version: 66.11
glider: 191
mission: 5
dive: 241
start: 12 2 112 14 7 23
data:
$ID,191
$MISSION,5
$DIVE,241
$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,-4119.1475
$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,50
$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
$GPS1,021212,135334,2440.354,-3718.504,36,0.8,36,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-54.8
$GPS2,021212,140654,2440.390,-3718.525,18,1.2,18,-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,11.5,58594,-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,21,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,-61.08,0.000,6,0.000,0.000,161,1525,3459,0,0,0,0,0,0,28.83,28.83,14.79
$GC,89,-0.60,-97.3,3.9,-8.4,4,104,9.73,1.77,0.00,0.000,4,0.422,0.053,1979,2574,3463,1,0,0,0,0,0,13.91,14.55,28.83
$GC,327,-0.57,-97.3,32.6,-10.5,20,330,0.00,1.88,0.00,0.000,6,0.000,0.067,1983,1514,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,627,-0.53,-97.3,57.6,-8.8,40,631,0.15,1.80,0.00,0.000,4,0.248,0.054,2007,2568,3464,0,0,0,0,0,0,14.31,14.54,28.83
$GC,732,-0.53,-97.3,66.2,-7.7,47,735,0.00,1.85,0.00,0.000,6,0.000,0.066,2010,1519,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1032,-0.52,-97.3,86.7,-6.3,67,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1331,-0.52,-97.3,106.5,-6.8,87,1335,0.00,1.90,0.00,0.000,4,0.000,0.086,2010,463,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1392,-0.51,-97.3,111.2,-7.9,91,1395,0.00,1.77,0.00,0.000,6,0.000,0.044,2003,1517,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1691,-0.51,-97.3,136.4,-8.4,111,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-0.51,-97.3,160.2,-7.9,131,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2291,-0.51,-97.3,182.1,-6.7,151,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2592,-0.51,-97.3,197.3,-4.4,171,2595,0.00,1.80,0.00,0.000,4,0.000,0.054,1995,2577,3466,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2667,-0.51,-97.3,200.8,-4.5,176,2671,0.12,1.85,0.00,0.000,6,0.233,0.064,2022,1519,3466,0,0,0,0,0,0,14.39,14.61,28.83
$GC,2967,-0.52,-97.3,213.8,-4.7,196,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3268,-0.53,-97.3,229.2,-5.2,216,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3568,-0.55,-97.3,245.1,-5.1,236,3571,0.00,1.90,0.00,0.000,4,0.000,0.086,2022,463,3464,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3642,-0.55,-97.3,249.4,-5.8,241,3645,0.00,1.77,0.00,0.000,6,0.000,0.043,2017,1520,3464,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3959,-0.55,-97.3,264.9,-4.7,252,3962,0.00,1.77,0.00,0.000,4,0.000,0.055,2009,2576,3464,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4062,-0.57,-97.3,269.6,-4.5,256,4066,0.00,1.85,0.00,0.000,6,0.000,0.066,2009,1518,3462,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4378,-0.57,-97.3,285.2,-5.3,267,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4677,-0.57,-97.3,303.8,-6.7,277,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.57,-97.3,326.0,-7.4,287,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1518,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5277,-0.57,-97.3,346.5,-6.8,297,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1519,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5577,-0.57,-97.3,366.3,-6.5,307,5581,0.00,1.90,0.00,0.000,4,0.000,0.089,2010,463,3460,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5665,-0.57,-97.3,371.6,-6.9,310,5669,0.00,1.77,0.00,0.000,6,0.000,0.044,2002,1522,3459,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5967,-0.57,-97.3,392.2,-6.4,320,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1523,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6266,-0.57,-97.3,412.0,-6.7,330,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1523,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6568,-0.57,-97.3,432.8,-7.1,340,6571,0.00,1.80,0.00,0.000,4,0.000,0.057,1994,2579,3457,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6731,-0.57,-97.3,444.7,-7.3,346,6735,0.00,1.88,0.00,0.000,6,0.000,0.067,1994,1512,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7047,-0.57,-97.3,469.3,-7.7,357,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,-0.57,-97.3,490.6,-7.1,367,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,-0.57,-97.3,510.8,-6.6,377,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7948,-0.57,-97.3,529.3,-6.0,387,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8247,-0.57,-97.3,547.8,-6.4,397,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8547,-0.57,-97.3,567.8,-6.9,407,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,-0.57,-97.3,590.5,-7.7,417,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-0.57,-97.3,614.5,-8.0,427,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9447,-0.57,-97.3,638.4,-7.8,437,9451,0.00,1.83,0.00,0.000,4,0.000,0.058,1986,2574,3448,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9625,-0.57,-97.3,650.9,-7.4,443,9629,0.00,1.88,0.00,0.000,6,0.000,0.070,1986,1521,3446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9927,-0.57,-97.3,672.4,-6.5,453,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10227,-0.57,-97.3,690.0,-5.5,463,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10528,-0.57,-97.3,706.8,-5.8,473,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10827,-0.57,-97.3,727.0,-7.1,483,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11127,-0.57,-97.3,749.8,-7.8,493,11131,0.00,1.92,0.00,0.000,4,0.000,0.093,1986,465,3443,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11202,-0.55,-97.3,756.3,-8.4,496,11207,0.12,1.80,0.00,0.000,6,0.256,0.048,2004,1519,3443,0,0,0,0,0,0,14.27,14.63,28.83
$GC,11519,-0.57,-97.3,776.9,-6.2,507,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11818,-0.58,-97.3,794.9,-5.8,517,11821,0.00,1.83,0.00,0.000,4,0.000,0.060,1999,2576,3441,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11892,-0.60,-97.3,799.3,-5.8,520,11896,0.00,1.90,0.00,0.000,6,0.000,0.072,1999,1516,3441,0,0,0,0,0,0,28.83,14.51,28.83
$GC,12209,-0.60,-97.3,817.5,-5.6,531,12210,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1515,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12508,-0.61,-97.3,833.6,-5.4,541,12511,0.00,1.85,0.00,0.000,4,0.000,0.060,1991,2578,3439,0,0,0,0,0,0,28.83,14.56,28.83
$GC,12582,-0.63,-97.3,837.7,-5.4,544,12586,0.00,1.90,0.00,0.000,6,0.000,0.072,1991,1520,3439,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12899,-0.63,-97.3,855.5,-5.7,555,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13196,-0.63,-97.3,874.8,-6.5,565,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13497,-0.63,-97.3,896.7,-7.4,575,13501,0.00,1.85,0.00,0.000,4,0.000,0.060,1983,2578,3436,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13632,-0.64,-97.3,906.4,-7.2,580,13635,0.00,1.90,0.00,0.000,6,0.000,0.073,1983,1521,3435,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13947,-0.64,-97.3,928.3,-6.8,591,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14247,-0.64,-97.3,946.6,-5.9,601,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14548,-0.64,-97.3,963.0,-5.4,611,14552,0.00,1.85,0.00,0.000,4,0.000,0.061,1976,2575,3433,0,0,0,0,0,0,28.83,14.47,28.83
$GC,14712,-0.64,-97.3,971.8,-5.3,617,14715,0.00,1.92,0.00,0.000,6,0.000,0.073,1976,1514,3432,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,14874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14874,begin apogee
$GC,14881,-0.18,0.0,980.3,-5.1,623,15003,0.57,0.00,113.65,2.116,6,0.213,0.000,2129,1396,3064,0,0,0,0,1,0,14.11,28.83,13.00
$STATE,15005,end apogee,CONTROL_FINISHED_OK
$STATE,15005,begin climb
$GC,15007,0.60,97.3,982.5,0.0,627,15146,0.80,2.00,127.40,2.127,4,0.120,0.100,2386,345,2666,0,0,0,0,1,0,14.09,13.94,12.95
$GC,15372,0.51,97.3,967.6,7.6,640,15375,0.00,1.85,0.00,0.000,6,0.000,0.050,2386,1409,2660,0,0,0,0,0,0,28.83,14.46,28.83
$GC,15689,0.44,97.3,944.9,7.1,651,15691,0.22,0.00,0.00,0.000,6,0.268,0.000,2335,1410,2659,0,0,0,0,0,0,14.30,28.83,28.83
$GC,15989,0.44,116.8,928.4,5.2,661,16033,0.00,0.00,37.00,1.392,6,0.000,0.000,2335,1411,2585,0,0,0,0,1,0,28.83,28.83,13.46
$GC,16319,0.45,141.6,911.6,5.0,672,16376,0.00,1.83,44.28,1.551,4,0.000,0.060,2336,2452,2485,0,0,0,0,1,0,28.83,14.41,13.38
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$STATE,29066,end climb,SURFACE_DEPTH_REACHED
$STATE,29066,begin surface coast
$FINISH,0.1,1.000151
$STATE,29082,end surface coast,CONTROL_FINISHED_OK
$STATE,29082,begin surface
$SM_CCo,29102,12.77,0.744,0,0,1756,320.12
$SM_GC,1.98,6.55,0.17,12.77,0.072,0.094,0.744,155,1528,1756,-6.29,-1.41,320.12,0,0,0,0,0,0,14.62,14.68,14.12
$IRIDIUM_FIX,2432.32,-3719.22,021212,131331
$TT8_MAMPS,0.023219,0.023219
$HUMID,51.77
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.90
$XPDR_PINGS,7
$SC_FREEKB,7677600
$TM_FREEKB,5496928
$24V_AH,12.9,114.691
$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,18.550,115.900,599.425,12.775,0.000,0.000,0.000,436.275,1.750,0.000,19.870,3307.772,22722.658,860.207,2550.874,462.423,0.000,2303.111,0.000,1971.097,0.000,0.549,0.000
$DEVICE_MAMPS,421.515,117.810,2127.465,744.345,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29130.000,7374.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.303,13.005,0.000,0.000
$MEM,344796
$DATA_FILE_SIZE,43364,1224
$CAP_FILE_SIZE,246677,0
$CFSIZE,260034560,225251328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.052,192.1,1
$GPS,021212,221358,2442.598,-3718.729,35,0.9,35,-13.8