version: 66.11
glider: 190
mission: 6
dive: 412
start: 1 19 113 20 51 43
data:
$ID,190
$MISSION,6
$DIVE,412
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$HD_C,9.9999997e-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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13433.98
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,2
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$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
$GPS1,190113,203653,2446.497,-3747.568,36,0.8,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-63.4
$GPS2,190113,205113,2446.540,-3747.563,16,0.9,17,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$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,197.6,48230,-16.4,-7.174,-28.86
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-10.68,0.000,2,0.000,0.000,142,1529,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.5,0.0,1,142,10.57,2.15,-82.93,0.000,4,0.322,0.163,2615,454,3626,0,0,0,0,0,0,14.08,14.11,14.64
$GC,292,-0.82,-155.7,21.0,-14.3,26,300,0.00,1.95,0.00,0.000,6,0.000,0.086,2611,1517,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,602,-0.82,-155.7,51.6,-9.1,57,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1517,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,902,-0.85,-155.7,77.7,-7.7,87,910,0.00,2.10,0.00,0.000,4,0.000,0.136,2611,457,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1101,-0.85,-155.7,94.1,-8.3,107,1110,0.00,1.90,0.00,0.000,6,0.000,0.082,2607,1498,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1413,-0.88,-155.7,121.8,-9.5,138,1420,0.00,2.05,0.00,0.000,4,0.000,0.136,2607,455,3627,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1544,-0.90,-155.7,134.6,-9.8,151,1551,0.00,1.83,0.00,0.000,6,0.000,0.080,2605,1474,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1852,-0.94,-155.7,159.3,-7.4,182,1860,0.00,2.00,0.00,0.000,4,0.000,0.135,2605,458,3628,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1985,-0.94,-155.7,169.8,-8.4,195,1991,0.00,1.77,0.00,0.000,6,0.000,0.080,2605,1453,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2294,-0.98,-155.7,197.0,-9.4,226,2300,0.00,1.95,0.00,0.000,4,0.000,0.134,2609,458,3627,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2461,-0.98,-155.7,214.6,-10.6,243,2469,0.00,1.75,0.00,0.000,6,0.000,0.077,2605,1427,3628,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2773,-1.02,-155.7,243.9,-9.0,274,2780,0.12,1.88,0.00,0.000,4,0.135,0.133,2549,459,3627,0,0,0,0,0,0,14.52,13.93,28.83
$GC,2971,-0.98,-155.7,263.9,-11.3,284,2979,0.00,1.70,0.00,0.000,6,0.000,0.080,2549,1401,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3283,-0.98,-155.7,298.8,-10.6,295,3289,0.00,2.17,0.00,0.000,4,0.000,0.103,2549,2582,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3350,-0.98,-155.7,304.6,-10.1,297,3358,0.00,2.30,0.00,0.000,6,0.000,0.112,2549,1386,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3674,-0.96,-155.7,334.7,-9.1,308,3680,0.12,2.22,0.00,0.000,4,0.251,0.099,2576,2581,3625,0,0,0,0,0,0,14.26,14.29,28.83
$GC,3751,-0.96,-155.7,339.9,-8.9,310,3760,0.00,2.25,0.00,0.000,6,0.000,0.115,2576,1408,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4064,-0.98,-155.7,369.8,-9.4,321,4069,0.00,1.83,0.00,0.000,4,0.000,0.136,2576,459,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4213,-0.98,-155.7,385.2,-10.5,326,4218,0.00,1.67,0.00,0.000,6,0.000,0.081,2571,1403,3624,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4541,-0.98,-155.7,418.1,-10.0,337,4548,0.00,1.85,0.00,0.000,4,0.000,0.134,2571,457,3623,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4652,-0.98,-155.7,427.3,-10.2,340,4660,0.00,1.65,0.00,0.000,6,0.000,0.083,2566,1381,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4961,-0.98,-155.7,458.5,-9.6,351,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1382,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.98,-155.7,487.2,-9.7,361,5269,0.00,1.83,0.00,0.000,4,0.000,0.136,2566,457,3621,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5382,-0.98,-155.7,499.3,-10.2,365,5388,0.00,1.65,0.00,0.000,6,0.000,0.081,2560,1374,3621,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5711,-0.98,-155.7,531.0,-9.5,376,5718,0.00,1.80,0.00,0.000,4,0.000,0.136,2560,456,3620,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5773,-0.98,-155.7,536.7,-9.4,378,5778,0.00,1.62,0.00,0.000,6,0.000,0.083,2555,1367,3618,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6101,-0.98,-155.7,565.4,-8.6,389,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1367,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6402,-0.98,-155.7,590.8,-8.5,399,6410,0.00,1.80,0.00,0.000,4,0.000,0.139,2555,459,3618,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6521,-0.98,-155.7,601.8,-9.2,403,6529,0.00,1.62,0.00,0.000,6,0.000,0.084,2553,1352,3617,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6852,-0.98,-155.7,631.7,-9.4,414,6858,0.00,1.77,0.00,0.000,4,0.000,0.139,2553,457,3616,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6921,-0.98,-155.7,637.8,-9.9,416,6929,0.00,1.60,0.00,0.000,6,0.000,0.083,2552,1338,3615,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7241,-0.98,-155.7,673.0,-11.3,427,7249,0.00,1.75,0.00,0.000,4,0.000,0.142,2552,459,3615,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7321,-0.98,-155.7,680.5,-11.9,429,7330,0.00,1.58,0.00,0.000,6,0.000,0.086,2552,1320,3615,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7631,-0.98,-155.7,722.9,-13.1,440,7638,0.00,1.73,0.00,0.000,4,0.000,0.141,2552,459,3614,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7680,-0.98,-155.7,726.9,-13.1,441,7684,0.00,1.55,0.00,0.000,6,0.000,0.086,2552,1310,3613,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7982,-0.98,-155.7,764.5,-10.7,451,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1310,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8281,-0.98,-155.7,790.3,-7.7,461,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1311,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8583,-0.98,-155.7,811.0,-6.5,471,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1311,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8882,-0.98,-155.7,830.7,-6.7,481,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1311,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9182,-1.00,-155.7,854.3,-8.5,491,9189,0.00,1.70,0.00,0.000,4,0.000,0.145,2552,462,3606,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9242,-1.00,-155.7,860.0,-9.0,493,9250,0.00,1.52,0.00,0.000,6,0.000,0.086,2552,1295,3609,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9572,-1.00,-155.7,893.8,-10.7,504,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1296,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9873,-1.02,-155.7,928.3,-11.7,514,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1296,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10172,-1.04,-155.7,963.7,-11.8,524,10179,0.00,2.45,0.00,0.000,4,0.000,0.116,2552,2565,3603,0,0,0,0,0,0,28.83,13.96,28.83
$GC,10263,-1.07,-155.7,973.7,-11.3,527,10269,0.00,2.47,0.00,0.000,6,0.000,0.128,2552,1301,3603,0,0,0,0,0,0,28.83,14.00,28.83
$STATE,10438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10438,begin apogee
$GC,10446,-0.23,0.0,992.6,-10.3,533,10673,0.93,0.00,216.98,1.528,4,0.203,0.000,2810,1521,2987,0,0,0,0,0,0,13.76,28.83,13.22
$STATE,10675,end apogee,CONTROL_FINISHED_OK
$STATE,10675,begin climb
$GC,10678,0.84,155.7,1006.4,0.0,540,10850,1.08,2.05,162.55,1.851,4,0.109,0.116,3159,2583,2355,0,0,0,0,0,0,14.15,14.12,13.06
$GC,10971,0.79,155.7,1000.3,7.7,550,10977,0.00,2.15,0.00,0.000,6,0.000,0.140,3167,1516,2341,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11284,0.74,155.7,973.3,8.1,561,11286,0.15,0.00,0.00,0.000,6,0.297,0.000,3134,1515,2339,0,0,0,0,0,0,14.18,28.83,28.83
$GC,11585,0.73,176.0,952.6,6.5,571,11611,0.00,2.08,20.92,1.730,4,0.000,0.125,3134,2577,2266,0,0,0,0,0,0,28.83,14.45,13.47
$GC,11734,0.72,197.3,942.8,6.5,576,11764,0.00,2.08,24.33,1.736,6,0.000,0.137,3142,1521,2184,0,0,0,0,0,0,28.83,14.29,13.39
$GC,12082,0.73,217.7,919.7,6.5,588,12112,0.00,2.03,22.27,1.721,4,0.000,0.122,3142,2583,2095,0,0,0,0,0,0,28.83,14.40,13.42
$GC,12202,0.74,233.1,911.6,6.7,592,12225,0.00,2.08,17.62,1.692,6,0.000,0.138,3150,1541,2039,0,0,0,0,0,0,28.83,14.19,13.40
$GC,12526,0.74,233.1,888.4,7.4,602,12531,0.00,1.98,0.00,0.000,4,0.000,0.124,3150,2584,2026,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12582,0.74,233.1,883.7,7.6,604,12590,0.00,2.10,0.00,0.000,6,0.000,0.141,3157,1539,2025,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12916,0.74,233.1,857.4,8.2,615,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1539,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13212,0.74,233.1,833.3,7.8,625,13219,0.00,2.00,0.00,0.000,4,0.000,0.123,3157,2569,2023,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13362,0.74,233.1,822.1,7.4,630,13370,0.15,2.03,0.00,0.000,6,0.298,0.138,3127,1562,2021,0,0,0,0,0,0,13.96,14.19,28.83
$GC,13696,0.76,265.6,801.5,6.1,641,13735,0.00,1.98,34.67,1.678,4,0.000,0.119,3127,2578,1902,0,0,0,0,0,0,28.83,14.39,13.42
$GC,13838,0.76,271.1,791.6,7.0,646,13844,0.00,1.98,0.00,0.000,6,0.000,0.139,3134,1573,1892,0,0,0,0,0,0,28.83,14.21,28.83
$GC,14166,0.76,271.1,766.1,7.9,657,14172,0.00,1.92,0.00,0.000,4,0.000,0.122,3134,2581,1890,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14293,0.76,271.1,756.2,8.3,661,14297,0.00,2.00,0.00,0.000,6,0.000,0.138,3140,1587,1888,0,0,0,0,0,0,28.83,14.19,28.83
$GC,14606,0.76,271.1,729.2,8.5,672,14612,0.00,1.90,0.00,0.000,4,0.000,0.119,3142,2571,1888,0,0,0,0,0,0,28.83,14.21,28.83
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$GC,22819,0.87,313.8,21.0,7.4,1116,22826,0.00,2.42,0.00,0.000,4,0.000,0.141,3193,453,1711,0,0,0,0,0,0,28.83,13.95,28.83
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$STATE,22994,end climb,SURFACE_DEPTH_REACHED
$STATE,22994,begin surface coast
$FINISH,1.5,1.013173
$STATE,23026,end surface coast,CONTROL_FINISHED_OK
$STATE,23026,begin surface
$SM_CCo,23048,18.67,0.129,0,0,1562,350.04
$SM_GC,2.26,9.00,0.32,18.67,0.082,0.151,0.129,141,1518,1562,-8.54,0.37,350.04,0,0,0,0,0,0,14.35,14.17,14.26
$IRIDIUM_FIX,2439.44,-3749.17,190113,141440
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.46
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,3
$SC_FREEKB,7612448
$TM_FREEKB,3819072
$24V_AH,13.1,175.346
$10V_AH,12.5,0.000
$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,22.500,172.375,551.050,18.675,0.000,0.000,0.000,471.800,0.750,0.000,17.791,3226.513,16324.619,932.615,2695.823,732.645,0.000,2563.393,0.000,2125.422,0.000,0.541,0.000
$DEVICE_MAMPS,322.065,162.945,1851.300,129.285,0.000,0.000,0.000,171.360,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23078.000,5639.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.776,13.197,0.000,0.000
$MEM,344972
$DATA_FILE_SIZE,43319,1137
$CAP_FILE_SIZE,240035,0
$CFSIZE,260034560,193318912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.078,  8.4,1
$GPS,200113,031735,2445.891,-3747.002,38,0.9,38,-13.9