version: 66.04
glider: 105
mission: 6
dive: 116
start: 7 1 109 22 59 3
data:
$ID,105
$MISSION,6
$DIVE,116
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,580
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-1630113
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$PRESSURE_SLOPE,0.0001163108
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,225237,6311.159,-1335.615,28,1.1,28,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.5
$GPS2,225843,6311.145,-1335.608,12,1.1,17,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,JE
$TGT_LATLONG,6305.000,-1325.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,154.4,14443,-11.0,-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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-58.78,0.000,6,0.000,0.000,386,2247,3431
$GC,81,-0.96,-146.6,5.1,-9.8,3,102,11.70,2.60,0.00,0.000,4,0.133,0.054,2583,3653,3432
$GC,299,-0.96,-146.6,32.2,-7.2,12,305,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2228,3433
$GC,615,-0.96,-146.6,49.3,-5.8,28,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2228,3433
$GC,925,-0.96,-146.6,71.5,-7.7,43,929,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,3651,3434
$GC,1013,-0.96,-146.6,79.0,-8.7,47,1017,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2255,3434
$GC,1335,-0.96,-146.6,101.7,-6.7,63,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2255,3434
$GC,1644,-0.96,-146.6,120.7,-6.3,78,1648,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3660,3434
$GC,1693,-0.96,-146.6,124.4,-7.3,80,1697,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2250,3434
$GC,2009,-0.96,-146.6,147.0,-7.7,95,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2249,3434
$GC,2320,-0.96,-146.6,171.3,-8.1,110,2324,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3658,3433
$GC,2387,-0.96,-146.6,177.4,-9.1,113,2392,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2253,3434
$GC,2713,-0.96,-146.6,203.5,-8.0,129,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3434
$GC,3025,-0.96,-146.6,226.8,-7.2,144,3029,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3660,3434
$GC,3069,-0.96,-146.6,230.5,-8.4,146,3073,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2247,3433
$GC,3390,-0.96,-146.6,254.4,-7.5,162,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3434
$GC,3699,-0.96,-146.6,277.9,-7.6,177,3703,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3434
$GC,3766,-0.96,-146.6,283.4,-8.2,180,3771,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2240,3433
$GC,4089,-0.96,-146.6,307.9,-7.5,196,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2240,3433
$GC,4397,-0.96,-146.6,330.5,-7.0,211,4401,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3651,3433
$GC,4464,-0.96,-146.6,335.6,-8.0,214,4469,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2252,3433
$GC,4785,-0.96,-146.6,359.2,-7.3,230,4790,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,3651,3433
$GC,4842,-0.96,-146.6,363.5,-8.0,232,4848,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2251,3432
$GC,5157,-0.96,-146.6,387.9,-7.7,248,5162,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3658,3432
$GC,5207,-0.96,-146.6,392.0,-8.5,250,5211,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2245,3432
$GC,5523,-0.96,-146.6,415.7,-7.5,265,5528,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3651,3432
$GC,5573,-0.96,-146.6,419.9,-7.9,267,5577,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2251,3432
$GC,5889,-0.96,-146.6,443.1,-7.2,282,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3432
$GC,6198,-0.96,-146.6,465.0,-6.7,297,6202,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3431
$GC,6286,-0.96,-146.6,471.5,-7.6,301,6291,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2251,3432
$GC,6608,-0.96,-146.6,492.4,-6.6,317,6612,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3660,3432
$GC,6663,-0.96,-146.6,496.4,-7.1,319,6669,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2249,3431
$GC,6979,-0.96,-146.6,517.0,-6.7,335,6983,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3657,3431
$GC,7051,-0.96,-146.6,522.2,-7.2,338,7056,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2252,3431
$GC,7371,-0.96,-146.6,542.1,-6.2,354,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3432
$GC,7683,-0.96,-146.6,562.0,-6.5,369,7688,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3653,3431
$GC,7750,-0.96,-146.6,566.9,-7.0,372,7755,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2247,3431
$GC,8076,-0.96,-146.6,588.5,-6.8,388,8080,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3657,3431
$GC,8109,-0.96,-146.6,590.9,-7.1,389,8115,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2248,3431
$GC,8425,-0.96,-146.6,611.1,-6.3,405,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3431
$GC,8734,-0.96,-146.6,630.7,-6.6,420,8738,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3655,3431
$GC,8828,-0.96,-146.6,637.3,-7.4,424,8833,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3431
$GC,9144,-0.96,-146.6,657.3,-6.3,439,9149,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3657,3431
$GC,9211,-0.96,-146.6,662.2,-7.6,442,9216,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2253,3430
$GC,9537,-0.96,-146.6,684.4,-7.0,458,9542,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3652,3431
$GC,9621,-0.96,-146.6,690.8,-7.8,462,9626,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2241,3430
$GC,9948,-0.96,-146.6,713.6,-6.7,478,9952,0.00,2.55,0.00,0.000,4,0.000,0.056,2583,3652,3431
$GC,9992,-0.96,-146.6,716.8,-7.1,480,9996,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2246,3430
$GC,10313,-0.96,-146.6,738.8,-7.2,496,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3431
$GC,10622,-0.96,-146.6,761.1,-7.2,511,10627,0.00,2.55,0.00,0.000,4,0.000,0.057,2583,3652,3430
$GC,10690,-0.96,-146.6,766.2,-7.7,514,10695,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3430
$GC,11011,-0.96,-146.6,788.3,-6.3,530,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3430
$GC,11320,-0.96,-146.6,808.0,-6.3,545,11324,0.00,2.55,0.00,0.000,4,0.000,0.057,2583,3651,3430
$GC,11374,-0.96,-146.6,811.8,-7.8,547,11380,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3430
$GC,11690,-0.96,-146.6,833.6,-7.4,563,11695,0.00,2.55,0.00,0.000,4,0.000,0.057,2583,3652,3430
$GC,11735,-0.96,-146.6,837.0,-8.4,565,11739,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3430
$GC,12057,-0.96,-146.6,860.4,-7.8,581,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3430
$GC,12365,-0.96,-146.6,881.3,-6.0,596,12369,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3653,3429
$GC,12415,-0.96,-146.6,884.6,-5.2,598,12419,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2239,3429
$GC,12731,-0.96,-146.6,901.8,-5.8,613,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2239,3429
$GC,13040,-0.96,-146.6,917.8,-4.9,628,13044,0.00,2.45,0.00,0.000,4,0.000,0.049,2583,852,3428
$GC,13072,-0.96,-146.6,920.8,-8.5,629,13079,0.00,2.45,0.00,0.000,6,0.000,0.039,2584,2249,3429
$GC,13388,-0.96,-146.6,941.0,-5.5,645,13393,0.00,2.55,0.00,0.000,4,0.000,0.062,2583,3651,3428
$GC,13565,-0.96,-146.6,954.6,-7.1,653,13569,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2250,3428
$GC,13891,-0.96,-146.6,974.6,-5.7,669,13896,0.00,2.50,0.00,0.000,4,0.000,0.050,2584,850,3427
$GC,13941,-0.96,-146.6,977.6,-5.7,671,13945,0.00,2.45,0.00,0.000,6,0.000,0.039,2583,2249,3427
$STATE,14156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14157,begin apogee
$GC,14165,-0.36,0.0,990.2,6.5,682,14300,0.62,0.00,130.93,1.419,6,0.062,0.000,2720,1461,2832
$STATE,14301,end apogee,CONTROL_FINISHED_OK
$STATE,14301,begin climb
$GC,14304,0.96,146.6,996.5,0.0,689,14444,1.30,2.25,132.60,1.375,4,0.051,0.064,3007,265,2233
$GC,14485,0.96,146.6,988.2,6.2,696,14492,0.00,2.10,0.00,0.000,6,0.000,0.038,3007,1457,2228
$GC,14801,1.17,313.1,976.7,1.4,712,14956,0.20,0.00,151.27,1.376,6,0.035,0.000,3081,1457,1555
$GC,15258,1.17,313.1,933.9,9.6,734,15260,0.12,0.00,0.00,0.000,6,0.079,0.000,3055,1457,1543
$GC,15565,1.17,313.1,899.9,10.6,749,15568,0.00,2.20,0.00,0.000,4,0.000,0.060,3054,264,1540
$GC,15611,1.17,313.1,895.6,10.6,751,15615,0.00,2.08,0.00,0.000,6,0.000,0.037,3054,1471,1540
$GC,15944,1.17,313.1,866.2,8.9,767,15945,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1472,1539
$GC,16252,1.17,313.1,832.5,11.4,782,16256,0.00,2.22,0.00,0.000,4,0.000,0.059,3054,259,1538
$GC,16275,1.17,313.1,829.6,12.1,783,16280,0.00,2.08,0.00,0.000,6,0.000,0.036,3054,1455,1538
$GC,16607,1.17,313.1,790.0,11.4,799,16610,0.00,2.17,0.00,0.000,4,0.000,0.058,3054,262,1537
$GC,16630,1.17,313.1,787.1,12.2,800,16633,0.00,2.03,0.00,0.000,6,0.000,0.035,3054,1455,1537
$GC,16965,1.17,313.1,749.4,11.1,816,16966,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1455,1537
$GC,17272,1.17,313.1,712.4,11.6,831,17273,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1455,1537
$GC,17581,1.17,313.1,678.1,10.6,846,17582,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1455,1537
$GC,17890,1.17,313.1,645.9,10.1,861,17891,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1455,1537
$GC,18199,1.17,313.1,614.2,10.1,876,18200,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1455,1537
$GC,18511,1.17,313.1,585.2,9.7,891,18512,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1456,1537
$GC,18819,1.17,313.1,556.0,9.3,906,18823,0.00,2.15,0.00,0.000,4,0.000,0.054,3054,259,1538
$GC,18855,1.17,313.1,552.5,9.1,907,18859,0.00,2.03,0.00,0.000,6,0.000,0.033,3054,1457,1538
$GC,19176,1.17,313.1,522.1,9.3,923,19177,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1457,1538
$GC,19485,1.17,313.1,492.3,9.8,938,19486,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1457,1538
$GC,19794,1.17,313.1,461.8,10.0,953,19795,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1457,1537
$GC,20106,1.17,313.1,432.3,9.7,968,20107,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1457,1538
$GC,20413,1.17,313.1,401.7,9.5,983,20414,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1457,1538
$GC,20722,1.17,313.1,371.5,10.1,998,20723,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1457,1538
$GC,21031,1.17,313.1,342.8,9.4,1013,21035,0.00,2.15,0.00,0.000,4,0.000,0.055,3054,261,1538
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$GC,21693,1.17,313.1,281.2,9.7,1045,21694,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1458,1538
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$GC,24009,1.17,313.1,64.5,11.0,1156,24014,0.00,2.05,0.00,0.000,6,0.000,0.034,3054,1458,1538
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$STATE,24766,end climb,SURFACE_DEPTH_REACHED
$STATE,24766,begin surface coast
$FINISH,0.9,1.026804
$STATE,24788,end surface coast,CONTROL_FINISHED_OK
$STATE,24788,begin surface
$SM_CCo,24872,0.00,0.000,0,0,1536,317.91
$SM_GC,0.98,11.45,0.00,0.00,0.022,0.000,0.000,391,2251,1536,-10.99,0.03,317.91
$IRIDIUM_FIX,6249.28,-1340.15,250998,151546
$TT8_MAMPS,0.026845
$HUMID,1874
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,926.0,89.2
$24V_AH,23.1,35.313
$10V_AH,10.1,17.817
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.400,180.100,414.800,0.000,0.000,24.150,26.069,173.444,8.250,0.000,0.000,17.162,2149.760,19191.236,514.555,2458.185,909.336,0.000,1807.777,0.000,2663.763,0.000,55.770,0.000
$DEVICE_MAMPS,133.458,64.428,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,972.216,910.399,673.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59866,1193
$CAP_FILE_SIZE,166081,0
$CFSIZE,260165632,250204160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,020709,055454,6308.213,-1330.824,25,1.2,42,-12.4