version: 66.07
glider: 511
mission: 5
dive: 267
start: 1 12 111 12 38 57
data:
$ID,511
$MISSION,5
$DIVE,267
$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,550
$T_MISSION,1100
$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,400
$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,-47398.703
$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,2160
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$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,266
$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
$GPS1,120111,122325,1803.024,12742.092,53,0.9,53,-2.0
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,6
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.5
$GPS2,120111,123802,1803.186,12742.042,13,1.0,13,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.203,-0.072
$KALMAN_X,-612954.1,-185.5,10243.4,613468.6,-65241.5
$KALMAN_Y,586589.1,-382.5,-312.2,-869738.2,6966.8
$MHEAD_RNG_PITCHd_Wd,111.6,47966,-9.9,-6.000
$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,-0.58,-146.0,0.0,0.0,0,89,0.00,0.00,-60.72,0.000,2,0.000,0.000,49,2165,2878,0,0,0,0,0,0
$GC,92,-0.58,-146.0,4.0,-5.0,6,120,10.23,2.33,-11.80,0.000,4,0.251,0.071,2404,750,3487,0,0,0,0,0,0
$GC,171,-0.58,-146.0,30.8,-25.3,14,176,0.00,2.25,0.00,0.000,6,0.000,0.054,2397,2162,3490,0,0,0,0,0,0
$GC,368,-0.58,-146.0,77.7,-23.5,33,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2161,3490,0,0,0,0,0,0
$GC,622,-0.58,-146.0,132.2,-19.8,57,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2162,3491,0,0,0,0,0,0
$GC,877,-0.58,-146.0,180.4,-18.2,81,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2161,3494,0,0,0,0,0,0
$GC,1138,-0.58,-146.0,222.7,-15.6,99,1142,0.00,2.22,0.00,0.000,4,0.000,0.057,2397,753,3490,0,0,0,0,0,0
$GC,1207,-0.58,-146.0,231.6,-11.6,102,1211,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2168,3490,0,0,0,0,0,0
$GC,1531,-0.58,-146.0,270.8,-11.3,118,1535,0.00,2.22,0.00,0.000,4,0.000,0.058,2388,747,3490,0,0,0,0,0,0
$GC,1567,-0.58,-146.0,275.0,-11.4,119,1573,0.00,2.22,0.00,0.000,6,0.000,0.052,2385,2158,3491,0,0,0,0,0,0
$GC,1881,-0.58,-146.0,311.9,-12.4,133,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2158,3490,0,0,0,0,0,0
$GC,2206,-0.58,-146.0,350.5,-11.3,141,2211,0.10,2.20,0.00,0.000,4,0.183,0.058,2411,755,3490,0,0,1,0,0,0
$GC,2249,-0.58,-146.0,354.9,-9.8,142,2253,0.00,2.25,0.00,0.000,6,0.000,0.056,2411,2168,3490,0,0,0,0,0,0
$GC,2575,-0.58,-146.0,383.1,-8.5,150,2579,0.00,2.22,0.00,0.000,4,0.000,0.064,2403,3575,3488,0,0,0,0,0,0
$GC,2618,-0.58,-146.0,386.6,-7.7,151,2622,0.00,2.17,0.00,0.000,6,0.000,0.042,2403,2150,3491,0,0,0,0,0,0
$GC,2944,-0.58,-146.0,413.5,-8.0,159,2948,0.00,2.17,0.00,0.000,4,0.000,0.051,2403,746,3485,0,0,0,0,0,0
$GC,3004,-0.58,-146.0,418.4,-8.4,160,3009,0.00,2.28,0.00,0.000,6,0.000,0.058,2403,2163,3485,0,0,0,0,0,0
$GC,3353,-0.58,-146.0,445.4,-7.8,169,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2163,3484,0,0,0,0,0,0
$GC,3678,-0.58,-146.0,472.6,-8.4,177,3682,0.00,2.25,0.00,0.000,4,0.000,0.061,2403,753,3479,0,0,0,0,0,0
$GC,3714,-0.58,-146.0,475.7,-8.3,177,3718,0.00,2.25,0.00,0.000,6,0.000,0.058,2402,2167,3478,0,0,0,0,0,0
$GC,4050,-0.58,-146.0,500.3,-7.3,186,4054,0.00,2.25,0.00,0.000,4,0.000,0.059,2403,753,3477,0,0,0,0,0,0
$GC,4096,-0.58,-146.0,504.0,-7.8,187,4100,0.00,2.22,0.00,0.000,6,0.000,0.052,2403,2161,3476,0,0,0,0,0,0
$GC,4423,-0.58,-146.0,528.5,-7.6,195,4427,0.00,2.28,0.00,0.000,4,0.000,0.064,2394,3575,3476,0,0,0,0,0,0
$GC,4450,-0.58,-146.0,530.7,-8.5,195,4454,0.00,2.17,0.00,0.000,6,0.000,0.041,2399,2146,3473,0,0,0,0,0,0
$GC,4785,-0.58,-146.0,557.3,-8.0,204,4789,0.00,2.15,0.00,0.000,4,0.000,0.052,2393,755,3470,0,0,0,0,0,0
$GC,4849,-0.58,-146.0,562.8,-8.4,205,4853,0.00,2.20,0.00,0.000,6,0.000,0.050,2391,2162,3469,0,0,0,0,0,0
$GC,5193,-0.58,-146.0,589.4,-7.5,214,5197,0.00,2.20,0.00,0.000,4,0.000,0.052,2391,758,3466,0,0,0,0,0,0
$GC,5220,-0.58,-146.0,591.6,-8.3,214,5224,0.00,2.22,0.00,0.000,6,0.000,0.051,2389,2161,3467,0,0,0,0,0,0
$GC,5560,-0.58,-146.0,616.3,-7.2,223,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2161,3465,0,0,0,0,0,0
$GC,5884,-0.58,-146.0,640.4,-7.6,231,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2161,3462,0,0,0,0,0,0
$GC,6209,-0.58,-146.0,662.7,-6.7,239,6213,0.00,2.20,0.00,0.000,4,0.000,0.053,2389,761,3460,0,0,0,0,0,0
$GC,6259,-0.58,-146.0,666.3,-7.5,240,6264,0.12,2.22,0.00,0.000,6,0.150,0.051,2417,2162,3459,0,0,0,0,0,0
$GC,6583,-0.58,-146.0,682.5,-4.9,248,6587,0.00,2.20,0.00,0.000,4,0.000,0.054,2417,759,3457,0,0,0,0,0,0
$GC,6610,-0.58,-146.0,684.0,-5.2,248,6614,0.00,2.22,0.00,0.000,6,0.000,0.051,2416,2160,3458,0,0,0,0,0,0
$GC,6945,-0.58,-146.0,701.4,-5.3,257,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2160,3453,0,0,0,0,0,0
$GC,7271,-0.58,-146.0,718.7,-5.3,265,7275,0.00,2.22,0.00,0.000,4,0.000,0.054,2416,759,3453,0,0,1,0,0,0
$GC,7298,-0.58,-146.0,720.3,-5.4,265,7302,0.00,2.22,0.00,0.000,6,0.000,0.051,2415,2161,3453,0,0,0,0,0,0
$GC,7638,-0.58,-146.0,739.2,-5.7,274,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2162,3454,0,0,0,0,0,0
$GC,7963,-0.58,-146.0,758.6,-5.9,282,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2161,3446,0,0,0,0,0,0
$GC,8288,-0.58,-146.0,777.2,-5.6,290,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2160,3451,0,0,0,0,0,0
$GC,8613,-0.58,-146.0,794.5,-5.4,298,8617,0.00,2.22,0.00,0.000,4,0.000,0.055,2414,757,3446,0,0,0,0,0,0
$GC,8640,-0.58,-146.0,796.2,-6.0,298,8644,0.00,2.25,0.00,0.000,6,0.000,0.053,2414,2159,3447,0,0,0,0,0,0
$GC,8975,-0.58,-146.0,817.2,-6.5,307,8979,0.00,2.22,0.00,0.000,4,0.000,0.056,2415,759,3445,0,0,1,0,0,0
$GC,9131,-0.58,-146.0,827.9,-6.9,310,9135,0.00,2.25,0.00,0.000,6,0.000,0.051,2414,2167,3444,0,0,0,0,0,0
$GC,9479,-0.58,-146.0,851.3,-6.8,319,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2167,3444,0,0,0,0,0,0
$GC,9804,-0.58,-146.0,872.5,-6.6,327,9808,0.00,2.25,0.00,0.000,4,0.000,0.057,2414,756,3443,0,0,0,0,0,0
$GC,9846,-0.58,-146.0,875.1,-7.5,328,9850,0.00,2.22,0.00,0.000,6,0.000,0.053,2414,2159,3442,0,0,0,0,0,0
$GC,10174,-0.58,-146.0,894.5,-5.9,336,10178,0.00,2.33,0.00,0.000,4,0.000,0.071,2414,3575,3439,0,0,0,0,0,0
$GC,10210,-0.58,-146.0,896.6,-6.4,336,10216,0.00,2.22,0.00,0.000,6,0.000,0.048,2414,2162,3441,0,0,0,0,0,0
$GC,10541,-0.58,-146.0,915.2,-5.8,345,10545,0.00,2.22,0.00,0.000,4,0.000,0.058,2414,760,3440,0,0,0,0,0,0
$GC,10809,-0.58,-146.0,931.2,-6.3,350,10814,0.00,2.25,0.00,0.000,6,0.000,0.054,2415,2162,3440,0,0,0,0,0,0
$GC,11140,-0.58,-146.0,950.9,-6.0,359,11144,0.00,2.25,0.00,0.000,4,0.000,0.057,2415,764,3439,0,0,0,0,0,0
$GC,11408,-0.58,-146.0,967.4,-6.6,364,11413,0.00,2.25,0.00,0.000,6,0.000,0.054,2413,2160,3438,0,0,0,0,0,0
$GC,11738,-0.58,-146.0,988.4,-6.6,373,11742,0.00,2.33,0.00,0.000,4,0.000,0.071,2414,3571,3438,0,0,0,0,0,0
$STATE,11763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11763,begin apogee
$GC,11771,-0.28,0.0,990.2,6.9,373,11894,0.25,0.00,120.32,1.368,6,0.097,0.000,2509,2024,2890,0,0,0,0,0,0
$STATE,11918,end apogee,CONTROL_FINISHED_OK
$STATE,11918,begin climb
$GC,11920,0.58,146.0,996.1,0.0,376,12062,0.75,2.45,132.10,1.330,4,0.066,0.057,2796,625,2292,0,0,0,0,0,0
$GC,12192,0.58,146.0,980.5,11.8,382,12196,0.00,2.33,0.00,0.000,6,0.000,0.055,2796,2032,2282,0,0,0,0,0,0
$GC,12505,0.58,146.0,942.9,12.1,390,12509,0.00,2.35,0.00,0.000,4,0.000,0.071,2796,3445,2279,0,0,0,0,0,0
$GC,12532,0.58,146.0,939.2,13.7,390,12536,0.00,2.25,0.00,0.000,6,0.000,0.051,2807,2033,2279,0,0,1,0,0,0
$GC,12871,0.58,146.0,895.7,12.9,399,12876,0.00,2.33,0.00,0.000,4,0.000,0.069,2807,3444,2277,0,0,0,0,0,0
$GC,12918,0.58,146.0,889.4,13.0,400,12923,0.12,2.28,0.00,0.000,6,0.224,0.050,2790,2021,2276,0,0,0,0,0,0
$GC,13240,0.58,146.0,850.5,12.2,408,13244,0.00,2.35,0.00,0.000,4,0.000,0.071,2785,3440,2275,0,0,0,0,0,0
$GC,13272,0.58,146.0,846.3,13.3,408,13276,0.00,2.25,0.00,0.000,6,0.000,0.051,2801,2032,2276,0,0,0,0,0,0
$GC,13607,0.58,146.0,804.6,12.4,417,13612,0.00,2.33,0.00,0.000,4,0.000,0.069,2794,3442,2275,0,0,0,0,0,0
$GC,13635,0.58,146.0,800.8,12.6,417,13639,0.00,2.25,0.00,0.000,6,0.000,0.051,2808,2029,2275,0,0,0,0,0,0
$GC,13969,0.58,146.0,758.2,12.6,426,13973,0.00,2.35,0.00,0.000,4,0.000,0.068,2809,3443,2274,0,0,0,0,0,0
$GC,14020,0.58,146.0,751.2,13.4,427,14025,0.12,2.25,0.00,0.000,6,0.221,0.051,2792,2029,2274,0,0,0,0,0,0
$GC,14338,0.58,146.0,715.6,11.0,435,14342,0.00,2.35,0.00,0.000,4,0.000,0.068,2789,3445,2273,0,0,0,0,0,0
$GC,14380,0.58,146.0,710.4,13.4,435,14386,0.00,2.28,0.00,0.000,6,0.000,0.051,2798,2021,2273,0,0,0,0,0,0
$GC,14711,0.58,146.0,671.8,11.7,444,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2013,2272,0,0,0,0,0,0
$GC,15036,0.58,146.0,632.9,11.8,452,15040,0.00,2.25,0.00,0.000,4,0.000,0.061,2809,610,2272,0,0,0,0,0,0
$GC,15072,0.58,146.0,628.5,11.5,452,15077,0.00,2.30,0.00,0.000,6,0.000,0.056,2809,2032,2271,0,0,0,0,0,0
$GC,15403,0.58,146.0,590.8,11.2,461,15407,0.00,2.30,0.00,0.000,4,0.000,0.069,2809,3444,2274,0,0,0,0,0,0
$GC,15523,0.58,146.0,576.3,12.2,463,15528,0.12,2.28,0.00,0.000,6,0.221,0.051,2792,2020,2272,0,0,0,0,0,0
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$STATE,22669,end climb,SURFACE_DEPTH_REACHED
$STATE,22669,begin surface coast
$FINISH,0.9,1.022513
$STATE,22702,end surface coast,CONTROL_FINISHED_OK
$STATE,22702,begin surface
$SM_CCo,22722,49.28,0.554,0,0,1257,400.32
$SM_GC,1.87,0.00,0.00,49.28,0.000,0.000,0.554,47,2179,1257,-7.98,0.57,400.32
$IRIDIUM_FIX,1756.43,12737.99,070712,000008
$TT8_MAMPS,0.056758
$HUMID,1078639345
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,26.10
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8384020480
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52731805696
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,55.979
$10V_AH,9.9,37.977
$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,19.550,207.650,384.575,49.275,0.000,22.485,38.570,637.060,0.750,0.000,15.435,1789.887,17844.713,554.712,3072.200,382.127,33.377,1874.607,0.000,2345.668,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,77.467,1367.561,553.774,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,583.434,0.000,0.000,0.000,0.000,0.000,0.000,21701.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.317,0.000,0.000
$MEM,354916
$DATA_FILE_SIZE,30023,866
$CAP_FILE_SIZE,199687,0
$CFSIZE,260165632,235044864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,120111,190007,1803.058,12744.571,46,1.7,46,-2.0