version: 66.03
glider: 144
mission: 13
dive: 29
start: 6 14 108 19 40 35
data:
$ID,144
$MISSION,13
$DIVE,29
$D_SURF,2
$D_FLARE,3
$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,412.5
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0044757999
$HD_B,0.0099689998
$HD_C,1.0513e-05
$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,400
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23919.42
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3812
$C_PITCH,2728
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.1256177
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043142079
$SEABIRD_T_H,0.00062953553
$SEABIRD_T_I,2.3274781e-05
$SEABIRD_T_J,2.4096155e-06
$SEABIRD_C_G,-10.012566
$SEABIRD_C_H,1.1222577
$SEABIRD_C_I,-0.0011971687
$SEABIRD_C_J,0.000188736
$GPS1,193357,4957.470,-14457.593,366,2.4,385,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-56.5
$GPS2,193941,4957.515,-14457.610,83,2.3,102,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4953.581,-14459.120
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.109,-0.217
$KALMAN_X,1885.8,-111.2,-209.8,-940.1,1668.3
$KALMAN_Y,22482.3,-171.3,176.0,-28002.9,1124.5
$MHEAD_RNG_PITCHd_Wd,188.2,7505,-15.3,-8.000
$D_GRID,1001
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.20,-146.6,0.0,0.0,0,104,0.00,0.00,-82.53,0.000,2,0.000,0.000,495,1897,2983
$GC,106,-1.20,-146.6,3.5,-4.8,8,139,10.65,2.45,-14.20,0.000,4,0.173,0.068,2460,3292,3532
$GC,257,-1.20,-146.6,23.4,-12.1,21,263,0.00,2.35,0.00,0.000,6,0.000,0.045,2460,1908,3533
$GC,583,-1.15,-146.6,60.1,-11.7,52,587,0.00,2.45,0.00,0.000,4,0.000,0.059,2460,497,3534
$GC,660,-1.08,-146.6,69.9,-12.2,58,667,0.10,2.38,0.00,0.000,6,0.110,0.044,2485,1900,3534
$GC,977,-1.08,-146.6,104.3,-10.8,78,981,0.00,2.45,0.00,0.000,4,0.000,0.059,2485,497,3535
$GC,1009,-1.08,-146.6,108.1,-11.7,79,1016,0.00,2.38,0.00,0.000,6,0.000,0.045,2484,1904,3535
$GC,1326,-1.16,-146.6,137.8,-8.7,95,1330,0.00,2.45,0.00,0.000,4,0.000,0.059,2485,498,3535
$GC,1380,-1.22,-146.6,142.9,-9.5,97,1387,0.10,2.35,0.00,0.000,6,0.082,0.047,2458,1904,3535
$GC,1713,-1.22,-146.6,174.2,-9.0,110,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1905,3535
$GC,2019,-1.22,-146.6,202.6,-9.3,120,2024,0.00,2.45,0.00,0.000,4,0.000,0.064,2458,498,3535
$GC,2048,-1.22,-146.6,205.3,-10.2,121,2052,0.00,2.35,0.00,0.000,6,0.000,0.041,2458,1901,3534
$GC,2381,-1.22,-146.6,235.4,-8.8,132,2385,0.00,2.45,0.00,0.000,4,0.000,0.063,2458,496,3534
$GC,2419,-1.22,-146.6,239.0,-9.9,133,2424,0.00,2.38,0.00,0.000,6,0.000,0.048,2458,1900,3534
$GC,2748,-1.22,-146.6,267.5,-8.7,144,2752,0.00,2.45,0.00,0.000,4,0.000,0.064,2458,495,3535
$GC,2792,-1.22,-146.6,271.5,-9.3,145,2796,0.00,2.38,0.00,0.000,6,0.000,0.044,2458,1899,3534
$GC,3116,-1.22,-146.6,299.1,-8.7,156,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1901,3534
$GC,3449,-1.22,-146.6,329.2,-9.0,162,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1901,3534
$GC,3752,-1.22,-146.6,357.5,-9.4,167,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1901,3534
$GC,4056,-1.26,-146.6,386.0,-9.4,172,4060,0.00,2.45,0.00,0.000,4,0.000,0.061,2458,491,3533
$GC,4132,-1.26,-146.6,393.8,-9.8,173,4137,0.00,2.40,0.00,0.000,6,0.000,0.045,2458,1902,3533
$GC,4487,-1.31,-146.6,426.8,-9.3,179,4491,0.00,2.45,0.00,0.000,4,0.000,0.064,2458,492,3533
$GC,4591,-1.31,-146.6,437.5,-9.7,180,4596,0.00,2.38,0.00,0.000,6,0.000,0.043,2458,1900,3533
$GC,4918,-1.36,-146.6,467.1,-9.0,186,4920,0.12,0.00,0.00,0.000,6,0.081,0.000,2426,1902,3533
$GC,5221,-1.36,-146.6,496.9,-9.9,191,5225,0.00,2.45,0.00,0.000,4,0.000,0.065,2426,495,3532
$GC,5264,-1.31,-146.6,501.5,-10.5,191,5269,0.00,2.35,0.00,0.000,6,0.000,0.048,2426,1903,3532
$GC,5584,-1.31,-146.6,530.6,-9.0,197,5588,0.00,2.42,0.00,0.000,4,0.000,0.060,2425,498,3532
$GC,5652,-1.25,-146.6,537.0,-9.8,198,5656,0.15,2.35,0.00,0.000,6,0.119,0.041,2455,1904,3532
$GC,6017,-1.30,-146.6,564.4,-7.4,204,6021,0.00,2.45,0.00,0.000,4,0.000,0.063,2455,495,3532
$GC,6071,-1.30,-146.6,569.0,-8.6,204,6078,0.00,2.38,0.00,0.000,6,0.000,0.043,2455,1900,3532
$GC,6381,-1.36,-146.6,592.1,-7.5,210,6386,0.10,2.45,0.00,0.000,4,0.085,0.059,2429,492,3532
$GC,6413,-1.31,-146.6,595.1,-9.6,210,6417,0.00,2.38,0.00,0.000,6,0.000,0.042,2429,1897,3531
$GC,6744,-1.31,-146.6,624.5,-8.9,216,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1898,3531
$GC,7047,-1.31,-146.6,651.7,-8.9,221,7052,0.00,2.42,0.00,0.000,4,0.000,0.061,2429,499,3531
$GC,7113,-1.31,-146.6,658.2,-9.8,222,7118,0.00,2.35,0.00,0.000,6,0.000,0.041,2429,1893,3531
$GC,7479,-1.31,-146.6,690.3,-8.7,228,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1894,3531
$GC,7782,-1.31,-146.6,717.0,-8.9,233,7786,0.00,2.45,0.00,0.000,4,0.000,0.068,2429,492,3530
$GC,7849,-1.31,-146.6,723.5,-9.7,234,7853,0.00,2.35,0.00,0.000,6,0.000,0.042,2429,1900,3530
$GC,8207,-1.31,-146.6,754.1,-8.4,240,8211,0.00,2.45,0.00,0.000,4,0.000,0.063,2429,497,3530
$GC,8238,-1.31,-146.6,756.9,-9.0,240,8243,0.00,2.38,0.00,0.000,6,0.000,0.048,2429,1900,3530
$GC,8570,-1.31,-146.6,784.0,-8.1,246,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1903,3530
$GC,8874,-1.31,-146.6,807.1,-7.6,251,8877,0.00,2.45,0.00,0.000,4,0.000,0.066,2428,499,3530
$GC,8929,-1.31,-146.6,811.4,-8.2,251,8934,0.00,2.35,0.00,0.000,6,0.000,0.043,2428,1905,3530
$GC,9238,-1.31,-146.6,834.0,-7.3,256,9242,0.00,2.45,0.00,0.000,4,0.000,0.063,2428,499,3530
$GC,9292,-1.31,-146.6,838.6,-8.5,256,9298,0.00,2.38,0.00,0.000,6,0.000,0.041,2429,1901,3530
$GC,9601,-1.31,-146.6,861.4,-7.4,262,9606,0.00,2.45,0.00,0.000,4,0.000,0.066,2429,500,3530
$GC,9633,-1.31,-146.6,864.1,-8.3,262,9638,0.00,2.38,0.00,0.000,6,0.000,0.048,2429,1898,3530
$GC,9965,-1.31,-146.6,887.3,-7.1,268,9969,0.00,2.45,0.00,0.000,4,0.000,0.067,2427,501,3529
$GC,10003,-1.31,-146.6,890.3,-7.8,268,10008,0.00,2.38,0.00,0.000,6,0.000,0.043,2429,1895,3529
$GC,10335,-1.31,-146.6,913.5,-7.0,274,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1895,3529
$GC,10638,-1.31,-146.6,934.5,-7.0,279,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1895,3529
$GC,10941,-1.31,-146.6,955.6,-6.9,284,10946,0.00,2.50,0.00,0.000,4,0.000,0.084,2429,502,3528
$GC,10984,-1.31,-146.6,959.0,-8.7,284,10989,0.00,2.42,0.00,0.000,6,0.000,0.054,2428,1893,3528
$GC,11305,-1.31,-146.6,980.5,-6.7,290,11310,0.00,2.58,0.00,0.000,4,0.000,0.092,2429,3306,3528
$GC,11332,-1.31,-146.6,982.5,-7.6,290,11337,0.00,2.45,0.00,0.000,6,0.000,0.072,2428,1904,3528
$STATE,11486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11486,begin apogee
$GC,11490,-0.33,0.0,992.9,6.7,293,11622,1.05,0.00,128.35,1.356,6,0.101,0.000,2651,2096,2931
$STATE,11623,end apogee,CONTROL_FINISHED_OK
$STATE,11623,begin climb
$GC,11625,1.20,146.6,994.6,0.0,295,11761,1.50,2.72,127.10,1.322,4,0.071,0.092,2988,3508,2332
$GC,11850,1.01,146.6,976.4,11.7,298,11855,0.20,2.53,0.00,0.000,6,0.121,0.065,2951,2091,2327
$GC,12182,0.94,146.6,946.0,9.1,304,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2091,2324
$GC,12485,0.86,146.6,918.4,9.1,309,12486,0.17,0.00,0.00,0.000,6,0.121,0.000,2918,2091,2323
$GC,12788,0.88,164.1,895.9,7.4,314,12805,0.00,0.00,15.70,1.206,6,0.000,0.000,2918,2091,2261
$GC,13091,0.91,187.2,874.2,7.2,319,13119,0.00,2.58,21.88,1.221,4,0.000,0.063,2918,688,2166
$GC,13131,0.92,192.8,871.1,7.8,319,13142,0.00,2.47,6.50,0.996,6,0.000,0.052,2918,2103,2145
$GC,13451,1.00,211.3,847.5,7.3,325,13482,0.12,2.55,20.05,1.102,4,0.081,0.061,2948,685,2069
$GC,13498,0.95,211.3,843.5,8.3,325,13502,0.00,2.45,0.00,0.000,6,0.000,0.051,2948,2104,2067
$GC,13813,0.95,211.3,817.6,8.2,331,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2104,2064
$GC,14116,0.96,214.8,793.6,7.9,336,14125,0.00,2.53,3.88,0.778,4,0.000,0.059,2948,693,2055
$GC,14164,0.90,214.8,789.3,9.1,336,14169,0.12,2.45,0.00,0.000,6,0.123,0.050,2925,2122,2055
$GC,14484,0.97,231.0,765.5,7.4,342,14513,0.00,2.60,18.33,1.055,4,0.000,0.059,2924,689,1989
$GC,14531,1.03,238.9,761.8,7.7,342,14548,0.12,2.42,8.75,1.039,6,0.082,0.051,2955,2101,1956
$GC,14849,1.03,238.9,732.7,9.2,348,14854,0.00,2.50,0.00,0.000,4,0.000,0.061,2955,679,1952
$GC,14870,1.03,238.9,730.6,9.4,348,14875,0.00,2.45,0.00,0.000,6,0.000,0.048,2955,2104,1952
$GC,15213,1.03,238.9,700.1,8.9,354,15217,0.00,2.47,0.00,0.000,4,0.000,0.060,2954,687,1951
$GC,15240,1.03,238.9,697.5,9.3,354,15244,0.00,2.42,0.00,0.000,6,0.000,0.051,2955,2100,1951
$GC,15583,1.03,238.9,667.4,8.8,360,15587,0.00,2.47,0.00,0.000,4,0.000,0.061,2955,687,1951
$GC,15615,1.03,238.9,664.2,9.7,360,15619,0.00,2.42,0.00,0.000,6,0.000,0.048,2955,2099,1950
$GC,15947,1.03,238.9,635.3,8.8,366,15948,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2101,1950
$GC,16249,1.03,238.9,607.8,9.1,371,16253,0.00,2.47,0.00,0.000,4,0.000,0.064,2954,678,1950
$GC,16265,1.03,238.9,606.2,9.2,371,16269,0.00,2.45,0.00,0.000,6,0.000,0.047,2955,2103,1951
$GC,16619,1.03,238.9,573.0,9.4,377,16620,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2106,1950
$GC,16922,1.03,238.9,544.0,9.6,382,16926,0.00,2.47,0.00,0.000,4,0.000,0.060,2955,681,1950
$GC,16965,1.03,238.9,539.4,10.6,382,16969,0.00,2.42,0.00,0.000,6,0.000,0.052,2955,2094,1950
$GC,17285,1.03,238.9,506.4,10.4,388,17286,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2097,1949
$GC,17588,1.03,238.9,476.2,9.9,393,17592,0.00,2.45,0.00,0.000,4,0.000,0.061,2955,685,1949
$GC,17609,1.03,238.9,473.8,10.2,393,17614,0.00,2.42,0.00,0.000,6,0.000,0.050,2955,2099,1949
$GC,17952,1.03,238.9,444.5,8.4,399,17956,0.00,2.45,0.00,0.000,4,0.000,0.064,2955,684,1949
$GC,17972,1.04,252.3,442.8,7.5,399,17989,0.00,2.42,12.10,0.935,6,0.000,0.051,2955,2104,1902
$GC,18315,1.05,256.6,415.7,7.8,405,18325,0.00,2.47,5.15,0.764,4,0.000,0.061,2955,681,1885
$GC,18352,1.05,262.2,412.5,7.8,405,18364,0.00,2.45,6.82,0.821,6,0.000,0.046,2955,2103,1862
$GC,18672,1.06,268.6,387.7,7.8,411,18681,0.00,0.00,7.30,0.832,6,0.000,0.000,2955,2103,1835
$GC,18976,1.12,273.6,364.1,7.8,416,18987,0.00,2.50,6.05,0.779,4,0.000,0.058,2955,681,1815
$GC,19002,1.13,288.5,361.8,7.5,416,19023,0.00,2.45,15.00,0.881,6,0.000,0.047,2955,2097,1753
$GC,19338,1.19,288.5,334.1,8.3,422,19343,0.15,2.47,0.00,0.000,4,0.076,0.058,2997,680,1749
$GC,19376,1.10,288.5,329.9,10.7,422,19381,0.15,2.42,0.00,0.000,6,0.119,0.047,2968,2106,1749
$GC,19701,1.10,288.5,299.2,9.4,428,19702,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2108,1748
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$GC,20374,1.10,288.5,234.1,9.4,450,20378,0.00,2.47,0.00,0.000,4,0.000,0.060,2969,678,1748
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$GC,22126,1.30,294.2,86.1,8.4,519,22130,0.00,2.45,0.00,0.000,4,0.000,0.063,3012,685,1730
$GC,22147,1.30,294.2,84.1,9.1,520,22151,0.00,2.40,0.00,0.000,6,0.000,0.050,3012,2107,1730
$GC,22477,1.30,294.8,56.7,8.0,549,22481,0.00,2.47,0.00,0.000,4,0.000,0.063,3011,680,1730
$GC,22504,1.30,294.8,54.2,9.7,551,22508,0.00,2.40,0.00,0.000,6,0.000,0.048,3012,2100,1729
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$STATE,23124,end climb,SURFACE_DEPTH_REACHED
$STATE,23124,begin surface coast
$FINISH,1.0,1.015480
$STATE,23148,end surface coast,CONTROL_FINISHED_OK
$STATE,23148,begin surface
$SM_CCo,23166,91.65,0.609,8,0,1299,400.08
$SM_GC,1.55,0.00,0.00,91.65,0.000,0.000,0.609,493,1868,1299,-10.28,-0.90,400.08
$IRIDIUM_FIX,4943.02,-14459.66,080997,131320
$TT8_MAMPS,0.029913
$HUMID,1681
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,13.90
$XPDR_PINGS,98
$24V_AH,23.3,10.904
$10V_AH,10.1,5.139
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$DEVICE_SECS,25.750,215.500,408.175,91.650,0.000,23.959,24.049,117.305,24.500,0.000,0.000,103.365,1379.752,19354.898,732.159,1842.681,336.572,33.367,1723.503,0.000,1727.289,0.000,0.458
$DEVICE_MAMPS,172.575,130.390,1356.056,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,432.301,490.857,627.091,368.318,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34983,611
$CAP_FILE_SIZE,151016,0
$CFSIZE,260165632,256344064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,10,0
$GPS,150608,021537,4955.207,-14459.539,369,2.0,369,18.4