version: 66.10
glider: 169
mission: 5
dive: 115
start: 12 1 111 6 33 28
data:
$ID,169
$MISSION,5
$DIVE,115
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,425
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10424.049
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,011211,062624,2212.187,12309.521,41,1.4,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-60.3
$GPS2,011211,063302,2212.191,12309.457,13,1.3,13,-2.9
$SPEED_LIMITS,0.159,0.270
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$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,346.2,200600,-14.8,-9.167
$D_GRID,5052
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-170.3,0.0,0.0,0,110,0.00,0.00,-90.55,0.000,2,0.000,0.000,119,2671,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.58,-170.3,3.0,-4.4,15,142,6.68,2.28,-15.62,0.000,4,0.227,0.043,1824,1169,3676,0,0,0,0,0,0,25.58,26.10,26.44
$GC,161,-0.36,-170.3,23.3,-46.2,22,169,0.28,2.28,0.00,0.000,6,0.164,0.044,1890,2656,3676,0,0,0,0,0,0,25.79,26.08,28.83
$GC,478,-0.28,-170.3,127.3,-29.2,83,484,0.00,1.77,0.00,0.000,4,0.000,0.049,1882,3815,3676,0,0,0,0,0,0,28.83,26.23,28.83
$GC,543,-0.24,-170.3,144.4,-23.5,95,550,0.15,1.77,0.00,0.000,6,0.132,0.025,1936,2557,3676,0,0,0,0,0,0,26.15,26.37,28.83
$GC,865,-0.25,-170.3,181.7,-8.8,156,870,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2556,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1182,-0.29,-170.3,204.4,-4.5,210,1191,0.00,1.95,0.00,0.000,4,0.000,0.048,1927,3813,3676,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1216,-0.34,-170.3,205.6,-3.8,213,1219,0.00,1.80,0.00,0.000,6,0.000,0.027,1927,2566,3676,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1529,-0.38,-170.3,221.1,-7.6,244,1535,0.12,0.00,0.00,0.000,6,0.080,0.000,1821,2564,3676,0,0,0,0,0,0,26.60,28.83,28.83
$GC,1837,-0.28,-170.3,299.5,-25.3,275,1849,0.28,1.98,0.00,0.000,4,0.144,0.028,1920,1179,3676,0,0,0,0,0,0,26.20,26.52,28.83
$GC,1885,-0.27,-170.3,306.1,-14.6,279,1893,0.00,2.22,0.00,0.000,6,0.000,0.042,1919,2661,3676,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2192,-0.31,-170.3,323.1,-7.3,310,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,2660,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,-0.36,-170.3,351.1,-9.2,340,2503,0.00,2.15,0.00,0.000,4,0.000,0.031,1919,1182,3674,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2527,-0.43,-170.3,353.9,-8.7,343,2536,0.10,2.15,0.00,0.000,6,0.049,0.040,1854,2656,3674,0,0,0,0,0,0,26.49,26.51,28.83
$GC,2836,-0.40,-170.3,393.3,-10.4,374,2839,0.00,1.77,0.00,0.000,4,0.000,0.046,1845,3821,3673,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2912,-0.39,-170.3,400.8,-9.3,381,2920,0.12,1.80,0.00,0.000,6,0.128,0.027,1884,2555,3672,0,0,0,0,0,0,26.41,26.60,28.83
$GC,3220,-0.40,-170.3,428.7,-10.4,412,3229,0.00,1.92,0.00,0.000,4,0.000,0.047,1875,3813,3671,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3252,-0.43,-170.3,432.1,-10.3,415,3256,0.00,1.80,0.00,0.000,6,0.000,0.028,1875,2564,3671,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3564,-0.44,-170.3,458.6,-7.7,446,3572,0.00,2.00,0.00,0.000,4,0.000,0.032,1875,1181,3669,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3598,-0.46,-170.3,461.2,-7.8,449,3606,0.00,2.17,0.00,0.000,6,0.000,0.041,1866,2653,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3907,-0.47,-170.3,493.2,-13.6,480,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2653,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4217,-0.49,-170.3,533.3,-9.7,511,4226,0.00,2.15,0.00,0.000,4,0.000,0.032,1866,1179,3667,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4270,-0.53,-170.3,537.3,-6.8,516,4281,0.00,2.20,0.00,0.000,6,0.000,0.042,1858,2658,3666,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4580,-0.54,-170.3,553.3,-6.0,547,4584,0.00,1.77,0.00,0.000,4,0.000,0.048,1849,3812,3664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4615,-0.55,-170.3,555.4,-6.5,550,4621,0.00,1.77,0.00,0.000,6,0.000,0.028,1849,2559,3663,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4923,-0.56,-170.3,588.9,-11.6,581,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2558,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.57,-170.3,617.7,-8.2,602,5237,0.00,1.95,0.00,0.000,4,0.000,0.048,1840,3819,3659,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5273,-0.58,-170.3,621.1,-8.2,604,5276,0.00,1.77,0.00,0.000,6,0.000,0.028,1840,2571,3659,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5594,-0.58,-170.3,650.3,-8.8,620,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2563,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5894,-0.58,-170.3,678.0,-10.0,635,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2563,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6195,-0.58,-170.3,708.5,-9.5,650,6200,0.00,1.92,0.00,0.000,4,0.000,0.049,1831,3811,3652,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6226,-0.58,-170.3,710.3,-9.3,651,6233,0.00,1.80,0.00,0.000,6,0.000,0.029,1831,2562,3652,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6536,-0.58,-170.3,740.5,-9.0,667,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2561,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6835,-0.58,-170.3,765.8,-8.2,682,6841,0.00,1.92,0.00,0.000,4,0.000,0.050,1822,3811,3647,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6874,-0.58,-170.3,769.0,-8.1,684,6877,0.00,1.80,0.00,0.000,6,0.000,0.029,1822,2575,3647,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7196,-0.57,-170.3,798.1,-9.5,700,7201,0.00,2.00,0.00,0.000,4,0.000,0.031,1822,1187,3645,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7222,-0.57,-170.3,800.2,-9.7,701,7226,0.00,2.20,0.00,0.000,6,0.000,0.044,1813,2654,3645,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7530,-0.56,-170.3,835.0,-11.2,716,7536,0.00,2.17,0.00,0.000,4,0.000,0.033,1813,1181,3642,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7579,-0.55,-170.3,839.1,-10.7,718,7583,0.00,2.22,0.00,0.000,6,0.000,0.045,1808,2657,3642,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7886,-0.53,-170.3,870.8,-9.8,733,7892,0.10,2.17,0.00,0.000,4,0.159,0.030,1837,1182,3640,0,0,0,0,0,0,26.48,26.46,28.83
$GC,7935,-0.53,-170.3,874.1,-8.8,735,7939,0.00,2.20,0.00,0.000,6,0.000,0.045,1827,2653,3640,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8243,-0.53,-170.3,898.1,-8.6,750,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2653,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,-0.53,-170.3,932.0,-12.2,765,8544,0.00,1.75,0.00,0.000,4,0.000,0.051,1819,3811,3637,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8566,-0.53,-170.3,934.6,-12.3,766,8569,0.00,1.77,0.00,0.000,6,0.000,0.029,1819,2568,3636,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8884,-0.53,-170.3,971.8,-10.2,782,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2566,3634,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9122,begin apogee
$GC,9128,-0.20,0.0,990.2,-6.6,794,9278,0.35,0.10,143.02,1.181,6,0.101,0.102,1943,2529,2977,0,0,0,0,0,0,26.22,24.85,24.13
$STATE,9279,end apogee,CONTROL_FINISHED_OK
$STATE,9279,begin climb
$GC,9281,0.58,170.3,990.8,0.0,801,9449,0.70,2.38,158.25,1.174,4,0.044,0.041,2220,1055,2276,0,0,0,0,0,0,25.06,24.67,23.91
$GC,9541,0.50,170.3,957.2,19.9,814,9546,0.17,2.33,0.00,0.000,6,0.171,0.045,2176,2523,2257,0,0,0,0,0,0,25.18,25.37,28.83
$GC,9854,0.43,170.3,904.4,15.6,830,9860,0.00,2.00,0.00,0.000,4,0.000,0.050,2176,3805,2253,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9936,0.34,170.3,890.2,17.6,834,9941,0.22,2.03,0.00,0.000,6,0.177,0.032,2127,2459,2251,0,0,0,0,0,0,25.68,26.02,28.83
$GC,10249,0.31,170.3,856.2,10.0,850,10255,0.00,2.10,0.00,0.000,4,0.000,0.048,2127,3811,2249,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10278,0.27,170.3,854.0,10.3,851,10283,0.15,2.03,0.00,0.000,6,0.171,0.033,2098,2459,2249,0,0,0,0,0,0,25.89,26.17,28.83
$GC,10586,0.32,214.7,830.2,7.6,866,10630,0.00,0.00,41.70,1.038,6,0.000,0.000,2098,2457,2102,0,0,0,0,0,0,28.83,28.83,24.77
$GC,10927,0.33,214.7,795.3,11.7,883,10932,0.00,2.12,0.00,0.000,4,0.000,0.049,2098,3805,2076,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10954,0.33,214.7,792.7,12.1,884,10957,0.00,2.03,0.00,0.000,6,0.000,0.032,2108,2460,2075,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11261,0.33,214.7,756.9,10.1,899,11267,0.00,2.10,0.00,0.000,4,0.000,0.040,2117,1056,2073,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11306,0.34,214.7,753.2,9.6,901,11310,0.00,2.22,0.00,0.000,6,0.000,0.044,2119,2521,2073,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11619,0.35,227.8,725.1,8.7,917,11637,0.00,2.05,10.15,0.965,4,0.000,0.050,2118,3811,2041,0,0,0,0,0,0,28.83,26.10,25.31
$GC,11669,0.34,227.8,720.8,9.3,919,11673,0.00,2.03,0.00,0.000,6,0.000,0.033,2129,2463,2034,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11975,0.33,227.8,680.4,14.0,934,11981,0.00,2.12,0.00,0.000,4,0.000,0.049,2129,3820,2031,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12003,0.31,227.8,677.3,14.2,935,12007,0.00,2.03,0.00,0.000,6,0.000,0.031,2139,2454,2031,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12311,0.29,227.8,640.2,9.6,950,12313,0.12,0.00,0.00,0.000,6,0.182,0.000,2108,2451,2030,0,0,0,0,0,0,26.11,28.83,28.83
$GC,12612,0.43,329.7,624.7,5.5,965,12717,0.12,2.30,97.25,0.931,4,0.081,0.048,2186,3814,1622,0,0,0,0,0,0,26.46,25.10,24.45
$GC,12793,0.40,329.7,596.5,18.2,974,12803,0.20,2.08,0.00,0.000,6,0.145,0.033,2140,2466,1606,0,0,0,0,0,0,25.42,25.57,28.83
$GC,13103,0.41,329.7,556.1,11.9,1005,13113,0.00,2.12,0.00,0.000,4,0.000,0.043,2150,1066,1603,0,0,0,0,0,0,28.83,25.96,28.83
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$GC,14409,0.51,366.2,406.9,13.3,1135,14420,0.00,2.17,0.00,0.000,4,0.000,0.040,2172,1064,1459,0,0,0,0,0,0,28.83,26.24,28.83
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$GC,17159,0.71,444.0,64.1,8.2,1500,17184,0.00,0.00,18.67,0.236,6,0.000,0.000,2218,2529,1178,0,0,0,0,0,0,28.83,28.83,25.77
$GC,17494,0.99,620.4,45.2,2.7,1564,17621,0.25,2.30,120.28,0.190,4,0.048,0.040,2373,1069,450,0,0,0,0,0,0,26.46,25.99,25.73
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$STATE,17681,end climb,SURFACE_DEPTH_REACHED
$STATE,17682,begin surface coast
$FINISH,0.2,1.010028
$STATE,17700,end surface coast,CONTROL_FINISHED_OK
$STATE,17700,begin surface
$SM_CCo,17775,0.00,0.000,0,0,461,617.42
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$IRIDIUM_FIX,2159.71,12311.08,011211,010102
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.48
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.9,25.660
$10V_AH,10.2,19.112
$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
$DEVICE_SECS,16.325,136.550,667.200,0.000,0.000,26.133,18.289,218.142,0.000,0.000,14.394,4238.177,9695.748,790.975,3071.349,353.117,0.000,2286.719,0.000,2646.455,0.000,0.543,0.000
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$SENSOR_SECS,1081.232,2051.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330344
$DATA_FILE_SIZE,103794,1597
$CAP_FILE_SIZE,187755,0
$CFSIZE,260165632,212299776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210,205.9,1
$GPS,011211,113106,2215.629,12306.730,50,1.0,56,-3.0