version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 105
start: 6 18 115 3 16 2
data:
$ID,574
$MISSION,20
$DIVE,105
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$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,333
$T_MISSION,343
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53162
$MASS_COMP,0
$NAV_MODE,2
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2371631.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2124
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.130039
$PRESSURE_SLOPE,0.0001171049
$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,1050
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,165
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,080816,164203,-4649.371,443.109,68,1.0,68,-23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-77.4
$GPS2,080816,165841,-4649.268,443.386,16,0.9,16,-23.5
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,-4609.000,470.000
$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,11.2,82021,-16.4,-10.010,-19.35,2733
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-107.1,126,2108,1527,1446,0.0,0.0,0,51,0.00,0.00,-34.08,0.000,16386,0.000,0.000,126,2109,2320,2308,2333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.50,-107.1,126,2109,2310,2333,3.0,-2.0,6,85,10.70,2.30,-13.00,0.000,18948,0.250,0.070,2684,715,2760,2768,2753,0,0,0,0,0,0,25.36,25.56,25.87
$GC,146,-0.50,-107.1,2683,714,2770,2753,15.1,-12.5,23,153,0.00,2.33,0.00,0.000,1030,0.000,0.056,2675,2126,2761,2770,2753,0,0,0,0,0,0,28.83,25.64,28.83
$GC,195,-0.50,-107.1,2675,2125,2771,2752,23.2,-19.7,32,202,0.00,2.33,0.00,0.000,260,0.000,0.064,2664,3544,2761,2771,2752,0,0,0,0,0,0,28.83,25.66,28.83
$GC,224,-0.50,-107.1,2664,3543,2771,2752,28.5,-17.6,37,231,0.00,2.33,0.00,0.000,1030,0.000,0.057,2666,2123,2761,2771,2752,0,0,0,0,0,0,28.83,25.70,28.83
$GC,352,-0.50,-107.1,1760,2118,2742,2747,54.4,-22.0,62,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2120,2761,2772,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,664,-0.50,-107.1,2667,2119,2772,2751,114.0,-18.5,117,673,0.00,2.33,0.00,0.000,260,0.000,0.069,2658,3538,2761,2772,2751,0,0,0,0,0,0,28.83,25.93,28.83
$GC,724,-0.50,-107.1,2658,3538,2772,2751,124.5,-16.5,123,729,0.00,2.33,0.00,0.000,1030,0.000,0.063,2658,2118,2761,2772,2751,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1030,-0.50,-107.1,2659,2116,2772,2751,179.1,-18.5,153,1039,0.00,2.33,0.00,0.000,260,0.000,0.070,2649,3533,2762,2773,2751,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1125,-0.50,-107.1,2649,3533,2772,2751,194.9,-16.2,162,1132,0.12,2.30,0.00,0.000,3078,0.181,0.065,2677,2124,2761,2772,2751,0,0,0,0,0,0,25.96,26.06,28.83
$GC,1431,-0.50,-107.1,2677,2121,2774,2751,240.9,-14.7,193,1439,0.00,2.33,0.00,0.000,260,0.000,0.071,2669,3543,2762,2774,2750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1451,-0.50,-107.1,2668,3543,2774,2750,243.9,-14.7,195,1455,0.00,2.30,0.00,0.000,1030,0.000,0.063,2669,2122,2762,2774,2751,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1757,-0.50,-107.1,2668,2119,2774,2750,290.6,-14.9,225,1765,0.00,2.33,0.00,0.000,260,0.000,0.072,2658,3542,2762,2774,2750,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1799,-0.50,-107.1,1844,3541,2748,2746,296.7,-14.9,229,1808,0.00,2.35,0.00,0.000,1030,0.000,0.066,2658,2129,2762,2774,2750,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2107,-0.50,-107.1,2658,2125,2775,2750,345.6,-15.5,260,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2125,2762,2774,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2407,-0.50,-107.1,2658,2125,2774,2750,392.7,-16.0,290,2416,0.00,2.33,0.00,0.000,260,0.000,0.075,2648,3543,2761,2774,2749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2438,-0.50,-107.1,2648,3543,2774,2750,397.5,-16.0,293,2448,0.12,2.33,0.00,0.000,3078,0.177,0.067,2677,2117,2762,2774,2750,0,0,0,0,0,0,26.15,26.24,28.83
$GC,2758,-0.50,-107.1,2677,2113,2775,2749,442.6,-13.8,310,2762,0.00,2.33,0.00,0.000,260,0.000,0.074,2669,3535,2762,2775,2749,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2777,-0.50,-107.1,2668,3535,2774,2749,444.7,-13.6,311,2781,0.00,2.33,0.00,0.000,1030,0.000,0.068,2669,2114,2761,2774,2749,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3094,-0.50,-107.1,2668,2111,2775,2749,489.4,-13.6,327,3098,0.00,2.33,0.00,0.000,260,0.000,0.075,2658,3530,2762,2775,2749,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3123,-0.50,-107.1,2658,3529,2774,2749,491.4,-13.5,328,3131,0.00,2.30,0.00,0.000,1030,0.000,0.068,2658,2119,2761,2774,2749,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3430,-0.50,-107.1,2658,2116,2774,2749,537.1,-14.2,344,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2116,2761,2775,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3730,-0.50,-107.1,2658,2116,2774,2748,578.4,-13.4,359,3734,0.00,2.33,0.00,0.000,260,0.000,0.076,2648,3539,2761,2774,2748,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3789,-0.50,-107.1,2648,3539,2774,2748,585.9,-13.6,362,3794,0.12,2.33,0.00,0.000,3078,0.174,0.070,2677,2117,2761,2774,2748,0,0,0,0,0,0,26.23,26.32,28.83
$GC,4100,-0.50,-107.1,2677,2114,2774,2748,624.0,-12.3,378,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2114,2761,2774,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4401,-0.50,-107.1,2677,2114,2774,2747,660.4,-12.3,393,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2114,2760,2774,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4702,-0.50,-107.1,2677,2114,2774,2747,696.3,-12.0,408,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2114,2760,2774,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5000,-0.50,-107.1,2677,2114,2774,2746,732.1,-11.8,423,5005,0.00,2.33,0.00,0.000,260,0.000,0.076,2668,3537,2760,2774,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5037,-0.50,-107.1,2668,3537,2774,2747,736.4,-11.9,425,5042,0.00,2.30,0.00,0.000,1030,0.000,0.070,2668,2122,2760,2774,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5358,-0.50,-107.1,2668,2119,2774,2746,775.1,-11.9,441,5363,0.00,2.28,0.00,0.000,260,0.000,0.076,2658,3525,2760,2774,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5390,-0.50,-107.1,2658,3525,2773,2745,777.5,-11.9,442,5396,0.00,2.28,0.00,0.000,1030,0.000,0.070,2658,2123,2760,2774,2746,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5696,-0.50,-107.1,2657,2120,2774,2746,816.8,-12.2,458,5700,0.00,2.30,0.00,0.000,516,0.000,0.073,2658,713,2760,2774,2746,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5720,-0.50,-107.1,2657,712,2774,2746,818.9,-12.3,459,5725,0.15,2.30,0.00,0.000,3078,0.194,0.064,2683,2130,2760,2774,2746,0,0,0,0,0,0,26.26,26.39,28.83
$GC,6032,-0.50,-107.1,2683,2130,2774,2745,850.5,-9.5,475,6038,0.00,2.28,0.00,0.000,260,0.000,0.076,2674,3531,2759,2774,2745,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6052,-0.50,-107.1,2674,3531,2774,2745,852.3,-9.5,476,6057,0.00,2.30,0.00,0.000,1030,0.000,0.070,2675,2117,2759,2773,2745,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6369,-0.50,-107.1,2674,2114,2774,2745,882.5,-9.2,492,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2114,2759,2774,2745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6669,-0.50,-107.1,2675,2114,2774,2745,910.4,-9.2,507,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2114,2759,2774,2745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6968,-0.50,-107.1,2675,2114,2774,2745,938.0,-9.3,522,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2114,2759,2774,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.50,-107.1,2675,2114,2774,2744,966.2,-9.5,537,7276,0.00,2.30,0.00,0.000,260,0.000,0.077,2667,3528,2759,2774,2744,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7288,-0.50,-107.1,2666,3528,2773,2744,968.3,-9.6,538,7293,0.00,2.30,0.00,0.000,1030,0.000,0.072,2666,2117,2758,2773,2744,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7606,-0.50,-107.1,2666,2114,2773,2744,999.8,-9.9,554,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2114,2759,2774,2744,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7623,begin apogee
$GC,7626,-0.11,0.0,2666,2114,2773,2744,1001.7,-9.9,555,7719,0.47,0.00,89.12,1.323,10246,0.153,0.000,2806,2114,2321,2363,2280,0,0,0,0,0,0,26.32,28.83,23.73
$STATE,7720,end apogee,CONTROL_FINISHED_OK
$STATE,7720,begin climb
$GC,7721,0.50,107.1,2805,2113,2363,2280,1003.2,0.0,559,7826,0.57,0.00,96.28,1.296,10246,0.081,0.000,2997,2113,1886,1958,1815,0,0,0,0,0,0,24.62,28.83,23.35
$GC,8125,0.50,107.1,2997,2114,1949,1809,942.4,16.8,580,8130,0.00,2.35,0.00,0.000,516,0.000,0.050,3007,678,1878,1948,1809,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8172,0.50,107.1,3007,678,1944,1808,935.5,16.8,582,8177,0.00,2.38,0.00,0.000,1030,0.000,0.044,3008,2108,1876,1944,1809,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8484,0.50,107.1,3008,2109,1944,1808,881.9,16.4,598,8488,0.00,2.33,0.00,0.000,516,0.000,0.050,3018,670,1876,1944,1808,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8533,0.50,107.1,3018,669,1939,1808,876.0,16.4,600,8541,0.00,2.33,0.00,0.000,1030,0.000,0.043,3018,2119,1874,1940,1808,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8840,0.50,107.1,3017,2118,1940,1808,822.0,16.6,616,8844,0.00,2.33,0.00,0.000,516,0.000,0.049,3028,668,1874,1940,1808,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8897,0.50,107.1,3028,668,1937,1808,812.7,16.9,619,8903,0.00,2.28,0.00,0.000,1030,0.000,0.042,3028,2105,1872,1937,1808,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9216,0.50,107.1,3028,2105,1938,1808,756.8,17.6,635,9220,0.00,2.28,0.00,0.000,516,0.000,0.047,3038,675,1873,1938,1808,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9320,0.50,107.1,3038,675,1934,1808,740.2,17.2,640,9325,0.12,2.25,0.00,0.000,5126,0.210,0.043,3013,2098,1871,1934,1808,0,0,0,0,0,0,25.91,26.09,28.83
$GC,9627,0.50,107.1,3013,2098,1936,1808,685.8,17.6,655,9631,0.00,2.28,0.00,0.000,516,0.000,0.049,3023,668,1872,1936,1808,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9663,0.50,107.1,3023,668,1933,1808,679.4,17.6,657,9669,0.00,2.25,0.00,0.000,1030,0.000,0.043,3022,2098,1870,1933,1808,0,0,0,0,0,0,28.83,26.15,28.83
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$GC,11340,0.50,107.1,3031,2104,1933,1808,387.7,14.5,745,11349,0.00,2.25,0.00,0.000,516,0.000,0.047,3041,676,1870,1932,1808,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,14287,end climb,SURFACE_DEPTH_REACHED
$STATE,14287,begin surface coast
$FINISH,1.5,1.023121
$STATE,14308,end surface coast,CONTROL_FINISHED_OK
$STATE,14309,begin surface
$SM_CCo,14323,39.62,0.058,0,0,1505,200.16
$SM_GC,2.36,7.68,0.05,39.62,0.039,0.152,0.058,127,2125,1505,-8.42,-0.93,200.16,0,0,0,0,0,0,26.42,26.53,26.36
$IRIDIUM_FIX,-4629.23,440.08,050609,060617
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.76
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.60
$XPDR_PINGS,1
$24V_AH,23.4,14.206
$10V_AH,10.3,11.466
$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,20.475,137.150,185.400,39.625,0.000,85.452,114.668,492.736,0.250,0.000,20.089,2903.124,9207.034,420.539,2744.497,110.258,0.000,1444.373,0.000,1909.439,0.000,0.990,0.000
$DEVICE_MAMPS,250.155,152.235,1323.450,58.140,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,66923,1111
$CAP_FILE_SIZE,152193,0
$CFSIZE,2097086464,2080636928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.161,103.0,1
$GPS,080816,210057,-4648.000,444.826,95,1.3,95,-23.5