version: 66.12
glider: 187
mission: 4
dive: 357
start: 9 16 114 5 43 20
data:
$ID,187
$MISSION,4
$DIVE,357
$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,-1593876.2
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,160914,053306,4720.370,-12620.119,51,1.3,51,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-74.9
$GPS2,160914,054254,4720.310,-12620.130,13,1.4,13,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,209.2,62855,-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,-116.8,392,2414,1441,1220,0.0,0.0,0,90,0.00,0.00,-57.45,0.000,16386,0.000,0.000,391,2414,2835,2894,2776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,391,2414,2894,2777,4.1,-3.5,6,130,12.68,2.53,-8.68,0.000,18692,0.380,0.112,3126,3802,3338,3379,3298,0,0,0,0,0,0,13.86,14.14,14.47
$GC,361,-0.59,-116.8,3125,3802,3381,3301,56.3,-15.5,33,372,0.00,2.42,0.00,0.000,1030,0.000,0.063,3126,2401,3340,3381,3300,0,0,0,0,0,0,28.83,14.19,28.83
$GC,611,-0.59,-116.8,3126,2403,3389,3299,89.2,-13.1,58,622,0.00,2.50,0.00,0.000,260,0.000,0.088,3126,3808,3341,3382,3301,0,0,0,0,0,0,28.83,14.17,28.83
$GC,762,-0.59,-116.8,3127,3804,3383,3301,107.0,-11.0,73,773,0.00,2.42,0.00,0.000,1030,0.000,0.063,3126,2391,3341,3383,3300,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1013,-0.59,-116.8,3126,2386,3384,3301,132.9,-10.6,98,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2387,3342,3383,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-0.59,-116.8,3126,2387,3383,3301,157.9,-9.6,123,1274,0.00,2.53,0.00,0.000,260,0.000,0.089,3126,3805,3342,3384,3301,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1367,-0.59,-116.8,3126,3805,3384,3301,167.6,-9.7,133,1378,0.00,2.42,0.00,0.000,1030,0.000,0.064,3126,2397,3343,3389,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1617,-0.59,-116.8,3126,2392,3383,3301,189.0,-8.2,158,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3342,3383,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,-0.59,-116.8,3125,2392,3383,3301,211.5,-9.7,183,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2392,3344,3388,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.59,-116.8,3126,2389,3383,3301,236.5,-9.5,208,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3342,3383,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2388,-0.59,-116.8,3125,2392,3383,3300,261.0,-8.9,227,2399,0.00,2.42,0.00,0.000,516,0.000,0.078,3127,998,3344,3383,3305,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2449,-0.59,-116.8,3126,998,3384,3299,266.7,-9.4,233,2459,0.00,2.42,0.00,0.000,1030,0.000,0.073,3126,2394,3341,3383,3299,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2779,-0.59,-116.8,3125,2393,3383,3298,297.5,-9.6,246,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2393,3339,3381,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3079,-0.59,-116.8,3126,2394,3383,3297,326.2,-9.4,256,3089,0.00,2.53,0.00,0.000,260,0.000,0.093,3126,3813,3340,3383,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3138,-0.59,-116.8,3126,3813,3383,3297,331.9,-9.5,262,3149,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2405,3340,3383,3297,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3468,-0.59,-116.8,3125,2403,3382,3295,360.8,-8.6,275,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-0.59,-116.8,3131,2403,3383,3294,386.9,-8.6,285,3779,0.00,2.47,0.00,0.000,516,0.000,0.077,3126,983,3338,3383,3294,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3818,-0.59,-116.8,3126,983,3380,3294,391.5,-9.2,290,3829,0.00,2.47,0.00,0.000,1030,0.000,0.072,3126,2400,3338,3383,3294,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4132,-0.59,-116.8,3126,2399,3384,3293,418.8,-8.8,301,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4430,-0.59,-116.8,3124,2399,3383,3292,445.4,-8.9,311,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3337,3383,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4730,-0.59,-116.8,3125,2399,3382,3290,470.9,-8.2,321,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3336,3382,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5030,-0.59,-116.8,3125,2399,3383,3289,493.6,-7.4,331,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5330,-0.59,-116.8,3125,2399,3382,3289,514.3,-6.8,341,5340,0.00,2.47,0.00,0.000,516,0.000,0.078,3125,989,3335,3382,3288,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5379,-0.59,-116.8,3126,989,3382,3288,518.1,-8.0,346,5390,0.00,2.50,0.00,0.000,1030,0.000,0.076,3126,2409,3335,3382,3288,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5693,-0.59,-116.8,3126,2409,3382,3287,541.8,-8.3,357,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2409,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,-0.59,-116.8,3126,2409,3381,3287,568.4,-9.0,367,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2409,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6290,-0.59,-116.8,3125,2409,3381,3293,594.0,-8.3,377,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2409,3331,3376,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6590,-0.59,-116.8,3126,2409,3381,3286,616.2,-6.9,387,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3335,3379,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6890,-0.59,-116.8,3125,2409,3381,3281,635.8,-6.5,397,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2409,3333,3380,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7190,-0.59,-116.8,3125,2409,3380,3285,656.1,-6.7,407,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2412,3332,3380,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7490,-0.59,-116.8,3126,2409,3380,3287,676.0,-6.5,417,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3332,3380,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7790,-0.59,-116.8,3126,2409,3380,3284,697.2,-7.3,427,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3331,3379,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,-0.59,-116.8,3125,2409,3379,3283,720.5,-8.1,437,8100,0.00,2.53,0.00,0.000,516,0.000,0.083,3125,987,3332,3381,3283,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8140,-0.59,-116.8,3126,986,3379,3288,724.8,-8.8,442,8150,0.00,2.50,0.00,0.000,1030,0.000,0.078,3126,2398,3331,3380,3283,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8453,-0.59,-116.8,3126,2398,3378,3283,749.7,-7.9,453,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3330,3378,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8750,-0.59,-116.8,3124,2397,3382,3282,772.8,-7.5,463,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3330,3378,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9050,-0.59,-116.8,3125,2398,3378,3282,794.2,-6.9,473,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3330,3378,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9350,-0.59,-116.8,3125,2398,3379,3282,813.4,-6.1,483,9361,0.00,2.58,0.00,0.000,260,0.000,0.098,3125,3826,3330,3378,3283,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9419,-0.59,-116.8,3126,3826,3375,3281,817.9,-6.4,490,9429,0.00,2.50,0.00,0.000,1030,0.000,0.068,3125,2393,3329,3377,3281,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9744,-0.59,-116.8,3126,2389,3377,3281,836.8,-5.9,502,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2389,3328,3376,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10043,-0.59,-116.8,3125,2389,3377,3281,854.5,-6.0,512,10053,0.00,2.45,0.00,0.000,516,0.000,0.083,3126,1002,3329,3377,3281,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10093,-0.59,-116.8,3125,1002,3376,3280,857.9,-6.7,517,10104,0.00,2.50,0.00,0.000,1030,0.000,0.076,3126,2416,3331,3381,3281,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10406,-0.59,-116.8,3125,2416,3376,3280,878.1,-6.6,528,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2416,3328,3377,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10706,-0.59,-116.8,3125,2416,3377,3279,898.1,-6.7,538,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2416,3327,3376,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11006,-0.59,-116.8,3126,2413,3376,3277,917.2,-6.0,548,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2416,3330,3377,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11307,-0.59,-116.8,3126,2415,3377,3279,934.5,-5.6,558,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2416,3327,3376,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11606,-0.59,-116.8,3125,2416,3376,3279,950.9,-5.5,568,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2416,3326,3375,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11907,-0.59,-116.8,3125,2416,3376,3278,968.4,-6.0,578,11917,0.00,2.53,0.00,0.000,260,0.000,0.097,3125,3818,3324,3376,3273,0,0,0,0,0,0,28.83,14.15,28.83
$GC,11966,-0.59,-116.8,3125,3818,3375,3278,972.5,-6.7,584,11977,0.00,2.47,0.00,0.000,1030,0.000,0.070,3125,2405,3326,3375,3278,0,0,0,0,0,0,28.83,14.22,28.83
$STATE,12266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12266,begin apogee
$GC,12275,-0.25,0.0,3125,2318,3375,3278,990.9,-6.4,596,12387,0.40,0.00,103.47,1.921,10246,0.180,0.000,3241,2318,2856,2928,2784,0,0,0,0,0,0,14.03,28.83,13.07
$STATE,12389,end apogee,CONTROL_FINISHED_OK
$STATE,12390,begin climb
$GC,12394,0.59,116.8,3241,2318,2926,2782,994.3,0.0,600,12512,0.88,0.00,110.43,1.894,10246,0.122,0.000,3514,2318,2382,2510,2255,0,0,0,0,0,0,13.83,28.83,12.78
$GC,12807,0.59,116.8,3514,2318,2508,2248,967.0,8.1,614,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2318,2373,2503,2244,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25656,end climb,SURFACE_DEPTH_REACHED
$STATE,25656,begin surface coast
$FINISH,1.2,1.023315
$STATE,25691,end surface coast,CONTROL_FINISHED_OK
$STATE,25691,begin surface
$SM_CCo,25717,8.73,0.100,0,0,1328,375.06
$SM_GC,3.75,9.48,0.15,8.73,0.068,0.140,0.100,391,2401,1328,-9.11,-0.85,375.06,1,0,0,0,0,0,14.13,14.17,14.13
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$TT8_MAMPS,0.023968,0.023968
$HUMID,49.92
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3823776
$PM_FREEKB,52239424
$24V_AH,12.8,87.282
$10V_AH,13.1,0.000
$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,23.675,104.925,390.350,8.725,0.000,0.000,0.000,305.550,0.000,0.000,13.961,3211.930,18612.807,626.451,2990.792,850.714,0.000,2600.459,0.000,2023.204,0.000,0.535,0.000
$DEVICE_MAMPS,380.205,162.180,1920.915,100.215,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25706.000,467.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.832,5.804,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,46529,1323
$CAP_FILE_SIZE,261606,0
$CFSIZE,260034560,221847552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,26272.64,0x2378ba,7,5
$CURRENT,0.020,190.5,1
$GPS,160914,125406,4718.273,-12623.240,68,0.9,68,18.6