version: 66.07
glider: 500
mission: 5
dive: 116
start: 11 28 110 2 11 57
data:
$ID,500
$MISSION,5
$DIVE,116
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,366
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-123419.98
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,115
$AR_SAMPLENUM,2
$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
$GPS1,281110,015206,2051.802,12523.970,34,0.9,34,-2.7
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.3
$GPS2,281110,021102,2051.718,12523.645,9,1.5,9,-2.7
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.145
$KALMAN_X,-195324.9,745.0,-41.1,413774.0,-5407.5
$KALMAN_Y,-74771.6,-1205.4,-260.2,43000.1,3407.8
$MHEAD_RNG_PITCHd_Wd,127.0,154042,-15.3,-9.016
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.70,-155.7,0.0,0.0,0,129,0.00,0.00,-98.60,0.000,6,0.000,0.000,121,2289,3551,0,0,0,0,0,0
$GC,133,-0.70,-155.7,3.8,-8.0,20,149,10.10,2.38,0.00,0.000,4,0.228,0.038,2785,666,3553,0,0,0,0,0,0
$GC,205,-0.70,-155.7,29.6,-27.4,33,211,0.00,2.38,0.00,0.000,6,0.000,0.045,2774,2268,3557,0,0,0,0,0,0
$GC,402,-0.70,-155.7,79.7,-20.3,52,406,0.00,2.35,0.00,0.000,4,0.000,0.045,2771,664,3555,0,0,0,0,0,0
$GC,457,-0.70,-155.7,90.5,-20.0,56,463,0.12,2.35,0.00,0.000,6,0.181,0.045,2795,2276,3556,0,0,0,0,0,0
$GC,718,-0.70,-155.7,136.0,-16.4,81,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2277,3557,0,0,0,0,0,0
$GC,973,-0.70,-155.7,172.8,-14.7,105,977,0.00,2.33,0.00,0.000,4,0.000,0.045,2795,676,3558,0,0,0,0,0,0
$GC,1000,-0.70,-155.7,176.8,-14.5,107,1004,0.00,2.33,0.00,0.000,6,0.000,0.044,2784,2268,3560,0,0,0,0,0,0
$GC,1258,-0.70,-155.7,211.2,-12.0,127,1263,0.00,2.35,0.00,0.000,4,0.000,0.052,2772,3844,3558,0,0,0,0,0,0
$GC,1285,-0.70,-155.7,214.7,-12.6,128,1290,0.00,2.33,0.00,0.000,6,0.000,0.038,2772,2268,3558,0,0,0,0,0,0
$GC,1606,-0.70,-155.7,253.0,-11.5,144,1610,0.00,2.33,0.00,0.000,4,0.000,0.045,2772,677,3558,0,0,0,0,0,0
$GC,1637,-0.70,-155.7,257.1,-13.1,145,1644,0.08,2.35,0.00,0.000,6,0.149,0.044,2791,2269,3558,0,0,0,0,0,0
$GC,1954,-0.70,-155.7,295.4,-12.1,161,1958,0.00,2.35,0.00,0.000,4,0.000,0.053,2775,3854,3558,0,0,0,0,0,0
$GC,2047,-0.70,-155.7,306.9,-11.6,164,2052,0.00,2.33,0.00,0.000,6,0.000,0.037,2775,2270,3557,0,0,0,0,0,0
$GC,2366,-0.70,-155.7,339.2,-10.1,172,2371,0.00,2.33,0.00,0.000,4,0.000,0.043,2775,671,3556,0,0,0,0,0,0
$GC,2595,-0.70,-155.7,363.3,-11.2,177,2600,0.00,2.35,0.00,0.000,6,0.000,0.044,2764,2271,3555,0,0,0,0,0,0
$GC,2915,-0.70,-155.7,397.9,-10.6,185,2917,0.10,0.00,0.00,0.000,6,0.182,0.000,2789,2271,3553,0,0,0,0,0,0
$GC,3239,-0.70,-155.7,424.0,-7.6,193,3243,0.00,2.30,0.00,0.000,4,0.000,0.044,2789,683,3552,0,0,0,0,0,0
$GC,3474,-0.70,-155.7,442.0,-7.5,198,3478,0.00,2.33,0.00,0.000,6,0.000,0.042,2778,2285,3548,0,0,0,0,0,0
$GC,3793,-0.70,-155.7,464.6,-7.2,206,3797,0.00,2.33,0.00,0.000,4,0.000,0.042,2780,674,3547,0,0,0,0,0,0
$GC,3877,-0.70,-155.7,471.0,-7.7,208,3881,0.00,2.33,0.00,0.000,6,0.000,0.044,2768,2280,3547,0,0,0,0,0,0
$GC,4206,-0.70,-155.7,495.7,-7.4,216,4210,0.00,2.38,0.00,0.000,4,0.000,0.044,2767,677,3545,0,0,0,0,0,0
$GC,4233,-0.70,-155.7,497.9,-8.4,216,4238,0.12,2.33,0.00,0.000,6,0.175,0.043,2789,2269,3544,0,0,0,0,0,0
$GC,4565,-0.70,-155.7,520.4,-6.8,224,4569,0.00,2.38,0.00,0.000,4,0.000,0.054,2778,3852,3542,0,0,0,0,0,0
$GC,4642,-0.70,-155.7,526.3,-7.6,225,4646,0.00,2.33,0.00,0.000,6,0.000,0.038,2778,2268,3541,0,0,0,0,0,0
$GC,4979,-0.70,-155.7,549.7,-7.0,234,4983,0.00,2.33,0.00,0.000,4,0.000,0.045,2778,679,3538,0,0,0,0,0,0
$GC,5079,-0.70,-155.7,557.0,-7.4,236,5083,0.00,2.33,0.00,0.000,6,0.000,0.043,2767,2269,3537,0,0,0,0,0,0
$GC,5426,-0.70,-155.7,583.8,-7.7,245,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2270,3535,0,0,0,0,0,0
$GC,5751,-0.70,-155.7,608.9,-7.7,253,5755,0.00,2.35,0.00,0.000,4,0.000,0.045,2767,674,3533,0,0,0,0,0,0
$GC,5795,-0.70,-155.7,612.6,-8.5,254,5800,0.12,2.35,0.00,0.000,6,0.176,0.044,2788,2275,3533,0,0,0,0,0,0
$GC,6119,-0.70,-155.7,636.0,-7.1,262,6123,0.00,2.35,0.00,0.000,4,0.000,0.045,2788,678,3530,0,0,0,0,0,0
$GC,6196,-0.70,-155.7,641.7,-7.3,263,6202,0.00,2.35,0.00,0.000,6,0.000,0.043,2778,2285,3530,0,0,0,0,0,0
$GC,6527,-0.70,-155.7,666.7,-7.9,272,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2286,3527,0,0,0,0,0,0
$GC,6852,-0.70,-155.7,693.1,-8.2,280,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2287,3525,0,0,0,0,0,0
$GC,7178,-0.70,-155.7,718.0,-7.8,288,7182,0.00,2.33,0.00,0.000,4,0.000,0.044,2778,679,3524,0,0,0,0,0,0
$GC,7221,-0.70,-155.7,721.6,-7.9,289,7225,0.00,2.33,0.00,0.000,6,0.000,0.043,2766,2289,3523,0,0,0,0,0,0
$GC,7545,-0.70,-155.7,747.1,-7.8,297,7550,0.00,2.35,0.00,0.000,4,0.000,0.043,2766,677,3521,0,0,0,0,0,0
$GC,7597,-0.70,-155.7,751.1,-8.4,298,7602,0.12,2.33,0.00,0.000,6,0.176,0.042,2788,2266,3521,0,0,0,0,0,0
$GC,7909,-0.70,-155.7,772.9,-7.0,306,7913,0.00,2.30,0.00,0.000,4,0.000,0.042,2788,670,3517,0,0,0,0,0,0
$GC,7975,-0.70,-155.7,777.7,-7.5,307,7979,0.00,2.35,0.00,0.000,6,0.000,0.045,2777,2271,3518,0,0,0,0,0,0
$GC,8318,-0.70,-155.7,801.2,-6.7,316,8322,0.00,2.33,0.00,0.000,4,0.000,0.045,2777,673,3517,0,0,0,0,0,0
$GC,8395,-0.70,-155.7,807.0,-7.8,317,8401,0.00,2.35,0.00,0.000,6,0.000,0.044,2766,2272,3520,0,0,0,0,0,0
$GC,8727,-0.70,-155.7,830.5,-7.0,326,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2276,3516,0,0,0,0,0,0
$GC,9051,-0.70,-155.7,853.3,-6.9,334,9055,0.00,2.33,0.00,0.000,4,0.000,0.046,2764,683,3514,0,0,0,0,0,0
$GC,9156,-0.70,-155.7,860.7,-6.8,336,9162,0.10,2.35,0.00,0.000,6,0.147,0.044,2787,2267,3514,0,0,0,0,0,0
$GC,9470,-0.70,-155.7,877.5,-5.4,344,9473,0.00,2.38,0.00,0.000,4,0.000,0.054,2777,3848,3513,0,0,0,0,0,0
$GC,9536,-0.70,-155.7,881.2,-5.2,345,9540,0.00,2.33,0.00,0.000,6,0.000,0.038,2776,2257,3512,0,0,0,0,0,0
$GC,9884,-0.70,-155.7,897.5,-4.3,354,9888,0.00,2.42,0.00,0.000,4,0.000,0.055,2764,3860,3512,0,0,0,0,0,0
$GC,9939,-0.70,-155.7,900.2,-4.4,355,9943,0.00,2.35,0.00,0.000,6,0.000,0.038,2764,2265,3511,0,0,0,0,0,0
$GC,10286,-0.70,-155.7,914.5,-3.9,364,10290,0.10,2.35,0.00,0.000,4,0.174,0.046,2791,677,3510,0,0,0,0,0,0
$GC,10341,-0.70,-155.7,916.7,-3.9,365,10345,0.00,2.38,0.00,0.000,6,0.000,0.044,2781,2286,3510,0,0,0,0,0,0
$GC,10653,-0.70,-155.7,928.3,-3.7,373,10657,0.00,2.35,0.00,0.000,4,0.000,0.044,2781,686,3510,0,0,0,0,0,0
$GC,10718,-0.70,-155.7,931.3,-4.2,374,10723,0.00,2.33,0.00,0.000,6,0.000,0.046,2770,2266,3509,0,0,0,0,0,0
$GC,11062,-0.70,-155.7,946.8,-4.8,383,11066,0.00,2.33,0.00,0.000,4,0.000,0.044,2769,679,3509,0,0,0,0,0,0
$GC,11082,-0.70,-155.7,948.0,-5.1,383,11087,0.12,2.35,0.00,0.000,6,0.177,0.044,2790,2283,3509,0,0,0,0,0,0
$GC,11424,-0.70,-155.7,963.6,-4.7,392,11428,0.00,2.35,0.00,0.000,4,0.000,0.044,2791,679,3507,0,0,0,0,0,0
$GC,11576,-0.70,-155.7,971.2,-5.1,395,11580,0.00,2.35,0.00,0.000,6,0.000,0.044,2780,2268,3513,0,0,0,0,0,0
$GC,11917,-0.70,-155.7,989.4,-5.5,404,11921,0.00,2.35,0.00,0.000,4,0.000,0.045,2780,680,3507,0,0,0,0,0,0
$STATE,11924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11924,begin apogee
$GC,11932,-0.23,0.0,990.0,5.4,404,12058,0.50,0.00,123.30,1.383,6,0.133,0.000,2941,1855,2916,0,0,0,0,0,0
$STATE,12061,end apogee,CONTROL_FINISHED_OK
$STATE,12061,begin climb
$GC,12063,0.70,155.7,990.2,0.0,407,12212,0.85,2.60,139.68,1.335,4,0.081,0.053,3242,3429,2279,0,0,0,0,0,0
$GC,12250,0.70,155.7,969.0,14.9,411,12255,0.00,2.55,0.00,0.000,6,0.000,0.045,3253,1864,2270,0,0,0,0,0,0
$GC,12593,0.70,155.7,921.1,13.9,420,12597,0.00,2.47,0.00,0.000,4,0.000,0.055,3266,259,2262,0,0,0,0,0,0
$GC,12636,0.70,155.7,915.1,13.0,421,12640,0.00,2.42,0.00,0.000,6,0.000,0.044,3266,1851,2261,0,0,0,0,0,0
$GC,12954,0.70,155.7,869.5,14.4,429,12958,0.00,2.42,0.00,0.000,4,0.000,0.055,3266,3428,2257,0,0,0,0,0,0
$GC,13038,0.70,155.7,856.2,15.8,431,13043,0.12,2.42,0.00,0.000,6,0.152,0.045,3240,1841,2256,0,0,0,0,0,0
$GC,13361,0.70,155.7,812.3,13.4,439,13365,0.00,2.40,0.00,0.000,4,0.000,0.056,3252,263,2255,0,0,0,0,0,0
$GC,13381,0.70,155.7,809.5,13.5,439,13386,0.00,2.40,0.00,0.000,6,0.000,0.045,3252,1847,2255,0,0,0,0,0,0
$GC,13724,0.70,155.7,759.3,14.9,448,13729,0.00,2.42,0.00,0.000,4,0.000,0.055,3252,3442,2254,0,0,0,0,0,0
$GC,13801,0.70,155.7,746.4,15.8,449,13808,0.00,2.42,0.00,0.000,6,0.000,0.047,3263,1860,2255,0,0,0,0,0,0
$GC,14133,0.70,155.7,693.2,16.0,458,14137,0.00,2.42,0.00,0.000,4,0.000,0.057,3272,255,2254,0,0,0,0,0,0
$GC,14160,0.70,155.7,688.9,15.5,458,14164,0.00,2.40,0.00,0.000,6,0.000,0.046,3276,1853,2257,0,0,0,0,0,0
$GC,14490,0.70,155.7,636.4,15.8,466,14494,0.00,2.42,0.00,0.000,4,0.000,0.055,3272,3450,2253,0,0,0,0,0,0
$GC,14606,0.70,155.7,616.7,16.9,468,14611,0.10,2.45,0.00,0.000,6,0.123,0.046,3249,1846,2252,0,0,0,0,0,0
$GC,14943,0.70,155.7,570.9,13.2,477,14944,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1846,2253,0,0,0,0,0,0
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$STATE,20145,end climb,SURFACE_DEPTH_REACHED
$STATE,20145,begin surface coast
$FINISH,0.4,1.022628
$STATE,20163,end surface coast,CONTROL_FINISHED_OK
$STATE,20164,begin surface
$SM_CCo,20183,70.12,0.597,0,0,877,500.16
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$IRIDIUM_FIX,2043.29,12521.81,220512,202036
$TT8_MAMPS,0.059826
$HUMID,1078666442
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$TCM_TEMP,24.60
$XPDR_PINGS,45
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8274444288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57547685888
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,18.854
$10V_AH,10.1,14.073
$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,21.375,199.425,429.825,70.125,0.000,116.835,189.765,478.281,11.250,0.000,11.621,1594.216,16070.023,654.963,2784.797,286.229,33.363,1775.221,0.000,1944.557,0.000,0.541,0.000
$DEVICE_MAMPS,227.799,57.525,1382.901,596.726,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,537.689,0.000,0.000,0.000,0.000,0.000,0.000,21514.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.243,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,26760,790
$CAP_FILE_SIZE,183306,0
$CFSIZE,260165632,214835200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281110,075101,2051.213,12524.466,40,1.3,40,-2.7