version: 66.11
glider: 190
mission: 6
dive: 608
start: 3 15 113 18 38 28
data:
$ID,190
$MISSION,6
$DIVE,608
$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,190
$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,-13749.267
$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,16
$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
$GPS1,150313,182505,2427.548,-3838.048,36,0.9,37,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-59.9
$GPS2,150313,183754,2427.437,-3838.106,14,1.2,14,-14.2
$SPEED_LIMITS,0.123,0.141
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$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,93.2,62018,-13.4,-7.101,-26.77
$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,-0.78,-184.9,0.0,0.0,0,33,0.00,0.00,-9.50,0.000,2,0.000,0.000,138,1515,1482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.5,0.0,1,154,10.73,2.15,-93.78,0.000,4,0.325,0.155,2615,452,3446,0,0,0,0,0,0,14.03,14.02,14.59
$GC,329,-0.75,-184.9,17.8,-7.8,30,336,0.00,1.98,0.00,0.000,6,0.000,0.080,2608,1528,3446,0,0,0,0,0,0,28.83,14.00,28.83
$GC,638,-0.75,-184.9,45.6,-8.6,61,645,0.00,2.15,0.00,0.000,4,0.000,0.134,2608,458,3446,0,0,0,0,0,0,28.83,13.90,28.83
$GC,790,-0.72,-184.9,59.7,-9.5,76,797,0.12,1.92,0.00,0.000,6,0.243,0.081,2634,1501,3446,0,0,0,0,0,0,13.74,13.96,28.83
$GC,1097,-0.72,-184.9,85.0,-8.0,107,1104,0.00,2.12,0.00,0.000,4,0.000,0.135,2634,457,3446,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1251,-0.72,-184.9,98.3,-9.2,122,1258,0.00,1.85,0.00,0.000,6,0.000,0.080,2632,1461,3446,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1559,-0.72,-184.9,126.1,-8.7,153,1566,0.00,2.03,0.00,0.000,4,0.000,0.134,2632,453,3446,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1691,-0.72,-184.9,136.8,-7.8,166,1698,0.00,1.83,0.00,0.000,6,0.000,0.079,2632,1427,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1997,-0.72,-184.9,159.3,-7.6,197,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1427,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2297,-0.72,-184.9,184.5,-8.9,227,2305,0.00,2.17,0.00,0.000,4,0.000,0.099,2632,2569,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2347,-0.72,-184.9,188.8,-8.6,232,2355,0.00,2.28,0.00,0.000,6,0.000,0.112,2632,1412,3446,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2658,-0.72,-184.9,215.5,-8.3,263,2665,0.00,1.92,0.00,0.000,4,0.000,0.134,2632,457,3446,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2709,-0.72,-184.9,219.6,-8.5,268,2715,0.00,1.80,0.00,0.000,6,0.000,0.079,2632,1441,3447,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3019,-0.72,-184.9,244.2,-8.1,299,3025,0.00,2.15,0.00,0.000,4,0.000,0.101,2631,2579,3447,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3160,-0.74,-184.9,254.1,-8.3,309,3167,0.00,2.20,0.00,0.000,6,0.000,0.112,2632,1445,3446,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3469,-0.77,-184.9,282.9,-8.8,320,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1445,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.79,-184.9,308.0,-8.1,330,3774,0.00,2.15,0.00,0.000,4,0.000,0.101,2632,2579,3446,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3867,-0.82,-184.9,314.7,-7.6,333,3874,0.00,2.22,0.00,0.000,6,0.000,0.112,2632,1452,3445,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4189,-0.84,-184.9,338.8,-7.4,344,4194,0.00,1.98,0.00,0.000,4,0.000,0.132,2631,460,3445,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4226,-0.84,-184.9,341.1,-7.5,345,4233,0.00,1.88,0.00,0.000,6,0.000,0.079,2631,1458,3444,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4551,-0.86,-184.9,366.5,-7.9,356,4557,0.12,2.15,0.00,0.000,4,0.129,0.103,2566,2577,3444,0,0,0,0,0,0,14.34,13.86,28.83
$GC,4626,-0.86,-184.9,371.7,-8.2,358,4635,0.00,2.25,0.00,0.000,6,0.000,0.116,2566,1451,3444,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4939,-0.86,-184.9,404.3,-10.3,369,4944,0.00,2.00,0.00,0.000,4,0.000,0.134,2566,456,3443,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5097,-0.82,-184.9,420.4,-10.8,374,5104,0.12,1.85,0.00,0.000,6,0.256,0.079,2598,1439,3443,0,0,0,0,0,0,13.58,13.87,28.83
$GC,5422,-0.82,-184.9,450.7,-8.6,385,5427,0.00,2.20,0.00,0.000,4,0.000,0.106,2593,2582,3442,0,0,0,0,0,0,28.83,13.86,28.83
$GC,5477,-0.82,-184.9,455.4,-8.1,387,5485,0.00,2.25,0.00,0.000,6,0.000,0.115,2592,1449,3442,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5808,-0.82,-184.9,480.1,-7.2,398,5814,0.00,2.00,0.00,0.000,4,0.000,0.136,2591,460,3441,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5948,-0.80,-184.9,489.1,-7.5,402,5955,0.00,1.83,0.00,0.000,6,0.000,0.083,2591,1431,3440,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6258,-0.80,-184.9,514.3,-8.1,413,6264,0.00,2.20,0.00,0.000,4,0.000,0.107,2592,2583,3440,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6358,-0.80,-184.9,521.7,-8.3,416,6365,0.00,2.25,0.00,0.000,6,0.000,0.114,2592,1452,3439,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6677,-0.80,-184.9,552.2,-9.7,427,6685,0.00,2.00,0.00,0.000,4,0.000,0.128,2592,461,3438,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6768,-0.80,-184.9,561.5,-10.2,430,6774,0.00,1.83,0.00,0.000,6,0.000,0.076,2592,1439,3438,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7098,-0.80,-184.9,594.9,-10.1,441,7104,0.00,2.20,0.00,0.000,4,0.000,0.106,2592,2570,3437,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7157,-0.80,-184.9,600.3,-9.5,443,7164,0.00,2.22,0.00,0.000,6,0.000,0.114,2592,1447,3436,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7490,-0.80,-184.9,628.1,-7.8,454,7495,0.00,1.98,0.00,0.000,4,0.000,0.126,2592,458,3438,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7567,-0.80,-184.9,632.7,-7.6,456,7575,0.00,1.83,0.00,0.000,6,0.000,0.074,2592,1440,3435,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7878,-0.80,-184.9,654.9,-6.6,467,7885,0.00,2.00,0.00,0.000,4,0.000,0.127,2592,459,3435,0,0,0,0,0,0,28.83,13.77,28.83
$GC,8038,-0.80,-184.9,665.5,-7.2,472,8045,0.00,1.77,0.00,0.000,6,0.000,0.076,2592,1407,3433,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8357,-0.80,-184.9,691.4,-8.5,483,8364,0.00,1.92,0.00,0.000,4,0.000,0.127,2592,463,3433,0,0,0,0,0,0,28.83,13.72,28.83
$GC,8399,-0.80,-184.9,694.1,-8.5,484,8405,0.00,1.73,0.00,0.000,6,0.000,0.077,2592,1404,3433,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8718,-0.80,-184.9,724.4,-9.6,495,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1404,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9019,-0.80,-184.9,752.4,-9.3,505,9024,0.00,1.92,0.00,0.000,4,0.000,0.129,2592,454,3431,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9107,-0.80,-184.9,760.1,-8.7,508,9114,0.00,1.75,0.00,0.000,6,0.000,0.077,2592,1390,3431,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9438,-0.80,-184.9,785.4,-7.4,519,9445,0.00,2.30,0.00,0.000,4,0.000,0.105,2591,2569,3429,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9589,-0.80,-184.9,795.7,-6.8,524,9594,0.00,2.30,0.00,0.000,6,0.000,0.117,2592,1408,3429,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9917,-0.80,-184.9,818.6,-7.1,535,9925,0.00,1.92,0.00,0.000,4,0.000,0.133,2591,461,3428,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10018,-0.80,-184.9,825.4,-7.5,538,10024,0.00,1.77,0.00,0.000,6,0.000,0.082,2592,1400,3427,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10338,-0.80,-184.9,850.2,-7.8,549,10344,0.00,2.30,0.00,0.000,4,0.000,0.107,2592,2574,3424,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10407,-0.80,-184.9,854.9,-8.0,551,10414,0.00,2.30,0.00,0.000,6,0.000,0.114,2592,1421,3426,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10729,-0.80,-184.9,882.7,-8.7,562,10734,0.00,1.92,0.00,0.000,4,0.000,0.135,2591,461,3425,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10796,-0.80,-184.9,887.9,-8.7,564,10804,0.00,1.83,0.00,0.000,6,0.000,0.083,2592,1418,3424,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11119,-0.80,-184.9,917.4,-9.1,575,11125,0.00,2.25,0.00,0.000,4,0.000,0.109,2591,2576,3423,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11167,-0.80,-184.9,920.1,-9.0,576,11175,0.00,2.33,0.00,0.000,6,0.000,0.118,2591,1411,3423,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11479,-0.80,-184.9,949.5,-9.1,587,11485,0.00,1.92,0.00,0.000,4,0.000,0.135,2591,457,3422,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11546,-0.80,-184.9,955.2,-9.3,589,11553,0.00,1.83,0.00,0.000,6,0.000,0.083,2591,1416,3422,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,11804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11804,begin apogee
$GC,11813,-0.25,0.0,980.2,-9.3,598,12051,0.68,0.00,224.48,1.627,4,0.179,0.000,2784,1523,2686,0,0,0,0,0,0,13.79,28.83,13.05
$STATE,12053,end apogee,CONTROL_FINISHED_OK
$STATE,12053,begin climb
$GC,12057,0.78,184.9,995.4,0.0,606,12262,1.12,2.22,193.50,1.830,4,0.142,0.148,3119,460,1940,0,0,0,0,0,0,13.75,13.69,13.03
$GC,12402,0.75,184.9,978.9,7.5,618,12408,0.00,2.00,0.00,0.000,6,0.000,0.092,3119,1513,1924,0,0,0,0,0,0,28.83,13.94,28.83
$GC,12736,0.75,184.9,953.8,7.8,629,12741,0.00,2.05,0.00,0.000,4,0.000,0.111,3119,2587,1920,0,0,0,0,0,0,28.83,13.99,28.83
$GC,12881,0.75,184.9,941.5,8.3,634,12888,0.00,2.05,0.00,0.000,6,0.000,0.123,3127,1563,1919,0,0,0,0,0,0,28.83,13.86,28.83
$GC,13215,0.75,184.9,912.6,9.0,645,13220,0.00,2.28,0.00,0.000,4,0.000,0.151,3136,460,1916,0,0,0,0,0,0,28.83,13.93,28.83
$GC,13363,0.72,184.9,898.6,9.4,650,13369,0.15,2.17,0.00,0.000,6,0.273,0.095,3103,1602,1918,0,0,0,0,0,0,13.75,14.04,28.83
$GC,13696,0.72,184.9,871.4,7.9,661,13701,0.00,2.35,0.00,0.000,4,0.000,0.155,3111,459,1917,0,0,0,0,0,0,28.83,13.92,28.83
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$GC,22548,0.85,283.2,138.7,7.8,1043,22555,0.00,2.67,0.00,0.000,6,0.000,0.083,3144,1878,1546,0,0,0,0,0,0,28.83,13.99,28.83
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$STATE,24117,end climb,SURFACE_DEPTH_REACHED
$STATE,24117,begin surface coast
$FINISH,1.7,1.011781
$STATE,24148,end surface coast,CONTROL_FINISHED_OK
$STATE,24149,begin surface
$SM_CCo,24176,36.65,0.129,0,0,1265,350.04
$SM_GC,2.59,8.85,0.75,36.65,0.069,0.135,0.129,136,1513,1265,-8.48,0.20,350.04,0,0,0,0,0,0,14.14,13.86,14.14
$IRIDIUM_FIX,2418.11,-3839.22,150313,111107
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.88
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,5
$SC_FREEKB,7537920
$24V_AH,13.0,254.320
$10V_AH,12.2,0.000
$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,22.625,246.475,546.425,36.650,0.000,0.000,0.000,448.325,1.250,0.000,15.978,3505.308,16729.770,977.721,2868.050,889.628,0.000,2721.301,0.000,2372.200,0.000,0.540,0.000
$DEVICE_MAMPS,325.125,163.710,1829.880,129.285,0.000,0.000,0.000,162.180,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24200.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.950,0.000,0.000,0.000
$MEM,344900
$DATA_FILE_SIZE,46696,1203
$CAP_FILE_SIZE,258842,0
$CFSIZE,260034560,171102208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.128,263.8,1
$GPS,160313,012329,2427.364,-3839.085,39,0.9,40,-14.2