version: 66.11
glider: 191
mission: 5
dive: 123
start: 10 24 112 5 40 40
data:
$ID,191
$MISSION,5
$DIVE,123
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,8
$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,-3961.6548
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$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
$GPS1,241012,052958,2422.478,-3718.943,42,1.0,42,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.9
$GPS2,241012,054011,2422.432,-3718.929,20,1.0,20,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,8.5,91817,-13.3,-6.049,-18.38
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-61.20,0.000,6,0.000,0.000,155,1523,3459,0,0,0,0,0,0,28.83,28.83,14.88
$GC,89,-0.60,-97.3,4.2,-8.7,4,102,9.50,1.77,0.00,0.000,4,0.426,0.056,1982,2570,3462,0,0,0,0,0,0,14.38,14.68,28.83
$GC,326,-0.53,-97.3,37.1,-11.0,20,331,0.12,1.85,0.00,0.000,6,0.264,0.067,2009,1517,3465,0,0,0,0,0,0,14.52,14.69,28.83
$GC,626,-0.49,-97.3,72.0,-11.1,40,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1517,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,926,-0.46,-97.3,102.1,-9.9,60,931,0.12,1.88,0.00,0.000,4,0.260,0.090,2039,465,3466,0,0,0,0,0,0,14.59,14.67,28.83
$GC,1001,-0.43,-97.3,109.4,-9.6,65,1005,0.00,1.75,0.00,0.000,6,0.000,0.046,2034,1512,3466,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1301,-0.42,-97.3,131.1,-5.9,85,1305,0.00,1.80,0.00,0.000,4,0.000,0.057,2026,2575,3469,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1467,-0.42,-97.3,139.7,-4.6,96,1471,0.00,1.85,0.00,0.000,6,0.000,0.067,2026,1513,3464,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1767,-0.41,-97.3,153.9,-4.7,116,1768,0.12,0.00,0.00,0.000,6,0.247,0.000,2053,1513,3466,0,0,0,0,0,0,14.62,28.83,28.83
$GC,2066,-0.42,-97.3,167.6,-5.3,136,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,1513,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-0.44,-97.3,190.0,-8.6,156,2370,0.00,1.80,0.00,0.000,4,0.000,0.057,2049,2575,3466,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2471,-0.46,-97.3,198.7,-8.1,163,2475,0.00,1.85,0.00,0.000,6,0.000,0.067,2048,1512,3466,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2772,-0.48,-97.3,218.9,-5.6,183,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.49,-97.3,234.5,-5.0,203,3075,0.00,1.80,0.00,0.000,4,0.000,0.057,2042,2576,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3147,-0.52,-97.3,238.3,-5.1,208,3150,0.00,1.85,0.00,0.000,6,0.000,0.068,2040,1515,3465,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3446,-0.53,-97.3,256.2,-6.2,225,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3747,-0.54,-97.3,274.4,-5.6,235,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4047,-0.55,-97.3,290.6,-5.6,245,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4346,-0.56,-97.3,309.5,-6.3,255,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4647,-0.58,-97.3,330.0,-7.2,265,4651,0.12,1.88,0.00,0.000,4,0.141,0.093,1992,463,3461,0,0,0,0,0,0,14.88,14.78,28.83
$GC,4765,-0.54,-97.3,340.9,-10.5,269,4769,0.00,1.77,0.00,0.000,6,0.000,0.048,1984,1519,3461,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5066,-0.51,-97.3,371.3,-9.1,279,5071,0.15,1.80,0.00,0.000,4,0.259,0.059,2012,2587,3459,0,0,0,0,0,0,14.62,14.85,28.83
$GC,5293,-0.51,-97.3,387.7,-7.2,287,5296,0.00,1.88,0.00,0.000,6,0.000,0.071,2012,1516,3459,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5606,-0.51,-97.3,413.3,-8.5,298,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1514,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5906,-0.51,-97.3,437.6,-7.8,308,5910,0.00,1.83,0.00,0.000,4,0.000,0.060,2004,2586,3457,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5995,-0.51,-97.3,443.4,-7.8,311,5998,0.00,1.88,0.00,0.000,6,0.000,0.071,2004,1516,3457,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6297,-0.50,-97.3,466.8,-7.3,321,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1516,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6596,-0.48,-97.3,487.1,-6.7,331,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1516,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6897,-0.47,-97.3,507.8,-7.1,341,6901,0.12,1.83,0.00,0.000,4,0.252,0.060,2027,2587,3453,0,0,0,0,0,0,14.64,14.83,28.83
$GC,6985,-0.47,-97.3,512.5,-6.5,344,6988,0.00,1.88,0.00,0.000,6,0.000,0.073,2026,1520,3452,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7286,-0.47,-97.3,534.1,-7.2,354,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1519,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7586,-0.47,-97.3,556.4,-7.3,364,7590,0.00,1.90,0.00,0.000,4,0.000,0.094,2026,463,3450,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7675,-0.47,-97.3,562.6,-8.1,367,7678,0.00,1.80,0.00,0.000,6,0.000,0.050,2018,1527,3453,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7976,-0.47,-97.3,587.9,-7.9,377,7980,0.00,1.80,0.00,0.000,4,0.000,0.062,2010,2580,3448,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8095,-0.48,-97.3,595.2,-7.1,381,8099,0.00,1.88,0.00,0.000,6,0.000,0.073,2010,1516,3448,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8396,-0.48,-97.3,616.3,-6.2,391,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1515,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8697,-0.48,-97.3,632.5,-5.3,401,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1516,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8996,-0.48,-97.3,647.1,-5.0,411,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1515,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9296,-0.48,-97.3,664.4,-6.1,421,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1515,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9596,-0.48,-97.3,683.4,-6.5,431,9599,0.00,1.90,0.00,0.000,4,0.000,0.097,2010,464,3442,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9701,-0.48,-97.3,691.4,-7.7,435,9706,0.12,1.80,0.00,0.000,6,0.255,0.053,2029,1518,3442,0,0,0,0,0,0,14.56,14.82,28.83
$GC,10018,-0.50,-97.3,710.3,-5.9,446,10021,0.00,1.83,0.00,0.000,4,0.000,0.063,2024,2584,3441,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10182,-0.52,-97.3,719.8,-5.8,452,10185,0.00,1.90,0.00,0.000,6,0.000,0.074,2024,1511,3441,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10498,-0.54,-97.3,738.5,-5.8,463,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1510,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10797,-0.55,-97.3,757.1,-6.4,473,10800,0.00,1.90,0.00,0.000,4,0.000,0.099,2024,465,3438,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10872,-0.55,-97.3,762.7,-7.1,476,10875,0.00,1.83,0.00,0.000,6,0.000,0.054,2017,1530,3438,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11186,-0.55,-97.3,784.8,-6.9,487,11189,0.00,1.80,0.00,0.000,4,0.000,0.064,2009,2576,3437,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11276,-0.56,-97.3,789.9,-7.0,490,11279,0.00,1.88,0.00,0.000,6,0.000,0.075,2009,1519,3437,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11576,-0.56,-97.3,812.6,-7.2,500,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1517,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11876,-0.56,-97.3,833.7,-7.0,510,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12176,-0.56,-97.3,853.4,-6.4,520,12179,0.00,1.83,0.00,0.000,4,0.000,0.064,2001,2576,3434,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12265,-0.56,-97.3,858.2,-6.3,523,12268,0.00,1.88,0.00,0.000,6,0.000,0.076,2001,1521,3434,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12566,-0.56,-97.3,878.0,-6.4,533,12567,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12866,-0.56,-97.3,897.6,-6.7,543,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13167,-0.56,-97.3,919.0,-7.5,553,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13466,-0.56,-97.3,941.4,-7.6,563,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13766,-0.56,-97.3,962.3,-6.6,573,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14067,-0.56,-97.3,979.7,-5.4,583,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14094,begin apogee
$GC,14099,-0.18,0.0,981.4,-5.3,584,14218,0.45,0.00,110.35,2.156,6,0.215,0.000,2123,1390,3062,0,0,0,0,1,0,14.55,28.83,13.27
$STATE,14219,end apogee,CONTROL_FINISHED_OK
$STATE,14219,begin climb
$GC,14222,0.60,97.3,983.2,0.0,588,14356,0.85,0.00,125.78,2.184,6,0.142,0.000,2376,1394,2665,0,0,0,0,1,0,14.14,28.83,13.19
$GC,14636,0.53,97.3,962.0,6.8,602,14637,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1389,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14937,0.49,110.9,944.8,5.5,612,14975,0.00,0.00,30.08,1.271,6,0.000,0.000,2377,1389,2610,0,0,0,0,1,0,28.83,28.83,13.69
$GC,15268,0.45,130.0,927.3,5.2,623,15314,0.17,0.00,38.33,1.496,6,0.273,0.000,2338,1389,2533,0,0,0,0,1,0,14.45,28.83,13.66
$GC,15598,0.46,154.9,911.1,5.0,634,15650,0.00,0.00,44.60,1.636,6,0.000,0.000,2339,1389,2430,0,0,0,0,1,0,28.83,28.83,13.57
$GC,15928,0.45,154.9,891.4,6.3,645,15929,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1388,2429,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28287,end climb,SURFACE_DEPTH_REACHED
$STATE,28287,begin surface coast
$FINISH,0.5,1.024675
$STATE,28302,end surface coast,CONTROL_FINISHED_OK
$STATE,28302,begin surface
$SM_CCo,28319,20.83,0.776,0,0,1635,350.04
$SM_GC,0.51,6.43,0.17,20.83,0.069,0.093,0.776,162,1532,1635,-6.29,-1.19,350.04,0,0,0,0,0,0,14.71,14.79,14.33
$IRIDIUM_FIX,2408.65,-3717.25,231012,212141
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.93
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.40
$XPDR_PINGS,3
$SC_FREEKB,7722912
$TM_FREEKB,6711136
$24V_AH,13.2,60.009
$10V_AH,13.4,0.000
$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,19.025,130.075,619.450,20.825,0.000,0.000,0.000,354.025,0.750,0.000,21.435,3222.375,22099.930,909.499,2398.396,317.408,0.000,2237.777,0.000,1883.319,0.000,0.549,0.000
$DEVICE_MAMPS,426.105,113.985,2184.075,775.710,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28326.000,6544.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.015,13.105,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,43263,1168
$CAP_FILE_SIZE,248690,0
$CFSIZE,260034560,241156096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$CURRENT,0.018, 35.9,1
$GPS,241012,133423,2425.680,-3718.983,40,0.9,40,-13.8