version: 66.11
glider: 191
mission: 5
dive: 139
start: 10 29 112 13 20 11
data:
$ID,191
$MISSION,5
$DIVE,139
$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,-3983.8162
$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,23
$R_STBD_OVSHOOT,44
$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
$GPS1,291012,130859,2502.996,-3718.157,41,0.9,41,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-47.4
$GPS2,291012,131942,2502.933,-3718.061,17,0.9,17,-13.7
$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,355.4,17104,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-61.55,0.000,2,0.000,0.000,152,1519,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.3,-5.2,4,104,9.35,1.90,-0.68,0.000,4,0.416,0.108,1996,458,3459,1,0,0,0,0,0,14.19,14.60,14.81
$GC,221,-0.52,-97.3,24.8,-12.8,13,226,0.12,1.77,0.00,0.000,6,0.280,0.045,2016,1515,3461,0,0,0,0,0,0,14.45,14.68,28.83
$GC,520,-0.48,-97.3,53.6,-10.5,33,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1517,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-0.45,-97.3,82.5,-8.8,53,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1516,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1120,-0.42,-97.3,105.2,-6.9,73,1122,0.15,0.00,0.00,0.000,6,0.242,0.000,2054,1517,3462,0,0,0,0,0,0,14.56,28.83,28.83
$GC,1420,-0.42,-97.3,123.3,-5.9,93,1424,0.00,1.80,0.00,0.000,4,0.000,0.054,2048,2582,3462,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1570,-0.44,-97.3,133.1,-6.9,103,1574,0.00,1.85,0.00,0.000,6,0.000,0.065,2048,1517,3466,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1870,-0.44,-97.3,155.5,-7.0,123,1873,0.00,1.88,0.00,0.000,4,0.000,0.087,2048,463,3463,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1945,-0.44,-97.3,161.2,-7.4,128,1949,0.00,1.77,0.00,0.000,6,0.000,0.044,2041,1526,3463,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2245,-0.44,-97.3,180.1,-6.4,148,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1527,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.44,-97.3,197.0,-5.3,168,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1527,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-0.44,-97.3,213.8,-5.6,188,2849,0.00,1.77,0.00,0.000,4,0.000,0.057,2033,2576,3463,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2966,-0.46,-97.3,220.0,-5.1,196,2969,0.00,1.85,0.00,0.000,6,0.000,0.067,2034,1514,3463,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3265,-0.46,-97.3,237.4,-6.1,216,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1514,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.46,-97.3,259.3,-7.4,233,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1514,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-0.46,-97.3,281.5,-7.4,243,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1514,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4180,-0.46,-97.3,301.7,-6.2,253,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4481,-0.46,-97.3,319.4,-5.9,263,4484,0.00,1.80,0.00,0.000,4,0.000,0.057,2025,2576,3459,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4586,-0.47,-97.3,325.6,-5.9,267,4590,0.00,1.85,0.00,0.000,6,0.000,0.068,2026,1513,3458,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4900,-0.47,-97.3,346.6,-6.6,278,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1513,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5200,-0.47,-97.3,365.1,-6.0,288,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1513,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.47,-97.3,382.8,-6.1,298,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1513,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5800,-0.47,-97.3,402.8,-6.9,308,5804,0.00,1.80,0.00,0.000,4,0.000,0.058,2017,2575,3454,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5906,-0.48,-97.3,409.6,-6.5,312,5910,0.00,1.85,0.00,0.000,6,0.000,0.070,2018,1518,3454,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6220,-0.48,-97.3,432.2,-7.3,323,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6520,-0.48,-97.3,455.8,-8.2,333,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1518,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6820,-0.48,-97.3,481.4,-8.5,343,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7120,-0.48,-97.3,505.6,-8.0,353,7123,0.00,1.80,0.00,0.000,4,0.000,0.058,2010,2575,3450,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7299,-0.48,-97.3,518.7,-7.9,359,7302,0.00,1.85,0.00,0.000,6,0.000,0.070,2010,1520,3449,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7600,-0.48,-97.3,543.0,-7.8,369,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,-0.48,-97.3,567.6,-8.4,379,7903,0.00,1.80,0.00,0.000,4,0.000,0.059,2003,2575,3446,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8006,-0.48,-97.3,576.2,-8.3,383,8011,0.12,1.88,0.00,0.000,6,0.237,0.070,2030,1509,3446,0,0,0,0,0,0,14.57,14.76,28.83
$GC,8321,-0.50,-97.3,598.9,-6.9,394,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1509,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,-0.51,-97.3,616.7,-5.7,404,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1509,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8921,-0.53,-97.3,633.2,-5.6,414,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1509,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9221,-0.55,-97.3,650.1,-5.7,424,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1509,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,-0.57,-97.3,666.7,-5.5,434,9524,0.00,1.85,0.00,0.000,4,0.000,0.061,2025,2580,3442,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9700,-0.59,-97.3,675.5,-5.4,440,9704,0.00,1.88,0.00,0.000,6,0.000,0.072,2025,1521,3441,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10001,-0.61,-97.3,694.2,-6.3,450,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10301,-0.62,-97.3,712.8,-6.2,460,10305,0.12,1.83,0.00,0.000,4,0.146,0.061,1972,2578,3439,0,0,0,0,0,0,14.81,14.69,28.83
$GC,10406,-0.61,-97.3,720.7,-7.5,464,10410,0.00,1.88,0.00,0.000,6,0.000,0.072,1972,1519,3438,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10721,-0.58,-97.3,747.8,-8.8,475,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1519,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11021,-0.55,-97.3,774.8,-9.2,485,11023,0.15,0.00,0.00,0.000,6,0.264,0.000,2005,1519,3436,0,0,0,0,0,0,14.46,28.83,28.83
$GC,11320,-0.55,-97.3,797.6,-7.4,495,11323,0.00,1.83,0.00,0.000,4,0.000,0.062,1999,2575,3436,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11469,-0.55,-97.3,807.5,-7.4,500,11473,0.00,1.88,0.00,0.000,6,0.000,0.073,1999,1521,3435,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11770,-0.55,-97.3,831.8,-7.7,510,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12070,-0.55,-97.3,853.9,-7.3,520,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12370,-0.55,-97.3,873.6,-6.4,530,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12670,-0.55,-97.3,891.2,-5.6,540,12674,0.00,1.83,0.00,0.000,4,0.000,0.063,1991,2573,3431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12806,-0.55,-97.3,898.5,-5.5,545,12810,0.00,1.88,0.00,0.000,6,0.000,0.075,1991,1522,3430,0,0,0,0,0,0,28.83,14.68,28.83
$GC,13120,-0.55,-97.3,919.4,-7.0,556,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1522,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13420,-0.55,-97.3,942.1,-7.8,566,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1522,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13720,-0.55,-97.3,967.3,-8.7,576,13723,0.00,1.83,0.00,0.000,4,0.000,0.064,1983,2573,3428,0,0,0,0,0,0,28.83,14.68,28.83
$GC,13839,-0.55,-97.3,976.6,-8.9,580,13843,0.00,1.90,0.00,0.000,6,0.000,0.076,1983,1513,3428,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,13869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13869,begin apogee
$GC,13874,-0.18,0.0,980.7,-9.0,581,13994,0.52,0.00,110.70,2.178,6,0.216,0.000,2126,1396,3062,0,0,0,0,1,0,14.51,28.83,13.23
$STATE,13995,end apogee,CONTROL_FINISHED_OK
$STATE,13995,begin climb
$GC,13997,0.60,97.3,986.5,0.0,585,14132,0.85,0.00,126.50,2.232,6,0.139,0.000,2379,1396,2665,0,0,0,0,1,0,14.14,28.83,13.14
$GC,14425,0.57,129.5,976.2,4.7,600,14485,0.00,0.00,51.60,1.760,6,0.000,0.000,2380,1393,2535,0,0,0,0,1,0,28.83,28.83,13.43
$GC,14787,0.51,129.5,953.6,6.7,612,14790,0.00,1.85,0.00,0.000,4,0.000,0.063,2380,2453,2530,0,0,0,0,0,0,28.83,14.62,28.83
$GC,14861,0.46,129.5,948.3,6.9,615,14865,0.20,1.90,0.00,0.000,6,0.271,0.080,2343,1404,2530,0,0,0,0,0,0,14.41,14.60,28.83
$GC,15176,0.44,129.5,929.4,6.1,626,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1404,2529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15476,0.41,129.5,910.5,6.4,636,15477,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1410,2527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15775,0.39,129.5,889.9,7.1,646,15776,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1405,2524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16076,0.36,129.5,867.8,7.5,656,16078,0.15,0.00,0.00,0.000,6,0.262,0.000,2308,1405,2526,0,0,0,0,0,0,14.47,28.83,28.83
$GC,16375,0.36,132.4,848.8,5.9,666,16376,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,1405,2524,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28373,end climb,SURFACE_DEPTH_REACHED
$STATE,28373,begin surface coast
$FINISH,-0.2,1.011241
$STATE,28389,end surface coast,CONTROL_FINISHED_OK
$STATE,28389,begin surface
$SM_CCo,28407,24.62,0.765,0,0,1634,350.04
$SM_GC,0.41,6.50,0.17,24.62,0.060,0.093,0.765,155,1532,1634,-6.30,-1.07,350.04,0,0,0,0,0,0,14.69,14.75,14.30
$IRIDIUM_FIX,2451.31,-3716.44,291012,050549
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.34
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.50
$XPDR_PINGS,3
$SC_FREEKB,7716768
$TM_FREEKB,6545472
$24V_AH,13.1,67.337
$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,19.225,104.300,565.000,24.625,0.000,0.000,0.000,382.200,0.750,0.000,18.024,3216.404,22278.021,821.833,2429.230,322.590,0.000,2167.874,0.000,1888.615,0.000,0.549,0.000
$DEVICE_MAMPS,416.160,120.105,2232.270,765.000,0.000,0.000,0.000,172.125,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28432.000,6931.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.180,13.103,0.000,0.000
$MEM,344732
$DATA_FILE_SIZE,43328,1187
$CAP_FILE_SIZE,241015,0
$CFSIZE,260034560,238989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.059,163.0,1
$GPS,291012,211523,2505.097,-3718.593,38,0.9,38,-13.7