version: 66.11
glider: 189
mission: 7
dive: 438
start: 1 29 113 15 25 30
data:
$ID,189
$MISSION,7
$DIVE,438
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,0
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48205.137
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,290113,151504,2430.847,-3749.285,29,1.0,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-61.9
$GPS2,290113,152429,2430.855,-3749.254,16,0.8,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.088,-0.075
$KALMAN_X,223837.1,118.9,268.9,-202919.4,-822.6
$KALMAN_Y,34155.4,157.4,137.6,-43265.1,2349.8
$MHEAD_RNG_PITCHd_Wd,144.3,1732,-21.1,-6.667,-30.00
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.55,0.000,2,0.000,0.000,151,2118,1398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.2,0.0,1,104,9.25,2.65,-50.10,0.000,4,0.191,0.050,2560,3748,2719,0,0,0,0,0,0,25.37,25.94,26.70
$GC,394,-1.24,-97.7,25.3,-8.8,37,403,0.10,2.45,0.00,0.000,6,0.137,0.021,2591,2098,2720,0,0,0,0,0,0,25.93,26.36,28.83
$GC,705,-1.21,-97.7,50.1,-7.9,68,713,0.00,2.67,0.00,0.000,4,0.000,0.039,2581,3752,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1005,-1.16,-97.7,75.0,-8.9,98,1013,0.12,2.45,0.00,0.000,6,0.129,0.021,2622,2088,2720,0,0,0,0,0,0,25.96,26.45,28.83
$GC,1314,-1.16,-97.7,100.0,-8.2,109,1321,0.00,2.67,0.00,0.000,4,0.000,0.039,2611,3745,2721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1614,-1.16,-97.7,124.2,-7.9,119,1621,0.00,2.45,0.00,0.000,6,0.000,0.021,2611,2095,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1975,-1.16,-97.7,155.5,-8.5,130,1981,0.00,2.62,0.00,0.000,4,0.000,0.039,2598,3758,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2024,-1.16,-97.7,155.5,-8.5,130,2033,0.10,2.47,0.00,0.000,6,0.158,0.021,2623,2087,2722,0,0,0,0,0,0,26.17,26.48,28.83
$GC,2335,-1.16,-97.7,178.0,-5.8,136,2342,0.00,2.40,0.00,0.000,4,0.000,0.037,2623,546,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2586,-1.16,-97.7,193.0,-6.2,140,2591,0.00,2.40,0.00,0.000,6,0.000,0.024,2612,2193,2723,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2935,-1.16,-97.7,215.5,-6.2,146,2941,0.00,2.45,0.00,0.000,4,0.000,0.040,2600,3752,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3124,-1.16,-97.7,226.5,-6.2,149,3131,0.00,2.45,0.00,0.000,6,0.000,0.020,2600,2096,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3475,-1.16,-97.7,248.6,-6.2,155,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2097,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-1.16,-97.7,269.6,-7.0,160,3781,0.00,2.62,0.00,0.000,4,0.000,0.039,2588,3754,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3883,-1.16,-97.7,274.1,-7.2,161,3893,0.15,2.47,0.00,0.000,6,0.139,0.021,2629,2084,2722,0,0,0,0,0,0,26.06,26.49,28.83
$GC,4195,-1.20,-97.7,299.1,-6.7,167,4202,0.00,2.65,0.00,0.000,4,0.000,0.040,2618,3762,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4304,-1.24,-97.7,302.8,-6.5,168,4313,0.00,2.45,0.00,0.000,6,0.000,0.020,2618,2103,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4615,-1.28,-97.7,323.0,-5.3,174,4621,0.00,2.40,0.00,0.000,4,0.000,0.037,2618,540,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4676,-1.31,-97.7,326.3,-5.3,175,4681,0.00,2.45,0.00,0.000,6,0.000,0.024,2606,2194,2722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5035,-1.34,-97.7,346.3,-5.7,181,5037,0.10,0.00,0.00,0.000,6,0.090,0.000,2546,2194,2721,0,0,0,0,0,0,26.68,28.83,28.83
$GC,5335,-1.31,-97.7,369.6,-8.0,186,5342,0.12,2.50,0.00,0.000,4,0.155,0.041,2568,3746,2721,0,0,0,0,0,0,26.36,26.19,28.83
$GC,5494,-1.28,-97.7,379.9,-8.4,188,5501,0.00,2.42,0.00,0.000,6,0.000,0.021,2569,2105,2720,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5814,-1.28,-97.7,410.3,-8.3,194,5821,0.00,2.65,0.00,0.000,4,0.000,0.040,2556,3745,2719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6067,-1.26,-97.7,429.5,-8.0,198,6073,0.15,2.40,0.00,0.000,6,0.146,0.022,2595,2095,2719,0,0,0,0,0,0,26.03,26.47,28.83
$GC,6415,-1.28,-97.7,452.8,-6.2,204,6422,0.00,2.65,0.00,0.000,4,0.000,0.041,2584,3741,2718,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6576,-1.28,-97.7,460.6,-6.3,206,6581,0.00,2.40,0.00,0.000,6,0.000,0.021,2585,2091,2718,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6894,-1.28,-97.7,484.5,-6.7,212,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2092,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7255,-1.31,-97.7,508.4,-6.6,217,7261,0.00,2.65,0.00,0.000,4,0.000,0.041,2572,3751,2716,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7365,-1.33,-97.7,508.4,-6.6,217,7373,0.00,2.45,0.00,0.000,6,0.000,0.021,2573,2104,2715,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7734,-1.33,-97.7,542.4,-7.1,221,7742,0.00,2.67,0.00,0.000,4,0.000,0.041,2561,3749,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7884,-1.33,-97.7,551.9,-7.3,222,7892,0.00,2.45,0.00,0.000,6,0.000,0.021,2561,2102,2713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8214,-1.33,-97.7,581.4,-8.1,225,8222,0.00,2.65,0.00,0.000,4,0.000,0.041,2549,3744,2712,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8485,-1.33,-97.7,602.5,-8.6,227,8491,0.00,2.40,0.00,0.000,6,0.000,0.022,2549,2106,2712,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8815,-1.33,-97.7,631.9,-8.3,230,8821,0.00,2.65,0.00,0.000,4,0.000,0.041,2536,3771,2715,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9033,-1.33,-97.7,642.1,-8.2,231,9041,0.12,2.50,0.00,0.000,6,0.151,0.022,2568,2101,2710,0,0,0,0,0,0,26.06,26.44,28.83
$GC,9415,-1.33,-97.7,681.2,-8.1,235,9421,0.00,2.62,0.00,0.000,4,0.000,0.042,2557,3750,2710,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9493,-1.33,-97.7,681.2,-8.1,235,9501,0.00,2.47,0.00,0.000,6,0.000,0.021,2557,2100,2709,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9895,-1.33,-97.7,717.5,-7.6,239,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2100,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10255,-1.33,-97.7,743.8,-7.3,242,10261,0.00,2.67,0.00,0.000,4,0.000,0.042,2545,3743,2707,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10414,-1.33,-97.7,752.7,-7.3,243,10421,0.00,2.45,0.00,0.000,6,0.000,0.022,2545,2109,2705,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10735,-1.33,-97.7,779.6,-7.4,246,10741,0.00,2.65,0.00,0.000,4,0.000,0.041,2533,3744,2705,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10978,-1.33,-97.7,799.7,-7.9,248,10983,0.15,2.42,0.00,0.000,6,0.147,0.023,2573,2090,2704,0,0,0,0,0,0,25.96,26.40,28.83
$GC,11334,-1.33,-97.7,828.2,-8.1,251,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2090,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11695,-1.37,-97.7,856.3,-7.8,254,11701,0.00,2.70,0.00,0.000,4,0.000,0.042,2562,3744,2702,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11805,-1.41,-97.7,856.3,-7.8,254,11813,0.00,2.45,0.00,0.000,6,0.000,0.023,2563,2112,2702,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12175,-1.44,-97.7,899.8,-9.1,258,12181,0.00,2.47,0.00,0.000,4,0.000,0.040,2562,548,2701,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12244,-1.48,-97.7,899.8,-9.1,258,12251,0.00,2.50,0.00,0.000,6,0.000,0.025,2550,2188,2701,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12655,-1.51,-97.7,945.8,-9.6,262,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2188,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13015,-1.54,-97.7,976.7,-8.7,265,13017,0.12,0.00,0.00,0.000,6,0.082,0.000,2492,2188,2699,0,0,0,0,0,0,26.63,28.83,28.83
$STATE,13171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13171,begin apogee
$GC,13180,-0.29,0.0,990.8,-8.6,268,13273,1.35,0.00,86.05,1.687,6,0.138,0.000,2899,1577,2320,0,0,0,0,0,0,24.96,28.83,22.96
$STATE,13275,end apogee,CONTROL_FINISHED_OK
$STATE,13275,begin climb
$GC,13278,1.33,97.7,994.8,0.0,273,13378,1.48,2.10,92.03,1.672,4,0.060,0.047,3439,355,1920,0,0,0,0,0,0,25.27,24.90,23.03
$GC,13447,1.17,97.8,989.8,6.7,282,13454,0.20,1.98,0.00,0.000,6,0.150,0.023,3379,1659,1914,0,0,0,0,0,0,25.44,25.89,28.83
$GC,13767,1.10,108.6,969.9,6.1,288,13778,0.00,0.00,9.20,1.456,6,0.000,0.000,3379,1659,1877,0,0,0,0,0,0,28.83,28.83,23.88
$GC,14128,1.05,123.9,948.8,5.9,291,14149,0.15,2.17,15.50,1.551,4,0.169,0.048,3348,353,1811,0,0,0,0,0,0,26.06,25.87,23.89
$GC,14437,1.00,139.6,935.1,5.9,293,14457,0.00,1.98,15.27,1.547,6,0.000,0.024,3348,1659,1749,0,0,0,0,0,0,28.83,26.36,23.89
$GC,14829,0.98,149.4,906.2,6.2,297,14846,0.12,2.08,10.15,1.476,4,0.161,0.047,3326,354,1709,0,0,0,0,0,0,26.17,26.01,23.98
$GC,15076,0.98,149.4,888.1,6.9,299,15080,0.00,1.98,0.00,0.000,6,0.000,0.024,3326,1661,1707,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15419,0.98,149.4,857.3,8.6,302,15426,0.00,2.10,0.00,0.000,4,0.000,0.047,3335,359,1706,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15477,0.98,149.4,857.3,8.6,302,15485,0.00,1.95,0.00,0.000,6,0.000,0.024,3335,1655,1706,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15898,0.98,149.4,813.2,9.2,306,15906,0.00,2.10,0.00,0.000,4,0.000,0.047,3345,352,1705,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16028,0.98,149.4,803.3,8.9,307,16035,0.00,2.00,0.00,0.000,6,0.000,0.025,3345,1653,1704,0,0,0,0,0,0,28.83,26.48,28.83
$GC,16378,0.98,149.4,776.7,7.6,310,16380,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1653,1704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16739,0.99,152.3,753.8,6.5,313,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1654,1704,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,19948,1.13,153.9,529.3,7.7,339,19955,0.00,1.95,0.00,0.000,6,0.000,0.024,3375,1654,1691,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,26479,end climb,SURFACE_DEPTH_REACHED
$STATE,26479,begin surface coast
$FINISH,1.3,1.025607
$STATE,26510,end surface coast,CONTROL_FINISHED_OK
$STATE,26510,begin surface
$SM_CCo,26533,66.18,0.122,0,0,1094,300.00
$SM_GC,2.21,8.65,0.82,66.18,0.040,0.036,0.122,152,2186,1094,-8.83,-0.42,300.00,0,0,0,0,0,0,26.31,26.34,25.48
$IRIDIUM_FIX,2425.21,-3738.16,290113,070705
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.06
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7601664
$TM_FREEKB,4742112
$24V_AH,23.0,75.775
$10V_AH,9.9,67.137
$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,22.800,200.825,232.525,66.175,0.000,26.757,43.151,204.394,0.000,0.000,17.596,2250.934,21565.846,668.386,2103.960,561.476,33.263,1649.289,0.000,1726.719,0.000,0.535,0.000
$DEVICE_MAMPS,191.250,94.095,1686.825,122.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.284,13.524,0.000,0.000
$MEM,343660
$DATA_FILE_SIZE,13420,536
$CAP_FILE_SIZE,191947,0
$CFSIZE,260034560,210919424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290113,225004,2429.973,-3748.323,34,1.0,34,-14.0