version: 66.11
glider: 169
mission: 8
dive: 523
start: 7 4 113 2 47 13
data:
$ID,169
$MISSION,8
$DIVE,523
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$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,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-22994.941
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,040713,022754,1953.322,12336.802,42,1.0,42,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-71.0
$GPS2,040713,024642,1953.391,12336.773,12,1.8,12,-2.4
$SPEED_LIMITS,0.163,0.258
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,75.4,85104,-5.6,-9.429,-20.04,2855
$D_GRID,5224
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.58,-175.2,121,2561,1154,753,0.0,0.0,0,104,0.00,0.00,-76.00,0.000,16386,0.000,0.000,121,2561,2917,2878,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.58,-175.2,121,2561,2878,2957,3.6,-7.3,10,136,8.75,2.28,-10.77,0.000,18692,0.229,0.063,2170,3823,3570,3439,3701,0,0,0,0,0,0,24.98,25.85,26.48
$GC,253,-0.58,-175.2,2170,3823,3441,3700,54.7,-28.5,24,259,0.00,2.12,0.00,0.000,1030,0.000,0.024,2170,2529,3571,3442,3701,0,0,0,0,0,0,28.83,26.22,28.83
$GC,575,-0.58,-175.2,2170,2528,3442,3700,125.2,-17.6,40,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2527,3571,3442,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-0.58,-175.2,2170,2527,3442,3701,182.0,-18.7,55,880,0.00,2.30,0.00,0.000,260,0.000,0.048,2168,3845,3571,3442,3700,0,0,0,0,0,0,28.83,26.08,28.83
$GC,916,-0.58,-175.2,1280,3844,3431,3699,187.0,-18.8,56,924,0.00,2.15,0.00,0.000,1030,0.000,0.024,2167,2518,3571,3442,3700,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1221,-0.58,-175.2,2167,2519,3442,3700,239.1,-15.4,72,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2519,3571,3442,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-0.58,-175.2,2167,2521,3442,3700,287.0,-15.9,87,1526,0.00,2.28,0.00,0.000,260,0.000,0.044,2167,3828,3570,3441,3700,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1593,-0.58,-175.2,2167,3828,3441,3700,298.3,-15.8,90,1599,0.00,2.15,0.00,0.000,1030,0.000,0.023,2167,2509,3571,3442,3700,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1924,-0.58,-175.2,2167,2509,3441,3697,346.2,-14.8,106,1931,0.00,2.33,0.00,0.000,260,0.000,0.044,2164,3842,3569,3442,3697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1994,-0.58,-175.2,2162,3842,3441,3696,356.1,-13.2,109,2001,0.00,2.12,0.00,0.000,1030,0.000,0.024,2164,2518,3568,3441,3696,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2326,-0.58,-175.2,2164,2518,3442,3691,397.8,-12.8,125,2332,0.00,2.30,0.00,0.000,260,0.000,0.042,2155,3831,3566,3441,3691,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2385,-0.58,-175.2,2154,3830,3441,3690,404.2,-12.5,127,2392,0.12,2.12,0.00,0.000,3078,0.125,0.023,2194,2512,3565,3441,3690,0,0,0,0,0,0,26.19,26.47,28.83
$GC,2705,-0.58,-175.2,2194,2512,3441,3685,437.6,-10.0,143,2710,0.00,2.33,0.00,0.000,260,0.000,0.046,2194,3837,3563,3441,3685,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2749,-0.58,-175.2,2194,3836,3441,3685,440.5,-10.1,144,2757,0.00,2.15,0.00,0.000,1030,0.000,0.024,2194,2513,3562,3441,3684,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3051,-0.58,-175.2,2198,2513,3441,3679,474.0,-10.4,160,3057,0.00,2.33,0.00,0.000,260,0.000,0.047,2193,3844,3560,3441,3679,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3123,-0.58,-175.2,2193,3844,3441,3677,480.9,-9.8,163,3129,0.00,2.15,0.00,0.000,1030,0.000,0.024,2194,2513,3559,3441,3677,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3453,-0.58,-175.2,2193,2513,3441,3674,510.9,-8.6,179,3460,0.00,2.33,0.00,0.000,260,0.000,0.048,2194,3842,3556,3441,3672,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3489,-0.58,-175.2,2193,3842,3441,3671,513.5,-8.6,180,3495,0.00,2.12,0.00,0.000,1030,0.000,0.025,2194,2519,3556,3441,3671,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3809,-0.58,-175.2,2193,2519,3441,3665,539.9,-8.0,196,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2521,3553,3441,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4105,-0.58,-175.2,2193,2519,3441,3661,560.7,-7.1,211,4111,0.00,2.28,0.00,0.000,260,0.000,0.045,2194,3827,3551,3441,3661,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4158,-0.58,-175.2,1312,3827,3429,3658,564.1,-7.4,213,4164,0.00,2.10,0.00,0.000,1030,0.000,0.023,2194,2515,3550,3439,3661,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4482,-0.58,-175.2,2193,2515,3439,3655,592.9,-9.8,229,4488,0.00,2.33,0.00,0.000,260,0.000,0.049,2194,3829,3547,3439,3655,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4558,-0.58,-175.2,2193,3829,3437,3654,600.7,-10.3,232,4564,0.00,2.10,0.00,0.000,1030,0.000,0.023,2193,2514,3545,3437,3654,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4889,-0.58,-175.2,2193,2514,3436,3649,635.3,-10.0,243,4895,0.00,2.30,0.00,0.000,260,0.000,0.048,2194,3821,3543,3436,3650,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4917,-0.58,-175.2,2193,3821,3435,3650,635.3,-10.0,243,4923,0.00,2.10,0.00,0.000,1030,0.000,0.023,2194,2512,3542,3435,3650,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5238,-0.58,-175.2,2193,2513,3436,3646,665.7,-8.3,254,5244,0.00,2.33,0.00,0.000,260,0.000,0.049,2193,3844,3540,3435,3646,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5275,-0.58,-175.2,2193,3844,3434,3645,669.0,-8.2,255,5280,0.00,2.15,0.00,0.000,1030,0.000,0.025,2194,2517,3540,3434,3646,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5612,-0.58,-175.2,2193,2517,3433,3642,696.7,-8.2,266,5618,0.00,2.50,0.00,0.000,516,0.000,0.031,2194,1067,3537,3433,3642,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5644,-0.58,-175.2,2193,1067,3433,3642,696.7,-8.2,266,5653,0.00,2.58,0.00,0.000,1030,0.000,0.031,2194,2562,3537,3433,3641,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5953,-0.58,-175.2,2193,2560,3431,3637,724.5,-8.7,277,5959,0.00,2.20,0.00,0.000,260,0.000,0.047,2193,3830,3534,3431,3638,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6012,-0.58,-175.2,2193,3831,3431,3638,728.1,-8.7,278,6018,0.00,2.15,0.00,0.000,1030,0.000,0.024,2194,2515,3534,3431,3637,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6333,-0.58,-175.2,2193,2516,3430,3633,759.0,-9.3,289,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2516,3531,3430,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6629,-0.58,-175.2,2193,2516,3428,3631,787.5,-9.4,299,6636,0.00,2.40,0.00,0.000,260,0.000,0.047,2193,3845,3531,3433,3630,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6687,-0.58,-175.2,2193,3845,3427,3630,790.9,-9.2,300,6693,0.00,2.17,0.00,0.000,1030,0.000,0.024,2194,2519,3528,3426,3630,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7008,-0.58,-175.2,2193,2519,3426,3626,818.4,-7.9,311,7014,0.00,2.47,0.00,0.000,516,0.000,0.032,2193,1065,3526,3426,3626,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7033,-0.58,-175.2,2193,1065,3426,3626,818.4,-7.9,311,7039,0.00,2.60,0.00,0.000,1030,0.000,0.034,2193,2560,3526,3426,3626,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7354,-0.58,-175.2,2193,2557,3425,3624,844.0,-7.0,322,7360,0.00,2.20,0.00,0.000,260,0.000,0.046,2183,3826,3524,3425,3624,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7413,-0.58,-175.2,2182,3826,3425,3623,847.0,-7.1,323,7419,0.00,2.17,0.00,0.000,1030,0.000,0.025,2183,2516,3524,3425,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7733,-0.58,-175.2,2182,2516,3424,3620,874.7,-8.4,334,7739,0.00,2.38,0.00,0.000,260,0.000,0.048,2181,3829,3522,3425,3620,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7785,-0.58,-175.2,2181,3829,3424,3620,878.2,-8.6,335,7791,0.00,2.20,0.00,0.000,1030,0.000,0.025,2181,2514,3521,3424,3619,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8109,-0.58,-175.2,2181,2514,3423,3616,908.6,-9.0,346,8115,0.00,2.38,0.00,0.000,260,0.000,0.046,2181,3841,3519,3423,3616,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8146,-0.58,-175.2,2181,3838,3422,3616,912.1,-8.9,347,8152,0.00,2.20,0.00,0.000,1030,0.000,0.026,2181,2519,3519,3422,3616,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8482,-0.58,-175.2,2181,2519,3422,3614,942.0,-8.9,358,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2519,3518,3423,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8783,-0.58,-175.2,2181,2519,3421,3613,968.3,-8.7,368,8789,0.00,2.38,0.00,0.000,260,0.000,0.049,2181,3840,3517,3421,3613,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8863,-0.58,-175.2,2180,3840,3419,3613,974.5,-8.7,370,8868,0.00,2.20,0.00,0.000,1030,0.000,0.027,2181,2519,3516,3420,3613,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,9066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9066,begin apogee
$GC,9074,-0.12,0.0,2180,2661,3419,3610,991.9,-7.9,377,9235,0.43,0.00,155.95,0.993,10246,0.087,0.000,2336,2661,2850,2877,2823,0,0,0,0,0,0,25.88,28.83,23.56
$STATE,9237,end apogee,CONTROL_FINISHED_OK
$STATE,9237,begin climb
$GC,9245,0.58,175.2,2335,2661,2867,2804,999.0,0.0,381,9419,0.60,0.00,170.43,0.945,10246,0.031,0.000,2599,2661,2136,2267,2006,0,0,0,0,0,0,25.19,28.83,23.56
$GC,9699,0.58,175.2,2599,2661,2238,1975,957.5,12.9,398,9705,0.12,2.00,0.00,0.000,4356,0.165,0.041,2552,3850,2106,2237,1975,0,0,0,0,0,0,25.75,25.86,28.83
$GC,9745,0.58,175.2,2551,3846,2235,1975,952.2,13.3,399,9750,0.00,1.95,0.00,0.000,1030,0.000,0.018,2562,2598,2105,2235,1975,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10076,0.59,179.1,2562,2597,2232,1974,918.7,9.3,410,10082,0.00,2.15,0.00,0.000,260,0.000,0.041,2552,3847,2102,2232,1972,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10113,0.59,180.2,2551,3847,2232,1973,915.0,9.4,411,10118,0.00,1.92,0.00,0.000,1030,0.000,0.017,2562,2597,2102,2232,1973,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10450,0.65,205.0,2562,2596,2230,1972,886.6,8.5,422,10484,0.00,2.22,28.58,0.827,8452,0.000,0.041,2552,3831,2009,2139,1879,0,0,0,0,0,0,28.83,25.77,24.43
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$GC,13940,0.81,269.7,2645,3848,1880,1566,401.9,15.9,555,13946,0.00,1.92,0.00,0.000,1030,0.000,0.015,2656,2603,1723,1880,1566,0,0,0,0,0,0,28.83,26.41,28.83
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$STATE,17578,end climb,SURFACE_DEPTH_REACHED
$STATE,17578,begin surface coast
$FINISH,-0.7,0.999149
$STATE,17617,end surface coast,CONTROL_FINISHED_OK
$STATE,17617,begin surface
$SM_CCo,17638,4.35,0.135,0,0,1099,430.01
$SM_GC,1.15,6.68,0.17,4.35,0.021,0.050,0.135,133,2501,1099,-6.94,0.23,430.01,0,0,0,0,0,0,26.08,26.40,25.33
$IRIDIUM_FIX,1948.12,12440.55,040713,020209
$TT8_MAMPS,0.021721,0.021721
$HUMID,53.38
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3756256
$24V_AH,23.6,70.084
$10V_AH,9.9,52.651
$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
$DEVICE_SECS,17.600,158.275,626.250,4.350,0.000,0.000,0.000,707.975,0.000,0.000,12.878,3181.523,11088.548,804.310,2565.095,1092.776,0.000,2542.562,0.000,1769.357,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17717.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.520,0.000,0.000,0.000
$MEM,328912
$DATA_FILE_SIZE,30051,779
$CAP_FILE_SIZE,410926,0
$CFSIZE,260034560,171069440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,305.2,1
$GPS,040713,074235,1954.443,12337.711,35,1.5,41,-2.4