version: 66.06
glider: 146
mission: 8
dive: 300
start: 3 20 113 15 31 33
data:
$ID,146
$MISSION,8
$DIVE,300
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$D_NO_BLEED,200
$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,300
$T_MISSION,620
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-313339.5
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3260
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,152329,1926.403,-8118.457,36,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.0
$GPS2,153037,1926.371,-8118.374,10,1.1,10,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.091
$KALMAN_X,-57922.9,-336.1,-225.5,39331.4,-393.4
$KALMAN_Y,31217.9,-21.4,-169.6,-25821.0,867.2
$MHEAD_RNG_PITCHd_Wd,114.1,18449,-17.5,-10.000
$D_GRID,900
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.25,0.000,2,0.000,0.000,464,2195,3510,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.9,-5.5,9,124,13.68,2.55,-4.88,0.000,4,0.164,0.055,2978,644,3786,0,0,0,0,0,0
$GC,181,-0.97,-146.0,30.7,-21.4,20,190,0.28,2.47,0.00,0.000,6,0.081,0.018,3044,2221,3787,0,0,0,0,0,0
$GC,452,-0.89,-146.0,68.6,-13.1,45,457,0.10,2.50,0.00,0.000,4,0.122,0.031,3066,3778,3788,0,0,0,0,0,0
$GC,475,-0.83,-146.0,72.2,-13.0,46,479,0.00,2.47,0.00,0.000,6,0.000,0.021,3066,2203,3788,0,0,0,0,0,0
$GC,737,-0.83,-146.0,105.0,-12.6,70,742,0.00,2.55,0.00,0.000,4,0.000,0.046,3066,636,3788,0,0,0,0,0,0
$GC,807,-0.83,-146.0,113.0,-11.7,75,811,0.00,2.40,0.00,0.000,6,0.000,0.016,3066,2203,3788,0,0,0,0,0,0
$GC,1073,-0.83,-146.0,141.6,-10.5,99,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2203,3789,0,0,0,0,0,0
$GC,1343,-0.92,-146.0,163.7,-7.1,124,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2203,3789,0,0,0,0,0,0
$GC,1606,-1.03,-146.0,180.7,-6.0,149,1611,0.12,2.58,0.00,0.000,4,0.066,0.047,3008,637,3790,0,0,0,0,0,0
$GC,1627,-1.09,-146.0,182.3,-7.3,150,1632,0.00,2.40,0.00,0.000,6,0.000,0.017,3008,2208,3789,0,0,0,0,0,0
$GC,1898,-1.09,-146.0,203.7,-7.8,172,1903,0.00,2.55,0.00,0.000,4,0.000,0.050,3008,640,3790,0,0,0,0,0,0
$GC,1915,-1.09,-146.0,205.3,-8.0,172,1919,0.00,2.35,0.00,0.000,6,0.000,0.018,3008,2189,3790,0,0,0,0,0,0
$GC,2178,-1.09,-146.0,227.0,-8.4,179,2182,0.00,2.53,0.00,0.000,4,0.000,0.038,3008,3769,3790,0,0,0,0,0,0
$GC,2233,-1.09,-146.0,232.0,-8.7,180,2237,0.00,2.42,0.00,0.000,6,0.000,0.021,3008,2193,3790,0,0,0,0,0,0
$GC,2501,-1.09,-146.0,252.7,-7.7,187,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2193,3790,0,0,0,0,0,0
$GC,2743,-1.13,-146.0,270.6,-7.2,193,2747,0.00,2.58,0.00,0.000,4,0.000,0.053,3008,636,3790,0,0,0,0,0,0
$GC,2764,-1.13,-146.0,272.4,-7.7,193,2769,0.00,2.42,0.00,0.000,6,0.000,0.021,3008,2208,3790,0,0,0,0,0,0
$GC,3023,-1.18,-146.0,293.0,-8.2,200,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2207,3789,0,0,0,0,0,0
$GC,3264,-1.22,-146.0,312.3,-7.8,206,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2208,3788,0,0,0,0,0,0
$GC,3508,-1.26,-146.0,330.7,-7.5,212,3510,0.10,0.00,0.00,0.000,6,0.080,0.000,2962,2208,3788,0,0,0,0,0,0
$GC,3752,-1.22,-146.0,352.2,-8.8,218,3754,0.15,0.00,0.00,0.000,6,0.090,0.000,2997,2208,3787,0,0,0,0,0,0
$GC,3997,-1.22,-146.0,370.7,-7.6,224,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2208,3786,0,0,0,0,0,0
$GC,4239,-1.22,-146.0,389.4,-7.9,230,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2208,3785,0,0,0,0,0,0
$GC,4482,-1.22,-146.0,409.1,-8.1,236,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2208,3785,0,0,0,0,0,0
$GC,4729,-1.22,-146.0,427.9,-7.6,242,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2208,3784,0,0,0,0,0,0
$GC,4970,-1.26,-146.0,445.3,-7.0,248,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2208,3783,0,0,0,0,0,0
$GC,5214,-1.30,-146.0,460.8,-6.3,254,5218,0.00,2.60,0.00,0.000,4,0.000,0.062,2997,3771,3782,0,0,0,0,0,0
$GC,5236,-1.34,-146.0,462.3,-6.6,254,5241,0.12,2.53,0.00,0.000,6,0.065,0.042,2943,2233,3782,0,0,0,0,0,0
$GC,5494,-1.28,-146.0,484.4,-8.9,261,5500,0.17,2.92,0.00,0.000,4,0.087,0.095,2984,625,3781,0,0,0,0,0,0
$GC,5528,-1.28,-146.0,487.6,-8.1,261,5533,0.00,2.53,0.00,0.000,6,0.000,0.042,2983,2175,3781,0,0,0,0,0,0
$GC,5780,-1.28,-146.0,507.9,-8.2,268,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2175,3779,0,0,0,0,0,0
$GC,6021,-1.28,-146.0,528.6,-8.7,274,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2175,3778,0,0,0,0,0,0
$GC,6265,-1.28,-146.0,549.1,-8.4,280,6270,0.00,2.83,0.00,0.000,4,0.000,0.086,2984,3793,3778,0,0,0,0,0,0
$GC,6309,-1.28,-146.0,552.9,-9.2,281,6313,0.00,2.65,0.00,0.000,6,0.000,0.058,2983,2209,3777,0,0,0,0,0,0
$GC,6589,-1.28,-146.0,574.3,-7.7,288,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2210,3777,0,0,0,0,0,0
$GC,6830,-1.28,-146.0,592.1,-7.3,294,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2209,3775,0,0,0,0,0,0
$GC,7074,-1.28,-146.0,610.5,-7.6,300,7078,0.00,2.83,0.00,0.000,4,0.000,0.088,2983,3799,3774,0,0,0,0,0,0
$GC,7109,-1.32,-146.0,613.1,-7.9,300,7115,0.00,2.78,0.00,0.000,6,0.000,0.069,2984,2208,3774,0,0,0,0,0,0
$GC,7359,-1.32,-146.0,631.7,-7.4,307,7364,0.00,2.97,0.00,0.000,4,0.000,0.120,2983,621,3772,0,0,0,0,0,0
$GC,7375,-1.32,-146.0,632.8,-7.3,307,7380,0.00,2.72,0.00,0.000,6,0.000,0.067,2984,2210,3772,0,0,0,0,0,0
$GC,7638,-1.32,-146.0,652.5,-7.6,314,7643,0.00,2.92,0.00,0.000,4,0.000,0.107,2984,3801,3771,0,0,0,0,0,0
$GC,7654,-1.32,-146.0,654.0,-7.3,314,7659,0.00,2.83,0.00,0.000,6,0.000,0.086,2983,2212,3770,0,0,0,0,0,0
$GC,7915,-1.32,-146.0,673.3,-7.4,321,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2212,3769,0,0,0,0,0,0
$GC,8161,-1.32,-146.0,691.1,-7.4,327,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2212,3768,0,0,0,0,0,0
$GC,8402,-1.32,-146.0,708.7,-7.3,333,8407,0.00,3.03,0.00,0.000,4,0.000,0.120,2984,3799,3767,0,0,0,0,0,0
$GC,8429,-1.32,-146.0,710.9,-7.7,333,8434,0.00,3.00,0.00,0.000,6,0.000,0.111,2983,2215,3767,0,0,0,0,0,0
$GC,8680,-1.36,-146.0,729.8,-7.5,339,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2215,3766,0,0,0,0,0,0
$GC,8926,-1.39,-146.0,748.0,-7.5,345,8928,0.12,0.00,0.00,0.000,6,0.070,0.000,2940,2215,3764,0,0,0,0,0,0
$GC,9167,-1.34,-146.0,769.3,-8.8,351,9173,0.12,3.28,0.00,0.000,4,0.104,0.156,2968,3794,3763,0,0,0,0,0,0
$GC,9190,-1.34,-146.0,771.5,-9.0,351,9194,0.00,2.72,0.00,0.000,6,0.000,0.071,2969,2211,3763,0,0,0,0,0,0
$GC,9447,-1.34,-146.0,790.8,-7.5,358,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2211,3762,0,0,0,0,0,0
$GC,9688,-1.34,-146.0,807.8,-7.1,364,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2209,3761,0,0,0,0,0,0
$GC,9932,-1.34,-146.0,826.3,-7.7,370,9937,0.00,2.83,0.00,0.000,4,0.000,0.081,2968,3803,3760,0,0,0,0,0,0
$GC,9950,-1.34,-146.0,827.7,-7.9,370,9955,0.00,2.75,0.00,0.000,6,0.000,0.065,2968,2216,3760,0,0,0,0,0,0
$GC,10211,-1.34,-146.0,849.1,-8.3,377,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2217,3759,0,0,0,0,0,0
$GC,10454,-1.34,-146.0,869.1,-8.2,383,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2217,3758,0,0,0,0,0,0
$GC,10698,-1.34,-146.0,888.4,-7.9,389,10703,0.00,2.78,0.00,0.000,4,0.000,0.082,2968,3797,3756,0,0,0,0,0,0
$GC,10723,-1.34,-146.0,890.4,-8.9,389,10727,0.00,2.72,0.00,0.000,6,0.000,0.069,2969,2220,3756,0,0,0,0,0,0
$STATE,10855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10855,begin apogee
$GC,10861,-0.31,0.0,901.2,8.0,393,10984,0.98,0.00,119.80,1.216,6,0.071,0.000,3191,2380,3190,0,0,0,0,0,0
$STATE,10985,end apogee,CONTROL_FINISHED_OK
$STATE,10985,begin climb
$GC,10990,1.27,146.0,904.2,0.0,396,11125,1.42,2.83,126.53,1.184,4,0.035,0.074,3543,3924,2593,0,0,0,0,0,0
$GC,11181,1.14,146.0,891.8,12.2,400,11187,0.17,2.70,0.00,0.000,6,0.110,0.054,3508,2365,2589,0,0,0,0,0,0
$GC,11439,1.14,146.0,865.6,10.3,407,11444,0.00,2.75,0.00,0.000,4,0.000,0.067,3508,3937,2586,0,0,0,0,0,0
$GC,11473,1.09,146.0,861.6,11.4,407,11478,0.00,2.67,0.00,0.000,6,0.000,0.053,3508,2375,2585,0,0,0,0,0,0
$GC,11722,1.10,153.7,837.1,9.6,414,11731,0.00,0.00,6.75,0.911,6,0.000,0.000,3508,2375,2563,0,0,0,0,0,0
$GC,11969,1.11,166.8,814.2,9.4,420,11984,0.00,0.00,13.23,1.047,6,0.000,0.000,3508,2374,2510,0,0,0,0,0,0
$GC,12210,1.11,168.7,790.0,9.9,426,12214,0.00,2.65,0.00,0.000,4,0.000,0.061,3508,3931,2506,0,0,0,0,0,0
$GC,12237,1.08,168.7,787.1,10.3,426,12241,0.00,2.62,0.00,0.000,6,0.000,0.042,3508,2373,2506,0,0,0,0,0,0
$GC,12489,1.09,178.2,762.9,9.6,432,12502,0.00,0.00,11.40,1.011,6,0.000,0.000,3508,2373,2463,0,0,0,0,0,0
$GC,12731,1.09,182.1,738.8,9.8,438,12737,0.00,0.00,4.90,0.782,6,0.000,0.000,3508,2373,2447,0,0,0,0,0,0
$GC,12974,1.10,189.6,715.5,9.7,444,12988,0.00,2.75,8.32,0.937,4,0.000,0.057,3508,3930,2417,0,0,0,0,0,0
$GC,13014,1.10,189.6,711.6,10.7,444,13019,0.00,2.65,0.00,0.000,6,0.000,0.051,3509,2377,2417,0,0,0,0,0,0
$GC,13264,1.12,202.5,687.5,9.4,451,13279,0.00,0.00,13.45,0.999,6,0.000,0.000,3508,2377,2364,0,0,0,0,0,0
$GC,13507,1.12,202.5,662.6,10.3,457,13511,0.00,2.65,0.00,0.000,4,0.000,0.055,3508,3931,2362,0,0,0,0,0,0
$GC,13541,1.12,202.5,658.9,11.0,457,13547,0.00,2.62,0.00,0.000,6,0.000,0.048,3508,2380,2360,0,0,0,0,0,0
$GC,13791,1.12,202.5,631.4,10.9,464,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2380,2361,0,0,0,0,0,0
$GC,14035,1.12,202.5,604.9,10.8,470,14036,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2381,2360,0,0,0,0,0,0
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$GC,19099,1.51,293.8,70.6,11.3,674,19103,0.00,2.55,0.00,0.000,6,0.000,0.021,3605,2433,1988,0,0,0,0,0,0
$GC,19369,1.51,293.8,39.9,11.6,698,19377,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,2433,1988,0,0,0,0,0,0
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$STATE,19702,end climb,SURFACE_DEPTH_REACHED
$STATE,19702,begin surface coast
$FINISH,0.9,1.023303
$STATE,19751,end surface coast,CONTROL_FINISHED_OK
$STATE,19751,begin surface
$SM_CCo,19776,40.72,0.495,0,0,1763,350.04
$SM_GC,2.01,0.00,0.00,40.72,0.000,0.000,0.495,462,2142,1763,-12.87,-1.89,350.04
$IRIDIUM_FIX,1920.65,-7948.66,140602,101037
$TT8_MAMPS,0.025311
$HUMID,59.45
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.30
$XPDR_PINGS,47
$24V_AH,23.2,42.197
$10V_AH,10.3,37.376
$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,30.325,164.400,400.750,40.725,0.000,24.194,35.256,194.736,11.750,0.000,12.259,1521.826,15193.260,551.730,2230.259,738.328,33.371,1487.306,0.000,2234.730,0.000,0.536,0.000
$DEVICE_MAMPS,164.138,156.468,1216.462,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,508.056,352.775,445.858,575.306,1095.838,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,57117,750
$CAP_FILE_SIZE,162015,0
$CFSIZE,260165632,107409408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200313,210306,1926.408,-8116.559,35,1.4,35,-3.7