version: 66.11
glider: 191
mission: 5
dive: 255
start: 12 7 112 5 22 7
data:
$ID,191
$MISSION,5
$DIVE,255
$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,320
$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,-4137.9966
$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,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,50
$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
$GPS1,071212,051004,2511.869,-3723.738,40,0.8,41,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-59.0
$GPS2,071212,052136,2511.804,-3723.755,17,1.4,17,-13.7
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-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,287.2,134470,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-58.35,0.000,6,0.000,0.000,157,1523,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,90,-0.60,-97.3,4.0,-7.4,4,104,9.80,1.77,0.00,0.000,4,0.422,0.051,1981,2575,3462,1,0,0,0,0,0,13.90,14.54,28.83
$GC,328,-0.58,-97.3,33.1,-9.5,20,332,0.00,1.88,0.00,0.000,6,0.000,0.064,1982,1515,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,628,-0.54,-97.3,61.5,-8.3,40,632,0.12,1.80,0.00,0.000,4,0.260,0.054,2003,2569,3465,0,0,0,0,0,0,14.33,14.45,28.83
$GC,748,-0.54,-97.3,69.3,-6.0,48,752,0.00,1.85,0.00,0.000,6,0.000,0.064,2003,1522,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1047,-0.54,-97.3,91.0,-7.8,68,1051,0.00,1.90,0.00,0.000,4,0.000,0.086,2003,466,3465,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1139,-0.52,-97.3,99.4,-9.5,74,1143,0.00,1.77,0.00,0.000,6,0.000,0.044,1996,1517,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1439,-0.51,-97.3,125.4,-8.8,94,1443,0.00,1.80,0.00,0.000,4,0.000,0.054,1988,2577,3469,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1602,-0.51,-97.3,138.8,-7.8,105,1607,0.15,1.85,0.00,0.000,6,0.226,0.065,2021,1520,3465,0,0,0,0,0,0,14.25,14.45,28.83
$GC,1903,-0.52,-97.3,158.4,-6.7,125,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,-0.53,-97.3,176.5,-5.8,145,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2503,-0.55,-97.3,193.6,-5.6,165,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2803,-0.57,-97.3,212.1,-6.4,185,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1517,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3103,-0.59,-97.3,232.2,-6.9,205,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-0.60,-97.3,252.9,-6.8,224,3407,0.00,1.80,0.00,0.000,4,0.000,0.054,2016,2578,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3493,-0.63,-97.3,257.7,-6.5,227,3497,0.00,1.85,0.00,0.000,6,0.000,0.065,2016,1519,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3795,-0.64,-97.3,277.0,-5.8,237,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4094,-0.65,-97.3,293.7,-5.5,247,4096,0.12,0.00,0.00,0.000,6,0.136,0.000,1967,1518,3464,0,0,0,0,0,0,14.75,28.83,28.83
$GC,4393,-0.62,-97.3,316.7,-8.0,257,4396,0.00,1.80,0.00,0.000,4,0.000,0.054,1959,2580,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4572,-0.60,-97.3,330.0,-8.1,263,4577,0.15,1.85,0.00,0.000,6,0.244,0.066,1992,1520,3462,0,0,0,0,0,0,14.36,14.65,28.83
$GC,4873,-0.60,-97.3,352.2,-6.7,273,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5172,-0.60,-97.3,373.1,-7.2,283,5176,0.00,1.80,0.00,0.000,4,0.000,0.054,1987,2580,3460,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5263,-0.60,-97.3,378.4,-7.0,286,5266,0.00,1.85,0.00,0.000,6,0.000,0.066,1987,1520,3461,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5563,-0.59,-97.3,400.7,-7.0,296,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5863,-0.59,-97.3,422.5,-7.4,306,5867,0.00,1.80,0.00,0.000,4,0.000,0.054,1979,2578,3458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5997,-0.59,-97.3,432.1,-7.2,311,6001,0.00,1.85,0.00,0.000,6,0.000,0.067,1979,1520,3458,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6316,-0.58,-97.3,457.2,-8.0,322,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.57,-97.3,480.4,-7.4,332,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1520,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6913,-0.55,-97.3,501.5,-7.0,342,6915,0.12,0.00,0.00,0.000,6,0.259,0.000,2006,1520,3457,0,0,0,0,0,0,14.46,28.83,28.83
$GC,7214,-0.56,-97.3,520.2,-6.3,352,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7513,-0.57,-97.3,539.0,-6.4,362,7517,0.00,1.80,0.00,0.000,4,0.000,0.056,2000,2576,3455,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7663,-0.59,-97.3,547.6,-6.5,367,7666,0.00,1.88,0.00,0.000,6,0.000,0.068,2000,1516,3454,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7963,-0.59,-97.3,566.8,-5.6,377,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1516,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,-0.59,-97.3,582.5,-5.3,387,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1516,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8563,-0.59,-97.3,600.3,-6.4,397,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1516,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8862,-0.59,-97.3,620.4,-6.6,407,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1516,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9164,-0.59,-97.3,640.7,-6.8,417,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1516,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9462,-0.59,-97.3,661.4,-7.0,427,9466,0.00,1.83,0.00,0.000,4,0.000,0.058,1993,2575,3449,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9673,-0.60,-97.3,675.2,-7.1,434,9677,0.00,1.88,0.00,0.000,6,0.000,0.070,1992,1517,3448,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9972,-0.60,-97.3,697.6,-7.0,444,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,-0.60,-97.3,717.0,-5.9,454,10278,0.00,1.92,0.00,0.000,4,0.000,0.093,1992,462,3446,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10348,-0.60,-97.3,721.7,-6.3,457,10351,0.00,1.80,0.00,0.000,6,0.000,0.046,1985,1523,3446,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10666,-0.60,-97.3,740.1,-5.9,468,10669,0.00,1.80,0.00,0.000,4,0.000,0.058,1977,2575,3444,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10782,-0.60,-97.3,746.4,-6.0,472,10786,0.00,1.88,0.00,0.000,6,0.000,0.070,1977,1524,3444,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11082,-0.60,-97.3,768.3,-7.3,482,11086,0.00,1.95,0.00,0.000,4,0.000,0.093,1977,460,3443,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11173,-0.59,-97.3,774.6,-8.2,485,11177,0.12,1.80,0.00,0.000,6,0.263,0.047,1994,1520,3443,0,0,0,0,0,0,14.23,14.63,28.83
$GC,11474,-0.59,-97.3,797.4,-7.0,495,11477,0.00,1.83,0.00,0.000,4,0.000,0.059,1989,2578,3442,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11684,-0.60,-97.3,810.4,-6.6,502,11688,0.00,1.90,0.00,0.000,6,0.000,0.071,1989,1514,3441,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11983,-0.60,-97.3,829.5,-5.9,512,11984,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1513,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12284,-0.60,-97.3,846.7,-5.8,522,12288,0.00,1.85,0.00,0.000,4,0.000,0.060,1981,2576,3437,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12402,-0.60,-97.3,852.9,-5.9,526,12406,0.00,1.90,0.00,0.000,6,0.000,0.073,1981,1521,3440,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12703,-0.60,-97.3,874.6,-7.3,536,12707,0.00,1.95,0.00,0.000,4,0.000,0.094,1981,463,3438,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12761,-0.60,-97.3,878.3,-7.9,538,12765,0.00,1.80,0.00,0.000,6,0.000,0.048,1973,1518,3438,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13063,-0.60,-97.3,904.0,-8.1,548,13066,0.00,1.85,0.00,0.000,4,0.000,0.060,1965,2578,3437,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13138,-0.60,-97.3,910.0,-7.9,551,13142,0.00,1.90,0.00,0.000,6,0.000,0.072,1971,1518,3434,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13455,-0.59,-97.3,933.6,-7.3,562,13459,0.15,1.85,0.00,0.000,4,0.259,0.060,1992,2579,3437,0,0,0,0,0,0,14.23,14.49,28.83
$GC,13589,-0.61,-97.3,941.4,-5.7,567,13593,0.00,1.90,0.00,0.000,6,0.000,0.072,1992,1521,3435,0,0,0,0,0,0,28.83,14.44,28.83
$GC,13905,-0.61,-97.3,957.2,-4.7,578,13906,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14204,-0.61,-97.3,972.7,-5.5,588,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14350,begin apogee
$GC,14356,-0.18,0.0,981.8,-6.2,593,14480,0.50,0.00,115.03,2.116,6,0.204,0.000,2125,1398,3062,0,0,0,0,1,0,14.12,28.83,13.00
$STATE,14482,end apogee,CONTROL_FINISHED_OK
$STATE,14482,begin climb
$GC,14485,0.60,97.3,986.6,0.0,597,14621,0.80,0.00,127.70,2.127,6,0.123,0.000,2375,1397,2665,0,0,0,0,1,0,14.09,28.83,12.94
$GC,14908,0.62,167.6,983.2,3.1,612,15013,0.00,1.92,95.40,2.011,4,0.000,0.060,2375,2459,2380,0,0,0,0,1,0,28.83,14.11,13.08
$GC,15120,0.49,170.7,972.7,5.9,618,15132,0.15,1.92,2.35,1.971,6,0.275,0.077,2353,1404,2366,0,0,0,0,0,0,14.21,14.38,13.33
$GC,15433,0.47,170.7,951.2,7.0,629,15437,0.00,1.98,0.00,0.000,4,0.000,0.103,2359,339,2364,0,0,0,0,0,0,28.83,14.50,28.83
$GC,15538,0.44,170.7,942.8,8.1,633,15542,0.00,1.83,0.00,0.000,6,0.000,0.050,2359,1407,2362,0,0,0,0,0,0,28.83,14.64,28.83
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$STATE,27790,end climb,SURFACE_DEPTH_REACHED
$STATE,27792,begin surface coast
$FINISH,0.5,1.025449
$STATE,27807,end surface coast,CONTROL_FINISHED_OK
$STATE,27807,begin surface
$SM_CCo,27886,0.00,0.000,0,0,1636,349.80
$SM_GC,0.95,6.65,0.17,0.00,0.074,0.099,0.000,161,1529,1636,-6.29,-1.30,349.80,0,0,0,0,0,0,14.54,14.66,28.83
$IRIDIUM_FIX,2503.20,-3718.87,061212,212148
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.71
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.60
$XPDR_PINGS,3
$SC_FREEKB,7672192
$TM_FREEKB,5353248
$24V_AH,12.9,121.498
$10V_AH,12.7,0.000
$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,19.650,119.150,630.700,0.000,0.000,0.000,0.000,382.800,0.750,0.000,18.912,3169.642,21647.070,872.113,2402.275,476.811,0.000,2216.885,0.000,1861.641,0.000,0.549,0.000
$DEVICE_MAMPS,422.280,116.280,2127.465,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27857.000,6338.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.144,12.997,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,39956,1144
$CAP_FILE_SIZE,241593,0
$CFSIZE,260034560,223395840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.026,279.6,1
$GPS,071212,130804,2512.309,-3727.520,29,0.9,30,-13.7