version: 66.11
glider: 177
mission: 4
dive: 211
start: 4 27 113 6 19 28
data:
$ID,177
$MISSION,4
$DIVE,211
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52151
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.001
$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,619.87311
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-8138.8687
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2925
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,93
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.106712
$PRESSURE_SLOPE,0.000115925
$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,0
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044109048
$SEABIRD_T_H,0.00065266038
$SEABIRD_T_I,2.7513828e-05
$SEABIRD_T_J,3.0466049e-06
$SEABIRD_C_G,-9.9740562
$SEABIRD_C_H,1.1339458
$SEABIRD_C_I,-0.0018908759
$SEABIRD_C_J,0.0002126007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,270413,061159,1844.779,12147.844,39,1.5,44,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.90
$_SM_ANGLEo,-65.7
$GPS2,270413,061901,1844.665,12147.703,11,1.9,11,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$TGT_RADIUS,5000.000
$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,89.8,31796,-6.2,-9.167,-6.92,3252
$D_GRID,953
$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,17,begin dive
$GC,19,-0.64,-194.6,140,2416,487,441,0.0,0.0,0,126,0.00,0.00,-103.95,0.000,16386,0.000,0.000,140,2417,3293,3343,3244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.64,-194.6,145,2417,3343,3245,4.6,-17.1,14,154,10.90,2.20,-7.28,0.000,18948,0.252,0.057,2722,1001,3789,3871,3708,0,0,0,0,0,0,25.58,25.99,26.34
$GC,215,-0.64,-194.6,2721,1001,3873,3709,41.8,-30.3,23,224,0.00,1.92,0.00,0.000,1030,0.000,0.028,2715,2337,3791,3874,3709,0,0,0,0,0,0,28.83,26.10,28.83
$GC,522,-0.64,-194.6,2714,2338,3874,3710,125.8,-23.8,40,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2338,3792,3874,3710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,823,-0.64,-194.6,2714,2338,3875,3713,181.9,-17.7,55,829,0.00,1.92,0.00,0.000,516,0.000,0.031,2714,991,3794,3875,3713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,913,-0.64,-194.6,2714,991,3874,3713,198.7,-19.3,59,919,0.00,1.98,0.00,0.000,1030,0.000,0.028,2706,2378,3794,3875,3713,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1233,-0.64,-194.6,2706,2379,3875,3713,257.9,-14.7,75,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2379,3794,3875,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1533,-0.64,-194.6,2706,2379,3875,3713,305.0,-14.9,90,1539,0.00,2.00,0.00,0.000,516,0.000,0.031,2706,986,3794,3875,3713,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1587,-0.64,-194.6,2706,986,3875,3712,311.5,-14.6,92,1594,0.08,1.98,0.00,0.000,3078,0.191,0.028,2716,2377,3791,3871,3712,0,0,0,0,0,0,26.28,26.44,28.83
$GC,1904,-0.64,-194.6,2716,2377,3875,3708,353.4,-13.1,108,1910,0.00,2.00,0.00,0.000,516,0.000,0.031,2717,984,3791,3875,3708,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1944,-0.64,-194.6,2716,984,3875,3707,356.8,-13.1,109,1952,0.00,1.98,0.00,0.000,1030,0.000,0.028,2716,2376,3791,3875,3707,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2250,-0.64,-194.6,2716,2376,3875,3702,397.0,-11.8,125,2256,0.00,2.00,0.00,0.000,516,0.000,0.031,2716,985,3788,3875,3701,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2337,-0.64,-194.6,2716,985,3875,3700,406.8,-11.2,129,2343,0.00,2.00,0.00,0.000,1030,0.000,0.028,2713,2384,3787,3875,3700,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2663,-0.64,-194.6,2713,2385,3875,3695,444.8,-11.9,145,2668,0.00,2.00,0.00,0.000,516,0.000,0.031,2714,993,3784,3874,3695,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2731,-0.64,-194.6,2713,993,3874,3694,452.6,-11.6,148,2738,0.00,1.98,0.00,0.000,1030,0.000,0.028,2710,2379,3784,3875,3693,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3053,-0.64,-194.6,2710,2380,3875,3687,492.5,-12.9,164,3059,0.00,2.00,0.00,0.000,516,0.000,0.033,2710,995,3781,3875,3687,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3085,-0.64,-194.6,2715,995,3875,3686,495.8,-12.9,165,3092,0.00,1.98,0.00,0.000,1030,0.000,0.027,2706,2381,3780,3875,3686,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3401,-0.64,-194.6,2705,2381,3874,3681,531.1,-11.6,181,3407,0.00,2.00,0.00,0.000,516,0.000,0.031,2706,992,3779,3878,3681,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3450,-0.64,-194.6,2706,992,3868,3681,535.9,-10.8,183,3457,0.08,2.00,0.00,0.000,3078,0.180,0.029,2721,2379,3777,3873,3681,0,0,0,0,0,0,26.32,26.46,28.83
$GC,3772,-0.64,-194.6,2720,2380,3869,3679,569.3,-9.7,199,3779,0.00,2.03,0.00,0.000,516,0.000,0.037,2721,995,3774,3870,3678,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3903,-0.64,-194.6,2721,995,3867,3678,583.3,-11.3,205,3909,0.00,1.98,0.00,0.000,1030,0.000,0.029,2721,2374,3772,3867,3678,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4233,-0.64,-194.6,2720,2374,3861,3674,616.2,-9.2,219,4239,0.00,2.00,0.00,0.000,516,0.000,0.033,2720,995,3770,3866,3674,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4261,-0.64,-194.6,2720,995,3864,3674,616.2,-9.2,219,4269,0.00,1.98,0.00,0.000,1030,0.000,0.029,2718,2375,3769,3864,3674,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4568,-0.64,-194.6,2718,2376,3863,3671,647.6,-10.2,230,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2376,3767,3863,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,-0.64,-194.6,2718,2376,3860,3669,676.4,-9.2,240,4873,0.00,2.00,0.00,0.000,516,0.000,0.032,2719,995,3764,3860,3669,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4976,-0.64,-194.6,2719,995,3859,3669,684.9,-9.1,243,4983,0.00,1.98,0.00,0.000,1030,0.000,0.030,2717,2374,3763,3858,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5297,-0.64,-194.6,2717,2375,3857,3666,713.1,-8.0,254,5303,0.00,2.00,0.00,0.000,516,0.000,0.034,2717,997,3761,3857,3666,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5321,-0.64,-194.6,2717,997,3856,3666,713.1,-8.0,254,5327,0.00,1.98,0.00,0.000,1030,0.000,0.030,2714,2374,3761,3856,3666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5637,-0.64,-194.6,2714,2373,3854,3663,743.8,-11.2,265,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2374,3758,3854,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5935,-0.64,-194.6,2714,2374,3853,3661,785.9,-13.6,275,5941,0.00,2.00,0.00,0.000,516,0.000,0.034,2714,998,3757,3853,3661,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6000,-0.64,-194.6,2714,997,3852,3661,794.0,-12.8,277,6006,0.00,2.00,0.00,0.000,1030,0.000,0.031,2713,2379,3757,3852,3662,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6334,-0.64,-194.6,2710,2379,3851,3660,832.5,-10.8,288,6340,0.00,2.03,0.00,0.000,516,0.000,0.034,2713,993,3755,3851,3660,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6432,-0.64,-194.6,2713,992,3849,3660,840.8,-8.8,291,6438,0.00,2.00,0.00,0.000,1030,0.000,0.030,2712,2375,3754,3849,3660,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6766,-0.64,-194.6,2712,2375,3847,3657,872.3,-11.5,302,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2375,3752,3847,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,-0.64,-194.6,2712,2376,3847,3655,899.4,-7.8,312,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2376,3751,3846,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7366,-0.64,-194.6,2712,2376,3845,3654,932.3,-10.6,322,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2376,3749,3845,3654,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7604,begin apogee
$GC,7610,-0.20,0.0,2712,2233,3845,3653,954.8,-9.7,330,7796,0.45,0.00,177.52,0.968,10246,0.121,0.000,2860,2232,2985,3092,2879,0,0,0,0,0,0,26.10,28.83,24.20
$STATE,7797,end apogee,CONTROL_FINISHED_OK
$STATE,7797,begin climb
$GC,7799,0.64,194.6,2860,2232,3092,2876,965.9,0.0,335,7991,0.77,2.35,183.52,0.952,10500,0.075,0.044,3133,3635,2192,2318,2066,0,0,1,0,0,0,24.94,24.51,23.91
$GC,8045,0.72,237.1,3133,3635,2314,2051,959.9,7.8,343,8094,0.08,2.10,38.72,0.937,11270,0.116,0.027,3168,2264,2019,2146,1893,0,0,0,0,0,0,25.05,25.09,24.10
$GC,8406,0.72,237.1,3167,2264,2142,1878,908.9,14.2,355,8411,0.00,2.15,0.00,0.000,260,0.000,0.046,3168,3643,2010,2142,1879,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8471,0.72,237.1,3167,3643,2137,1878,898.0,14.5,357,8477,0.10,2.10,0.00,0.000,5126,0.220,0.026,3156,2233,2011,2138,1885,0,0,0,0,0,0,25.65,25.89,28.83
$GC,8806,0.75,249.4,3155,2231,2137,1877,861.3,8.8,368,8823,0.00,2.17,9.82,0.881,8452,0.000,0.044,3156,3637,1972,2101,1844,0,0,0,0,0,0,28.83,25.93,25.20
$GC,8903,0.75,249.4,3155,3637,2096,1842,850.9,10.1,371,8909,0.00,2.08,0.00,0.000,1030,0.000,0.025,3163,2232,1969,2096,1842,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9238,0.75,249.4,3162,2231,2095,1839,812.4,10.6,382,9244,0.00,2.15,0.00,0.000,260,0.000,0.044,3163,3641,1967,2096,1839,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9266,0.75,249.4,2192,3640,2027,1833,812.4,10.6,382,9273,0.00,2.05,0.00,0.000,1030,0.000,0.028,3163,2239,1966,2094,1839,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9574,0.75,249.4,3162,2239,2094,1839,776.2,11.8,393,9580,0.00,2.10,0.00,0.000,516,0.000,0.047,3171,850,1967,2095,1839,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9629,0.75,249.4,3170,850,2093,1839,771.7,12.1,394,9635,0.00,2.03,0.00,0.000,1030,0.000,0.029,3171,2248,1966,2094,1838,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9944,0.75,249.4,3171,2249,2094,1838,731.3,12.3,405,9950,0.00,2.10,0.00,0.000,260,0.000,0.044,3171,3642,1965,2093,1838,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10018,0.75,249.4,3171,3641,2092,1838,722.4,12.9,407,10024,0.00,2.05,0.00,0.000,1030,0.000,0.028,3176,2237,1965,2092,1838,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10343,0.75,249.4,3175,2236,2092,1838,680.1,13.1,418,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2236,1965,2092,1838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10644,0.75,249.4,3176,2236,2092,1838,635.5,15.6,428,10650,0.00,2.12,0.00,0.000,260,0.000,0.043,3176,3639,1965,2092,1838,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10744,0.75,249.4,3176,3639,2090,1838,618.8,16.8,431,10751,0.00,2.03,0.00,0.000,1030,0.000,0.027,3176,2237,1966,2090,1843,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11055,0.75,249.4,3175,2236,2090,1837,572.1,14.6,444,11061,0.00,2.08,0.00,0.000,516,0.000,0.046,3179,848,1963,2090,1837,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,12779,0.75,249.4,3176,2243,2088,1836,338.1,11.2,529,12786,0.00,2.08,0.00,0.000,516,0.000,0.044,3178,848,1963,2089,1837,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,15445,end climb,SURFACE_DEPTH_REACHED
$STATE,15445,begin surface coast
$FINISH,1.1,1.021335
$STATE,15468,end surface coast,CONTROL_FINISHED_OK
$STATE,15468,begin surface
$SM_CCo,15487,84.22,0.055,0,0,463,619.87
$SM_GC,-1.67,8.40,2.22,84.22,0.060,0.023,0.055,141,2358,463,-8.62,-1.78,619.87,0,0,0,0,0,0,26.22,26.29,26.15
$IRIDIUM_FIX,1839.59,12145.85,270413,020200
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.04
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,21.80
$XPDR_PINGS,3
$SC_FREEKB,3939104
$24V_AH,23.9,26.694
$10V_AH,10.3,24.845
$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,21.700,127.000,533.300,84.225,0.000,0.000,0.000,248.325,0.750,0.000,14.238,2928.524,9834.224,777.399,2034.651,409.323,0.000,2027.279,0.000,1692.890,0.000,0.546,0.000
$DEVICE_MAMPS,251.685,61.200,967.725,55.080,0.000,0.000,0.000,118.575,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15491.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.915,0.000,0.000,0.000
$MEM,320852
$DATA_FILE_SIZE,26716,698
$CAP_FILE_SIZE,373095,0
$CFSIZE,260034560,226328576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.201,107.0,1
$GPS,270413,104029,1844.697,12152.185,39,1.1,45,-2.1