version: 66.12
glider: 187
mission: 4
dive: 275
start: 8 24 114 17 51 44
data:
$ID,187
$MISSION,4
$DIVE,275
$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,450
$T_MISSION,510
$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,120
$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,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,-1593767.5
$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,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,23
$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,48
$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
$GPS1,240814,174123,4731.547,-12552.435,68,1.3,68,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-73.0
$GPS2,240814,175118,4731.468,-12552.340,13,1.5,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,232.7,103439,-14.0,-7.333,-18.81,2445
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.59,-116.8,396,2398,1446,1214,0.0,0.0,0,81,0.00,0.00,-48.08,0.000,16386,0.000,0.000,396,2398,2576,2665,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,396,2398,2665,2490,3.1,-2.2,5,124,12.52,2.58,-15.02,0.000,18692,0.382,0.112,3126,3808,3336,3382,3291,0,0,0,0,0,0,13.93,14.22,14.49
$GC,264,-0.59,-116.8,3126,3808,3382,3294,33.6,-13.2,23,275,0.00,2.42,0.00,0.000,1030,0.000,0.064,3128,2396,3338,3383,3294,0,0,0,0,0,0,28.83,14.27,28.83
$GC,514,-0.59,-116.8,3126,2392,3386,3295,67.7,-13.7,48,524,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3340,3386,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,764,-0.59,-116.8,3126,2392,3387,3295,96.4,-10.7,73,774,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3341,3387,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1014,-0.59,-116.8,3126,2392,3387,3296,125.7,-11.5,98,1026,0.00,2.50,0.00,0.000,260,0.000,0.092,3126,3807,3341,3387,3296,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1155,-0.59,-116.8,3125,3807,3386,3298,142.1,-11.6,112,1166,0.00,2.40,0.00,0.000,1030,0.000,0.066,3126,2406,3341,3387,3296,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1406,-0.59,-116.8,3126,2403,3387,3295,168.7,-10.2,137,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1656,-0.59,-116.8,3127,2407,3387,3295,194.9,-10.8,162,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1907,-0.59,-116.8,3127,2403,3387,3295,221.9,-10.4,187,1917,0.00,2.47,0.00,0.000,260,0.000,0.090,3126,3806,3344,3393,3295,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1957,-0.59,-116.8,3126,3807,3386,3295,227.4,-10.7,192,1968,0.00,2.42,0.00,0.000,1030,0.000,0.064,3126,2388,3340,3386,3294,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2218,-0.59,-116.8,3126,2384,3381,3294,252.9,-9.4,216,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3340,3387,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-0.59,-116.8,3126,2383,3386,3293,279.2,-8.7,226,2528,0.00,2.40,0.00,0.000,516,0.000,0.077,3126,987,3340,3387,3293,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2578,-0.59,-116.8,3126,987,3387,3293,284.7,-9.4,232,2588,0.00,2.45,0.00,0.000,1030,0.000,0.075,3123,2399,3339,3387,3292,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2908,-0.59,-116.8,3126,2399,3387,3291,314.9,-9.7,245,2918,0.00,2.47,0.00,0.000,260,0.000,0.093,3126,3817,3338,3386,3291,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2969,-0.59,-116.8,3131,3813,3386,3291,321.0,-10.4,251,2979,0.00,2.42,0.00,0.000,1030,0.000,0.067,3125,2390,3338,3386,3291,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3298,-0.59,-116.8,3126,2385,3386,3289,353.2,-9.7,264,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2385,3337,3386,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3598,-0.59,-116.8,3126,2385,3386,3288,381.7,-9.6,274,3609,0.00,2.40,0.00,0.000,516,0.000,0.081,3125,1000,3334,3386,3283,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3648,-0.59,-116.8,3126,1000,3385,3289,386.6,-10.0,279,3659,0.00,2.45,0.00,0.000,1030,0.000,0.077,3126,2407,3336,3386,3287,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3961,-0.59,-116.8,3126,2406,3385,3287,414.2,-8.7,290,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4259,-0.59,-116.8,3126,2406,3385,3286,438.2,-7.5,300,4269,0.00,2.47,0.00,0.000,260,0.000,0.097,3126,3814,3335,3385,3286,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4308,-0.59,-116.8,3126,3813,3385,3286,441.8,-7.4,305,4319,0.00,2.42,0.00,0.000,1030,0.000,0.069,3123,2402,3335,3385,3286,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4622,-0.59,-116.8,3122,2400,3384,3286,464.6,-7.7,316,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4919,-0.59,-116.8,3129,2400,3384,3285,488.8,-8.4,326,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3334,3384,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5219,-0.59,-116.8,3126,2400,3383,3284,515.0,-8.8,336,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5519,-0.59,-116.8,3126,2400,3382,3283,541.8,-8.9,346,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5819,-0.59,-116.8,3126,2400,3386,3282,565.8,-7.8,356,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2400,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6119,-0.59,-116.8,3126,2400,3382,3281,587.3,-7.3,366,6130,0.00,2.47,0.00,0.000,516,0.000,0.083,3126,984,3331,3382,3281,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6179,-0.59,-116.8,3123,981,3381,3281,592.2,-8.5,372,6189,0.00,2.47,0.00,0.000,1030,0.000,0.078,3126,2398,3329,3377,3282,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6509,-0.59,-116.8,3127,2398,3381,3281,616.1,-7.1,385,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3329,3382,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6810,-0.59,-116.8,3127,2398,3381,3281,637.9,-7.6,395,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,-0.59,-116.8,3126,2398,3381,3279,661.5,-7.8,405,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7410,-0.59,-116.8,3126,2398,3381,3279,685.6,-7.9,415,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3327,3376,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,-0.59,-116.8,3126,2399,3380,3279,710.2,-8.1,425,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8010,-0.59,-116.8,3126,2398,3380,3277,734.7,-8.1,435,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,-0.59,-116.8,3126,2398,3380,3277,759.9,-8.7,445,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,-0.59,-116.8,3125,2398,3379,3277,785.6,-8.3,455,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2397,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8911,-0.59,-116.8,3127,2398,3379,3276,810.2,-8.2,465,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9210,-0.59,-116.8,3126,2398,3379,3272,834.1,-7.9,475,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,-0.59,-116.8,3126,2398,3379,3275,856.9,-7.5,485,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9810,-0.59,-116.8,3126,2398,3383,3275,879.1,-7.4,495,9820,0.00,2.47,0.00,0.000,516,0.000,0.083,3126,987,3326,3378,3274,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9859,-0.59,-116.8,3126,987,3379,3270,883.0,-8.5,500,9870,0.00,2.50,0.00,0.000,1030,0.000,0.080,3126,2408,3326,3379,3274,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10174,-0.59,-116.8,3126,2407,3378,3274,904.0,-6.6,511,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3326,3378,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10473,-0.59,-116.8,3126,2407,3378,3273,922.4,-5.8,521,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3324,3376,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10774,-0.59,-116.8,3126,2407,3378,3276,939.1,-5.7,531,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3323,3378,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11073,-0.59,-116.8,3126,2407,3378,3272,956.5,-5.9,541,11083,0.00,2.53,0.00,0.000,516,0.000,0.087,3125,984,3325,3378,3272,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11143,-0.59,-116.8,3126,984,3373,3272,961.1,-6.4,548,11153,0.00,2.50,0.00,0.000,1030,0.000,0.083,3126,2402,3324,3377,3272,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11463,-0.59,-116.8,3126,2400,3377,3272,981.1,-6.4,560,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3324,3377,3272,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11609,begin apogee
$GC,11619,-0.25,0.0,3126,2323,3377,3277,990.6,-6.3,565,11733,0.40,0.00,102.22,1.924,10246,0.184,0.000,3243,2327,2857,2933,2781,0,0,0,0,0,0,14.21,28.83,13.13
$STATE,11735,end apogee,CONTROL_FINISHED_OK
$STATE,11735,begin climb
$GC,11739,0.59,116.8,3243,2326,2933,2779,993.6,0.0,569,11856,0.88,0.00,109.85,1.887,10246,0.126,0.000,3517,2326,2381,2518,2245,0,0,0,0,0,0,13.89,28.83,12.92
$GC,12153,0.59,116.8,3517,2326,2516,2240,958.4,10.3,583,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2326,2378,2516,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12457,0.59,116.8,3517,2326,2516,2237,928.7,9.8,593,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2327,2375,2515,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12756,0.59,116.8,3517,2326,2514,2235,903.6,8.0,603,12766,0.00,2.55,0.00,0.000,260,0.000,0.098,3517,3746,2375,2516,2235,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,24562,end climb,SURFACE_DEPTH_REACHED
$STATE,24562,begin surface coast
$FINISH,1.2,1.011205
$STATE,24654,end surface coast,CONTROL_FINISHED_OK
$STATE,24654,begin surface
$SM_CCo,24680,38.33,0.103,0,0,1328,375.06
$SM_GC,2.05,9.20,0.10,38.33,0.070,0.182,0.103,395,2402,1328,-9.10,-0.74,375.06,0,0,0,0,0,0,14.34,14.33,14.31
$IRIDIUM_FIX,4716.56,-12545.23,240814,101004
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.81
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3850016
$PM_FREEKB,54762912
$24V_AH,12.9,66.218
$10V_AH,13.3,0.000
$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,23.100,109.525,316.275,38.325,0.000,0.000,0.000,318.325,0.000,0.000,13.882,3136.983,17845.193,586.374,2924.903,800.517,0.000,2522.284,0.000,1969.651,0.000,0.536,0.000
$DEVICE_MAMPS,381.735,182.070,1923.975,102.510,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24666.000,453.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.809,5.724,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,43359,1283
$CAP_FILE_SIZE,256012,0
$CFSIZE,260034560,230531072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25495.83,0x2378ba,7,5
$INTR,1,41.08,0x234488,0,24
$CURRENT,0.042,137.0,1
$GPS,250814,004530,4730.208,-12555.613,55,0.9,55,18.7