version: 66.11
glider: 190
mission: 6
dive: 532
start: 2 22 113 5 23 44
data:
$ID,190
$MISSION,6
$DIVE,532
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,1
$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,-13585.39
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,11
$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,2694
$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,1
$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
$GPS1,220213,051130,2428.130,-3813.460,42,0.8,42,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-63.2
$GPS2,220213,052311,2428.009,-3813.474,21,0.8,21,-14.1
$SPEED_LIMITS,0.123,0.130
$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,207.7,15021,-16.1,-7.101,-28.69
$D_GRID,980
$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,22,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.10,0.000,2,0.000,0.000,140,1511,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,10.93,2.05,-86.78,0.000,4,0.342,0.157,2576,459,3329,0,0,0,0,0,0,14.09,14.02,14.65
$GC,327,-0.85,-155.7,19.3,-9.7,30,335,0.10,1.95,0.00,0.000,6,0.285,0.090,2589,1512,3330,0,0,0,0,0,0,13.90,14.04,28.83
$GC,636,-0.85,-155.7,46.4,-8.3,61,644,0.00,2.03,0.00,0.000,4,0.000,0.108,2583,2586,3330,0,0,0,0,0,0,28.83,14.05,28.83
$GC,714,-0.85,-155.7,53.0,-8.4,69,724,0.00,2.10,0.00,0.000,6,0.000,0.118,2583,1523,3333,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1025,-0.85,-155.7,78.5,-8.2,100,1033,0.00,2.12,0.00,0.000,4,0.000,0.138,2583,455,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1195,-0.81,-155.7,93.7,-9.1,117,1204,0.00,1.92,0.00,0.000,6,0.000,0.083,2579,1500,3330,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1506,-0.81,-155.7,120.0,-7.9,148,1513,0.12,0.00,0.00,0.000,6,0.256,0.000,2609,1500,3330,0,0,0,0,0,0,14.15,28.83,28.83
$GC,1816,-0.81,-155.7,142.9,-7.4,179,1823,0.00,2.05,0.00,0.000,4,0.000,0.138,2609,459,3331,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1994,-0.81,-155.7,157.8,-8.5,197,2003,0.00,1.90,0.00,0.000,6,0.000,0.082,2605,1488,3331,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2305,-0.81,-155.7,183.2,-8.1,228,2313,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,458,3331,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2451,-0.81,-155.7,195.1,-8.6,242,2458,0.00,1.85,0.00,0.000,6,0.000,0.083,2605,1482,3330,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2757,-0.81,-155.7,220.4,-8.1,273,2766,0.00,2.03,0.00,0.000,4,0.000,0.135,2604,459,3331,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2796,-0.81,-155.7,223.8,-8.6,277,2806,0.00,1.83,0.00,0.000,6,0.000,0.083,2605,1467,3331,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3108,-0.81,-155.7,248.9,-7.7,308,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1467,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3426,-0.81,-155.7,273.1,-7.6,320,3433,0.00,1.98,0.00,0.000,4,0.000,0.134,2605,464,3331,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3627,-0.81,-155.7,286.6,-7.5,326,3634,0.00,1.80,0.00,0.000,6,0.000,0.082,2605,1458,3331,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3936,-0.81,-155.7,310.7,-7.7,337,3943,0.00,1.98,0.00,0.000,4,0.000,0.136,2605,458,3331,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4088,-0.81,-155.7,323.6,-8.6,342,4093,0.00,1.75,0.00,0.000,6,0.000,0.083,2605,1426,3330,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4416,-0.81,-155.7,351.7,-8.4,353,4423,0.00,1.92,0.00,0.000,4,0.000,0.138,2604,458,3331,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4587,-0.81,-155.7,364.5,-8.6,358,4594,0.00,1.73,0.00,0.000,6,0.000,0.084,2605,1403,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4896,-0.81,-155.7,390.2,-7.6,369,4903,0.00,1.88,0.00,0.000,4,0.000,0.139,2605,461,3327,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5057,-0.81,-155.7,402.8,-8.5,374,5063,0.00,1.67,0.00,0.000,6,0.000,0.086,2605,1374,3329,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5377,-0.81,-155.7,430.6,-8.7,385,5383,0.00,1.83,0.00,0.000,4,0.000,0.139,2605,459,3328,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5517,-0.81,-155.7,441.5,-9.2,389,5526,0.00,1.60,0.00,0.000,6,0.000,0.086,2605,1341,3327,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5826,-0.81,-155.7,469.6,-8.1,400,5833,0.00,1.75,0.00,0.000,4,0.000,0.141,2604,459,3326,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5887,-0.81,-155.7,474.0,-7.7,402,5893,0.00,1.60,0.00,0.000,6,0.000,0.087,2605,1334,3326,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6221,-0.83,-155.7,493.8,-5.4,413,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1334,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6517,-0.83,-155.7,510.8,-6.2,423,6524,0.00,2.35,0.00,0.000,4,0.000,0.109,2604,2571,3324,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6691,-0.85,-155.7,520.9,-6.8,428,6697,0.00,2.45,0.00,0.000,6,0.000,0.123,2605,1309,3323,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7000,-0.88,-155.7,549.0,-8.9,439,7005,0.00,1.67,0.00,0.000,4,0.000,0.145,2604,459,3323,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7027,-0.88,-155.7,551.6,-8.9,440,7033,0.00,1.52,0.00,0.000,6,0.000,0.090,2605,1283,3323,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7360,-0.90,-155.7,581.6,-9.2,451,7366,0.00,2.45,0.00,0.000,4,0.000,0.112,2605,2580,3322,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7456,-0.92,-155.7,589.4,-8.7,454,7463,0.00,2.60,0.00,0.000,6,0.000,0.125,2603,1265,3321,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7781,-0.94,-155.7,617.5,-8.4,465,7787,0.12,1.60,0.00,0.000,4,0.138,0.142,2548,458,3320,0,0,0,0,0,0,14.43,13.84,28.83
$GC,7971,-0.90,-155.7,634.7,-9.6,471,7977,0.08,1.42,0.00,0.000,6,0.250,0.087,2571,1233,3320,0,0,0,0,0,0,13.74,14.04,28.83
$GC,8291,-0.90,-155.7,664.7,-9.4,482,8296,0.00,1.55,0.00,0.000,4,0.000,0.146,2571,459,3319,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8327,-0.90,-155.7,667.6,-9.5,483,8333,0.00,1.45,0.00,0.000,6,0.000,0.090,2566,1236,3318,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8649,-0.90,-155.7,699.5,-9.4,494,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1236,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8947,-0.90,-155.7,724.3,-7.6,504,8954,0.00,1.58,0.00,0.000,4,0.000,0.144,2566,458,3317,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9048,-0.90,-155.7,730.9,-7.3,507,9054,0.00,1.42,0.00,0.000,6,0.000,0.090,2561,1224,3316,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9371,-0.90,-155.7,751.2,-6.2,518,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1224,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9667,-0.90,-155.7,772.5,-7.7,528,9674,0.00,1.55,0.00,0.000,4,0.000,0.146,2561,459,3314,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9768,-0.90,-155.7,780.2,-8.4,531,9774,0.00,1.40,0.00,0.000,6,0.000,0.092,2556,1211,3314,0,0,0,0,0,0,28.83,13.98,28.83
$GC,10088,-0.90,-155.7,810.6,-9.5,542,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1211,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10388,-0.90,-155.7,837.6,-8.8,552,10394,0.00,1.55,0.00,0.000,4,0.000,0.150,2556,458,3311,0,0,0,0,0,0,28.83,13.66,28.83
$GC,10516,-0.90,-155.7,848.4,-9.1,556,10519,0.00,1.40,0.00,0.000,6,0.000,0.091,2552,1204,3311,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10830,-0.90,-155.7,872.9,-7.3,567,10835,0.00,1.50,0.00,0.000,4,0.000,0.150,2553,459,3310,0,0,0,0,0,0,28.83,13.68,28.83
$GC,10889,-0.90,-155.7,877.3,-7.2,569,10895,0.00,1.35,0.00,0.000,6,0.000,0.095,2552,1181,3309,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11221,-0.90,-155.7,899.4,-6.7,580,11227,0.00,1.50,0.00,0.000,4,0.000,0.153,2553,457,3309,0,0,0,0,0,0,28.83,13.64,28.83
$GC,11269,-0.90,-155.7,901.5,-6.8,581,11276,0.00,1.35,0.00,0.000,6,0.000,0.093,2553,1175,3308,0,0,0,0,0,0,28.83,13.91,28.83
$GC,11579,-0.90,-155.7,926.9,-8.3,592,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1175,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11879,-0.90,-155.7,954.5,-9.5,602,11886,0.00,1.48,0.00,0.000,4,0.000,0.148,2552,459,3307,0,0,0,0,0,0,28.83,13.63,28.83
$GC,11969,-0.90,-155.7,963.6,-10.0,605,11975,0.00,1.33,0.00,0.000,6,0.000,0.088,2549,1175,3306,0,0,0,0,0,0,28.83,13.97,28.83
$STATE,12145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12145,begin apogee
$GC,12155,-0.25,0.0,981.8,-10.1,611,12316,0.85,0.00,155.70,1.827,4,0.216,0.000,2779,1516,2693,0,0,0,0,0,0,13.69,28.83,12.96
$STATE,12320,end apogee,CONTROL_FINISHED_OK
$STATE,12320,begin climb
$GC,12324,0.90,155.7,991.2,0.0,616,12501,1.20,2.03,165.50,1.834,4,0.130,0.122,3156,2579,2059,0,0,0,0,0,0,14.10,14.10,13.00
$GC,12720,0.87,155.7,971.4,8.0,629,12727,0.00,2.10,0.00,0.000,6,0.000,0.141,3163,1525,2044,0,0,0,0,0,0,28.83,14.11,28.83
$GC,13045,0.85,155.7,941.8,9.5,640,13051,0.00,2.17,0.00,0.000,4,0.000,0.174,3170,453,2041,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13161,0.81,155.7,929.8,9.9,644,13167,0.15,2.03,0.00,0.000,6,0.274,0.100,3136,1533,2040,0,0,0,0,0,0,13.97,14.17,28.83
$GC,13494,0.81,155.7,897.9,9.4,655,13499,0.00,1.95,0.00,0.000,4,0.000,0.118,3136,2579,2038,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13712,0.81,155.7,878.9,8.8,662,13718,0.00,2.03,0.00,0.000,6,0.000,0.138,3144,1548,2037,0,0,0,0,0,0,28.83,13.96,28.83
$GC,14034,0.81,155.7,853.8,7.2,673,14041,0.00,1.98,0.00,0.000,4,0.000,0.124,3143,2573,2037,0,0,0,0,0,0,28.83,14.06,28.83
$GC,14270,0.82,180.2,838.0,6.3,681,14300,0.00,1.98,24.25,1.668,6,0.000,0.138,3151,1591,1957,0,0,0,0,0,0,28.83,13.88,13.31
$GC,14605,0.82,180.2,815.1,7.2,692,14610,0.00,1.88,0.00,0.000,4,0.000,0.124,3151,2580,1948,0,0,0,0,0,0,28.83,14.16,28.83
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$GC,19846,0.85,221.1,398.4,6.1,867,19889,0.00,1.40,36.20,1.232,4,0.000,0.103,3160,2581,1786,0,0,0,0,0,0,28.83,14.33,13.44
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$STATE,24312,end climb,SURFACE_DEPTH_REACHED
$STATE,24313,begin surface coast
$FINISH,1.7,1.003475
$STATE,24344,end surface coast,CONTROL_FINISHED_OK
$STATE,24344,begin surface
$SM_CCo,24368,58.92,0.125,0,0,1265,350.04
$SM_GC,2.48,8.82,1.95,58.92,0.070,0.080,0.125,144,1521,1265,-8.46,-0.59,350.04,0,0,0,0,0,0,14.22,14.12,14.25
$IRIDIUM_FIX,2420.48,-3815.55,210213,222233
$TT8_MAMPS,0.024717,0.024717
$HUMID,58.82
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,7566848
$24V_AH,13.0,223.648
$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,22.875,167.575,403.050,58.925,0.000,0.000,0.000,391.750,0.500,0.000,22.385,3594.591,17000.658,845.781,2864.108,812.906,0.000,2519.116,0.000,2417.806,0.000,0.540,0.000
$DEVICE_MAMPS,341.955,173.655,1833.705,124.695,0.000,0.000,0.000,163.710,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24400.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.956,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,46622,1206
$CAP_FILE_SIZE,249591,0
$CFSIZE,260034560,179724288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,264.4,1
$GPS,220213,121204,2426.852,-3813.463,25,1.0,25,-14.1