version: 66.11
glider: 166
mission: 8
dive: 81
start: 8 28 112 8 25 19
data:
$ID,166
$MISSION,8
$DIVE,81
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,120
$T_BOOST,2
$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,400
$T_MISSION,430
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52225
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-26468.227
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2803
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147
$AH0_10V,109
$MINV_24V,23
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.057545
$PRESSURE_SLOPE,0.0001160501
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$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,0.0043150801
$SEABIRD_T_H,0.00063196511
$SEABIRD_T_I,2.3897506e-05
$SEABIRD_T_J,2.561103e-06
$SEABIRD_C_G,-10.001128
$SEABIRD_C_H,1.125791
$SEABIRD_C_I,-0.0024671701
$SEABIRD_C_J,0.00026194067
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,280812,081524,1859.331,12429.878,43,1.3,43,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-52.2
$GPS2,280812,082451,1859.357,12429.748,14,2.4,33,-2.3
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,162.2,128783,-13.1,-8.250
$D_GRID,5490
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-194.6,0.0,0.0,0,97,0.00,0.00,-76.40,0.000,2,0.000,0.000,153,2148,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-194.6,3.3,-5.1,13,162,7.80,1.58,-45.40,0.000,4,0.233,0.073,2129,3135,3598,0,0,0,0,0,0,25.88,26.19,26.54
$GC,231,-0.51,-194.6,30.0,-32.3,35,237,0.10,1.45,0.00,0.000,6,0.164,0.031,2169,2134,3595,0,0,0,0,0,0,26.06,26.32,28.83
$GC,545,-0.47,-194.6,107.1,-19.1,54,550,0.00,1.40,0.00,0.000,4,0.000,0.034,2172,1175,3598,0,0,0,0,0,0,28.83,26.44,28.83
$GC,649,-0.45,-194.6,124.8,-16.9,59,655,0.00,1.48,0.00,0.000,6,0.000,0.040,2169,2154,3598,0,0,0,0,0,0,28.83,26.45,28.83
$GC,973,-0.44,-194.6,168.6,-12.3,75,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2154,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-0.44,-194.6,204.2,-12.2,90,1277,0.12,0.00,0.00,0.000,6,0.153,0.000,2200,2153,3598,0,0,0,0,0,0,26.48,28.83,28.83
$GC,1574,-0.47,-194.6,228.6,-7.5,105,1580,0.00,1.50,0.00,0.000,4,0.000,0.053,2200,3163,3598,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1628,-0.50,-194.6,232.1,-7.5,107,1633,0.00,1.45,0.00,0.000,6,0.000,0.030,2200,2149,3598,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1942,-0.53,-194.6,255.6,-7.3,123,1947,0.00,1.50,0.00,0.000,4,0.000,0.051,2193,3132,3597,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2025,-0.56,-194.6,262.2,-7.8,127,2030,0.00,1.40,0.00,0.000,6,0.000,0.030,2193,2148,3596,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2349,-0.59,-194.6,286.2,-7.0,143,2350,0.12,0.00,0.00,0.000,6,0.085,0.000,2113,2146,3595,0,0,0,0,0,0,26.70,28.83,28.83
$GC,2650,-0.58,-194.6,324.0,-12.5,158,2656,0.12,1.38,0.00,0.000,4,0.152,0.033,2133,1174,3593,0,0,0,0,0,0,26.53,26.65,28.83
$GC,2740,-0.59,-194.6,333.1,-10.6,162,2745,0.00,1.45,0.00,0.000,6,0.000,0.041,2130,2149,3592,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3057,-0.60,-194.6,362.2,-8.9,178,3063,0.00,1.50,0.00,0.000,4,0.000,0.053,2121,3157,3590,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3106,-0.61,-194.6,366.2,-9.1,180,3111,0.00,1.45,0.00,0.000,6,0.000,0.031,2121,2144,3590,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3424,-0.62,-194.6,395.1,-8.7,196,3429,0.00,1.40,0.00,0.000,4,0.000,0.037,2121,1178,3587,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3457,-0.63,-194.6,397.1,-8.6,197,3462,0.00,1.45,0.00,0.000,6,0.000,0.041,2114,2151,3587,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3770,-0.64,-194.6,426.1,-9.3,213,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2152,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4072,-0.65,-194.6,452.8,-8.6,228,4077,0.00,1.42,0.00,0.000,4,0.000,0.037,2114,1184,3582,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4116,-0.66,-194.6,456.9,-8.6,230,4121,0.00,1.45,0.00,0.000,6,0.000,0.041,2107,2154,3582,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4439,-0.67,-194.6,486.3,-9.1,246,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2154,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4741,-0.68,-194.6,513.8,-9.3,261,4746,0.00,1.50,0.00,0.000,4,0.000,0.056,2101,3156,3576,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4784,-0.69,-194.6,518.0,-9.4,263,4789,0.00,1.45,0.00,0.000,6,0.000,0.032,2101,2163,3575,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5107,-0.69,-194.6,548.8,-9.5,279,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2161,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5409,-0.70,-194.6,577.2,-9.3,294,5414,0.00,1.50,0.00,0.000,4,0.000,0.057,2093,3150,3570,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5441,-0.71,-194.6,579.5,-9.2,295,5446,0.00,1.48,0.00,0.000,6,0.000,0.034,2093,2141,3570,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5776,-0.72,-194.6,613.1,-9.7,310,5781,0.00,1.50,0.00,0.000,4,0.000,0.058,2086,3127,3567,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5803,-0.72,-194.6,613.1,-9.7,310,5811,0.00,1.42,0.00,0.000,6,0.000,0.033,2086,2146,3567,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6109,-0.72,-194.6,643.8,-8.6,321,6115,0.00,1.55,0.00,0.000,4,0.000,0.059,2079,3132,3565,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6158,-0.72,-194.6,646.9,-8.7,322,6164,0.00,1.42,0.00,0.000,6,0.000,0.034,2078,2154,3564,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6477,-0.72,-194.6,676.9,-8.7,333,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2153,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6777,-0.72,-194.6,703.1,-8.6,343,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2153,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7077,-0.72,-194.6,728.7,-8.6,353,7082,0.00,1.45,0.00,0.000,4,0.000,0.043,2078,1178,3557,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7119,-0.72,-194.6,731.7,-8.6,354,7126,0.10,1.48,0.00,0.000,6,0.133,0.049,2106,2144,3557,0,0,0,0,0,0,26.42,26.59,28.83
$GC,7446,-0.74,-194.6,753.8,-6.5,365,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2144,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7745,-0.75,-194.6,773.1,-6.5,375,7750,0.00,1.50,0.00,0.000,4,0.000,0.063,2101,3131,3554,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7809,-0.77,-194.6,777.3,-6.4,377,7814,0.00,1.45,0.00,0.000,6,0.000,0.037,2101,2150,3552,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8145,-0.78,-194.6,799.6,-6.7,388,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2150,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8442,-0.80,-194.6,820.6,-7.0,398,8448,0.00,1.55,0.00,0.000,4,0.000,0.064,2093,3127,3549,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8477,-0.81,-194.6,823.1,-7.1,399,8482,0.00,1.45,0.00,0.000,6,0.000,0.037,2093,2155,3548,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8813,-0.83,-194.6,848.2,-7.7,410,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2154,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,-0.84,-194.6,871.4,-7.8,420,9116,0.00,1.55,0.00,0.000,4,0.000,0.065,2086,3129,3546,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9184,-0.85,-194.6,876.5,-7.9,422,9189,0.00,1.45,0.00,0.000,6,0.000,0.037,2086,2147,3546,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9509,-0.86,-194.6,904.3,-8.4,433,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2147,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9808,-0.87,-194.6,931.6,-9.5,443,9813,0.00,1.52,0.00,0.000,4,0.000,0.065,2080,3134,3543,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9855,-0.88,-194.6,934.8,-9.6,444,9860,0.00,1.48,0.00,0.000,6,0.000,0.038,2079,2144,3543,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10175,-0.89,-194.6,968.1,-10.0,455,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2144,3542,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10411,begin apogee
$GC,10416,-0.19,0.0,992.0,-10.0,463,10612,0.57,0.00,189.80,1.021,6,0.121,0.000,2272,2142,2802,0,0,0,0,0,0,26.30,28.83,24.37
$STATE,10613,end apogee,CONTROL_FINISHED_OK
$STATE,10613,begin climb
$GC,10616,0.58,194.6,1002.1,0.0,469,10809,0.70,1.67,183.10,1.059,4,0.054,0.064,2544,3105,1998,0,0,0,0,0,0,25.06,24.58,23.94
$GC,10878,0.52,194.6,985.2,11.5,478,10884,0.17,1.50,0.00,0.000,6,0.178,0.038,2509,2131,1988,0,0,0,0,0,0,25.09,25.24,28.83
$GC,11204,0.49,194.6,951.0,10.0,489,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2131,1983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11503,0.46,194.6,920.7,10.2,499,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2131,1982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11803,0.44,194.6,887.8,11.3,509,11808,0.00,1.55,0.00,0.000,4,0.000,0.063,2509,3114,1982,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11855,0.41,194.6,884.0,11.4,510,11861,0.15,1.50,0.00,0.000,6,0.168,0.040,2476,2090,1981,0,0,0,0,0,0,26.08,26.29,28.83
$GC,12171,0.39,194.6,852.7,9.0,521,12177,0.00,1.60,0.00,0.000,4,0.000,0.063,2475,3110,1980,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12265,0.37,194.6,843.6,9.4,524,12270,0.00,1.50,0.00,0.000,6,0.000,0.040,2481,2124,1980,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12600,0.36,194.6,813.0,9.4,535,12605,0.00,1.55,0.00,0.000,4,0.000,0.063,2482,3114,1979,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12642,0.34,194.6,809.4,9.5,536,12648,0.15,1.50,0.00,0.000,6,0.164,0.039,2450,2089,1979,0,0,0,0,0,0,26.20,26.43,28.83
$GC,12968,0.36,243.0,784.9,6.9,547,13019,0.00,1.62,46.10,0.957,4,0.000,0.060,2450,3105,1805,0,0,0,0,0,0,28.83,25.64,25.01
$GC,13102,0.37,282.9,776.2,7.1,551,13161,0.00,1.50,54.45,0.767,6,0.000,0.039,2453,2100,1650,0,0,0,0,0,0,28.83,25.89,24.72
$GC,13480,0.40,347.8,749.8,6.4,564,13582,0.00,1.73,93.22,0.762,4,0.000,0.060,2454,3106,1379,0,0,0,0,0,0,28.83,25.10,24.54
$GC,13624,0.44,422.2,742.4,6.1,568,13739,0.00,1.55,105.85,0.751,6,0.000,0.037,2458,2120,1077,0,0,0,0,0,0,28.83,25.46,24.39
$GC,14055,0.49,488.6,714.1,6.4,583,14133,0.12,1.58,68.88,0.862,4,0.091,0.045,2542,1148,798,0,0,0,0,0,0,25.91,25.09,24.47
$GC,14147,0.49,488.6,703.8,10.1,586,14153,0.17,1.55,0.00,0.000,6,0.140,0.049,2494,2126,792,0,0,0,0,0,0,25.19,25.25,28.83
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$GC,15115,0.56,488.6,615.8,9.2,618,15120,0.00,1.60,0.00,0.000,4,0.000,0.061,2499,3115,785,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,21278,end climb,SURFACE_DEPTH_REACHED
$STATE,21279,begin surface coast
$FINISH,1.6,1.021463
$STATE,21305,end surface coast,CONTROL_FINISHED_OK
$STATE,21305,begin surface
$SM_CCo,21384,0.00,0.000,0,0,514,561.49
$SM_GC,2.14,6.53,1.52,0.00,0.032,0.040,0.000,151,2162,514,-6.79,-0.82,561.49,0,0,0,0,0,0,26.53,26.46,28.83
$IRIDIUM_FIX,1857.82,12430.75,280812,020216
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.05
$INTERNAL_PRESSURE,9.57292
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7738848
$24V_AH,23.9,19.878
$10V_AH,9.8,13.926
$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,17.500,110.950,834.700,0.000,0.000,28.953,58.278,244.292,0.000,0.000,35.508,3002.831,14981.467,875.582,2673.320,408.038,0.000,2190.755,0.000,2229.319,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,73.440,1058.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21340.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.512,0.000,0.000,0.000
$MEM,329268
$DATA_FILE_SIZE,36692,963
$CAP_FILE_SIZE,229565,0
$CFSIZE,260165632,245149696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,317.8,1
$GPS,280812,142300,1856.502,12429.849,37,1.4,37,-2.2