version: 66.11
glider: 191
mission: 5
dive: 281
start: 12 16 112 2 53 25
data:
$ID,191
$MISSION,5
$DIVE,281
$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,-4172.0342
$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,43
$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
$GPS1,161212,024029,2504.321,-3832.861,36,0.8,36,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-56.0
$GPS2,161212,025255,2504.321,-3832.819,15,0.8,15,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,225.1,56461,-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,-60.80,0.000,6,0.000,0.000,155,1523,3460,0,0,0,0,0,0,28.83,28.83,14.79
$GC,89,-0.60,-97.3,3.8,-7.0,4,105,9.85,1.90,0.00,0.000,4,0.416,0.074,1998,457,3462,1,0,0,0,0,0,13.87,14.50,28.83
$GC,208,-0.55,-97.3,22.2,-12.3,12,211,0.00,1.80,0.00,0.000,6,0.000,0.042,1991,1520,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,507,-0.53,-97.3,52.2,-9.1,32,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,807,-0.50,-97.3,79.6,-9.5,52,811,0.15,1.92,0.00,0.000,4,0.241,0.087,2026,464,3463,0,0,0,0,0,0,14.38,14.45,28.83
$GC,897,-0.50,-97.3,87.5,-8.9,58,901,0.00,1.77,0.00,0.000,6,0.000,0.043,2020,1519,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1197,-0.50,-97.3,108.3,-6.5,78,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1498,-0.50,-97.3,124.9,-5.2,98,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1797,-0.50,-97.3,144.0,-6.8,118,1801,0.00,1.90,0.00,0.000,4,0.000,0.086,2021,464,3464,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1902,-0.50,-97.3,151.8,-7.5,125,1906,0.00,1.77,0.00,0.000,6,0.000,0.044,2013,1519,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2202,-0.50,-97.3,174.6,-7.8,145,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2502,-0.50,-97.3,194.1,-6.0,165,2505,0.00,1.90,0.00,0.000,4,0.000,0.086,2012,464,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2606,-0.50,-97.3,201.3,-6.9,172,2610,0.00,1.77,0.00,0.000,6,0.000,0.043,2005,1518,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2907,-0.50,-97.3,218.3,-5.4,192,2910,0.00,1.80,0.00,0.000,4,0.000,0.054,1997,2579,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2999,-0.51,-97.3,223.3,-5.6,198,3002,0.00,1.88,0.00,0.000,6,0.000,0.064,1996,1510,3467,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3298,-0.51,-97.3,239.8,-5.2,218,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1509,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3611,-0.51,-97.3,258.6,-6.5,235,3615,0.00,1.88,0.00,0.000,4,0.000,0.087,1997,464,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3686,-0.51,-97.3,264.7,-7.8,238,3691,0.15,1.77,0.00,0.000,6,0.232,0.044,2023,1523,3464,0,0,0,0,0,0,14.38,14.69,28.83
$GC,4004,-0.53,-97.3,286.6,-7.1,249,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4302,-0.56,-97.3,307.2,-7.1,259,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1524,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4603,-0.58,-97.3,329.5,-7.4,269,4606,0.00,1.90,0.00,0.000,4,0.000,0.088,2024,466,3460,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4679,-0.60,-97.3,335.2,-7.6,272,4682,0.00,1.77,0.00,0.000,6,0.000,0.045,2018,1522,3460,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4994,-0.62,-97.3,356.6,-6.2,283,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1523,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5293,-0.64,-97.3,371.1,-4.5,293,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1523,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5592,-0.66,-97.3,385.3,-5.0,303,5594,0.12,0.00,0.00,0.000,6,0.141,0.000,1970,1523,3458,0,0,0,0,0,0,14.77,28.83,28.83
$GC,5893,-0.64,-97.3,407.8,-8.0,313,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1523,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6192,-0.62,-97.3,433.4,-8.6,323,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6493,-0.60,-97.3,455.3,-6.8,333,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1523,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,-0.58,-97.3,473.4,-6.0,343,6797,0.12,1.92,0.00,0.000,4,0.255,0.090,1996,463,3455,0,0,0,0,0,0,14.47,14.45,28.83
$GC,6868,-0.57,-97.3,478.1,-6.1,346,6871,0.00,1.80,0.00,0.000,6,0.000,0.044,1991,1530,3455,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7182,-0.57,-97.3,498.1,-6.7,357,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1531,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7482,-0.57,-97.3,520.8,-7.8,367,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1531,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,-0.57,-97.3,544.8,-8.1,377,7785,0.00,1.77,0.00,0.000,4,0.000,0.057,1984,2576,3452,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7856,-0.57,-97.3,551.0,-8.2,380,7860,0.00,1.88,0.00,0.000,6,0.000,0.068,1983,1516,3452,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8172,-0.57,-97.3,576.1,-7.7,391,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1515,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,-0.57,-97.3,595.2,-6.0,401,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1515,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8773,-0.57,-97.3,611.7,-5.6,411,8776,0.00,1.92,0.00,0.000,4,0.000,0.092,1983,462,3449,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8831,-0.57,-97.3,614.6,-6.0,413,8835,0.00,1.80,0.00,0.000,6,0.000,0.046,1975,1523,3449,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9132,-0.57,-97.3,636.6,-7.2,423,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9432,-0.57,-97.3,659.5,-7.5,433,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9732,-0.57,-97.3,681.5,-7.2,443,9735,0.00,1.80,0.00,0.000,4,0.000,0.058,1968,2576,3446,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9837,-0.57,-97.3,689.0,-7.1,447,9842,0.15,1.88,0.00,0.000,6,0.238,0.070,2001,1523,3445,0,0,0,0,0,0,14.28,14.58,28.83
$GC,10154,-0.58,-97.3,708.5,-6.0,458,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1523,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10454,-0.60,-97.3,726.9,-6.0,468,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10752,-0.62,-97.3,744.7,-5.6,478,10756,0.00,1.95,0.00,0.000,4,0.000,0.093,2001,462,3442,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10871,-0.62,-97.3,750.8,-5.8,482,10874,0.00,1.80,0.00,0.000,6,0.000,0.047,1996,1519,3441,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11175,-0.63,-97.3,765.5,-4.5,492,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11472,-0.64,-97.3,780.7,-5.4,502,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11773,-0.65,-97.3,799.9,-6.7,512,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12072,-0.66,-97.3,821.3,-7.2,522,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12373,-0.67,-97.3,842.2,-6.6,532,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12672,-0.68,-97.3,860.6,-6.1,542,12676,0.00,1.83,0.00,0.000,4,0.000,0.060,1988,2576,3437,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12779,-0.70,-97.3,866.8,-5.9,546,12782,0.00,1.90,0.00,0.000,6,0.000,0.072,1988,1520,3436,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13094,-0.70,-97.3,885.6,-5.8,557,13097,0.00,1.95,0.00,0.000,4,0.000,0.095,1988,466,3435,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13151,-0.70,-97.3,888.4,-5.9,559,13155,0.00,1.83,0.00,0.000,6,0.000,0.048,1980,1521,3435,0,0,0,0,0,0,28.83,14.59,28.83
$GC,13453,-0.70,-97.3,906.5,-5.5,569,13456,0.00,1.85,0.00,0.000,4,0.000,0.060,1972,2581,3435,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13557,-0.70,-97.3,912.4,-5.6,573,13561,0.00,1.92,0.00,0.000,6,0.000,0.072,1972,1512,3434,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13874,-0.70,-97.3,930.7,-5.8,584,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1512,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14172,-0.70,-97.3,949.4,-6.5,594,14176,0.00,1.95,0.00,0.000,4,0.000,0.096,1972,466,3432,0,0,0,0,0,0,28.83,14.21,28.83
$GC,14248,-0.68,-97.3,954.9,-7.3,597,14252,0.00,1.83,0.00,0.000,6,0.000,0.050,1965,1522,3432,0,0,0,0,0,0,28.83,14.57,28.83
$GC,14564,-0.67,-97.3,977.2,-7.2,608,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1523,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14619,begin apogee
$GC,14626,-0.18,0.0,981.8,-7.3,610,14750,0.62,0.00,114.70,2.090,6,0.217,0.000,2128,1395,3065,0,0,0,0,1,0,14.04,28.83,12.95
$STATE,14751,end apogee,CONTROL_FINISHED_OK
$STATE,14752,begin climb
$GC,14754,0.60,97.3,986.9,0.0,614,14895,0.80,2.05,128.75,2.088,4,0.125,0.102,2384,349,2666,0,0,0,0,1,0,14.09,13.98,12.93
$GC,15057,0.58,150.8,986.5,3.8,624,15147,0.00,1.85,76.90,1.886,6,0.000,0.048,2383,1418,2447,0,0,0,0,1,0,28.83,14.50,13.05
$GC,15462,0.53,150.8,961.9,6.3,638,15465,0.00,1.77,0.00,0.000,4,0.000,0.058,2384,2445,2442,0,0,0,0,0,0,28.83,14.58,28.83
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$STATE,29442,end climb,SURFACE_DEPTH_REACHED
$STATE,29442,begin surface coast
$FINISH,1.3,1.025275
$STATE,29455,end surface coast,CONTROL_FINISHED_OK
$STATE,29455,begin surface
$SM_CCo,29474,0.57,1.104,0,0,1757,320.12
$SM_GC,1.21,6.88,0.15,0.57,0.105,0.102,1.104,148,1528,1757,-6.30,-1.50,320.12,0,0,0,0,0,0,14.62,14.68,13.71
$IRIDIUM_FIX,2456.07,-3828.81,151212,181842
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.66
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.90
$XPDR_PINGS,4
$SC_FREEKB,7662208
$TM_FREEKB,5075776
$24V_AH,12.9,134.059
$10V_AH,12.6,0.000
$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,19.725,127.600,582.950,0.575,0.000,0.000,0.000,419.500,1.000,0.000,16.833,3360.790,22914.482,833.107,2519.752,580.228,0.000,2273.150,0.000,1981.271,0.000,0.549,0.000
$DEVICE_MAMPS,416.160,110.160,2089.980,1103.895,0.000,0.000,0.000,172.125,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29506.000,7181.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.180,13.029,0.000,0.000
$MEM,345728
$DATA_FILE_SIZE,43275,1231
$CAP_FILE_SIZE,257613,0
$CFSIZE,260034560,219779072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.060,141.7,1
$GPS,161212,110604,2500.830,-3833.772,39,1.1,39,-14.1