version: 66.07
glider: 511
mission: 5
dive: 376
start: 2 12 111 11 24 16
data:
$ID,511
$MISSION,5
$DIVE,376
$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,450
$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,-50634.973
$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,2579
$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,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,24
$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,375
$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
$GPS1,120211,105800,1827.570,12429.497,59,1.1,64,-2.1
$_CALLS,4
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-67.6
$GPS2,120211,112320,1827.630,12428.973,18,1.4,18,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.213,0.028
$KALMAN_X,-522460.3,-18.9,-219.7,198589.2,808.5
$KALMAN_Y,585845.2,-122.5,881.6,-825188.5,-4668.1
$MHEAD_RNG_PITCHd_Wd,279.5,23749,-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,27,-0.58,-145.9,0.0,0.0,0,99,0.00,0.00,-70.38,0.000,2,0.000,0.000,34,2028,2926,0,0,0,0,0,0
$GC,103,-0.58,-146.0,4.2,-4.7,7,130,10.27,2.30,-10.98,0.000,4,0.249,0.071,2375,3462,3485,0,0,0,0,0,0
$GC,245,-0.58,-146.0,43.3,-19.9,22,250,0.00,2.15,0.00,0.000,6,0.000,0.040,2373,2061,3487,0,0,0,0,0,0
$GC,505,-0.58,-146.0,98.6,-19.7,47,509,0.00,2.20,0.00,0.000,4,0.000,0.050,2374,637,3486,0,0,0,0,0,0
$GC,594,-0.58,-146.0,115.0,-17.7,56,598,0.00,2.20,0.00,0.000,6,0.000,0.048,2364,2055,3490,0,0,0,0,0,0
$GC,856,-0.58,-146.0,167.4,-17.8,80,860,0.00,2.22,0.00,0.000,4,0.000,0.056,2351,3469,3487,0,0,0,0,0,0
$GC,893,-0.58,-146.0,174.7,-18.0,83,899,0.12,2.15,0.00,0.000,6,0.159,0.038,2388,2042,3488,0,0,0,0,0,0
$GC,1163,-0.58,-146.0,212.6,-13.6,105,1167,0.00,2.15,0.00,0.000,4,0.000,0.053,2389,648,3488,0,0,0,0,0,0
$GC,1186,-0.58,-146.0,216.1,-14.9,106,1191,0.00,2.20,0.00,0.000,6,0.000,0.048,2382,2051,3488,0,0,0,0,0,0
$GC,1516,-0.58,-146.0,260.0,-12.4,122,1520,0.00,2.22,0.00,0.000,4,0.000,0.058,2372,3463,3488,0,0,0,0,0,0
$GC,1589,-0.58,-146.0,269.1,-11.3,125,1593,0.00,2.15,0.00,0.000,6,0.000,0.038,2372,2050,3488,0,0,0,0,0,0
$GC,1928,-0.58,-146.0,310.8,-12.1,140,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2047,3488,0,0,0,0,0,0
$GC,2253,-0.58,-146.0,351.9,-13.0,148,2257,0.00,2.28,0.00,0.000,4,0.000,0.065,2362,3459,3485,0,0,0,0,0,0
$GC,2312,-0.58,-146.0,360.2,-13.8,149,2317,0.12,2.15,0.00,0.000,6,0.150,0.040,2397,2039,3487,0,0,0,0,0,0
$GC,2626,-0.58,-146.0,387.7,-7.5,157,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2036,3485,0,0,0,0,0,0
$GC,2951,-0.58,-146.0,410.9,-7.7,165,2955,0.00,2.30,0.00,0.000,4,0.000,0.066,2388,3471,3481,0,0,0,0,0,0
$GC,3029,-0.58,-146.0,417.6,-8.9,166,3033,0.00,2.20,0.00,0.000,6,0.000,0.043,2388,2042,3483,0,0,0,0,0,0
$GC,3360,-0.58,-146.0,444.1,-7.7,174,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2042,3481,0,0,0,0,0,0
$GC,3684,-0.58,-146.0,470.3,-8.8,182,3688,0.00,2.17,0.00,0.000,4,0.000,0.052,2388,641,3480,0,0,0,0,0,0
$GC,3716,-0.58,-146.0,473.7,-10.4,182,3720,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2048,3479,0,0,0,0,0,0
$GC,4052,-0.58,-146.0,506.2,-9.2,191,4056,0.00,2.25,0.00,0.000,4,0.000,0.064,2388,3462,3477,0,0,0,0,0,0
$GC,4140,-0.58,-146.0,513.4,-7.8,193,4144,0.00,2.17,0.00,0.000,6,0.000,0.039,2388,2044,3476,0,0,0,0,0,0
$GC,4467,-0.58,-146.0,541.9,-8.8,201,4471,0.00,2.33,0.00,0.000,4,0.000,0.069,2388,3461,3475,0,0,0,0,0,0
$GC,4504,-0.58,-146.0,545.1,-9.0,201,4510,0.00,2.17,0.00,0.000,6,0.000,0.039,2387,2047,3472,0,0,0,0,0,0
$GC,4835,-0.58,-146.0,573.4,-8.5,210,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2044,3470,0,0,0,0,0,0
$GC,5160,-0.58,-146.0,595.9,-6.6,218,5164,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,647,3468,0,0,0,0,0,0
$GC,5187,-0.58,-146.0,597.9,-7.4,218,5192,0.00,2.22,0.00,0.000,6,0.000,0.055,2388,2048,3468,0,0,0,0,0,0
$GC,5523,-0.58,-146.0,623.0,-8.0,227,5527,0.00,2.28,0.00,0.000,4,0.000,0.067,2388,3463,3466,0,0,0,0,0,0
$GC,5565,-0.58,-146.0,626.5,-8.0,228,5569,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,2051,3465,0,0,0,0,0,0
$GC,5892,-0.58,-146.0,653.6,-7.9,236,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2048,3462,0,0,0,0,0,0
$GC,6217,-0.58,-146.0,673.0,-5.4,244,6221,0.00,2.20,0.00,0.000,4,0.000,0.055,2391,645,3461,0,0,0,0,0,0
$GC,6244,-0.58,-146.0,674.5,-5.5,244,6249,0.00,2.25,0.00,0.000,6,0.000,0.053,2388,2062,3460,0,0,0,0,0,0
$GC,6585,-0.58,-146.0,692.7,-5.9,253,6589,0.00,2.28,0.00,0.000,4,0.000,0.067,2388,3456,3458,0,0,0,0,0,0
$GC,6645,-0.58,-146.0,696.9,-7.1,254,6649,0.00,2.17,0.00,0.000,6,0.000,0.041,2388,2041,3458,0,0,0,0,0,0
$GC,6994,-0.58,-146.0,724.2,-8.5,263,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2035,3456,0,0,0,0,0,0
$GC,7319,-0.58,-146.0,748.6,-6.9,271,7323,0.00,2.33,0.00,0.000,4,0.000,0.068,2388,3461,3454,0,0,0,0,0,0
$GC,7367,-0.58,-146.0,751.7,-6.2,272,7371,0.00,2.20,0.00,0.000,6,0.000,0.044,2388,2050,3453,0,0,0,0,0,0
$GC,7694,-0.58,-146.0,770.9,-5.9,280,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2041,3451,0,0,0,0,0,0
$GC,8019,-0.58,-146.0,791.0,-6.3,288,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2045,3449,0,0,0,0,0,0
$GC,8343,-0.58,-146.0,811.3,-6.3,296,8347,0.00,2.33,0.00,0.000,4,0.000,0.067,2388,3456,3449,0,0,0,0,0,0
$GC,8386,-0.58,-146.0,814.1,-6.1,297,8390,0.00,2.20,0.00,0.000,6,0.000,0.044,2391,2049,3450,0,0,0,0,0,0
$GC,8714,-0.58,-146.0,831.7,-5.3,305,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2045,3450,0,0,0,0,0,0
$GC,9038,-0.58,-146.0,848.0,-5.2,313,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2045,3446,0,0,0,0,0,0
$GC,9363,-0.58,-146.0,866.5,-6.0,321,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2045,3446,0,0,0,0,0,0
$GC,9688,-0.58,-146.0,888.8,-7.0,329,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2045,3443,0,0,0,0,0,0
$GC,10013,-0.58,-146.0,912.5,-7.3,337,10017,0.00,2.25,0.00,0.000,4,0.000,0.058,2388,646,3442,0,0,0,0,0,0
$GC,10035,-0.58,-146.0,914.5,-9.8,337,10039,0.00,2.25,0.00,0.000,6,0.000,0.053,2387,2050,3442,0,0,0,0,0,0
$GC,10375,-0.58,-146.0,939.3,-7.3,346,10379,0.00,2.30,0.00,0.000,4,0.000,0.069,2388,3456,3441,0,0,0,0,0,0
$GC,10398,-0.58,-146.0,941.1,-7.2,346,10402,0.00,2.22,0.00,0.000,6,0.000,0.046,2388,2045,3441,0,0,0,0,0,0
$GC,10738,-0.58,-146.0,963.1,-6.2,355,10742,0.00,2.25,0.00,0.000,4,0.000,0.058,2388,648,3440,0,0,0,0,0,0
$GC,10775,-0.58,-146.0,965.6,-7.3,355,10780,0.00,2.25,0.00,0.000,6,0.000,0.052,2388,2050,3439,0,0,0,0,0,0
$GC,11106,-0.58,-146.0,984.4,-5.6,364,11110,0.00,2.33,0.00,0.000,4,0.000,0.069,2388,3456,3440,0,0,0,0,0,0
$GC,11161,-0.58,-146.0,987.5,-5.8,365,11166,0.00,2.22,0.00,0.000,6,0.000,0.045,2388,2043,3439,0,0,0,0,0,0
$STATE,11229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11229,begin apogee
$GC,11236,-0.28,0.0,991.3,5.5,367,11361,0.32,0.00,122.70,1.348,6,0.128,0.000,2491,2102,2889,0,0,0,0,0,0
$STATE,11365,end apogee,CONTROL_FINISHED_OK
$STATE,11365,begin climb
$GC,11367,0.58,146.0,994.9,0.0,370,11509,0.77,2.50,133.90,1.313,4,0.083,0.069,2761,3501,2294,0,0,0,0,0,0
$GC,11611,0.58,146.0,977.4,13.9,375,11616,0.00,2.22,0.00,0.000,6,0.000,0.049,2772,2109,2287,0,0,1,0,0,0
$GC,11946,0.58,146.0,937.0,12.0,384,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2103,2281,0,0,0,0,0,0
$GC,12272,0.58,146.0,898.4,11.8,392,12276,0.00,2.30,0.00,0.000,4,0.000,0.063,2783,683,2279,0,0,0,0,0,0
$GC,12322,0.58,146.0,892.4,12.1,393,12326,0.00,2.28,0.00,0.000,6,0.000,0.056,2783,2102,2279,0,0,0,0,0,0
$GC,12644,0.58,146.0,853.9,11.9,401,12649,0.00,2.30,0.00,0.000,4,0.000,0.068,2783,3505,2277,0,0,0,0,0,0
$GC,12771,0.58,146.0,837.3,12.7,403,12775,0.00,2.22,0.00,0.000,6,0.000,0.050,2793,2096,2277,0,0,0,0,0,0
$GC,13102,0.58,146.0,797.8,11.7,411,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2089,2276,0,0,0,0,0,0
$GC,13427,0.58,146.0,760.0,11.7,419,13432,0.10,2.35,0.00,0.000,4,0.222,0.067,2772,3514,2275,0,0,0,0,0,0
$GC,13485,0.58,146.0,753.1,10.7,420,13489,0.00,2.25,0.00,0.000,6,0.000,0.050,2781,2100,2276,0,0,0,0,0,0
$GC,13797,0.58,146.0,721.1,10.0,428,13802,0.00,2.30,0.00,0.000,4,0.000,0.067,2779,3507,2274,0,0,0,0,0,0
$GC,13830,0.58,146.0,717.2,11.3,428,13834,0.00,2.22,0.00,0.000,6,0.000,0.050,2790,2101,2274,0,0,1,0,0,0
$GC,14161,0.58,146.0,681.1,11.0,436,14165,0.00,2.28,0.00,0.000,4,0.000,0.061,2802,684,2274,0,0,0,0,0,0
$GC,14183,0.58,146.0,678.4,10.8,436,14188,0.15,2.25,0.00,0.000,6,0.195,0.054,2766,2100,2276,0,0,1,0,0,0
$GC,14524,0.58,146.0,647.5,8.8,445,14528,0.00,2.33,0.00,0.000,4,0.000,0.069,2765,3508,2273,0,0,0,0,0,0
$GC,14570,0.58,146.0,642.9,9.6,446,14574,0.00,2.25,0.00,0.000,6,0.000,0.052,2774,2095,2272,0,0,1,0,0,0
$GC,14892,0.58,146.0,613.2,9.0,454,14896,0.00,2.30,0.00,0.000,4,0.000,0.063,2787,684,2273,0,0,0,0,0,0
$GC,14982,0.58,146.0,605.7,8.3,456,14986,0.00,2.30,0.00,0.000,6,0.000,0.054,2785,2106,2272,0,0,0,0,0,0
$GC,15308,0.58,146.0,578.6,7.9,464,15312,0.00,2.30,0.00,0.000,4,0.000,0.067,2785,3507,2271,0,0,0,0,0,0
$GC,15364,0.58,146.0,573.4,9.5,465,15368,0.00,2.28,0.00,0.000,6,0.000,0.050,2795,2084,2271,0,0,0,0,0,0
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$STATE,23311,end climb,SURFACE_DEPTH_REACHED
$STATE,23311,begin surface coast
$FINISH,1.2,1.022903
$STATE,23333,end surface coast,CONTROL_FINISHED_OK
$STATE,23333,begin surface
$SM_CCo,23353,29.52,0.535,0,0,1055,450.12
$SM_GC,1.62,0.00,0.00,29.52,0.000,0.000,0.535,44,2030,1055,-7.92,-0.62,450.12
$IRIDIUM_FIX,1821.40,12429.93,070812,050544
$TT8_MAMPS,0.054457
$HUMID,1078736119
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.30
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8432254976
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51907887104
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,76.244
$10V_AH,9.9,52.285
$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,20.175,212.050,460.875,29.525,0.000,122.056,162.094,865.658,0.250,0.000,20.756,1838.199,18535.693,583.102,3467.780,475.445,33.361,1920.549,0.000,2331.270,0.000,0.545,0.000
$DEVICE_MAMPS,249.275,108.914,1348.386,534.599,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,612.909,0.000,0.000,0.000,0.000,0.000,0.000,22822.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.441,0.000,0.000
$MEM,354932
$DATA_FILE_SIZE,33408,909
$CAP_FILE_SIZE,215724,0
$CFSIZE,260165632,225435648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,120211,175721,1827.078,12425.078,128,2.5,147,-2.1