version: 66.11
glider: 191
mission: 5
dive: 162
start: 11 6 112 5 5 33
data:
$ID,191
$MISSION,5
$DIVE,162
$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,320
$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,-4014.4626
$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,23
$R_STBD_OVSHOOT,53
$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
$GPS1,061112,045158,2514.732,-3818.849,42,0.9,42,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-51.9
$GPS2,061112,050505,2514.753,-3818.896,20,1.1,20,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,278.5,42376,-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,-97.3,0.0,0.0,0,70,0.00,0.00,-46.30,0.000,2,0.000,0.000,163,1527,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.60,-97.3,3.0,-6.8,3,101,9.43,1.80,-8.50,0.000,4,0.419,0.089,1988,2570,3461,0,0,0,0,0,0,14.31,14.60,14.83
$GC,325,-0.55,-97.3,30.8,-9.8,20,329,0.00,1.85,0.00,0.000,6,0.000,0.067,1984,1519,3462,0,0,0,0,0,0,28.83,14.62,28.83
$GC,626,-0.49,-97.3,62.1,-9.9,40,630,0.17,1.77,0.00,0.000,4,0.251,0.052,2019,2567,3462,0,0,0,0,0,0,14.44,14.69,28.83
$GC,746,-0.47,-97.3,73.2,-10.2,48,749,0.00,1.85,0.00,0.000,6,0.000,0.067,2019,1515,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1046,-0.45,-97.3,98.1,-7.5,68,1049,0.00,1.88,0.00,0.000,4,0.000,0.088,2019,464,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1212,-0.43,-97.3,111.9,-8.3,79,1216,0.15,1.75,0.00,0.000,6,0.250,0.045,2045,1507,3463,0,0,0,0,0,0,14.47,14.74,28.83
$GC,1510,-0.43,-97.3,130.5,-6.1,99,1513,0.00,1.83,0.00,0.000,4,0.000,0.056,2039,2583,3463,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1631,-0.44,-97.3,137.1,-5.1,107,1634,0.00,1.88,0.00,0.000,6,0.000,0.066,2039,1512,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1931,-0.44,-97.3,150.8,-5.0,127,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,-0.44,-97.3,169.9,-7.2,147,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2530,-0.44,-97.3,191.7,-7.2,167,2533,0.00,1.83,0.00,0.000,4,0.000,0.055,2033,2584,3463,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2666,-0.46,-97.3,201.4,-7.3,176,2670,0.00,1.88,0.00,0.000,6,0.000,0.067,2031,1515,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2965,-0.46,-97.3,225.2,-8.1,196,2969,0.00,1.80,0.00,0.000,4,0.000,0.054,2024,2578,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3146,-0.48,-97.3,238.4,-6.7,208,3150,0.00,1.85,0.00,0.000,6,0.000,0.066,2024,1521,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3460,-0.48,-97.3,257.7,-5.9,225,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.48,-97.3,278.8,-7.6,235,3764,0.00,1.88,0.00,0.000,4,0.000,0.089,2023,466,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3835,-0.48,-97.3,285.5,-8.6,238,3838,0.00,1.77,0.00,0.000,6,0.000,0.046,2016,1525,3462,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4150,-0.48,-97.3,313.0,-8.9,249,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.48,-97.3,337.2,-7.6,259,4454,0.00,1.77,0.00,0.000,4,0.000,0.056,2008,2577,3459,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4646,-0.48,-97.3,349.8,-6.3,266,4650,0.00,1.85,0.00,0.000,6,0.000,0.067,2009,1520,3460,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4960,-0.48,-97.3,368.2,-5.7,277,4964,0.00,1.80,0.00,0.000,4,0.000,0.056,2000,2578,3457,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5066,-0.48,-97.3,374.6,-6.0,281,5070,0.15,1.85,0.00,0.000,6,0.226,0.067,2035,1521,3458,0,0,0,0,0,0,14.52,14.71,28.83
$GC,5382,-0.49,-97.3,393.0,-6.1,292,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.51,-97.3,412.4,-6.4,302,5685,0.00,1.90,0.00,0.000,4,0.000,0.091,2037,462,3456,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5769,-0.51,-97.3,417.9,-7.1,305,5772,0.00,1.77,0.00,0.000,6,0.000,0.046,2030,1520,3456,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6072,-0.52,-97.3,437.4,-5.8,315,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6371,-0.54,-97.3,451.8,-4.7,325,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6671,-0.55,-97.3,468.4,-5.9,335,6674,0.00,1.80,0.00,0.000,4,0.000,0.058,2023,2579,3452,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6820,-0.57,-97.3,476.6,-6.1,340,6824,0.00,1.88,0.00,0.000,6,0.000,0.068,2023,1509,3452,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7120,-0.57,-97.3,496.7,-6.3,350,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1509,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7420,-0.57,-97.3,516.5,-6.8,360,7424,0.00,1.83,0.00,0.000,4,0.000,0.058,2015,2576,3450,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7569,-0.59,-97.3,526.2,-7.3,365,7573,0.00,1.88,0.00,0.000,6,0.000,0.070,2015,1512,3449,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7870,-0.59,-97.3,552.1,-8.4,375,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1512,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8170,-0.59,-97.3,575.5,-7.6,385,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1512,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8470,-0.59,-97.3,594.8,-6.0,395,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1512,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,-0.59,-97.3,612.2,-5.8,405,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1512,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9071,-0.59,-97.3,629.1,-5.8,415,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1512,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9371,-0.59,-97.3,646.3,-5.7,425,9374,0.00,1.83,0.00,0.000,4,0.000,0.060,2007,2575,3443,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9536,-0.60,-97.3,655.7,-5.8,431,9539,0.00,1.88,0.00,0.000,6,0.000,0.071,2007,1519,3443,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9850,-0.60,-97.3,676.3,-6.8,442,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1519,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10150,-0.60,-97.3,698.4,-7.6,452,10154,0.00,1.83,0.00,0.000,4,0.000,0.060,1999,2577,3441,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10299,-0.60,-97.3,708.9,-7.7,457,10303,0.00,1.88,0.00,0.000,6,0.000,0.071,1999,1522,3440,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10601,-0.60,-97.3,733.9,-7.9,467,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10900,-0.60,-97.3,757.0,-7.5,477,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11201,-0.60,-97.3,776.5,-6.1,487,11204,0.00,1.83,0.00,0.000,4,0.000,0.060,1991,2576,3437,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11319,-0.60,-97.3,782.5,-5.6,491,11323,0.00,1.90,0.00,0.000,6,0.000,0.073,1992,1512,3437,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11622,-0.59,-97.3,800.2,-5.5,501,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1512,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11920,-0.59,-97.3,817.2,-5.8,511,11924,0.00,1.85,0.00,0.000,4,0.000,0.062,1983,2575,3435,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12085,-0.59,-97.3,827.7,-6.5,517,12089,0.00,1.90,0.00,0.000,6,0.000,0.073,1983,1514,3435,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12402,-0.57,-97.3,852.5,-8.1,528,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1514,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12701,-0.56,-97.3,878.9,-8.9,538,12705,0.00,1.85,0.00,0.000,4,0.000,0.063,1976,2575,3433,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12819,-0.56,-97.3,888.4,-9.1,542,12823,0.12,1.90,0.00,0.000,6,0.256,0.074,2003,1516,3432,0,0,0,0,0,0,14.38,14.62,28.83
$GC,13121,-0.56,-97.3,914.1,-8.0,552,13122,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1516,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13421,-0.56,-97.3,936.1,-7.2,562,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1516,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13720,-0.56,-97.3,957.3,-7.0,572,13721,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1516,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14021,-0.56,-97.3,976.7,-6.1,582,14024,0.00,1.85,0.00,0.000,4,0.000,0.065,1997,2574,3428,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,14094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14094,begin apogee
$GC,14101,-0.18,0.0,981.0,-5.9,585,14219,0.47,0.00,109.25,2.101,6,0.210,0.000,2127,1395,3065,0,0,0,0,1,0,14.46,28.83,13.25
$STATE,14220,end apogee,CONTROL_FINISHED_OK
$STATE,14220,begin climb
$GC,14223,0.60,97.3,983.5,0.0,589,14359,0.82,2.08,124.15,2.105,4,0.137,0.106,2385,341,2666,0,0,0,0,1,0,14.14,14.00,13.16
$GC,14486,0.51,97.3,972.8,7.4,599,14491,0.15,1.88,0.00,0.000,6,0.275,0.053,2355,1409,2664,0,0,0,0,0,0,14.17,14.42,28.83
$GC,14803,0.46,97.3,949.9,7.3,610,14807,0.00,1.83,0.00,0.000,4,0.000,0.061,2355,2456,2659,0,0,0,0,0,0,28.83,14.58,28.83
$GC,14876,0.42,97.3,944.4,7.3,613,14881,0.15,1.92,0.00,0.000,6,0.275,0.079,2329,1392,2658,0,0,0,0,0,0,14.34,14.57,28.83
$GC,15194,0.40,102.2,924.9,5.8,624,15199,0.00,0.00,2.78,1.979,6,0.000,0.000,2329,1392,2644,0,0,0,0,0,0,28.83,28.83,13.88
$GC,15493,0.42,141.9,910.4,4.4,634,15560,0.00,0.00,59.83,1.775,6,0.000,0.000,2329,1392,2483,0,0,0,0,1,0,28.83,28.83,13.52
$GC,15853,0.46,185.6,894.6,4.2,646,15927,0.00,2.03,63.20,1.792,4,0.000,0.109,2335,348,2305,0,0,0,0,1,0,28.83,14.22,13.44
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$STATE,28059,end climb,SURFACE_DEPTH_REACHED
$STATE,28059,begin surface coast
$FINISH,0.9,1.024936
$STATE,28075,end surface coast,CONTROL_FINISHED_OK
$STATE,28075,begin surface
$SM_CCo,28093,33.53,0.692,0,0,1757,320.12
$SM_GC,0.94,6.53,0.15,33.53,0.073,0.099,0.692,159,1523,1757,-6.30,-1.30,320.12,0,0,0,0,0,0,14.64,14.76,14.31
$IRIDIUM_FIX,2505.59,-3819.87,061112,040435
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.64
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,7707936
$TM_FREEKB,6305056
$24V_AH,13.2,77.697
$10V_AH,13.0,0.000
$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,18.550,123.225,559.175,33.525,0.000,0.000,0.000,448.625,0.250,0.000,21.095,3213.001,21973.328,836.792,2506.702,373.880,0.000,2260.977,0.000,1894.099,0.000,0.549,0.000
$DEVICE_MAMPS,419.220,108.630,2105.280,691.560,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28120.000,6545.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.135,13.100,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,43363,1164
$CAP_FILE_SIZE,243904,0
$CFSIZE,260034560,235851776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$CURRENT,0.026,234.7,1
$GPS,061112,125534,2514.569,-3822.592,31,0.8,31,-14.0