version: 66.07
glider: 511
mission: 5
dive: 174
start: 12 19 110 10 15 38
data:
$ID,511
$MISSION,5
$DIVE,174
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$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,725
$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,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-45052.781
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3277
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,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,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,173
$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
$GPS1,191210,095152,1932.819,12704.979,62,1.0,62,-2.4
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.1
$GPS2,191210,101441,1932.783,12704.629,13,1.9,13,-2.4
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,-0.010
$KALMAN_X,-227605.2,43.9,246.5,172997.3,-9459.9
$KALMAN_Y,512682.4,-762.3,-840.0,-628984.2,6047.4
$MHEAD_RNG_PITCHd_Wd,95.0,221286,-12.1,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.66,-146.0,0.0,0.0,0,88,0.00,0.00,-60.95,0.000,2,0.000,0.000,40,2166,2846,0,0,0,0,0,0
$GC,90,-0.66,-146.0,3.4,-3.5,12,126,10.32,0.00,-20.60,0.000,6,0.260,0.000,2374,2164,3873,0,0,0,0,0,0
$GC,325,-0.66,-146.0,77.9,-30.7,42,329,0.00,2.22,0.00,0.000,4,0.000,0.052,2375,735,3874,0,0,0,0,0,0
$GC,370,-0.66,-146.0,90.7,-23.8,46,375,0.00,2.20,0.00,0.000,6,0.000,0.050,2366,2132,3875,0,0,0,0,0,0
$GC,630,-0.66,-146.0,153.8,-21.1,71,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2132,3875,0,0,0,0,0,0
$GC,895,-0.66,-146.0,204.1,-19.1,95,899,0.00,2.17,0.00,0.000,4,0.000,0.054,2367,735,3877,0,0,0,0,0,0
$GC,931,-0.66,-146.0,210.9,-16.6,96,937,0.00,2.22,0.00,0.000,6,0.000,0.053,2364,2144,3877,0,0,0,0,0,0
$GC,1245,-0.66,-146.0,268.6,-18.5,112,1249,0.00,2.22,0.00,0.000,4,0.000,0.061,2356,3559,3878,0,0,0,0,0,0
$GC,1269,-0.66,-146.0,273.0,-18.6,113,1273,0.00,2.15,0.00,0.000,6,0.000,0.041,2356,2145,3877,0,0,0,0,0,0
$GC,1590,-0.66,-146.0,328.7,-16.8,125,1595,0.10,2.17,0.00,0.000,4,0.181,0.049,2380,729,3876,0,0,0,0,0,0
$GC,1659,-0.66,-146.0,337.1,-10.5,126,1664,0.00,2.20,0.00,0.000,6,0.000,0.052,2380,2150,3876,0,0,0,0,0,0
$GC,1998,-0.66,-146.0,376.4,-12.2,135,2002,0.00,2.22,0.00,0.000,4,0.000,0.060,2370,3556,3876,0,0,0,0,0,0
$GC,2030,-0.66,-146.0,380.3,-11.5,135,2034,0.00,2.15,0.00,0.000,6,0.000,0.041,2371,2143,3878,0,0,0,0,0,0
$GC,2360,-0.66,-146.0,423.5,-12.9,143,2364,0.00,2.28,0.00,0.000,4,0.000,0.067,2368,3558,3874,0,0,0,0,0,0
$GC,2406,-0.66,-146.0,428.9,-10.7,144,2410,0.00,2.17,0.00,0.000,6,0.000,0.043,2368,2144,3873,0,0,0,0,0,0
$GC,2727,-0.66,-146.0,466.3,-11.3,152,2731,0.00,2.15,0.00,0.000,4,0.000,0.050,2368,732,3871,0,0,0,0,0,0
$GC,2791,-0.66,-146.0,473.0,-10.3,153,2795,0.00,2.22,0.00,0.000,6,0.000,0.052,2368,2141,3870,0,0,0,0,0,0
$GC,3135,-0.66,-146.0,508.7,-10.2,162,3139,0.00,2.25,0.00,0.000,4,0.000,0.064,2361,3562,3868,0,0,0,0,0,0
$GC,3199,-0.66,-146.0,514.9,-9.4,163,3203,0.00,2.20,0.00,0.000,6,0.000,0.044,2360,2127,3868,0,0,0,0,0,0
$GC,3547,-0.66,-146.0,550.0,-10.2,172,3551,0.00,2.12,0.00,0.000,4,0.000,0.051,2360,742,3866,0,0,0,0,0,0
$GC,3574,-0.66,-146.0,552.9,-10.8,172,3579,0.00,2.22,0.00,0.000,6,0.000,0.055,2360,2150,3865,0,0,0,0,0,0
$GC,3914,-0.66,-146.0,587.2,-10.8,181,3918,0.00,2.22,0.00,0.000,4,0.000,0.064,2350,3548,3865,0,0,0,0,0,0
$GC,4006,-0.66,-146.0,597.9,-11.0,183,4011,0.12,2.12,0.00,0.000,6,0.149,0.041,2386,2144,3860,0,0,0,0,0,0
$GC,4334,-0.66,-146.0,631.6,-10.3,191,4338,0.00,2.17,0.00,0.000,4,0.000,0.051,2386,739,3859,0,0,0,0,0,0
$GC,4370,-0.66,-146.0,635.2,-9.0,191,4375,0.00,2.20,0.00,0.000,6,0.000,0.049,2386,2143,3858,0,0,0,0,0,0
$GC,4700,-0.66,-146.0,662.2,-7.8,200,4704,0.00,2.28,0.00,0.000,4,0.000,0.068,2386,3560,3856,0,0,0,0,0,0
$GC,4761,-0.66,-146.0,666.0,-6.1,201,4765,0.00,2.20,0.00,0.000,6,0.000,0.043,2386,2135,3858,0,0,0,0,0,0
$GC,5110,-0.66,-146.0,685.8,-5.2,210,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2131,3852,0,0,0,0,0,0
$GC,5435,-0.66,-146.0,701.2,-4.7,218,5439,0.00,2.30,0.00,0.000,4,0.000,0.067,2386,3553,3847,0,0,0,0,0,0
$GC,5478,-0.66,-146.0,703.0,-4.3,218,5483,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,2136,3849,0,0,0,0,0,0
$GC,5808,-0.66,-146.0,721.4,-5.8,227,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2136,3845,0,0,0,0,0,0
$GC,6133,-0.66,-146.0,740.1,-5.6,235,6137,0.00,2.33,0.00,0.000,4,0.000,0.068,2386,3557,3843,0,0,0,0,0,0
$GC,6156,-0.66,-146.0,741.4,-5.7,235,6160,0.00,2.17,0.00,0.000,6,0.000,0.045,2388,2145,3842,0,0,0,0,0,0
$GC,6496,-0.66,-146.0,761.4,-6.2,244,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2147,3842,0,0,0,0,0,0
$GC,6820,-0.66,-146.0,785.6,-7.8,252,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2142,3839,0,0,0,0,0,0
$GC,7146,-0.66,-146.0,811.5,-8.0,260,7150,0.00,2.35,0.00,0.000,4,0.000,0.073,2386,3564,3836,0,0,0,0,0,0
$GC,7182,-0.66,-146.0,814.4,-7.4,260,7187,0.00,2.20,0.00,0.000,6,0.000,0.047,2386,2135,3836,0,0,0,0,0,0
$GC,7512,-0.66,-146.0,842.7,-9.3,269,7516,0.00,2.33,0.00,0.000,4,0.000,0.071,2386,3562,3834,0,0,0,0,0,0
$GC,7590,-0.66,-146.0,850.0,-8.9,270,7594,0.00,2.20,0.00,0.000,6,0.000,0.049,2395,2152,3834,0,0,0,0,0,0
$GC,7920,-0.66,-146.0,879.2,-8.9,278,7924,0.00,2.25,0.00,0.000,4,0.000,0.059,2395,734,3830,0,0,0,0,0,0
$GC,7957,-0.66,-146.0,882.9,-10.8,278,7962,0.00,2.25,0.00,0.000,6,0.000,0.053,2392,2143,3832,0,0,0,0,0,0
$GC,8287,-0.66,-146.0,912.4,-9.2,287,8291,0.00,2.30,0.00,0.000,4,0.000,0.072,2395,3556,3831,0,0,0,0,0,0
$GC,8475,-0.66,-146.0,931.0,-9.9,291,8479,0.00,2.20,0.00,0.000,6,0.000,0.052,2395,2146,3830,0,0,0,0,0,0
$GC,8792,-0.66,-146.0,960.1,-9.1,299,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2142,3829,0,0,0,0,0,0
$GC,9117,-0.66,-146.0,989.0,-9.0,307,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2142,3828,0,0,0,0,0,0
$STATE,9156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9156,begin apogee
$GC,9161,-0.28,0.0,992.7,9.0,308,9278,0.32,0.00,113.05,1.359,6,0.067,0.000,2531,2038,3276,0,0,0,0,0,0
$STATE,9287,end apogee,CONTROL_FINISHED_OK
$STATE,9288,begin climb
$GC,9290,0.66,146.0,1000.7,0.0,311,9420,0.77,0.00,126.40,1.322,6,0.052,0.000,2827,2038,2680,0,0,0,0,0,0
$GC,9736,0.66,146.0,992.2,7.1,322,9740,0.00,2.35,0.00,0.000,4,0.000,0.066,2827,3457,2669,0,0,0,0,0,0
$GC,9837,0.66,146.0,984.6,7.7,324,9842,0.00,2.25,0.00,0.000,6,0.000,0.049,2838,2044,2669,0,0,0,0,0,0
$GC,10150,0.73,199.6,966.6,5.3,332,10203,0.00,2.40,44.88,1.300,4,0.000,0.066,2838,3454,2463,0,0,0,0,0,0
$GC,10332,0.73,199.6,948.3,12.3,336,10336,0.00,2.28,0.00,0.000,6,0.000,0.051,2849,2037,2458,0,0,0,0,0,0
$GC,10653,0.73,199.6,913.4,11.1,344,10657,0.00,2.25,0.00,0.000,4,0.000,0.061,2859,633,2454,0,0,0,0,0,0
$GC,10704,0.73,199.6,907.6,13.4,345,10708,0.00,2.28,0.00,0.000,6,0.000,0.055,2859,2050,2452,0,0,0,0,0,0
$GC,11025,0.73,199.6,871.1,11.4,353,11026,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2050,2452,0,0,0,0,0,0
$GC,11350,0.73,199.6,833.1,11.9,361,11354,0.00,2.28,0.00,0.000,4,0.000,0.069,2860,3456,2454,0,0,0,0,0,0
$GC,11461,0.73,199.6,818.5,13.7,363,11466,0.15,2.22,0.00,0.000,6,0.239,0.051,2839,2048,2451,0,0,0,0,0,0
$GC,11805,0.73,199.6,777.9,11.6,372,11809,0.00,2.33,0.00,0.000,4,0.000,0.069,2837,3459,2449,0,0,0,0,0,0
$GC,12025,0.73,199.6,749.6,11.9,376,12029,0.00,2.25,0.00,0.000,6,0.000,0.053,2846,2040,2450,0,0,0,0,0,0
$GC,12355,0.73,199.6,713.1,10.3,384,12359,0.00,2.33,0.00,0.000,4,0.000,0.071,2849,3454,2448,0,0,0,0,0,0
$GC,12401,0.73,199.6,708.1,9.8,385,12405,0.00,2.22,0.00,0.000,6,0.000,0.052,2853,2047,2449,0,0,0,0,0,0
$GC,12723,0.73,199.6,677.8,9.1,393,12727,0.00,2.28,0.00,0.000,4,0.000,0.062,2863,628,2446,0,0,0,0,0,0
$GC,12773,0.73,199.6,673.1,9.0,394,12777,0.00,2.25,0.00,0.000,6,0.000,0.055,2858,2045,2447,0,0,0,0,0,0
$GC,13095,0.73,199.6,643.9,9.4,402,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2044,2444,0,0,0,0,0,0
$GC,13419,0.73,199.6,614.7,9.0,410,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2045,2446,0,0,0,0,0,0
$GC,13745,0.74,207.4,591.1,6.7,418,13756,0.00,2.28,4.85,0.817,4,0.000,0.060,2867,629,2433,0,0,0,0,0,0
$GC,14020,0.74,207.4,572.4,7.1,424,14025,0.00,2.28,0.00,0.000,6,0.000,0.054,2864,2050,2435,0,0,0,0,0,0
$GC,14347,0.74,207.4,548.6,8.0,432,14351,0.00,2.28,0.00,0.000,4,0.000,0.068,2867,3456,2432,0,0,0,0,0,0
$GC,14527,0.74,207.4,529.6,11.5,436,14532,0.15,2.22,0.00,0.000,6,0.238,0.051,2845,2037,2431,0,0,0,0,0,0
$GC,14855,0.74,207.4,501.8,8.0,444,14859,0.00,2.30,0.00,0.000,4,0.000,0.068,2841,3452,2431,0,0,0,0,0,0
$GC,15123,0.77,234.3,482.2,6.1,449,15152,0.00,2.20,24.27,0.989,6,0.000,0.050,2848,2043,2319,0,0,0,0,0,0
$GC,15493,0.77,234.3,450.8,9.1,459,15497,0.00,2.28,0.00,0.000,4,0.000,0.060,2863,639,2316,0,0,0,0,0,0
$GC,15709,0.77,234.3,427.9,10.8,463,15713,0.00,2.25,0.00,0.000,6,0.000,0.051,2863,2052,2314,0,0,0,0,0,0
$GC,16044,0.77,234.3,390.3,11.5,472,16048,0.00,2.28,0.00,0.000,4,0.000,0.067,2863,3455,2314,0,0,0,0,0,0
$GC,16182,0.77,234.3,373.8,10.4,475,16186,0.00,2.20,0.00,0.000,6,0.000,0.049,2874,2051,2314,0,0,0,0,0,0
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$GC,16775,0.77,234.3,318.5,11.9,488,16781,0.15,2.22,0.00,0.000,6,0.227,0.048,2852,2041,2315,0,0,0,0,0,0
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$STATE,20393,end climb,SURFACE_DEPTH_REACHED
$STATE,20393,begin surface coast
$FINISH,0.6,1.022793
$STATE,20415,end surface coast,CONTROL_FINISHED_OK
$STATE,20415,begin surface
$SM_CCo,20432,77.45,0.569,0,0,1238,500.16
$SM_GC,1.43,0.00,0.00,77.45,0.000,0.000,0.569,47,2157,1238,-7.98,0.34,500.16
$IRIDIUM_FIX,1925.22,12703.17,130612,040409
$TT8_MAMPS,0.056758
$HUMID,1078685797
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$TCM_TEMP,25.40
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8388182016
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55785422848
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,37.956
$10V_AH,10.2,23.395
$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
$DEVICE_SECS,19.775,174.875,403.125,77.450,0.000,80.889,112.651,888.566,0.250,0.000,14.854,1682.677,15783.990,604.683,3421.623,390.640,33.364,1901.839,0.000,2385.802,0.000,0.544,0.000
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$SENSOR_SECS,532.999,0.000,0.000,0.000,0.000,0.000,0.000,20082.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.915,0.000,0.000
$MEM,355016
$DATA_FILE_SIZE,26689,792
$CAP_FILE_SIZE,197897,0
$CFSIZE,260165632,243830784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,155857,1933.245,12704.471,39,1.0,39,-2.4