version: 66.11
glider: 129
mission: 4
dive: 282
start: 1 10 113 17 42 40
data:
$ID,129
$MISSION,4
$DIVE,282
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,-3070.3628
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,109
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,100113,173406,1937.584,12319.728,33,1.0,33,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-56.0
$GPS2,100113,174212,1937.531,12319.737,16,1.3,16,-2.3
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,93.6,125615,-14.2,-8.462,-17.62
$D_GRID,4975
$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,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-64.80,0.000,2,0.000,0.000,45,1891,1776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.1,-3.7,11,138,8.02,0.00,-34.78,0.000,6,0.243,0.000,1979,1893,3124,0,0,0,0,0,0,25.10,28.83,26.54
$GC,444,-0.46,-175.2,101.9,-30.0,47,450,0.12,1.95,0.00,0.000,4,0.182,0.027,2016,528,3124,0,0,0,0,0,0,26.06,26.28,28.83
$GC,642,-0.42,-175.2,142.7,-19.6,56,649,0.00,1.92,0.00,0.000,6,0.000,0.021,2008,1894,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,948,-0.40,-175.2,194.1,-14.6,72,953,0.00,1.98,0.00,0.000,4,0.000,0.028,2008,534,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,975,-0.37,-175.2,197.8,-15.0,73,981,0.15,1.98,0.00,0.000,6,0.145,0.020,2043,1934,3127,0,0,0,0,0,0,26.03,26.40,28.83
$GC,1293,-0.37,-175.2,233.3,-9.8,89,1299,0.00,2.00,0.00,0.000,4,0.000,0.032,2034,3305,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1336,-0.37,-175.2,237.5,-9.8,91,1343,0.00,1.92,0.00,0.000,6,0.000,0.020,2034,1900,3125,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1660,-0.37,-175.2,269.1,-10.5,107,1665,0.00,1.90,0.00,0.000,4,0.000,0.029,2034,556,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1823,-0.37,-175.2,285.9,-9.9,115,1828,0.00,1.92,0.00,0.000,6,0.000,0.020,2033,1931,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2146,-0.37,-175.2,315.0,-8.5,131,2151,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,556,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2177,-0.37,-175.2,317.1,-8.6,132,2183,0.00,1.92,0.00,0.000,6,0.000,0.020,2033,1922,3125,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2492,-0.37,-175.2,345.8,-9.2,148,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1923,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2793,-0.37,-175.2,372.5,-8.8,163,2799,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3299,3121,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2847,-0.38,-175.2,376.2,-8.4,165,2852,0.00,1.90,0.00,0.000,6,0.000,0.021,2033,1934,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3161,-0.39,-175.2,401.1,-7.4,181,3166,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,534,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3380,-0.39,-175.2,417.2,-8.1,191,3386,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1924,3119,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3684,-0.41,-175.2,442.2,-8.0,207,3689,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,533,3116,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3717,-0.42,-175.2,444.2,-8.1,208,3723,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1931,3116,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4032,-0.44,-175.2,471.5,-8.3,224,4034,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1931,3138,0,0,0,0,0,0,28.83,28.83,25.31
$GC,4331,-0.46,-175.2,493.7,-6.4,239,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1931,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,-0.47,-175.2,510.4,-5.5,254,4638,0.00,2.05,0.00,0.000,4,0.000,0.029,2033,534,3137,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4711,-0.49,-175.2,514.9,-6.6,257,4718,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1921,3137,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5017,-0.51,-175.2,538.5,-7.5,273,5023,0.12,2.03,0.00,0.000,4,0.099,0.028,1966,537,3135,0,0,0,0,0,0,26.44,26.31,28.83
$GC,5076,-0.51,-175.2,543.4,-9.3,275,5083,0.15,1.98,0.00,0.000,6,0.143,0.021,2000,1926,3135,0,0,0,0,0,0,26.02,26.40,28.83
$GC,5381,-0.51,-175.2,572.0,-8.4,291,5386,0.00,2.03,0.00,0.000,4,0.000,0.028,2000,543,3134,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5428,-0.51,-175.2,576.0,-8.7,293,5433,0.00,1.98,0.00,0.000,6,0.000,0.021,1993,1927,3133,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5736,-0.51,-175.2,603.2,-8.8,308,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1927,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6037,-0.51,-175.2,625.3,-6.6,318,6043,0.00,2.03,0.00,0.000,4,0.000,0.030,1993,541,3129,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6085,-0.51,-175.2,627.8,-6.6,319,6090,0.00,1.98,0.00,0.000,6,0.000,0.021,1986,1927,3128,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6405,-0.51,-175.2,653.1,-8.0,330,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1928,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,-0.51,-175.2,676.9,-8.1,340,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1928,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7003,-0.51,-175.2,701.9,-8.3,350,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1928,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,-0.51,-175.2,725.4,-7.5,360,7309,0.00,2.03,0.00,0.000,4,0.000,0.031,1985,549,3122,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7370,-0.51,-175.2,730.7,-7.8,362,7376,0.00,1.95,0.00,0.000,6,0.000,0.024,1978,1919,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7701,-0.51,-175.2,759.8,-9.0,373,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1919,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7998,-0.51,-175.2,785.6,-8.5,383,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1919,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8299,-0.51,-175.2,810.9,-8.6,393,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1919,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8599,-0.51,-175.2,835.1,-7.8,403,8604,0.00,2.03,0.00,0.000,4,0.000,0.032,1978,550,3116,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8671,-0.51,-175.2,840.6,-8.2,405,8677,0.00,2.03,0.00,0.000,6,0.000,0.024,1970,1931,3115,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8997,-0.51,-175.2,866.4,-7.7,416,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1932,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,-0.51,-175.2,889.8,-7.9,426,9300,0.00,2.08,0.00,0.000,4,0.000,0.033,1970,544,3113,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9348,-0.51,-175.2,892.9,-8.2,427,9354,0.12,2.00,0.00,0.000,6,0.154,0.024,1998,1925,3113,0,0,0,0,0,0,25.96,26.30,28.83
$GC,9663,-0.52,-175.2,916.2,-6.7,438,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1924,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9964,-0.54,-175.2,936.5,-6.9,448,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1925,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10262,-0.55,-175.2,957.0,-6.7,458,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1925,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10563,-0.56,-175.2,976.8,-6.6,468,10568,0.00,2.05,0.00,0.000,4,0.000,0.034,1997,543,3109,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10597,-0.58,-175.2,979.3,-6.8,469,10602,0.00,2.00,0.00,0.000,6,0.000,0.024,1990,1930,3108,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10748,begin apogee
$GC,10754,-0.17,0.0,990.0,-6.9,474,10910,0.32,0.00,149.23,1.416,6,0.118,0.000,2101,1930,2409,0,0,0,0,0,0,25.79,28.83,22.38
$STATE,10912,end apogee,CONTROL_FINISHED_OK
$STATE,10912,begin climb
$GC,10914,0.54,175.2,995.8,0.0,479,11085,0.70,2.42,161.43,1.366,4,0.087,0.036,2333,535,1693,0,0,0,0,0,0,24.10,23.58,21.99
$GC,11137,0.57,235.9,986.6,6.5,486,11202,0.00,2.10,56.08,1.333,6,0.000,0.022,2336,1892,1446,0,0,0,0,0,0,28.83,24.65,22.17
$GC,11510,0.59,254.9,955.6,7.8,499,11533,0.00,2.17,16.73,1.278,4,0.000,0.037,2333,3299,1371,0,0,0,0,0,0,28.83,25.60,23.87
$GC,11607,0.61,259.8,947.9,8.3,502,11621,0.00,2.05,5.88,1.032,6,0.000,0.024,2333,1905,1349,0,0,0,0,0,0,28.83,25.98,23.89
$GC,11935,0.64,301.8,923.2,7.1,513,11976,0.10,0.00,38.45,1.345,6,0.120,0.000,2371,1902,1180,0,0,0,0,0,0,26.28,28.83,23.74
$GC,12265,0.64,301.8,891.8,9.8,524,12272,0.00,2.10,0.00,0.000,4,0.000,0.034,2372,3296,1173,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12299,0.64,301.8,887.9,10.2,525,12304,0.00,2.03,0.00,0.000,6,0.000,0.024,2373,1896,1172,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12634,0.64,301.8,852.8,10.5,536,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1896,1170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12932,0.64,301.8,822.0,10.2,546,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1896,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13232,0.64,301.8,791.8,10.1,556,13237,0.00,2.10,0.00,0.000,4,0.000,0.034,2373,3309,1169,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13275,0.64,301.8,788.2,10.3,557,13280,0.00,2.03,0.00,0.000,6,0.000,0.024,2373,1892,1172,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13601,0.64,301.8,753.2,10.5,568,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1892,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13898,0.64,301.8,722.5,9.9,578,13900,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1892,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14198,0.64,301.8,694.8,9.1,588,14204,0.00,2.12,0.00,0.000,4,0.000,0.034,2373,3307,1168,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14270,0.64,301.8,688.5,9.5,590,14275,0.00,2.03,0.00,0.000,6,0.000,0.024,2373,1892,1168,0,0,0,0,0,0,28.83,26.33,28.83
$GC,14595,0.66,301.8,657.2,9.9,601,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1892,1168,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,18689,0.82,333.9,263.9,9.6,793,18696,0.00,2.00,0.00,0.000,6,0.000,0.022,2414,1893,1044,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,21744,end climb,SURFACE_DEPTH_REACHED
$STATE,21744,begin surface coast
$FINISH,1.4,1.010796
$STATE,21760,end surface coast,CONTROL_FINISHED_OK
$STATE,21760,begin surface
$SM_CCo,21836,0.00,0.000,0,0,461,477.84
$SM_GC,1.73,6.22,0.00,0.00,0.043,0.000,0.000,54,1954,461,-6.48,0.82,477.84,0,0,0,0,0,0,26.17,28.83,28.83
$IRIDIUM_FIX,1929.80,12314.76,100113,111114
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.48
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3912064
$24V_AH,22.0,56.318
$10V_AH,10.1,39.192
$FG_AHR_24Vo,120.571
$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,16.275,141.175,559.775,0.000,0.000,0.000,0.000,284.975,0.000,0.000,17.712,3083.267,15520.533,710.749,2562.413,436.022,0.000,2223.200,0.000,2186.761,0.000,0.540,0.000
$DEVICE_MAMPS,243.270,36.720,1416.015,0.000,0.000,0.000,0.000,139.230,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21784.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.809,0.000,0.000,0.000
$MEM,329048
$DATA_FILE_SIZE,36651,1003
$CAP_FILE_SIZE,225668,0
$CFSIZE,260034560,223363072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,  1.2,1
$GPS,100113,234753,1938.711,12323.252,37,1.9,37,-2.3