version: 66.11
glider: 191
mission: 5
dive: 192
start: 11 16 112 5 3 46
data:
$ID,191
$MISSION,5
$DIVE,192
$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,-4054.2773
$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,24
$R_STBD_OVSHOOT,52
$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
$GPS1,161112,045234,2402.815,-3845.737,22,1.1,22,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-52.6
$GPS2,161112,050317,2402.828,-3845.744,14,1.5,14,-14.3
$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,190.7,12985,-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,-61.17,0.000,6,0.000,0.000,160,1532,3459,0,0,0,0,0,0,28.83,28.83,14.81
$GC,89,-0.60,-97.3,4.0,-8.0,4,104,9.52,1.90,0.00,0.000,4,0.418,0.076,1997,461,3462,0,0,0,0,0,0,14.22,14.55,28.83
$GC,326,-0.53,-97.3,40.6,-14.3,20,330,0.00,1.77,0.00,0.000,6,0.000,0.045,1991,1510,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,627,-0.48,-97.3,74.3,-11.4,40,631,0.17,1.83,0.00,0.000,4,0.246,0.057,2026,2578,3464,0,0,0,0,0,0,14.33,14.57,28.83
$GC,717,-0.48,-97.3,81.2,-6.9,46,721,0.00,1.88,0.00,0.000,6,0.000,0.065,2026,1509,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1017,-0.48,-97.3,105.5,-8.9,66,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1509,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1317,-0.48,-97.3,128.0,-6.5,86,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1509,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1617,-0.48,-97.3,147.5,-6.9,106,1621,0.00,1.83,0.00,0.000,4,0.000,0.055,2018,2578,3465,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1706,-0.48,-97.3,154.0,-7.3,112,1710,0.00,1.85,0.00,0.000,6,0.000,0.065,2018,1521,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2006,-0.48,-97.3,176.5,-7.4,132,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,-0.48,-97.3,197.6,-6.9,152,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2606,-0.48,-97.3,215.7,-5.8,172,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1522,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-0.48,-97.3,233.7,-6.2,192,2910,0.00,1.80,0.00,0.000,4,0.000,0.055,2010,2576,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3041,-0.48,-97.3,241.6,-5.9,201,3045,0.00,1.85,0.00,0.000,6,0.000,0.066,2010,1521,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3356,-0.48,-97.3,262.1,-6.5,216,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3657,-0.48,-97.3,281.6,-6.7,226,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3956,-0.48,-97.3,302.7,-7.0,236,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4257,-0.48,-97.3,323.8,-7.1,246,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.48,-97.3,345.0,-7.0,256,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-0.48,-97.3,367.6,-7.9,266,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5156,-0.48,-97.3,391.1,-7.5,276,5160,0.00,1.80,0.00,0.000,4,0.000,0.057,2002,2576,3459,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5246,-0.48,-97.3,396.3,-7.0,279,5250,0.10,1.88,0.00,0.000,6,0.249,0.068,2028,1517,3459,0,0,0,0,0,0,14.45,14.67,28.83
$GC,5549,-0.50,-97.3,413.7,-5.2,289,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1511,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5847,-0.51,-97.3,427.4,-4.5,299,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1511,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6148,-0.53,-97.3,442.2,-5.3,309,6151,0.00,1.83,0.00,0.000,4,0.000,0.058,2023,2576,3456,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6236,-0.55,-97.3,446.6,-5.7,312,6240,0.00,1.88,0.00,0.000,6,0.000,0.069,2023,1513,3456,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6537,-0.56,-97.3,467.4,-6.9,322,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1513,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6837,-0.58,-97.3,489.2,-7.6,332,6841,0.00,1.83,0.00,0.000,4,0.000,0.058,2015,2578,3453,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6942,-0.59,-97.3,496.9,-7.3,336,6946,0.00,1.88,0.00,0.000,6,0.000,0.069,2015,1515,3453,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7256,-0.59,-97.3,521.0,-7.4,347,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1515,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.59,-97.3,541.0,-6.2,357,7560,0.00,1.83,0.00,0.000,4,0.000,0.060,2008,2576,3451,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7677,-0.61,-97.3,547.2,-5.9,361,7681,0.00,1.88,0.00,0.000,6,0.000,0.070,2008,1516,3451,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7977,-0.61,-97.3,564.9,-5.6,371,7980,0.00,1.83,0.00,0.000,4,0.000,0.060,2000,2576,3449,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8082,-0.61,-97.3,570.8,-5.6,375,8086,0.00,1.88,0.00,0.000,6,0.000,0.070,1999,1518,3449,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8397,-0.61,-97.3,591.1,-6.8,386,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1517,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8697,-0.61,-97.3,614.0,-8.2,396,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1517,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8997,-0.61,-97.3,640.3,-8.8,406,9001,0.00,1.83,0.00,0.000,4,0.000,0.060,1992,2574,3446,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9131,-0.61,-97.3,651.9,-8.6,411,9135,0.00,1.88,0.00,0.000,6,0.000,0.071,1992,1521,3446,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9447,-0.61,-97.3,677.1,-7.6,422,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9746,-0.61,-97.3,698.5,-7.0,432,9750,0.00,1.83,0.00,0.000,4,0.000,0.060,1983,2574,3443,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9836,-0.61,-97.3,703.7,-6.9,435,9840,0.00,1.88,0.00,0.000,6,0.000,0.071,1984,1522,3443,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10137,-0.59,-97.3,727.5,-7.7,445,10141,0.00,1.83,0.00,0.000,4,0.000,0.061,1977,2575,3442,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10226,-0.58,-97.3,733.3,-7.7,448,10230,0.00,1.90,0.00,0.000,6,0.000,0.071,1977,1512,3442,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10527,-0.56,-97.3,759.0,-8.2,458,10529,0.12,0.00,0.00,0.000,6,0.266,0.000,2002,1511,3441,0,0,0,0,0,0,14.38,28.83,28.83
$GC,10827,-0.56,-97.3,779.5,-6.6,468,10830,0.00,1.85,0.00,0.000,4,0.000,0.063,1997,2573,3440,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10947,-0.57,-97.3,785.9,-6.1,472,10950,0.00,1.90,0.00,0.000,6,0.000,0.073,1997,1514,3439,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11246,-0.57,-97.3,805.2,-6.1,482,11250,0.00,1.85,0.00,0.000,4,0.000,0.063,1989,2573,3437,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11337,-0.57,-97.3,809.6,-6.0,485,11340,0.00,1.90,0.00,0.000,6,0.000,0.073,1989,1515,3439,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11636,-0.57,-97.3,830.7,-6.9,495,11640,0.00,1.85,0.00,0.000,4,0.000,0.063,1982,2573,3437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11726,-0.57,-97.3,835.8,-6.8,498,11729,0.00,1.90,0.00,0.000,6,0.000,0.073,1981,1518,3437,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12027,-0.55,-97.3,859.2,-7.5,508,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12327,-0.54,-97.3,882.0,-7.8,518,12329,0.15,0.00,0.00,0.000,6,0.252,0.000,2014,1518,3435,0,0,0,0,0,0,14.31,28.83,28.83
$GC,12627,-0.55,-97.3,901.2,-6.4,528,12631,0.00,1.85,0.00,0.000,4,0.000,0.064,2008,2573,3434,0,0,0,0,0,0,28.83,14.55,28.83
$GC,12853,-0.58,-97.3,916.1,-6.7,536,12856,0.00,1.90,0.00,0.000,6,0.000,0.075,2008,1522,3433,0,0,0,0,0,0,28.83,14.44,28.83
$GC,13169,-0.59,-97.3,938.6,-7.1,547,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1522,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13467,-0.60,-97.3,958.3,-6.2,557,13471,0.00,1.85,0.00,0.000,4,0.000,0.064,2001,2574,3432,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13586,-0.62,-97.3,964.1,-5.6,561,13590,0.00,1.92,0.00,0.000,6,0.000,0.075,2001,1512,3431,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,13885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13885,begin apogee
$GC,13892,-0.18,0.0,981.4,-5.4,571,14012,0.47,0.00,112.25,2.121,6,0.207,0.000,2129,1396,3062,0,0,0,0,1,0,14.33,28.83,13.14
$STATE,14014,end apogee,CONTROL_FINISHED_OK
$STATE,14014,begin climb
$GC,14017,0.60,97.3,983.4,0.0,575,14156,0.80,2.00,126.30,2.125,4,0.132,0.104,2383,350,2666,0,0,0,0,1,0,14.10,13.95,13.06
$GC,14322,0.51,97.3,973.0,6.5,586,14326,0.00,1.85,0.00,0.000,6,0.000,0.053,2383,1406,2661,0,0,0,0,0,0,28.83,14.44,28.83
$GC,14638,0.44,97.3,953.2,6.1,597,14640,0.20,0.00,0.00,0.000,6,0.268,0.000,2339,1408,2659,0,0,0,0,0,0,14.26,28.83,28.83
$GC,14939,0.47,146.6,940.2,4.0,607,15015,0.00,0.00,68.95,1.873,6,0.000,0.000,2339,1409,2464,0,0,0,0,1,0,28.83,28.83,13.35
$GC,15298,0.48,168.1,922.7,5.1,619,15348,0.00,2.03,39.53,1.473,4,0.000,0.106,2345,349,2378,0,0,0,0,1,0,28.83,14.38,13.49
$GC,15432,0.46,168.1,914.0,6.4,623,15436,0.00,1.85,0.00,0.000,6,0.000,0.054,2345,1405,2379,0,0,0,0,0,0,28.83,14.49,28.83
$GC,15748,0.44,168.1,890.8,7.6,634,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1406,2374,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28149,end climb,SURFACE_DEPTH_REACHED
$STATE,28149,begin surface coast
$FINISH,1.2,1.025016
$STATE,28166,end surface coast,CONTROL_FINISHED_OK
$STATE,28166,begin surface
$SM_CCo,28183,3.78,0.791,0,0,1757,320.12
$SM_GC,2.06,6.60,0.15,3.78,0.082,0.100,0.791,161,1521,1757,-6.29,-1.41,320.12,0,0,0,0,0,0,14.61,14.71,14.16
$IRIDIUM_FIX,2359.20,-3920.52,151112,202029
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.23
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,26.40
$XPDR_PINGS,1
$SC_FREEKB,7696416
$TM_FREEKB,5997344
$24V_AH,13.1,91.254
$10V_AH,12.8,0.000
$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,18.900,142.775,564.550,3.775,0.000,0.000,0.000,365.250,0.250,0.000,15.715,3249.677,21913.158,833.649,2431.644,394.512,0.000,2192.202,0.000,1915.483,0.000,0.550,0.000
$DEVICE_MAMPS,418.455,119.340,2125.170,791.010,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28209.000,6753.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.207,13.115,0.000,0.000
$MEM,344772
$DATA_FILE_SIZE,43338,1174
$CAP_FILE_SIZE,249329,0
$CFSIZE,260034560,231788544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$CURRENT,0.028,103.2,1
$GPS,161112,125455,2359.703,-3845.356,38,0.9,38,-14.3