version: 66.11
glider: 191
mission: 5
dive: 115
start: 10 21 112 13 59 53
data:
$ID,191
$MISSION,5
$DIVE,115
$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,-3950.1272
$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,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,36
$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
$GPS1,211012,134922,2358.958,-3720.226,41,0.9,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-57.7
$GPS2,211012,135924,2358.990,-3720.240,17,1.1,17,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-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,0.0,135215,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-61.50,0.000,6,0.000,0.000,161,1510,3458,0,0,0,0,0,0,28.83,28.83,14.89
$GC,88,-0.60,-97.3,4.1,-8.3,4,101,9.45,1.80,0.00,0.000,4,0.425,0.054,1982,2577,3462,1,0,0,0,0,0,14.27,14.67,28.83
$GC,310,-0.53,-97.3,37.5,-12.5,19,315,0.15,1.85,0.00,0.000,6,0.262,0.066,2015,1518,3465,0,0,0,0,0,0,14.52,14.70,28.83
$GC,611,-0.50,-97.3,71.8,-9.7,39,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,910,-0.47,-97.3,96.9,-7.2,59,914,0.00,1.80,0.00,0.000,4,0.000,0.055,2010,2581,3466,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1030,-0.45,-97.3,104.7,-6.3,67,1035,0.12,1.85,0.00,0.000,6,0.242,0.067,2037,1519,3466,0,0,0,0,0,0,14.62,14.77,28.83
$GC,1330,-0.45,-97.3,123.0,-7.1,87,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1519,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1630,-0.45,-97.3,149.6,-9.5,107,1634,0.00,1.88,0.00,0.000,4,0.000,0.089,2038,464,3466,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1705,-0.44,-97.3,157.0,-9.9,112,1709,0.00,1.77,0.00,0.000,6,0.000,0.046,2032,1524,3466,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2005,-0.44,-97.3,179.1,-6.6,132,2009,0.00,1.77,0.00,0.000,4,0.000,0.057,2025,2576,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2186,-0.44,-97.3,190.1,-6.0,144,2190,0.00,1.85,0.00,0.000,6,0.000,0.067,2025,1513,3466,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2485,-0.44,-97.3,208.5,-6.1,164,2489,0.00,1.88,0.00,0.000,4,0.000,0.090,2025,461,3465,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2576,-0.41,-97.3,214.6,-7.1,170,2580,0.15,1.77,0.00,0.000,6,0.238,0.047,2052,1518,3466,0,0,0,0,0,0,14.64,14.85,28.83
$GC,2876,-0.43,-97.3,230.2,-5.6,190,2880,0.00,1.80,0.00,0.000,4,0.000,0.057,2047,2588,3464,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3025,-0.46,-97.3,239.3,-6.3,200,3029,0.00,1.88,0.00,0.000,6,0.000,0.069,2046,1515,3465,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3340,-0.47,-97.3,260.6,-6.8,216,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.49,-97.3,281.7,-6.9,226,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3940,-0.51,-97.3,298.9,-5.2,236,3944,0.00,1.80,0.00,0.000,4,0.000,0.057,2040,2578,3461,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4046,-0.53,-97.3,304.1,-4.9,240,4049,0.00,1.85,0.00,0.000,6,0.000,0.069,2040,1515,3461,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4361,-0.53,-97.3,319.6,-4.8,251,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4661,-0.54,-97.3,333.7,-4.7,261,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4962,-0.55,-97.3,347.8,-4.8,271,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.57,-97.3,362.7,-5.1,281,5264,0.00,1.80,0.00,0.000,4,0.000,0.058,2031,2577,3459,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5365,-0.58,-97.3,368.3,-5.3,285,5369,0.00,1.85,0.00,0.000,6,0.000,0.070,2031,1518,3458,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5681,-0.58,-97.3,386.6,-5.9,296,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5980,-0.58,-97.3,405.9,-6.7,306,5984,0.00,1.80,0.00,0.000,4,0.000,0.058,2024,2578,3456,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6085,-0.60,-97.3,413.1,-7.0,310,6089,0.00,1.85,0.00,0.000,6,0.000,0.070,2024,1519,3455,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6401,-0.60,-97.3,436.7,-7.7,321,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1519,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6700,-0.60,-97.3,460.8,-8.0,331,6703,0.00,1.80,0.00,0.000,4,0.000,0.058,2016,2577,3453,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6835,-0.61,-97.3,471.4,-7.9,336,6839,0.00,1.85,0.00,0.000,6,0.000,0.070,2016,1520,3453,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7150,-0.61,-97.3,497.1,-8.0,347,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1519,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7450,-0.61,-97.3,518.0,-6.7,357,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1519,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7750,-0.61,-97.3,537.5,-6.5,367,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1519,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,-0.61,-97.3,556.4,-6.1,377,8054,0.00,1.83,0.00,0.000,4,0.000,0.060,2008,2588,3448,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8125,-0.61,-97.3,561.0,-6.0,380,8129,0.00,1.88,0.00,0.000,6,0.000,0.073,2009,1521,3448,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8441,-0.61,-97.3,581.0,-6.6,391,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8740,-0.61,-97.3,601.9,-7.2,401,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9041,-0.61,-97.3,623.8,-7.3,411,9045,0.00,1.83,0.00,0.000,4,0.000,0.061,2001,2585,3445,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9219,-0.61,-97.3,635.9,-7.2,417,9223,0.00,1.88,0.00,0.000,6,0.000,0.073,2001,1521,3444,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9521,-0.59,-97.3,659.0,-7.0,427,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-0.58,-97.3,678.4,-6.3,437,9824,0.00,1.83,0.00,0.000,4,0.000,0.061,1993,2582,3442,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9939,-0.58,-97.3,684.9,-6.2,441,9943,0.00,1.88,0.00,0.000,6,0.000,0.073,1992,1521,3442,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10241,-0.57,-97.3,706.1,-7.0,451,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10541,-0.55,-97.3,728.3,-7.8,461,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1524,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10841,-0.53,-97.3,753.4,-8.6,471,10842,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11141,-0.52,-97.3,781.4,-9.4,481,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11441,-0.50,-97.3,807.6,-8.4,491,11445,0.15,1.83,0.00,0.000,4,0.252,0.062,2021,2579,3437,0,0,0,0,0,0,14.54,14.79,28.83
$GC,11529,-0.50,-97.3,812.5,-6.9,494,11533,0.00,1.88,0.00,0.000,6,0.000,0.073,2021,1520,3437,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11830,-0.50,-97.3,831.2,-5.5,504,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12131,-0.51,-97.3,847.6,-5.6,514,12135,0.00,1.83,0.00,0.000,4,0.000,0.063,2013,2576,3435,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12296,-0.53,-97.3,856.6,-5.4,520,12300,0.00,1.88,0.00,0.000,6,0.000,0.075,2013,1523,3435,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12611,-0.53,-97.3,874.9,-5.8,531,12612,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1523,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12911,-0.53,-97.3,892.1,-5.7,541,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1523,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13210,-0.53,-97.3,908.5,-5.3,551,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1523,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13511,-0.53,-97.3,924.6,-5.4,561,13512,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1523,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13810,-0.53,-97.3,942.6,-6.3,571,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1523,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14110,-0.53,-97.3,962.3,-6.6,581,14114,0.00,1.83,0.00,0.000,4,0.000,0.065,2005,2576,3430,0,0,0,0,0,0,28.83,14.73,28.83
$GC,14230,-0.54,-97.3,969.1,-6.5,585,14234,0.00,1.90,0.00,0.000,6,0.000,0.076,2005,1515,3429,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,14378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14378,begin apogee
$GC,14383,-0.18,0.0,981.0,-7.2,590,14502,0.45,0.00,110.47,2.161,6,0.211,0.000,2129,1397,3062,0,0,0,0,1,0,14.56,28.83,13.27
$STATE,14503,end apogee,CONTROL_FINISHED_OK
$STATE,14504,begin climb
$GC,14506,0.60,97.3,984.9,0.0,594,14640,0.82,0.00,125.50,2.209,6,0.140,0.000,2376,1397,2665,0,0,0,0,1,0,14.14,28.83,13.19
$GC,14936,0.55,116.4,970.6,5.2,609,14980,0.00,0.00,37.00,1.444,6,0.000,0.000,2376,1397,2587,0,0,0,0,1,0,28.83,28.83,13.58
$GC,15267,0.50,116.4,951.1,6.1,620,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1397,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15565,0.44,116.4,931.9,6.5,630,15570,0.17,1.95,0.00,0.000,4,0.266,0.106,2343,347,2585,0,0,0,0,0,0,14.50,14.64,28.83
$GC,15671,0.40,116.4,925.2,6.3,634,15675,0.00,1.83,0.00,0.000,6,0.000,0.055,2343,1409,2583,0,0,0,0,0,0,28.83,14.76,28.83
$GC,15986,0.38,119.7,907.4,5.9,645,15991,0.12,0.00,2.38,2.038,6,0.272,0.000,2317,1410,2574,0,0,0,0,0,0,14.55,28.83,14.00
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$STATE,29201,end climb,SURFACE_DEPTH_REACHED
$STATE,29201,begin surface coast
$FINISH,0.3,1.024685
$STATE,29216,end surface coast,CONTROL_FINISHED_OK
$STATE,29216,begin surface
$SM_CCo,29233,70.07,0.758,0,0,1635,350.04
$SM_GC,1.05,6.40,0.15,70.07,0.054,0.102,0.758,152,1524,1635,-6.30,-1.39,350.04,0,0,0,0,0,0,14.76,14.81,14.24
$IRIDIUM_FIX,2347.41,-3718.59,211012,050511
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.86
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.90
$XPDR_PINGS,3
$SC_FREEKB,7725984
$TM_FREEKB,6792768
$24V_AH,13.2,56.283
$10V_AH,13.4,0.000
$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,18.900,129.675,495.650,70.075,0.000,0.000,0.000,346.650,0.750,0.000,18.140,3310.480,23032.688,827.143,2436.341,291.873,0.000,2157.387,0.000,1926.663,0.000,0.550,0.000
$DEVICE_MAMPS,425.340,119.340,2209.320,758.115,0.000,0.000,0.000,179.010,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29257.000,6647.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.086,13.110,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,43270,1201
$CAP_FILE_SIZE,253139,0
$CFSIZE,260034560,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.050, 99.7,1
$GPS,211012,220934,2401.889,-3720.012,36,1.0,36,-13.9