version: 66.07.10.p01
glider: 573
mission: 12
dive: 466
start: 11 6 115 4 59 49
data:
$ID,573
$MISSION,12
$DIVE,466
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,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,390
$T_MISSION,420
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$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,-22453.547
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,465
$GPS1,061115,045133,-4455.618,623.713,38,1.1,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-74.8
$GPS2,061115,045929,-4455.588,623.756,18,1.6,18,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$TGT_RADIUS,1000.000
$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,117.1,16071,-17.9,-8.547
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.76,-116.8,0.0,0.0,0,48,0.00,0.00,-19.48,0.000,2,0.000,0.000,70,2066,1512,0,0,0,0,0,0
$GC,51,-0.76,-116.8,3.1,-2.0,3,115,11.88,2.33,-44.85,0.000,4,0.234,0.065,2935,653,2424,0,0,0,0,0,0
$GC,210,-0.68,-116.8,11.9,-11.0,28,218,0.08,2.28,0.00,0.000,6,0.151,0.043,2952,2047,2426,0,0,0,0,0,0
$GC,269,-0.68,-116.8,18.0,-9.6,37,277,0.00,2.35,0.00,0.000,4,0.000,0.060,2941,3468,2426,0,0,0,0,0,0
$GC,328,-0.68,-116.8,24.1,-10.5,46,336,0.05,2.25,0.00,0.000,6,0.149,0.041,2959,2066,2426,0,0,0,0,0,0
$GC,486,-0.68,-116.8,39.0,-9.4,71,493,0.00,2.30,0.00,0.000,4,0.000,0.055,2960,661,2426,0,0,0,0,0,0
$GC,528,-0.68,-116.8,43.6,-10.4,78,536,0.00,2.28,0.00,0.000,6,0.000,0.041,2951,2074,2427,0,0,0,0,0,0
$GC,882,-0.68,-116.8,77.4,-9.7,139,887,0.00,2.25,0.00,0.000,4,0.000,0.057,2941,3471,2427,0,0,0,0,0,0
$GC,976,-0.68,-116.8,86.5,-10.1,147,980,0.10,2.22,0.00,0.000,6,0.165,0.042,2967,2059,2427,0,0,0,0,0,0
$GC,1304,-0.68,-116.8,115.4,-8.7,163,1308,0.00,2.33,0.00,0.000,4,0.000,0.062,2958,3475,2428,0,0,0,0,0,0
$GC,1347,-0.68,-116.8,119.1,-9.4,165,1351,0.00,2.22,0.00,0.000,6,0.000,0.041,2960,2057,2428,0,0,0,0,0,0
$GC,1675,-0.68,-116.8,149.0,-9.4,181,1679,0.00,2.28,0.00,0.000,4,0.000,0.056,2960,651,2428,0,0,0,0,0,0
$GC,1729,-0.68,-116.8,155.0,-10.4,183,1735,0.00,2.28,0.00,0.000,6,0.000,0.043,2951,2068,2428,0,0,0,0,0,0
$GC,2048,-0.68,-116.8,183.1,-8.5,199,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2069,2428,0,0,0,0,0,0
$GC,2355,-0.68,-116.8,209.9,-8.9,214,2359,0.00,2.28,0.00,0.000,4,0.000,0.060,2941,3475,2428,0,0,0,0,0,0
$GC,2449,-0.68,-116.8,219.1,-10.0,218,2454,0.05,2.25,0.00,0.000,6,0.142,0.041,2959,2057,2428,0,0,0,0,0,0
$GC,2776,-0.68,-116.8,248.4,-9.4,234,2780,0.00,2.25,0.00,0.000,4,0.000,0.055,2959,651,2428,0,0,0,0,0,0
$GC,2815,-0.68,-116.8,252.4,-9.9,235,2820,0.00,2.28,0.00,0.000,6,0.000,0.042,2949,2071,2428,0,0,0,0,0,0
$GC,3133,-0.68,-116.8,280.9,-9.0,251,3137,0.00,2.28,0.00,0.000,4,0.000,0.059,2940,3477,2428,0,0,0,0,0,0
$GC,3165,-0.68,-116.8,284.3,-9.6,252,3173,0.05,2.25,0.00,0.000,6,0.144,0.039,2957,2053,2428,0,0,0,0,0,0
$GC,3480,-0.68,-116.8,313.0,-9.2,268,3484,0.00,2.25,0.00,0.000,4,0.000,0.057,2958,652,2428,0,0,0,0,0,0
$GC,3529,-0.68,-116.8,317.9,-9.9,270,3533,0.00,2.25,0.00,0.000,6,0.000,0.042,2949,2057,2428,0,0,0,0,0,0
$GC,3849,-0.68,-116.8,348.5,-9.5,286,3854,0.05,2.33,0.00,0.000,4,0.229,0.061,2950,3475,2428,0,0,0,0,0,0
$GC,3898,-0.71,-116.8,353.4,-10.0,288,3903,0.00,2.20,0.00,0.000,6,0.000,0.041,2950,2058,2428,0,0,0,0,0,0
$GC,4219,-0.71,-116.8,383.3,-9.4,304,4223,0.00,2.25,0.00,0.000,4,0.000,0.056,2950,649,2428,0,0,0,0,0,0
$GC,4292,-0.71,-116.8,390.4,-9.8,307,4296,0.00,2.25,0.00,0.000,6,0.000,0.042,2941,2067,2428,0,0,0,0,0,0
$GC,4606,-0.71,-116.8,419.9,-9.0,322,4610,0.00,2.28,0.00,0.000,4,0.000,0.062,2930,3464,2428,0,0,0,0,0,0
$GC,4639,-0.71,-116.8,422.9,-9.1,323,4644,0.05,2.20,0.00,0.000,6,0.148,0.039,2949,2068,2428,0,0,0,0,0,0
$GC,4956,-0.71,-116.8,448.6,-8.1,339,4960,0.00,2.28,0.00,0.000,4,0.000,0.054,2949,648,2428,0,0,0,0,0,0
$GC,5050,-0.71,-116.8,457.4,-9.4,343,5054,0.00,2.25,0.00,0.000,6,0.000,0.040,2941,2061,2429,0,0,0,0,0,0
$GC,5372,-0.71,-116.8,485.3,-8.9,359,5376,0.00,2.28,0.00,0.000,4,0.000,0.063,2929,3469,2429,0,0,0,0,0,0
$GC,5438,-0.71,-116.8,491.6,-8.9,362,5442,0.05,2.25,0.00,0.000,6,0.138,0.042,2949,2053,2428,0,0,0,0,0,0
$GC,5764,-0.71,-116.8,519.8,-8.7,378,5768,0.00,2.28,0.00,0.000,4,0.000,0.056,2949,652,2428,0,0,0,0,0,0
$GC,5796,-0.71,-116.8,522.7,-8.8,379,5801,0.00,2.25,0.00,0.000,6,0.000,0.042,2940,2058,2428,0,0,0,0,0,0
$GC,6113,-0.71,-116.8,549.8,-8.5,395,6117,0.00,2.30,0.00,0.000,4,0.000,0.062,2929,3469,2427,0,0,0,0,0,0
$GC,6207,-0.71,-116.8,557.8,-8.3,399,6212,0.10,2.22,0.00,0.000,6,0.155,0.042,2957,2054,2427,0,0,0,0,0,0
$GC,6524,-0.75,-116.8,580.2,-7.0,414,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2054,2427,0,0,0,0,0,0
$GC,6833,-0.79,-116.8,602.6,-7.6,429,6835,0.08,0.00,0.00,0.000,6,0.123,0.000,2915,2054,2427,0,0,0,0,0,0
$GC,7141,-0.74,-116.8,630.7,-9.0,444,7146,0.10,2.35,0.00,0.000,4,0.169,0.062,2932,3466,2426,0,0,0,0,0,0
$GC,7175,-0.74,-116.8,633.6,-8.7,445,7179,0.00,2.22,0.00,0.000,6,0.000,0.041,2931,2052,2426,0,0,0,0,0,0
$GC,7491,-0.74,-116.8,659.5,-8.4,461,7495,0.00,2.28,0.00,0.000,4,0.000,0.057,2932,649,2426,0,0,0,0,0,0
$GC,7552,-0.70,-116.8,665.2,-9.5,463,7557,0.12,2.25,0.00,0.000,6,0.161,0.043,2957,2066,2426,0,0,0,0,0,0
$GC,7870,-0.75,-116.8,689.1,-7.5,479,7874,0.00,2.30,0.00,0.000,4,0.000,0.064,2947,3462,2426,0,0,0,0,0,0
$GC,7925,-0.79,-116.8,693.7,-8.2,481,7930,0.05,2.17,0.00,0.000,6,0.161,0.040,2913,2056,2426,0,0,0,0,0,0
$GC,8243,-0.75,-116.8,720.3,-8.4,497,8245,0.10,0.00,0.00,0.000,6,0.171,0.000,2939,2055,2425,0,0,0,0,0,0
$GC,8549,-0.75,-116.8,744.6,-7.8,512,8553,0.00,2.33,0.00,0.000,4,0.000,0.063,2929,3468,2425,0,0,0,0,0,0
$GC,8586,-0.75,-116.8,747.6,-8.8,513,8591,0.00,2.25,0.00,0.000,6,0.000,0.042,2933,2055,2425,0,0,0,0,0,0
$GC,8903,-0.75,-116.8,773.8,-8.7,529,8907,0.00,2.28,0.00,0.000,4,0.000,0.058,2933,662,2425,0,0,0,0,0,0
$GC,8942,-0.75,-116.8,777.4,-9.8,531,8947,0.05,2.20,0.00,0.000,6,0.225,0.039,2936,2061,2425,0,0,0,0,0,0
$GC,9269,-0.75,-116.8,805.5,-8.6,547,9273,0.00,2.30,0.00,0.000,4,0.000,0.063,2925,3462,2424,0,0,0,0,0,0
$GC,9391,-0.75,-116.8,816.8,-9.0,552,9397,0.05,2.20,0.00,0.000,6,0.206,0.041,2938,2054,2424,0,0,0,0,0,0
$GC,9706,-0.75,-116.8,842.6,-8.0,568,9710,0.00,2.25,0.00,0.000,4,0.000,0.057,2939,662,2424,0,0,0,0,0,0
$GC,9756,-0.75,-116.8,846.8,-8.0,570,9760,0.00,2.20,0.00,0.000,6,0.000,0.040,2930,2061,2424,0,0,0,0,0,0
$GC,10077,-0.75,-116.8,871.4,-7.3,586,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2061,2424,0,0,0,0,0,0
$GC,10387,-0.75,-116.8,894.7,-7.8,601,10391,0.00,2.33,0.00,0.000,4,0.000,0.064,2919,3471,2424,0,0,0,0,0,0
$GC,10504,-0.75,-116.8,904.5,-8.4,606,10509,0.08,2.25,0.00,0.000,6,0.173,0.044,2938,2040,2424,0,0,0,0,0,0
$GC,10825,-0.75,-116.8,928.5,-7.3,622,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2041,2424,0,0,0,0,0,0
$GC,11136,-0.78,-116.8,950.3,-6.9,637,11140,0.00,2.22,0.00,0.000,4,0.000,0.056,2938,657,2424,0,0,0,0,0,0
$GC,11185,-0.78,-116.8,954.1,-7.1,639,11189,0.00,2.22,0.00,0.000,6,0.000,0.042,2930,2059,2424,0,0,0,0,0,0
$GC,11507,-0.78,-116.8,976.3,-6.8,655,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2059,2423,0,0,0,0,0,0
$GC,11815,-0.78,-116.8,996.0,-6.3,670,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2059,2423,0,0,0,0,0,0
$STATE,11895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11895,begin apogee
$GC,11901,-0.19,0.0,1001.0,6.1,674,12017,0.62,0.00,110.82,1.262,6,0.136,0.000,3119,1589,1949,0,0,0,0,0,0
$STATE,12018,end apogee,CONTROL_FINISHED_OK
$STATE,12018,begin climb
$GC,12020,0.76,116.8,1002.2,0.0,680,12147,0.93,2.58,117.82,1.213,4,0.085,0.057,3438,196,1473,0,0,0,0,0,0
$GC,12186,0.76,116.8,989.7,10.1,688,12190,0.00,2.42,0.00,0.000,6,0.000,0.037,3438,1608,1469,0,0,0,0,0,0
$GC,12511,0.76,116.8,956.9,9.8,704,12515,0.00,2.40,0.00,0.000,4,0.000,0.056,3448,196,1465,0,0,0,0,0,0
$GC,12577,0.76,116.8,949.9,10.4,707,12582,0.08,2.30,0.00,0.000,6,0.173,0.037,3429,1608,1464,0,0,0,0,0,0
$GC,12904,0.76,116.8,920.1,8.8,723,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1608,1463,0,0,0,0,0,0
$GC,13212,0.76,116.8,892.3,8.9,738,13216,0.00,2.35,0.00,0.000,4,0.000,0.056,3437,192,1462,0,0,0,0,0,0
$GC,13234,0.76,116.8,890.2,9.8,739,13238,0.00,2.25,0.00,0.000,6,0.000,0.037,3437,1603,1462,0,0,0,0,0,0
$GC,13561,0.76,116.8,858.7,9.5,755,13565,0.00,2.22,0.00,0.000,4,0.000,0.054,3438,2999,1462,0,0,0,0,0,0
$GC,13590,0.76,116.8,855.9,9.6,756,13595,0.08,2.20,0.00,0.000,6,0.188,0.037,3429,1591,1462,0,0,0,0,0,0
$GC,13905,0.76,116.8,828.2,8.7,771,13909,0.00,2.28,0.00,0.000,4,0.000,0.057,3438,200,1461,0,0,0,0,0,0
$GC,14000,0.76,116.8,819.2,9.2,775,14004,0.00,2.22,0.00,0.000,6,0.000,0.037,3438,1603,1461,0,0,0,0,0,0
$GC,14328,0.76,116.8,788.8,9.2,791,14332,0.00,2.22,0.00,0.000,4,0.000,0.054,3438,2989,1461,0,0,0,0,0,0
$GC,14371,0.76,116.8,784.5,10.2,793,14376,0.05,2.20,0.00,0.000,6,0.151,0.037,3429,1593,1460,0,0,0,0,0,0
$GC,14698,0.76,116.8,756.5,8.9,809,14702,0.00,2.30,0.00,0.000,4,0.000,0.057,3439,191,1461,0,0,0,0,0,0
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$GC,22660,0.92,172.5,11.4,8.8,1279,22666,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1592,1246,0,0,0,0,0,0
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$STATE,22750,end climb,SURFACE_DEPTH_REACHED
$STATE,22750,begin surface coast
$FINISH,1.9,1.023393
$STATE,22782,end surface coast,CONTROL_FINISHED_OK
$STATE,22782,begin surface
$SM_CCo,22803,13.43,0.054,0,0,1133,200.16
$SM_GC,4.01,0.00,0.00,13.43,0.000,0.000,0.054,68,2051,1133,-9.74,-0.25,200.16
$IRIDIUM_FIX,-4438.33,556.56,010908,141409
$TT8_MAMPS,0.026964
$HUMID,64.72
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,2
$24V_AH,22.0,55.204
$10V_AH,9.7,58.025
$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,24.250,214.550,289.950,13.425,0.000,28.035,45.209,259.914,0.500,0.000,21.155,2844.527,16165.380,440.595,3536.611,305.424,0.000,1830.620,0.000,3053.710,0.000,0.539,0.000
$DEVICE_MAMPS,234.090,65.025,1262.250,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.706,1835.261,996.952,588.917,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353172
$DATA_FILE_SIZE,93879,1298
$CAP_FILE_SIZE,204445,0
$CFSIZE,2097086464,2030927872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061115,112127,-4456.884,629.115,40,0.8,44,-24.4