version: 66.11
glider: 189
mission: 7
dive: 17
start: 9 16 112 16 43 17
data:
$ID,189
$MISSION,7
$DIVE,17
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,450
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46193.355
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2534
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,160912,162628,2442.396,-3744.896,37,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-59.6
$GPS2,160912,164218,2442.500,-3744.780,18,1.0,18,-13.9
$SPEED_LIMITS,0.127,0.199
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.013,-0.199
$KALMAN_X,600.7,-15.9,263.7,27972.6,49.7
$KALMAN_Y,7502.3,-112.6,-170.8,5530.4,2359.8
$MHEAD_RNG_PITCHd_Wd,197.6,40942,-16.3,-7.333,-20.21
$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,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.08,-117.3,0.0,0.0,0,55,0.00,0.00,-32.42,0.000,2,0.000,0.000,164,1826,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-1.08,-117.3,2.2,-4.2,3,97,9.57,2.22,-22.10,0.000,4,0.219,0.055,2638,3276,3015,0,0,0,0,0,0,25.97,26.25,26.53
$GC,310,-0.92,-117.3,34.6,-16.4,28,316,0.22,2.12,0.00,0.000,6,0.155,0.028,2700,1832,3015,0,0,0,0,0,0,26.24,26.42,28.83
$GC,623,-0.84,-117.3,79.2,-14.1,49,628,0.00,2.15,0.00,0.000,4,0.000,0.046,2700,419,3017,0,0,0,0,0,0,28.83,26.51,28.83
$GC,785,-0.75,-117.3,101.3,-13.1,57,790,0.22,2.12,0.00,0.000,6,0.145,0.028,2756,1882,3017,0,0,0,0,0,0,26.44,26.61,28.83
$GC,1107,-0.75,-117.3,120.5,-5.4,73,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1882,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1408,-0.75,-117.3,142.8,-9.1,88,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1882,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1707,-0.75,-117.3,171.7,-9.3,103,1713,0.00,2.08,0.00,0.000,4,0.000,0.042,2747,3274,3018,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1778,-0.75,-117.3,177.3,-9.0,106,1783,0.00,2.10,0.00,0.000,6,0.000,0.027,2747,1831,3018,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2091,-0.75,-117.3,200.7,-7.1,122,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1834,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-0.77,-117.3,225.5,-8.8,137,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1830,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2694,-0.79,-117.3,250.6,-8.4,152,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1830,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-0.82,-117.3,278.4,-9.9,167,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1829,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3291,-0.86,-117.3,306.9,-9.0,181,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1830,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.89,-117.3,328.7,-6.7,191,3597,0.10,2.17,0.00,0.000,4,0.101,0.041,2684,3276,3012,0,0,0,0,0,0,26.86,26.77,28.83
$GC,3698,-0.89,-117.3,336.6,-8.2,194,3703,0.00,2.12,0.00,0.000,6,0.000,0.028,2683,1822,3012,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4016,-0.86,-117.3,367.9,-9.7,205,4021,0.12,2.20,0.00,0.000,4,0.155,0.041,2713,3282,3010,0,0,0,0,0,0,26.67,26.77,28.83
$GC,4073,-0.84,-117.3,371.0,-9.6,206,4080,0.00,2.15,0.00,0.000,6,0.000,0.028,2713,1825,3010,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4378,-0.84,-117.3,403.1,-10.0,217,4383,0.00,2.20,0.00,0.000,4,0.000,0.044,2703,3282,3008,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4424,-0.84,-117.3,406.2,-9.9,218,4430,0.00,2.12,0.00,0.000,6,0.000,0.028,2702,1828,3008,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4741,-0.84,-117.3,439.0,-9.9,229,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1828,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,-0.84,-117.3,466.0,-8.9,239,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1828,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,-0.84,-117.3,493.1,-9.2,249,5347,0.00,2.20,0.00,0.000,4,0.000,0.044,2692,3273,3005,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5422,-0.84,-117.3,499.0,-9.4,251,5428,0.12,2.12,0.00,0.000,6,0.148,0.028,2726,1823,3004,0,0,0,0,0,0,26.65,26.80,28.83
$GC,5736,-0.88,-117.3,526.1,-8.2,262,5741,0.00,2.12,0.00,0.000,4,0.000,0.048,2726,430,3003,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5843,-0.90,-117.3,535.1,-9.3,265,5848,0.00,2.12,0.00,0.000,6,0.000,0.029,2717,1880,3003,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6160,-0.93,-117.3,565.9,-9.4,276,6165,0.00,2.10,0.00,0.000,4,0.000,0.045,2706,3276,3001,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6211,-0.96,-117.3,568.9,-9.4,277,6217,0.00,2.12,0.00,0.000,6,0.000,0.029,2706,1828,3001,0,0,0,0,0,0,28.83,26.80,28.83
$GC,6524,-0.98,-117.3,600.5,-9.5,288,6529,0.00,2.15,0.00,0.000,4,0.000,0.049,2706,421,3000,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6564,-0.98,-117.3,603.8,-9.7,289,6570,0.00,2.12,0.00,0.000,6,0.000,0.029,2695,1879,3000,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6886,-0.98,-117.3,636.2,-9.6,300,6892,0.00,2.10,0.00,0.000,4,0.000,0.045,2685,3273,2998,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6922,-0.98,-117.3,639.3,-9.6,301,6927,0.00,2.12,0.00,0.000,6,0.000,0.029,2685,1828,2998,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7249,-0.98,-117.3,672.6,-10.2,312,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1828,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7549,-0.98,-117.3,702.2,-9.5,322,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1828,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7849,-0.98,-117.3,728.7,-8.4,332,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1828,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8149,-0.98,-117.3,751.2,-7.4,342,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1828,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8449,-0.98,-117.3,774.2,-7.7,352,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1828,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8749,-1.00,-117.3,798.6,-8.3,362,8755,0.00,2.15,0.00,0.000,4,0.000,0.051,2685,432,2992,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8815,-1.00,-117.3,804.5,-9.0,364,8820,0.00,2.12,0.00,0.000,6,0.000,0.031,2675,1877,2991,0,0,0,0,0,0,28.83,26.81,28.83
$GC,9142,-1.00,-117.3,838.3,-10.8,375,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1877,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9442,-1.00,-117.3,872.4,-11.4,385,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1877,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9742,-1.00,-117.3,903.3,-9.7,395,9747,0.00,2.25,0.00,0.000,4,0.000,0.051,2675,427,2988,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9808,-1.00,-117.3,909.5,-9.8,397,9813,0.00,2.15,0.00,0.000,6,0.000,0.031,2664,1884,2987,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10135,-1.00,-117.3,938.0,-8.3,408,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1885,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10435,-1.00,-117.3,962.2,-8.2,418,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1885,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10735,-1.00,-117.3,988.7,-9.1,428,10736,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1885,2985,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10764,begin apogee
$GC,10767,-0.29,0.0,991.4,-9.3,429,10865,0.73,0.00,93.18,1.703,6,0.124,0.000,2904,1836,2533,0,0,0,0,0,0,26.57,28.83,23.98
$STATE,10867,end apogee,CONTROL_FINISHED_OK
$STATE,10867,begin climb
$GC,10868,1.08,117.3,994.0,0.0,432,10976,1.25,0.00,103.62,1.672,6,0.071,0.000,3342,1836,2054,0,0,0,0,0,0,25.05,28.83,23.80
$GC,11270,0.94,117.3,969.1,8.5,446,11276,0.12,2.25,0.00,0.000,4,0.177,0.042,3306,3276,2048,0,0,0,0,0,0,25.97,26.08,28.83
$GC,11453,0.82,117.3,954.1,8.3,452,11459,0.20,2.20,0.00,0.000,6,0.160,0.032,3262,1828,2047,0,0,0,0,0,0,26.12,26.26,28.83
$GC,11786,0.77,122.1,930.8,7.1,463,11796,0.00,2.25,3.53,1.091,4,0.000,0.044,3261,3275,2035,0,0,0,0,0,0,28.83,26.34,25.24
$GC,11857,0.71,122.6,926.0,7.3,465,11863,0.17,2.17,0.00,0.000,6,0.154,0.031,3223,1834,2035,0,0,0,0,0,0,26.25,26.39,28.83
$GC,12181,0.74,144.8,904.2,6.4,476,12203,0.00,0.00,21.02,1.613,6,0.000,0.000,3223,1834,1944,0,0,0,0,0,0,28.83,28.83,24.81
$GC,12480,0.75,154.5,883.5,6.9,486,12491,0.00,0.00,9.00,1.478,6,0.000,0.000,3223,1834,1903,0,0,0,0,0,0,28.83,28.83,24.96
$GC,12781,0.77,171.1,864.0,6.6,496,12805,0.00,2.35,15.70,1.577,4,0.000,0.044,3222,3271,1835,0,0,0,0,0,0,28.83,25.79,24.79
$GC,12872,0.78,177.7,857.4,7.0,499,12886,0.00,2.22,6.82,1.394,6,0.000,0.031,3231,1829,1810,0,0,0,0,0,0,28.83,26.01,24.79
$GC,13203,0.79,189.9,834.3,6.8,510,13222,0.00,2.33,11.95,1.514,4,0.000,0.054,3243,429,1759,0,0,0,0,0,0,28.83,25.86,24.89
$GC,13264,0.80,200.7,829.9,6.9,512,13283,0.00,2.20,11.10,1.499,6,0.000,0.030,3243,1877,1714,0,0,0,0,0,0,28.83,26.03,24.68
$GC,13596,0.80,200.7,805.5,7.3,523,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1877,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13895,0.81,206.5,784.0,7.1,533,13909,0.00,2.38,5.85,1.323,4,0.000,0.054,3250,435,1691,0,0,0,0,0,0,28.83,26.19,25.15
$GC,13960,0.81,206.5,779.2,7.4,535,13965,0.00,2.17,0.00,0.000,6,0.000,0.030,3254,1880,1691,0,0,0,0,0,0,28.83,26.30,28.83
$GC,14287,0.81,206.5,749.7,9.4,546,14292,0.00,2.12,0.00,0.000,4,0.000,0.043,3254,3276,1691,0,0,0,0,0,0,28.83,26.42,28.83
$GC,14344,0.81,206.5,746.3,9.7,547,14350,0.00,2.17,0.00,0.000,6,0.000,0.031,3265,1831,1689,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14649,0.81,206.5,709.1,11.2,558,14651,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1831,1691,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17270,0.79,206.5,462.9,8.3,644,17276,0.00,2.12,0.00,0.000,6,0.000,0.030,3283,1837,1690,0,0,0,0,0,0,28.83,26.72,28.83
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$STATE,22188,end climb,SURFACE_DEPTH_REACHED
$STATE,22188,begin surface coast
$FINISH,0.5,1.019934
$STATE,22208,end surface coast,CONTROL_FINISHED_OK
$STATE,22209,begin surface
$SM_CCo,22225,24.30,0.133,0,0,1309,300.00
$SM_GC,1.21,8.23,0.00,24.30,0.034,0.000,0.133,162,1828,1309,-8.83,-0.62,300.00,0,0,0,0,0,0,26.79,28.83,26.53
$IRIDIUM_FIX,2432.32,-3746.26,160912,090900
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.91
$INTERNAL_PRESSURE,9.14363
$TCM_TEMP,24.60
$XPDR_PINGS,9
$SC_FREEKB,7763360
$TM_FREEKB,7798752
$24V_AH,23.8,5.581
$10V_AH,10.5,4.404
$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,21.875,138.900,304.375,24.300,0.000,27.173,46.668,534.369,2.250,0.000,19.594,2850.872,16619.137,488.324,3032.651,197.904,33.287,1631.107,0.000,2117.701,0.000,0.538,0.000
$DEVICE_MAMPS,218.790,111.690,1702.890,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22243.000,5426.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.736,13.600,0.000,0.000
$MEM,344856
$DATA_FILE_SIZE,23357,887
$CAP_FILE_SIZE,225323,0
$CFSIZE,260034560,254316544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160912,225504,2440.529,-3745.015,24,0.8,24,-13.9