version: 66.11
glider: 191
mission: 5
dive: 231
start: 11 29 112 4 54 54
data:
$ID,191
$MISSION,5
$DIVE,231
$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,-4105.9038
$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,24
$R_STBD_OVSHOOT,44
$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
$GPS1,291112,044304,2419.395,-3718.654,32,0.8,32,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-53.4
$GPS2,291112,045424,2419.416,-3718.641,15,1.4,15,-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,7.2,97413,-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,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-58.83,0.000,6,0.000,0.000,159,1516,3459,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,3.6,-6.5,4,103,9.70,1.80,0.00,0.000,4,0.420,0.050,1982,2578,3463,1,0,0,0,0,0,13.94,14.55,28.83
$GC,312,-0.57,-97.3,32.1,-12.0,19,316,0.00,1.88,0.00,0.000,6,0.000,0.065,1982,1520,3465,0,0,0,0,0,0,28.83,14.44,28.83
$GC,612,-0.52,-97.3,61.3,-8.8,39,614,0.15,0.00,0.00,0.000,6,0.245,0.000,2017,1519,3466,0,0,0,0,0,0,14.31,28.83,28.83
$GC,911,-0.52,-97.3,88.6,-10.1,59,915,0.00,1.80,0.00,0.000,4,0.000,0.055,2012,2570,3466,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1017,-0.52,-97.3,99.2,-9.9,66,1020,0.00,1.85,0.00,0.000,6,0.000,0.066,2012,1519,3466,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1317,-0.52,-97.3,124.6,-7.8,86,1320,0.00,1.90,0.00,0.000,4,0.000,0.087,2011,464,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1437,-0.51,-97.3,134.5,-8.1,94,1441,0.00,1.77,0.00,0.000,6,0.000,0.044,2004,1517,3466,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1737,-0.50,-97.3,154.8,-6.2,114,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,-0.50,-97.3,172.0,-5.2,134,2041,0.00,1.80,0.00,0.000,4,0.000,0.054,1996,2577,3466,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2157,-0.50,-97.3,177.4,-4.5,142,2162,0.12,1.88,0.00,0.000,6,0.233,0.065,2023,1511,3467,0,0,0,0,0,0,14.33,14.56,28.83
$GC,2458,-0.51,-97.3,192.0,-6.0,162,2461,0.00,1.90,0.00,0.000,4,0.000,0.088,2023,465,3466,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2546,-0.51,-97.3,198.6,-7.5,168,2550,0.00,1.77,0.00,0.000,6,0.000,0.044,2018,1518,3470,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2847,-0.51,-97.3,220.1,-7.0,188,2850,0.00,1.80,0.00,0.000,4,0.000,0.055,2010,2577,3466,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2998,-0.52,-97.3,231.2,-7.5,198,3001,0.00,1.88,0.00,0.000,6,0.000,0.065,2010,1513,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3311,-0.52,-97.3,254.9,-7.3,217,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1512,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3612,-0.52,-97.3,274.3,-6.0,227,3616,0.00,1.83,0.00,0.000,4,0.000,0.055,2003,2581,3466,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3731,-0.52,-97.3,280.6,-6.0,231,3734,0.00,1.88,0.00,0.000,6,0.000,0.065,2002,1513,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4031,-0.52,-97.3,304.1,-8.0,241,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.52,-97.3,328.7,-8.1,251,4336,0.00,1.83,0.00,0.000,4,0.000,0.055,1994,2579,3464,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4420,-0.52,-97.3,334.6,-8.0,254,4424,0.00,1.88,0.00,0.000,6,0.000,0.065,1995,1511,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4722,-0.52,-97.3,357.4,-6.8,264,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1511,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5022,-0.52,-97.3,374.8,-5.6,274,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1511,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5323,-0.52,-97.3,391.2,-5.4,284,5326,0.00,1.83,0.00,0.000,4,0.000,0.057,1987,2577,3461,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5411,-0.52,-97.3,395.2,-5.4,287,5415,0.12,1.88,0.00,0.000,6,0.234,0.067,2015,1516,3461,0,0,0,0,0,0,14.42,14.64,28.83
$GC,5714,-0.53,-97.3,410.7,-5.1,297,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1515,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,-0.55,-97.3,427.6,-6.0,307,6016,0.00,1.83,0.00,0.000,4,0.000,0.056,2011,2579,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6101,-0.56,-97.3,432.6,-6.6,310,6104,0.00,1.88,0.00,0.000,6,0.000,0.067,2010,1516,3459,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6402,-0.56,-97.3,455.5,-7.2,320,6406,0.00,1.83,0.00,0.000,4,0.000,0.057,2002,2577,3458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6507,-0.58,-97.3,463.0,-7.1,324,6510,0.00,1.88,0.00,0.000,6,0.000,0.067,2002,1517,3458,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6822,-0.58,-97.3,485.9,-7.3,335,6826,0.00,1.90,0.00,0.000,4,0.000,0.090,2002,467,3457,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6927,-0.58,-97.3,494.1,-7.9,339,6930,0.00,1.77,0.00,0.000,6,0.000,0.046,1994,1520,3457,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7241,-0.58,-97.3,516.0,-6.8,350,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7541,-0.58,-97.3,537.5,-7.2,360,7545,0.00,1.80,0.00,0.000,4,0.000,0.057,1986,2576,3454,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7660,-0.58,-97.3,545.4,-7.5,364,7664,0.00,1.88,0.00,0.000,6,0.000,0.068,1986,1520,3454,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7962,-0.58,-97.3,572.2,-8.7,374,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8261,-0.58,-97.3,597.8,-8.5,384,8265,0.00,1.83,0.00,0.000,4,0.000,0.057,1978,2579,3452,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8427,-0.58,-97.3,610.6,-7.8,390,8431,0.00,1.88,0.00,0.000,6,0.000,0.068,1978,1520,3452,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8744,-0.56,-97.3,635.7,-8.0,401,8748,0.00,1.92,0.00,0.000,4,0.000,0.091,1978,463,3451,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8801,-0.54,-97.3,639.7,-8.2,403,8805,0.17,1.80,0.00,0.000,6,0.248,0.047,2010,1520,3451,0,0,0,0,0,0,14.28,14.69,28.83
$GC,9104,-0.56,-97.3,661.7,-7.0,413,9108,0.00,1.83,0.00,0.000,4,0.000,0.058,2005,2580,3450,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9251,-0.58,-97.3,671.2,-7.0,418,9254,0.00,1.90,0.00,0.000,6,0.000,0.069,2005,1512,3449,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9553,-0.58,-97.3,691.7,-6.0,428,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1512,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9852,-0.58,-97.3,706.4,-4.5,438,9855,0.00,1.85,0.00,0.000,4,0.000,0.059,1997,2577,3447,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9971,-0.59,-97.3,711.0,-4.4,442,9975,0.00,1.90,0.00,0.000,6,0.000,0.070,1997,1516,3447,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10272,-0.59,-97.3,724.5,-4.5,452,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1515,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10572,-0.59,-97.3,740.7,-5.9,462,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1515,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10872,-0.59,-97.3,760.5,-6.8,472,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1515,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11171,-0.59,-97.3,781.1,-6.8,482,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1515,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11473,-0.59,-97.3,799.9,-6.0,492,11476,0.00,1.85,0.00,0.000,4,0.000,0.061,1989,2576,3442,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11668,-0.61,-97.3,810.9,-5.7,499,11672,0.00,1.90,0.00,0.000,6,0.000,0.073,1989,1522,3441,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11982,-0.61,-97.3,830.8,-6.5,510,11986,0.00,1.95,0.00,0.000,4,0.000,0.095,1989,467,3440,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12056,-0.61,-97.3,836.3,-7.3,513,12060,0.00,1.83,0.00,0.000,6,0.000,0.050,1981,1522,3439,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12372,-0.61,-97.3,859.2,-7.5,524,12375,0.00,1.85,0.00,0.000,4,0.000,0.062,1973,2584,3439,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12507,-0.61,-97.3,869.4,-7.7,529,12511,0.00,1.92,0.00,0.000,6,0.000,0.073,1973,1511,3439,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12824,-0.59,-97.3,896.2,-8.8,540,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1510,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13122,-0.58,-97.3,924.8,-9.8,550,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1510,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13422,-0.57,-97.3,955.4,-10.2,560,13424,0.12,0.00,0.00,0.000,6,0.270,0.000,1999,1510,3435,0,0,0,0,0,0,14.30,28.83,28.83
$STATE,13689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13689,begin apogee
$GC,13696,-0.18,0.0,980.4,-9.1,569,13820,0.47,0.00,115.55,2.136,6,0.203,0.000,2129,1395,3063,0,0,0,0,1,0,14.20,28.83,13.06
$STATE,13822,end apogee,CONTROL_FINISHED_OK
$STATE,13822,begin climb
$GC,13824,0.60,97.3,987.4,0.0,573,13960,0.80,0.00,127.15,2.150,6,0.124,0.000,2376,1395,2665,0,0,0,0,1,0,14.09,28.83,12.97
$GC,14247,0.58,137.7,983.9,4.3,588,14315,0.00,0.00,60.97,1.820,6,0.000,0.000,2377,1395,2502,0,0,0,0,1,0,28.83,28.83,13.21
$GC,14609,0.53,137.7,961.7,6.8,600,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1395,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14907,0.48,137.7,940.1,7.3,610,14909,0.15,0.00,0.00,0.000,6,0.278,0.000,2346,1394,2496,0,0,0,0,0,0,14.36,28.83,28.83
$GC,15207,0.45,137.7,919.5,6.7,620,15208,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1395,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15507,0.43,137.7,900.7,6.2,630,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1395,2493,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,27357,end climb,SURFACE_DEPTH_REACHED
$STATE,27357,begin surface coast
$FINISH,0.4,1.025390
$STATE,27370,end surface coast,CONTROL_FINISHED_OK
$STATE,27370,begin surface
$SM_CCo,27389,22.62,0.721,0,0,1756,320.12
$SM_GC,0.60,6.55,0.15,22.62,0.068,0.099,0.721,158,1527,1756,-6.29,-1.44,320.12,0,0,0,0,0,0,14.58,14.69,14.14
$IRIDIUM_FIX,2408.65,-3717.25,281112,202044
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.44
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,26.00
$XPDR_PINGS,3
$SC_FREEKB,7681440
$TM_FREEKB,5602112
$24V_AH,13.0,109.935
$10V_AH,12.7,0.000
$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,18.925,131.225,575.725,22.625,0.000,0.000,0.000,386.225,0.750,0.000,16.320,3128.453,21285.303,844.214,2387.370,438.521,0.000,2188.385,0.000,1849.785,0.000,0.548,0.000
$DEVICE_MAMPS,419.985,118.575,2150.415,721.395,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27415.000,6473.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.303,13.016,0.000,0.000
$MEM,344788
$DATA_FILE_SIZE,40037,1134
$CAP_FILE_SIZE,237238,0
$CFSIZE,260034560,226619392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.053,141.3,1
$GPS,291112,123322,2421.870,-3718.312,52,0.8,53,-13.8