version: 66.11
glider: 189
mission: 7
dive: 439
start: 1 29 113 23 0 14
data:
$ID,189
$MISSION,7
$DIVE,439
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$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,100
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-48206.395
$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,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$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,2320
$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,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,290113,225004,2429.973,-3748.323,34,1.0,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-60.7
$GPS2,290113,225913,2430.007,-3748.285,20,1.4,20,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.115
$KALMAN_X,223538.0,90.5,-403.3,-200300.2,-38.3
$KALMAN_Y,36019.3,-800.3,-160.1,-45437.6,3721.6
$MHEAD_RNG_PITCHd_Wd,190.4,1782,-21.1,-6.667,-30.00
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.65,0.000,2,0.000,0.000,152,2124,1401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.02,2.50,-50.22,0.000,4,0.184,0.050,2568,545,2719,0,0,0,0,0,0,25.34,25.99,26.71
$GC,147,-1.28,-97.7,4.2,-6.2,12,154,0.12,2.45,0.00,0.000,6,0.168,0.024,2587,2199,2720,0,0,0,0,0,0,25.84,26.25,28.83
$GC,455,-1.25,-97.7,28.9,-8.1,43,463,0.00,2.50,0.00,0.000,4,0.000,0.041,2577,3745,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,755,-1.19,-97.7,54.3,-8.4,73,763,0.10,2.45,0.00,0.000,6,0.135,0.021,2609,2086,2721,0,0,0,0,0,0,25.99,26.43,28.83
$GC,1084,-1.19,-97.7,79.9,-7.9,102,1091,0.00,2.70,0.00,0.000,4,0.000,0.039,2598,3752,2721,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1384,-1.17,-97.7,106.3,-9.1,112,1391,0.00,2.45,0.00,0.000,6,0.000,0.021,2598,2104,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1715,-1.17,-97.7,137.1,-9.3,123,1722,0.00,2.65,0.00,0.000,4,0.000,0.039,2587,3748,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2014,-1.14,-97.7,162.7,-8.0,131,2022,0.12,2.42,0.00,0.000,6,0.128,0.021,2628,2091,2723,0,0,0,0,0,0,25.99,26.48,28.83
$GC,2376,-1.17,-97.7,185.2,-6.0,137,2381,0.00,2.38,0.00,0.000,4,0.000,0.038,2628,545,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2464,-1.20,-97.7,188.8,-5.9,138,2471,0.00,2.45,0.00,0.000,6,0.000,0.022,2617,2187,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2796,-1.22,-97.7,210.4,-6.2,144,2801,0.00,2.47,0.00,0.000,4,0.000,0.040,2606,3757,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2904,-1.24,-97.7,214.5,-6.4,145,2913,0.00,2.45,0.00,0.000,6,0.000,0.020,2606,2101,2723,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3214,-1.24,-97.7,239.4,-6.9,151,3221,0.00,2.65,0.00,0.000,4,0.000,0.039,2593,3749,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3364,-1.24,-97.7,248.3,-7.2,153,3372,0.00,2.45,0.00,0.000,6,0.000,0.020,2593,2092,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3694,-1.24,-97.7,274.2,-7.2,159,3701,0.00,2.65,0.00,0.000,4,0.000,0.039,2582,3741,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3743,-1.24,-97.7,274.2,-7.2,159,3752,0.00,2.45,0.00,0.000,6,0.000,0.020,2581,2094,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4055,-1.24,-97.7,301.9,-7.8,165,4061,0.00,2.62,0.00,0.000,4,0.000,0.040,2569,3749,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4297,-1.22,-97.7,322.4,-8.6,169,4303,0.15,2.40,0.00,0.000,6,0.145,0.021,2609,2096,2723,0,0,0,0,0,0,26.03,26.48,28.83
$GC,4656,-1.25,-97.7,346.7,-6.4,175,4661,0.00,2.40,0.00,0.000,4,0.000,0.038,2609,546,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4813,-1.25,-97.7,353.8,-6.0,177,4821,0.00,2.50,0.00,0.000,6,0.000,0.023,2599,2201,2722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5136,-1.28,-97.7,374.0,-5.6,183,5141,0.00,2.55,0.00,0.000,4,0.000,0.037,2599,546,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5184,-1.30,-97.7,374.0,-5.6,183,5193,0.00,2.47,0.00,0.000,6,0.000,0.024,2587,2194,2721,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5495,-1.30,-97.7,398.0,-7.0,189,5501,0.00,2.50,0.00,0.000,4,0.000,0.041,2575,3741,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5574,-1.30,-97.7,402.7,-7.3,190,5581,0.00,2.42,0.00,0.000,6,0.000,0.021,2573,2104,2720,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5914,-1.30,-97.7,431.1,-7.9,196,5921,0.00,2.65,0.00,0.000,4,0.000,0.040,2564,3743,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6003,-1.30,-97.7,435.7,-7.8,197,6011,0.00,2.45,0.00,0.000,6,0.000,0.021,2563,2100,2718,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6335,-1.30,-97.7,463.9,-7.8,203,6341,0.00,2.67,0.00,0.000,4,0.000,0.041,2551,3783,2718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6566,-1.28,-97.7,479.7,-8.6,206,6574,0.12,2.45,0.00,0.000,6,0.151,0.021,2582,2099,2717,0,0,0,0,0,0,26.08,26.46,28.83
$GC,6935,-1.28,-97.7,511.3,-7.2,212,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2099,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7295,-1.30,-97.7,532.4,-6.0,215,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2099,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7655,-1.33,-97.7,556.0,-6.3,218,7661,0.00,2.45,0.00,0.000,4,0.000,0.039,2583,548,2713,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7824,-1.35,-97.7,565.9,-7.0,219,7831,0.00,2.47,0.00,0.000,6,0.000,0.024,2572,2188,2713,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8134,-1.35,-97.7,602.5,-9.7,222,8141,0.00,2.53,0.00,0.000,4,0.000,0.042,2561,3743,2712,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8313,-1.35,-97.7,616.1,-10.5,223,8321,0.00,2.47,0.00,0.000,6,0.000,0.021,2561,2097,2712,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8735,-1.35,-97.7,665.5,-10.3,227,8742,0.00,2.70,0.00,0.000,4,0.000,0.042,2549,3751,2711,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8803,-1.35,-97.7,665.5,-10.3,227,8811,0.00,2.47,0.00,0.000,6,0.000,0.022,2549,2106,2711,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9215,-1.35,-97.7,697.7,-6.7,231,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2106,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9575,-1.35,-97.7,720.4,-6.2,234,9582,0.00,2.47,0.00,0.000,4,0.000,0.040,2549,548,2709,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9664,-1.35,-97.7,720.4,-6.2,234,9671,0.00,2.50,0.00,0.000,6,0.000,0.024,2537,2191,2709,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10054,-1.35,-97.7,762.5,-8.8,238,10062,0.00,2.53,0.00,0.000,4,0.000,0.043,2524,3745,2708,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10284,-1.35,-97.7,774.1,-9.2,239,10294,0.10,2.45,0.00,0.000,6,0.136,0.023,2558,2105,2706,0,0,0,0,0,0,25.97,26.41,28.83
$GC,10655,-1.35,-97.7,813.3,-8.2,243,10661,0.00,2.47,0.00,0.000,4,0.000,0.040,2558,546,2705,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10714,-1.35,-97.7,813.3,-8.2,243,10721,0.00,2.50,0.00,0.000,6,0.000,0.025,2547,2189,2705,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11135,-1.35,-97.7,852.2,-8.1,247,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2189,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11495,-1.37,-97.7,886.0,-9.2,250,11501,0.00,2.60,0.00,0.000,4,0.000,0.040,2548,549,2702,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11633,-1.37,-97.7,897.4,-9.4,251,11641,0.00,2.50,0.00,0.000,6,0.000,0.025,2536,2186,2702,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11975,-1.37,-97.7,927.8,-8.7,254,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2186,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12334,-1.37,-97.7,954.3,-7.5,257,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2186,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12694,-1.37,-97.7,982.5,-7.7,260,12702,0.00,2.62,0.00,0.000,4,0.000,0.041,2537,547,2699,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,12811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12811,begin apogee
$GC,12821,-0.29,0.0,993.7,-8.2,261,12914,1.23,0.08,85.90,1.688,6,0.133,0.103,2902,1593,2320,0,0,0,0,0,0,25.01,24.82,23.00
$STATE,12916,end apogee,CONTROL_FINISHED_OK
$STATE,12916,begin climb
$GC,12919,1.33,97.7,998.8,0.0,266,13015,1.50,0.00,92.07,1.677,6,0.059,0.000,3436,1594,1920,0,0,0,0,0,0,25.28,28.83,23.04
$GC,13315,1.24,137.1,985.5,4.7,286,13355,0.15,2.10,34.80,1.636,4,0.179,0.050,3407,356,1762,0,0,0,0,0,0,25.92,25.38,23.56
$GC,13457,1.14,163.1,979.4,5.4,288,13487,0.15,1.90,24.95,1.595,6,0.164,0.024,3371,1653,1654,0,0,0,0,0,0,25.70,26.10,23.59
$GC,13899,1.09,163.1,943.4,7.6,292,13904,0.00,2.45,0.00,0.000,4,0.000,0.037,3370,3203,1649,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13998,1.04,163.1,943.4,7.6,292,14004,0.17,2.50,0.00,0.000,6,0.163,0.031,3335,1571,1649,0,0,0,0,0,0,25.87,26.27,28.83
$GC,14376,1.04,163.1,895.1,10.1,296,14383,0.00,1.98,0.00,0.000,4,0.000,0.049,3344,348,1646,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14565,1.04,163.1,882.5,10.3,297,14572,0.00,1.98,0.00,0.000,6,0.000,0.024,3343,1662,1645,0,0,0,0,0,0,28.83,26.48,28.83
$GC,14977,1.04,163.1,839.4,9.0,301,14983,0.00,2.10,0.00,0.000,4,0.000,0.049,3353,360,1644,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15185,1.04,163.1,829.8,8.4,302,15189,0.00,1.95,0.00,0.000,6,0.000,0.026,3353,1652,1644,0,0,0,0,0,0,28.83,26.48,28.83
$GC,15568,1.04,163.1,795.4,7.3,306,15575,0.00,2.10,0.00,0.000,4,0.000,0.048,3360,358,1643,0,0,0,0,0,0,28.83,26.14,28.83
$GC,15716,1.04,163.1,786.0,7.4,307,15724,0.00,1.95,0.00,0.000,6,0.000,0.025,3363,1651,1642,0,0,0,0,0,0,28.83,26.48,28.83
$GC,16047,1.04,163.1,758.0,7.8,310,16048,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1651,1642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16408,1.04,163.1,730.2,7.7,313,16415,0.00,2.10,0.00,0.000,4,0.000,0.048,3373,356,1641,0,0,0,0,0,0,28.83,26.10,28.83
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$GC,19528,1.16,163.1,479.3,7.6,341,19534,0.00,2.10,0.00,0.000,4,0.000,0.047,3391,350,1640,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,25045,end climb,SURFACE_DEPTH_REACHED
$STATE,25045,begin surface coast
$FINISH,1.3,1.025770
$STATE,25076,end surface coast,CONTROL_FINISHED_OK
$STATE,25076,begin surface
$SM_CCo,25103,60.75,0.124,0,0,1095,300.00
$SM_GC,2.28,8.57,2.80,60.75,0.033,0.024,0.124,152,2195,1095,-8.82,-0.59,300.00,0,0,0,0,0,0,26.28,26.36,25.13
$IRIDIUM_FIX,2429.95,-3742.93,290113,151528
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.10
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,7601280
$TM_FREEKB,4737408
$24V_AH,23.0,75.904
$10V_AH,9.9,67.263
$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,21.775,193.900,237.725,60.750,0.000,27.255,36.236,194.031,0.000,0.000,21.866,2125.759,20362.791,667.846,1992.050,551.530,33.267,1603.760,0.000,1630.404,0.000,0.535,0.000
$DEVICE_MAMPS,184.365,102.510,1687.590,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25086.000,3010.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.239,13.498,0.000,0.000
$MEM,343720
$DATA_FILE_SIZE,13403,517
$CAP_FILE_SIZE,181199,0
$CFSIZE,260034560,210841600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300113,060058,2429.477,-3748.540,38,0.8,38,-14.0