version: 66.12
glider: 187
mission: 8
dive: 471
start: 10 22 115 12 7 43
data:
$ID,187
$MISSION,8
$DIVE,471
$N_DIVES,0
$D_SURF,4
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$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,1900
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$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,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$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,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$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,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,221015,115239,4750.4404,-12522.3965,27,0.8,27,16.5,0.6,26.7,11,6.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-78.8
$GPS2,221015,120710,4750.5439,-12522.2441,4,0.8,5,16.5,0.2,0.0,11,8.4
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,186.6,154944,-14.8,-7.333,-19.49,2243
$D_GRID,589
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,30,-0.39,-107.1,82,1894,1213,1412,0.0,0.0,0,109,0.00,0.00,-71.45,0.000,16390,0.000,0.000,82,1890,3379,3377,3381,0,0,0,0,0,0,14.51,12.40,14.50
$GC,117,-0.39,-107.1,82,1894,3379,3381,2.4,-4.0,2,146,14.32,2.60,0.00,0.000,2308,0.363,0.095,3248,3318,3381,3377,3385,0,0,0,0,0,0,13.76,14.13,14.14
$GC,365,-0.39,-107.1,3251,3319,3377,3391,57.2,-9.5,49,377,0.00,2.60,0.00,0.000,1030,0.000,0.087,3252,1889,3384,3376,3392,0,0,0,0,0,0,14.23,14.09,14.27
$GC,550,-0.39,-107.1,3251,1892,3375,3393,76.5,-10.9,56,561,0.00,2.53,0.00,0.000,516,0.000,0.099,3251,480,3383,3375,3391,0,0,0,0,0,0,14.60,14.09,14.62
$GC,602,-0.39,-107.1,3251,480,3375,3396,82.7,-12.2,64,613,0.00,2.53,0.00,0.000,1030,0.000,0.086,3252,1897,3385,3375,3396,0,0,0,0,0,0,14.26,14.12,14.31
$GC,815,-0.39,-107.1,3251,1897,3375,3397,105.1,-10.2,74,826,0.00,2.55,0.00,0.000,260,0.000,0.098,3248,3311,3386,3375,3397,0,0,0,0,0,0,14.64,14.12,14.63
$GC,897,-0.39,-107.1,3251,3311,3374,3397,112.3,-8.0,88,909,0.00,2.53,0.00,0.000,1030,0.000,0.083,3257,1905,3385,3374,3397,0,0,0,0,0,0,14.28,14.16,14.33
$GC,1110,-0.39,-107.1,3251,1904,3375,3397,130.9,-8.8,98,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3386,3375,3397,0,0,0,0,0,0,14.64,14.66,14.65
$GC,1291,-0.39,-107.1,3251,1904,3374,3397,145.8,-8.3,104,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,3386,3376,3396,0,0,0,0,0,0,14.64,14.66,14.69
$GC,1470,-0.39,-107.1,3253,1904,3374,3399,162.0,-9.1,110,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1904,3386,3376,3397,0,0,0,0,0,0,14.65,14.66,14.66
$GC,1650,-0.39,-107.1,3251,1907,3369,3397,178.2,-8.9,116,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1904,3385,3373,3397,0,0,0,0,0,0,14.64,14.68,14.65
$GC,1831,-0.39,-107.1,3251,1904,3372,3397,193.1,-8.1,122,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1904,3384,3372,3397,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2010,-0.39,-107.1,3251,1904,3370,3396,206.7,-7.4,128,2021,0.00,2.58,0.00,0.000,516,0.000,0.102,3252,482,3383,3370,3397,0,0,0,0,0,0,14.66,14.10,14.66
$GC,2047,-0.39,-107.1,3252,482,3370,3397,209.6,-8.4,133,2060,0.00,2.53,0.00,0.000,1030,0.000,0.087,3251,1897,3383,3370,3397,0,0,0,0,0,0,14.28,14.14,14.31
$GC,2232,-0.39,-107.1,3250,1898,3365,3397,223.5,-7.5,140,2243,0.00,2.58,0.00,0.000,260,0.000,0.101,3251,3319,3383,3369,3397,0,0,0,0,0,0,14.66,14.10,14.67
$GC,2294,-0.39,-107.1,3251,3319,3369,3397,228.1,-7.5,150,2305,0.00,2.58,0.00,0.000,1030,0.000,0.086,3251,1891,3383,3369,3397,0,0,0,0,0,0,14.28,14.16,14.33
$GC,2497,-0.39,-107.1,3251,1894,3368,3397,243.4,-7.6,158,2509,0.00,2.53,0.00,0.000,516,0.000,0.102,3251,495,3382,3368,3397,0,0,0,0,0,0,14.66,14.08,14.67
$GC,2519,-0.39,-107.1,3251,495,3367,3398,245.2,-7.5,160,2530,0.00,2.50,0.00,0.000,1030,0.000,0.084,3251,1899,3382,3367,3397,0,0,0,0,0,0,14.29,14.15,14.33
$GC,2732,-0.39,-107.1,3251,1899,3369,3397,260.8,-7.3,168,2743,0.00,2.58,0.00,0.000,260,0.000,0.100,3251,3324,3381,3365,3397,0,0,0,0,0,0,14.65,14.08,14.66
$GC,2789,-0.39,-107.1,3251,3321,3366,3397,264.9,-7.2,177,2800,0.00,2.55,0.00,0.000,1030,0.000,0.086,3251,1905,3381,3365,3397,0,0,0,0,0,0,14.30,14.16,14.34
$GC,3117,-0.39,-107.1,3251,1905,3364,3397,289.7,-7.7,185,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1904,3380,3364,3397,0,0,0,0,0,0,14.66,14.66,14.66
$GC,3416,-0.39,-107.1,3251,1904,3369,3397,312.4,-7.6,190,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1904,3379,3362,3397,0,0,0,0,0,0,14.68,14.72,14.69
$GC,3716,-0.39,-107.1,3251,1904,3360,3397,335.7,-7.8,195,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1904,3378,3360,3397,0,0,0,0,0,0,14.67,14.69,14.69
$GC,4017,-0.39,-107.1,3251,1904,3358,3397,357.3,-7.1,200,4028,0.00,2.60,0.00,0.000,260,0.000,0.102,3252,3315,3377,3358,3397,0,0,0,0,0,0,14.67,14.09,14.69
$GC,4058,-0.39,-107.1,3251,3315,3358,3397,360.4,-6.9,206,4070,0.00,2.58,0.00,0.000,1030,0.000,0.089,3252,1892,3377,3358,3397,0,0,0,0,0,0,14.28,14.16,14.33
$GC,4403,-0.39,-107.1,3251,1891,3356,3397,383.7,-6.8,217,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1891,3376,3357,3396,0,0,0,0,0,0,14.66,14.69,14.68
$GC,4701,-0.39,-107.1,3251,1891,3352,3397,403.1,-6.4,222,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1891,3376,3355,3397,0,0,0,0,0,0,14.66,14.69,14.69
$GC,5002,-0.39,-107.1,3247,1891,3354,3397,421.4,-6.1,227,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1891,3373,3354,3393,0,0,0,0,0,0,14.67,14.69,14.69
$GC,5302,-0.39,-107.1,3251,1890,3353,3397,440.0,-6.2,232,5314,0.00,2.65,0.00,0.000,260,0.000,0.104,3251,3317,3375,3353,3397,0,0,0,0,0,0,14.66,14.04,14.67
$GC,5350,-0.39,-107.1,3251,3317,3353,3397,442.8,-6.0,239,5361,0.00,2.58,0.00,0.000,1030,0.000,0.091,3251,1907,3374,3353,3396,0,0,0,0,0,0,14.24,14.08,14.29
$GC,5688,-0.39,-107.1,3251,1906,3351,3397,462.9,-6.0,249,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1911,3377,3351,3403,0,0,0,0,0,0,14.66,14.67,14.66
$GC,5987,-0.39,-107.1,3250,1906,3350,3397,480.5,-5.8,254,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1906,3373,3350,3397,0,0,0,0,0,0,14.68,14.70,14.69
$GC,6288,-0.39,-107.1,3251,1906,3349,3397,499.5,-6.4,259,6299,0.00,2.62,0.00,0.000,260,0.000,0.103,3251,3316,3369,3346,3392,0,0,0,0,0,0,14.69,14.04,14.70
$GC,6341,-0.39,-107.1,3251,3316,3349,3397,502.9,-6.3,267,6352,0.00,2.60,0.00,0.000,1030,0.000,0.091,3251,1888,3373,3349,3397,0,0,0,0,0,0,14.22,14.06,14.28
$GC,6673,-0.39,-107.1,3251,1888,3347,3402,524.3,-6.4,276,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1888,3371,3347,3396,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6974,-0.39,-107.1,3251,1888,3345,3396,542.8,-6.2,281,6986,0.00,2.65,0.00,0.000,260,0.000,0.104,3251,3314,3370,3345,3395,0,0,0,0,0,0,14.66,14.01,14.68
$GC,7031,-0.39,-107.1,3251,3314,3345,3396,546.3,-5.9,290,7042,0.00,2.60,0.00,0.000,1030,0.000,0.091,3251,1888,3371,3345,3398,0,0,0,0,0,0,14.19,14.03,14.25
$GC,7360,-0.39,-107.1,3251,1888,3345,3396,565.2,-5.8,298,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1888,3368,3340,3396,0,0,0,0,0,0,14.64,14.66,14.65
$GC,7659,-0.39,-107.1,3251,1888,3343,3396,584.2,-6.4,303,7670,0.00,2.67,0.00,0.000,260,0.000,0.104,3252,3320,3369,3343,3396,0,0,0,0,0,0,14.66,13.98,14.67
$GC,7701,-0.39,-107.1,3251,3319,3344,3396,587.0,-6.5,309,7712,0.00,2.60,0.00,0.000,1030,0.000,0.090,3251,1907,3369,3343,3396,0,0,0,0,0,0,14.19,14.04,14.24
$STATE,7732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7732,begin apogee
$GC,7745,-0.16,0.0,3252,2264,3339,3396,589.3,-6.6,314,7837,0.28,0.00,83.35,1.420,10246,0.151,0.000,3338,2264,2940,2883,2997,0,0,0,0,0,0,14.01,13.97,13.12
$STATE,7839,end apogee,CONTROL_FINISHED_OK
$STATE,7839,begin climb
$GC,7844,0.39,107.1,3338,2264,2881,2994,591.5,0.0,315,7942,0.52,2.65,85.05,1.397,10500,0.103,0.106,3520,3663,2498,2378,2619,0,0,0,0,0,0,14.02,13.80,13.00
$GC,7988,0.43,107.1,3520,3663,2378,2620,589.0,5.4,329,7999,0.00,2.65,0.00,0.000,1030,0.000,0.086,3527,2236,2498,2377,2619,0,0,0,0,0,0,14.04,13.93,14.07
$GC,8366,0.46,107.1,3527,2235,2376,2620,568.7,5.6,346,8377,0.00,2.55,0.00,0.000,516,0.000,0.103,3527,841,2498,2376,2620,0,0,0,0,0,0,14.53,14.09,14.54
$GC,8444,0.49,107.1,3527,841,2377,2619,564.0,6.0,359,8455,0.00,2.53,0.00,0.000,1030,0.000,0.090,3526,2245,2501,2376,2626,0,0,0,0,0,0,14.25,14.13,14.29
$GC,8818,0.51,107.1,3527,2245,2376,2620,541.3,6.2,375,8829,0.00,2.60,0.00,0.000,260,0.000,0.105,3527,3663,2497,2374,2620,0,0,0,0,0,0,14.62,14.09,14.64
$GC,8909,0.53,107.1,3527,3664,2373,2615,535.2,6.7,390,8921,0.12,2.58,0.00,0.000,3078,0.120,0.087,3596,2243,2495,2372,2619,0,0,0,0,0,0,14.24,14.16,14.36
$GC,9273,0.53,107.1,3595,2243,2374,2619,505.4,8.5,404,9284,0.08,2.65,0.00,0.000,4356,0.251,0.103,3569,3663,2496,2374,2619,0,0,0,0,0,0,14.06,14.08,14.16
$GC,9321,0.53,107.1,3568,3663,2373,2618,500.9,8.2,411,9332,0.00,2.58,0.00,0.000,1030,0.000,0.090,3572,2259,2496,2373,2620,0,0,0,0,0,0,14.27,14.12,14.33
$GC,9659,0.53,107.1,3572,2254,2373,2618,476.4,7.3,421,9670,0.00,2.58,0.00,0.000,516,0.000,0.099,3582,838,2497,2376,2618,0,0,0,0,0,0,14.64,14.11,14.66
$GC,9731,0.53,107.1,3583,838,2372,2618,470.5,8.2,433,9743,0.00,2.55,0.00,0.000,1030,0.000,0.091,3582,2246,2495,2373,2618,0,0,0,0,0,0,14.26,14.13,14.33
$GC,10104,0.53,107.1,3582,2246,2372,2618,441.8,7.5,450,10115,0.00,2.62,0.00,0.000,260,0.000,0.105,3582,3668,2495,2372,2618,0,0,0,0,0,0,14.64,14.06,14.65
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$GC,13291,0.72,107.1,3626,827,2371,2617,229.6,8.0,637,13302,0.00,2.58,0.00,0.000,1030,0.000,0.090,3626,2245,2493,2371,2616,0,0,0,0,0,0,14.20,14.05,14.27
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$STATE,16775,end climb,SURFACE_DEPTH_REACHED
$STATE,16775,begin surface coast
$FINISH,-0.1,1.012941
$STATE,16806,end surface coast,CONTROL_FINISHED_OK
$STATE,16806,begin surface
$SM_CCo,16838,26.80,0.081,0,0,1309,400.08
$SM_GC,1.62,10.15,0.68,26.80,0.047,0.096,0.081,92,1892,1309,-10.25,0.45,400.08,0,0,0,0,0,0,14.21,14.15,14.16
$IRIDIUM_FIX,4735.69,-12520.31,221015,075402
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.64
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3747808
$24V_AH,12.40,130.364
$10V_AH,12.63,0.000
$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,25.700,161.775,330.250,26.800,0.000,0.000,0.000,475.325,0.000,0.000,6.847,1978.077,11738.156,575.309,2514.405,921.071,0.000,2410.048,0.000,1435.120,0.000,0.538,0.000
$DEVICE_MAMPS,363.375,105.570,1419.840,81.090,0.000,0.000,0.000,150.705,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16878.000,438.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.281,7.620,0.000,0.000
$MEM,286348
$DATA_FILE_SIZE,33309,961
$CAP_FILE_SIZE,191889,0
$CFSIZE,260034560,200024064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,329.12,1
$GPS,221015,165008,4750.027,-12523.957,23,0.8,23,16.5,0.3,159.3,9,8.6