version: 66.11
glider: 191
mission: 5
dive: 309
start: 12 25 112 22 23 42
data:
$ID,191
$MISSION,5
$DIVE,309
$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,-4948.6304
$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,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
$GPS1,251212,220506,2409.163,-3814.139,32,0.9,33,-14.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-58.5
$GPS2,251212,222311,2409.170,-3814.163,16,1.3,16,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,132.6,32904,-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,24,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-60.72,0.000,6,0.000,0.000,146,1518,3459,0,0,0,0,0,0,28.83,28.83,14.77
$GC,90,-0.60,-97.3,4.2,-8.1,4,102,9.77,0.00,0.00,0.000,6,0.410,0.000,1987,1520,3462,1,0,0,0,0,0,13.83,28.83,28.83
$GC,403,-0.57,-97.3,38.4,-4.9,25,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,703,-0.55,-97.3,60.9,-7.4,45,704,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.53,-97.3,83.0,-7.7,65,1005,0.12,0.00,0.00,0.000,6,0.243,0.000,2018,1523,3462,0,0,0,0,0,0,14.42,28.83,28.83
$GC,1303,-0.53,-97.3,106.0,-7.9,85,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.53,-97.3,126.2,-6.1,105,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-0.53,-97.3,144.3,-6.1,125,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,-0.54,-97.3,163.0,-7.0,145,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2503,-0.55,-97.3,186.9,-8.0,165,2507,0.00,1.92,0.00,0.000,4,0.000,0.084,2018,461,3463,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2623,-0.55,-97.3,197.4,-9.0,173,2626,0.00,1.77,0.00,0.000,6,0.000,0.042,2012,1517,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2923,-0.55,-97.3,219.7,-6.7,193,2926,0.00,1.80,0.00,0.000,4,0.000,0.053,2006,2584,3465,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3137,-0.57,-97.3,232.5,-6.6,207,3141,0.00,1.85,0.00,0.000,6,0.000,0.063,2004,1518,3464,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3437,-0.57,-97.3,250.1,-5.7,227,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3734,-0.57,-97.3,268.1,-6.1,237,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.57,-97.3,286.6,-6.3,247,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4335,-0.57,-97.3,304.8,-5.9,257,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4634,-0.57,-97.3,323.0,-6.3,267,4637,0.00,1.80,0.00,0.000,4,0.000,0.055,1997,2576,3461,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4710,-0.58,-97.3,327.8,-6.4,270,4714,0.00,1.85,0.00,0.000,6,0.000,0.066,1997,1522,3460,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5024,-0.58,-97.3,348.7,-6.7,281,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5324,-0.58,-97.3,368.0,-6.2,291,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5625,-0.58,-97.3,384.8,-5.3,301,5629,0.00,1.90,0.00,0.000,4,0.000,0.086,1997,465,3458,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5743,-0.58,-97.3,391.4,-6.2,305,5746,0.00,1.77,0.00,0.000,6,0.000,0.044,1989,1518,3458,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6045,-0.58,-97.3,409.7,-6.0,315,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6344,-0.58,-97.3,431.0,-7.6,325,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1525,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6645,-0.58,-97.3,454.7,-7.9,335,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6944,-0.58,-97.3,477.9,-7.8,345,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7244,-0.58,-97.3,499.5,-6.8,355,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7545,-0.58,-97.3,519.4,-6.5,365,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7844,-0.58,-97.3,537.9,-6.0,375,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8145,-0.58,-97.3,555.8,-6.0,385,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8444,-0.58,-97.3,577.6,-7.8,395,8447,0.00,1.83,0.00,0.000,4,0.000,0.057,1981,2584,3450,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8519,-0.58,-97.3,583.8,-8.2,398,8523,0.00,1.88,0.00,0.000,6,0.000,0.067,1981,1520,3449,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8835,-0.58,-97.3,611.5,-8.7,409,8838,0.00,1.92,0.00,0.000,4,0.000,0.089,1981,461,3450,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8939,-0.57,-97.3,621.2,-9.3,413,8944,0.15,1.80,0.00,0.000,6,0.232,0.046,2008,1519,3448,0,0,0,0,0,0,14.32,14.65,28.83
$GC,9257,-0.58,-97.3,642.8,-6.4,424,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9554,-0.60,-97.3,661.4,-6.3,434,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9855,-0.62,-97.3,681.0,-6.5,444,9859,0.00,1.83,0.00,0.000,4,0.000,0.058,2002,2578,3445,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9929,-0.65,-97.3,685.9,-6.4,447,9933,0.00,1.90,0.00,0.000,6,0.000,0.069,2003,1515,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10247,-0.66,-97.3,704.3,-5.5,458,10251,0.00,1.92,0.00,0.000,4,0.000,0.091,2002,465,3444,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10333,-0.66,-97.3,709.0,-6.0,461,10337,0.00,1.80,0.00,0.000,6,0.000,0.047,1995,1520,3443,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10635,-0.66,-97.3,724.1,-4.4,471,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10935,-0.66,-97.3,735.9,-3.9,481,10939,0.00,1.83,0.00,0.000,4,0.000,0.059,1987,2576,3441,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11084,-0.68,-97.3,741.5,-4.2,486,11087,0.00,1.90,0.00,0.000,6,0.000,0.070,1987,1518,3441,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11385,-0.68,-97.3,757.0,-5.5,496,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1518,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11684,-0.68,-97.3,776.1,-6.8,506,11687,0.00,1.85,0.00,0.000,4,0.000,0.060,1980,2576,3439,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11773,-0.68,-97.3,781.2,-6.8,509,11777,0.00,1.90,0.00,0.000,6,0.000,0.070,1980,1521,3439,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12075,-0.68,-97.3,802.6,-6.5,519,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12374,-0.68,-97.3,820.5,-5.7,529,12378,0.00,1.95,0.00,0.000,4,0.000,0.093,1980,468,3437,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12451,-0.68,-97.3,825.2,-6.0,532,12454,0.00,1.83,0.00,0.000,6,0.000,0.049,1972,1524,3436,0,0,0,0,0,0,28.83,14.56,28.83
$GC,12764,-0.68,-97.3,843.9,-6.2,543,12767,0.00,1.85,0.00,0.000,4,0.000,0.060,1964,2580,3436,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12900,-0.68,-97.3,853.0,-6.8,548,12904,0.00,1.92,0.00,0.000,6,0.000,0.071,1965,1515,3435,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13216,-0.67,-97.3,878.4,-8.4,559,13217,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1515,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13515,-0.66,-97.3,904.4,-8.6,569,13519,0.00,1.95,0.00,0.000,4,0.000,0.094,1964,466,3434,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13573,-0.64,-97.3,908.3,-8.4,571,13577,0.00,1.83,0.00,0.000,6,0.000,0.050,1957,1518,3434,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13877,-0.62,-97.3,931.2,-6.6,581,13879,0.12,0.00,0.00,0.000,6,0.262,0.000,1983,1520,3433,0,0,0,0,0,0,14.31,28.83,28.83
$GC,14175,-0.62,-97.3,947.2,-5.3,591,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1516,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14474,-0.62,-97.3,964.7,-6.1,601,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1520,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14742,begin apogee
$GC,14749,-0.18,0.0,982.0,-6.8,610,14876,0.52,0.00,115.03,2.032,6,0.198,0.000,2127,1393,3064,0,0,0,0,1,0,14.03,28.83,12.92
$STATE,14878,end apogee,CONTROL_FINISHED_OK
$STATE,14878,begin climb
$GC,14881,0.60,97.3,987.4,0.0,614,15019,0.82,1.95,126.45,1.990,4,0.120,0.059,2379,2455,2667,0,0,0,0,1,0,14.12,14.07,12.94
$GC,15164,0.62,168.2,989.2,3.1,624,15271,0.00,1.92,96.18,1.926,6,0.000,0.076,2387,1401,2377,0,0,0,0,1,0,28.83,14.42,13.02
$GC,15584,0.56,168.2,963.3,6.7,639,15585,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1401,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15885,0.51,168.2,943.8,6.5,649,15887,0.15,0.00,0.00,0.000,6,0.271,0.000,2356,1401,2370,0,0,0,0,0,0,14.35,28.83,28.83
$GC,16187,0.52,192.5,928.4,5.0,659,16235,0.00,0.00,41.17,1.440,6,0.000,0.000,2356,1401,2277,0,0,0,0,1,0,28.83,28.83,13.32
$GC,16531,0.55,230.9,912.3,4.4,670,16602,0.00,1.98,59.72,1.704,4,0.000,0.106,2362,348,2120,0,0,0,0,1,0,28.83,14.25,13.18
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$STATE,28271,end climb,SURFACE_DEPTH_REACHED
$STATE,28273,begin surface coast
$FINISH,1.2,1.025460
$STATE,28287,end surface coast,CONTROL_FINISHED_OK
$STATE,28288,begin surface
$SM_CCo,28368,0.00,0.000,0,0,1680,339.00
$SM_GC,0.90,6.57,0.17,0.00,0.063,0.090,0.000,164,1536,1680,-6.28,-1.16,339.00,0,0,0,0,0,0,14.52,14.69,28.83
$IRIDIUM_FIX,2359.20,-3813.41,251212,222240
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.41
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.70
$XPDR_PINGS,7
$SC_FREEKB,7651456
$TM_FREEKB,4779040
$24V_AH,12.9,147.440
$10V_AH,12.4,0.000
$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,18.800,109.125,657.175,0.000,0.000,0.000,0.000,628.700,1.750,0.000,17.459,3159.743,22181.393,887.526,2648.422,560.778,0.000,2496.626,0.000,1889.575,0.000,0.548,0.000
$DEVICE_MAMPS,410.040,111.690,2031.840,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28335.000,6342.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.139,13.041,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,43328,1162
$CAP_FILE_SIZE,242429,0
$CFSIZE,260034560,215875584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.049,203.8,1
$GPS,261212,061752,2407.040,-3811.462,41,0.9,41,-14.1