version: 66.11
glider: 190
mission: 6
dive: 416
start: 1 20 113 23 35 20
data:
$ID,190
$MISSION,6
$DIVE,416
$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,-13439.018
$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,18
$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
$GPS1,200113,231954,2443.278,-3746.165,42,0.8,42,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-63.5
$GPS2,200113,233449,2443.275,-3746.142,17,1.1,18,-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,208.6,42215,-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,23,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,-10.48,0.000,2,0.000,0.000,145,1527,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,143,10.82,2.12,-83.12,0.000,4,0.335,0.158,2616,461,3626,0,0,0,0,0,0,14.21,14.17,14.65
$GC,343,-0.84,-155.7,27.4,-10.1,31,351,0.00,1.92,0.00,0.000,6,0.000,0.080,2610,1519,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,654,-0.86,-155.7,54.0,-8.9,62,661,0.00,1.98,0.00,0.000,4,0.000,0.104,2606,2570,3626,0,0,0,0,0,0,28.83,14.06,28.83
$GC,704,-0.89,-155.7,58.6,-9.1,67,711,0.00,2.05,0.00,0.000,6,0.000,0.112,2602,1515,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1014,-0.92,-155.7,85.4,-7.5,98,1021,0.00,2.05,0.00,0.000,4,0.000,0.135,2606,459,3627,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1253,-0.92,-155.7,106.4,-9.2,122,1261,0.00,1.85,0.00,0.000,6,0.000,0.080,2604,1487,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1563,-0.95,-155.7,138.6,-11.0,153,1572,0.00,2.03,0.00,0.000,4,0.000,0.134,2605,458,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1696,-0.95,-155.7,152.6,-10.6,166,1703,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1504,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2005,-0.99,-155.7,177.4,-7.0,197,2014,0.12,2.05,0.00,0.000,4,0.138,0.133,2545,453,3627,0,0,0,0,0,0,14.47,14.12,28.83
$GC,2116,-0.94,-155.7,187.1,-9.3,208,2123,0.10,1.83,0.00,0.000,6,0.213,0.081,2579,1459,3627,0,0,0,0,0,0,13.99,14.25,28.83
$GC,2426,-0.97,-155.7,212.6,-8.7,239,2433,0.00,1.95,0.00,0.000,4,0.000,0.132,2578,453,3629,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2533,-0.97,-155.7,223.3,-9.8,250,2541,0.00,1.77,0.00,0.000,6,0.000,0.077,2574,1440,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2843,-0.97,-155.7,253.2,-9.9,279,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1441,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3142,-0.97,-155.7,284.4,-10.5,289,3150,0.00,1.92,0.00,0.000,4,0.000,0.131,2574,458,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3343,-0.97,-155.7,304.2,-11.0,295,3352,0.00,1.77,0.00,0.000,6,0.000,0.078,2567,1443,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3653,-0.97,-155.7,336.4,-9.4,306,3659,0.00,1.90,0.00,0.000,4,0.000,0.130,2567,459,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3743,-0.97,-155.7,345.1,-9.6,309,3751,0.00,1.70,0.00,0.000,6,0.000,0.081,2566,1413,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4073,-0.97,-155.7,373.7,-8.7,320,4079,0.00,1.88,0.00,0.000,4,0.000,0.132,2566,456,3621,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4112,-0.97,-155.7,376.5,-8.8,321,4119,0.00,1.73,0.00,0.000,6,0.000,0.079,2565,1415,3623,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4434,-0.97,-155.7,409.0,-10.3,332,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1415,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4733,-0.97,-155.7,440.6,-10.5,342,4739,0.00,1.88,0.00,0.000,4,0.000,0.132,2566,457,3622,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4803,-0.97,-155.7,446.9,-10.3,344,4809,0.00,1.73,0.00,0.000,6,0.000,0.082,2565,1412,3621,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5123,-0.97,-155.7,478.8,-9.5,355,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1413,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,-0.97,-155.7,506.2,-9.2,365,5430,0.00,1.88,0.00,0.000,4,0.000,0.136,2565,460,3620,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5531,-0.97,-155.7,515.3,-9.9,368,5535,0.00,1.70,0.00,0.000,6,0.000,0.080,2560,1404,3620,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5834,-0.97,-155.7,548.7,-10.8,378,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1405,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6134,-0.97,-155.7,581.6,-10.8,388,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1405,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6433,-0.97,-155.7,610.2,-8.9,398,6439,0.00,1.85,0.00,0.000,4,0.000,0.134,2560,461,3616,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6593,-0.97,-155.7,623.2,-8.6,403,6599,0.00,1.67,0.00,0.000,6,0.000,0.082,2555,1390,3615,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6913,-0.97,-155.7,650.8,-8.6,414,6919,0.00,1.85,0.00,0.000,4,0.000,0.138,2555,456,3614,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6981,-0.97,-155.7,656.4,-8.9,416,6985,0.00,1.70,0.00,0.000,6,0.000,0.084,2553,1388,3614,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7295,-0.97,-155.7,687.1,-9.9,427,7300,0.00,1.85,0.00,0.000,4,0.000,0.139,2553,459,3613,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7372,-0.97,-155.7,693.5,-10.4,429,7376,0.00,1.67,0.00,0.000,6,0.000,0.086,2553,1374,3613,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7674,-0.97,-155.7,726.9,-10.4,439,7681,0.00,1.83,0.00,0.000,4,0.000,0.142,2553,459,3611,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7782,-0.97,-155.7,736.6,-10.7,442,7786,0.00,1.62,0.00,0.000,6,0.000,0.086,2553,1349,3610,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8085,-0.99,-155.7,769.1,-10.1,452,8091,0.00,1.77,0.00,0.000,4,0.000,0.143,2554,462,3610,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8162,-0.99,-155.7,775.2,-10.1,454,8166,0.00,1.60,0.00,0.000,6,0.000,0.086,2553,1336,3609,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8463,-0.99,-155.7,806.1,-9.5,464,8471,0.00,1.77,0.00,0.000,4,0.000,0.144,2553,453,3608,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8563,-0.99,-155.7,814.9,-9.7,467,8570,0.00,1.58,0.00,0.000,6,0.000,0.086,2553,1314,3607,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8883,-0.99,-155.7,845.3,-9.1,478,8890,0.00,1.73,0.00,0.000,4,0.000,0.144,2553,456,3604,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8974,-0.99,-155.7,854.1,-9.6,481,8980,0.00,1.52,0.00,0.000,6,0.000,0.085,2553,1302,3607,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9304,-0.99,-155.7,884.5,-9.2,492,9311,0.00,1.70,0.00,0.000,4,0.000,0.147,2552,459,3605,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9382,-0.99,-155.7,890.1,-9.3,494,9386,0.00,1.52,0.00,0.000,6,0.000,0.086,2553,1293,3604,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9685,-0.99,-155.7,919.7,-9.3,504,9690,0.00,1.67,0.00,0.000,4,0.000,0.146,2553,460,3604,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9743,-0.99,-155.7,925.7,-9.7,506,9751,0.00,1.52,0.00,0.000,6,0.000,0.090,2553,1286,3603,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10075,-0.99,-155.7,957.1,-9.3,517,10080,0.00,1.65,0.00,0.000,4,0.000,0.149,2553,458,3601,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10153,-0.99,-155.7,962.9,-9.6,519,10161,0.00,1.50,0.00,0.000,6,0.000,0.090,2553,1272,3601,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,10430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10430,begin apogee
$GC,10439,-0.23,0.0,990.8,-9.1,529,10601,0.90,0.00,153.80,1.851,4,0.203,0.000,2805,1524,2987,0,0,0,0,0,0,13.81,28.83,13.05
$STATE,10605,end apogee,CONTROL_FINISHED_OK
$STATE,10605,begin climb
$GC,10608,0.84,155.7,1000.3,0.0,534,10779,1.08,2.03,161.07,1.828,4,0.101,0.119,3160,2580,2354,0,0,0,0,0,0,14.15,14.09,13.07
$GC,10887,0.81,194.9,997.9,5.9,544,10937,0.00,2.15,42.03,1.776,6,0.000,0.142,3168,1514,2188,0,0,0,0,0,0,28.83,14.23,13.21
$GC,11240,0.77,205.7,972.3,6.8,556,11256,0.00,2.00,11.40,1.654,4,0.000,0.124,3168,2575,2147,0,0,0,0,0,0,28.83,14.42,13.36
$GC,11410,0.75,225.0,962.5,6.6,561,11438,0.17,2.08,21.95,1.736,6,0.304,0.146,3137,1526,2071,0,0,0,0,0,0,14.09,14.26,13.40
$GC,11738,0.77,265.8,941.6,5.9,572,11788,0.00,2.20,44.53,1.769,4,0.000,0.165,3145,457,1902,0,0,0,0,0,0,28.83,14.21,13.31
$GC,11828,0.79,294.0,936.4,6.3,574,11866,0.00,2.00,31.35,1.740,6,0.000,0.093,3145,1532,1785,0,0,0,0,0,0,28.83,14.29,13.26
$GC,12178,0.79,294.0,907.9,8.3,586,12186,0.00,2.00,0.00,0.000,4,0.000,0.121,3145,2578,1773,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12337,0.79,294.0,894.0,9.3,591,12345,0.00,2.03,0.00,0.000,6,0.000,0.135,3152,1556,1772,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12658,0.79,294.0,860.8,10.2,602,12666,0.00,1.95,0.00,0.000,4,0.000,0.121,3153,2569,1770,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12708,0.79,294.0,857.8,10.3,603,12716,0.00,1.98,0.00,0.000,6,0.000,0.132,3159,1569,1769,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13019,0.79,294.0,825.6,9.3,614,13026,0.00,1.92,0.00,0.000,4,0.000,0.113,3159,2576,1769,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13168,0.79,294.0,811.7,9.2,619,13175,0.00,1.92,0.00,0.000,6,0.000,0.125,3167,1595,1768,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13501,0.79,294.0,785.0,7.6,630,13508,0.00,1.85,0.00,0.000,4,0.000,0.114,3167,2581,1766,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13567,0.79,294.0,780.6,7.5,632,13574,0.00,1.92,0.00,0.000,6,0.000,0.125,3171,1603,1768,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13888,0.79,294.0,754.6,8.4,643,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1603,1768,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16223,0.79,296.2,543.4,8.2,721,16229,0.00,1.75,0.00,0.000,4,0.000,0.106,3151,2579,1766,0,0,0,0,0,0,28.83,14.15,28.83
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$STATE,22400,end climb,SURFACE_DEPTH_REACHED
$STATE,22400,begin surface coast
$FINISH,1.4,1.014511
$STATE,22429,end surface coast,CONTROL_FINISHED_OK
$STATE,22429,begin surface
$SM_CCo,22514,0.00,0.000,0,0,1559,351.02
$SM_GC,2.56,8.82,0.28,0.00,0.077,0.139,0.000,139,1518,1559,-8.54,0.48,351.02,0,0,0,0,0,0,14.36,14.26,28.83
$IRIDIUM_FIX,2432.32,-3746.26,200113,161640
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.30
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,7610912
$TM_FREEKB,3783008
$24V_AH,13.1,177.041
$10V_AH,12.4,0.000
$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,22.575,171.450,496.175,0.000,0.000,0.000,0.000,498.850,0.500,0.000,18.700,3228.948,15839.140,874.105,2738.624,707.649,0.000,2527.468,0.000,2131.377,0.000,0.542,0.000
$DEVICE_MAMPS,335.070,165.240,1850.535,0.000,0.000,0.000,0.000,171.360,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22482.000,5834.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.934,13.208,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43323,1127
$CAP_FILE_SIZE,235490,0
$CFSIZE,260034560,192778240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074, 13.6,1
$GPS,210113,055154,2442.547,-3745.894,37,0.8,37,-13.9