version: 66.11
glider: 191
mission: 5
dive: 238
start: 12 1 112 13 48 11
data:
$ID,191
$MISSION,5
$DIVE,238
$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,-4115.1802
$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,22
$R_STBD_OVSHOOT,53
$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
$GPS1,011212,133634,2434.034,-3718.391,33,0.8,33,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.9
$GPS2,011212,134741,2434.004,-3718.393,17,1.0,17,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-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,11.3,70420,-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,21,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-58.12,0.000,6,0.000,0.000,158,1535,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,4.1,-8.8,4,104,9.73,1.77,0.00,0.000,4,0.421,0.053,1982,2570,3463,1,0,0,0,0,0,13.95,14.56,28.83
$GC,327,-0.57,-97.3,32.4,-9.0,20,331,0.00,1.88,0.00,0.000,6,0.000,0.066,1981,1513,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,627,-0.53,-97.3,61.8,-10.2,40,631,0.15,1.80,0.00,0.000,4,0.249,0.054,2010,2563,3465,0,0,0,0,0,0,14.29,14.52,28.83
$GC,687,-0.53,-97.3,66.8,-8.2,44,690,0.00,1.85,0.00,0.000,6,0.000,0.066,2010,1518,3465,0,0,0,0,0,0,28.83,14.51,28.83
$GC,987,-0.52,-97.3,85.8,-5.1,64,991,0.00,1.90,0.00,0.000,4,0.000,0.087,2010,466,3466,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1092,-0.50,-97.3,92.2,-6.2,71,1096,0.00,1.75,0.00,0.000,6,0.000,0.044,2003,1508,3466,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1392,-0.48,-97.3,112.4,-7.6,91,1396,0.12,1.83,0.00,0.000,4,0.246,0.054,2024,2579,3466,0,0,0,0,0,0,14.42,14.61,28.83
$GC,1587,-0.50,-97.3,126.3,-6.8,104,1590,0.00,1.88,0.00,0.000,6,0.000,0.064,2024,1512,3466,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1886,-0.50,-97.3,146.6,-7.1,124,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1512,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2187,-0.52,-97.3,167.4,-6.5,144,2190,0.00,1.90,0.00,0.000,4,0.000,0.087,2024,459,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2247,-0.52,-97.3,171.7,-7.1,148,2251,0.00,1.80,0.00,0.000,6,0.000,0.044,2022,1523,3466,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2546,-0.52,-97.3,191.1,-6.6,168,2550,0.00,1.80,0.00,0.000,4,0.000,0.054,2009,2579,3466,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2638,-0.53,-97.3,196.7,-6.1,174,2642,0.00,1.88,0.00,0.000,6,0.000,0.063,2009,1510,3466,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2937,-0.53,-97.3,216.6,-6.5,194,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1512,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3237,-0.53,-97.3,237.0,-6.7,214,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1512,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-0.53,-97.3,259.0,-7.0,231,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3852,-0.53,-97.3,279.6,-6.7,241,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-0.53,-97.3,299.6,-6.7,251,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4451,-0.53,-97.3,319.4,-6.5,261,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1512,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4751,-0.53,-97.3,341.7,-8.0,271,4755,0.00,1.83,0.00,0.000,4,0.000,0.056,2001,2579,3462,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4858,-0.54,-97.3,350.6,-8.4,275,4862,0.00,1.85,0.00,0.000,6,0.000,0.066,2001,1523,3462,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5172,-0.54,-97.3,379.9,-9.5,286,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5472,-0.54,-97.3,408.5,-9.4,296,5475,0.00,1.80,0.00,0.000,4,0.000,0.055,1993,2578,3461,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5546,-0.54,-97.3,415.2,-9.1,299,5550,0.00,1.88,0.00,0.000,6,0.000,0.067,1993,1512,3461,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5862,-0.54,-97.3,441.2,-7.5,310,5865,0.00,1.83,0.00,0.000,4,0.000,0.056,1985,2580,3460,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5937,-0.54,-97.3,446.5,-7.1,313,5941,0.00,1.88,0.00,0.000,6,0.000,0.067,1985,1513,3460,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6253,-0.53,-97.3,467.0,-6.1,324,6258,0.12,1.90,0.00,0.000,4,0.251,0.090,2013,461,3459,0,0,0,0,0,0,14.47,14.54,28.83
$GC,6327,-0.53,-97.3,471.0,-5.3,327,6331,0.00,1.80,0.00,0.000,6,0.000,0.045,2007,1528,3459,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6644,-0.53,-97.3,483.2,-3.8,338,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1529,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6942,-0.53,-97.3,495.3,-4.2,348,6946,0.00,1.80,0.00,0.000,4,0.000,0.058,1999,2580,3456,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7031,-0.54,-97.3,498.6,-4.5,351,7035,0.00,1.88,0.00,0.000,6,0.000,0.067,1999,1515,3456,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7332,-0.54,-97.3,516.1,-6.1,361,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1515,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,-0.54,-97.3,537.8,-7.7,371,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1515,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-0.54,-97.3,563.0,-8.6,381,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1516,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,-0.54,-97.3,587.0,-7.5,391,8236,0.00,1.83,0.00,0.000,4,0.000,0.057,1991,2577,3453,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8337,-0.54,-97.3,594.1,-6.8,395,8341,0.00,1.88,0.00,0.000,6,0.000,0.069,1991,1520,3452,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8654,-0.54,-97.3,611.5,-4.9,406,8657,0.00,1.83,0.00,0.000,4,0.000,0.058,1983,2579,3452,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8758,-0.54,-97.3,615.9,-4.2,410,8762,0.12,1.88,0.00,0.000,6,0.246,0.068,2010,1519,3451,0,0,0,0,0,0,14.22,14.48,28.83
$GC,9074,-0.55,-97.3,625.0,-2.8,421,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1519,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,-0.57,-97.3,633.7,-3.1,431,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9672,-0.59,-97.3,645.6,-4.4,441,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9972,-0.60,-97.3,663.0,-6.3,451,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10272,-0.62,-97.3,685.1,-7.7,461,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10572,-0.64,-97.3,708.3,-7.7,471,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10872,-0.65,-97.3,729.2,-6.6,481,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1519,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11173,-0.67,-97.3,745.4,-5.0,491,11175,0.12,0.00,0.00,0.000,6,0.150,0.000,1969,1519,3442,0,0,0,0,0,0,14.65,28.83,28.83
$GC,11472,-0.65,-97.3,763.4,-6.1,501,11476,0.00,1.95,0.00,0.000,4,0.000,0.095,1968,461,3443,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11531,-0.63,-97.3,766.6,-6.6,503,11535,0.00,1.80,0.00,0.000,6,0.000,0.047,1961,1517,3443,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11834,-0.61,-97.3,789.3,-7.6,513,11836,0.12,0.00,0.00,0.000,6,0.271,0.000,1986,1518,3442,0,0,0,0,0,0,14.31,28.83,28.83
$GC,12131,-0.61,-97.3,813.4,-8.7,523,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1518,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12432,-0.61,-97.3,841.1,-9.4,533,12436,0.00,1.85,0.00,0.000,4,0.000,0.060,1981,2580,3440,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12550,-0.61,-97.3,851.3,-9.6,537,12554,0.00,1.90,0.00,0.000,6,0.000,0.072,1981,1520,3440,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12852,-0.61,-97.3,881.2,-9.3,547,12856,0.00,1.85,0.00,0.000,4,0.000,0.060,1973,2580,3439,0,0,0,0,0,0,28.83,14.51,28.83
$GC,12940,-0.61,-97.3,888.1,-9.1,550,12944,0.00,1.90,0.00,0.000,6,0.000,0.072,1973,1521,3438,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13242,-0.60,-97.3,916.4,-8.8,560,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13542,-0.59,-97.3,941.4,-8.1,570,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13842,-0.58,-97.3,964.0,-7.4,580,13844,0.12,0.00,0.00,0.000,6,0.268,0.000,1998,1521,3436,0,0,0,0,0,0,14.29,28.83,28.83
$STATE,14109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14110,begin apogee
$GC,14116,-0.18,0.0,980.4,-6.0,589,14239,0.47,0.00,114.20,2.116,6,0.202,0.000,2129,1390,3064,0,0,0,0,1,0,14.16,28.83,13.05
$STATE,14241,end apogee,CONTROL_FINISHED_OK
$STATE,14241,begin climb
$GC,14243,0.60,97.3,984.4,0.0,593,14382,0.80,2.05,127.03,2.131,4,0.125,0.102,2383,345,2666,0,0,0,0,1,0,14.08,13.94,12.97
$GC,14592,0.52,101.2,976.0,5.9,605,14599,0.00,1.85,2.83,1.987,6,0.000,0.050,2384,1412,2649,0,0,0,0,0,0,28.83,14.51,13.43
$GC,14910,0.46,106.2,957.7,5.8,616,14921,0.20,1.75,4.45,2.043,4,0.269,0.060,2338,2454,2630,0,0,0,0,0,0,14.28,14.65,13.50
$GC,15042,0.45,125.1,951.4,5.3,620,15091,0.00,1.90,39.12,1.459,6,0.000,0.078,2343,1402,2551,0,0,0,0,1,0,28.83,14.56,13.40
$GC,15403,0.43,134.5,930.2,5.7,633,15437,0.00,0.00,27.45,1.076,6,0.000,0.000,2343,1401,2512,0,0,0,0,1,0,28.83,28.83,13.52
$GC,15734,0.43,155.5,912.3,5.2,644,15781,0.00,0.00,40.28,1.485,6,0.000,0.000,2343,1401,2428,0,0,0,0,1,0,28.83,28.83,13.41
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$STATE,28150,end climb,SURFACE_DEPTH_REACHED
$STATE,28150,begin surface coast
$FINISH,0.5,1.025421
$STATE,28168,end surface coast,CONTROL_FINISHED_OK
$STATE,28168,begin surface
$SM_CCo,28247,0.00,0.000,0,0,1731,326.49
$SM_GC,0.93,6.57,0.17,0.00,0.069,0.096,0.000,160,1521,1731,-6.29,-1.50,326.49,0,0,0,0,0,0,14.57,14.68,28.83
$IRIDIUM_FIX,2422.84,-3716.35,011212,050556
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.08
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,26.30
$XPDR_PINGS,6
$SC_FREEKB,7678752
$TM_FREEKB,5528576
$24V_AH,13.0,113.261
$10V_AH,12.7,0.000
$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,19.250,127.100,654.350,0.000,0.000,0.000,0.000,365.875,1.500,0.000,18.431,3193.870,21936.066,912.944,2409.878,451.165,0.000,2265.300,0.000,1887.766,0.000,0.550,0.000
$DEVICE_MAMPS,420.750,110.160,2130.525,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28214.000,6730.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.256,12.979,0.000,0.000
$MEM,344760
$DATA_FILE_SIZE,43319,1170
$CAP_FILE_SIZE,246057,0
$CFSIZE,260034560,225656832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.069,183.7,1
$GPS,011212,214004,2436.032,-3718.545,24,0.9,24,-13.8