version: 66.13
glider: 219
mission: 11
dive: 39
start: 8 3 118 21 29 12
data:
$ID,219
$MISSION,11
$DIVE,39
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$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,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55668
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3914
$C_PITCH,2155
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.58136
$PRESSURE_SLOPE,0.0001078618
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.25
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,147
$LOGGERDEVICE3,131
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043946085
$SEABIRD_T_H,0.00063626852
$SEABIRD_T_I,2.5989737e-05
$SEABIRD_T_J,3.1806876e-06
$SEABIRD_C_G,-9.6980124
$SEABIRD_C_H,1.1068786
$SEABIRD_C_I,-0.0019018035
$SEABIRD_C_J,0.00022417276
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,82.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,0.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,0.0
$CP_STARTS,0.0
$CP_NDIVE,1.0
$GPS1,030818,211700,5001.2827,-14455.1338,24,1.3,24,15.6,0.5,67.0,5,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-67.8
$GPS2,030818,212807,5001.3599,-14455.0947,3,1.2,4,15.6,0.6,48.3,6,9.6
$SPEED_LIMITS,0.143,0.240
$TGT_NAME,SE
$TGT_LATLONG,5000.000,-14454.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,146.0,2836,-26.4,-8.250,-29.48,921
$D_GRID,990
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.65,-49.8,129,2278,1379,1351,0.0,0.0,0,118,0.00,0.00,-96.15,0.004,16386,0.000,0.000,128,2277,3076,3088,3065,0,0,0,0,0,0,14.57,28.83,14.60
$GC,122,-0.65,-49.8,128,2277,3087,3065,3.9,-10.9,16,143,8.45,2.47,-2.05,0.044,18692,0.396,0.100,1927,3642,3171,3194,3149,0,0,0,0,0,0,14.34,13.76,14.54
$GC,207,-0.65,-49.8,1927,3643,3196,3149,31.2,-20.3,31,214,0.00,2.42,0.00,0.000,1030,0.000,0.060,1927,2248,3172,3196,3149,0,0,0,0,0,0,14.57,14.50,14.58
$GC,398,-0.65,-49.8,1927,2252,3196,3149,72.5,-20.4,68,405,0.00,2.42,0.00,0.000,516,0.000,0.063,1932,843,3173,3197,3149,0,0,0,0,0,0,14.71,14.57,14.73
$GC,473,-0.65,-49.8,1931,843,3198,3149,87.4,-19.8,82,481,0.00,2.47,0.00,0.000,1030,0.000,0.081,1924,2234,3173,3197,3149,0,0,0,0,0,0,14.65,14.57,14.67
$GC,666,-0.65,-49.8,1923,2235,3198,3149,123.5,-16.2,106,673,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2235,3173,3198,3148,0,0,0,0,0,0,14.78,14.81,14.81
$GC,976,-0.65,-49.8,1924,2234,3198,3149,170.0,-15.3,137,981,0.00,2.53,0.00,0.000,260,0.000,0.084,1912,3675,3177,3206,3149,0,0,0,0,0,0,14.83,14.62,14.85
$GC,1033,-0.65,-49.8,1912,3671,3198,3149,179.2,-14.8,148,1041,0.12,2.47,0.00,0.000,3078,0.307,0.063,1937,2244,3173,3198,3148,0,0,0,0,0,0,14.57,14.68,14.74
$GC,1340,-0.65,-49.8,1936,2245,3198,3154,223.7,-15.0,179,1346,0.00,2.40,0.00,0.000,516,0.000,0.067,1940,843,3171,3194,3148,0,0,0,0,0,0,14.84,14.69,14.88
$GC,1489,-0.65,-49.8,1940,841,3199,3147,244.9,-13.9,208,1496,0.00,2.50,0.00,0.000,1030,0.000,0.085,1933,2257,3174,3199,3150,0,0,0,0,0,0,14.78,14.70,14.79
$GC,1795,-0.65,-49.8,1933,2257,3198,3144,292.8,-15.9,239,1801,0.00,2.45,0.00,0.000,516,0.000,0.069,1933,843,3171,3198,3144,0,0,0,0,0,0,14.88,14.72,14.90
$GC,1849,-0.65,-49.8,1932,842,3198,3144,301.7,-15.6,249,1855,0.00,2.45,0.00,0.000,1030,0.000,0.067,1923,2260,3171,3198,3144,0,0,0,0,0,0,14.80,14.70,14.82
$GC,2163,-0.65,-49.8,1922,2266,3199,3143,351.6,-15.7,281,2169,0.00,2.45,0.00,0.000,260,0.000,0.083,1912,3666,3170,3198,3143,0,0,0,0,0,0,14.90,14.73,14.92
$GC,2227,-0.65,-49.8,1912,3666,3198,3148,361.7,-15.4,293,2233,0.00,2.42,0.00,0.000,1030,0.000,0.054,1912,2242,3170,3198,3143,0,0,0,0,0,0,14.79,14.73,14.81
$GC,2541,-0.65,-49.8,1911,2241,3198,3142,409.7,-14.8,325,2547,0.12,2.40,0.00,0.000,2564,0.352,0.063,1941,833,3169,3198,3141,0,0,0,0,0,0,14.64,14.74,14.75
$GC,2646,-0.65,-49.8,1941,834,3198,3142,423.4,-11.5,345,2652,0.00,2.45,0.00,0.000,1030,0.000,0.064,1934,2257,3169,3198,3141,0,0,0,0,0,0,14.78,14.71,14.80
$GC,2960,-0.65,-49.8,1940,2256,3198,3139,464.8,-12.8,377,2965,0.00,2.45,0.00,0.000,516,0.000,0.064,1933,834,3171,3203,3139,0,0,0,0,0,0,14.90,14.76,14.93
$GC,2987,-0.65,-49.8,1933,833,3198,3139,468.6,-13.8,382,2995,0.00,2.45,0.00,0.000,1030,0.000,0.062,1923,2256,3169,3199,3139,0,0,0,0,0,0,14.82,14.75,14.82
$GC,3293,-0.65,-49.8,1923,2257,3198,3137,511.7,-14.2,413,3299,0.00,2.45,0.00,0.000,516,0.000,0.066,1923,834,3168,3198,3138,0,0,0,0,0,0,14.94,14.76,14.94
$GC,3337,-0.65,-49.8,1923,834,3198,3138,518.1,-14.5,421,3344,0.10,2.45,0.00,0.000,3078,0.329,0.062,1934,2260,3167,3198,3137,0,0,0,0,0,0,14.65,14.76,14.81
$GC,3652,-0.65,-49.8,1933,2261,3198,3134,560.0,-13.1,453,3658,0.00,2.45,0.00,0.000,516,0.000,0.066,1937,839,3166,3198,3135,0,0,0,0,0,0,14.92,14.76,14.95
$GC,3710,-0.65,-49.8,1937,838,3198,3135,567.6,-12.7,464,3717,0.00,2.42,0.00,0.000,1030,0.000,0.062,1929,2250,3166,3198,3135,0,0,0,0,0,0,14.83,14.76,14.85
$GC,4017,-0.65,-49.8,1929,2248,3198,3134,607.6,-12.9,495,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2250,3163,3193,3134,0,0,0,0,0,0,14.94,14.96,14.97
$GC,4318,-0.65,-49.8,1928,2250,3198,3133,646.3,-13.1,525,4324,0.00,2.45,0.00,0.000,516,0.000,0.069,1930,835,3165,3198,3133,0,0,0,0,0,0,14.93,14.78,14.95
$GC,4345,-0.65,-49.8,1930,834,3198,3133,650.4,-14.6,530,4353,0.00,2.45,0.00,0.000,1030,0.000,0.063,1923,2258,3166,3200,3133,0,0,0,0,0,0,14.85,14.77,14.86
$GC,4652,-0.65,-49.8,1922,2258,3198,3132,691.2,-13.5,561,4657,0.00,2.45,0.00,0.000,516,0.000,0.064,1924,833,3165,3198,3133,0,0,0,0,0,0,14.93,14.78,14.95
$GC,4749,-0.65,-49.8,1922,832,3198,3134,704.4,-12.9,580,4757,0.12,2.45,0.00,0.000,3078,0.314,0.062,1936,2259,3164,3198,3131,0,0,0,0,0,0,14.65,14.78,14.83
$GC,5056,-0.65,-49.8,1936,2260,3198,3131,742.7,-12.8,611,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2260,3169,3207,3131,0,0,0,0,0,0,14.95,14.98,14.97
$GC,5358,-0.65,-49.8,1936,2266,3198,3130,781.3,-12.6,641,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2260,3164,3198,3130,0,0,0,0,0,0,14.93,14.97,14.96
$GC,5668,-0.65,-49.8,1936,2261,3198,3130,820.7,-12.8,672,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2257,3164,3198,3130,0,0,0,0,0,0,14.94,14.97,14.97
$GC,5979,-0.65,-49.8,1938,2260,3200,3129,860.7,-12.8,703,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2261,3163,3197,3129,0,0,0,0,0,0,14.94,14.97,14.97
$GC,6288,-0.65,-49.8,1936,2261,3198,3127,898.8,-11.8,734,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2260,3162,3198,3127,0,0,0,0,0,0,14.94,14.97,14.96
$GC,6598,-0.65,-49.8,1936,2260,3198,3127,932.8,-10.8,765,6603,0.00,2.45,0.00,0.000,516,0.000,0.066,1937,840,3162,3198,3126,0,0,0,0,0,0,14.93,14.78,14.97
$GC,6695,-0.65,-49.8,1937,839,3198,3127,943.6,-10.6,784,6702,0.00,2.42,0.00,0.000,1030,0.000,0.062,1929,2249,3162,3198,3126,0,0,0,0,0,0,14.84,14.77,14.88
$GC,7002,-0.65,-49.8,1928,2251,3196,3126,977.2,-11.7,815,7008,0.00,2.45,0.00,0.000,516,0.000,0.064,1929,828,3162,3198,3126,0,0,0,0,0,0,14.92,14.78,14.95
$GC,7056,-0.65,-49.8,1929,829,3198,3126,983.6,-11.3,825,7062,0.00,2.45,0.00,0.000,1030,0.000,0.062,1919,2253,3161,3198,3125,0,0,0,0,0,0,14.85,14.78,14.86
$STATE,7117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7118,begin apogee
$GC,7125,-0.11,0.0,1919,2132,3198,3125,990.7,-12.8,832,7170,0.73,0.00,41.90,2.595,10246,0.269,0.000,2109,2138,2971,3027,2915,0,0,0,0,0,0,14.66,14.27,13.45
$STATE,7174,end apogee,CONTROL_FINISHED_OK
$STATE,7174,begin climb
$GC,7177,0.65,49.8,2109,2133,3027,2914,993.1,0.0,837,7231,0.85,2.55,44.65,2.516,10756,0.145,0.074,2375,756,2772,2823,2722,0,0,0,0,0,0,14.24,13.82,13.14
$GC,7280,0.69,80.0,2375,756,2819,2718,988.2,4.9,853,7315,0.00,2.60,27.85,2.458,9254,0.000,0.089,2375,2144,2653,2704,2603,0,0,0,0,0,0,14.22,14.12,13.15
$GC,7623,0.69,80.0,2375,2144,2703,2587,961.2,8.0,890,7629,0.00,2.58,0.00,0.000,260,0.000,0.092,2376,3566,2645,2704,2586,0,0,0,0,0,0,14.59,14.42,14.62
$GC,7718,0.69,80.0,2375,3567,2703,2586,952.6,9.0,908,7724,0.00,2.53,0.00,0.000,1030,0.000,0.082,2385,2172,2644,2703,2585,0,0,0,0,0,0,14.56,14.46,14.58
$GC,8032,0.73,80.0,2385,2171,2703,2582,927.8,6.5,940,8038,0.00,2.58,0.00,0.000,580,0.000,0.082,2397,726,2642,2703,2582,0,0,0,0,0,0,14.75,14.58,14.78
$GC,8162,0.73,80.0,2396,726,2703,2581,917.0,7.8,965,8169,0.00,2.60,0.00,0.000,1030,0.000,0.090,2396,2153,2642,2703,2581,0,0,0,0,0,0,14.69,14.59,14.71
$GC,8468,0.73,80.0,2396,2152,2703,2579,892.3,8.3,996,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2152,2641,2703,2579,0,0,0,0,0,0,14.82,14.85,14.85
$GC,8770,0.74,80.0,2403,2159,2703,2578,869.1,7.6,1026,8776,0.00,2.58,0.00,0.000,324,0.000,0.111,2397,3565,2640,2703,2578,0,0,0,0,0,0,14.85,14.66,14.91
$GC,8809,0.74,80.0,2396,3566,2703,2584,866.2,8.3,1033,8816,0.00,2.50,0.00,0.000,1030,0.000,0.067,2407,2133,2640,2703,2578,0,0,0,0,0,0,14.77,14.70,14.79
$GC,9115,0.77,80.0,2408,2132,2703,2577,842.5,6.9,1064,9121,0.00,2.62,0.00,0.000,324,0.000,0.103,2407,3562,2640,2703,2578,0,0,0,0,0,0,14.86,14.69,14.87
$GC,9149,0.77,80.0,2407,3562,2703,2577,839.7,8.2,1070,9156,0.00,2.47,0.00,0.000,1030,0.000,0.067,2423,2141,2638,2700,2577,0,0,0,0,0,0,14.78,14.72,14.81
$GC,9464,0.78,80.0,2419,2141,2703,2577,814.6,7.7,1102,9471,0.00,2.47,0.00,0.000,580,0.000,0.078,2429,730,2640,2705,2576,0,0,0,0,0,0,14.88,14.72,14.91
$GC,9513,0.78,80.0,2429,731,2703,2576,810.5,8.2,1111,9520,0.00,2.53,0.00,0.000,1030,0.000,0.073,2429,2166,2639,2702,2576,0,0,0,0,0,0,14.79,14.71,14.81
$GC,9819,0.80,80.0,2429,2166,2703,2575,786.3,7.2,1142,9826,0.00,2.47,0.00,0.000,324,0.000,0.092,2429,3567,2639,2703,2576,0,0,0,0,0,0,14.89,14.72,14.92
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$STATE,19576,end climb,SURFACE_DEPTH_REACHED
$STATE,19576,begin surface coast
$FINISH,0.1,1.024149
$STATE,19590,end surface coast,CONTROL_FINISHED_OK
$STATE,19590,begin surface
$SM_CCo,19610,63.55,0.197,0,0,1376,400.16
$SM_GC,0.57,7.03,0.20,63.55,0.064,0.108,0.197,229,2250,1376,-5.91,-0.93,400.16,0,0,0,0,0,0,14.46,14.45,14.35
$IRIDIUM_FIX,4959.81,-14454.99,030818,153423
$TT8_MAMPS,0.021721,0.619423
$HUMID,48.74
$INTERNAL_PRESSURE,10.0824
$TCM_TEMP,16.10
$XPDR_PINGS,265
$SC_FREEKB,3888000
$ES_FREE,15591211008.000000
$ES_POWER,63.360000
$ES_POWER1,0.000000
$24V_AH,13.14,16.649
$10V_AH,13.45,0.000
$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,18.125,198.575,255.700,63.550,0.000,0.000,0.000,410.575,66.250,0.000,14.101,5865.313,9347.075,654.419,4005.212,485.246,0.000,2821.680,0.000,3420.541,0.000,0.542,0.000
$DEVICE_MAMPS,395.505,110.925,2594.880,196.605,0.000,0.000,0.000,208.080,420.000,0.000,8.990,12.460,2.190,11.710,30.440,45.420,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19614.000,19610.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.900,10.000,0.000,0.000
$MEM,323488
$DATA_FILE_SIZE,86442,2394
$CAP_FILE_SIZE,224894,0
$CFSIZE,1024409600,1010958336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,86.02,1
$GPS,040818,025839,5000.045,-14454.028,42,1.2,42,15.6,0.2,0.0,6,10.0