version: 66.07
glider: 23
mission: 5
dive: 160
start: 12 18 110 17 57 59
data:
$ID,23
$MISSION,5
$DIVE,160
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$D_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,471
$T_MISSION,720
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54545.551
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2680
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$AR_DIVENUM,159
$AR_SAMPLENUM,0
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,181210,174625,1926.397,12532.209,38,1.1,39,-2.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,6
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-52.3
$GPS2,181210,175707,1926.428,12532.211,35,1.1,35,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.149,-0.151
$KALMAN_X,-264917.7,667.4,568.5,214048.3,-6379.3
$KALMAN_Y,83186.6,-23.1,-269.3,-295835.0,3371.0
$MHEAD_RNG_PITCHd_Wd,227.0,178773,-12.7,-7.006
$D_GRID,990
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.00,-146.0,0.0,0.0,0,119,0.00,0.00,-91.22,0.000,2,0.000,0.000,366,2684,2821,0,0,0,0,0,0
$GC,121,-1.00,-146.0,3.1,-1.3,18,168,9.93,2.12,-30.65,0.000,4,0.150,0.049,2135,1610,3667,0,0,0,0,0,0
$GC,421,-1.00,-146.0,57.0,-19.5,61,425,0.00,2.12,0.00,0.000,6,0.000,0.025,2135,2700,3667,0,0,0,0,0,0
$GC,683,-1.00,-146.0,104.9,-16.2,85,686,0.00,1.65,0.00,0.000,4,0.000,0.040,2135,3743,3668,0,0,0,0,0,0
$GC,788,-1.00,-146.0,121.3,-14.4,94,794,0.00,1.73,0.00,0.000,6,0.000,0.023,2135,2658,3668,0,0,0,0,0,0
$GC,1051,-1.00,-146.0,160.5,-15.4,119,1055,0.00,1.73,0.00,0.000,4,0.000,0.038,2135,3739,3669,0,0,0,0,0,0
$GC,1309,-1.00,-146.0,196.1,-11.4,142,1313,0.00,1.67,0.00,0.000,6,0.000,0.022,2135,2686,3669,0,0,0,0,0,0
$GC,1579,-1.00,-146.0,226.2,-11.9,157,1582,0.00,2.12,0.00,0.000,4,0.000,0.037,2135,1618,3669,0,0,0,0,0,0
$GC,1641,-1.00,-146.0,233.5,-11.2,160,1645,0.00,2.10,0.00,0.000,6,0.000,0.028,2134,2689,3669,0,0,0,0,0,0
$GC,1967,-1.00,-146.0,273.0,-12.2,176,1971,0.00,1.73,0.00,0.000,4,0.000,0.043,2135,3736,3669,0,0,0,0,0,0
$GC,2060,-1.00,-146.0,284.1,-11.7,180,2065,0.00,1.70,0.00,0.000,6,0.000,0.023,2135,2669,3668,0,0,0,0,0,0
$GC,2385,-1.00,-146.0,317.4,-9.6,192,2388,0.00,1.75,0.00,0.000,4,0.000,0.043,2135,3741,3667,0,0,0,0,0,0
$GC,2580,-1.00,-146.0,333.6,-7.9,196,2584,0.00,1.67,0.00,0.000,6,0.000,0.023,2135,2688,3666,0,0,0,0,0,0
$GC,2893,-1.00,-146.0,358.3,-8.5,204,2896,0.00,1.73,0.00,0.000,4,0.000,0.044,2135,3743,3665,0,0,0,0,0,0
$GC,2930,-1.00,-146.0,362.1,-9.5,204,2937,0.00,1.70,0.00,0.000,6,0.000,0.024,2135,2677,3665,0,0,0,0,0,0
$GC,3262,-1.00,-146.0,400.4,-12.7,213,3265,0.00,2.10,0.00,0.000,4,0.000,0.036,2135,1622,3663,0,0,0,0,0,0
$GC,3518,-1.00,-146.0,430.3,-9.3,218,3525,0.00,2.15,0.00,0.000,6,0.000,0.031,2135,2696,3662,0,0,0,0,0,0
$GC,3850,-1.00,-146.0,455.1,-6.8,227,3854,0.00,1.73,0.00,0.000,4,0.000,0.048,2135,3745,3659,0,0,0,0,0,0
$GC,3921,-1.00,-146.0,460.2,-7.4,228,3926,0.00,1.67,0.00,0.000,6,0.000,0.023,2134,2690,3659,0,0,0,0,0,0
$GC,4264,-1.00,-146.0,485.3,-7.7,237,4268,0.00,1.73,0.00,0.000,4,0.000,0.046,2135,3736,3658,0,0,0,0,0,0
$GC,4313,-1.00,-146.0,489.8,-9.3,238,4317,0.00,1.65,0.00,0.000,6,0.000,0.024,2135,2697,3657,0,0,0,0,0,0
$GC,4637,-1.00,-146.0,515.1,-7.5,246,4641,0.00,2.12,0.00,0.000,4,0.000,0.036,2135,1619,3654,0,0,0,0,0,0
$GC,4843,-1.00,-146.0,529.7,-7.2,250,4848,0.00,2.17,0.00,0.000,6,0.000,0.032,2135,2702,3652,0,0,0,0,0,0
$GC,5186,-1.00,-146.0,551.6,-6.3,259,5189,0.00,2.15,0.00,0.000,4,0.000,0.037,2135,1626,3650,0,0,0,0,0,0
$GC,5431,-1.00,-146.0,566.2,-5.3,264,5436,0.00,2.15,0.00,0.000,6,0.000,0.034,2134,2693,3647,0,0,0,0,0,0
$GC,5774,-1.00,-146.0,585.6,-5.7,273,5778,0.00,2.12,0.00,0.000,4,0.000,0.038,2135,1620,3645,0,0,0,0,0,0
$GC,5891,-1.00,-146.0,592.0,-5.6,275,5895,0.00,2.17,0.00,0.000,6,0.000,0.034,2135,2699,3644,0,0,0,0,0,0
$GC,6228,-1.00,-146.0,605.3,-3.7,284,6232,0.00,2.15,0.00,0.000,4,0.000,0.038,2135,1621,3642,0,0,0,0,0,0
$GC,6344,-1.00,-146.0,610.3,-4.4,286,6349,0.00,2.15,0.00,0.000,6,0.000,0.035,2135,2689,3641,0,0,0,0,0,0
$GC,6681,-1.00,-146.0,631.1,-6.9,295,6685,0.00,2.15,0.00,0.000,4,0.000,0.039,2135,1616,3639,0,0,0,0,0,0
$GC,6720,-1.00,-146.0,634.1,-7.4,296,6724,0.00,2.15,0.00,0.000,6,0.000,0.036,2135,2691,3639,0,0,0,0,0,0
$GC,7050,-1.00,-146.0,657.9,-6.9,304,7053,0.00,2.12,0.00,0.000,4,0.000,0.040,2135,1626,3637,0,0,0,0,0,0
$GC,7116,-1.00,-146.0,662.3,-6.3,305,7120,0.00,2.15,0.00,0.000,6,0.000,0.037,2135,2683,3636,0,0,0,0,0,0
$GC,7464,-1.00,-146.0,681.7,-5.3,314,7468,0.00,2.12,0.00,0.000,4,0.000,0.041,2135,1616,3633,0,0,0,0,0,0
$GC,7615,-1.00,-146.0,688.8,-4.7,317,7619,0.00,2.15,0.00,0.000,6,0.000,0.038,2135,2682,3633,0,0,0,0,0,0
$GC,7956,-1.00,-146.0,705.2,-5.2,326,7960,0.00,2.10,0.00,0.000,4,0.000,0.041,2135,1627,3631,0,0,0,0,0,0
$GC,8212,-1.00,-146.0,721.3,-6.3,331,8219,0.00,2.15,0.00,0.000,6,0.000,0.038,2135,2677,3629,0,0,0,0,0,0
$GC,8543,-1.00,-146.0,744.6,-7.0,340,8547,0.00,2.12,0.00,0.000,4,0.000,0.040,2136,1621,3627,0,0,0,0,0,0
$GC,8756,-1.00,-146.0,757.3,-4.9,344,8762,0.00,2.15,0.00,0.000,6,0.000,0.039,2135,2669,3627,0,0,0,0,0,0
$GC,9087,-1.00,-146.0,770.4,-3.4,353,9091,0.00,2.10,0.00,0.000,4,0.000,0.039,2135,1627,3625,0,0,0,0,0,0
$GC,9343,-1.00,-146.0,777.0,-2.0,358,9348,0.00,2.12,0.00,0.000,6,0.000,0.039,2135,2662,3624,0,0,0,0,0,0
$GC,9680,-1.00,-146.0,786.0,-2.9,367,9684,0.00,2.08,0.00,0.000,4,0.000,0.040,2135,1623,3622,0,0,0,0,0,0
$GC,9937,-1.00,-146.0,795.8,-3.9,372,9943,0.00,2.12,0.00,0.000,6,0.000,0.039,2134,2658,3622,0,0,0,0,0,0
$GC,10269,-1.00,-146.0,813.1,-5.7,381,10273,0.00,2.10,0.00,0.000,4,0.000,0.040,2135,1618,3620,0,0,0,0,0,0
$GC,10526,-1.00,-146.0,828.8,-5.5,386,10532,0.00,2.12,0.00,0.000,6,0.000,0.039,2135,2651,3620,0,0,0,0,0,0
$GC,10857,-1.00,-146.0,847.0,-5.4,395,10861,0.00,2.08,0.00,0.000,4,0.000,0.039,2135,1616,3619,0,0,0,0,0,0
$GC,11057,-1.00,-146.0,858.1,-5.6,399,11062,0.00,2.10,0.00,0.000,6,0.000,0.039,2135,2637,3618,0,0,0,0,0,0
$GC,11406,-1.00,-146.0,877.0,-5.5,408,11410,0.00,2.05,0.00,0.000,4,0.000,0.039,2135,1616,3617,0,0,0,0,0,0
$GC,11495,-1.00,-146.0,881.8,-5.2,410,11499,0.00,2.10,0.00,0.000,6,0.000,0.040,2135,2650,3616,0,0,0,0,0,0
$GC,11819,-1.00,-146.0,895.9,-3.8,418,11823,0.00,2.08,0.00,0.000,4,0.000,0.039,2135,1616,3616,0,0,0,0,0,0
$GC,11976,-1.00,-146.0,900.8,-2.2,421,11980,0.00,2.10,0.00,0.000,6,0.000,0.040,2135,2636,3615,0,0,0,0,0,0
$GC,12323,-1.00,-146.0,905.7,-1.0,430,12326,0.00,2.03,0.00,0.000,4,0.000,0.039,2135,1626,3615,0,0,0,0,0,0
$GC,12445,-1.00,-146.0,906.6,-0.6,432,12449,0.00,2.08,0.00,0.000,6,0.000,0.039,2135,2627,3615,0,0,0,0,0,0
$STATE,12577,end dive,NO_VERTICAL_VELOCITY
$STATE,12577,begin apogee
$GC,12583,-0.33,0.0,907.9,0.0,436,12700,0.73,0.00,113.88,1.429,6,0.097,0.000,2282,1938,3071,0,0,0,0,0,0
$STATE,12703,end apogee,CONTROL_FINISHED_OK
$STATE,12704,begin climb
$GC,12705,1.00,146.0,903.6,0.0,439,12839,1.40,2.40,124.80,1.368,4,0.064,0.050,2577,875,2474,0,0,0,0,0,0
$GC,12854,1.00,146.0,888.6,8.8,442,12861,0.00,2.30,0.00,0.000,6,0.000,0.029,2577,1954,2473,0,0,0,0,0,0
$GC,13186,1.00,146.0,855.0,9.5,451,13190,0.00,2.33,0.00,0.000,4,0.000,0.048,2577,881,2469,0,0,0,0,0,0
$GC,13224,1.00,146.0,851.4,9.5,452,13229,0.00,2.20,0.00,0.000,6,0.000,0.029,2577,1948,2469,0,0,0,0,0,0
$GC,13547,1.00,146.0,824.5,8.2,460,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1952,2469,0,0,0,0,0,0
$GC,13873,1.00,146.0,795.9,9.1,468,13877,0.00,2.30,0.00,0.000,4,0.000,0.049,2577,876,2468,0,0,0,0,0,0
$GC,13923,1.00,146.0,790.7,10.7,469,13927,0.00,2.20,0.00,0.000,6,0.000,0.029,2577,1937,2467,0,0,0,0,0,0
$GC,14240,1.00,146.0,757.9,10.3,477,14244,0.00,2.30,0.00,0.000,4,0.000,0.048,2577,885,2467,0,0,0,0,0,0
$GC,14267,1.00,146.0,755.0,10.5,477,14272,0.00,2.15,0.00,0.000,6,0.000,0.029,2577,1930,2467,0,0,0,0,0,0
$GC,14597,1.00,146.0,723.2,9.7,485,14601,0.00,2.25,0.00,0.000,4,0.000,0.049,2577,886,2466,0,0,0,0,0,0
$GC,14648,1.00,146.0,717.7,10.5,486,14652,0.00,2.15,0.00,0.000,6,0.000,0.028,2577,1934,2466,0,0,0,0,0,0
$GC,14965,1.00,146.0,683.1,10.9,494,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1938,2466,0,0,0,0,0,0
$GC,15290,1.00,146.0,650.9,9.2,502,15294,0.00,2.25,0.00,0.000,4,0.000,0.048,2577,884,2465,0,0,0,0,0,0
$GC,15316,1.00,146.0,648.5,9.1,502,15321,0.00,2.15,0.00,0.000,6,0.000,0.028,2577,1908,2466,0,0,0,0,0,0
$GC,15658,1.00,146.0,619.1,8.9,511,15659,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1914,2465,0,0,0,0,0,0
$GC,15983,1.00,146.0,587.2,9.9,519,15984,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1914,2465,0,0,0,0,0,0
$GC,16308,1.00,146.0,556.1,9.2,527,16309,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1914,2465,0,0,0,0,0,0
$GC,16633,1.00,146.0,531.7,7.2,535,16637,0.00,2.22,0.00,0.000,4,0.000,0.049,2577,881,2465,0,0,0,0,0,0
$GC,16654,1.00,146.0,529.9,7.5,535,16659,0.00,2.20,0.00,0.000,6,0.000,0.026,2577,1943,2465,0,0,0,0,0,0
$GC,16996,1.00,146.0,502.4,8.6,544,17000,0.00,2.25,0.00,0.000,4,0.000,0.048,2577,886,2466,0,0,0,0,0,0
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$STATE,23090,end climb,SURFACE_DEPTH_REACHED
$STATE,23090,begin surface coast
$FINISH,1.8,1.010215
$STATE,23120,end surface coast,CONTROL_FINISHED_OK
$STATE,23120,begin surface
$SM_CCo,23141,78.35,0.576,0,0,950,520.04
$SM_GC,2.41,0.00,0.00,78.35,0.000,0.000,0.576,366,2705,950,-9.17,0.74,520.04
$IRIDIUM_FIX,1920.65,12531.73,120612,040426
$TT8_MAMPS,0.049088
$HUMID,1078829023
$TCM_TEMP,24.60
$XPDR_PINGS,444
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2093285376
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59516682240
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,27.555
$10V_AH,10.0,13.893
$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,21.925,194.575,414.750,78.350,0.000,28.905,37.123,411.440,111.000,0.000,37.248,1866.409,17948.455,703.877,3120.725,215.694,33.377,2075.052,0.000,2543.578,0.000,0.545,0.000
$DEVICE_MAMPS,149.565,53.690,1428.921,576.017,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,611.215,0.000,0.000,0.000,0.000,0.000,0.000,20545.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.425,0.000,0.000
$MEM,354996
$DATA_FILE_SIZE,33366,901
$CAP_FILE_SIZE,197973,0
$CFSIZE,260034560,247050240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,002630,1924.966,12529.067,35,1.7,41,-2.4