version: 66.11
glider: 190
mission: 6
dive: 573
start: 3 5 113 22 1 45
data:
$ID,190
$MISSION,6
$DIVE,573
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,190
$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,1
$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,-13678.68
$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,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,10
$R_STBD_OVSHOOT,13
$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,2694
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00018
$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,1
$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
$GPS1,050313,214934,2432.854,-3823.584,24,0.9,25,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-60.5
$GPS2,050313,220112,2432.827,-3823.572,14,1.8,14,-14.1
$SPEED_LIMITS,0.123,0.141
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$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,95.6,36400,-13.4,-7.101,-26.77
$D_GRID,980
$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,-1.15,-184.9,0.0,0.0,0,34,0.00,0.00,-10.35,0.000,2,0.000,0.000,139,1509,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.5,0.0,1,154,10.40,2.08,-93.45,0.000,4,0.330,0.124,2506,2590,3448,0,0,0,0,0,0,14.07,14.15,14.63
$GC,382,-1.06,-184.9,29.8,-12.3,35,389,0.15,2.08,0.00,0.000,6,0.246,0.110,2540,1515,3449,0,0,0,0,0,0,13.78,13.95,28.83
$GC,690,-0.98,-184.9,62.0,-10.3,66,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1514,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-0.91,-184.9,93.9,-10.0,97,1007,0.17,2.03,0.00,0.000,4,0.236,0.096,2580,2581,3448,0,0,0,0,0,0,13.84,13.97,28.83
$GC,1059,-0.87,-184.9,99.4,-9.1,103,1066,0.00,2.05,0.00,0.000,6,0.000,0.109,2580,1520,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1368,-0.85,-184.9,128.5,-9.6,134,1378,0.12,2.15,0.00,0.000,4,0.230,0.132,2611,460,3449,0,0,0,0,0,0,14.11,13.79,28.83
$GC,1508,-0.85,-184.9,141.9,-9.7,148,1516,0.00,1.92,0.00,0.000,6,0.000,0.078,2607,1510,3448,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1820,-0.85,-184.9,169.1,-9.1,179,1828,0.00,2.10,0.00,0.000,4,0.000,0.130,2607,455,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1961,-0.82,-184.9,182.7,-9.6,193,1968,0.00,1.88,0.00,0.000,6,0.000,0.076,2605,1484,3448,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2268,-0.82,-184.9,211.0,-9.4,224,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1483,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2568,-0.82,-184.9,237.8,-8.8,254,2577,0.00,2.05,0.00,0.000,4,0.000,0.096,2605,2573,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2738,-0.82,-184.9,250.8,-7.8,270,2746,0.00,2.15,0.00,0.000,6,0.000,0.106,2605,1461,3449,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3049,-0.82,-184.9,275.4,-7.7,281,3056,0.00,2.00,0.00,0.000,4,0.000,0.129,2605,458,3449,0,0,0,0,0,0,28.83,13.73,28.83
$GC,3230,-0.82,-184.9,290.0,-8.1,287,3235,0.00,1.75,0.00,0.000,6,0.000,0.075,2605,1435,3448,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3559,-0.82,-184.9,314.8,-7.5,298,3565,0.00,2.15,0.00,0.000,4,0.000,0.099,2605,2571,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3608,-0.82,-184.9,317.1,-7.5,299,3617,0.00,2.25,0.00,0.000,6,0.000,0.109,2605,1420,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3920,-0.82,-184.9,344.5,-8.6,310,3925,0.00,1.90,0.00,0.000,4,0.000,0.130,2605,458,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4028,-0.82,-184.9,352.9,-9.2,313,4036,0.00,1.75,0.00,0.000,6,0.000,0.074,2605,1413,3447,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4341,-0.82,-184.9,383.5,-9.3,324,4346,0.00,2.17,0.00,0.000,4,0.000,0.101,2605,2577,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4459,-0.82,-184.9,394.1,-8.8,328,4465,0.00,2.25,0.00,0.000,6,0.000,0.110,2605,1429,3447,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4789,-0.82,-184.9,421.6,-8.1,339,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1429,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5090,-0.82,-184.9,446.2,-8.4,349,5096,0.00,1.92,0.00,0.000,4,0.000,0.131,2605,459,3445,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5167,-0.82,-184.9,451.5,-8.7,351,5177,0.00,1.83,0.00,0.000,6,0.000,0.078,2608,1445,3445,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5480,-0.82,-184.9,482.2,-9.5,362,5485,0.00,1.98,0.00,0.000,4,0.000,0.132,2605,458,3444,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5618,-0.82,-184.9,494.6,-10.4,366,5626,0.00,1.73,0.00,0.000,6,0.000,0.079,2605,1401,3442,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5930,-0.82,-184.9,526.3,-9.2,377,5937,0.00,1.90,0.00,0.000,4,0.000,0.134,2605,457,3443,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5998,-0.82,-184.9,531.9,-9.2,379,6005,0.00,1.73,0.00,0.000,6,0.000,0.079,2605,1389,3442,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6319,-0.82,-184.9,559.8,-8.1,390,6325,0.00,1.90,0.00,0.000,4,0.000,0.134,2605,455,3440,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6470,-0.82,-184.9,572.0,-8.2,395,6475,0.00,1.62,0.00,0.000,6,0.000,0.081,2605,1361,3440,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6799,-0.82,-184.9,596.0,-7.3,406,6805,0.00,1.83,0.00,0.000,4,0.000,0.135,2605,462,3440,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6899,-0.82,-184.9,602.9,-7.5,409,6905,0.00,1.62,0.00,0.000,6,0.000,0.080,2605,1344,3439,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7219,-0.82,-184.9,627.3,-7.5,420,7225,0.00,2.35,0.00,0.000,4,0.000,0.104,2605,2568,3438,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7379,-0.82,-184.9,638.3,-7.3,425,7385,0.00,2.38,0.00,0.000,6,0.000,0.116,2605,1356,3438,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7701,-0.82,-184.9,663.9,-7.8,436,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1355,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7999,-0.82,-184.9,688.6,-8.4,446,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1356,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8300,-0.82,-184.9,714.0,-8.6,456,8305,0.00,2.38,0.00,0.000,4,0.000,0.105,2605,2580,3434,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8358,-0.82,-184.9,719.0,-8.5,458,8365,0.00,2.42,0.00,0.000,6,0.000,0.116,2605,1364,3434,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8693,-0.84,-184.9,747.5,-8.6,469,8699,0.00,1.85,0.00,0.000,4,0.000,0.139,2604,453,3433,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8748,-0.84,-184.9,752.6,-8.5,471,8755,0.00,1.67,0.00,0.000,6,0.000,0.083,2605,1358,3433,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9079,-0.84,-184.9,779.8,-8.2,482,9085,0.00,1.85,0.00,0.000,4,0.000,0.138,2605,464,3432,0,0,0,0,0,0,28.83,13.64,28.83
$GC,9140,-0.84,-184.9,785.1,-8.4,484,9145,0.00,1.65,0.00,0.000,6,0.000,0.084,2604,1354,3431,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9469,-0.84,-184.9,811.8,-8.2,495,9475,0.00,2.38,0.00,0.000,4,0.000,0.109,2604,2568,3430,0,0,0,0,0,0,28.83,13.73,28.83
$GC,9639,-0.86,-184.9,823.4,-7.7,500,9647,0.00,2.40,0.00,0.000,6,0.000,0.120,2605,1362,3429,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9949,-0.86,-184.9,849.2,-7.7,511,9955,0.00,1.88,0.00,0.000,4,0.000,0.145,2601,458,3429,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10109,-0.86,-184.9,861.0,-7.8,516,10115,0.00,1.65,0.00,0.000,6,0.000,0.086,2605,1335,3428,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10429,-0.86,-184.9,885.8,-7.4,527,10435,0.00,2.42,0.00,0.000,4,0.000,0.113,2605,2565,3426,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10551,-0.89,-184.9,893.7,-6.6,531,10556,0.00,2.42,0.00,0.000,6,0.000,0.122,2605,1342,3426,0,0,0,0,0,0,28.83,13.91,28.83
$GC,10882,-0.89,-184.9,915.2,-6.5,542,10887,0.00,2.42,0.00,0.000,4,0.000,0.113,2605,2574,3425,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10960,-0.91,-184.9,919.0,-6.3,544,10967,0.00,2.42,0.00,0.000,6,0.000,0.126,2605,1363,3424,0,0,0,0,0,0,28.83,13.91,28.83
$GC,11273,-0.93,-184.9,940.1,-6.7,555,11278,0.00,1.85,0.00,0.000,4,0.000,0.153,2604,460,3424,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11338,-0.93,-184.9,944.5,-7.1,557,11345,0.00,1.73,0.00,0.000,6,0.000,0.091,2605,1359,3423,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11664,-0.95,-184.9,969.3,-7.8,568,11669,0.00,2.40,0.00,0.000,4,0.000,0.119,2605,2576,3422,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,11805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11805,begin apogee
$GC,11817,-0.42,0.0,980.5,-7.5,573,12006,0.50,0.00,183.20,1.828,4,0.203,0.000,2742,1520,2691,0,0,0,0,0,0,13.66,28.83,13.02
$STATE,12010,end apogee,CONTROL_FINISHED_OK
$STATE,12010,begin climb
$GC,12014,1.15,184.9,989.6,0.0,579,12221,1.67,2.08,192.77,1.791,4,0.148,0.122,3247,2573,1934,0,0,0,0,0,0,13.94,13.94,13.03
$GC,12350,1.04,184.9,966.3,10.2,591,12357,0.12,2.10,0.00,0.000,6,0.314,0.133,3226,1521,1922,0,0,0,0,0,0,13.77,14.02,28.83
$GC,12685,0.95,184.9,933.2,10.0,602,12692,0.12,2.00,0.00,0.000,4,0.330,0.113,3197,2571,1920,0,0,0,0,0,0,13.85,14.11,28.83
$GC,12864,0.88,184.9,916.2,9.3,608,12870,0.15,2.10,0.00,0.000,6,0.309,0.133,3174,1516,1918,0,0,0,0,0,0,13.77,14.01,28.83
$GC,13195,0.83,184.9,890.1,7.4,619,13201,0.00,2.03,0.00,0.000,4,0.000,0.115,3174,2572,1918,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13311,0.77,193.3,881.9,6.9,623,13319,0.15,2.08,1.40,0.160,6,0.276,0.130,3144,1539,1904,0,0,0,0,0,0,13.65,13.88,14.04
$GC,13641,0.75,251.1,863.0,5.6,634,13718,0.00,2.22,67.78,1.720,4,0.000,0.152,3152,456,1663,0,0,0,0,0,0,28.83,14.09,13.16
$GC,13861,0.73,251.1,847.7,7.8,641,13868,0.08,2.05,0.00,0.000,6,0.235,0.086,3130,1565,1654,0,0,0,0,0,0,13.95,14.14,28.83
$GC,14184,0.73,251.1,818.5,9.7,652,14189,0.00,2.25,0.00,0.000,4,0.000,0.161,3138,457,1652,0,0,0,0,0,0,28.83,14.02,28.83
$GC,14230,0.73,251.1,815.4,10.0,653,14238,0.00,2.17,0.00,0.000,6,0.000,0.091,3138,1613,1652,0,0,0,0,0,0,28.83,14.17,28.83
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$GC,17041,0.73,279.2,554.1,10.2,748,17049,0.00,2.88,1.50,0.174,4,0.000,0.154,3148,461,1553,0,0,0,0,0,0,28.83,13.94,13.90
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$STATE,23151,end climb,SURFACE_DEPTH_REACHED
$STATE,23151,begin surface coast
$FINISH,1.7,1.025751
$STATE,23182,end surface coast,CONTROL_FINISHED_OK
$STATE,23183,begin surface
$SM_CCo,23208,24.38,0.126,0,0,1263,350.04
$SM_GC,2.44,8.80,0.75,24.38,0.064,0.142,0.126,139,1516,1263,-8.51,0.25,350.04,0,0,0,0,0,0,14.27,13.90,14.20
$IRIDIUM_FIX,2425.21,-3823.67,050313,151538
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.12
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,7551232
$24V_AH,13.0,239.480
$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,22.950,212.550,519.550,24.375,0.000,0.000,0.000,387.775,0.250,0.000,18.021,3347.058,16106.566,927.178,2713.896,822.519,0.000,2550.371,0.000,2288.667,0.000,0.541,0.000
$DEVICE_MAMPS,330.480,160.650,1828.350,126.225,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23241.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.788,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43346,1130
$CAP_FILE_SIZE,244404,0
$CFSIZE,260034560,175087616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,253.5,1
$GPS,060313,043022,2432.922,-3824.025,38,0.8,38,-14.1