version: 66.13
glider: 191
mission: 8
dive: 690
start: 3 12 117 3 20 14
data:
$ID,191
$MISSION,8
$DIVE,690
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,6
$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,420
$T_MISSION,440
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54430
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0087299999
$HD_C,7.1299997e-05
$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,515
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,165
$PITCH_MAX,3888
$C_PITCH,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1775
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2793
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-151.91774
$PRESSURE_SLOPE,0.00010696654
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$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,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,120317,030303,949.3220,-12513.1768,36,0.8,36,9.2,0.7,264.4,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.7
$GPS2,120317,031946,949.1882,-12513.3994,16,1.0,16,9.2,0.0,0.0,7,9.8
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,158.7,5011,-20.6,-7.857,-24.14,1349
$D_GRID,1000
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-0.95,-75.6,153,1773,892,517,0.0,0.0,0,118,0.00,0.00,-80.55,0.000,16390,0.000,0.000,153,1773,3104,3140,3068,0,0,0,0,0,0,14.40,12.74,14.43
$GC,123,-0.95,-75.6,154,1773,3139,3064,5.2,-7.3,3,146,12.40,2.45,0.00,0.000,2564,0.383,0.046,2625,369,3105,3142,3068,0,0,0,0,0,0,14.00,14.28,14.32
$GC,245,-0.61,-75.6,2625,367,3144,3064,45.6,-22.9,21,252,0.50,2.38,0.00,0.000,3206,0.297,0.032,2725,1769,3106,3143,3069,0,0,0,0,0,0,13.79,14.23,14.10
$GC,570,-0.61,-75.6,2726,1770,3144,3068,84.7,-9.1,34,577,0.00,2.47,0.00,0.000,516,0.000,0.053,2725,372,3105,3143,3068,0,0,0,0,0,0,14.55,14.12,14.57
$GC,808,-0.61,-75.6,2726,372,3144,3070,101.8,-7.9,68,814,0.00,2.38,0.00,0.000,1030,0.000,0.030,2718,1791,3106,3142,3070,0,0,0,0,0,0,14.26,14.19,14.28
$GC,1132,-0.63,-91.5,2718,1791,3143,3071,123.7,-6.6,79,1135,0.00,0.00,0.00,0.000,38,0.000,0.000,2715,1791,3109,3145,3073,0,0,0,0,0,0,14.52,14.54,14.54
$GC,1467,-0.63,-91.5,2718,1795,3143,3068,151.5,-8.6,85,1474,0.00,2.38,0.00,0.000,260,0.000,0.050,2708,3155,3105,3143,3068,0,0,0,0,0,0,14.54,14.08,14.57
$GC,1524,-0.63,-91.5,2708,3156,3144,3069,157.0,-9.7,93,1531,0.00,2.38,0.00,0.000,1030,0.000,0.036,2708,1767,3106,3143,3070,0,0,0,0,0,0,14.21,14.14,14.24
$GC,1863,-0.63,-91.5,2708,1764,3144,3064,190.6,-10.0,106,1869,0.00,2.50,0.00,0.000,516,0.000,0.056,2708,369,3103,3143,3063,0,0,0,0,0,0,14.56,14.04,14.60
$GC,2042,-0.63,-91.5,2708,369,3144,3062,208.7,-10.2,131,2048,0.00,2.38,0.00,0.000,1030,0.000,0.031,2699,1766,3101,3143,3060,0,0,0,0,0,0,14.23,14.16,14.24
$GC,2373,-0.63,-91.5,2699,1767,3144,3054,239.5,-9.1,143,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1763,3098,3142,3054,0,0,0,0,0,0,14.56,14.58,14.58
$GC,2708,-0.63,-91.5,2699,1767,3144,3050,268.5,-8.6,149,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1766,3095,3142,3049,0,0,0,0,0,0,14.71,14.74,14.73
$GC,3044,-0.63,-91.5,2699,1767,3144,3046,299.2,-9.2,155,3057,0.00,2.53,0.00,0.000,516,0.000,0.056,2695,376,3094,3143,3046,0,0,0,0,0,0,14.71,13.97,14.73
$GC,3101,-0.63,-91.5,2699,377,3144,3045,304.8,-10.0,162,3115,0.15,2.42,0.00,0.000,3078,0.260,0.032,2718,1782,3094,3143,3045,0,0,0,0,0,0,13.61,14.14,13.90
$GC,3444,-0.63,-91.5,2718,1783,3144,3040,334.0,-8.5,169,3457,0.00,2.47,0.00,0.000,260,0.000,0.053,2710,3167,3091,3142,3040,0,0,0,0,0,0,14.66,14.00,14.68
$GC,3508,-0.73,-91.5,2710,3167,3141,3040,339.4,-8.4,177,3521,0.00,2.42,0.00,0.000,1158,0.000,0.037,2710,1772,3091,3143,3039,0,0,0,0,0,0,14.14,14.07,14.18
$GC,3853,-0.73,-91.5,2710,1771,3143,3036,368.9,-8.6,190,3866,0.00,2.55,0.00,0.000,516,0.000,0.058,2710,364,3088,3143,3034,0,0,0,0,0,0,14.68,14.01,14.69
$GC,4011,-0.73,-91.5,2710,368,3143,3032,383.6,-9.7,211,4024,0.00,2.42,0.00,0.000,1030,0.000,0.031,2701,1777,3086,3141,3032,0,0,0,0,0,0,14.19,14.13,14.21
$GC,4377,-0.73,-91.5,2701,1777,3143,3031,416.3,-8.8,220,4390,0.00,2.47,0.00,0.000,260,0.000,0.052,2690,3169,3086,3143,3029,0,0,0,0,0,0,14.62,14.00,14.62
$GC,4411,-0.73,-91.5,2690,3170,3144,3028,419.4,-8.5,224,4424,0.00,2.42,0.00,0.000,1030,0.000,0.037,2690,1774,3085,3143,3028,0,0,0,0,0,0,14.14,14.05,14.17
$GC,4783,-0.73,-91.5,2690,1773,3143,3026,451.2,-8.5,234,4796,0.00,2.55,0.00,0.000,516,0.000,0.059,2690,373,3083,3142,3025,0,0,0,0,0,0,14.71,13.98,14.72
$GC,4924,-0.73,-91.5,2690,373,3144,3023,463.5,-8.6,253,4937,0.00,2.42,0.00,0.000,1030,0.000,0.032,2680,1781,3083,3143,3023,0,0,0,0,0,0,14.17,14.11,14.19
$GC,5247,-0.73,-91.5,2680,1782,3144,3021,491.1,-8.5,263,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1782,3081,3143,3020,0,0,0,0,0,0,14.71,14.72,14.72
$GC,5585,-0.73,-91.5,2680,1782,3143,3017,520.4,-8.7,269,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1781,3080,3143,3017,0,0,0,0,0,0,14.66,14.69,14.69
$GC,5919,-0.73,-91.5,2680,1782,3143,3016,549.5,-8.6,275,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1781,3079,3142,3016,0,0,0,0,0,0,14.69,14.71,14.71
$GC,6254,-0.73,-91.5,2680,1782,3144,3013,578.5,-8.6,281,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1781,3078,3143,3013,0,0,0,0,0,0,14.69,14.71,14.71
$GC,6591,-0.73,-91.5,2680,1782,3143,3009,608.2,-8.9,287,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1781,3076,3143,3009,0,0,0,0,0,0,14.69,14.71,14.69
$GC,6929,-0.73,-91.5,2680,1782,3141,3008,637.8,-8.8,293,6942,0.00,2.58,0.00,0.000,516,0.000,0.058,2680,376,3075,3142,3008,0,0,0,0,0,0,14.66,13.99,14.69
$GC,6977,-0.73,-91.5,2681,375,3143,3009,642.7,-9.9,299,6990,0.00,2.42,0.00,0.000,1030,0.000,0.034,2671,1771,3075,3142,3008,0,0,0,0,0,0,14.14,14.08,14.17
$GC,7334,-0.73,-91.5,2672,1771,3143,3006,676.8,-9.7,307,7348,0.00,2.50,0.00,0.000,260,0.000,0.053,2661,3170,3073,3143,3004,0,0,0,0,0,0,14.62,14.06,14.64
$GC,7420,-0.73,-91.5,2661,3171,3144,3004,685.3,-9.9,318,7433,0.15,2.45,0.00,0.000,3078,0.264,0.038,2688,1772,3073,3142,3004,0,0,0,0,0,0,13.57,14.04,13.88
$GC,7742,-0.73,-91.5,2688,1772,3143,3003,714.8,-9.1,328,7756,0.00,2.55,0.00,0.000,516,0.000,0.061,2690,379,3072,3142,3002,0,0,0,0,0,0,14.60,14.05,14.62
$GC,7856,-0.73,-91.5,2691,380,3144,3001,725.3,-9.0,343,7870,0.00,2.45,0.00,0.000,1030,0.000,0.033,2682,1779,3072,3143,3001,0,0,0,0,0,0,14.15,14.09,14.17
$GC,8198,-0.73,-91.5,2682,1780,3143,3000,754.0,-8.2,350,8212,0.00,2.47,0.00,0.000,260,0.000,0.054,2673,3163,3071,3143,3000,0,0,0,0,0,0,14.59,14.04,14.61
$GC,8264,-0.73,-91.5,2676,3163,3144,3001,759.2,-8.2,358,8277,0.00,2.45,0.00,0.000,1030,0.000,0.037,2673,1771,3071,3142,3000,0,0,0,0,0,0,14.04,13.95,14.06
$GC,8609,-0.73,-91.5,2672,1770,3143,2999,787.0,-8.1,371,8623,0.00,2.55,0.00,0.000,516,0.000,0.061,2673,374,3070,3142,2998,0,0,0,0,0,0,14.58,14.04,14.60
$GC,8791,-0.73,-91.5,2673,374,3143,2997,802.2,-8.5,396,8804,0.12,2.45,0.00,0.000,3078,0.282,0.034,2685,1777,3073,3143,3003,0,0,0,0,0,0,13.58,14.10,13.88
$GC,9129,-0.74,-100.9,2685,1777,3144,2996,826.3,-7.1,408,9142,0.00,2.50,0.00,0.000,292,0.000,0.055,2677,3163,3069,3143,2995,0,0,0,0,0,0,14.57,14.05,14.58
$GC,9213,-0.75,-105.9,2678,3163,3143,2995,832.7,-7.5,419,9226,0.00,2.45,0.00,0.000,1062,0.000,0.037,2678,1774,3068,3142,2995,0,0,0,0,0,0,14.10,14.02,14.14
$GC,9537,-0.75,-106.4,2678,1774,3143,2994,857.2,-7.8,429,9550,0.00,2.58,0.00,0.000,548,0.000,0.062,2677,370,3068,3143,2994,0,0,0,0,0,0,14.63,14.03,14.65
$GC,9726,-0.75,-106.4,2677,370,3143,2992,873.1,-8.4,455,9739,0.00,2.45,0.00,0.000,1030,0.000,0.034,2669,1773,3066,3143,2990,0,0,0,0,0,0,14.14,14.07,14.16
$GC,10058,-0.75,-106.4,2669,1773,3143,2990,900.4,-8.3,466,10071,0.00,2.50,0.00,0.000,260,0.000,0.054,2659,3167,3066,3142,2990,0,0,0,0,0,0,14.55,14.02,14.57
$GC,10162,-0.75,-106.4,2659,3168,3144,2985,909.5,-8.4,480,10176,0.00,2.47,0.00,0.000,1030,0.000,0.037,2659,1769,3065,3142,2989,0,0,0,0,0,0,14.11,14.02,14.14
$GC,10520,-0.75,-106.4,2659,1769,3143,2989,940.7,-8.9,488,10533,0.00,2.58,0.00,0.000,516,0.000,0.062,2659,375,3064,3142,2987,0,0,0,0,0,0,14.60,14.01,14.59
$GC,10647,-0.75,-106.4,2658,372,3143,2988,952.9,-9.6,505,10661,0.17,2.50,0.00,0.000,3078,0.282,0.034,2681,1788,3068,3143,2993,0,0,0,0,0,0,13.50,14.07,13.87
$GC,10985,-0.75,-106.4,2681,1788,3143,2986,980.3,-8.1,517,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1788,3063,3142,2985,0,0,0,0,0,0,14.52,14.54,14.54
$STATE,11148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11148,begin apogee
$GC,11160,-0.21,0.0,2682,1661,3144,2985,993.8,-8.0,520,11250,0.73,0.00,79.45,2.202,10246,0.250,0.000,2854,1656,2793,2905,2681,0,0,0,0,0,0,13.78,13.95,13.04
$STATE,11252,end apogee,CONTROL_FINISHED_OK
$STATE,11252,begin climb
$GC,11257,0.99,106.4,2855,1655,2899,2670,997.2,0.0,521,11400,1.40,2.53,118.53,2.178,10756,0.164,0.063,3251,346,2349,2509,2189,0,0,0,0,0,0,13.62,13.58,12.71
$GC,11429,0.99,106.4,3251,346,2509,2181,989.7,10.1,549,11442,0.00,2.35,0.00,0.000,1030,0.000,0.029,3251,1690,2343,2508,2179,0,0,0,0,0,0,13.87,13.82,13.89
$GC,11800,0.99,106.4,3251,1690,2509,2173,955.5,9.3,559,11813,0.00,2.40,0.00,0.000,260,0.000,0.049,3251,3059,2340,2508,2172,0,0,0,0,0,0,14.60,14.17,14.62
$GC,11959,0.99,106.4,3251,3059,2509,2169,941.0,10.4,580,11973,0.00,2.38,0.00,0.000,1030,0.000,0.041,3260,1692,2342,2516,2169,0,0,0,0,0,0,14.34,14.26,14.38
$GC,12324,0.99,106.4,3260,1693,2509,2169,906.8,9.3,589,12337,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1692,2338,2508,2169,0,0,0,0,0,0,14.66,14.68,14.68
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$STATE,24003,end climb,SURFACE_DEPTH_REACHED
$STATE,24003,begin surface coast
$FINISH,0.1,1.021854
$STATE,24035,end surface coast,CONTROL_FINISHED_OK
$STATE,24035,begin surface
$SM_CCo,24066,117.45,0.122,0,0,691,515.13
$SM_GC,1.01,9.88,0.10,117.45,0.068,0.106,0.122,162,1796,691,-8.61,-2.26,515.13,0,0,0,0,0,0,14.09,14.31,14.20
$IRIDIUM_FIX,947.31,-12513.69,110317,202247
$TT8_MAMPS,0.038199,0.370755
$HUMID,60.90
$INTERNAL_PRESSURE,9.12603
$TCM_TEMP,25.20
$XPDR_PINGS,3
$SC_FREEKB,7504768
$PM_FREEKB,51959232
$TM_FREEKB,1928256
$24V_AH,12.71,261.744
$10V_AH,11.92,0.000
$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,26.550,185.025,413.100,117.450,0.000,0.000,0.000,429.950,0.750,0.000,18.177,0.000,19592.117,751.563,3767.225,1050.884,0.000,2901.596,0.000,1895.130,0.000,0.549,0.000
$DEVICE_MAMPS,383.265,105.570,2201.670,121.635,0.000,0.000,0.000,173.655,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24087.000,24053.000,3235.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.692,2.060,16.287,0.000
$MEM,311948
$DATA_FILE_SIZE,39968,1081
$CAP_FILE_SIZE,182237,0
$CFSIZE,260034560,152911872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,256.71,1
$GPS,120317,100449,947.188,-12513.427,25,1.4,40,9.2,0.8,217.7,7,6.5