version: 66.11
glider: 191
mission: 5
dive: 318
start: 12 28 112 23 39 44
data:
$ID,191
$MISSION,5
$DIVE,318
$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,-4960.4297
$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,25
$R_STBD_OVSHOOT,47
$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
$GPS1,281212,232722,2402.178,-3754.250,39,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-57.5
$GPS2,281212,233913,2402.237,-3754.326,15,1.2,16,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,62.6,86165,-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,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-57.15,0.000,6,0.000,0.000,158,1522,3459,0,0,0,0,0,0,28.83,28.83,14.77
$GC,90,-0.60,-97.3,4.7,-9.2,4,105,10.07,1.80,0.00,0.000,4,0.423,0.051,1982,2576,3462,1,0,0,0,0,0,13.80,14.52,28.83
$GC,329,-0.58,-97.3,29.8,-8.2,20,332,0.00,1.90,0.00,0.000,6,0.000,0.064,1982,1512,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,628,-0.55,-97.3,55.1,-8.3,40,629,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-0.52,-97.3,78.9,-7.8,60,930,0.15,0.00,0.00,0.000,6,0.239,0.000,2016,1511,3464,0,0,0,0,0,0,14.30,28.83,28.83
$GC,1228,-0.52,-97.3,98.2,-6.1,80,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1528,-0.53,-97.3,119.1,-7.4,100,1532,0.00,1.83,0.00,0.000,4,0.000,0.053,2010,2574,3464,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1649,-0.55,-97.3,128.1,-7.4,108,1652,0.00,1.88,0.00,0.000,6,0.000,0.063,2010,1515,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1948,-0.55,-97.3,151.2,-7.7,128,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1516,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2248,-0.55,-97.3,173.5,-7.0,148,2252,0.00,1.90,0.00,0.000,4,0.000,0.086,2011,467,3465,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2293,-0.55,-97.3,176.9,-7.6,151,2296,0.00,1.77,0.00,0.000,6,0.000,0.043,2003,1515,3465,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2593,-0.55,-97.3,198.1,-7.0,171,2596,0.00,1.80,0.00,0.000,4,0.000,0.053,1995,2577,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2713,-0.56,-97.3,206.2,-6.8,179,2717,0.00,1.88,0.00,0.000,6,0.000,0.063,1995,1512,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3013,-0.56,-97.3,225.5,-5.8,199,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3313,-0.56,-97.3,242.3,-5.7,219,3317,0.00,1.83,0.00,0.000,4,0.000,0.054,1988,2577,3465,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3388,-0.56,-97.3,246.8,-6.0,224,3392,0.00,1.88,0.00,0.000,6,0.000,0.064,1987,1514,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3690,-0.56,-97.3,267.7,-7.3,236,3694,0.00,1.90,0.00,0.000,4,0.000,0.086,1988,460,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3778,-0.55,-97.3,274.0,-8.1,239,3782,0.12,1.80,0.00,0.000,6,0.242,0.043,2006,1528,3464,0,0,0,0,0,0,14.40,14.71,28.83
$GC,4081,-0.56,-97.3,294.8,-5.9,249,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1530,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4379,-0.57,-97.3,308.5,-4.0,259,4383,0.00,1.77,0.00,0.000,4,0.000,0.054,2001,2577,3462,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4499,-0.58,-97.3,312.6,-3.8,263,4502,0.00,1.85,0.00,0.000,6,0.000,0.063,2001,1521,3462,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4798,-0.58,-97.3,326.4,-4.8,273,4802,0.00,1.90,0.00,0.000,4,0.000,0.086,2001,467,3461,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4857,-0.58,-97.3,329.1,-5.4,275,4861,0.00,1.77,0.00,0.000,6,0.000,0.044,1994,1523,3461,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5159,-0.58,-97.3,351.9,-8.0,285,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1524,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5458,-0.58,-97.3,377.1,-8.2,295,5461,0.00,1.92,0.00,0.000,4,0.000,0.086,1994,461,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5517,-0.58,-97.3,381.1,-8.3,297,5520,0.00,1.80,0.00,0.000,6,0.000,0.044,1986,1525,3458,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5819,-0.58,-97.3,404.5,-6.9,307,5822,0.00,1.80,0.00,0.000,4,0.000,0.056,1977,2579,3458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5923,-0.58,-97.3,411.1,-6.2,311,5926,0.00,1.88,0.00,0.000,6,0.000,0.064,1978,1517,3458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6241,-0.57,-97.3,429.3,-5.8,322,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1517,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6539,-0.56,-97.3,446.9,-5.9,332,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1516,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6838,-0.56,-97.3,466.8,-7.0,342,6842,0.00,1.83,0.00,0.000,4,0.000,0.056,1970,2578,3456,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6913,-0.56,-97.3,472.4,-7.4,345,6917,0.15,1.88,0.00,0.000,6,0.236,0.066,2003,1515,3456,0,0,0,0,0,0,14.33,14.61,28.83
$GC,7231,-0.58,-97.3,496.1,-7.9,356,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1515,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,-0.59,-97.3,521.3,-8.6,366,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1515,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7828,-0.61,-97.3,546.2,-7.9,376,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1515,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8129,-0.62,-97.3,565.9,-6.1,386,8133,0.00,1.92,0.00,0.000,4,0.000,0.090,2004,461,3452,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8247,-0.62,-97.3,572.8,-6.6,390,8251,0.00,1.80,0.00,0.000,6,0.000,0.045,1998,1522,3452,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8551,-0.64,-97.3,590.5,-5.3,400,8555,0.00,1.83,0.00,0.000,4,0.000,0.057,1990,2581,3451,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8667,-0.65,-97.3,595.8,-5.0,404,8671,0.00,1.88,0.00,0.000,6,0.000,0.067,1990,1522,3451,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8969,-0.65,-97.3,610.6,-4.7,414,8973,0.00,1.92,0.00,0.000,4,0.000,0.090,1990,466,3450,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9028,-0.65,-97.3,613.1,-5.0,416,9031,0.00,1.80,0.00,0.000,6,0.000,0.046,1983,1523,3450,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9328,-0.65,-97.3,630.8,-5.9,426,9332,0.00,1.80,0.00,0.000,4,0.000,0.057,1975,2576,3449,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9463,-0.65,-97.3,640.3,-6.9,431,9467,0.00,1.90,0.00,0.000,6,0.000,0.068,1975,1518,3448,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9778,-0.65,-97.3,665.4,-8.1,442,9781,0.00,1.92,0.00,0.000,4,0.000,0.091,1975,466,3447,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9869,-0.64,-97.3,672.2,-8.9,445,9872,0.00,1.80,0.00,0.000,6,0.000,0.047,1967,1520,3447,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10168,-0.62,-97.3,697.5,-7.6,455,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10469,-0.61,-97.3,716.9,-6.1,465,10473,0.00,1.83,0.00,0.000,4,0.000,0.058,1959,2578,3445,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10588,-0.61,-97.3,723.0,-5.8,469,10592,0.15,1.90,0.00,0.000,6,0.238,0.069,1992,1517,3445,0,0,0,0,0,0,14.20,14.50,28.83
$GC,10890,-0.61,-97.3,737.8,-4.5,479,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1517,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11190,-0.62,-97.3,752.8,-5.3,489,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1517,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11488,-0.63,-97.3,771.1,-6.5,499,11492,0.00,1.95,0.00,0.000,4,0.000,0.093,1992,463,3441,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11578,-0.63,-97.3,776.5,-7.0,502,11582,0.00,1.83,0.00,0.000,6,0.000,0.047,1988,1525,3441,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11878,-0.63,-97.3,799.7,-7.6,512,11881,0.00,1.83,0.00,0.000,4,0.000,0.059,1980,2576,3443,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11954,-0.64,-97.3,805.7,-7.9,515,11958,0.00,1.90,0.00,0.000,6,0.000,0.070,1980,1522,3440,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12268,-0.64,-97.3,832.7,-8.8,526,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12568,-0.64,-97.3,858.5,-8.5,536,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12869,-0.64,-97.3,883.5,-8.0,546,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13168,-0.64,-97.3,905.8,-7.2,556,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13469,-0.64,-97.3,924.7,-6.0,566,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13768,-0.64,-97.3,941.3,-5.4,576,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14069,-0.64,-97.3,957.5,-5.4,586,14073,0.00,1.98,0.00,0.000,4,0.000,0.096,1980,466,3434,0,0,0,0,0,0,28.83,14.25,28.83
$GC,14143,-0.64,-97.3,962.3,-6.1,589,14147,0.00,1.85,0.00,0.000,6,0.000,0.050,1972,1523,3434,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,14457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14457,begin apogee
$GC,14465,-0.18,0.0,981.8,-6.5,600,14591,0.55,0.00,115.47,2.004,6,0.210,0.000,2120,1397,3063,0,0,0,0,1,0,13.95,28.83,12.93
$STATE,14592,end apogee,CONTROL_FINISHED_OK
$STATE,14593,begin climb
$GC,14595,0.60,97.3,986.9,0.0,604,14733,0.85,1.95,126.75,1.978,4,0.118,0.059,2379,2463,2667,0,0,0,0,1,0,14.13,14.07,12.94
$GC,14863,0.64,183.3,989.4,2.4,614,14987,0.00,1.95,113.25,1.939,6,0.000,0.076,2388,1397,2314,0,0,0,0,1,0,28.83,14.42,13.00
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$STATE,27299,end climb,SURFACE_DEPTH_REACHED
$STATE,27299,begin surface coast
$FINISH,0.7,1.025366
$STATE,27314,end surface coast,CONTROL_FINISHED_OK
$STATE,27314,begin surface
$SM_CCo,27395,0.00,0.000,0,0,1329,425.10
$SM_GC,0.70,6.70,0.15,0.00,0.068,0.112,0.000,160,1508,1329,-6.30,-1.47,425.10,0,0,0,0,0,0,14.46,14.62,28.83
$IRIDIUM_FIX,2349.77,-3755.39,281212,151526
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.17
$INTERNAL_PRESSURE,9.22369
$TCM_TEMP,25.70
$XPDR_PINGS,7
$SC_FREEKB,7648000
$TM_FREEKB,4684928
$24V_AH,12.9,151.612
$10V_AH,10.6,0.000
$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,19.725,146.300,696.750,0.000,0.000,0.000,0.000,374.200,1.750,0.000,16.940,3112.756,21094.807,953.634,2361.717,568.412,0.000,2292.777,0.000,1842.786,0.000,0.548,0.000
$DEVICE_MAMPS,423.045,112.455,2004.300,0.000,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27362.000,6223.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.120,13.018,0.000,0.000
$MEM,345560
$DATA_FILE_SIZE,39998,1126
$CAP_FILE_SIZE,242921,0
$CFSIZE,260034560,214642688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,2,0
$CURRENT,0.046,236.6,1
$GPS,291212,071734,2403.707,-3752.339,33,0.8,33,-14.1