version: 66.06
glider: 148
mission: 12
dive: 234
start: 7 12 113 2 49 13
data:
$ID,148
$MISSION,12
$DIVE,234
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$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,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1020729
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3385
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.028999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,123
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,023436,2240.114,-15659.187,37,1.3,37,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.9
$GPS2,024819,2240.112,-15659.275,12,1.5,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_30
$TGT_LATLONG,2306.000,-15703.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.072,0.249
$KALMAN_X,-222442.0,-358.8,89.8,326530.3,741.5
$KALMAN_Y,167647.9,-395.6,-113.9,-176159.7,-360.5
$MHEAD_RNG_PITCHd_Wd,333.9,48363,-17.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.28,-145.2,0.0,0.0,0,116,0.00,0.00,-96.50,0.000,2,0.000,0.000,414,1617,2959,0,0,0,0,0,0
$GC,121,-1.28,-146.0,3.2,-4.7,13,153,13.93,2.33,-7.90,0.000,4,0.148,0.033,3101,3076,3399,0,0,0,0,0,0
$GC,171,-0.63,-146.0,19.6,-31.4,19,181,0.62,2.47,0.00,0.000,6,0.081,0.027,3243,1559,3399,0,0,0,0,0,0
$GC,453,-0.63,-146.0,53.4,-9.9,49,458,0.00,2.38,0.00,0.000,4,0.000,0.021,3243,3076,3399,0,0,0,0,0,0
$GC,474,-0.67,-146.0,55.6,-9.8,50,479,0.00,2.40,0.00,0.000,6,0.000,0.027,3243,1576,3399,0,0,0,0,0,0
$GC,744,-0.75,-146.0,77.9,-8.5,74,748,0.00,2.28,0.00,0.000,4,0.000,0.043,3243,175,3399,0,0,0,0,0,0
$GC,776,-0.84,-146.0,81.0,-9.3,76,781,0.17,2.03,0.00,0.000,6,0.046,0.016,3157,1562,3399,0,0,0,0,0,0
$GC,1041,-0.72,-146.0,116.5,-13.1,100,1046,0.30,2.40,0.00,0.000,4,0.081,0.020,3225,3104,3399,0,0,0,0,0,0
$GC,1062,-0.66,-146.0,118.9,-12.4,101,1066,0.00,2.47,0.00,0.000,6,0.000,0.025,3225,1564,3399,0,0,0,0,0,0
$GC,1330,-0.73,-146.0,139.8,-7.4,125,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1564,3399,0,0,0,0,0,0
$GC,1593,-0.82,-146.0,159.0,-7.4,150,1598,0.00,2.40,0.00,0.000,4,0.000,0.021,3226,3099,3399,0,0,0,0,0,0
$GC,1620,-0.95,-146.0,161.0,-6.9,152,1625,0.20,2.45,0.00,0.000,6,0.051,0.028,3127,1575,3398,0,0,0,0,0,0
$GC,1881,-0.80,-146.0,195.8,-13.6,176,1883,0.43,0.00,0.00,0.000,6,0.079,0.000,3213,1574,3399,0,0,0,0,0,0
$GC,2140,-0.88,-146.0,216.4,-7.8,186,2144,0.00,2.38,0.00,0.000,4,0.000,0.021,3213,3096,3399,0,0,0,0,0,0
$GC,2165,-1.01,-146.0,218.7,-8.1,186,2171,0.20,2.42,0.00,0.000,6,0.042,0.027,3131,1577,3399,0,0,0,0,0,0
$GC,2426,-0.92,-146.0,251.3,-13.2,193,2430,0.22,2.30,0.00,0.000,4,0.086,0.041,3182,171,3399,0,0,0,0,0,0
$GC,2454,-0.92,-146.0,254.6,-10.2,193,2458,0.00,2.08,0.00,0.000,6,0.000,0.018,3182,1565,3399,0,0,0,0,0,0
$GC,2711,-0.97,-146.0,277.1,-8.9,200,2715,0.00,2.42,0.00,0.000,4,0.000,0.025,3182,3116,3399,0,0,0,0,0,0
$GC,2744,-1.08,-146.0,280.1,-8.3,200,2749,0.12,2.47,0.00,0.000,6,0.061,0.028,3110,1586,3398,0,0,0,0,0,0
$GC,2998,-0.98,-146.0,309.1,-11.8,206,3003,0.25,2.42,0.00,0.000,4,0.086,0.026,3169,3111,3397,0,0,0,0,0,0
$GC,3028,-1.04,-146.0,312.4,-8.2,206,3032,0.00,2.47,0.00,0.000,6,0.000,0.031,3170,1586,3397,0,0,0,0,0,0
$GC,3283,-1.09,-146.0,331.0,-7.3,213,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1586,3396,0,0,0,0,0,0
$GC,3528,-1.14,-146.0,350.7,-8.4,219,3530,0.15,0.00,0.00,0.000,6,0.055,0.000,3103,1586,3395,0,0,0,0,0,0
$GC,3770,-1.06,-146.0,379.9,-12.1,225,3775,0.22,2.40,0.00,0.000,4,0.084,0.055,3155,168,3393,0,0,0,0,0,0
$GC,3803,-1.06,-146.0,383.4,-9.5,225,3808,0.00,2.15,0.00,0.000,6,0.000,0.022,3154,1558,3392,0,0,0,0,0,0
$GC,4057,-1.06,-146.0,403.7,-7.9,231,4062,0.00,2.55,0.00,0.000,4,0.000,0.036,3155,3139,3390,0,0,0,0,0,0
$GC,4101,-1.16,-146.0,407.3,-7.3,232,4106,0.10,2.53,0.00,0.000,6,0.075,0.038,3099,1596,3391,0,0,0,0,0,0
$GC,4391,-1.08,-146.0,437.8,-10.7,239,4396,0.22,2.45,0.00,0.000,4,0.087,0.064,3150,168,3388,0,0,0,0,0,0
$GC,4430,-1.13,-146.0,441.9,-8.6,239,4435,0.00,2.25,0.00,0.000,6,0.000,0.026,3150,1601,3387,0,0,0,0,0,0
$GC,4682,-1.13,-146.0,461.6,-7.8,246,4686,0.00,2.53,0.00,0.000,4,0.000,0.041,3150,3142,3386,0,0,0,0,0,0
$GC,4717,-1.21,-146.0,464.5,-7.1,246,4722,0.12,2.55,0.00,0.000,6,0.061,0.038,3089,1604,3386,0,0,0,0,0,0
$GC,4967,-1.12,-146.0,489.8,-10.2,252,4972,0.22,2.47,0.00,0.000,4,0.089,0.068,3140,163,3384,0,0,0,0,0,0
$GC,5044,-1.12,-146.0,496.5,-8.1,253,5048,0.00,2.30,0.00,0.000,6,0.000,0.029,3140,1597,3383,0,0,0,0,0,0
$GC,5303,-1.12,-146.0,517.4,-8.1,260,5308,0.00,2.55,0.00,0.000,4,0.000,0.045,3140,3149,3381,0,0,0,0,0,0
$GC,5332,-1.18,-146.0,519.8,-8.3,260,5337,0.00,2.58,0.00,0.000,6,0.000,0.040,3140,1603,3381,0,0,0,0,0,0
$GC,5589,-1.18,-146.0,541.8,-8.7,267,5593,0.00,2.50,0.00,0.000,4,0.000,0.073,3140,165,3379,0,0,0,0,0,0
$GC,5621,-1.18,-146.0,545.1,-9.9,267,5626,0.00,2.30,0.00,0.000,6,0.000,0.031,3140,1608,3379,0,0,0,0,0,0
$GC,5874,-1.18,-146.0,566.7,-8.7,273,5878,0.00,2.55,0.00,0.000,4,0.000,0.047,3140,3150,3377,0,0,0,0,0,0
$GC,5913,-1.28,-146.0,570.1,-7.8,273,5919,0.15,2.60,0.00,0.000,6,0.056,0.044,3077,1604,3377,0,0,0,0,0,0
$GC,6163,-1.17,-146.0,596.4,-10.5,280,6168,0.22,2.53,0.00,0.000,4,0.092,0.074,3128,161,3375,0,0,0,0,0,0
$GC,6230,-1.17,-146.0,602.6,-8.6,281,6234,0.00,2.30,0.00,0.000,6,0.000,0.031,3127,1599,3375,0,0,0,0,0,0
$GC,6496,-1.17,-146.0,623.6,-8.0,288,6500,0.00,2.58,0.00,0.000,4,0.000,0.049,3128,3156,3372,0,0,0,0,0,0
$GC,6519,-1.17,-146.0,625.7,-7.7,288,6524,0.00,2.62,0.00,0.000,6,0.000,0.045,3127,1594,3373,0,0,0,0,0,0
$GC,6779,-1.17,-146.0,645.9,-7.8,295,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1594,3371,0,0,0,0,0,0
$GC,7028,-1.17,-146.0,664.0,-7.4,301,7032,0.00,2.50,0.00,0.000,4,0.000,0.078,3127,167,3369,0,0,0,0,0,0
$GC,7056,-1.17,-146.0,666.7,-8.1,301,7061,0.00,2.33,0.00,0.000,6,0.000,0.034,3127,1611,3369,0,0,0,0,0,0
$GC,7311,-1.17,-146.0,685.3,-7.2,308,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1611,3368,0,0,0,0,0,0
$GC,7555,-1.17,-146.0,703.8,-7.7,314,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1611,3366,0,0,0,0,0,0
$GC,7798,-1.17,-146.0,722.2,-7.6,320,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1611,3365,0,0,0,0,0,0
$GC,8045,-1.17,-146.0,740.4,-7.4,326,8049,0.00,2.60,0.00,0.000,4,0.000,0.054,3128,3151,3364,0,0,0,0,0,0
$GC,8064,-1.17,-146.0,742.0,-7.3,326,8068,0.00,2.62,0.00,0.000,6,0.000,0.047,3127,1600,3364,0,0,0,0,0,0
$GC,8330,-1.17,-146.0,760.8,-7.1,333,8334,0.00,2.53,0.00,0.000,4,0.000,0.081,3127,168,3362,0,0,0,0,0,0
$GC,8373,-1.17,-146.0,764.3,-9.0,334,8377,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1606,3362,0,0,0,0,0,0
$GC,8664,-1.17,-146.0,784.6,-7.1,341,8668,0.00,2.62,0.00,0.000,4,0.000,0.054,3128,3155,3362,0,0,0,0,0,0
$GC,8694,-1.23,-146.0,787.0,-7.4,341,8699,0.00,2.62,0.00,0.000,6,0.000,0.048,3127,1608,3361,0,0,0,0,0,0
$GC,8949,-1.23,-146.0,804.7,-6.9,348,8953,0.00,2.55,0.00,0.000,4,0.000,0.080,3128,161,3360,0,0,0,0,0,0
$GC,8974,-1.23,-146.0,806.6,-8.8,348,8979,0.00,2.38,0.00,0.000,6,0.000,0.035,3127,1611,3360,0,0,0,0,0,0
$GC,9234,-1.23,-146.0,824.1,-6.7,355,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1612,3359,0,0,0,0,0,0
$GC,9482,-1.23,-146.0,839.8,-6.4,361,9486,0.00,2.53,0.00,0.000,4,0.000,0.075,3127,166,3358,0,0,0,0,0,0
$GC,9515,-1.23,-146.0,842.4,-7.6,361,9519,0.00,2.35,0.00,0.000,6,0.000,0.035,3127,1601,3358,0,0,0,0,0,0
$GC,9766,-1.23,-146.0,858.7,-6.5,367,9771,0.00,2.62,0.00,0.000,4,0.000,0.055,3127,3154,3357,0,0,0,0,0,0
$GC,9786,-1.28,-146.0,860.0,-6.5,367,9791,0.00,2.65,0.00,0.000,6,0.000,0.048,3127,1594,3357,0,0,0,0,0,0
$GC,10052,-1.28,-146.0,877.9,-6.7,374,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1594,3357,0,0,0,0,0,0
$GC,10294,-1.28,-146.0,894.8,-7.0,380,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1594,3356,0,0,0,0,0,0
$STATE,10373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10373,begin apogee
$GC,10379,-0.31,0.0,900.8,7.1,382,10501,0.82,0.00,118.15,1.153,6,0.071,0.000,3317,1346,2800,0,0,0,0,0,0
$STATE,10501,end apogee,CONTROL_FINISHED_OK
$STATE,10501,begin climb
$GC,10504,1.28,146.0,904.8,0.0,385,10646,1.42,2.17,131.73,1.131,4,0.031,0.081,3670,165,2203,0,0,0,0,0,0
$GC,10727,1.01,146.0,888.9,14.8,390,10732,0.30,1.98,0.00,0.000,6,0.110,0.031,3609,1363,2198,0,0,0,0,0,0
$GC,11010,0.94,146.0,859.3,10.2,397,11014,0.00,2.12,0.00,0.000,4,0.000,0.072,3609,170,2192,0,0,0,0,0,0
$GC,11038,0.80,146.0,856.2,11.6,397,11043,0.17,1.95,0.00,0.000,6,0.087,0.031,3559,1345,2191,0,0,0,0,0,0
$GC,11300,0.83,170.4,833.1,8.9,404,11328,0.00,2.12,21.30,1.039,4,0.000,0.073,3558,170,2105,0,0,0,0,0,0
$GC,11360,0.83,170.4,826.7,11.5,405,11364,0.00,1.92,0.00,0.000,6,0.000,0.030,3558,1345,2103,0,0,0,0,0,0
$GC,11635,0.88,173.0,799.8,9.9,412,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1345,2100,0,0,0,0,0,0
$GC,11877,0.93,177.6,776.0,9.8,418,11890,0.12,2.72,7.03,0.858,4,0.068,0.054,3606,2936,2076,0,0,0,0,0,0
$GC,11914,0.93,177.6,771.9,10.6,418,11918,0.00,2.72,0.00,0.000,6,0.000,0.050,3605,1345,2072,0,0,0,0,0,0
$GC,12166,0.89,177.6,744.3,10.9,424,12168,0.12,0.00,0.00,0.000,6,0.114,0.000,3580,1345,2072,0,0,0,0,0,0
$GC,12407,0.90,187.9,721.0,9.5,430,12424,0.00,2.75,10.60,0.918,4,0.000,0.051,3580,2929,2033,0,0,0,0,0,0
$GC,12434,0.91,196.1,718.3,9.6,430,12454,0.00,2.75,9.45,0.889,6,0.000,0.049,3579,1342,1999,0,0,0,0,0,0
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$GC,13227,0.91,199.0,637.5,9.9,450,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1348,1994,0,0,0,0,0,0
$GC,13471,0.93,213.1,614.4,9.3,456,13495,0.00,2.67,16.67,0.913,4,0.000,0.047,3579,2921,1929,0,0,0,0,0,0
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$STATE,18716,end climb,SURFACE_DEPTH_REACHED
$STATE,18716,begin surface coast
$FINISH,0.9,1.023329
$STATE,18762,end surface coast,CONTROL_FINISHED_OK
$STATE,18763,begin surface
$SM_CCo,18788,44.25,0.425,0,0,1209,390.03
$SM_GC,1.77,0.00,0.00,44.25,0.000,0.000,0.425,417,1566,1209,-13.65,-0.11,390.03
$IRIDIUM_FIX,2232.34,-15658.20,051002,212140
$TT8_MAMPS,0.027612
$HUMID,65.79
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,27
$24V_AH,23.3,34.369
$10V_AH,9.9,31.927
$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,36.300,219.475,399.225,44.250,0.000,49.617,113.966,426.016,6.750,0.000,13.589,1594.513,13723.874,548.082,2687.313,1087.400,33.381,1664.917,0.000,2691.349,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,85.137,1152.801,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.497,379.047,487.073,1030.923,1390.047,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,57259,715
$CAP_FILE_SIZE,195900,0
$CFSIZE,260165632,154533888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120713,080423,2242.246,-15700.231,35,1.9,35,10.1