version: 66.11
glider: 190
mission: 6
dive: 378
start: 1 10 113 15 10 15
data:
$ID,190
$MISSION,6
$DIVE,378
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$HD_C,9.9999997e-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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13391.116
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,100113,145529,2423.171,-3822.006,42,1.0,42,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-66.9
$GPS2,100113,150943,2423.105,-3822.065,13,0.9,15,-14.1
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,129.4,10051,-16.4,-7.174,-28.86
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.40,0.000,2,0.000,0.000,139,1513,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,149,11.52,2.03,-83.88,0.000,4,0.365,0.125,2606,2577,3626,0,0,0,0,0,0,14.12,14.23,14.66
$GC,250,-0.84,-155.7,13.2,-10.3,22,258,0.00,2.05,0.00,0.000,6,0.000,0.115,2606,1517,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,559,-0.84,-155.7,47.9,-11.4,53,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1519,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,859,-0.84,-155.7,79.3,-10.7,83,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1519,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1159,-0.84,-155.7,106.1,-8.0,113,1169,0.00,1.98,0.00,0.000,4,0.000,0.100,2605,2575,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1199,-0.84,-155.7,109.1,-7.4,117,1209,0.00,2.05,0.00,0.000,6,0.000,0.112,2605,1520,3627,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1509,-0.86,-155.7,136.7,-9.2,148,1518,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,466,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1571,-0.86,-155.7,142.5,-9.9,154,1578,0.00,1.88,0.00,0.000,6,0.000,0.083,2605,1523,3627,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1880,-0.89,-155.7,169.1,-7.8,185,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1524,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2181,-0.92,-155.7,192.3,-7.4,215,2188,0.00,2.05,0.00,0.000,4,0.000,0.134,2601,453,3628,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2323,-0.92,-155.7,202.8,-7.3,229,2330,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1522,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2630,-0.96,-155.7,229.3,-10.5,260,2638,0.00,2.08,0.00,0.000,4,0.000,0.133,2605,460,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2740,-0.96,-155.7,241.7,-11.7,271,2749,0.00,1.85,0.00,0.000,6,0.000,0.078,2605,1494,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3060,-1.00,-155.7,278.0,-11.2,287,3067,0.12,2.00,0.00,0.000,4,0.141,0.134,2551,464,3627,0,0,0,0,0,0,14.62,14.16,28.83
$GC,3170,-1.00,-155.7,288.8,-11.8,290,3178,0.00,1.83,0.00,0.000,6,0.000,0.082,2549,1481,3626,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3479,-1.00,-155.7,321.3,-9.1,301,3487,0.00,2.05,0.00,0.000,4,0.000,0.103,2543,2581,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3539,-1.00,-155.7,326.7,-8.9,303,3546,0.00,2.12,0.00,0.000,6,0.000,0.112,2543,1475,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3873,-0.98,-155.7,356.5,-9.5,314,3875,0.12,0.00,0.00,0.000,6,0.250,0.000,2572,1475,3625,0,0,0,0,0,0,14.33,28.83,28.83
$GC,4170,-0.98,-155.7,385.1,-9.7,324,4176,0.00,1.95,0.00,0.000,4,0.000,0.133,2575,463,3624,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4230,-0.98,-155.7,391.4,-10.1,326,4236,0.00,1.83,0.00,0.000,6,0.000,0.084,2569,1478,3624,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4559,-0.98,-155.7,422.2,-8.8,337,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1478,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4860,-0.98,-155.7,446.5,-8.0,347,4866,0.00,2.00,0.00,0.000,4,0.000,0.135,2569,460,3620,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4938,-0.98,-155.7,452.0,-8.6,349,4942,0.00,1.85,0.00,0.000,6,0.000,0.085,2562,1478,3622,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5240,-0.98,-155.7,483.0,-10.2,359,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1478,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5540,-0.98,-155.7,515.8,-11.0,369,5547,0.00,2.00,0.00,0.000,4,0.000,0.138,2564,461,3620,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5609,-0.98,-155.7,522.7,-11.3,371,5616,0.00,1.85,0.00,0.000,6,0.000,0.086,2556,1475,3620,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5931,-0.98,-155.7,556.6,-9.6,382,5936,0.00,2.03,0.00,0.000,4,0.000,0.109,2549,2576,3619,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6049,-0.98,-155.7,567.3,-8.9,386,6057,0.00,2.10,0.00,0.000,6,0.000,0.116,2550,1485,3618,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6381,-0.98,-155.7,596.9,-9.3,397,6387,0.00,1.98,0.00,0.000,4,0.000,0.140,2549,465,3616,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6500,-0.95,-155.7,609.1,-10.3,401,6507,0.10,1.83,0.00,0.000,6,0.246,0.089,2573,1468,3615,0,0,0,0,0,0,13.97,14.28,28.83
$GC,6832,-0.98,-155.7,638.3,-8.8,412,6837,0.00,1.98,0.00,0.000,4,0.000,0.141,2573,462,3615,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6899,-0.98,-155.7,643.8,-8.9,414,6906,0.00,1.83,0.00,0.000,6,0.000,0.086,2567,1462,3615,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7219,-0.98,-155.7,672.0,-8.5,425,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1462,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7520,-0.98,-155.7,697.8,-8.5,435,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1462,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7821,-1.01,-155.7,723.4,-8.6,445,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1462,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8121,-1.03,-155.7,748.6,-8.5,455,8127,0.00,1.98,0.00,0.000,4,0.000,0.143,2567,447,3609,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8188,-1.03,-155.7,754.1,-8.8,457,8192,0.00,1.85,0.00,0.000,6,0.000,0.089,2560,1450,3608,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8503,-1.05,-155.7,783.0,-9.2,468,8508,0.00,2.12,0.00,0.000,4,0.000,0.116,2553,2581,3607,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8571,-1.08,-155.7,788.4,-9.0,470,8577,0.00,2.17,0.00,0.000,6,0.000,0.122,2550,1466,3607,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8890,-1.08,-155.7,820.2,-9.8,481,8897,0.00,1.98,0.00,0.000,4,0.000,0.147,2552,468,3609,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9012,-1.08,-155.7,832.7,-10.4,485,9017,0.00,1.80,0.00,0.000,6,0.000,0.093,2549,1441,3606,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9340,-1.08,-155.7,864.5,-9.5,496,9347,0.00,1.98,0.00,0.000,4,0.000,0.147,2549,461,3605,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9389,-1.08,-155.7,867.5,-9.5,497,9392,0.00,1.83,0.00,0.000,6,0.000,0.093,2549,1438,3605,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9692,-1.08,-155.7,896.6,-9.0,507,9697,0.00,1.95,0.00,0.000,4,0.000,0.150,2549,462,3604,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9739,-1.08,-155.7,899.5,-9.0,508,9742,0.00,1.80,0.00,0.000,6,0.000,0.094,2549,1423,3603,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10042,-1.10,-155.7,928.8,-9.1,518,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1424,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10340,-1.10,-155.7,957.5,-9.8,528,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1424,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10640,-1.10,-155.7,989.6,-10.9,538,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1424,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10668,begin apogee
$GC,10677,-0.23,0.0,992.8,-10.9,539,10837,0.95,0.00,152.73,1.861,4,0.216,0.000,2810,1518,2986,0,0,0,0,0,0,13.86,28.83,13.09
$STATE,10841,end apogee,CONTROL_FINISHED_OK
$STATE,10841,begin climb
$GC,10844,0.84,155.7,1005.0,0.0,544,11015,1.12,2.15,160.95,1.844,4,0.133,0.161,3160,464,2354,0,0,0,0,0,0,14.09,14.02,13.10
$GC,11244,0.83,222.2,1001.1,5.1,558,11325,0.00,1.95,69.07,1.813,6,0.000,0.103,3160,1512,2076,0,0,0,0,0,0,28.83,14.35,13.24
$GC,11624,0.81,222.2,974.3,7.4,571,11631,0.00,2.10,0.00,0.000,4,0.000,0.161,3168,469,2066,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11864,0.77,222.2,954.4,8.4,579,11871,0.00,1.98,0.00,0.000,6,0.000,0.102,3167,1529,2064,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12196,0.75,222.2,926.2,8.5,590,12203,0.12,1.95,0.00,0.000,4,0.310,0.116,3137,2581,2062,0,0,0,0,0,0,14.20,14.40,28.83
$GC,12285,0.75,222.2,918.7,8.5,593,12291,0.00,2.05,0.00,0.000,6,0.000,0.143,3145,1549,2061,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12616,0.75,222.2,891.4,8.3,604,12621,0.00,1.98,0.00,0.000,4,0.000,0.128,3145,2579,2061,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12674,0.75,222.2,886.4,8.2,606,12681,0.00,2.08,0.00,0.000,6,0.000,0.145,3156,1546,2060,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13007,0.75,222.2,860.4,7.7,617,13013,0.00,2.20,0.00,0.000,4,0.000,0.172,3160,459,2060,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13043,0.75,222.2,858.1,7.7,618,13050,0.00,2.05,0.00,0.000,6,0.000,0.103,3160,1550,2060,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13365,0.75,222.2,832.0,7.8,629,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1551,2059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13664,0.75,222.8,809.6,7.2,639,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1551,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13966,0.76,245.0,789.6,6.5,649,13994,0.00,1.98,21.95,1.666,4,0.000,0.124,3160,2578,1985,0,0,0,0,0,0,28.83,14.49,13.48
$GC,14116,0.76,248.9,779.2,7.1,654,14123,0.12,2.00,0.00,0.000,6,0.302,0.142,3142,1565,1979,0,0,0,0,0,0,14.12,14.24,28.83
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$GC,18428,0.82,339.6,419.5,6.6,798,18455,0.00,1.90,21.25,1.254,4,0.000,0.108,3163,2583,1598,0,0,0,0,0,0,28.83,14.44,13.64
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$STATE,22802,end climb,SURFACE_DEPTH_REACHED
$STATE,22802,begin surface coast
$FINISH,1.3,1.010285
$STATE,22836,end surface coast,CONTROL_FINISHED_OK
$STATE,22836,begin surface
$SM_CCo,22859,3.28,0.142,0,0,1562,350.04
$SM_GC,2.93,8.75,0.15,3.28,0.067,0.183,0.142,141,1511,1562,-8.53,0.23,350.04,0,0,0,0,0,0,14.40,14.30,14.27
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.74
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,5
$SC_FREEKB,7625248
$TM_FREEKB,4117696
$24V_AH,13.1,160.374
$10V_AH,12.6,0.000
$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,23.300,161.100,509.825,3.275,0.000,0.000,0.000,483.650,1.250,0.000,16.317,3137.747,16363.724,870.981,2620.449,711.883,0.000,2479.128,0.000,2067.348,0.000,0.541,0.000
$DEVICE_MAMPS,364.905,182.835,1861.245,141.525,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.686,13.259,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,40023,1117
$CAP_FILE_SIZE,234854,0
$CFSIZE,260034560,197824512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.015,331.0,1
$GPS,100113,213235,2422.532,-3820.303,31,0.9,31,-14.1