version: 66.11
glider: 189
mission: 7
dive: 527
start: 2 25 113 10 21 49
data:
$ID,189
$MISSION,7
$DIVE,527
$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,-48317.176
$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
$GPS1,250213,101122,2429.792,-3748.045,38,0.8,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-58.1
$GPS2,250213,102047,2429.837,-3748.055,13,1.8,13,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.046,-0.106
$KALMAN_X,154205.8,52.3,-474.5,-130471.7,-831.2
$KALMAN_Y,108418.9,-73.9,-337.2,-118701.2,3314.6
$MHEAD_RNG_PITCHd_Wd,170.7,2116,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-10.80,0.000,2,0.000,0.000,152,2115,1402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.02,2.60,-50.78,0.000,4,0.183,0.053,2570,538,2719,0,0,0,0,0,0,25.44,25.94,26.70
$GC,396,-1.24,-97.7,27.6,-9.1,37,404,0.12,2.50,0.00,0.000,6,0.138,0.024,2598,2185,2721,0,0,0,0,0,0,25.77,26.28,28.83
$GC,706,-1.22,-97.7,50.3,-7.1,68,714,0.00,2.55,0.00,0.000,4,0.000,0.036,2598,542,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,776,-1.17,-97.7,56.0,-8.5,75,784,0.10,2.47,0.00,0.000,6,0.135,0.024,2620,2187,2720,0,0,0,0,0,0,25.90,26.34,28.83
$GC,1096,-1.17,-97.7,83.6,-9.1,101,1102,0.00,2.53,0.00,0.000,4,0.000,0.040,2610,3751,2721,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1164,-1.17,-97.7,89.5,-9.4,103,1172,0.00,2.47,0.00,0.000,6,0.000,0.021,2610,2091,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1486,-1.17,-97.7,117.9,-8.8,114,1493,0.00,2.42,0.00,0.000,4,0.000,0.037,2610,545,2719,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1525,-1.17,-97.7,120.9,-9.5,115,1532,0.00,2.47,0.00,0.000,6,0.000,0.023,2598,2197,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1845,-1.17,-97.7,149.7,-8.7,126,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2197,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2175,-1.17,-97.7,175.5,-7.5,132,2182,0.00,2.58,0.00,0.000,4,0.000,0.035,2598,548,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2207,-1.17,-97.7,175.5,-7.5,132,2213,0.15,2.42,0.00,0.000,6,0.151,0.024,2626,2191,2723,0,0,0,0,0,0,25.90,26.36,28.83
$GC,2537,-1.21,-97.7,195.7,-5.4,138,2542,0.00,2.53,0.00,0.000,4,0.000,0.036,2626,541,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2587,-1.25,-97.7,195.7,-5.4,138,2594,0.00,2.45,0.00,0.000,6,0.000,0.024,2615,2200,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2897,-1.28,-97.7,215.9,-5.9,144,2902,0.00,2.45,0.00,0.000,4,0.000,0.041,2603,3750,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2975,-1.30,-97.7,219.9,-6.2,145,2983,0.00,2.42,0.00,0.000,6,0.000,0.020,2603,2100,2724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3316,-1.32,-97.7,251.1,-9.2,151,3322,0.00,2.42,0.00,0.000,4,0.000,0.037,2603,542,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3366,-1.35,-97.7,251.1,-9.2,151,3374,0.00,2.47,0.00,0.000,6,0.000,0.023,2591,2192,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3675,-1.35,-97.7,281.1,-7.9,157,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2192,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3976,-1.35,-97.7,301.6,-6.8,162,3982,0.00,2.58,0.00,0.000,4,0.000,0.036,2592,550,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4055,-1.35,-97.7,305.9,-6.9,163,4063,0.00,2.47,0.00,0.000,6,0.000,0.024,2579,2191,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4396,-1.35,-97.7,329.7,-6.6,169,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2192,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4696,-1.35,-97.7,349.8,-6.8,174,4702,0.00,2.60,0.00,0.000,4,0.000,0.036,2580,542,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4825,-1.35,-97.7,358.8,-7.3,176,4833,0.00,2.47,0.00,0.000,6,0.000,0.023,2568,2180,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5176,-1.35,-97.7,388.3,-8.4,182,5183,0.00,2.58,0.00,0.000,4,0.000,0.037,2568,549,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5214,-1.35,-97.7,388.3,-8.4,182,5222,0.00,2.50,0.00,0.000,6,0.000,0.023,2556,2199,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5536,-1.35,-97.7,421.2,-9.2,188,5542,0.00,2.47,0.00,0.000,4,0.000,0.041,2544,3750,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5705,-1.32,-97.7,432.2,-9.1,190,5715,0.08,2.45,0.00,0.000,6,0.133,0.021,2569,2095,2722,0,0,0,0,0,0,26.06,26.42,28.83
$GC,6016,-1.32,-97.7,460.4,-7.4,196,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2095,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6316,-1.32,-97.7,479.6,-6.3,201,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2095,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6616,-1.32,-97.7,500.6,-7.2,206,6622,0.00,2.45,0.00,0.000,4,0.000,0.038,2570,551,2719,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6685,-1.32,-97.7,500.6,-7.2,206,6692,0.00,2.55,0.00,0.000,6,0.000,0.024,2559,2187,2719,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7097,-1.32,-97.7,544.6,-9.2,210,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2187,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7455,-1.32,-97.7,578.2,-9.4,213,7462,0.00,2.60,0.00,0.000,4,0.000,0.037,2559,548,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7515,-1.32,-97.7,578.2,-9.4,213,7522,0.00,2.50,0.00,0.000,6,0.000,0.024,2547,2189,2716,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7936,-1.32,-97.7,618.2,-8.3,217,7942,0.00,2.55,0.00,0.000,4,0.000,0.037,2547,548,2715,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8024,-1.32,-97.7,618.2,-8.3,217,8033,0.15,2.50,0.00,0.000,6,0.156,0.024,2574,2188,2715,0,0,0,0,0,0,25.86,26.32,28.83
$GC,8416,-1.35,-97.7,656.3,-7.9,221,8422,0.00,2.58,0.00,0.000,4,0.000,0.038,2574,539,2714,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8486,-1.38,-97.7,656.3,-7.9,221,8492,0.00,2.50,0.00,0.000,6,0.000,0.025,2564,2185,2713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8897,-1.41,-97.7,694.6,-8.0,225,8902,0.00,2.55,0.00,0.000,4,0.000,0.038,2564,538,2712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9025,-1.43,-97.7,703.9,-7.8,226,9032,0.00,2.50,0.00,0.000,6,0.000,0.024,2552,2185,2713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9376,-1.43,-97.7,730.2,-7.4,229,9382,0.00,2.55,0.00,0.000,4,0.000,0.038,2552,545,2711,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9534,-1.43,-97.7,739.6,-7.4,230,9542,0.00,2.53,0.00,0.000,6,0.000,0.024,2540,2191,2710,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9856,-1.43,-97.7,771.3,-8.6,233,9862,0.00,2.58,0.00,0.000,4,0.000,0.038,2540,540,2709,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9904,-1.43,-97.7,771.3,-8.6,233,9912,0.00,2.53,0.00,0.000,6,0.000,0.025,2527,2187,2709,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10216,-1.43,-97.7,807.6,-9.9,236,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2187,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10576,-1.43,-97.7,843.5,-10.1,239,10582,0.00,2.60,0.00,0.000,4,0.000,0.039,2528,552,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10755,-1.43,-97.7,855.0,-9.9,240,10762,0.00,2.50,0.00,0.000,6,0.000,0.025,2519,2183,2706,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11176,-1.43,-97.7,893.7,-8.0,244,11182,0.00,2.60,0.00,0.000,4,0.000,0.039,2516,554,2705,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11245,-1.43,-97.7,893.7,-8.0,244,11253,0.12,2.53,0.00,0.000,6,0.168,0.024,2534,2194,2705,0,0,0,0,0,0,25.84,26.27,28.83
$GC,11656,-1.43,-97.7,929.8,-7.5,248,11662,0.00,2.58,0.00,0.000,4,0.000,0.041,2535,548,2704,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11846,-1.43,-97.7,939.8,-7.7,249,11852,0.00,2.45,0.00,0.000,6,0.000,0.026,2524,2187,2703,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12256,-1.43,-97.7,981.3,-8.6,253,12263,0.00,2.60,0.00,0.000,4,0.000,0.041,2524,536,2702,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12335,-1.43,-97.7,981.3,-8.6,253,12342,0.00,2.53,0.00,0.000,6,0.000,0.026,2512,2186,2701,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,12372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12372,begin apogee
$GC,12381,-0.29,0.0,993.2,-9.0,254,12474,1.25,0.00,85.85,1.639,6,0.129,0.000,2897,1576,2319,0,0,0,0,0,0,24.87,28.83,23.01
$STATE,12476,end apogee,CONTROL_FINISHED_OK
$STATE,12476,begin climb
$GC,12480,1.33,97.7,998.7,0.0,259,12576,1.48,0.00,91.47,1.628,6,0.062,0.000,3425,1575,1922,0,0,0,0,0,0,25.34,28.83,23.04
$GC,12877,1.26,145.2,988.1,4.3,279,12925,0.00,2.08,42.90,1.600,4,0.000,0.049,3435,351,1727,0,0,0,0,0,0,28.83,25.32,23.40
$GC,12998,1.15,162.9,981.7,5.8,283,13023,0.22,1.92,16.85,1.533,6,0.162,0.025,3375,1658,1657,0,0,0,0,0,0,25.51,26.02,23.59
$GC,13350,1.07,168.2,958.7,6.4,286,13357,0.00,0.00,5.35,1.273,6,0.000,0.000,3375,1658,1635,0,0,0,0,0,0,28.83,28.83,23.92
$GC,13706,1.03,168.2,932.8,7.0,289,13713,0.15,2.10,0.00,0.000,4,0.166,0.048,3344,356,1631,0,0,0,0,0,0,26.08,26.13,28.83
$GC,13908,1.00,168.2,923.6,7.3,290,13914,0.00,1.90,0.00,0.000,6,0.000,0.026,3344,1659,1632,0,0,0,0,0,0,28.83,26.43,28.83
$GC,14306,1.00,168.2,884.3,8.2,294,14307,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1659,1632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14665,1.00,168.2,853.3,8.5,297,14672,0.00,2.50,0.00,0.000,4,0.000,0.036,3344,3197,1631,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14715,1.00,168.2,853.3,8.5,297,14723,0.12,2.55,0.00,0.000,6,0.168,0.030,3326,1570,1631,0,0,0,0,0,0,25.90,26.25,28.83
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$GC,19826,1.16,179.3,446.3,6.1,346,19843,0.00,2.10,10.60,1.233,4,0.000,0.048,3373,348,1588,0,0,0,0,0,0,28.83,25.94,23.94
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$STATE,24842,end climb,SURFACE_DEPTH_REACHED
$STATE,24843,begin surface coast
$FINISH,1.2,1.001036
$STATE,24873,end surface coast,CONTROL_FINISHED_OK
$STATE,24874,begin surface
$SM_CCo,24902,50.03,0.123,0,0,1095,300.00
$SM_GC,2.37,8.60,0.82,50.03,0.035,0.033,0.123,150,2202,1095,-8.83,-0.42,300.00,0,0,0,0,0,0,26.20,26.38,25.39
$IRIDIUM_FIX,2432.32,-3821.82,250213,030332
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.91
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7567456
$TM_FREEKB,4362144
$24V_AH,23.0,88.434
$10V_AH,10.1,78.587
$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,21.875,208.425,264.175,50.025,0.000,26.351,38.901,195.172,0.000,0.000,14.645,2090.560,20147.834,682.538,1946.769,635.815,33.291,1618.669,0.000,1593.243,0.000,0.536,0.000
$DEVICE_MAMPS,182.835,95.625,1638.630,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.737,13.416,0.000,0.000
$MEM,343680
$DATA_FILE_SIZE,13426,508
$CAP_FILE_SIZE,183837,0
$CFSIZE,260034560,203063296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250213,171904,2428.870,-3748.074,41,0.9,41,-14.0