version: 66.11
glider: 191
mission: 5
dive: 149
start: 11 1 112 21 58 16
data:
$ID,191
$MISSION,5
$DIVE,149
$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,-3997.2476
$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,50
$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
$GPS1,011112,214659,2512.333,-3737.066,39,1.0,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-51.5
$GPS2,011112,215747,2512.243,-3736.993,17,1.0,17,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,301.5,112288,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-62.20,0.000,2,0.000,0.000,162,1524,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.8,-8.3,4,105,9.48,1.80,-1.00,0.000,4,0.423,0.086,1982,2573,3460,1,0,0,0,0,0,14.19,14.66,14.82
$GC,207,-0.53,-97.3,23.8,-13.7,12,212,0.12,1.88,0.00,0.000,6,0.255,0.067,2012,1510,3463,0,0,0,0,0,0,14.42,14.60,28.83
$GC,506,-0.48,-97.3,52.0,-9.1,32,510,0.00,1.80,0.00,0.000,4,0.000,0.054,2006,2570,3463,0,0,0,0,0,0,28.83,14.70,28.83
$GC,688,-0.46,-97.3,67.3,-8.6,44,692,0.12,1.85,0.00,0.000,6,0.245,0.066,2034,1514,3463,0,0,0,0,0,0,14.52,14.69,28.83
$GC,986,-0.45,-97.3,93.0,-9.6,64,990,0.00,1.88,0.00,0.000,4,0.000,0.087,2034,469,3464,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1122,-0.43,-97.3,106.4,-9.6,73,1125,0.00,1.75,0.00,0.000,6,0.000,0.044,2029,1510,3464,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1422,-0.42,-97.3,132.1,-7.9,93,1425,0.00,1.80,0.00,0.000,4,0.000,0.054,2021,2576,3465,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1646,-0.42,-97.3,146.8,-6.3,108,1650,0.12,1.85,0.00,0.000,6,0.235,0.066,2050,1515,3464,0,0,0,0,0,0,14.54,14.73,28.83
$GC,1947,-0.43,-97.3,160.1,-4.0,128,1951,0.00,1.88,0.00,0.000,4,0.000,0.088,2049,464,3465,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2066,-0.43,-97.3,166.6,-5.8,136,2070,0.00,1.77,0.00,0.000,6,0.000,0.044,2044,1519,3465,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2366,-0.43,-97.3,187.5,-7.7,156,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2666,-0.45,-97.3,210.2,-7.5,176,2670,0.00,1.80,0.00,0.000,4,0.000,0.055,2037,2587,3465,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2801,-0.47,-97.3,219.7,-6.9,185,2805,0.00,1.88,0.00,0.000,6,0.000,0.067,2037,1513,3467,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3101,-0.47,-97.3,240.3,-6.6,205,3104,0.00,1.83,0.00,0.000,4,0.000,0.056,2030,2587,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3237,-0.49,-97.3,248.8,-6.4,214,3241,0.00,1.88,0.00,0.000,6,0.000,0.067,2029,1515,3462,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3536,-0.49,-97.3,269.1,-6.8,225,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3836,-0.49,-97.3,290.1,-7.1,235,3840,0.00,1.88,0.00,0.000,4,0.000,0.090,2029,464,3462,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3895,-0.49,-97.3,293.7,-7.4,237,3899,0.00,1.77,0.00,0.000,6,0.000,0.045,2021,1524,3462,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4196,-0.49,-97.3,315.7,-6.8,247,4199,0.00,1.77,0.00,0.000,4,0.000,0.057,2013,2576,3461,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4285,-0.49,-97.3,320.4,-6.4,250,4289,0.00,1.85,0.00,0.000,6,0.000,0.068,2013,1516,3460,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4586,-0.49,-97.3,341.4,-7.0,260,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1516,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4886,-0.49,-97.3,363.7,-7.7,270,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1516,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,-0.49,-97.3,387.1,-7.8,280,5190,0.00,1.80,0.00,0.000,4,0.000,0.057,2005,2576,3458,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5335,-0.49,-97.3,397.6,-7.9,285,5339,0.00,1.85,0.00,0.000,6,0.000,0.069,2005,1520,3457,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5637,-0.48,-97.3,421.6,-7.2,295,5639,0.12,0.00,0.00,0.000,6,0.249,0.000,2033,1519,3455,0,0,0,0,0,0,14.59,28.83,28.83
$GC,5938,-0.49,-97.3,437.9,-5.4,305,5941,0.00,1.80,0.00,0.000,4,0.000,0.057,2027,2576,3454,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6043,-0.51,-97.3,443.4,-5.3,309,6046,0.00,1.85,0.00,0.000,6,0.000,0.070,2027,1519,3454,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6356,-0.51,-97.3,462.0,-6.1,320,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1519,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6656,-0.52,-97.3,481.9,-6.8,330,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1519,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6957,-0.53,-97.3,502.8,-7.0,340,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1519,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7256,-0.54,-97.3,522.8,-6.7,350,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1519,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.54,-97.3,543.1,-6.9,360,7560,0.00,1.83,0.00,0.000,4,0.000,0.058,2020,2584,3449,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7662,-0.56,-97.3,550.4,-7.0,364,7665,0.00,1.88,0.00,0.000,6,0.000,0.070,2020,1519,3449,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7976,-0.56,-97.3,573.2,-7.3,375,7980,0.00,1.83,0.00,0.000,4,0.000,0.059,2012,2581,3448,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8095,-0.57,-97.3,580.3,-6.8,379,8099,0.00,1.88,0.00,0.000,6,0.000,0.070,2012,1518,3447,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8396,-0.57,-97.3,601.6,-6.7,389,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1518,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8696,-0.57,-97.3,621.8,-6.7,399,8700,0.00,1.90,0.00,0.000,4,0.000,0.093,2012,466,3445,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8771,-0.57,-97.3,627.5,-7.4,402,8775,0.00,1.77,0.00,0.000,6,0.000,0.048,2004,1518,3445,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9086,-0.57,-97.3,650.5,-7.2,413,9090,0.00,1.80,0.00,0.000,4,0.000,0.060,1996,2576,3444,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9251,-0.57,-97.3,662.4,-7.1,419,9255,0.00,1.88,0.00,0.000,6,0.000,0.070,1996,1513,3443,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9568,-0.56,-97.3,685.7,-7.4,430,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9866,-0.55,-97.3,708.1,-7.4,440,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10166,-0.54,-97.3,730.1,-7.2,450,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10467,-0.53,-97.3,751.6,-7.0,460,10470,0.00,1.85,0.00,0.000,4,0.000,0.061,1988,2582,3438,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10585,-0.53,-97.3,758.9,-6.9,464,10589,0.00,1.90,0.00,0.000,6,0.000,0.073,1988,1514,3439,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10887,-0.52,-97.3,782.3,-7.6,474,10889,0.12,0.00,0.00,0.000,6,0.262,0.000,2015,1514,3438,0,0,0,0,0,0,14.45,28.83,28.83
$GC,11186,-0.52,-97.3,801.1,-6.3,484,11189,0.00,1.85,0.00,0.000,4,0.000,0.062,2009,2579,3438,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11292,-0.54,-97.3,807.9,-6.4,488,11296,0.00,1.90,0.00,0.000,6,0.000,0.073,2009,1513,3437,0,0,0,0,0,0,28.83,14.67,28.83
$GC,11606,-0.54,-97.3,830.3,-7.1,499,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11906,-0.54,-97.3,850.8,-6.7,509,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12206,-0.54,-97.3,869.4,-6.1,519,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12506,-0.54,-97.3,887.9,-6.4,529,12510,0.00,1.85,0.00,0.000,4,0.000,0.063,2001,2575,3433,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12613,-0.55,-97.3,895.1,-6.8,533,12617,0.00,1.90,0.00,0.000,6,0.000,0.075,2002,1517,3433,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12926,-0.55,-97.3,919.2,-8.0,544,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1517,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13226,-0.55,-97.3,941.8,-7.2,554,13230,0.00,1.95,0.00,0.000,4,0.000,0.099,2001,460,3430,0,0,0,0,0,0,28.83,14.57,28.83
$GC,13301,-0.55,-97.3,947.4,-7.5,557,13305,0.00,1.83,0.00,0.000,6,0.000,0.053,1993,1519,3430,0,0,0,0,0,0,28.83,14.72,28.83
$GC,13616,-0.55,-97.3,968.4,-6.4,568,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13794,begin apogee
$GC,13800,-0.18,0.0,980.5,-6.9,574,13920,0.50,0.00,111.80,2.194,6,0.216,0.000,2129,1393,3063,0,0,0,0,1,0,14.48,28.83,13.20
$STATE,13922,end apogee,CONTROL_FINISHED_OK
$STATE,13922,begin climb
$GC,13924,0.60,97.3,983.6,0.0,578,14065,0.80,2.05,126.45,2.246,4,0.142,0.104,2382,351,2666,0,0,0,0,1,0,14.15,13.97,13.01
$GC,14126,0.54,193.1,981.7,2.0,585,14263,0.00,1.88,125.15,2.253,6,0.000,0.051,2382,1411,2275,0,0,0,0,1,0,28.83,14.30,13.14
$GC,14561,0.49,193.1,947.5,8.4,600,14563,0.15,0.00,0.00,0.000,6,0.265,0.000,2350,1412,2268,0,0,0,0,0,0,14.38,28.83,28.83
$GC,14862,0.48,193.1,925.7,7.4,610,14866,0.00,2.00,0.00,0.000,4,0.000,0.106,2356,342,2265,0,0,0,0,0,0,28.83,14.59,28.83
$GC,14967,0.45,193.1,916.9,8.5,614,14970,0.00,1.83,0.00,0.000,6,0.000,0.054,2356,1402,2264,0,0,0,0,0,0,28.83,14.71,28.83
$GC,15282,0.43,193.1,891.7,7.8,625,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1403,2263,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26604,end climb,SURFACE_DEPTH_REACHED
$STATE,26604,begin surface coast
$FINISH,-0.0,1.024914
$STATE,26620,end surface coast,CONTROL_FINISHED_OK
$STATE,26620,begin surface
$SM_CCo,26697,0.00,0.000,0,0,1619,353.97
$SM_GC,0.58,6.47,0.17,0.00,0.060,0.099,0.000,151,1538,1619,-6.30,-1.16,353.97,0,0,0,0,0,0,14.71,14.72,28.83
$IRIDIUM_FIX,2505.59,-3720.31,011112,131332
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.60
$INTERNAL_PRESSURE,9.30182
$TCM_TEMP,26.40
$XPDR_PINGS,1
$SC_FREEKB,7712928
$TM_FREEKB,6439776
$24V_AH,13.0,71.862
$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,19.200,119.125,622.700,0.000,0.000,0.000,0.000,372.250,0.250,0.000,18.756,3038.734,20790.250,860.028,2322.543,323.383,0.000,2164.274,0.000,1789.392,0.000,0.549,0.000
$DEVICE_MAMPS,423.045,112.455,2252.925,0.000,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26667.000,6337.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.137,13.087,0.000,0.000
$MEM,344756
$DATA_FILE_SIZE,39983,1108
$CAP_FILE_SIZE,233229,0
$CFSIZE,260034560,237629440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.029,134.8,1
$GPS,021112,052435,2513.023,-3739.825,42,1.0,42,-13.8