version: 66.11
glider: 191
mission: 5
dive: 267
start: 12 11 112 7 14 31
data:
$ID,191
$MISSION,5
$DIVE,267
$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,-4153.9497
$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,48
$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
$GPS1,111212,070158,2512.530,-3801.317,36,0.9,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-51.3
$GPS2,111212,071359,2512.495,-3801.316,16,1.0,16,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-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,298.3,71533,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-61.33,0.000,2,0.000,0.000,155,1522,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.1,-5.9,4,117,9.55,1.80,-5.93,0.000,4,0.406,0.083,1982,2568,3462,1,0,0,0,0,0,13.92,14.57,14.80
$GC,342,-0.58,-97.3,28.2,-6.8,21,346,0.00,1.85,0.00,0.000,6,0.000,0.065,1982,1517,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,642,-0.54,-97.3,53.4,-8.9,41,644,0.12,0.00,0.00,0.000,6,0.252,0.000,2009,1517,3463,0,0,0,0,0,0,14.37,28.83,28.83
$GC,942,-0.53,-97.3,79.3,-8.6,61,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1517,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1242,-0.53,-97.3,99.2,-5.4,81,1245,0.00,1.90,0.00,0.000,4,0.000,0.087,2010,460,3466,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1287,-0.52,-97.3,102.0,-6.1,84,1290,0.00,1.77,0.00,0.000,6,0.000,0.043,2004,1519,3463,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1586,-0.52,-97.3,121.5,-8.2,104,1590,0.00,1.80,0.00,0.000,4,0.000,0.054,1997,2580,3463,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1737,-0.52,-97.3,133.1,-7.2,114,1741,0.00,1.88,0.00,0.000,6,0.000,0.063,1996,1506,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2037,-0.52,-97.3,156.1,-7.6,134,2041,0.00,1.85,0.00,0.000,4,0.000,0.086,1996,468,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2127,-0.49,-97.3,163.0,-7.8,140,2131,0.17,1.77,0.00,0.000,6,0.234,0.043,2029,1526,3461,0,0,0,0,0,0,14.32,14.69,28.83
$GC,2427,-0.51,-97.3,176.9,-4.4,160,2431,0.00,1.77,0.00,0.000,4,0.000,0.054,2023,2577,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2548,-0.54,-97.3,182.8,-5.1,168,2552,0.00,1.85,0.00,0.000,6,0.000,0.064,2023,1521,3464,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2847,-0.56,-97.3,200.6,-6.2,188,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3147,-0.58,-97.3,219.0,-5.9,208,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-0.60,-97.3,235.9,-5.0,228,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3750,-0.61,-97.3,250.5,-5.0,248,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4048,-0.63,-97.3,271.4,-7.9,258,4050,0.12,0.00,0.00,0.000,6,0.138,0.000,1974,1521,3463,0,0,0,0,0,0,14.77,28.83,28.83
$GC,4347,-0.61,-97.3,302.8,-10.6,268,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4648,-0.59,-97.3,330.8,-8.9,278,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,-0.57,-97.3,354.4,-7.5,288,4949,0.12,0.00,0.00,0.000,6,0.249,0.000,2001,1521,3460,0,0,0,0,0,0,14.52,28.83,28.83
$GC,5248,-0.57,-97.3,368.8,-4.0,298,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5547,-0.57,-97.3,379.1,-3.6,308,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5848,-0.57,-97.3,393.3,-5.2,318,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6146,-0.57,-97.3,413.2,-7.4,328,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6447,-0.57,-97.3,435.3,-7.1,338,6451,0.00,1.80,0.00,0.000,4,0.000,0.055,1993,2578,3456,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6537,-0.58,-97.3,440.3,-6.7,341,6540,0.00,1.85,0.00,0.000,6,0.000,0.067,1996,1520,3456,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6837,-0.58,-97.3,457.8,-4.9,351,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7137,-0.58,-97.3,470.8,-4.3,361,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7437,-0.58,-97.3,485.9,-5.6,371,7441,0.00,1.80,0.00,0.000,4,0.000,0.055,1988,2578,3453,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7526,-0.58,-97.3,490.3,-6.0,374,7530,0.00,1.88,0.00,0.000,6,0.000,0.067,1989,1511,3452,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7828,-0.58,-97.3,513.2,-7.6,384,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1510,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.58,-97.3,535.7,-7.1,394,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1510,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8428,-0.58,-97.3,554.3,-5.8,404,8432,0.00,1.90,0.00,0.000,4,0.000,0.090,1988,463,3450,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8502,-0.57,-97.3,559.1,-6.3,407,8505,0.00,1.77,0.00,0.000,6,0.000,0.044,1980,1518,3449,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8818,-0.57,-97.3,578.3,-6.4,418,8822,0.00,1.80,0.00,0.000,4,0.000,0.057,1972,2578,3449,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8936,-0.57,-97.3,585.2,-6.6,422,8941,0.12,1.88,0.00,0.000,6,0.246,0.067,1999,1514,3448,0,0,0,0,0,0,14.37,14.63,28.83
$GC,9238,-0.57,-97.3,608.7,-7.9,432,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9538,-0.57,-97.3,632.4,-7.8,442,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9837,-0.57,-97.3,653.3,-6.6,452,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10138,-0.57,-97.3,671.3,-5.8,462,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10437,-0.58,-97.3,687.9,-5.4,472,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10739,-0.59,-97.3,703.4,-5.1,482,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11036,-0.59,-97.3,720.9,-6.1,492,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1514,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11338,-0.61,-97.3,741.7,-7.2,502,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1513,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11638,-0.62,-97.3,763.4,-7.0,512,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1513,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11938,-0.63,-97.3,781.8,-5.7,522,11941,0.00,1.85,0.00,0.000,4,0.000,0.059,1993,2579,3438,0,0,0,0,0,0,28.83,14.61,28.83
$GC,12013,-0.64,-97.3,786.3,-5.8,525,12017,0.00,1.90,0.00,0.000,6,0.000,0.070,1993,1516,3438,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12329,-0.64,-97.3,804.4,-5.9,536,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1515,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12628,-0.64,-97.3,822.6,-6.0,546,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12927,-0.64,-97.3,841.1,-6.2,556,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13228,-0.64,-97.3,860.7,-6.9,566,13231,0.00,1.85,0.00,0.000,4,0.000,0.061,1985,2574,3434,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13332,-0.66,-97.3,868.2,-7.1,570,13336,0.00,1.90,0.00,0.000,6,0.000,0.073,1986,1519,3433,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13647,-0.66,-97.3,891.2,-7.3,581,13651,0.00,1.85,0.00,0.000,4,0.000,0.060,1978,2578,3433,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13722,-0.66,-97.3,896.5,-7.1,584,13726,0.00,1.90,0.00,0.000,6,0.000,0.073,1978,1522,3432,0,0,0,0,0,0,28.83,14.48,28.83
$GC,14037,-0.66,-97.3,917.1,-6.2,595,14038,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14338,-0.66,-97.3,935.2,-5.9,605,14341,0.00,1.85,0.00,0.000,4,0.000,0.060,1970,2578,3431,0,0,0,0,0,0,28.83,14.52,28.83
$GC,14442,-0.66,-97.3,941.4,-5.9,609,14445,0.00,1.92,0.00,0.000,6,0.000,0.073,1969,1515,3431,0,0,0,0,0,0,28.83,14.43,28.83
$GC,14758,-0.66,-97.3,962.6,-7.0,620,14759,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1514,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14995,begin apogee
$GC,15001,-0.18,0.0,980.6,-7.7,628,15124,0.60,0.00,113.85,2.102,6,0.212,0.000,2128,1395,3063,0,0,0,0,1,0,14.01,28.83,12.99
$STATE,15125,end apogee,CONTROL_FINISHED_OK
$STATE,15125,begin climb
$GC,15128,0.60,97.3,985.9,0.0,632,15268,0.80,2.05,128.15,2.121,4,0.119,0.102,2385,351,2667,0,0,0,0,1,0,14.09,13.96,12.93
$GC,15387,0.60,178.3,987.5,2.6,641,15507,0.00,1.83,108.38,2.048,6,0.000,0.048,2385,1407,2334,0,0,0,0,1,0,28.83,14.43,13.00
$GC,15807,0.55,178.3,961.2,7.3,655,15808,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1407,2329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16107,0.50,178.3,937.4,8.2,665,16109,0.15,0.00,0.00,0.000,6,0.267,0.000,2354,1406,2327,0,0,0,0,0,0,14.38,28.83,28.83
$GC,16408,0.48,178.3,916.4,6.9,675,16412,0.00,1.80,0.00,0.000,4,0.000,0.060,2353,2444,2324,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,28016,end climb,SURFACE_DEPTH_REACHED
$STATE,28016,begin surface coast
$FINISH,0.2,1.025269
$STATE,28033,end surface coast,CONTROL_FINISHED_OK
$STATE,28033,begin surface
$SM_CCo,28116,0.00,0.000,0,0,1501,382.91
$SM_GC,0.79,6.53,1.65,0.00,0.060,0.064,0.000,157,1522,1501,-6.29,0.76,382.91,0,0,0,0,0,0,14.59,14.54,28.83
$IRIDIUM_FIX,2500.82,-3757.93,101212,222257
$TT8_MAMPS,0.023968,0.023968
$HUMID,52.95
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.90
$XPDR_PINGS,2
$SC_FREEKB,7667584
$TM_FREEKB,5227104
$24V_AH,12.9,127.365
$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,19.575,126.850,666.875,0.000,0.000,0.000,0.000,402.325,0.500,0.000,17.886,3195.781,21781.750,910.711,2433.527,502.983,0.000,2293.463,0.000,1876.055,0.000,0.549,0.000
$DEVICE_MAMPS,406.215,117.810,2121.345,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28082.000,6778.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.217,13.043,0.000,0.000
$MEM,344788
$DATA_FILE_SIZE,43308,1167
$CAP_FILE_SIZE,247060,0
$CFSIZE,260034560,221749248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.035,127.6,1
$GPS,111212,150428,2512.995,-3804.129,39,1.0,39,-13.9