version: 66.11
glider: 191
mission: 5
dive: 251
start: 12 5 112 22 12 12
data:
$ID,191
$MISSION,5
$DIVE,251
$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,-4132.6831
$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,46
$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
$GPS1,051212,220022,2504.422,-3718.654,40,0.9,40,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-47.6
$GPS2,051212,221142,2504.441,-3718.687,14,1.7,14,-13.7
$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,12.0,14170,-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,24,-0.60,-97.3,0.0,0.0,0,101,0.00,0.00,-75.75,0.000,2,0.000,0.000,161,1526,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.60,-97.3,3.4,-4.9,5,120,9.73,1.90,0.00,0.000,4,0.419,0.081,1996,460,3456,1,0,0,0,0,0,13.89,14.50,28.83
$GC,342,-0.56,-97.3,34.9,-10.2,21,346,0.00,1.77,0.00,0.000,6,0.000,0.044,1990,1515,3456,0,0,0,0,0,0,28.83,14.60,28.83
$GC,642,-0.53,-97.3,57.0,-8.9,41,646,0.00,1.90,0.00,0.000,4,0.000,0.087,1990,463,3458,0,0,0,0,0,0,28.83,14.51,28.83
$GC,824,-0.48,-97.3,76.0,-10.6,53,828,0.20,1.80,0.00,0.000,6,0.236,0.044,2029,1525,3459,0,0,0,0,0,0,14.32,14.63,28.83
$GC,1122,-0.49,-97.3,102.8,-8.7,73,1126,0.00,1.80,0.00,0.000,4,0.000,0.054,2024,2581,3459,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1212,-0.51,-97.3,109.6,-7.5,79,1216,0.00,1.88,0.00,0.000,6,0.000,0.063,2024,1509,3459,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1512,-0.51,-97.3,130.0,-6.5,99,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1510,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.52,-97.3,147.9,-5.6,119,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1510,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2112,-0.54,-97.3,164.0,-5.6,139,2116,0.00,1.83,0.00,0.000,4,0.000,0.054,2016,2580,3459,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2218,-0.56,-97.3,169.7,-5.5,146,2221,0.00,1.85,0.00,0.000,6,0.000,0.063,2016,1521,3459,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2517,-0.56,-97.3,187.4,-6.0,166,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-0.56,-97.3,205.7,-6.2,186,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,-0.56,-97.3,222.0,-5.0,206,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3418,-0.57,-97.3,235.0,-3.8,226,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-0.58,-97.3,244.1,-2.9,246,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-0.59,-97.3,255.7,-4.2,263,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.60,-97.3,273.5,-6.8,273,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.61,-97.3,298.3,-8.8,283,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4933,-0.63,-97.3,323.5,-8.2,293,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.64,-97.3,346.8,-7.5,303,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5533,-0.65,-97.3,366.1,-6.0,313,5538,0.12,1.80,0.00,0.000,4,0.140,0.055,1960,2581,3454,0,0,0,0,0,0,14.76,14.71,28.83
$GC,5620,-0.65,-97.3,371.6,-7.0,316,5624,0.00,1.85,0.00,0.000,6,0.000,0.067,1959,1521,3453,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5922,-0.62,-97.3,398.2,-8.7,326,5924,0.12,0.00,0.00,0.000,6,0.266,0.000,1985,1526,3452,0,0,0,0,0,0,14.45,28.83,28.83
$GC,6221,-0.62,-97.3,421.5,-7.7,336,6225,0.00,1.90,0.00,0.000,4,0.000,0.090,1985,463,3451,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6267,-0.60,-97.3,425.1,-7.7,338,6271,0.00,1.77,0.00,0.000,6,0.000,0.044,1980,1523,3451,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6584,-0.59,-97.3,447.2,-6.6,349,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1524,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6882,-0.57,-97.3,465.5,-6.0,359,6886,0.00,1.77,0.00,0.000,4,0.000,0.057,1972,2576,3449,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7017,-0.57,-97.3,473.7,-6.1,364,7021,0.12,1.85,0.00,0.000,6,0.246,0.067,1999,1526,3452,0,0,0,0,0,0,14.38,14.64,28.83
$GC,7333,-0.57,-97.3,492.0,-6.1,375,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,-0.57,-97.3,511.5,-6.6,385,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-0.57,-97.3,530.9,-6.3,395,7935,0.00,1.92,0.00,0.000,4,0.000,0.090,1999,453,3446,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8037,-0.57,-97.3,538.2,-7.0,399,8040,0.00,1.80,0.00,0.000,6,0.000,0.046,1994,1521,3446,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8352,-0.57,-97.3,557.4,-6.1,410,8356,0.00,1.80,0.00,0.000,4,0.000,0.057,1986,2575,3445,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8487,-0.57,-97.3,565.9,-6.3,415,8491,0.00,1.88,0.00,0.000,6,0.000,0.067,1986,1511,3445,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8803,-0.57,-97.3,589.7,-8.0,426,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1511,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9101,-0.57,-97.3,615.7,-8.6,436,9105,0.00,1.83,0.00,0.000,4,0.000,0.057,1978,2577,3443,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9281,-0.57,-97.3,629.4,-8.3,442,9285,0.00,1.88,0.00,0.000,6,0.000,0.068,1977,1516,3442,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9582,-0.56,-97.3,655.3,-8.0,452,9586,0.12,1.90,0.00,0.000,4,0.257,0.091,2004,464,3441,0,0,0,0,0,0,14.42,14.48,28.83
$GC,9686,-0.56,-97.3,662.9,-7.3,456,9690,0.00,1.77,0.00,0.000,6,0.000,0.047,1999,1518,3441,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10003,-0.56,-97.3,681.0,-5.3,467,10007,0.00,1.80,0.00,0.000,4,0.000,0.057,1991,2576,3440,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10121,-0.57,-97.3,685.9,-4.7,471,10125,0.00,1.88,0.00,0.000,6,0.000,0.069,1991,1517,3440,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10422,-0.57,-97.3,698.6,-3.9,481,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1517,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10722,-0.57,-97.3,711.6,-4.7,491,10725,0.00,1.92,0.00,0.000,4,0.000,0.093,1992,460,3438,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10811,-0.57,-97.3,716.0,-5.6,494,10815,0.00,1.80,0.00,0.000,6,0.000,0.047,1984,1520,3437,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11111,-0.57,-97.3,736.9,-7.1,504,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1526,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11412,-0.57,-97.3,760.0,-7.9,514,11416,0.00,1.83,0.00,0.000,4,0.000,0.059,1975,2580,3435,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11500,-0.57,-97.3,766.1,-8.1,517,11504,0.00,1.88,0.00,0.000,6,0.000,0.070,1975,1521,3435,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11802,-0.56,-97.3,790.8,-7.7,527,11804,0.12,0.00,0.00,0.000,6,0.257,0.000,2002,1520,3434,0,0,0,0,0,0,14.38,28.83,28.83
$GC,12104,-0.58,-97.3,809.0,-5.6,537,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12402,-0.59,-97.3,825.4,-5.4,547,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12703,-0.61,-97.3,841.5,-5.3,557,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13003,-0.62,-97.3,857.7,-5.6,567,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13303,-0.64,-97.3,875.0,-5.8,577,13307,0.00,1.95,0.00,0.000,4,0.000,0.096,1998,461,3430,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13360,-0.64,-97.3,877.9,-6.1,579,13364,0.00,1.83,0.00,0.000,6,0.000,0.049,1997,1524,3430,0,0,0,0,0,0,28.83,14.58,28.83
$GC,13664,-0.65,-97.3,896.7,-6.1,589,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1525,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13961,-0.65,-97.3,915.0,-6.1,599,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1525,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14262,-0.66,-97.3,933.6,-6.3,609,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1529,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14563,-0.67,-97.3,952.4,-6.2,619,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1525,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14862,-0.68,-97.3,971.9,-6.7,629,14863,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1525,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15010,begin apogee
$GC,15016,-0.18,0.0,981.6,-6.6,634,15136,0.47,0.00,111.30,2.103,6,0.203,0.000,2123,1398,3064,0,0,0,0,1,0,14.11,28.83,13.02
$STATE,15138,end apogee,CONTROL_FINISHED_OK
$STATE,15138,begin climb
$GC,15140,0.60,97.3,986.2,0.0,638,15281,0.82,1.98,127.57,2.126,4,0.131,0.102,2384,351,2667,0,0,0,0,1,0,14.08,13.95,12.95
$GC,15461,0.55,125.9,982.4,4.8,649,15520,0.00,1.83,48.42,1.625,6,0.000,0.049,2384,1410,2549,0,0,0,0,1,0,28.83,14.50,13.16
$GC,15838,0.49,125.9,958.9,6.5,662,15840,0.15,0.00,0.00,0.000,6,0.272,0.000,2353,1411,2546,0,0,0,0,0,0,14.33,28.83,28.83
$GC,16139,0.47,141.3,942.9,5.4,672,16181,0.00,1.83,33.05,1.273,4,0.000,0.060,2353,2455,2486,0,0,0,0,1,0,28.83,14.57,13.42
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$STATE,28706,end climb,SURFACE_DEPTH_REACHED
$STATE,28706,begin surface coast
$FINISH,0.3,1.025453
$STATE,28720,end surface coast,CONTROL_FINISHED_OK
$STATE,28720,begin surface
$SM_CCo,28799,0.00,0.000,0,0,1230,449.39
$SM_GC,0.61,6.70,0.15,0.00,0.070,0.101,0.000,165,1518,1230,-6.28,-1.53,449.39,0,0,0,0,0,0,14.56,14.69,28.83
$IRIDIUM_FIX,2451.31,-3719.77,051212,131331
$TT8_MAMPS,0.02247,0.02247
$HUMID,51.96
$INTERNAL_PRESSURE,9.22369
$TCM_TEMP,25.70
$XPDR_PINGS,6
$SC_FREEKB,7673760
$TM_FREEKB,5394048
$24V_AH,13.0,119.725
$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,20.025,134.150,769.525,0.000,0.000,0.000,0.000,374.150,1.500,0.000,15.459,3270.086,22195.549,1042.272,2463.459,495.046,0.000,2433.748,0.000,1938.672,0.000,0.549,0.000
$DEVICE_MAMPS,419.220,114.750,2125.935,0.000,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28769.000,6864.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.238,13.009,0.000,0.000
$MEM,344804
$DATA_FILE_SIZE,43298,1193
$CAP_FILE_SIZE,254596,0
$CFSIZE,260034560,223907840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.040,282.0,1
$GPS,061212,061328,2507.557,-3719.538,35,1.0,35,-13.7