version: 66.14
glider: 640
mission: 9
dive: 24
start: 1 13 122 9 29 38
data:
$ID,640
$MISSION,9
$DIVE,24
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,500
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,190
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2400
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2930
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.12344
$PRESSURE_SLOPE,0.00014097099
$AD7714Ch0Gain,32
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.2613181e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$GPS1,130122,092131,-6332.4365,217.9578,45,0.9,58,-21.1,0.0,133.0,8,7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.0
$GPS2,130122,092905,-6332.4678,217.8589,7,1.0,47,-21.1,0.6,184.6,7,4.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6356.400,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,158.7,44942,-18.3,-10.000,-21.04,2236
$D_GRID,990
$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,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.72,-146.0,233,1885,2138,2174,0.0,0.0,0,84,0.00,0.00,-74.70,0.000,16386,0.000,0.000,233,1885,3355,3323,3388,0,0,0,0,0,0,14.71,28.83,14.73,8.52,59.41
$GC,86,-0.72,-146.0,233,1885,3324,3388,4.0,-8.0,11,104,6.00,2.83,-5.05,0.000,18948,0.370,2.289,2191,412,3528,3507,3549,0,0,0,0,0,0,14.38,13.74,14.59,8.64,58.03
$GC,147,-0.72,-146.0,2190,412,3510,3549,19.3,-18.0,21,155,0.00,2.50,0.00,0.000,5126,0.000,0.054,2180,1856,3530,3511,3549,0,0,0,0,0,0,14.60,14.50,14.61,8.66,57.48
$GC,197,-0.72,-146.0,2179,1856,3511,3549,27.7,-17.4,30,205,0.00,2.53,0.00,0.000,4356,0.000,0.091,2168,3284,3530,3511,3549,0,0,0,0,0,0,14.71,14.49,14.71,8.66,56.89
$GC,263,-0.72,-146.0,2168,3284,3511,3549,38.3,-14.5,42,270,0.00,2.45,0.00,0.000,1030,0.000,0.071,2168,1871,3530,3511,3549,0,0,0,0,0,0,14.62,14.52,14.63,8.66,57.20
$GC,394,-0.72,-146.0,2168,1871,3512,3549,60.9,-17.3,67,401,0.00,2.55,0.00,0.000,516,0.000,0.097,2168,454,3530,3511,3549,0,0,0,0,0,0,14.75,14.52,14.76,8.66,57.04
$GC,469,-0.72,-146.0,2168,454,3512,3549,73.6,-15.4,81,477,0.00,2.45,0.00,0.000,3078,0.000,0.054,2158,1880,3530,3512,3549,0,0,0,0,0,0,14.66,14.57,14.68,8.66,57.40
$GC,789,-0.72,-146.0,2157,1880,3512,3549,130.7,-18.2,102,795,0.00,2.42,0.00,0.000,2308,0.000,0.087,2147,3282,3530,3512,3549,0,0,0,0,0,0,14.85,14.63,14.85,8.65,57.20
$GC,851,-0.72,-146.0,2147,3282,3512,3549,140.9,-17.4,105,857,0.05,2.45,0.00,0.000,3078,0.311,0.070,2164,1866,3530,3512,3549,0,0,0,0,0,0,14.56,14.64,14.66,8.64,56.97
$GC,1170,-0.72,-146.0,2164,1866,3512,3549,194.7,-16.4,121,1176,0.00,2.47,0.00,0.000,2564,0.000,0.096,2164,454,3530,3512,3549,0,0,0,0,0,0,14.90,14.68,14.91,8.66,58.66
$GC,1218,-0.72,-146.0,2164,454,3512,3549,201.4,-16.5,123,1223,0.00,2.40,0.00,0.000,3078,0.000,0.054,2154,1880,3530,3512,3549,0,0,0,0,0,0,14.81,14.71,14.82,8.66,58.86
$GC,1531,-0.72,-146.0,2154,1880,3511,3549,254.9,-16.8,139,1536,0.00,2.40,0.00,0.000,2308,0.000,0.086,2143,3282,3530,3512,3549,0,0,0,0,0,0,14.95,14.72,14.95,8.67,58.89
$GC,1573,-0.72,-146.0,2142,3282,3512,3549,261.6,-16.4,141,1578,0.08,2.40,0.00,0.000,3078,0.348,0.071,2170,1867,3530,3512,3549,0,0,0,0,0,0,14.66,14.73,14.81,8.67,58.82
$GC,1896,-0.72,-146.0,2169,1867,3512,3549,312.4,-15.9,157,1903,0.00,2.50,0.00,0.000,516,0.000,0.096,2169,454,3530,3511,3549,0,0,0,0,0,0,14.97,14.74,14.97,8.67,59.49
$GC,1978,-0.72,-146.0,2169,454,3512,3549,324.2,-14.8,161,1984,0.00,2.40,0.00,0.000,3078,0.000,0.052,2160,1864,3530,3512,3549,0,0,0,0,0,0,14.81,14.76,14.83,8.68,58.74
$GC,2296,-0.72,-146.0,2159,1864,3512,3549,374.9,-15.9,177,2302,0.00,2.42,0.00,0.000,2308,0.000,0.085,2149,3284,3528,3508,3549,0,0,0,0,0,0,14.98,14.76,14.99,8.69,59.33
$GC,2349,-0.72,-146.0,2148,3284,3510,3549,381.0,-15.5,179,2358,0.05,2.42,0.00,0.000,3078,0.304,0.072,2168,1874,3530,3512,3549,0,0,0,0,0,0,14.67,14.75,14.78,8.69,59.80
$GC,2657,-0.72,-146.0,2167,1874,3512,3549,428.7,-15.3,195,2663,0.00,2.50,0.00,0.000,2564,0.000,0.096,2168,456,3530,3512,3549,0,0,0,0,0,0,15.00,14.78,15.00,8.69,59.49
$GC,2731,-0.72,-146.0,2167,455,3511,3549,437.6,-14.9,198,2740,0.00,2.40,0.00,0.000,3078,0.000,0.052,2158,1872,3530,3512,3549,0,0,0,0,0,0,14.83,14.77,14.84,8.69,59.05
$GC,3039,-0.72,-146.0,2158,1872,3511,3549,486.5,-15.5,214,3043,0.00,2.40,0.00,0.000,2308,0.000,0.084,2148,3282,3530,3512,3549,0,0,0,0,0,0,15.01,14.79,15.02,8.70,59.21
$GC,3093,-0.72,-146.0,2147,3282,3512,3549,492.7,-15.1,216,3102,0.05,2.42,0.00,0.000,3078,0.306,0.070,2167,1871,3530,3511,3549,0,0,0,0,0,0,14.69,14.77,14.79,8.69,59.41
$GC,3401,-0.72,-146.0,2167,1870,3512,3549,538.6,-14.6,232,3408,0.00,2.50,0.00,0.000,2564,0.000,0.099,2167,447,3530,3511,3549,0,0,0,0,0,0,15.02,14.79,15.02,8.70,59.05
$GC,3473,-0.72,-146.0,2167,447,3512,3549,547.1,-14.3,235,3482,0.00,2.40,0.00,0.000,3078,0.000,0.051,2157,1865,3530,3512,3549,0,0,0,0,0,0,14.84,14.78,14.85,8.69,59.13
$GC,3781,-0.72,-146.0,2157,1865,3512,3549,595.3,-15.4,251,3787,0.00,2.40,0.00,0.000,2308,0.000,0.084,2147,3279,3530,3511,3549,0,0,0,0,0,0,15.03,14.81,15.03,8.70,59.76
$GC,3841,-0.72,-146.0,2146,3279,3512,3549,603.9,-14.4,254,3848,0.08,2.38,0.00,0.000,3078,0.343,0.072,2174,1866,3530,3512,3549,0,0,0,0,0,0,14.74,14.81,14.88,8.70,59.56
$GC,4162,-0.72,-146.0,2174,1866,3512,3549,648.3,-14.1,270,4168,0.00,2.47,0.00,0.000,4612,0.000,0.100,2174,459,3530,3512,3549,0,0,0,0,0,0,15.03,14.81,15.04,8.71,59.37
$GC,4236,-0.72,-146.0,2174,459,3513,3549,656.6,-13.8,273,4245,0.00,2.40,0.00,0.000,3078,0.000,0.052,2165,1873,3530,3512,3549,0,0,0,0,0,0,14.85,14.79,14.88,8.71,59.17
$GC,4543,-0.72,-146.0,2165,1873,3513,3549,703.0,-14.9,289,4547,0.00,2.38,0.00,0.000,2308,0.000,0.085,2154,3274,3531,3513,3549,0,0,0,0,0,0,15.04,14.81,15.04,8.70,59.41
$GC,4592,-0.72,-146.0,2154,3274,3513,3549,708.9,-14.7,291,4596,0.00,2.40,0.00,0.000,3078,0.000,0.073,2154,1848,3531,3513,3549,0,0,0,0,0,0,14.93,14.82,14.94,8.71,59.56
$GC,4904,-0.72,-146.0,2154,1847,3514,3549,758.4,-15.8,307,4911,0.00,2.45,0.00,0.000,2564,0.000,0.102,2154,453,3531,3514,3549,0,0,0,0,0,0,15.05,14.82,15.05,8.71,59.45
$GC,4953,-0.72,-146.0,2153,453,3514,3549,764.5,-15.7,309,4958,0.08,2.35,0.00,0.000,3078,0.369,0.054,2169,1872,3531,3514,3549,0,0,0,0,0,0,14.76,14.85,14.90,8.71,59.49
$GC,5260,-0.72,-146.0,2169,1873,3515,3549,809.1,-14.2,324,5266,0.00,2.40,0.00,0.000,260,0.000,0.085,2159,3281,3532,3515,3549,0,0,0,0,0,0,15.06,14.84,15.06,8.70,59.64
$GC,5301,-0.72,-146.0,2159,3281,3514,3549,814.6,-14.0,326,5306,0.00,2.42,0.00,0.000,3078,0.000,0.073,2159,1865,3532,3515,3549,0,0,0,0,0,0,14.90,14.83,14.91,8.71,59.52
$GC,5619,-0.72,-146.0,2159,1865,3515,3549,861.1,-14.7,342,5623,0.00,2.47,0.00,0.000,2564,0.000,0.100,2159,454,3532,3515,3549,0,0,0,0,0,0,15.07,14.84,15.07,8.71,59.60
$GC,5693,-0.72,-146.0,2159,454,3515,3549,869.6,-14.2,345,5701,0.05,2.40,0.00,0.000,3078,0.330,0.053,2179,1871,3532,3515,3549,0,0,0,0,0,0,14.77,14.86,14.92,8.71,59.37
$GC,6000,-0.72,-146.0,2178,1870,3515,3549,911.8,-13.6,361,6005,0.00,2.40,0.00,0.000,4356,0.000,0.086,2170,3284,3532,3515,3549,0,0,0,0,0,0,15.07,14.85,15.07,8.71,59.52
$GC,6056,-0.72,-146.0,2169,3284,3515,3549,918.9,-13.0,364,6061,0.00,2.38,0.00,0.000,1030,0.000,0.073,2169,1871,3532,3516,3549,0,0,0,0,0,0,14.96,14.85,14.97,8.72,59.21
$GC,6372,-0.72,-146.0,2169,1870,3516,3549,962.8,-14.2,380,6377,0.00,2.50,0.00,0.000,516,0.000,0.101,2170,454,3532,3516,3549,0,0,0,0,0,0,15.07,14.85,15.08,8.72,59.17
$GC,6448,-0.72,-146.0,2169,454,3516,3549,971.2,-14.0,383,6455,0.00,2.35,0.00,0.000,3078,0.000,0.052,2159,1873,3532,3516,3549,0,0,0,0,0,0,14.97,14.88,14.98,8.72,59.56
$STATE,6572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6572,begin apogee
$GC,6576,-0.15,0.0,2159,1776,3516,3550,991.0,-14.9,390,6699,0.52,0.00,119.25,2.738,10246,0.233,0.000,2355,1775,2928,2926,2931,0,0,0,0,0,0,14.79,13.81,12.93,8.72,59.01
$STATE,6700,end apogee,CONTROL_FINISHED_OK
$STATE,6700,begin climb
$GC,6701,0.72,146.0,2355,1776,2926,2930,996.7,0.0,396,6829,0.75,2.67,119.47,2.617,10756,0.152,0.093,2645,402,2331,2329,2334,0,0,0,0,0,0,13.80,13.47,12.78,8.68,58.66
$GC,6891,0.72,146.0,2645,402,2335,2334,980.0,12.9,405,6896,0.00,2.47,0.00,0.000,5126,0.000,0.044,2645,1803,2334,2334,2334,0,0,0,0,0,0,14.04,13.95,14.05,8.64,56.89
$GC,7212,0.72,146.0,2645,1804,2336,2334,929.9,15.7,421,7217,0.00,2.45,0.00,0.000,4356,0.000,0.076,2645,3202,2335,2337,2334,0,0,0,0,0,0,14.55,14.33,14.55,8.63,57.91
$GC,7262,0.72,146.0,2645,3202,2337,2334,924.2,15.9,423,7270,0.08,2.42,0.00,0.000,5126,0.383,0.074,2634,1820,2335,2336,2334,0,0,0,0,0,0,14.28,14.37,14.44,8.62,57.48
$GC,7569,0.72,146.0,2633,1821,2337,2334,876.3,15.0,439,7575,0.00,2.58,0.00,0.000,4612,0.000,0.091,2643,381,2335,2337,2334,0,0,0,0,0,0,14.73,14.51,14.73,8.62,58.34
$GC,7649,0.72,146.0,2643,380,2337,2334,864.2,15.1,443,7655,0.00,2.40,0.00,0.000,5126,0.000,0.044,2644,1807,2335,2337,2334,0,0,0,0,0,0,14.66,14.57,14.66,8.61,58.26
$GC,7968,0.72,146.0,2643,1808,2337,2334,814.3,15.6,459,7973,0.00,2.40,0.00,0.000,4356,0.000,0.077,2643,3207,2335,2337,2334,0,0,0,0,0,0,14.84,14.62,14.84,8.61,59.29
$GC,8022,0.72,146.0,2643,3207,2338,2334,807.9,15.7,461,8031,0.05,2.47,0.00,0.000,5126,0.350,0.074,2637,1797,2335,2337,2334,0,0,0,0,0,0,14.52,14.63,14.64,8.61,58.97
$GC,8330,0.72,146.0,2636,1797,2337,2334,760.3,14.9,477,8336,0.00,2.50,0.00,0.000,4612,0.000,0.090,2646,376,2335,2337,2334,0,0,0,0,0,0,14.90,14.69,14.90,8.61,58.97
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$GC,12013,0.72,146.0,2638,1804,2341,2334,237.2,13.8,661,12018,0.00,2.47,0.00,0.000,4612,0.000,0.090,2650,385,2337,2341,2334,0,0,0,0,0,0,15.04,14.83,15.04,8.58,59.25
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$STATE,13977,end climb,SURFACE_DEPTH_REACHED
$STATE,13977,begin surface coast
$FINISH,0.1,1.027382
$STATE,14005,end surface coast,CONTROL_FINISHED_OK
$STATE,14005,begin surface
$SM_CCo,14017,27.55,1.672,0,0,2152,190.10
$SM_GC,2.77,5.57,0.12,27.55,0.078,0.116,1.672,254,1888,2152,-6.45,-0.93,190.10,0,0,0,0,0,0,14.77,14.76,13.93
$IRIDIUM_FIX,-6331.37,215.12,130122,052501
$TT8_MAMPS,0.019474,0.337799
$HUMID,58.26
$INTERNAL_PRESSURE,8.49177
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.78,153.766
$10V_AH,13.05,0.000
$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,13.875,184.925,238.725,27.550,0.000,48.634,39.317,180.333,0.000,0.000,48.200,2467.577,8870.134,490.949,2600.765,80.080,0.000,1538.555,0.000,1816.986,0.000,0.536,0.000
$DEVICE_MAMPS,468.945,2288.880,2737.935,1672.290,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.556,1395.960,230.585,1130.541,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343124
$DATA_FILE_SIZE,65998,860
$CAP_FILE_SIZE,148371,0
$CFSIZE,1023623168,1018462208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.193,261.36,1
$GPS,130122,132625,-6333.874,216.883,88,1.9,129,-21.0,0.5,84.2,4,9.0