version: 66.11
glider: 190
mission: 6
dive: 424
start: 1 23 113 4 3 50
data:
$ID,190
$MISSION,6
$DIVE,424
$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,-13449.076
$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,8
$R_STBD_OVSHOOT,17
$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
$GPS1,230113,035234,2436.300,-3745.062,31,1.1,31,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-65.1
$GPS2,230113,040317,2436.282,-3745.012,20,1.2,20,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,204.0,29453,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,35,0.00,0.00,-10.60,0.000,2,0.000,0.000,140,1531,1773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.4,0.0,1,145,11.12,2.10,-87.50,0.000,4,0.347,0.157,2615,457,3624,0,0,0,0,0,0,14.04,14.08,14.62
$GC,356,-0.84,-155.7,24.7,-9.6,33,364,0.00,1.95,0.00,0.000,6,0.000,0.083,2609,1521,3625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,666,-0.84,-155.7,53.4,-12.0,64,674,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2581,3624,0,0,0,0,0,0,28.83,14.04,28.83
$GC,736,-0.86,-155.7,62.3,-12.3,71,744,0.00,2.05,0.00,0.000,6,0.000,0.114,2605,1528,3624,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1047,-0.86,-155.7,97.9,-10.2,102,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1528,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1357,-0.89,-155.7,127.0,-9.0,133,1364,0.00,1.95,0.00,0.000,4,0.000,0.102,2605,2579,3624,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1436,-0.93,-155.7,134.0,-8.5,141,1445,0.00,2.03,0.00,0.000,6,0.000,0.112,2605,1533,3625,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1746,-0.96,-155.7,160.6,-9.9,172,1754,0.00,2.12,0.00,0.000,4,0.000,0.138,2605,457,3625,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1846,-0.96,-155.7,171.1,-10.3,182,1854,0.00,1.92,0.00,0.000,6,0.000,0.078,2605,1526,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2157,-1.00,-155.7,196.7,-8.5,213,2165,0.12,0.00,0.00,0.000,6,0.133,0.000,2550,1530,3626,0,0,0,0,0,0,14.45,28.83,28.83
$GC,2466,-1.00,-155.7,227.0,-9.9,244,2474,0.00,2.10,0.00,0.000,4,0.000,0.131,2550,461,3626,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2608,-0.96,-155.7,241.9,-10.9,258,2616,0.12,1.90,0.00,0.000,6,0.278,0.080,2576,1523,3625,0,0,0,0,0,0,13.93,14.22,28.83
$GC,2936,-0.98,-155.7,271.2,-8.6,275,2942,0.00,2.08,0.00,0.000,4,0.000,0.132,2576,457,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3025,-0.98,-155.7,279.8,-9.3,278,3032,0.00,1.90,0.00,0.000,6,0.000,0.078,2569,1512,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3356,-0.98,-155.7,310.6,-9.9,289,3363,0.00,2.05,0.00,0.000,4,0.000,0.131,2569,459,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3424,-0.98,-155.7,317.0,-10.4,291,3431,0.00,1.88,0.00,0.000,6,0.000,0.079,2565,1502,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3747,-0.98,-155.7,349.5,-9.5,302,3752,0.00,2.05,0.00,0.000,4,0.000,0.132,2565,428,3624,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3806,-0.98,-155.7,355.3,-9.4,304,3812,0.00,1.88,0.00,0.000,6,0.000,0.079,2558,1481,3624,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4138,-0.98,-155.7,384.3,-8.5,315,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1482,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4437,-0.98,-155.7,411.5,-9.7,325,4443,0.00,2.00,0.00,0.000,4,0.000,0.132,2558,453,3622,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4544,-0.98,-155.7,421.7,-11.1,328,4553,0.00,1.88,0.00,0.000,6,0.000,0.082,2553,1487,3622,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4856,-0.98,-155.7,459.7,-11.6,339,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1487,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5155,-0.98,-155.7,494.0,-11.1,349,5164,0.00,2.00,0.00,0.000,4,0.000,0.134,2553,461,3620,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5285,-0.98,-155.7,507.1,-10.9,353,5292,0.00,1.83,0.00,0.000,6,0.000,0.081,2546,1474,3619,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5607,-0.98,-155.7,537.1,-8.7,364,5612,0.00,2.00,0.00,0.000,4,0.000,0.135,2549,450,3619,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5745,-0.96,-155.7,548.2,-9.3,368,5754,0.12,1.83,0.00,0.000,6,0.284,0.083,2576,1453,3618,0,0,0,0,0,0,14.06,14.35,28.83
$GC,6061,-1.00,-155.7,577.0,-9.0,379,6066,0.00,1.92,0.00,0.000,4,0.000,0.138,2576,456,3616,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6206,-1.00,-155.7,591.5,-9.8,384,6212,0.00,1.73,0.00,0.000,6,0.000,0.081,2571,1418,3616,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6539,-1.02,-155.7,621.7,-8.8,395,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1418,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6836,-1.05,-155.7,646.3,-8.3,405,6843,0.00,1.90,0.00,0.000,4,0.000,0.139,2570,462,3614,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6995,-1.05,-155.7,660.1,-9.3,410,7003,0.00,1.75,0.00,0.000,6,0.000,0.082,2565,1421,3613,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7318,-1.08,-155.7,689.9,-9.1,421,7324,0.00,2.17,0.00,0.000,4,0.000,0.110,2558,2581,3612,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7366,-1.10,-155.7,692.6,-9.0,422,7374,0.00,2.25,0.00,0.000,6,0.000,0.118,2557,1421,3611,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7678,-1.12,-155.7,724.0,-9.5,433,7684,0.00,1.90,0.00,0.000,4,0.000,0.138,2558,450,3611,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7784,-1.12,-155.7,733.1,-10.1,436,7788,0.00,1.77,0.00,0.000,6,0.000,0.083,2553,1414,3610,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8087,-1.12,-155.7,765.2,-10.2,446,8092,0.00,1.90,0.00,0.000,4,0.000,0.141,2553,454,3609,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8175,-1.12,-155.7,774.9,-10.6,449,8182,0.00,1.75,0.00,0.000,6,0.000,0.087,2553,1403,3610,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8506,-1.12,-155.7,807.0,-9.3,460,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1403,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8806,-1.12,-155.7,832.5,-8.2,470,8812,0.00,1.90,0.00,0.000,4,0.000,0.143,2553,456,3606,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8885,-1.12,-155.7,837.7,-8.4,472,8893,0.00,1.73,0.00,0.000,6,0.000,0.086,2552,1391,3605,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9197,-1.12,-155.7,865.1,-8.4,483,9203,0.00,1.88,0.00,0.000,4,0.000,0.147,2553,453,3605,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9315,-1.12,-155.7,876.3,-9.3,487,9323,0.00,1.70,0.00,0.000,6,0.000,0.088,2552,1373,3604,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9650,-1.15,-155.7,905.7,-8.9,498,9655,0.00,1.83,0.00,0.000,4,0.000,0.148,2552,456,3603,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9714,-1.15,-155.7,911.0,-9.0,500,9718,0.00,1.67,0.00,0.000,6,0.000,0.087,2553,1364,3602,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10030,-1.17,-155.7,941.3,-9.7,511,10036,0.12,1.83,0.00,0.000,4,0.169,0.147,2507,458,3599,0,0,0,0,0,0,14.39,13.91,28.83
$GC,10156,-1.13,-155.7,955.4,-11.8,515,10164,0.00,1.65,0.00,0.000,6,0.000,0.092,2503,1339,3600,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,10474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10477,begin apogee
$GC,10485,-0.23,0.0,992.8,-11.3,526,10644,1.17,0.00,154.32,1.840,4,0.237,0.000,2810,1525,2989,0,0,0,0,0,0,13.69,28.83,13.02
$STATE,10648,end apogee,CONTROL_FINISHED_OK
$STATE,10648,begin climb
$GC,10651,0.84,155.7,1003.0,0.0,531,10824,1.10,2.15,161.57,1.813,4,0.120,0.152,3159,456,2355,0,0,0,0,0,0,14.11,14.02,13.05
$GC,11014,0.79,160.2,994.3,7.0,544,11019,0.00,1.95,0.00,0.000,6,0.000,0.094,3160,1524,2335,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11346,0.76,171.0,971.5,6.8,555,11372,0.00,2.17,15.05,1.703,4,0.000,0.167,3168,457,2283,0,0,0,0,0,0,28.83,14.39,13.39
$GC,11526,0.71,171.0,957.8,7.8,561,11533,0.20,1.95,0.00,0.000,6,0.291,0.098,3123,1535,2278,0,0,0,0,0,0,14.09,14.39,28.83
$GC,11856,0.72,201.0,936.3,6.2,572,11893,0.00,2.00,33.03,1.747,4,0.000,0.116,3123,2579,2164,0,0,0,0,0,0,28.83,14.37,13.35
$GC,12071,0.72,201.0,922.1,7.3,579,12080,0.00,2.05,0.00,0.000,6,0.000,0.131,3130,1542,2154,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12385,0.73,205.3,898.9,7.0,590,12390,0.00,2.00,0.00,0.000,4,0.000,0.125,3130,2576,2153,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12534,0.73,205.3,888.0,7.3,595,12539,0.00,2.00,0.00,0.000,6,0.000,0.138,3137,1561,2151,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12865,0.73,219.3,865.4,6.7,606,12892,0.00,1.95,18.83,1.682,4,0.000,0.124,3137,2573,2088,0,0,0,0,0,0,28.83,14.45,13.43
$GC,13081,0.74,225.2,850.8,7.0,613,13091,0.00,1.98,1.08,0.195,6,0.000,0.135,3145,1583,2070,0,0,0,0,0,0,28.83,14.23,14.26
$GC,13405,0.74,232.3,828.0,6.9,624,13424,0.00,1.92,14.23,1.633,4,0.000,0.121,3145,2580,2038,0,0,0,0,0,0,28.83,14.48,13.45
$GC,13603,0.74,232.3,813.4,7.3,630,13610,0.00,1.95,0.00,0.000,6,0.000,0.132,3152,1598,2031,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13936,0.74,232.3,789.2,7.3,641,13941,0.00,1.85,0.00,0.000,4,0.000,0.122,3154,2577,2030,0,0,0,0,0,0,28.83,14.26,28.83
$GC,14013,0.74,232.3,784.6,7.5,643,14021,0.00,1.90,0.00,0.000,6,0.000,0.129,3159,1611,2029,0,0,0,0,0,0,28.83,14.16,28.83
$GC,14323,0.74,232.3,759.5,7.4,654,14331,0.00,1.85,0.00,0.000,4,0.000,0.114,3159,2573,2029,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14373,0.74,232.3,757.3,7.4,655,14382,0.10,1.85,0.00,0.000,6,0.276,0.126,3139,1629,2028,0,0,0,0,0,0,13.90,14.14,28.83
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$GC,19085,0.77,275.2,373.1,7.3,813,19093,0.00,2.55,1.27,0.178,4,0.000,0.146,3173,455,1866,0,0,0,0,0,0,28.83,14.02,14.03
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$STATE,23475,end climb,SURFACE_DEPTH_REACHED
$STATE,23475,begin surface coast
$FINISH,1.5,1.005703
$STATE,23510,end surface coast,CONTROL_FINISHED_OK
$STATE,23510,begin surface
$SM_CCo,23534,26.77,0.127,0,0,1561,350.04
$SM_GC,2.36,8.85,0.43,26.77,0.080,0.135,0.127,141,1515,1561,-8.53,0.31,350.04,0,0,0,0,0,0,14.35,14.21,14.28
$IRIDIUM_FIX,2427.58,-3746.26,220113,212151
$TT8_MAMPS,0.024717,0.024717
$HUMID,57.16
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7607840
$TM_FREEKB,623328991
$24V_AH,13.0,180.438
$10V_AH,12.5,0.000
$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,23.600,193.150,488.125,26.775,0.000,0.000,0.000,343.625,0.500,0.000,20.942,3409.532,16460.037,914.543,2688.987,720.028,0.000,2481.997,0.000,2258.386,0.000,0.540,0.000
$DEVICE_MAMPS,346.545,166.770,1839.825,126.990,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23559.000,5771.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.773,21.863,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,43284,1165
$CAP_FILE_SIZE,249860,0
$CFSIZE,260034560,191741952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075, 10.9,1
$GPS,230113,103758,2435.745,-3744.738,39,0.8,39,-13.9