version: 66.11
glider: 191
mission: 5
dive: 171
start: 11 9 112 4 24 53
data:
$ID,191
$MISSION,5
$DIVE,171
$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,-4026.5447
$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
$GPS1,091112,041336,2506.047,-3843.985,33,1.4,33,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-52.6
$GPS2,091112,042423,2506.107,-3843.984,21,1.0,21,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,194.5,129838,-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,22,-0.60,-97.3,0.0,0.0,0,70,0.00,0.00,-46.78,0.000,2,0.000,0.000,155,1519,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.60,-97.3,3.0,-5.1,3,101,9.23,1.92,-7.62,0.000,4,0.406,0.119,1990,467,3461,0,0,0,0,0,0,14.31,14.54,14.83
$GC,190,-0.52,-97.3,19.5,-15.3,11,195,0.15,1.77,0.00,0.000,6,0.251,0.048,2017,1508,3462,0,0,0,0,0,0,14.38,14.59,28.83
$GC,491,-0.49,-97.3,48.3,-9.0,31,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1509,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-0.46,-97.3,76.9,-9.8,51,794,0.00,1.83,0.00,0.000,4,0.000,0.057,2012,2578,3463,0,0,0,0,0,0,28.83,14.63,28.83
$GC,925,-0.44,-97.3,87.5,-7.6,60,930,0.12,1.85,0.00,0.000,6,0.245,0.067,2039,1519,3463,0,0,0,0,0,0,14.45,14.62,28.83
$GC,1225,-0.44,-97.3,107.5,-6.9,80,1228,0.00,1.80,0.00,0.000,4,0.000,0.055,2034,2578,3463,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1360,-0.46,-97.3,117.0,-7.2,89,1364,0.00,1.85,0.00,0.000,6,0.000,0.067,2033,1521,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1660,-0.46,-97.3,139.4,-6.9,109,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-0.46,-97.3,158.9,-5.6,129,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,-0.46,-97.3,173.8,-5.2,149,2264,0.00,1.80,0.00,0.000,4,0.000,0.055,2026,2578,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2381,-0.47,-97.3,181.4,-6.6,157,2384,0.00,1.85,0.00,0.000,6,0.000,0.067,2026,1521,3465,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2680,-0.47,-97.3,204.0,-7.0,177,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.47,-97.3,222.3,-5.2,197,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.47,-97.3,240.9,-7.0,217,3284,0.00,1.80,0.00,0.000,4,0.000,0.057,2018,2578,3464,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3400,-0.48,-97.3,249.8,-7.5,225,3404,0.00,1.85,0.00,0.000,6,0.000,0.067,2018,1521,3464,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3716,-0.48,-97.3,274.9,-8.0,236,3719,0.00,1.90,0.00,0.000,4,0.000,0.090,2018,461,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3790,-0.47,-97.3,281.4,-8.5,239,3794,0.00,1.80,0.00,0.000,6,0.000,0.047,2010,1528,3464,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4105,-0.47,-97.3,306.0,-7.5,250,4109,0.00,1.77,0.00,0.000,4,0.000,0.059,2002,2576,3463,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4210,-0.47,-97.3,313.1,-6.7,254,4214,0.12,1.85,0.00,0.000,6,0.239,0.069,2030,1521,3462,0,0,0,0,0,0,14.47,14.68,28.83
$GC,4528,-0.49,-97.3,328.6,-4.7,265,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,-0.50,-97.3,345.5,-6.1,275,4829,0.00,1.80,0.00,0.000,4,0.000,0.057,2024,2578,3460,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4915,-0.51,-97.3,350.3,-6.4,278,4919,0.00,1.85,0.00,0.000,6,0.000,0.070,2024,1521,3460,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5216,-0.51,-97.3,372.6,-7.2,288,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5515,-0.51,-97.3,392.1,-6.1,298,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5815,-0.51,-97.3,411.6,-6.8,308,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,-0.51,-97.3,431.7,-6.4,318,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,-0.51,-97.3,449.0,-5.5,328,6419,0.00,1.80,0.00,0.000,4,0.000,0.060,2016,2576,3455,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6581,-0.53,-97.3,457.9,-5.4,334,6585,0.00,1.88,0.00,0.000,6,0.000,0.071,2016,1513,3455,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6896,-0.53,-97.3,478.7,-7.1,345,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1513,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7196,-0.53,-97.3,502.9,-8.3,355,7199,0.00,1.83,0.00,0.000,4,0.000,0.060,2009,2577,3453,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7345,-0.54,-97.3,513.7,-7.9,360,7349,0.00,1.88,0.00,0.000,6,0.000,0.071,2009,1516,3452,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7645,-0.54,-97.3,537.9,-7.4,370,7649,0.00,1.83,0.00,0.000,4,0.000,0.060,2001,2578,3451,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7764,-0.54,-97.3,545.3,-7.1,374,7768,0.00,1.88,0.00,0.000,6,0.000,0.071,2001,1519,3451,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8066,-0.54,-97.3,566.9,-6.8,384,8069,0.00,1.83,0.00,0.000,4,0.000,0.060,1994,2579,3448,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8171,-0.54,-97.3,573.8,-6.7,388,8174,0.00,1.88,0.00,0.000,6,0.000,0.072,1994,1521,3449,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8487,-0.53,-97.3,596.2,-7.5,399,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8787,-0.51,-97.3,620.6,-8.3,409,8791,0.12,1.83,0.00,0.000,4,0.253,0.060,2015,2578,3446,0,0,0,0,0,0,14.48,14.69,28.83
$GC,8890,-0.53,-97.3,627.8,-6.8,413,8894,0.00,1.88,0.00,0.000,6,0.000,0.072,2015,1521,3446,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9206,-0.53,-97.3,648.7,-6.4,424,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9505,-0.53,-97.3,667.1,-6.1,434,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9805,-0.53,-97.3,687.0,-6.9,444,9809,0.00,1.83,0.00,0.000,4,0.000,0.062,2007,2575,3442,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9971,-0.54,-97.3,699.1,-7.5,450,9975,0.00,1.88,0.00,0.000,6,0.000,0.073,2007,1522,3443,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10286,-0.54,-97.3,724.6,-8.1,461,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1522,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10586,-0.54,-97.3,748.0,-7.6,471,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1522,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10885,-0.54,-97.3,770.5,-7.5,481,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1522,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11186,-0.54,-97.3,791.6,-6.7,491,11190,0.00,1.95,0.00,0.000,4,0.000,0.098,2007,461,3437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11244,-0.54,-97.3,795.0,-6.9,493,11248,0.00,1.83,0.00,0.000,6,0.000,0.054,1999,1520,3438,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11545,-0.54,-97.3,817.7,-7.2,503,11549,0.00,1.85,0.00,0.000,4,0.000,0.064,1992,2587,3437,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11680,-0.54,-97.3,827.6,-7.4,508,11684,0.00,1.92,0.00,0.000,6,0.000,0.076,1992,1515,3440,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11995,-0.54,-97.3,851.9,-7.7,519,11999,0.00,1.85,0.00,0.000,4,0.000,0.065,1984,2578,3436,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12100,-0.54,-97.3,860.0,-7.7,523,12105,0.12,1.90,0.00,0.000,6,0.250,0.076,2010,1520,3436,0,0,0,0,0,0,14.38,14.62,28.83
$GC,12416,-0.54,-97.3,880.1,-5.9,534,12420,0.00,1.85,0.00,0.000,4,0.000,0.064,2005,2578,3435,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12535,-0.56,-97.3,885.9,-5.5,538,12539,0.00,1.90,0.00,0.000,6,0.000,0.076,2005,1521,3434,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12836,-0.56,-97.3,902.8,-5.3,548,12837,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13136,-0.56,-97.3,919.4,-5.9,558,13137,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1520,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13436,-0.56,-97.3,939.5,-7.0,568,13437,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13735,-0.56,-97.3,961.7,-7.5,578,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1520,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14003,begin apogee
$GC,14009,-0.18,0.0,981.9,-7.4,587,14128,0.45,0.00,110.10,2.088,6,0.208,0.000,2126,1390,3064,0,0,0,0,1,0,14.41,28.83,13.24
$STATE,14129,end apogee,CONTROL_FINISHED_OK
$STATE,14130,begin climb
$GC,14132,0.60,97.3,986.1,0.0,591,14268,0.85,2.05,124.30,2.095,4,0.138,0.107,2388,351,2668,0,0,0,0,1,0,14.14,13.99,13.16
$GC,14426,0.51,101.3,978.2,5.9,602,14435,0.12,1.85,3.28,1.974,6,0.285,0.054,2361,1409,2648,0,0,0,0,0,0,14.20,14.45,13.57
$GC,14743,0.49,128.8,962.0,4.9,613,14803,0.00,2.00,46.03,1.601,4,0.000,0.109,2367,353,2540,0,0,0,0,1,0,28.83,14.35,13.54
$GC,14893,0.45,133.0,953.2,5.9,618,14902,0.15,1.83,4.30,2.017,6,0.262,0.055,2336,1396,2520,0,0,0,0,0,0,14.28,14.50,13.58
$GC,15210,0.48,180.0,939.3,4.1,629,15286,0.00,0.00,68.18,1.851,6,0.000,0.000,2336,1400,2326,0,0,0,0,1,0,28.83,28.83,13.40
$GC,15572,0.53,215.0,923.3,4.6,641,15633,0.00,0.00,53.80,1.700,6,0.000,0.000,2336,1400,2184,0,0,0,0,1,0,28.83,28.83,13.47
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$STATE,28093,end climb,SURFACE_DEPTH_REACHED
$STATE,28093,begin surface coast
$FINISH,0.5,1.024998
$STATE,28109,end surface coast,CONTROL_FINISHED_OK
$STATE,28109,begin surface
$SM_CCo,28127,26.12,0.685,0,0,1757,320.12
$SM_GC,0.83,6.57,0.15,26.12,0.084,0.098,0.685,156,1516,1757,-6.28,-1.61,320.12,0,0,0,0,0,0,14.69,14.73,14.32
$IRIDIUM_FIX,2458.45,-3845.54,081112,202025
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.93
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,26.60
$XPDR_PINGS,0
$SC_FREEKB,7704480
$TM_FREEKB,6212288
$24V_AH,13.2,81.668
$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,18.925,123.525,534.100,26.125,0.000,0.000,0.000,372.025,0.000,0.000,22.391,3265.214,21894.172,812.144,2447.535,376.300,0.000,2163.667,0.000,1916.121,0.000,0.550,0.000
$DEVICE_MAMPS,406.215,119.340,2094.570,685.440,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28151.000,7127.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.228,13.116,0.000,0.000
$MEM,344784
$DATA_FILE_SIZE,43276,1187
$CAP_FILE_SIZE,246447,0
$CFSIZE,260034560,234618880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.015,186.1,1
$GPS,091112,121533,2502.789,-3844.306,42,1.1,42,-14.1