version: 66.07
glider: 542
mission: 9
dive: 313
start: 2 5 115 17 28 25
data:
$ID,542
$MISSION,9
$DIVE,313
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$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,350
$T_MISSION,365
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53031
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00251332
$HD_B,0.0127788
$HD_C,1.44018e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-56
$TGT_DEFAULT_LON,0.1
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22603.582
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2930
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2342
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-53.02364
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,050215,171552,-5631.579,-6.362,41,0.9,41,-20.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.0
$GPS2,050215,172729,-5631.671,-6.286,15,1.0,16,-20.0
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.146,-0.179
$KALMAN_X,344254.3,-530.8,-563.4,-349591.4,3684.5
$KALMAN_Y,-148816.5,375.1,344.6,89724.7,-3516.0
$MHEAD_RNG_PITCHd_Wd,239.3,52643,-17.2,-9.524
$D_GRID,1000
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.44,-146.1,0.0,0.0,0,67,0.00,0.00,-49.83,0.000,2,0.000,0.000,44,2937,2325,0,0,0,0,0,0
$GC,70,-0.44,-146.1,3.1,-3.4,6,104,6.55,1.65,-19.67,0.000,4,0.228,0.080,1634,3898,2938,0,0,0,0,0,0
$GC,287,-0.44,-146.1,38.3,-16.6,40,296,0.00,1.55,0.00,0.000,6,0.000,0.031,1634,2893,2940,0,0,0,0,0,0
$GC,403,-0.44,-146.1,56.3,-15.1,59,410,0.00,1.70,0.00,0.000,4,0.000,0.060,1626,3894,2940,0,0,0,0,0,0
$GC,444,-0.44,-146.1,62.6,-15.7,65,451,0.00,1.48,0.00,0.000,6,0.000,0.031,1626,2926,2940,0,0,0,0,0,0
$GC,559,-0.44,-146.1,81.7,-16.2,84,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2925,2940,0,0,0,0,0,0
$GC,789,-0.44,-146.1,115.6,-14.1,115,793,0.00,1.62,0.00,0.000,4,0.000,0.061,1619,3889,2940,0,0,0,0,0,0
$GC,829,-0.44,-146.1,121.7,-14.5,118,838,0.00,1.45,0.00,0.000,6,0.000,0.031,1618,2930,2940,0,0,0,0,0,0
$GC,1155,-0.44,-146.1,167.7,-15.1,149,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2930,2940,0,0,0,0,0,0
$GC,1476,-0.44,-146.1,215.1,-15.2,179,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2930,2940,0,0,0,0,0,0
$GC,1808,-0.44,-146.1,265.6,-14.6,206,1812,0.00,1.65,0.00,0.000,4,0.000,0.062,1611,3897,2940,0,0,0,0,0,0
$GC,1855,-0.44,-146.1,272.7,-16.0,208,1859,0.10,1.48,0.00,0.000,6,0.164,0.032,1642,2939,2940,0,0,0,0,0,0
$GC,2186,-0.44,-146.1,311.1,-11.1,224,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2939,2940,0,0,0,0,0,0
$GC,2498,-0.44,-146.1,346.4,-11.5,239,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2939,2940,0,0,0,0,0,0
$GC,2808,-0.44,-146.1,382.6,-11.5,254,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2939,2940,0,0,0,0,0,0
$GC,3115,-0.44,-146.1,417.9,-11.4,269,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2939,2940,0,0,0,0,0,0
$GC,3424,-0.44,-146.1,452.8,-11.1,284,3427,0.00,1.60,0.00,0.000,4,0.000,0.062,1635,3887,2940,0,0,0,0,0,0
$GC,3470,-0.44,-146.1,457.9,-11.4,286,3474,0.00,1.48,0.00,0.000,6,0.000,0.031,1635,2922,2940,0,0,0,0,0,0
$GC,3802,-0.44,-146.1,496.7,-11.4,302,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2917,2940,0,0,0,0,0,0
$GC,4112,-0.44,-146.1,531.3,-11.2,317,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2917,2940,0,0,0,0,0,0
$GC,4422,-0.44,-146.1,565.1,-10.8,332,4425,0.00,1.65,0.00,0.000,4,0.000,0.061,1627,3910,2940,0,0,0,0,0,0
$GC,4454,-0.44,-146.1,569.1,-11.2,333,4459,0.00,1.50,0.00,0.000,6,0.000,0.030,1627,2927,2940,0,0,0,0,0,0
$GC,4776,-0.44,-146.1,606.1,-11.5,349,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2925,2940,0,0,0,0,0,0
$GC,5086,-0.44,-146.1,641.8,-11.6,364,5090,0.00,1.62,0.00,0.000,4,0.000,0.061,1620,3890,2940,0,0,0,0,0,0
$GC,5119,-0.44,-146.1,646.1,-12.6,365,5123,0.00,1.48,0.00,0.000,6,0.000,0.031,1620,2919,2940,0,0,0,0,0,0
$GC,5442,-0.44,-146.1,684.3,-11.8,381,5446,0.00,1.65,0.00,0.000,4,0.000,0.061,1612,3891,2940,0,0,0,0,0,0
$GC,5474,-0.44,-146.1,688.6,-12.8,382,5479,0.08,1.45,0.00,0.000,6,0.161,0.030,1636,2942,2940,0,0,0,0,0,0
$GC,5795,-0.44,-146.1,722.8,-10.6,398,5799,0.00,1.60,0.00,0.000,4,0.000,0.060,1629,3892,2940,0,0,0,0,0,0
$GC,5829,-0.44,-146.1,726.9,-12.5,399,5832,0.00,1.48,0.00,0.000,6,0.000,0.030,1629,2924,2940,0,0,0,0,0,0
$GC,6150,-0.44,-146.1,763.4,-11.4,415,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2920,2940,0,0,0,0,0,0
$GC,6459,-0.44,-146.1,798.4,-11.2,430,6463,0.00,1.62,0.00,0.000,4,0.000,0.060,1622,3895,2940,0,0,0,0,0,0
$GC,6498,-0.44,-146.1,803.2,-12.8,431,6505,0.00,1.48,0.00,0.000,6,0.000,0.031,1622,2929,2940,0,0,0,0,0,0
$GC,6813,-0.44,-146.1,840.4,-11.7,447,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2940,0,0,0,0,0,0
$GC,7123,-0.44,-146.1,877.3,-12.0,462,7127,0.00,1.62,0.00,0.000,4,0.000,0.062,1614,3893,2940,0,0,0,0,0,0
$GC,7156,-0.44,-146.1,881.6,-13.2,463,7160,0.08,1.48,0.00,0.000,6,0.159,0.031,1638,2934,2940,0,0,0,0,0,0
$GC,7476,-0.44,-146.1,917.0,-11.1,479,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2934,2940,0,0,0,0,0,0
$GC,7786,-0.44,-146.1,951.5,-11.3,494,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2934,2940,0,0,0,0,0,0
$GC,8096,-0.44,-146.1,986.2,-11.0,509,8100,0.00,1.62,0.00,0.000,4,0.000,0.062,1631,3896,2940,0,0,0,0,0,0
$GC,8134,-0.44,-146.1,991.1,-12.3,510,8142,0.00,1.50,0.00,0.000,6,0.000,0.030,1631,2916,2940,0,0,0,0,0,0
$STATE,8222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8222,begin apogee
$GC,8227,-0.13,0.0,1000.9,11.5,515,8370,0.38,0.00,139.80,1.769,6,0.155,0.000,1742,2694,2342,0,0,0,0,0,0
$STATE,8370,end apogee,CONTROL_FINISHED_OK
$STATE,8371,begin climb
$GC,8373,0.44,146.1,1007.7,0.0,522,8535,0.62,2.45,152.12,1.739,4,0.119,0.040,1932,1345,1745,0,0,0,0,0,0
$GC,8558,0.47,176.8,997.2,8.2,530,8596,0.00,2.47,32.97,1.679,6,0.000,0.053,1932,2722,1621,0,0,0,0,0,0
$GC,8913,0.47,176.8,956.9,11.8,548,8916,0.00,2.00,0.00,0.000,4,0.000,0.060,1933,3900,1613,0,0,0,0,0,0
$GC,8940,0.47,176.8,953.2,14.3,549,8944,0.00,1.90,0.00,0.000,6,0.000,0.034,1941,2749,1612,0,0,0,0,0,0
$GC,9267,0.47,176.8,910.7,13.0,565,9271,0.00,2.30,0.00,0.000,4,0.000,0.044,1951,1292,1611,0,0,0,0,0,0
$GC,9306,0.47,176.8,905.7,11.7,567,9310,0.00,2.33,0.00,0.000,6,0.000,0.053,1952,2723,1610,0,0,0,0,0,0
$GC,9633,0.47,176.8,860.0,14.2,583,9637,0.00,1.92,0.00,0.000,4,0.000,0.061,1952,3882,1609,0,0,0,0,0,0
$GC,9665,0.47,176.8,854.4,16.7,584,9670,0.00,1.88,0.00,0.000,6,0.000,0.034,1961,2703,1608,0,0,0,0,0,0
$GC,9987,0.47,176.8,805.8,14.9,600,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2702,1608,0,0,0,0,0,0
$GC,10298,0.47,176.8,758.9,14.9,615,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2702,1608,0,0,0,0,0,0
$GC,10606,0.47,176.8,712.6,15.0,630,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2702,1608,0,0,0,0,0,0
$GC,10916,0.47,176.8,666.7,14.6,645,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2702,1608,0,0,0,0,0,0
$GC,11225,0.47,176.8,623.3,13.8,660,11228,0.00,1.98,0.00,0.000,4,0.000,0.059,1961,3894,1608,0,0,0,0,0,0
$GC,11247,0.47,176.8,619.8,15.3,661,11251,0.00,1.85,0.00,0.000,6,0.000,0.034,1970,2705,1607,0,0,0,0,0,0
$GC,11581,0.47,176.8,571.3,14.5,677,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2705,1607,0,0,0,0,0,0
$GC,11889,0.47,176.8,525.9,14.5,692,11893,0.00,1.98,0.00,0.000,4,0.000,0.057,1970,3886,1607,0,0,0,0,0,0
$GC,11916,0.47,176.8,521.3,15.4,693,11921,0.10,1.85,0.00,0.000,6,0.194,0.034,1951,2717,1606,0,0,0,0,0,0
$GC,12244,0.47,176.8,480.3,12.4,709,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2716,1606,0,0,0,0,0,0
$GC,12552,0.47,176.8,441.6,12.6,724,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2716,1606,0,0,0,0,0,0
$GC,12861,0.47,176.8,401.9,13.0,739,12863,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2716,1606,0,0,0,0,0,0
$GC,13173,0.47,176.8,362.0,12.8,754,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2716,1606,0,0,0,0,0,0
$GC,13484,0.47,176.8,324.5,12.0,769,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2716,1606,0,0,0,0,0,0
$GC,13789,0.47,176.8,286.6,12.4,784,13793,0.00,2.22,0.00,0.000,4,0.000,0.044,1960,1292,1606,0,0,0,0,0,0
$GC,13811,0.47,176.8,283.8,12.8,785,13816,0.00,2.28,0.00,0.000,6,0.000,0.051,1960,2714,1606,0,0,0,0,0,0
$GC,14136,0.47,176.8,243.1,12.6,803,14140,0.00,1.90,0.00,0.000,4,0.000,0.059,1960,3887,1606,0,0,0,0,0,0
$GC,14174,0.47,176.8,237.3,13.6,806,14184,0.00,1.88,0.00,0.000,6,0.000,0.034,1969,2701,1606,0,0,0,0,0,0
$GC,14504,0.47,176.8,194.9,13.1,837,14507,0.00,1.98,0.00,0.000,4,0.000,0.057,1969,3896,1605,0,0,0,0,0,0
$GC,14552,0.47,176.8,187.6,14.4,841,14556,0.15,1.85,0.00,0.000,6,0.204,0.034,1943,2711,1606,0,0,0,0,0,0
$GC,14882,0.47,176.8,151.4,11.3,872,14886,0.00,2.20,0.00,0.000,4,0.000,0.043,1952,1295,1606,0,0,0,0,0,0
$GC,14925,0.47,176.8,146.5,10.3,875,14933,0.00,2.28,0.00,0.000,6,0.000,0.051,1952,2697,1606,0,0,0,0,0,0
$GC,15251,0.47,176.8,110.9,9.6,906,15255,0.00,1.92,0.00,0.000,4,0.000,0.060,1952,3895,1606,0,0,0,0,0,0
$GC,15312,0.47,176.8,103.7,11.4,911,15320,0.00,1.88,0.00,0.000,6,0.000,0.033,1961,2707,1606,0,0,0,0,0,0
$GC,15669,0.47,176.8,66.5,10.2,969,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2707,1605,0,0,0,0,0,0
$GC,15782,0.47,176.8,55.5,9.8,988,15791,0.00,2.22,0.00,0.000,4,0.000,0.043,1972,1294,1605,0,0,0,0,0,0
$GC,15847,0.47,185.8,49.4,9.1,998,15857,0.00,2.30,4.93,0.757,6,0.000,0.051,1972,2718,1584,0,0,0,0,0,0
$GC,15965,0.48,190.6,37.9,9.3,1017,15974,0.00,1.98,3.67,0.650,4,0.000,0.060,1972,3903,1562,0,0,0,0,0,0
$GC,16019,0.48,190.6,31.7,12.3,1025,16027,0.08,1.88,0.00,0.000,6,0.176,0.034,1945,2718,1561,0,0,0,0,0,0
$GC,16140,0.50,217.8,20.7,8.3,1044,16165,0.00,0.00,18.33,0.822,6,0.000,0.000,1946,2716,1453,0,0,0,0,0,0
$GC,16242,0.52,250.3,12.8,8.1,1059,16268,0.00,2.03,21.20,0.780,4,0.000,0.056,1945,3895,1319,0,0,0,0,0,0
$GC,16302,0.56,300.6,7.8,7.3,1067,16343,0.00,1.90,30.80,0.752,6,0.000,0.034,1954,2716,1114,0,0,0,0,0,0
$STATE,16350,end climb,SURFACE_DEPTH_REACHED
$STATE,16350,begin surface coast
$FINISH,1.0,1.026861
$STATE,16383,end surface coast,CONTROL_FINISHED_OK
$STATE,16385,begin surface
$SM_CCo,16458,0.00,0.000,0,0,1106,303.19
$SM_GC,1.97,5.32,0.00,0.00,0.067,0.000,0.000,62,2933,1106,-5.32,0.08,303.19
$IRIDIUM_FIX,-5609.72,-3.90,050215,171754
$TT8_MAMPS,0.026215
$HUMID,57.36
$INTERNAL_PRESSURE,8.93556
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,21.3,61.539
$10V_AH,9.8,42.850
$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,13.450,95.625,403.825,0.000,0.000,54.820,99.591,334.572,0.000,0.000,18.498,2638.598,10634.648,471.460,3111.275,289.649,33.375,1516.534,0.000,2454.177,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,79.560,1768.680,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.902,2248.304,1098.552,1126.241,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,73589,1078
$CAP_FILE_SIZE,141134,0
$CFSIZE,259252224,204316672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050215,220357,-5634.220,-9.324,36,1.4,40,-20.0