version: 66.12
glider: 187
mission: 4
dive: 102
start: 7 11 114 14 46 34
data:
$ID,187
$MISSION,4
$DIVE,102
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-1593330.8
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$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,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,110714,143754,4738.592,-12539.946,44,1.8,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.8
$GPS2,110714,144606,4738.547,-12539.893,12,1.4,17,18.7
$SPEED_LIMITS,0.136,0.232
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,38.7,44373,-14.0,-7.857,-18.69,2568
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.60,-131.4,393,2421,1474,1188,0.0,0.0,0,91,0.00,0.00,-60.40,0.000,16386,0.000,0.000,393,2421,2926,2976,2876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.60,-131.4,394,2421,2978,2879,3.8,-3.9,6,131,12.80,2.53,-8.05,0.000,18948,0.412,0.109,3121,1010,3397,3437,3357,0,0,0,0,0,0,14.16,14.35,14.55
$GC,360,-0.60,-131.4,3122,1011,3446,3360,59.2,-15.1,33,370,0.00,2.47,0.00,0.000,1030,0.000,0.084,3122,2439,3399,3439,3360,0,0,0,0,0,0,28.83,14.43,28.83
$GC,611,-0.60,-131.4,3121,2438,3442,3366,90.9,-12.7,58,620,0.00,2.45,0.00,0.000,516,0.000,0.084,3122,1008,3403,3442,3365,0,0,0,0,0,0,28.83,14.47,28.83
$GC,763,-0.60,-131.4,3122,1008,3442,3362,109.6,-12.1,73,772,0.00,2.45,0.00,0.000,1030,0.000,0.085,3122,2424,3402,3442,3363,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1012,-0.60,-131.4,3127,2426,3442,3362,137.8,-11.0,98,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2426,3403,3443,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.60,-131.4,3119,2425,3442,3361,162.7,-9.6,123,1270,0.00,2.47,0.00,0.000,260,0.000,0.105,3122,3847,3401,3442,3361,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1332,-0.60,-131.4,3122,3847,3441,3361,169.8,-10.0,130,1341,0.00,2.42,0.00,0.000,1030,0.000,0.075,3122,2417,3401,3442,3360,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1582,-0.60,-131.4,3122,2414,3442,3361,194.4,-9.9,155,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2412,3401,3442,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1831,-0.60,-131.4,3121,2415,3437,3361,218.7,-9.7,180,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2414,3404,3442,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2082,-0.60,-131.4,3122,2414,3442,3361,243.2,-9.9,205,2091,0.00,2.40,0.00,0.000,516,0.000,0.091,3121,1021,3401,3442,3361,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2161,-0.60,-131.4,3122,1021,3441,3361,251.6,-10.5,213,2171,0.00,2.47,0.00,0.000,1030,0.000,0.086,3122,2430,3401,3442,3360,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2475,-0.60,-131.4,3121,2429,3441,3360,281.7,-9.8,224,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2429,3400,3441,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,-0.60,-131.4,3122,2429,3441,3364,311.8,-10.0,234,2779,0.00,2.42,0.00,0.000,516,0.000,0.092,3122,1027,3400,3441,3359,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2811,-0.60,-131.4,3122,1020,3441,3359,315.8,-10.1,238,2819,0.00,2.45,0.00,0.000,1030,0.000,0.087,3122,2421,3403,3448,3358,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3133,-0.60,-131.4,3122,2421,3441,3363,346.6,-9.4,250,3140,0.00,2.42,0.00,0.000,516,0.000,0.091,3122,1011,3398,3441,3355,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3201,-0.60,-131.4,3122,1010,3440,3357,353.5,-9.9,257,3210,0.00,2.50,0.00,0.000,1030,0.000,0.089,3122,2428,3397,3440,3354,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3525,-0.60,-131.4,3122,2428,3440,3356,383.5,-9.3,269,3533,0.00,2.47,0.00,0.000,260,0.000,0.109,3122,3848,3398,3440,3356,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3622,-0.60,-131.4,3121,3846,3439,3357,393.2,-9.8,279,3630,0.00,2.47,0.00,0.000,1030,0.000,0.083,3122,2427,3401,3440,3362,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3945,-0.60,-131.4,3122,2427,3439,3356,421.5,-8.8,291,3953,0.00,2.42,0.00,0.000,516,0.000,0.096,3121,1019,3397,3439,3356,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4032,-0.60,-131.4,3122,1018,3439,3362,429.9,-9.4,300,4041,0.00,2.45,0.00,0.000,1030,0.000,0.092,3127,2432,3397,3439,3355,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4365,-0.60,-131.4,3122,2431,3438,3354,456.7,-8.0,313,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2432,3394,3435,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4663,-0.60,-131.4,3121,2431,3437,3354,481.2,-8.3,323,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2432,3395,3437,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4963,-0.60,-131.4,3121,2431,3437,3353,505.1,-7.9,333,4971,0.00,2.47,0.00,0.000,516,0.000,0.096,3122,1004,3394,3436,3353,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5013,-0.60,-131.4,3121,1004,3436,3360,509.3,-8.5,338,5022,0.00,2.47,0.00,0.000,1030,0.000,0.091,3119,2435,3394,3437,3351,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5323,-0.60,-131.4,3121,2435,3430,3352,533.7,-8.0,349,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2435,3394,3436,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,-0.60,-131.4,3122,2435,3435,3352,557.9,-8.2,359,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2432,3393,3436,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5923,-0.60,-131.4,3125,2435,3435,3351,581.8,-8.0,369,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2435,3392,3435,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6223,-0.60,-131.4,3122,2434,3433,3349,604.4,-7.3,379,6230,0.00,2.47,0.00,0.000,516,0.000,0.099,3122,1008,3395,3441,3350,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6302,-0.60,-131.4,3122,1007,3435,3350,610.5,-7.8,387,6311,0.00,2.50,0.00,0.000,1030,0.000,0.094,3122,2420,3392,3434,3350,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6613,-0.60,-131.4,3122,2420,3434,3349,633.4,-7.4,398,6620,0.00,2.50,0.00,0.000,260,0.000,0.114,3121,3845,3391,3434,3349,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6654,-0.60,-131.4,3118,3845,3434,3349,636.6,-8.2,402,6661,0.00,2.42,0.00,0.000,1030,0.000,0.083,3121,2424,3392,3436,3349,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6973,-0.60,-131.4,3122,2424,3434,3349,661.3,-7.7,414,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2425,3391,3434,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7273,-0.60,-131.4,3121,2425,3433,3347,684.5,-7.7,424,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2425,3391,3434,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7573,-0.60,-131.4,3121,2425,3433,3347,708.3,-8.1,434,7580,0.00,2.45,0.00,0.000,516,0.000,0.097,3122,1010,3390,3433,3347,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7622,-0.60,-131.4,3121,1007,3432,3347,712.4,-8.8,439,7631,0.00,2.50,0.00,0.000,1030,0.000,0.093,3122,2422,3389,3432,3347,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7936,-0.60,-131.4,3121,2421,3432,3346,735.8,-7.4,450,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2419,3388,3432,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8234,-0.60,-131.4,3121,2421,3432,3345,758.9,-7.6,460,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2421,3388,3431,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8533,-0.60,-131.4,3121,2421,3431,3345,782.8,-7.9,470,8540,0.00,2.45,0.00,0.000,516,0.000,0.098,3121,1009,3387,3431,3344,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8612,-0.60,-131.4,3121,1009,3431,3343,789.5,-8.6,478,8622,0.00,2.50,0.00,0.000,1030,0.000,0.094,3121,2420,3388,3431,3345,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8926,-0.60,-131.4,3118,2420,3431,3342,814.4,-7.9,489,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2421,3387,3431,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9223,-0.60,-131.4,3122,2419,3430,3343,837.3,-7.8,499,9230,0.00,2.50,0.00,0.000,260,0.000,0.114,3121,3841,3386,3430,3343,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9282,-0.60,-131.4,3121,3841,3430,3343,842.2,-8.1,505,9291,0.00,2.45,0.00,0.000,1030,0.000,0.086,3121,2410,3386,3430,3343,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9616,-0.60,-131.4,3121,2409,3429,3342,867.6,-7.7,518,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2415,3385,3429,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,-0.60,-131.4,3121,2409,3429,3343,890.4,-7.6,528,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2407,3388,3435,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10213,-0.60,-131.4,3122,2409,3429,3342,912.9,-7.4,538,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2409,3386,3430,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10513,-0.60,-131.4,3121,2409,3429,3342,934.0,-6.9,548,10520,0.00,2.42,0.00,0.000,516,0.000,0.104,3121,1021,3389,3436,3342,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10562,-0.60,-131.4,3122,1019,3428,3342,937.6,-7.5,553,10573,0.00,2.50,0.00,0.000,1030,0.000,0.096,3127,2422,3385,3430,3341,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10876,-0.60,-131.4,3121,2422,3429,3341,958.5,-6.7,564,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2422,3385,3429,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11173,-0.60,-131.4,3121,2422,3429,3341,979.0,-7.0,574,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2422,3385,3429,3341,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11349,begin apogee
$GC,11358,-0.25,0.0,3121,2323,3428,3342,991.4,-7.0,580,11477,0.40,0.00,113.55,1.914,10246,0.210,0.000,3237,2322,2858,2934,2782,0,0,0,0,0,0,14.51,28.83,13.18
$STATE,11481,end apogee,CONTROL_FINISHED_OK
$STATE,11481,begin climb
$GC,11484,0.60,131.4,3237,2323,2932,2777,994.8,0.0,584,11615,0.90,0.00,121.80,1.885,10502,0.155,0.000,3513,2322,2321,2477,2166,0,0,0,0,0,0,13.84,28.83,13.06
$GC,11899,0.60,131.4,3513,2322,2473,2154,964.8,8.5,606,11909,0.00,2.60,0.00,0.000,260,0.000,0.116,3513,3743,2315,2473,2157,0,0,0,0,0,0,28.83,14.23,28.83
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$STATE,23262,end climb,SURFACE_DEPTH_REACHED
$STATE,23262,begin surface coast
$FINISH,0.8,1.011235
$STATE,23316,end surface coast,CONTROL_FINISHED_OK
$STATE,23316,begin surface
$SM_CCo,23342,41.20,0.103,0,0,1328,375.06
$SM_GC,2.36,9.32,0.15,41.20,0.091,0.150,0.103,394,2425,1328,-9.10,-0.79,375.06,0,0,0,0,0,0,14.43,14.45,14.43
$IRIDIUM_FIX,4719.74,-12548.96,110714,080820
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.44
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,13.50
$XPDR_PINGS,0
$SC_FREEKB,3905376
$PM_FREEKB,59646816
$24V_AH,13.1,24.270
$10V_AH,13.0,0.000
$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,23.550,149.400,343.625,41.200,0.000,0.000,0.000,265.100,0.000,0.000,18.582,3014.765,16841.256,670.649,2621.430,709.654,0.000,2345.766,0.000,1919.806,0.000,0.535,0.000
$DEVICE_MAMPS,412.335,166.770,1914.030,102.510,0.000,0.000,0.000,170.595,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23339.000,11657.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.828,4.049,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,43380,1257
$CAP_FILE_SIZE,239528,0
$CFSIZE,260034560,248213504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,24079.79,0x2378ba,7,5
$CURRENT,0.061,355.8,1
$GPS,110714,211753,4740.945,-12536.760,28,1.3,44,18.7