version: 66.11
glider: 191
mission: 5
dive: 155
start: 11 3 112 21 9 28
data:
$ID,191
$MISSION,5
$DIVE,155
$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,320
$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,-4005.2715
$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,25
$R_STBD_OVSHOOT,47
$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
$GPS1,031112,205822,2513.144,-3755.872,41,0.9,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-57.3
$GPS2,031112,210859,2513.100,-3755.837,19,0.9,19,-13.9
$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,299.0,80734,-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,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-56.97,0.000,6,0.000,0.000,157,1518,3460,0,0,0,0,0,0,28.83,28.83,14.85
$GC,88,-0.60,-97.3,4.9,-9.9,4,102,9.55,1.77,0.00,0.000,4,0.424,0.050,1981,2573,3463,1,0,0,0,0,0,14.09,14.66,28.83
$GC,312,-0.54,-97.3,37.6,-11.3,19,316,0.12,1.85,0.00,0.000,6,0.266,0.066,2006,1520,3465,0,0,0,0,0,0,14.42,14.63,28.83
$GC,612,-0.51,-97.3,68.8,-10.4,39,615,0.00,1.90,0.00,0.000,4,0.000,0.087,2007,462,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,687,-0.46,-97.3,76.9,-10.6,44,691,0.15,1.77,0.00,0.000,6,0.252,0.045,2036,1518,3465,0,0,0,0,0,0,14.45,14.73,28.83
$GC,986,-0.46,-97.3,102.4,-8.1,64,989,0.00,1.80,0.00,0.000,4,0.000,0.054,2030,2578,3466,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1106,-0.46,-97.3,110.9,-6.9,72,1110,0.00,1.85,0.00,0.000,6,0.000,0.065,2029,1520,3466,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1406,-0.46,-97.3,131.8,-6.4,92,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1706,-0.46,-97.3,154.1,-8.1,112,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1519,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2006,-0.46,-97.3,178.2,-8.0,132,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1519,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,-0.46,-97.3,199.7,-6.9,152,2309,0.00,1.80,0.00,0.000,4,0.000,0.054,2021,2579,3466,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2382,-0.47,-97.3,204.5,-6.4,157,2385,0.00,1.85,0.00,0.000,6,0.000,0.066,2022,1519,3466,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2681,-0.47,-97.3,224.1,-6.8,177,2684,0.00,1.80,0.00,0.000,4,0.000,0.054,2014,2579,3466,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2801,-0.47,-97.3,231.9,-6.5,185,2804,0.00,1.85,0.00,0.000,6,0.000,0.066,2013,1519,3465,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3116,-0.47,-97.3,254.5,-7.3,204,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3416,-0.47,-97.3,276.9,-7.6,214,3420,0.00,1.90,0.00,0.000,4,0.000,0.090,2014,459,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3476,-0.46,-97.3,280.8,-8.0,216,3480,0.15,1.77,0.00,0.000,6,0.240,0.045,2040,1520,3463,0,0,0,0,0,0,14.54,14.82,28.83
$GC,3778,-0.47,-97.3,303.8,-7.0,226,3781,0.00,1.77,0.00,0.000,4,0.000,0.056,2035,2576,3462,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4003,-0.50,-97.3,317.8,-6.0,234,4006,0.00,1.85,0.00,0.000,6,0.000,0.068,2035,1517,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4319,-0.51,-97.3,335.8,-5.5,245,4322,0.00,1.80,0.00,0.000,4,0.000,0.057,2027,2576,3461,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4422,-0.53,-97.3,341.3,-5.3,249,4425,0.00,1.85,0.00,0.000,6,0.000,0.069,2027,1521,3461,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4738,-0.53,-97.3,358.9,-5.7,260,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5037,-0.53,-97.3,376.3,-6.0,270,5041,0.00,1.90,0.00,0.000,4,0.000,0.091,2027,461,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5111,-0.53,-97.3,381.9,-7.2,273,5115,0.00,1.77,0.00,0.000,6,0.000,0.047,2019,1518,3458,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5426,-0.53,-97.3,406.0,-8.1,284,5430,0.00,1.80,0.00,0.000,4,0.000,0.058,2012,2580,3457,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5561,-0.53,-97.3,416.9,-8.1,289,5565,0.00,1.88,0.00,0.000,6,0.000,0.069,2012,1510,3457,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5877,-0.53,-97.3,442.0,-7.6,300,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1510,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6176,-0.53,-97.3,461.9,-6.0,310,6180,0.00,1.83,0.00,0.000,4,0.000,0.057,2003,2577,3455,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6296,-0.53,-97.3,467.5,-5.3,314,6299,0.00,1.88,0.00,0.000,6,0.000,0.069,2004,1513,3455,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6598,-0.52,-97.3,484.8,-5.7,324,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1513,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6896,-0.52,-97.3,505.4,-7.6,334,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1513,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7196,-0.52,-97.3,531.6,-8.9,344,7200,0.00,1.83,0.00,0.000,4,0.000,0.059,1996,2576,3451,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7315,-0.52,-97.3,540.9,-8.8,348,7319,0.00,1.88,0.00,0.000,6,0.000,0.070,1996,1515,3451,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7616,-0.50,-97.3,568.9,-8.4,358,7618,0.12,0.00,0.00,0.000,6,0.256,0.000,2023,1515,3450,0,0,0,0,0,0,14.50,28.83,28.83
$GC,7918,-0.52,-97.3,587.7,-5.9,368,7922,0.00,1.83,0.00,0.000,4,0.000,0.060,2017,2575,3449,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8097,-0.54,-97.3,596.9,-5.6,374,8100,0.00,1.88,0.00,0.000,6,0.000,0.070,2017,1516,3448,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8396,-0.54,-97.3,617.0,-6.6,384,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1515,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8697,-0.54,-97.3,638.9,-7.6,394,8701,0.00,1.83,0.00,0.000,4,0.000,0.060,2010,2574,3446,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8771,-0.55,-97.3,644.7,-7.7,397,8775,0.00,1.88,0.00,0.000,6,0.000,0.071,2010,1518,3445,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9087,-0.55,-97.3,670.0,-8.1,408,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1517,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9386,-0.55,-97.3,694.0,-8.1,418,9390,0.00,1.83,0.00,0.000,4,0.000,0.060,2002,2576,3444,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9505,-0.55,-97.3,702.5,-8.1,422,9509,0.00,1.88,0.00,0.000,6,0.000,0.072,2002,1519,3443,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9807,-0.55,-97.3,728.9,-8.4,432,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1519,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10106,-0.55,-97.3,753.5,-8.0,442,10110,0.00,1.83,0.00,0.000,4,0.000,0.060,1994,2576,3441,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10285,-0.55,-97.3,765.9,-7.5,448,10289,0.00,1.90,0.00,0.000,6,0.000,0.073,1994,1512,3440,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10586,-0.55,-97.3,788.6,-7.0,458,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1511,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10886,-0.55,-97.3,808.2,-6.4,468,10890,0.00,1.85,0.00,0.000,4,0.000,0.062,1986,2574,3438,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11036,-0.55,-97.3,816.5,-6.1,473,11040,0.00,1.90,0.00,0.000,6,0.000,0.073,1986,1513,3438,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11336,-0.53,-97.3,836.6,-6.5,483,11338,0.12,0.00,0.00,0.000,6,0.261,0.000,2012,1513,3438,0,0,0,0,0,0,14.42,28.83,28.83
$GC,11637,-0.53,-97.3,854.1,-6.1,493,11641,0.00,1.85,0.00,0.000,4,0.000,0.063,2007,2576,3434,0,0,0,0,0,0,28.83,14.67,28.83
$GC,11785,-0.55,-97.3,862.8,-6.5,498,11789,0.00,1.90,0.00,0.000,6,0.000,0.073,2007,1516,3435,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12087,-0.55,-97.3,884.8,-7.2,508,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1516,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12386,-0.55,-97.3,907.2,-7.5,518,12390,0.00,1.85,0.00,0.000,4,0.000,0.063,1999,2575,3434,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12537,-0.57,-97.3,917.4,-7.5,523,12540,0.00,1.90,0.00,0.000,6,0.000,0.074,1999,1518,3434,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12836,-0.57,-97.3,943.3,-8.0,533,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1518,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13136,-0.57,-97.3,966.6,-7.5,543,13140,0.00,1.85,0.00,0.000,4,0.000,0.064,1991,2574,3431,0,0,0,0,0,0,28.83,14.65,28.83
$GC,13316,-0.57,-97.3,978.5,-7.2,549,13320,0.00,1.90,0.00,0.000,6,0.000,0.076,1991,1521,3430,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,13344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13344,begin apogee
$GC,13349,-0.18,0.0,981.7,-7.1,550,13470,0.50,0.00,112.45,2.197,6,0.215,0.000,2127,1390,3062,0,0,0,0,1,0,14.49,28.83,13.20
$STATE,13472,end apogee,CONTROL_FINISHED_OK
$STATE,13472,begin climb
$GC,13475,0.60,97.3,985.6,0.0,554,13616,0.82,2.00,127.93,2.251,4,0.138,0.105,2386,343,2666,0,0,0,0,1,0,14.12,13.97,13.09
$GC,13677,0.55,190.7,983.6,2.1,561,13813,0.00,1.88,121.97,2.192,6,0.000,0.052,2386,1403,2284,0,0,0,0,1,0,28.83,14.29,13.13
$GC,14111,0.50,190.7,946.2,9.0,576,14116,0.15,1.83,0.00,0.000,4,0.275,0.062,2353,2449,2277,0,0,0,0,0,0,14.38,14.57,28.83
$GC,14187,0.47,190.7,940.4,8.0,579,14191,0.00,1.90,0.00,0.000,6,0.000,0.080,2359,1402,2276,0,0,0,0,0,0,28.83,14.57,28.83
$GC,14503,0.45,190.7,916.3,7.5,590,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1402,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14802,0.42,190.7,894.0,7.4,600,14804,0.15,0.00,0.00,0.000,6,0.275,0.000,2327,1402,2273,0,0,0,0,0,0,14.46,28.83,28.83
$GC,15102,0.42,193.5,876.1,5.9,610,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1402,2272,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,27310,end climb,SURFACE_DEPTH_REACHED
$STATE,27310,begin surface coast
$FINISH,0.7,1.024926
$STATE,27327,end surface coast,CONTROL_FINISHED_OK
$STATE,27327,begin surface
$SM_CCo,27345,19.33,0.752,0,0,1757,320.12
$SM_GC,1.02,6.50,0.15,19.33,0.076,0.096,0.752,152,1524,1757,-6.30,-1.41,320.12,0,0,0,0,0,0,14.69,14.74,14.29
$IRIDIUM_FIX,2505.59,-3754.59,031112,131327
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.88
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.40
$XPDR_PINGS,3
$SC_FREEKB,7710624
$TM_FREEKB,6377504
$24V_AH,13.1,74.576
$10V_AH,13.0,0.000
$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,19.150,130.325,516.725,19.325,0.000,0.000,0.000,363.200,0.750,0.000,20.240,3155.423,21330.514,782.778,2380.732,345.786,0.000,2099.860,0.000,1852.700,0.000,0.550,0.000
$DEVICE_MAMPS,423.810,112.455,2250.630,751.995,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27371.000,6519.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.107,13.076,0.000,0.000
$MEM,344768
$DATA_FILE_SIZE,40051,1132
$CAP_FILE_SIZE,239704,0
$CFSIZE,260034560,236814336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,6,1,0
$CURRENT,0.024,195.3,1
$GPS,041112,044655,2513.781,-3759.101,39,1.8,39,-13.9