version: 66.11
glider: 191
mission: 5
dive: 197
start: 11 17 112 21 27 35
data:
$ID,191
$MISSION,5
$DIVE,197
$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,-4060.8486
$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,45
$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
$GPS1,171112,211634,2355.326,-3832.945,35,0.9,35,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.1
$GPS2,171112,212706,2355.271,-3832.963,13,0.8,14,-14.3
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-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,91.7,123516,-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,-56.65,0.000,6,0.000,0.000,148,1520,3460,0,0,0,0,0,0,28.83,28.83,14.80
$GC,88,-0.60,-97.3,5.1,-10.5,4,103,10.50,1.90,0.00,0.000,4,0.457,0.073,1995,457,3462,1,0,0,0,0,0,13.97,14.55,28.83
$GC,161,-0.45,-97.3,19.7,-14.7,9,167,0.22,1.80,0.00,0.000,6,0.254,0.047,2041,1516,3463,0,0,0,0,0,0,14.30,14.59,28.83
$GC,461,-0.45,-97.3,39.9,-6.7,29,465,0.00,1.83,0.00,0.000,4,0.000,0.057,2036,2579,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,566,-0.45,-97.3,49.9,-10.3,36,570,0.00,1.88,0.00,0.000,6,0.000,0.067,2036,1519,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,866,-0.44,-97.3,74.3,-8.5,56,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1166,-0.44,-97.3,98.6,-7.1,76,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1466,-0.44,-97.3,120.1,-7.2,96,1470,0.00,1.80,0.00,0.000,4,0.000,0.054,2029,2576,3465,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1572,-0.46,-97.3,127.2,-6.7,103,1576,0.00,1.88,0.00,0.000,6,0.000,0.064,2029,1506,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1871,-0.46,-97.3,146.0,-5.7,123,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1505,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2171,-0.46,-97.3,164.8,-6.5,143,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1506,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.46,-97.3,183.5,-6.0,163,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1506,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2771,-0.46,-97.3,201.3,-5.5,183,2775,0.00,1.83,0.00,0.000,4,0.000,0.054,2021,2576,3466,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2907,-0.48,-97.3,208.7,-5.7,192,2911,0.00,1.85,0.00,0.000,6,0.000,0.065,2021,1521,3466,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3206,-0.48,-97.3,227.5,-6.2,212,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3506,-0.48,-97.3,248.0,-7.2,232,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3807,-0.48,-97.3,272.3,-8.2,243,3810,0.00,1.80,0.00,0.000,4,0.000,0.055,2014,2579,3465,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3912,-0.49,-97.3,280.5,-7.7,247,3916,0.00,1.85,0.00,0.000,6,0.000,0.065,2014,1520,3464,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4227,-0.49,-97.3,301.3,-6.0,258,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4526,-0.49,-97.3,318.7,-5.8,268,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,-0.49,-97.3,337.4,-6.5,278,4830,0.00,1.80,0.00,0.000,4,0.000,0.056,2006,2578,3462,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4963,-0.50,-97.3,346.7,-7.0,283,4966,0.00,1.85,0.00,0.000,6,0.000,0.066,2006,1521,3461,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5276,-0.50,-97.3,369.7,-7.1,294,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5577,-0.50,-97.3,388.7,-6.2,304,5580,0.00,1.80,0.00,0.000,4,0.000,0.056,1999,2576,3460,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5802,-0.50,-97.3,402.5,-6.1,312,5805,0.00,1.88,0.00,0.000,6,0.000,0.067,1999,1511,3460,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6117,-0.50,-97.3,425.1,-7.3,323,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1510,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,-0.50,-97.3,447.0,-7.3,333,6420,0.00,1.83,0.00,0.000,4,0.000,0.057,1991,2578,3457,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6535,-0.50,-97.3,454.6,-7.2,337,6540,0.15,1.88,0.00,0.000,6,0.233,0.067,2025,1512,3457,0,0,0,0,0,0,14.40,14.66,28.83
$GC,6839,-0.52,-97.3,473.4,-5.9,347,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1512,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7137,-0.54,-97.3,492.3,-6.5,357,7140,0.00,1.83,0.00,0.000,4,0.000,0.058,2020,2576,3455,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7243,-0.56,-97.3,499.2,-6.6,361,7246,0.00,1.88,0.00,0.000,6,0.000,0.068,2020,1515,3454,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7558,-0.57,-97.3,519.2,-6.1,372,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1515,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7858,-0.58,-97.3,538.1,-6.2,382,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1515,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8157,-0.60,-97.3,557.8,-7.0,392,8160,0.00,1.83,0.00,0.000,4,0.000,0.058,2013,2575,3451,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8262,-0.62,-97.3,565.6,-7.5,396,8266,0.00,1.88,0.00,0.000,6,0.000,0.069,2013,1518,3450,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8576,-0.62,-97.3,591.9,-8.2,407,8580,0.00,1.83,0.00,0.000,4,0.000,0.059,2006,2576,3449,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8682,-0.63,-97.3,600.4,-8.0,411,8686,0.00,1.88,0.00,0.000,6,0.000,0.070,2006,1521,3449,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8997,-0.63,-97.3,626.8,-8.5,422,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9296,-0.63,-97.3,651.1,-7.8,432,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9597,-0.63,-97.3,673.5,-7.2,442,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9896,-0.63,-97.3,693.9,-6.7,452,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10197,-0.63,-97.3,712.3,-5.8,462,10201,0.00,1.83,0.00,0.000,4,0.000,0.060,1998,2574,3443,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10302,-0.64,-97.3,718.4,-5.7,466,10306,0.00,1.88,0.00,0.000,6,0.000,0.070,1998,1521,3444,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10618,-0.64,-97.3,737.3,-6.0,477,10622,0.00,1.85,0.00,0.000,4,0.000,0.060,1991,2578,3443,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10705,-0.64,-97.3,741.8,-6.0,480,10709,0.00,1.90,0.00,0.000,6,0.000,0.070,1991,1515,3442,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11006,-0.64,-97.3,762.6,-6.7,490,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1515,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11307,-0.64,-97.3,784.0,-7.4,500,11310,0.00,1.85,0.00,0.000,4,0.000,0.061,1983,2575,3440,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11382,-0.64,-97.3,789.5,-7.3,503,11386,0.00,1.90,0.00,0.000,6,0.000,0.072,1983,1517,3440,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11698,-0.63,-97.3,815.0,-8.4,514,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1517,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11997,-0.62,-97.3,842.5,-9.3,524,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1516,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12297,-0.61,-97.3,869.9,-9.0,534,12300,0.00,1.85,0.00,0.000,4,0.000,0.063,1976,2573,3437,0,0,0,0,0,0,28.83,14.56,28.83
$GC,12416,-0.61,-97.3,878.6,-8.4,538,12419,0.00,1.90,0.00,0.000,6,0.000,0.073,1975,1519,3435,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12717,-0.59,-97.3,904.0,-7.7,548,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13017,-0.57,-97.3,924.4,-6.5,558,13021,0.00,1.85,0.00,0.000,4,0.000,0.063,1967,2572,3434,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13195,-0.57,-97.3,934.8,-6.1,564,13200,0.15,1.90,0.00,0.000,6,0.249,0.074,2000,1521,3433,0,0,0,0,0,0,14.21,14.51,28.83
$GC,13498,-0.57,-97.3,950.4,-4.9,574,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13796,-0.57,-97.3,964.3,-4.7,584,13800,0.00,1.85,0.00,0.000,4,0.000,0.063,1995,2572,3432,0,0,0,0,0,0,28.83,14.53,28.83
$GC,13902,-0.59,-97.3,969.1,-4.6,588,13906,0.00,1.90,0.00,0.000,6,0.000,0.075,1995,1522,3432,0,0,0,0,0,0,28.83,14.51,28.83
$STATE,14124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14124,begin apogee
$GC,14130,-0.18,0.0,981.3,-5.5,596,14251,0.47,0.00,112.62,2.117,6,0.210,0.000,2124,1391,3062,0,0,0,0,1,0,14.31,28.83,13.14
$STATE,14253,end apogee,CONTROL_FINISHED_OK
$STATE,14253,begin climb
$GC,14255,0.60,97.3,984.0,0.0,600,14390,0.82,0.00,125.68,2.123,6,0.132,0.000,2377,1391,2667,0,0,0,0,1,0,14.09,28.83,13.07
$GC,14682,0.53,100.6,968.6,5.9,615,14686,0.00,0.00,2.60,1.983,6,0.000,0.000,2376,1390,2648,0,0,0,0,0,0,28.83,28.83,13.59
$GC,14982,0.47,100.6,949.9,6.3,625,14984,0.15,0.00,0.00,0.000,6,0.275,0.000,2346,1390,2649,0,0,0,0,0,0,14.31,28.83,28.83
$GC,15283,0.47,127.5,934.6,4.9,635,15341,0.00,0.00,45.67,1.598,6,0.000,0.000,2346,1391,2544,0,0,0,0,1,0,28.83,28.83,13.54
$GC,15644,0.48,161.7,916.5,4.6,647,15709,0.00,1.92,54.95,1.722,4,0.000,0.064,2346,2453,2402,0,0,0,0,1,0,28.83,14.32,13.42
$GC,15762,0.48,188.3,911.2,4.9,651,15821,0.00,1.95,45.70,1.577,6,0.000,0.080,2351,1402,2295,0,0,0,0,1,0,28.83,14.35,13.32
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$STATE,29184,end climb,SURFACE_DEPTH_REACHED
$STATE,29185,begin surface coast
$FINISH,0.1,1.025157
$STATE,29201,end surface coast,CONTROL_FINISHED_OK
$STATE,29201,begin surface
$SM_CCo,29220,27.20,0.710,0,0,1756,320.12
$SM_GC,0.60,6.47,0.17,27.20,0.065,0.097,0.710,165,1519,1756,-6.28,-1.47,320.12,0,0,0,0,0,0,14.57,14.69,14.23
$IRIDIUM_FIX,2347.41,-3835.91,171112,131357
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.11
$INTERNAL_PRESSURE,9.30182
$TCM_TEMP,26.20
$XPDR_PINGS,3
$SC_FREEKB,7694496
$TM_FREEKB,5946624
$24V_AH,13.1,93.541
$10V_AH,12.9,0.000
$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,19.500,116.150,589.725,27.200,0.000,0.000,0.000,347.825,0.750,0.000,15.444,3295.470,22846.959,876.426,2451.893,400.462,0.000,2225.971,0.000,1950.482,0.000,0.549,0.000
$DEVICE_MAMPS,456.705,112.455,2122.875,709.920,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29246.000,6849.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.250,13.110,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,43256,1211
$CAP_FILE_SIZE,247632,0
$CFSIZE,260034560,231112704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,0,0
$CURRENT,0.038,136.5,1
$GPS,181112,053622,2355.311,-3829.251,36,0.8,36,-14.3