version: 66.12
glider: 187
mission: 4
dive: 101
start: 7 11 114 8 5 13
data:
$ID,187
$MISSION,4
$DIVE,101
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,420
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,375
$N_FILEKB,8
$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,-1593329.5
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,2
$DBDW,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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$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,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,110714,075400,4737.433,-12543.817,60,1.3,60,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-70.7
$GPS2,110714,080442,4737.423,-12543.862,13,1.7,18,18.7
$SPEED_LIMITS,0.136,0.232
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,52.2,49637,-14.0,-7.857,-18.69,2568
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.60,-131.4,399,2421,1340,1009,0.0,0.0,0,99,0.00,0.00,-67.65,0.000,16386,0.000,0.000,399,2420,2992,3047,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.60,-131.4,399,2420,3043,2939,4.3,-5.4,7,139,12.73,2.55,-6.50,0.000,18948,0.411,0.112,3119,1004,3397,3436,3358,0,0,0,0,0,0,14.19,14.34,14.54
$GC,369,-0.60,-131.4,3119,1003,3438,3361,62.6,-16.1,34,380,0.00,2.47,0.00,0.000,1030,0.000,0.082,3119,2425,3399,3438,3361,0,0,0,0,0,0,28.83,14.43,28.83
$GC,620,-0.60,-131.4,3119,2425,3441,3361,98.2,-13.2,59,629,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2425,3401,3441,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,870,-0.60,-131.4,3119,2425,3438,3357,128.5,-12.0,84,880,0.00,2.45,0.00,0.000,516,0.000,0.086,3119,1005,3402,3442,3362,0,0,0,0,0,0,28.83,14.52,28.83
$GC,920,-0.60,-131.4,3119,1004,3442,3358,134.6,-12.1,89,931,0.00,2.45,0.00,0.000,1030,0.000,0.081,3119,2430,3401,3441,3362,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1172,-0.60,-131.4,3119,2432,3441,3362,159.6,-9.6,114,1182,0.00,2.45,0.00,0.000,516,0.000,0.087,3119,1002,3402,3442,3362,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1232,-0.60,-131.4,3119,1002,3441,3362,165.8,-10.4,120,1243,0.00,2.45,0.00,0.000,1030,0.000,0.083,3119,2430,3402,3442,3362,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1483,-0.60,-131.4,3119,2430,3442,3361,190.8,-10.1,145,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2430,3404,3442,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1733,-0.60,-131.4,3119,2429,3441,3360,216.7,-10.7,170,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2430,3401,3441,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1983,-0.60,-131.4,3120,2429,3441,3359,242.8,-10.2,195,1994,0.00,2.45,0.00,0.000,260,0.000,0.105,3121,3833,3400,3441,3359,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2033,-0.60,-131.4,3119,3833,3447,3362,247.9,-10.5,200,2044,0.00,2.40,0.00,0.000,1030,0.000,0.078,3119,2415,3400,3441,3359,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2307,-0.60,-131.4,3119,2414,3440,3358,274.5,-9.8,211,2317,0.00,2.40,0.00,0.000,516,0.000,0.093,3119,1013,3399,3441,3358,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2376,-0.60,-131.4,3119,1014,3441,3358,282.2,-10.8,218,2386,0.00,2.42,0.00,0.000,1030,0.000,0.086,3119,2425,3400,3444,3357,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2699,-0.60,-131.4,3118,2422,3441,3353,313.6,-9.5,230,2710,0.00,2.45,0.00,0.000,260,0.000,0.104,3119,3836,3398,3441,3356,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2769,-0.60,-131.4,3119,3834,3440,3356,320.9,-10.0,237,2779,0.00,2.40,0.00,0.000,1030,0.000,0.081,3119,2425,3397,3441,3354,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3092,-0.60,-131.4,3116,2424,3441,3354,351.9,-9.6,249,3102,0.00,2.40,0.00,0.000,516,0.000,0.093,3119,1020,3397,3441,3354,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3152,-0.60,-131.4,3119,1021,3441,3354,358.1,-10.1,255,3162,0.00,2.42,0.00,0.000,1030,0.000,0.089,3119,2429,3397,3441,3354,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3481,-0.60,-131.4,3119,2430,3437,3352,389.3,-9.3,268,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2430,3396,3440,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3782,-0.60,-131.4,3119,2430,3440,3351,416.2,-8.8,278,3792,0.00,2.42,0.00,0.000,516,0.000,0.095,3119,1018,3395,3440,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3851,-0.60,-131.4,3119,1018,3439,3351,422.5,-9.0,285,3862,0.00,2.42,0.00,0.000,1030,0.000,0.091,3119,2421,3394,3439,3350,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4175,-0.60,-131.4,3119,2421,3439,3350,449.2,-8.3,297,4185,0.00,2.47,0.00,0.000,260,0.000,0.107,3119,3849,3392,3439,3346,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4235,-0.60,-131.4,3119,3849,3438,3349,454.8,-8.8,303,4245,0.00,2.42,0.00,0.000,1030,0.000,0.083,3119,2424,3393,3438,3349,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4564,-0.60,-131.4,3119,2422,3437,3349,480.2,-7.5,316,4575,0.00,2.42,0.00,0.000,516,0.000,0.098,3119,1017,3393,3438,3349,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4614,-0.60,-131.4,3119,1017,3437,3348,484.1,-8.2,321,4625,0.00,2.42,0.00,0.000,1030,0.000,0.092,3119,2426,3392,3437,3348,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4928,-0.60,-131.4,3119,2430,3437,3342,507.7,-7.8,332,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2426,3391,3437,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5225,-0.60,-131.4,3119,2425,3436,3345,532.6,-8.4,342,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2425,3390,3436,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5525,-0.60,-131.4,3119,2425,3436,3344,556.9,-8.0,352,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2425,3389,3435,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5825,-0.60,-131.4,3119,2422,3436,3343,580.9,-7.9,362,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2426,3389,3436,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6125,-0.60,-131.4,3119,2425,3435,3343,605.7,-8.2,372,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2426,3389,3435,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6425,-0.60,-131.4,3119,2427,3435,3342,630.8,-8.5,382,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2425,3388,3434,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6725,-0.60,-131.4,3116,2425,3435,3341,656.8,-8.7,392,6735,0.00,2.45,0.00,0.000,516,0.000,0.098,3119,1014,3387,3434,3341,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6785,-0.60,-131.4,3119,1011,3434,3341,662.1,-9.4,398,6795,0.00,2.47,0.00,0.000,1030,0.000,0.093,3119,2435,3385,3430,3341,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7115,-0.60,-131.4,3120,2432,3434,3341,689.0,-8.2,411,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2434,3386,3433,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7415,-0.60,-131.4,3119,2432,3433,3340,713.6,-8.1,421,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2434,3386,3433,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7715,-0.60,-131.4,3119,2435,3431,3338,737.7,-8.0,431,7725,0.00,2.47,0.00,0.000,516,0.000,0.099,3119,1013,3384,3430,3339,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7775,-0.60,-131.4,3119,1013,3431,3339,742.7,-8.5,437,7785,0.00,2.45,0.00,0.000,1030,0.000,0.093,3120,2421,3387,3435,3339,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8106,-0.60,-131.4,3121,2421,3430,3339,768.2,-7.7,450,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2421,3386,3435,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8405,-0.60,-131.4,3119,2421,3430,3338,791.6,-8.0,460,8415,0.00,2.45,0.00,0.000,516,0.000,0.098,3119,1005,3385,3431,3339,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8454,-0.60,-131.4,3119,1004,3430,3338,795.7,-8.4,465,8466,0.00,2.47,0.00,0.000,1030,0.000,0.093,3120,2432,3384,3430,3338,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8768,-0.60,-131.4,3119,2431,3430,3337,819.3,-7.4,476,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2435,3384,3430,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9066,-0.60,-131.4,3119,2433,3430,3337,841.5,-7.4,486,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2440,3383,3430,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9365,-0.60,-131.4,3119,2434,3430,3335,863.5,-7.2,496,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2434,3383,3430,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9666,-0.60,-131.4,3119,2434,3430,3335,885.0,-7.3,506,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2435,3384,3433,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9965,-0.60,-131.4,3119,2434,3428,3334,907.0,-7.3,516,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2434,3382,3430,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10269,-0.60,-131.4,3119,2434,3435,3333,928.9,-7.4,526,10279,0.00,2.47,0.00,0.000,516,0.000,0.101,3119,1011,3382,3429,3335,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10328,-0.60,-131.4,3119,1010,3429,3333,934.2,-8.5,532,10338,0.00,2.47,0.00,0.000,1030,0.000,0.097,3119,2430,3381,3429,3334,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10659,-0.60,-131.4,3119,2431,3429,3333,959.4,-7.5,545,10669,0.00,2.47,0.00,0.000,516,0.000,0.104,3119,1014,3381,3429,3333,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10718,-0.60,-131.4,3119,1014,3429,3333,964.2,-8.4,551,10729,0.00,2.45,0.00,0.000,1030,0.000,0.098,3119,2423,3381,3429,3333,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11049,-0.60,-131.4,3119,2422,3429,3332,988.3,-7.4,564,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2422,3381,3429,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11075,begin apogee
$GC,11084,-0.25,0.0,3119,2324,3429,3333,990.7,-7.5,565,11204,0.43,0.00,112.78,1.919,10246,0.207,0.000,3243,2323,2858,2939,2777,0,0,0,0,0,0,14.54,28.83,13.21
$STATE,11207,end apogee,CONTROL_FINISHED_OK
$STATE,11207,begin climb
$GC,11210,0.60,131.4,3243,2323,2935,2773,994.5,0.0,569,11339,0.90,0.00,121.25,1.888,10246,0.150,0.000,3515,2323,2322,2482,2163,0,0,0,0,0,0,13.85,28.83,13.06
$GC,11619,0.60,131.4,3515,2323,2477,2157,964.1,9.5,583,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2323,2316,2477,2155,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23360,end climb,SURFACE_DEPTH_REACHED
$STATE,23360,begin surface coast
$FINISH,0.8,1.023376
$STATE,23401,end surface coast,CONTROL_FINISHED_OK
$STATE,23401,begin surface
$SM_CCo,23427,38.85,0.107,0,0,1328,375.06
$SM_GC,1.89,9.32,0.17,38.85,0.084,0.153,0.107,393,2421,1328,-9.11,-0.88,375.06,0,0,0,0,0,0,14.39,14.42,14.39
$IRIDIUM_FIX,4719.74,-12544.51,110714,070707
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.44
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3905696
$PM_FREEKB,59710336
$24V_AH,13.1,23.994
$10V_AH,13.4,0.000
$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,23.500,178.325,345.775,38.850,0.000,0.000,0.000,332.625,0.000,0.000,22.443,3055.090,16689.014,690.677,2901.050,758.845,0.000,2638.071,0.000,1947.987,0.000,0.536,0.000
$DEVICE_MAMPS,410.805,168.300,1918.620,107.100,0.000,0.000,0.000,171.360,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23416.000,402.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.785,5.775,0.000,0.000
$MEM,290848
$DATA_FILE_SIZE,43309,1270
$CAP_FILE_SIZE,262056,0
$CFSIZE,260034560,248303616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,23995.82,0x2378ba,7,5
$CURRENT,0.019, 39.2,1
$GPS,110714,143754,4738.592,-12539.946,44,1.8,44,18.7