version: 66.13
glider: 190
mission: 9
dive: 28
start: 8 31 116 14 27 17
data:
$ID,190
$MISSION,9
$DIVE,28
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53220
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.012
$HD_C,1.09e-05
$HEADING,135
$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,627.47742
$N_FILEKB,8
$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,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3920
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2235
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2908
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-163.98293
$PRESSURE_SLOPE,0.00010649362
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043932092
$SEABIRD_T_H,0.00063312391
$SEABIRD_T_I,2.6030159e-05
$SEABIRD_T_J,3.2258831e-06
$SEABIRD_C_G,-9.8128548
$SEABIRD_C_H,1.1245126
$SEABIRD_C_I,-0.00070758193
$SEABIRD_C_J,0.00013654788
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,310816,140822,954.7075,-12449.6709,39,0.9,40,9.2,0.0,0.0,10,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.2
$GPS2,310816,142653,954.8253,-12449.6592,18,0.8,19,9.2,0.5,355.3,10,9.5
$SPEED_LIMITS,0.159,0.231
$TGT_NAME,HEADING
$TGT_LATLONG,947.189,-12441.910
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,126.0,20000,-17.2,-9.167,-21.61,2420
$D_GRID,990
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.75,-146.0,203,2250,394,361,0.0,0.0,0,96,0.00,0.00,-74.30,0.000,16386,0.000,0.000,202,2251,2185,2169,2202,0,0,0,0,0,0,14.74,28.83,14.78
$GC,100,-0.75,-146.0,203,2251,2175,2202,2.1,-1.7,5,149,8.73,2.58,-31.23,0.000,18724,0.435,2.150,1939,3642,3505,3664,3346,0,0,0,0,0,0,14.41,13.85,14.63
$GC,250,-0.54,-146.0,1940,3642,3664,3346,49.1,-35.2,34,258,0.32,2.38,0.00,0.000,3206,0.287,0.045,2017,2227,3504,3664,3345,0,0,0,0,0,0,14.49,14.60,14.65
$GC,559,-0.49,-146.0,2018,2219,3666,3346,104.5,-13.1,54,566,0.00,2.47,0.00,0.000,388,0.000,0.082,2013,3649,3505,3666,3345,0,0,0,0,0,0,14.88,14.69,14.89
$GC,793,-0.49,-146.0,2009,3650,3667,3346,132.0,-11.0,100,799,0.12,1.85,0.00,0.000,3078,0.253,0.041,2042,2494,3505,3666,3345,0,0,0,0,0,0,14.66,14.78,14.79
$GC,1106,-0.49,-146.0,2037,2488,3667,3346,162.6,-9.9,112,1112,0.00,2.80,0.00,0.000,516,0.000,0.055,2039,825,3505,3666,3345,0,0,0,0,0,0,14.95,14.81,14.97
$GC,1222,-0.55,-146.0,2038,825,3667,3345,173.3,-8.9,134,1228,0.00,2.62,0.00,0.000,1190,0.000,0.068,2038,2351,3505,3666,3345,0,0,0,0,0,0,14.85,14.78,14.86
$GC,1535,-0.55,-146.0,2039,2352,3666,3341,202.2,-9.1,146,1538,0.00,0.00,0.00,0.000,38,0.000,0.000,2038,2352,3503,3665,3341,0,0,0,0,0,0,14.98,15.02,15.00
$GC,1836,-0.55,-146.0,2039,2352,3658,3339,228.8,-8.9,156,1842,0.00,2.60,0.00,0.000,548,0.000,0.056,2038,818,3500,3662,3338,0,0,0,0,0,0,15.00,14.83,15.02
$GC,1900,-0.62,-146.0,2034,818,3662,3338,234.4,-8.5,168,1906,0.12,2.53,0.00,0.000,5286,0.139,0.066,1983,2289,3499,3661,3338,0,0,0,0,0,0,14.83,14.82,14.90
$GC,2234,-0.62,-146.0,1983,2288,3657,3337,277.0,-13.2,184,2247,0.00,2.47,0.00,0.000,516,0.000,0.057,1983,826,3496,3655,3337,0,0,0,0,0,0,15.02,14.85,15.04
$GC,2283,-0.62,-146.0,1983,827,3657,3337,283.6,-12.8,192,2296,0.00,2.35,0.00,0.000,1030,0.000,0.067,1975,2185,3493,3651,3336,0,0,0,0,0,0,14.92,14.84,14.93
$GC,2613,-0.62,-146.0,1975,2186,3654,3334,328.3,-13.5,206,2627,0.00,2.53,0.00,0.000,260,0.000,0.090,1970,3646,3494,3654,3334,0,0,0,0,0,0,15.02,14.84,15.05
$GC,2718,-0.62,-146.0,1971,3647,3652,3334,342.0,-12.7,225,2731,0.00,2.33,0.00,0.000,1030,0.000,0.047,1970,2223,3492,3651,3333,0,0,0,0,0,0,14.93,14.88,14.96
$GC,3053,-0.62,-146.0,1970,2224,3648,3333,385.9,-12.9,240,3066,0.00,2.33,0.00,0.000,516,0.000,0.060,1970,839,3489,3647,3332,0,0,0,0,0,0,15.04,14.86,15.06
$GC,3171,-0.62,-146.0,1970,844,3647,3332,400.3,-11.9,261,3184,0.15,2.30,0.00,0.000,3078,0.284,0.069,1996,2174,3489,3646,3332,0,0,0,0,0,0,14.78,14.86,14.91
$GC,3496,-0.62,-146.0,1996,2175,3646,3328,435.9,-10.8,274,3509,0.00,2.55,0.00,0.000,260,0.000,0.090,1985,3648,3486,3644,3328,0,0,0,0,0,0,15.04,14.88,15.07
$GC,3601,-0.62,-146.0,1985,3649,3643,3328,447.7,-11.0,293,3614,0.00,2.30,0.00,0.000,1030,0.000,0.050,1984,2244,3485,3642,3328,0,0,0,0,0,0,14.95,14.89,14.96
$GC,3936,-0.62,-146.0,1985,2238,3641,3326,487.7,-12.4,308,3949,0.00,2.35,0.00,0.000,516,0.000,0.060,1986,843,3483,3640,3326,0,0,0,0,0,0,15.04,14.88,15.06
$GC,4037,-0.62,-146.0,1987,844,3640,3326,499.9,-11.9,326,4050,0.00,2.38,0.00,0.000,1030,0.000,0.073,1985,2206,3483,3640,3326,0,0,0,0,0,0,14.94,14.85,14.95
$GC,4377,-0.62,-146.0,1985,2207,3639,3324,541.9,-12.4,342,4390,0.00,2.50,0.00,0.000,260,0.000,0.093,1974,3649,3480,3638,3323,0,0,0,0,0,0,15.04,14.87,15.06
$GC,4427,-0.62,-146.0,1975,3650,3638,3323,548.2,-12.5,350,4440,0.00,2.38,0.00,0.000,1030,0.000,0.050,1975,2203,3480,3637,3323,0,0,0,0,0,0,14.95,14.90,14.96
$GC,4757,-0.62,-146.0,1975,2204,3636,3322,589.8,-12.6,364,4770,0.00,2.30,0.00,0.000,516,0.000,0.063,1974,836,3478,3636,3321,0,0,0,0,0,0,15.04,14.88,15.07
$GC,4831,-0.62,-146.0,1975,837,3636,3321,599.3,-11.9,377,4845,0.00,2.28,0.00,0.000,1030,0.000,0.073,1971,2150,3477,3634,3321,0,0,0,0,0,0,14.94,14.86,14.95
$GC,5167,-0.62,-146.0,1971,2150,3633,3319,640.9,-12.4,392,5180,0.00,2.60,0.00,0.000,260,0.000,0.092,1962,3646,3475,3632,3319,0,0,0,0,0,0,15.04,14.85,15.06
$GC,5226,-0.62,-146.0,1962,3647,3632,3319,648.4,-12.2,402,5240,0.15,2.47,0.00,0.000,3078,0.255,0.051,1997,2149,3474,3631,3318,0,0,0,0,0,0,14.79,14.89,14.92
$GC,5547,-0.62,-146.0,1998,2150,3631,3317,682.6,-10.6,414,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2149,3473,3630,3316,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5847,-0.62,-146.0,1997,2150,3629,3316,714.6,-10.7,424,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2149,3471,3628,3315,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6147,-0.62,-146.0,1998,2149,3627,3314,746.0,-10.4,434,6160,0.00,2.22,0.00,0.000,516,0.000,0.063,1998,832,3469,3626,3313,0,0,0,0,0,0,15.04,14.88,15.07
$GC,6187,-0.62,-146.0,1998,833,3626,3312,750.3,-9.9,440,6201,0.00,2.30,0.00,0.000,1030,0.000,0.074,1998,2149,3469,3626,3313,0,0,0,0,0,0,14.94,14.87,14.95
$GC,6528,-0.62,-146.0,1998,2149,3626,3307,782.9,-9.3,456,6541,0.00,2.65,0.00,0.000,260,0.000,0.099,1991,3655,3467,3625,3310,0,0,0,0,0,0,15.04,14.85,15.06
$GC,6635,-0.67,-146.0,1993,3655,3624,3312,792.0,-8.6,475,6649,0.00,2.42,0.00,0.000,1190,0.000,0.052,1991,2191,3467,3623,3311,0,0,0,0,0,0,14.94,14.88,14.96
$GC,6971,-0.67,-146.0,1991,2185,3622,3311,822.6,-9.0,490,6984,0.00,2.30,0.00,0.000,548,0.000,0.066,1988,833,3465,3621,3310,0,0,0,0,0,0,15.04,14.87,15.04
$GC,6996,-0.67,-146.0,1992,833,3622,3310,824.9,-9.6,493,7009,0.00,2.42,0.00,0.000,1030,0.000,0.075,1985,2219,3465,3621,3310,0,0,0,0,0,0,14.93,14.85,14.95
$GC,7322,-0.67,-146.0,1985,2220,3621,3309,856.0,-9.9,506,7335,0.00,2.50,0.00,0.000,260,0.000,0.099,1975,3648,3465,3621,3309,0,0,0,0,0,0,15.04,14.84,15.05
$GC,7376,-0.67,-146.0,1975,3648,3620,3309,861.1,-10.0,515,7389,0.00,2.38,0.00,0.000,1030,0.000,0.055,1978,2218,3464,3619,3309,0,0,0,0,0,0,14.92,14.87,14.94
$GC,7702,-0.67,-146.0,1975,2212,3619,3309,895.5,-10.6,528,7715,0.00,2.33,0.00,0.000,516,0.000,0.063,1975,839,3463,3617,3309,0,0,0,0,0,0,15.02,14.85,15.05
$GC,7761,-0.67,-146.0,1975,839,3619,3309,901.8,-9.7,538,7774,0.00,2.40,0.00,0.000,1030,0.000,0.078,1972,2205,3463,3617,3309,0,0,0,0,0,0,14.92,14.84,14.94
$GC,8081,-0.67,-146.0,1972,2206,3619,3307,937.8,-11.4,550,8094,0.00,2.55,0.00,0.000,260,0.000,0.103,1962,3654,3461,3617,3306,0,0,0,0,0,0,15.02,14.83,15.07
$GC,8126,-0.67,-146.0,1963,3654,3618,3306,943.2,-11.9,557,8139,0.00,2.42,0.00,0.000,1030,0.000,0.054,1968,2194,3461,3616,3306,0,0,0,0,0,0,14.92,14.87,14.94
$GC,8461,-0.67,-146.0,1962,2189,3617,3306,985.0,-12.3,572,8474,0.00,2.30,0.00,0.000,516,0.000,0.063,1962,833,3461,3616,3306,0,0,0,0,0,0,15.02,14.85,15.04
$STATE,8507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8507,begin apogee
$GC,8517,-0.19,0.0,1956,2289,3616,3306,990.3,-9.0,580,8685,0.62,0.00,152.70,2.782,10244,0.246,0.000,2129,2289,2908,3062,2754,0,0,0,0,1,0,14.76,13.84,12.96
$STATE,8687,end apogee,CONTROL_FINISHED_OK
$STATE,8687,begin climb
$GC,8690,0.75,146.0,2129,2289,3072,2755,998.9,0.0,585,8908,0.98,0.00,204.32,1.820,11270,0.134,0.000,2434,2289,2312,2405,2220,0,0,0,0,0,0,13.95,14.12,13.43
$GC,9230,0.67,146.0,2435,2289,2375,2203,962.3,10.3,648,9243,0.00,2.58,0.00,0.000,644,0.000,0.084,2444,882,2285,2374,2196,0,0,0,0,0,0,14.66,14.48,14.69
$GC,9290,0.59,146.0,2444,883,2374,2196,955.9,10.5,658,9303,0.22,2.53,0.00,0.000,5254,0.305,0.080,2393,2278,2288,2380,2196,0,0,0,0,0,0,14.42,14.51,14.58
$GC,9611,0.60,155.5,2393,2277,2373,2193,927.8,8.8,670,9624,0.00,2.55,0.00,0.000,292,0.000,0.109,2393,3692,2282,2372,2193,0,0,0,0,0,0,14.81,14.61,14.83
$GC,9665,0.54,155.5,2393,3691,2371,2193,922.4,9.9,679,9679,0.00,2.38,0.00,0.000,1158,0.000,0.072,2403,2325,2281,2370,2192,0,0,0,0,0,0,14.72,14.65,14.73
$GC,9991,0.49,155.5,2404,2325,2371,2192,891.9,9.4,692,10004,0.15,2.58,0.00,0.000,4740,0.312,0.090,2376,872,2283,2370,2197,0,0,0,0,0,0,14.64,14.69,14.75
$GC,10089,0.49,155.5,2376,873,2370,2191,884.2,9.3,709,10104,0.00,2.47,0.00,0.000,1030,0.000,0.082,2376,2253,2279,2369,2190,0,0,0,0,0,0,14.78,14.68,14.80
$GC,10391,0.51,172.8,2376,2253,2369,2190,859.1,8.4,720,10441,0.00,2.65,31.25,1.561,8484,0.000,0.114,2376,3697,2199,2291,2107,0,0,0,0,1,0,14.92,14.49,13.84
$GC,10473,0.51,172.8,2376,3697,2293,2111,851.4,10.1,734,10486,0.00,2.55,0.00,0.000,1030,0.000,0.073,2386,2245,2202,2292,2113,0,0,0,0,0,0,14.61,14.52,14.62
$GC,10803,0.51,172.8,2386,2245,2294,2118,820.6,9.3,748,10816,0.00,2.42,0.00,0.000,516,0.000,0.089,2395,872,2205,2294,2117,0,0,0,0,0,0,14.84,14.65,14.86
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$STATE,19322,end climb,SURFACE_DEPTH_REACHED
$STATE,19322,begin surface coast
$FINISH,0.4,1.020552
$STATE,19340,end surface coast,CONTROL_FINISHED_OK
$STATE,19340,begin surface
$SM_CCo,19367,63.10,0.138,0,0,348,627.48
$SM_GC,0.85,6.82,0.20,63.10,0.063,0.113,0.138,207,2251,348,-6.14,-0.54,627.48,0,0,0,0,0,0,14.67,14.66,14.58
$IRIDIUM_FIX,951.69,-12453.06,310816,081944
$TT8_MAMPS,0.038199,0.308588
$HUMID,54.96
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.20
$XPDR_PINGS,17
$SC_FREEKB,7758688
$PM_FREEKB,61453952
$TM_FREEKB,7496608
$24V_AH,12.96,15.494
$10V_AH,13.16,0.000
$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,19.375,219.225,738.275,63.100,0.000,0.000,0.000,564.025,4.250,0.000,20.290,0.000,14380.326,966.809,4451.334,721.966,0.000,3353.125,0.000,2495.623,0.000,0.542,0.000
$DEVICE_MAMPS,435.285,2150.415,2782.305,138.465,0.000,0.000,0.000,187.425,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19427.000,19347.000,5325.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.829,2.817,11.410,0.000
$MEM,334920
$DATA_FILE_SIZE,50010,1397
$CAP_FILE_SIZE,200629,0
$CFSIZE,260034560,249573376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$INTR,0,10400.06,0x233bae,1,24
$CURRENT,0.064,185.56,1
$GPS,310816,195228,952.844,-12448.487,38,0.9,38,9.2,0.0,0.0,10,8.0