8,-5.5,296,8362,0.00,2.25,0.00,0.000,4,0.000,0.057,2404,745,3451,0,0,0,0,0,0
$GC,8395,-0.58,-146.0,769.1,-6.4,296,8400,0.00,2.25,0.00,0.000,6,0.000,0.053,2405,2159,3454,0,0,0,0,0,0
$GC,8725,-0.58,-146.0,789.9,-6.5,305,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2159,3453,0,0,0,0,0,0
$GC,9050,-0.58,-146.0,810.6,-6.3,313,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2159,3447,0,0,0,0,0,0
$GC,9376,-0.58,-146.0,830.0,-5.9,321,9380,0.00,2.28,0.00,0.000,4,0.000,0.058,2404,747,3448,0,0,0,0,0,0
$GC,9408,-0.58,-146.0,832.3,-6.4,321,9412,0.00,2.25,0.00,0.000,6,0.000,0.052,2404,2165,3447,0,0,0,0,0,0
$GC,9738,-0.58,-146.0,852.1,-6.0,329,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2165,3447,0,0,0,0,0,0
$GC,10063,-0.58,-146.0,871.9,-6.1,337,10067,0.00,2.25,0.00,0.000,4,0.000,0.058,2404,752,3446,0,0,0,0,0,0
$GC,10100,-0.58,-146.0,874.3,-6.0,337,10105,0.00,2.28,0.00,0.000,6,0.000,0.052,2404,2165,3446,0,0,0,0,0,0
$GC,10430,-0.58,-146.0,893.5,-5.8,346,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2165,3444,0,0,0,0,0,0
$GC,10756,-0.58,-146.0,912.4,-5.8,354,10760,0.00,2.28,0.00,0.000,4,0.000,0.058,2406,753,3444,0,0,0,0,0,0
$GC,10783,-0.58,-146.0,914.3,-8.2,354,10787,0.00,2.28,0.00,0.000,6,0.000,0.054,2405,2168,3447,0,0,0,0,0,0
$GC,11118,-0.58,-146.0,934.8,-6.3,363,11122,0.00,2.28,0.00,0.000,4,0.000,0.057,2404,754,3443,0,0,0,0,0,0
$GC,11141,-0.58,-146.0,936.3,-7.2,363,11145,0.00,2.28,0.00,0.000,6,0.000,0.054,2404,2165,3443,0,0,0,0,0,0
$GC,11480,-0.58,-146.0,958.0,-6.3,372,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2165,3443,0,0,0,0,0,0
$GC,11805,-0.58,-146.0,977.9,-6.0,380,11809,0.00,2.28,0.00,0.000,4,0.000,0.058,2404,745,3441,0,0,0,0,0,0
$GC,11832,-0.58,-146.0,979.6,-6.2,380,11836,0.00,2.30,0.00,0.000,6,0.000,0.054,2404,2166,3441,0,0,0,0,0,0
$STATE,12048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12048,begin apogee
$GC,12054,-0.28,0.0,991.9,5.7,386,12179,0.30,0.00,121.90,1.357,6,0.123,0.000,2501,2019,2890,0,0,0,0,0,0
$STATE,12180,end apogee,CONTROL_FINISHED_OK
$STATE,12180,begin climb
$GC,12182,0.58,146.0,996.7,0.0,389,12324,0.77,2.50,132.88,1.317,4,0.071,0.061,2790,625,2294,0,0,1,0,0,0
$GC,12333,0.58,146.0,992.2,9.6,392,12338,0.00,2.45,0.00,0.000,6,0.000,0.056,2789,2030,2290,0,0,1,0,0,0
$GC,12669,0.58,146.0,951.8,12.0,401,12673,0.00,2.33,0.00,0.000,4,0.000,0.069,2790,3443,2285,0,0,0,0,0,0
$GC,12765,0.58,146.0,939.1,13.6,403,12770,0.00,2.28,0.00,0.000,6,0.000,0.051,2800,2032,2283,0,0,0,0,0,0
$GC,13083,0.58,146.0,901.5,11.8,411,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2027,2279,0,0,0,0,0,0
$GC,13408,0.58,146.0,863.5,11.8,419,13412,0.00,2.33,0.00,0.000,4,0.000,0.068,2800,3446,2277,0,0,0,0,0,0
$GC,13500,0.58,146.0,851.4,13.8,421,13504,0.00,2.28,0.00,0.000,6,0.000,0.051,2810,2028,2277,0,0,0,0,0,0
$GC,13822,0.58,146.0,811.8,12.4,429,13827,0.12,2.33,0.00,0.000,4,0.231,0.070,2783,3442,2276,0,0,0,0,0,0
$GC,13865,0.58,146.0,806.3,13.3,430,13869,0.00,2.28,0.00,0.000,6,0.000,0.051,2792,2023,2276,0,0,0,0,0,0
$GC,14191,0.58,146.0,773.2,9.9,438,14196,0.00,2.35,0.00,0.000,4,0.000,0.071,2791,3443,2276,0,0,0,0,0,0
$GC,14242,0.58,146.0,767.3,11.9,439,14246,0.00,2.28,0.00,0.000,6,0.000,0.052,2802,2025,2276,0,0,0,0,0,0
$GC,14560,0.58,146.0,734.2,10.5,447,14561,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2022,2274,0,0,0,0,0,0
$GC,14884,0.58,146.0,700.0,10.5,455,14889,0.00,2.33,0.00,0.000,4,0.000,0.070,2800,3442,2275,0,0,0,0,0,0
$GC,14931,0.58,146.0,694.3,12.7,456,14935,0.12,2.28,0.00,0.000,6,0.214,0.051,2785,2022,2274,0,0,0,0,0,0
$GC,15253,0.58,146.0,662.1,9.8,464,15257,0.00,2.35,0.00,0.000,4,0.000,0.071,2785,3443,2274,0,0,0,0,0,0
$GC,15331,0.58,146.0,653.8,10.9,465,15336,0.00,2.25,0.00,0.000,6,0.000,0.052,2793,2026,2274,0,0,0,0,0,0
$GC,15666,0.58,146.0,621.1,9.6,474,15670,0.00,2.35,0.00,0.000,4,0.000,0.069,2794,3442,2274,0,0,0,0,0,0
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$STATE,23444,end climb,SURFACE_DEPTH_REACHED
$STATE,23445,begin surface coast
$FINISH,1.0,1.022755
$STATE,23478,end surface coast,CONTROL_FINISHED_OK
$STATE,23478,begin surface
$SM_CCo,23494,48.65,0.544,0,0,1095,440.06
$SM_GC,1.78,0.00,0.00,48.65,0.000,0.000,0.544,50,2179,1095,-7.95,0.54,440.06
$IRIDIUM_FIX,1742.84,12757.86,100712,161639
$TT8_MAMPS,0.055991
$HUMID,1078632893
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.10
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8434843648
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52570390528
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,58.494
$10V_AH,9.9,39.758
$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,19.525,199.725,417.875,48.650,0.000,33.329,70.228,313.602,0.500,0.000,16.986,1801.195,18724.283,577.023,2699.527,304.991,33.372,1852.488,0.000,2226.149,0.000,0.545,0.000
$DEVICE_MAMPS,248.508,73.632,1356.823,543.803,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,604.591,0.000,0.000,0.000,0.000,0.000,0.000,22030.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.735,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,33313,897
$CAP_FILE_SIZE,190680,0
$CFSIZE,260165632,233857024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160111,111106,1746.368,12800.507,256,2.0,262,-2.0