version: 66.11
glider: 191
mission: 5
dive: 64
start: 10 4 112 13 40 16
data:
$ID,191
$MISSION,5
$DIVE,64
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3881.4756
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$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,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,041012,132958,2451.136,-3823.078,38,0.7,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-60.7
$GPS2,041012,133947,2451.106,-3823.043,20,0.9,20,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,midP
$TGT_LATLONG,2450.000,-3844.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,266.5,35282,-13.3,-6.049,-18.38
$D_GRID,980
$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,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-61.10,0.000,6,0.000,0.000,159,1492,3460,0,0,0,0,0,0,28.83,28.83,14.93
$GC,86,-0.60,-97.3,4.4,-9.4,4,100,9.35,1.85,0.00,0.000,4,0.425,0.076,1997,437,3463,0,0,0,0,0,0,14.47,14.69,28.83
$GC,279,-0.50,-97.3,40.2,-16.1,17,284,0.15,1.80,0.00,0.000,6,0.274,0.050,2024,1502,3465,0,0,0,0,0,0,14.64,14.80,28.83
$GC,579,-0.47,-97.3,76.4,-8.2,37,582,0.00,1.77,0.00,0.000,4,0.000,0.059,2018,2556,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,715,-0.45,-97.3,85.2,-6.6,46,718,0.00,1.85,0.00,0.000,6,0.000,0.070,2018,1491,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1014,-0.41,-97.3,108.3,-8.6,66,1019,0.15,1.80,0.00,0.000,4,0.252,0.059,2052,2556,3466,0,0,0,0,0,0,14.74,14.88,28.83
$GC,1164,-0.41,-97.3,121.7,-9.4,76,1167,0.00,1.83,0.00,0.000,6,0.000,0.069,2047,1496,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1464,-0.41,-97.3,143.6,-4.7,96,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1500,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,-0.41,-97.3,160.9,-7.6,116,1767,0.00,1.88,0.00,0.000,4,0.000,0.093,2047,443,3467,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1899,-0.40,-97.3,174.2,-10.5,125,1903,0.00,1.77,0.00,0.000,6,0.000,0.051,2039,1500,3467,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2198,-0.40,-97.3,198.9,-6.2,145,2202,0.00,1.80,0.00,0.000,4,0.000,0.061,2031,2565,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2319,-0.40,-97.3,204.8,-4.9,153,2323,0.00,1.85,0.00,0.000,6,0.000,0.073,2032,1501,3467,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2619,-0.40,-97.3,220.3,-5.9,173,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1501,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2918,-0.40,-97.3,244.2,-8.9,193,2922,0.00,1.88,0.00,0.000,4,0.000,0.095,2037,446,3465,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3008,-0.38,-97.3,251.6,-9.9,198,3012,0.17,1.77,0.00,0.000,6,0.233,0.052,2066,1500,3465,0,0,0,0,0,0,14.79,14.95,28.83
$GC,3310,-0.41,-97.3,273.6,-6.0,208,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1502,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-0.44,-97.3,288.9,-4.8,218,3613,0.00,1.88,0.00,0.000,4,0.000,0.096,2067,446,3463,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3775,-0.46,-97.3,297.4,-5.1,224,3778,0.00,1.77,0.00,0.000,6,0.000,0.054,2061,1505,3462,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4090,-0.48,-97.3,313.6,-5.6,235,4094,0.00,1.77,0.00,0.000,4,0.000,0.064,2054,2558,3461,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4194,-0.52,-97.3,319.3,-5.5,239,4198,0.00,1.85,0.00,0.000,6,0.000,0.076,2054,1496,3460,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4511,-0.54,-97.3,338.8,-6.0,250,4513,0.12,0.00,0.00,0.000,6,0.146,0.000,2005,1495,3459,0,0,0,0,0,0,14.96,28.83,28.83
$GC,4809,-0.52,-97.3,360.4,-7.2,260,4813,0.00,1.88,0.00,0.000,4,0.000,0.097,2005,438,3458,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4928,-0.48,-97.3,369.0,-8.3,264,4932,0.15,1.80,0.00,0.000,6,0.254,0.055,2031,1509,3458,0,0,0,0,0,0,14.81,14.99,28.83
$GC,5229,-0.48,-97.3,391.3,-7.0,274,5233,0.00,1.77,0.00,0.000,4,0.000,0.065,2026,2559,3457,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5334,-0.50,-97.3,398.9,-7.2,278,5338,0.00,1.85,0.00,0.000,6,0.000,0.076,2025,1498,3457,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5649,-0.50,-97.3,421.1,-6.8,289,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1498,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5948,-0.50,-97.3,441.5,-6.7,299,5952,0.00,1.88,0.00,0.000,4,0.000,0.097,2025,441,3454,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6068,-0.48,-97.3,449.2,-7.4,303,6072,0.00,1.77,0.00,0.000,6,0.000,0.054,2018,1498,3454,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6368,-0.48,-97.3,471.2,-7.1,313,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1499,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6669,-0.48,-97.3,493.6,-7.7,323,6672,0.00,1.90,0.00,0.000,4,0.000,0.098,2018,436,3450,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6804,-0.46,-97.3,506.3,-9.5,328,6809,0.12,1.80,0.00,0.000,6,0.258,0.056,2037,1503,3451,0,0,0,0,0,0,14.80,14.97,28.83
$GC,7120,-0.47,-97.3,530.4,-7.4,339,7123,0.00,1.80,0.00,0.000,4,0.000,0.066,2031,2567,3450,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7208,-0.49,-97.3,535.2,-6.6,342,7212,0.00,1.88,0.00,0.000,6,0.000,0.077,2031,1496,3450,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7509,-0.49,-97.3,554.2,-5.6,352,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1496,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7809,-0.49,-97.3,569.8,-5.1,362,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1496,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8109,-0.49,-97.3,585.3,-5.3,372,8113,0.00,1.88,0.00,0.000,4,0.000,0.099,2031,445,3447,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8184,-0.49,-97.3,589.9,-6.0,375,8187,0.00,1.80,0.00,0.000,6,0.000,0.057,2024,1507,3446,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8499,-0.49,-97.3,608.6,-6.0,386,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1509,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,-0.49,-97.3,627.2,-6.4,396,8802,0.00,1.92,0.00,0.000,4,0.000,0.101,2024,439,3444,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8904,-0.49,-97.3,634.7,-7.2,400,8907,0.00,1.80,0.00,0.000,6,0.000,0.057,2015,1500,3444,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9219,-0.49,-97.3,654.3,-6.0,411,9222,0.00,1.80,0.00,0.000,4,0.000,0.069,2008,2556,3443,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9354,-0.49,-97.3,662.1,-5.8,416,9358,0.00,1.85,0.00,0.000,6,0.000,0.079,2008,1500,3443,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9668,-0.49,-97.3,683.1,-6.9,427,9672,0.00,1.90,0.00,0.000,4,0.000,0.099,2008,438,3441,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9758,-0.47,-97.3,689.3,-8.0,430,9763,0.15,1.80,0.00,0.000,6,0.252,0.058,2034,1499,3441,0,0,0,0,0,0,14.72,14.92,28.83
$GC,10060,-0.49,-97.3,711.7,-7.2,440,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1500,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10359,-0.51,-97.3,731.7,-6.3,450,10363,0.00,1.90,0.00,0.000,4,0.000,0.103,2035,444,3439,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10448,-0.52,-97.3,736.9,-6.8,453,10452,0.00,1.80,0.00,0.000,6,0.000,0.060,2029,1498,3439,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10749,-0.53,-97.3,756.9,-6.3,463,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1500,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11049,-0.54,-97.3,775.0,-6.0,473,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1500,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11349,-0.56,-97.3,791.5,-4.9,483,11350,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1500,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11650,-0.57,-97.3,805.1,-4.2,493,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1500,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11950,-0.58,-97.3,816.6,-3.8,503,11951,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1500,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12250,-0.60,-97.3,829.8,-4.7,513,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1501,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12549,-0.61,-97.3,847.0,-6.3,523,12553,0.12,1.92,0.00,0.000,4,0.149,0.105,1983,440,3432,0,0,0,0,0,0,14.88,14.79,28.83
$GC,12654,-0.58,-97.3,857.4,-9.9,527,12658,0.00,1.83,0.00,0.000,6,0.000,0.062,1975,1500,3432,0,0,0,0,0,0,28.83,14.88,28.83
$GC,12969,-0.56,-97.3,889.1,-10.0,538,12971,0.15,0.00,0.00,0.000,6,0.269,0.000,2008,1501,3431,0,0,0,0,0,0,14.66,28.83,28.83
$GC,13269,-0.56,-97.3,913.4,-7.9,548,13270,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1501,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13568,-0.56,-97.3,934.7,-6.9,558,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1501,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13869,-0.56,-97.3,953.3,-5.9,568,13873,0.00,1.92,0.00,0.000,4,0.000,0.107,2009,445,3428,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13958,-0.56,-97.3,958.5,-6.7,571,13961,0.00,1.83,0.00,0.000,6,0.000,0.063,2003,1501,3428,0,0,0,0,0,0,28.83,14.85,28.83
$GC,14258,-0.56,-97.3,979.0,-6.8,581,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1503,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14288,begin apogee
$GC,14291,-0.18,0.0,981.2,-7.0,582,14411,0.45,0.00,110.80,2.311,6,0.219,0.000,2126,1503,3066,0,0,0,0,1,0,14.64,28.83,13.23
$STATE,14412,end apogee,CONTROL_FINISHED_OK
$STATE,14412,begin climb
$GC,14414,0.60,97.3,984.6,0.0,586,14551,0.85,0.00,128.43,2.331,6,0.140,0.000,2379,1503,2665,0,0,0,0,1,0,14.13,28.83,13.21
$GC,14844,0.54,97.3,966.4,6.2,600,14848,0.00,1.98,0.00,0.000,4,0.000,0.109,2388,443,2661,0,0,0,0,0,0,28.83,14.57,28.83
$GC,15009,0.46,97.3,955.5,6.8,606,15014,0.20,1.85,0.00,0.000,6,0.272,0.063,2343,1504,2659,0,0,0,0,0,0,14.54,14.71,28.83
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$STATE,27668,end climb,SURFACE_DEPTH_REACHED
$STATE,27668,begin surface coast
$FINISH,0.3,1.024370
$STATE,27684,end surface coast,CONTROL_FINISHED_OK
$STATE,27684,begin surface
$SM_CCo,27699,31.55,0.771,0,0,1634,350.04
$SM_GC,0.78,6.35,0.00,31.55,0.059,0.000,0.771,151,1504,1634,-6.30,0.14,350.04,0,0,0,0,0,0,14.83,28.83,14.35
$IRIDIUM_FIX,2441.81,-3817.70,041012,050511
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.29
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,27.00
$XPDR_PINGS,2
$SC_FREEKB,7745568
$TM_FREEKB,7314272
$24V_AH,13.2,32.752
$10V_AH,13.4,0.000
$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,19.350,141.050,525.825,31.550,0.000,0.000,0.000,352.925,0.500,0.000,21.247,3210.805,21680.131,822.844,2386.574,214.198,0.000,2140.586,0.000,1862.500,0.000,0.551,0.000
$DEVICE_MAMPS,425.340,113.220,2330.955,771.120,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27706.000,6315.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.157,13.113,0.000,0.000
$MEM,344788
$DATA_FILE_SIZE,40077,1143
$CAP_FILE_SIZE,248642,0
$CFSIZE,260034560,249159680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$CURRENT,0.036, 26.8,1
$GPS,041012,212335,2450.735,-3825.932,29,1.0,29,-14.1