version: 66.11
glider: 191
mission: 5
dive: 103
start: 10 17 112 12 57 16
data:
$ID,191
$MISSION,5
$DIVE,103
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,8
$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,-3934.1926
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$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
$GPS1,171012,124634,2352.814,-3806.219,33,0.8,33,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-55.2
$GPS2,171012,125647,2352.849,-3806.344,20,0.8,20,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$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,113.6,78665,-13.3,-6.049,-18.38
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-61.50,0.000,6,0.000,0.000,152,1509,3460,0,0,0,0,0,0,28.83,28.83,14.89
$GC,87,-0.60,-97.3,4.2,-8.5,4,101,9.32,1.88,0.00,0.000,4,0.418,0.076,1995,439,3460,0,0,0,0,0,0,14.40,14.66,28.83
$GC,190,-0.51,-97.3,24.8,-15.5,11,195,0.15,1.80,0.00,0.000,6,0.276,0.050,2021,1498,3464,0,0,0,0,0,0,14.48,14.69,28.83
$GC,491,-0.47,-97.3,58.4,-9.4,31,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1499,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-0.44,-97.3,86.5,-10.0,51,794,0.00,1.80,0.00,0.000,4,0.000,0.057,2015,2567,3465,0,0,0,0,0,0,28.83,14.76,28.83
$GC,956,-0.42,-97.3,103.2,-10.5,62,960,0.15,1.88,0.00,0.000,6,0.234,0.069,2047,1491,3465,0,0,0,0,0,0,14.64,14.78,28.83
$GC,1255,-0.42,-97.3,126.2,-6.9,82,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1492,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1555,-0.42,-97.3,147.0,-6.6,102,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1491,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.42,-97.3,162.2,-4.8,122,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1491,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.43,-97.3,178.2,-6.1,142,2159,0.00,1.83,0.00,0.000,4,0.000,0.057,2050,2572,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2290,-0.45,-97.3,187.0,-6.6,151,2294,0.00,1.88,0.00,0.000,6,0.000,0.069,2045,1496,3466,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2590,-0.45,-97.3,207.4,-5.9,171,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1495,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,-0.45,-97.3,221.5,-4.9,191,2894,0.00,1.88,0.00,0.000,4,0.000,0.093,2045,443,3464,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2980,-0.45,-97.3,226.8,-6.4,197,2983,0.00,1.77,0.00,0.000,6,0.000,0.049,2038,1499,3465,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3280,-0.45,-97.3,247.3,-7.1,217,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1502,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3595,-0.45,-97.3,270.0,-7.1,229,3598,0.00,1.80,0.00,0.000,4,0.000,0.060,2030,2569,3463,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3701,-0.46,-97.3,277.2,-6.9,233,3704,0.00,1.88,0.00,0.000,6,0.000,0.072,2030,1497,3463,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4015,-0.46,-97.3,297.7,-6.5,244,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1497,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.46,-97.3,316.6,-6.2,254,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1497,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-0.46,-97.3,334.2,-6.1,264,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1497,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4916,-0.46,-97.3,357.0,-8.2,274,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1497,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.46,-97.3,381.7,-8.0,284,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1497,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5515,-0.46,-97.3,400.2,-5.4,294,5519,0.00,1.80,0.00,0.000,4,0.000,0.059,2023,2564,3457,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5651,-0.48,-97.3,406.5,-4.6,299,5655,0.00,1.88,0.00,0.000,6,0.000,0.073,2022,1493,3456,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5966,-0.48,-97.3,422.7,-5.6,310,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1493,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,-0.48,-97.3,442.1,-6.8,320,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1493,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6565,-0.48,-97.3,465.0,-7.9,330,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1493,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,-0.48,-97.3,489.2,-7.9,340,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1493,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7165,-0.48,-97.3,511.3,-7.1,350,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1493,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,-0.48,-97.3,531.0,-6.4,360,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1494,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7766,-0.48,-97.3,548.7,-5.8,370,7769,0.00,1.83,0.00,0.000,4,0.000,0.063,2015,2562,3447,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7901,-0.49,-97.3,556.6,-5.7,375,7905,0.00,1.88,0.00,0.000,6,0.000,0.075,2012,1497,3447,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8215,-0.49,-97.3,576.5,-6.5,386,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1497,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8515,-0.49,-97.3,597.6,-7.3,396,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1498,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8815,-0.49,-97.3,619.2,-7.1,406,8818,0.00,1.83,0.00,0.000,4,0.000,0.061,2007,2567,3444,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8904,-0.49,-97.3,624.2,-6.7,409,8908,0.00,1.88,0.00,0.000,6,0.000,0.076,2007,1500,3444,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9205,-0.49,-97.3,646.2,-6.9,419,9208,0.00,1.90,0.00,0.000,4,0.000,0.096,2007,443,3442,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9264,-0.47,-97.3,649.6,-7.1,421,9269,0.15,1.80,0.00,0.000,6,0.246,0.054,2034,1504,3442,0,0,0,0,0,0,14.63,14.87,28.83
$GC,9567,-0.49,-97.3,666.5,-5.0,431,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1505,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9866,-0.51,-97.3,680.8,-4.9,441,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1505,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10165,-0.53,-97.3,694.2,-4.6,451,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1505,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10466,-0.55,-97.3,709.1,-5.2,461,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1505,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10766,-0.57,-97.3,728.1,-6.8,471,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1505,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11065,-0.59,-97.3,749.6,-7.3,481,11069,0.00,1.83,0.00,0.000,4,0.000,0.067,2028,2568,3437,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11170,-0.62,-97.3,756.7,-6.8,485,11175,0.12,1.90,0.00,0.000,6,0.149,0.077,1982,1498,3436,0,0,0,0,0,0,14.78,14.78,28.83
$GC,11486,-0.59,-97.3,783.9,-8.6,496,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1498,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11786,-0.57,-97.3,806.8,-7.3,506,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1497,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12085,-0.55,-97.3,826.8,-6.3,516,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1498,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12386,-0.53,-97.3,845.9,-6.4,526,12387,0.15,0.00,0.00,0.000,6,0.249,0.000,2016,1498,3432,0,0,0,0,0,0,14.56,28.83,28.83
$GC,12685,-0.53,-97.3,862.8,-5.8,536,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1498,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12985,-0.53,-97.3,881.4,-6.2,546,12989,0.00,1.92,0.00,0.000,4,0.000,0.101,2016,443,3431,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13074,-0.53,-97.3,886.9,-7.1,549,13077,0.00,1.83,0.00,0.000,6,0.000,0.058,2010,1505,3430,0,0,0,0,0,0,28.83,14.80,28.83
$GC,13375,-0.53,-97.3,908.4,-6.8,559,13378,0.00,1.83,0.00,0.000,4,0.000,0.069,2002,2559,3430,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13465,-0.53,-97.3,913.6,-7.0,562,13468,0.00,1.90,0.00,0.000,6,0.000,0.080,2003,1497,3429,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13765,-0.53,-97.3,936.6,-7.3,572,13766,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1496,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14065,-0.53,-97.3,958.4,-7.3,582,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1496,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14365,-0.53,-97.3,979.3,-6.8,592,14368,0.00,1.92,0.00,0.000,4,0.000,0.103,2002,443,3427,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,14379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14379,begin apogee
$GC,14386,-0.18,0.0,980.5,-6.8,593,14504,0.47,0.00,110.20,2.200,6,0.223,0.000,2123,1502,3062,0,0,0,0,1,0,14.56,28.83,13.27
$STATE,14506,end apogee,CONTROL_FINISHED_OK
$STATE,14506,begin climb
$GC,14508,0.60,97.3,984.1,0.0,597,14645,0.82,1.95,125.15,2.233,4,0.144,0.068,2374,2559,2666,0,0,0,0,1,0,14.14,14.03,13.18
$GC,14743,0.51,122.6,977.8,5.0,606,14803,0.00,1.95,44.28,1.640,6,0.000,0.081,2381,1496,2563,0,0,0,0,1,0,28.83,14.36,13.38
$GC,15102,0.45,122.6,951.4,7.6,618,15107,0.17,1.95,0.00,0.000,4,0.275,0.103,2349,443,2558,0,0,0,0,0,0,14.43,14.55,28.83
$GC,15282,0.42,122.6,940.3,6.6,624,15286,0.00,1.83,0.00,0.000,6,0.000,0.057,2349,1499,2557,0,0,0,0,0,0,28.83,14.70,28.83
$GC,15584,0.39,122.6,920.4,6.3,634,15586,0.12,0.00,0.00,0.000,6,0.272,0.000,2322,1500,2557,0,0,0,0,0,0,14.55,28.83,28.83
$GC,15883,0.43,151.9,905.1,4.8,644,15942,0.00,0.00,46.85,1.698,6,0.000,0.000,2322,1501,2444,0,0,0,0,1,0,28.83,28.83,13.67
$GC,16243,0.45,172.6,886.6,5.2,656,16293,0.00,2.00,39.53,1.535,4,0.000,0.109,2328,448,2358,0,0,0,0,1,0,28.83,14.42,13.63
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$STATE,29111,end climb,SURFACE_DEPTH_REACHED
$STATE,29111,begin surface coast
$FINISH,0.2,1.024521
$STATE,29128,end surface coast,CONTROL_FINISHED_OK
$STATE,29128,begin surface
$SM_CCo,29144,44.15,0.750,0,0,1634,350.04
$SM_GC,1.23,6.43,0.00,44.15,0.070,0.000,0.750,149,1505,1634,-6.30,0.14,350.04,0,0,0,0,0,0,14.78,28.83,14.29
$IRIDIUM_FIX,2342.70,-3810.89,171012,040459
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.57
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,28.10
$XPDR_PINGS,4
$SC_FREEKB,7730592
$TM_FREEKB,6917504
$24V_AH,13.2,50.778
$10V_AH,13.1,0.000
$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,18.475,134.550,553.675,44.150,0.000,0.000,0.000,362.175,1.000,0.000,21.455,3329.621,22822.971,863.388,2496.507,282.774,0.000,2242.383,0.000,1971.762,0.000,0.550,0.000
$DEVICE_MAMPS,417.690,108.630,2233.035,749.700,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29169.000,7010.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.256,13.100,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,43297,1209
$CAP_FILE_SIZE,253225,0
$CFSIZE,260034560,243879936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.061, 80.1,1
$GPS,171012,210504,2352.091,-3802.093,38,1.0,38,-14.1