version: 66.12
glider: 187
mission: 4
dive: 448
start: 10 4 114 17 41 44
data:
$ID,187
$MISSION,4
$DIVE,448
$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,-1594005.8
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,041014,173125,4745.147,-12531.802,86,8.7,106,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-73.3
$GPS2,041014,174115,4745.218,-12531.780,16,2.4,36,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,201.7,139388,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,398,2413,1443,1217,0.0,0.0,0,81,0.00,0.00,-48.55,0.000,16386,0.000,0.000,398,2414,2591,2674,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,398,2414,2676,2515,3.2,-2.1,5,121,12.57,0.00,-15.77,0.000,18950,0.373,0.000,3122,2414,3336,3383,3289,0,0,0,0,0,0,13.78,28.83,14.46
$GC,362,-0.59,-116.8,3123,2414,3385,3294,47.4,-13.2,33,369,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2414,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,612,-0.59,-116.8,3123,2414,3386,3295,76.5,-10.3,58,619,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2414,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,863,-0.59,-116.8,3123,2411,3387,3292,102.0,-10.1,83,871,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2414,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1112,-0.59,-116.8,3123,2414,3385,3295,126.0,-9.4,108,1121,0.00,2.53,0.00,0.000,516,0.000,0.076,3123,983,3341,3387,3295,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1162,-0.59,-116.8,3123,981,3387,3295,131.0,-10.1,113,1171,0.00,2.47,0.00,0.000,1030,0.000,0.071,3123,2392,3341,3387,3296,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1412,-0.59,-116.8,3123,2390,3387,3296,153.8,-8.8,138,1421,0.00,2.55,0.00,0.000,260,0.000,0.090,3123,3804,3342,3387,3297,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1482,-0.59,-116.8,3123,3804,3387,3297,160.3,-9.2,145,1491,0.00,2.47,0.00,0.000,1030,0.000,0.064,3123,2389,3341,3387,3295,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1732,-0.59,-116.8,3123,2385,3387,3295,183.2,-9.1,170,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2385,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1983,-0.59,-116.8,3125,2385,3387,3295,206.5,-9.1,195,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2385,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,-0.59,-116.8,3123,2385,3387,3294,230.3,-9.6,220,2241,0.00,2.58,0.00,0.000,260,0.000,0.090,3123,3807,3340,3387,3294,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2302,-0.59,-116.8,3123,3806,3387,3294,237.0,-9.3,227,2312,0.00,2.45,0.00,0.000,1030,0.000,0.065,3123,2394,3340,3387,3294,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2572,-0.59,-116.8,3123,2394,3387,3291,261.1,-8.8,246,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2393,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2872,-0.59,-116.8,3123,2393,3387,3292,287.5,-8.7,256,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2390,3339,3386,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3172,-0.59,-116.8,3123,2394,3387,3291,313.7,-8.6,266,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2393,3339,3387,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,-0.59,-116.8,3123,2393,3387,3290,339.8,-8.7,276,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2393,3338,3387,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3772,-0.59,-116.8,3124,2394,3386,3289,367.9,-9.7,286,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2393,3337,3386,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-0.59,-116.8,3123,2395,3386,3287,394.7,-8.7,296,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2394,3337,3386,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4372,-0.59,-116.8,3123,2393,3387,3287,420.7,-8.8,306,4379,0.00,2.47,0.00,0.000,516,0.000,0.079,3123,1000,3339,3393,3286,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4422,-0.59,-116.8,3123,1000,3384,3286,425.3,-9.6,311,4432,0.00,2.50,0.00,0.000,1030,0.000,0.074,3123,2410,3336,3385,3287,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4735,-0.59,-116.8,3123,2410,3392,3286,451.8,-8.3,322,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2410,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.59,-116.8,3122,2406,3384,3286,475.5,-7.8,332,5039,0.00,2.53,0.00,0.000,260,0.000,0.093,3129,3811,3335,3384,3286,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5112,-0.59,-116.8,3123,3812,3391,3286,481.8,-7.6,340,5121,0.00,2.45,0.00,0.000,1030,0.000,0.067,3123,2410,3333,3384,3282,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5425,-0.59,-116.8,3123,2403,3383,3285,504.4,-7.3,351,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5723,-0.59,-116.8,3123,2403,3383,3284,527.3,-7.7,361,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3334,3383,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6022,-0.59,-116.8,3120,2406,3382,3283,550.6,-7.8,371,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6322,-0.59,-116.8,3123,2403,3382,3283,573.3,-7.4,381,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3335,3387,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6622,-0.59,-116.8,3123,2403,3382,3282,595.0,-7.3,391,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3333,3384,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,-0.59,-116.8,3123,2403,3382,3283,616.8,-7.2,401,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7222,-0.59,-116.8,3123,2403,3382,3281,638.8,-7.2,411,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,-0.59,-116.8,3123,2403,3381,3282,659.9,-6.9,421,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7823,-0.59,-116.8,3127,2403,3381,3286,681.3,-7.2,431,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3330,3380,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8122,-0.59,-116.8,3123,2402,3380,3279,701.7,-6.7,441,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8423,-0.59,-116.8,3123,2403,3380,3279,720.4,-6.2,451,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8722,-0.59,-116.8,3123,2403,3380,3274,740.8,-6.9,461,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9024,-0.59,-116.8,3123,2402,3387,3278,762.7,-7.1,471,9032,0.00,2.58,0.00,0.000,260,0.000,0.094,3123,3814,3329,3380,3278,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9091,-0.59,-116.8,3124,3814,3379,3278,767.7,-7.5,478,9099,0.00,2.50,0.00,0.000,1030,0.000,0.067,3123,2384,3329,3380,3278,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9415,-0.59,-116.8,3123,2383,3386,3277,790.0,-7.3,490,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9713,-0.59,-116.8,3123,2383,3379,3277,810.4,-6.6,500,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2383,3327,3380,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10012,-0.59,-116.8,3126,2383,3379,3276,830.3,-6.6,510,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3327,3378,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10313,-0.59,-116.8,3123,2383,3379,3275,847.3,-5.3,520,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10612,-0.59,-116.8,3123,2380,3378,3280,863.0,-5.3,530,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10913,-0.59,-116.8,3125,2384,3378,3275,879.1,-5.6,540,10921,0.00,2.62,0.00,0.000,260,0.000,0.096,3123,3816,3326,3378,3274,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11002,-0.59,-116.8,3123,3816,3378,3274,883.9,-5.4,549,11009,0.00,2.50,0.00,0.000,1030,0.000,0.070,3123,2404,3326,3378,3275,0,0,0,0,0,0,28.83,14.13,28.83
$GC,11336,-0.59,-116.8,3123,2402,3377,3274,900.5,-4.9,562,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3325,3376,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11633,-0.59,-116.8,3123,2403,3377,3269,915.8,-5.1,572,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3325,3377,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11933,-0.59,-116.8,3121,2402,3377,3273,934.0,-6.5,582,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3325,3377,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12232,-0.59,-116.8,3123,2402,3377,3273,953.7,-6.5,592,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3324,3376,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12533,-0.59,-116.8,3123,2401,3375,3272,973.2,-6.3,602,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3323,3374,3272,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12798,begin apogee
$GC,12807,-0.25,0.0,3123,2319,3375,3272,990.5,-6.6,611,12921,0.40,0.00,105.65,1.909,10246,0.171,0.000,3241,2318,2858,2929,2788,0,0,0,0,0,0,13.93,28.83,12.90
$STATE,12925,end apogee,CONTROL_FINISHED_OK
$STATE,12925,begin climb
$GC,12929,0.59,116.8,3241,2319,2929,2780,994.2,0.0,615,13050,0.88,0.00,113.00,1.884,10246,0.119,0.000,3516,2318,2380,2509,2252,0,0,0,0,0,0,13.81,28.83,12.62
$GC,13342,0.59,116.8,3517,2319,2507,2248,968.3,7.7,629,13352,0.00,2.53,0.00,0.000,516,0.000,0.090,3519,932,2377,2507,2248,0,0,0,0,0,0,28.83,13.99,28.83
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$STATE,26356,end climb,SURFACE_DEPTH_REACHED
$STATE,26356,begin surface coast
$FINISH,1.4,1.021427
$STATE,26387,end surface coast,CONTROL_FINISHED_OK
$STATE,26387,begin surface
$SM_CCo,26415,10.25,0.099,0,0,1328,375.06
$SM_GC,3.84,9.38,2.38,10.25,0.062,0.065,0.099,390,2403,1328,-9.11,1.02,375.06,0,0,0,0,0,0,14.22,14.25,14.15
$IRIDIUM_FIX,4729.30,-12530.77,041014,101037
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.82
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3794656
$PM_FREEKB,50176096
$24V_AH,12.6,106.336
$10V_AH,13.0,0.000
$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,23.500,110.750,358.425,10.250,0.000,0.000,0.000,309.325,0.000,0.000,37.183,3300.445,19381.234,616.788,2864.392,834.754,0.000,2418.697,0.000,2042.052,0.000,0.535,0.000
$DEVICE_MAMPS,373.320,170.595,1909.440,99.450,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26404.000,13126.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.756,4.052,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,46573,1352
$CAP_FILE_SIZE,256656,0
$CFSIZE,260034560,213532672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,24571.74,0x2378ba,7,5
$CURRENT,0.028,335.5,1
$GPS,051014,010336,4743.562,-12534.727,34,1.6,34,18.7