version: 66.13
glider: 171
mission: 11
dive: 174
start: 9 1 119 9 38 39
data:
$ID,171
$MISSION,11
$DIVE,174
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$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,390
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.019109501
$HD_C,5.7000002e-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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$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,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,010919,092855,1336.9659,8700.5518,59,1.1,59,-0.9,0.8,209.8,6,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.6
$GPS2,010919,093748,1336.8578,8700.6611,3,0.8,6,-0.9,0.5,200.5,10,7.0
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,191.6,68271,-17.1,-8.462,-27.86,2074
$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
$WARN,HPMAR logging already started
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-116.8,48,2508,968,879,0.0,0.0,0,102,0.00,0.00,-76.95,0.005,16386,0.000,0.000,37,2508,2734,2736,2733,0,0,0,0,0,0,14.85,28.83,14.88
$GC,105,-0.62,-116.8,37,2508,2736,2733,4.7,-12.7,16,137,9.23,2.40,-12.68,0.012,18692,0.360,0.100,2111,3884,3448,3453,3443,0,0,0,0,0,0,14.34,13.39,14.54
$GC,260,-0.62,-116.8,2110,3884,3454,3443,60.8,-32.1,47,267,0.00,2.25,0.00,0.000,1030,0.000,0.038,2111,2504,3448,3454,3443,0,0,0,0,0,0,14.69,14.66,14.71
$GC,447,-0.62,-116.8,2110,2503,3454,3443,107.1,-22.9,66,454,0.00,2.35,0.00,0.000,260,0.000,0.080,2101,3886,3448,3454,3443,0,0,0,0,0,0,14.94,14.69,14.97
$GC,606,-0.62,-116.8,2100,3886,3453,3443,137.2,-18.3,97,613,0.00,2.25,0.00,0.000,1030,0.000,0.034,2101,2495,3450,3457,3443,0,0,0,0,0,0,14.69,14.66,14.72
$GC,794,-0.62,-116.8,2101,2494,3454,3443,165.8,-14.6,116,799,0.00,2.25,0.00,0.000,516,0.000,0.050,2101,1099,3447,3452,3443,0,0,0,0,0,0,14.98,14.77,15.01
$GC,879,-0.62,-116.8,2101,1099,3454,3443,177.8,-14.0,132,889,0.15,2.33,0.00,0.000,3078,0.231,0.058,2126,2496,3447,3454,3441,0,0,0,0,0,0,14.63,14.76,14.81
$GC,1067,-0.62,-116.8,2125,2497,3454,3443,202.0,-12.8,152,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2497,3448,3454,3443,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1258,-0.62,-116.8,2125,2497,3453,3443,225.2,-12.0,171,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2496,3448,3453,3443,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1448,-0.62,-116.8,2125,2497,3451,3443,247.7,-11.7,190,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2497,3447,3451,3443,0,0,0,0,0,0,15.02,15.06,15.05
$GC,1649,-0.62,-116.8,2125,2496,3449,3443,271.2,-11.8,201,1654,0.00,2.28,0.00,0.000,516,0.000,0.049,2126,1095,3446,3449,3443,0,0,0,0,0,0,15.04,14.83,15.07
$GC,1681,-0.62,-116.8,2125,1095,3448,3443,275.3,-11.7,207,1687,0.00,2.35,0.00,0.000,1030,0.000,0.063,2116,2500,3445,3448,3443,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1995,-0.62,-116.8,2116,2500,3446,3440,313.6,-12.3,224,2001,0.00,2.38,0.00,0.000,260,0.000,0.086,2106,3894,3443,3446,3440,0,0,0,0,0,0,15.05,14.78,15.08
$GC,2032,-0.62,-116.8,2106,3894,3445,3440,318.6,-12.8,231,2039,0.00,2.25,0.00,0.000,1030,0.000,0.035,2106,2496,3443,3446,3440,0,0,0,0,0,0,14.83,14.81,14.85
$GC,2339,-0.62,-116.8,2106,2495,3444,3437,357.0,-12.4,247,2345,0.00,2.25,0.00,0.000,516,0.000,0.050,2106,1103,3440,3444,3436,0,0,0,0,0,0,15.06,14.83,15.09
$GC,2371,-0.62,-116.8,2106,1103,3443,3436,361.4,-12.7,253,2383,0.12,2.35,0.00,0.000,3078,0.222,0.060,2126,2507,3439,3443,3436,0,0,0,0,0,0,14.71,14.82,14.88
$GC,2683,-0.62,-116.8,2125,2507,3442,3433,396.6,-11.2,270,2689,0.00,2.35,0.00,0.000,260,0.000,0.089,2116,3894,3437,3442,3433,0,0,0,0,0,0,15.07,14.78,15.09
$GC,2707,-0.62,-116.8,2116,3894,3440,3433,399.4,-11.5,274,2714,0.00,2.20,0.00,0.000,1030,0.000,0.035,2116,2494,3437,3441,3433,0,0,0,0,0,0,14.94,14.88,14.95
$GC,3032,-0.62,-116.8,2116,2493,3439,3429,436.4,-11.3,293,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2493,3434,3439,3429,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3332,-0.62,-116.8,2115,2491,3437,3425,470.4,-11.4,308,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2491,3431,3438,3425,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3633,-0.62,-116.8,2115,2491,3434,3425,503.6,-10.9,323,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2491,3429,3434,3424,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3932,-0.62,-116.8,2115,2491,3432,3422,534.7,-10.3,338,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2492,3427,3432,3422,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4232,-0.62,-116.8,2114,2491,3431,3421,565.7,-10.3,353,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2491,3426,3431,3421,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4532,-0.62,-116.8,2115,2491,3429,3420,596.5,-10.3,368,4538,0.00,2.40,0.00,0.000,260,0.000,0.090,2106,3891,3424,3429,3420,0,0,0,0,0,0,15.07,14.76,15.09
$GC,4556,-0.62,-116.8,2105,3891,3429,3420,598.9,-10.2,372,4562,0.00,2.20,0.00,0.000,1030,0.000,0.038,2104,2501,3424,3429,3420,0,0,0,0,0,0,14.92,14.86,14.94
$GC,4880,-0.62,-116.8,2105,2500,3427,3418,634.1,-10.9,391,4886,0.00,2.28,0.00,0.000,516,0.000,0.051,2106,1106,3422,3427,3418,0,0,0,0,0,0,15.07,14.81,15.09
$GC,4905,-0.62,-116.8,2105,1106,3427,3418,636.8,-11.4,395,4914,0.12,2.35,0.00,0.000,3078,0.218,0.063,2125,2498,3422,3427,3418,0,0,0,0,0,0,14.65,14.78,14.82
$GC,5227,-0.62,-116.8,2124,2498,3426,3416,667.5,-9.4,414,5234,0.00,2.40,0.00,0.000,260,0.000,0.093,2116,3900,3420,3426,3415,0,0,0,0,0,0,15.05,14.73,15.08
$GC,5260,-0.62,-116.8,2115,3900,3426,3416,670.9,-9.9,420,5266,0.00,2.22,0.00,0.000,1030,0.000,0.037,2116,2499,3421,3426,3416,0,0,0,0,0,0,14.91,14.85,14.92
$GC,5574,-0.62,-116.8,2115,2497,3424,3414,701.9,-10.0,437,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2497,3419,3424,3414,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5873,-0.62,-116.8,2115,2497,3422,3413,731.9,-10.0,452,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2497,3417,3422,3413,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6174,-0.62,-116.8,2115,2498,3421,3412,762.2,-10.1,467,6180,0.00,2.28,0.00,0.000,516,0.000,0.050,2115,1105,3416,3421,3412,0,0,0,0,0,0,15.05,14.79,15.08
$GC,6218,-0.62,-116.8,2115,1105,3421,3412,766.7,-10.2,475,6224,0.00,2.38,0.00,0.000,1030,0.000,0.062,2105,2508,3416,3421,3412,0,0,0,0,0,0,14.87,14.76,14.90
$GC,6541,-0.62,-116.8,2105,2508,3420,3411,801.3,-10.6,494,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2508,3415,3420,3411,0,0,0,0,0,0,15.04,15.08,15.07
$GC,6842,-0.62,-116.8,2105,2508,3419,3410,832.9,-10.4,509,6848,0.00,2.38,0.00,0.000,260,0.000,0.093,2094,3891,3414,3419,3410,0,0,0,0,0,0,15.04,14.71,15.07
$GC,6869,-0.62,-116.8,2093,3892,3418,3410,836.0,-10.8,514,6876,0.12,2.22,0.00,0.000,3078,0.213,0.038,2125,2494,3414,3418,3410,0,0,0,0,0,0,14.64,14.83,14.81
$GC,7189,-0.62,-116.8,2124,2493,3419,3409,864.6,-8.9,532,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2492,3412,3416,3409,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7489,-0.62,-116.8,2124,2493,3417,3408,891.1,-8.8,547,7495,0.00,2.28,0.00,0.000,516,0.000,0.051,2125,1101,3412,3416,3408,0,0,0,0,0,0,15.04,14.77,15.07
$GC,7534,-0.62,-116.8,2125,1100,3416,3408,895.1,-9.3,555,7540,0.00,2.38,0.00,0.000,1030,0.000,0.062,2116,2499,3412,3416,3408,0,0,0,0,0,0,14.85,14.74,14.88
$GC,7858,-0.62,-116.8,2116,2499,3415,3407,926.9,-10.1,574,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2499,3411,3415,3407,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8158,-0.62,-116.8,2115,2499,3414,3407,957.3,-10.2,589,8164,0.00,2.40,0.00,0.000,260,0.000,0.094,2105,3893,3410,3414,3406,0,0,0,0,0,0,15.03,14.69,15.06
$GC,8184,-0.62,-116.8,2105,3893,3413,3406,960.3,-11.2,594,8191,0.00,2.22,0.00,0.000,1030,0.000,0.039,2103,2503,3409,3413,3406,0,0,0,0,0,0,14.87,14.81,14.89
$STATE,8461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8462,begin apogee
$GC,8468,-0.15,0.0,2105,2435,3413,3406,990.6,-10.7,610,8578,0.60,0.00,104.22,2.036,10246,0.177,0.000,2279,2435,2968,2997,2940,0,0,0,0,0,0,14.59,14.20,13.23
$STATE,8580,end apogee,CONTROL_FINISHED_OK
$STATE,8580,begin climb
$GC,8583,0.62,116.8,2280,2435,2995,2939,994.5,0.0,615,8709,0.77,0.00,113.10,2.026,10502,0.099,0.000,2534,2435,2490,2525,2456,0,0,0,0,0,0,14.23,14.02,13.14
$GC,9004,0.62,116.8,2534,2435,2513,2452,967.6,9.4,646,9011,0.00,2.33,0.00,0.000,516,0.000,0.052,2545,1049,2482,2513,2451,0,0,0,0,0,0,14.77,14.57,14.80
$GC,9048,0.62,116.8,2545,1049,2512,2450,963.4,9.4,654,9055,0.00,2.40,0.00,0.000,1030,0.000,0.058,2545,2450,2482,2515,2450,0,0,0,0,0,0,14.66,14.57,14.69
$GC,9373,0.62,116.8,2545,2450,2511,2449,930.8,10.2,673,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,2480,2511,2449,0,0,0,0,0,0,14.90,14.95,14.93
$GC,9673,0.62,116.8,2545,2450,2510,2448,900.9,10.0,688,9679,0.00,2.35,0.00,0.000,516,0.000,0.051,2557,1044,2479,2510,2448,0,0,0,0,0,0,14.95,14.73,14.99
$GC,9700,0.62,116.8,2556,1044,2509,2447,898.1,9.4,693,9706,0.00,2.38,0.00,0.000,1030,0.000,0.056,2557,2449,2478,2509,2447,0,0,0,0,0,0,14.80,14.71,14.83
$GC,10019,0.62,116.8,2556,2450,2509,2446,864.8,10.4,711,10024,0.00,2.33,0.00,0.000,516,0.000,0.051,2567,1049,2477,2509,2446,0,0,0,0,0,0,14.97,14.74,15.01
$GC,10066,0.62,116.8,2568,1048,2508,2446,859.7,10.7,720,10072,0.15,2.35,0.00,0.000,5126,0.246,0.055,2534,2442,2477,2508,2446,0,0,0,0,0,0,14.55,14.73,14.78
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$STATE,20030,end climb,SURFACE_DEPTH_REACHED
$STATE,20030,begin surface coast
$STATE,20052,end surface coast,CONTROL_FINISHED_OK
$STATE,20052,begin surface
$SM_CCo,20078,116.60,0.622,1,0,928,500.17
$SM_GC,1.26,7.28,0.08,116.60,0.054,0.188,0.622,132,2495,928,-6.78,-1.05,500.17,0,0,0,0,1,0,14.68,14.64,14.00
$IRIDIUM_FIX,1337.56,8700.17,010919,034127
$TT8_MAMPS,0.018725,0.901796
$HUMID,42.12
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.50
$XPDR_PINGS,2
$SC_FREEKB,3832160
$PM_FREEKB_00,52877120
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.14,67.688
$10V_AH,13.13,0.000
$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,19.125,168.225,444.550,116.600,0.000,0.000,0.000,298.250,0.500,0.000,18.941,1493.934,13160.091,620.395,4919.841,545.477,0.000,2480.264,0.000,4284.370,0.000,0.543,0.000
$DEVICE_MAMPS,360.315,311.355,2036.430,621.945,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3958.981,0.000,0.000,0.000,0.000,0.000,20058.000,0.000,20070.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.460,0.000,3.472,0.000
$MEM,251916
$DATA_FILE_SIZE,70072,1601
$CAP_FILE_SIZE,281992,0
$CFSIZE,260034560,175583232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.023,124.46,1
$GPS,010919,151638,1335.083,8700.463,15,1.5,15,-0.9,1.3,162.5,5,7.9