version: 66.11
glider: 191
mission: 5
dive: 317
start: 12 28 112 15 7 43
data:
$ID,191
$MISSION,5
$DIVE,317
$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,-4959.0767
$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,23
$R_STBD_OVSHOOT,49
$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
$GPS1,281212,145452,2400.469,-3755.664,36,0.8,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-59.9
$GPS2,281212,150714,2400.466,-3755.561,17,1.3,17,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,55.6,89956,-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,25,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-61.05,0.000,2,0.000,0.000,157,1518,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,4.2,-8.7,4,107,10.00,1.92,-0.50,0.000,4,0.420,0.106,1996,461,3461,1,0,0,0,0,0,13.81,14.48,14.71
$GC,329,-0.56,-97.3,31.2,-9.6,20,332,0.00,1.80,0.00,0.000,6,0.000,0.042,1991,1519,3463,0,0,0,0,0,0,28.83,14.43,28.83
$GC,628,-0.53,-97.3,57.5,-8.8,40,632,0.00,1.92,0.00,0.000,4,0.000,0.084,1991,461,3462,0,0,0,0,0,0,28.83,14.32,28.83
$GC,704,-0.49,-97.3,64.9,-10.0,45,708,0.17,1.80,0.00,0.000,6,0.239,0.042,2024,1520,3463,0,0,0,0,0,0,14.22,14.48,28.83
$GC,1003,-0.49,-97.3,86.5,-7.1,65,1006,0.00,1.80,0.00,0.000,4,0.000,0.052,2018,2575,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1094,-0.51,-97.3,92.9,-7.0,71,1098,0.00,1.88,0.00,0.000,6,0.000,0.062,2018,1516,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1393,-0.51,-97.3,113.9,-6.3,91,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-0.51,-97.3,132.1,-5.9,111,1697,0.00,1.83,0.00,0.000,4,0.000,0.053,2010,2576,3464,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1799,-0.52,-97.3,137.9,-5.4,118,1803,0.00,1.88,0.00,0.000,6,0.000,0.063,2010,1516,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2098,-0.52,-97.3,152.1,-4.5,138,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2398,-0.52,-97.3,166.4,-5.2,158,2402,0.00,1.90,0.00,0.000,4,0.000,0.084,2010,464,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2488,-0.52,-97.3,172.3,-6.8,164,2491,0.00,1.77,0.00,0.000,6,0.000,0.042,2003,1519,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2788,-0.52,-97.3,194.9,-8.6,184,2792,0.00,1.80,0.00,0.000,4,0.000,0.052,1995,2577,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2879,-0.54,-97.3,203.2,-9.4,190,2882,0.00,1.88,0.00,0.000,6,0.000,0.063,1995,1511,3462,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3178,-0.54,-97.3,232.0,-9.2,210,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3493,-0.54,-97.3,257.5,-7.4,228,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1511,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3793,-0.54,-97.3,277.6,-6.3,238,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1511,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4094,-0.54,-97.3,293.6,-5.1,248,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1511,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4394,-0.54,-97.3,309.4,-5.6,258,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1511,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4693,-0.54,-97.3,330.3,-7.5,268,4696,0.00,1.83,0.00,0.000,4,0.000,0.054,1987,2579,3460,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4783,-0.54,-97.3,336.3,-8.0,271,4787,0.00,1.85,0.00,0.000,6,0.000,0.063,1987,1521,3460,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5083,-0.54,-97.3,362.7,-8.3,281,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5384,-0.54,-97.3,386.6,-7.7,291,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5683,-0.54,-97.3,408.8,-7.2,301,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5983,-0.54,-97.3,428.9,-6.4,311,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6284,-0.54,-97.3,447.2,-5.9,321,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6583,-0.54,-97.3,466.8,-6.9,331,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6884,-0.54,-97.3,491.2,-8.6,341,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7183,-0.54,-97.3,518.6,-9.0,351,7187,0.00,1.92,0.00,0.000,4,0.000,0.089,1987,463,3454,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7258,-0.54,-97.3,525.6,-9.4,354,7262,0.15,1.80,0.00,0.000,6,0.232,0.044,2013,1525,3454,0,0,0,0,0,0,14.34,14.67,28.83
$GC,7576,-0.56,-97.3,547.5,-6.3,365,7579,0.00,1.80,0.00,0.000,4,0.000,0.056,2008,2576,3453,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7722,-0.59,-97.3,555.4,-5.9,370,7726,0.00,1.88,0.00,0.000,6,0.000,0.067,2007,1521,3452,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8027,-0.61,-97.3,572.4,-5.3,380,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8323,-0.62,-97.3,589.3,-5.8,390,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8625,-0.64,-97.3,605.8,-5.5,400,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8923,-0.66,-97.3,621.5,-5.2,410,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1522,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9225,-0.68,-97.3,637.2,-5.2,420,9227,0.12,0.00,0.00,0.000,6,0.145,0.000,1961,1521,3448,0,0,0,0,0,0,14.70,28.83,28.83
$GC,9523,-0.66,-97.3,657.8,-7.0,430,9527,0.00,1.92,0.00,0.000,4,0.000,0.091,1960,466,3447,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9582,-0.63,-97.3,661.5,-7.4,432,9587,0.12,1.80,0.00,0.000,6,0.256,0.046,1979,1520,3446,0,0,0,0,0,0,14.28,14.64,28.83
$GC,9886,-0.63,-97.3,682.0,-6.4,442,9890,0.00,1.83,0.00,0.000,4,0.000,0.057,1974,2578,3446,0,0,0,0,0,0,28.83,14.58,28.83
$GC,10108,-0.63,-97.3,696.2,-6.4,450,10111,0.00,1.90,0.00,0.000,6,0.000,0.068,1974,1517,3443,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10424,-0.63,-97.3,716.9,-6.6,461,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1517,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10724,-0.63,-97.3,737.4,-7.1,471,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1517,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11024,-0.63,-97.3,759.5,-7.6,481,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1517,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11324,-0.63,-97.3,782.3,-7.5,491,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1517,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11624,-0.63,-97.3,802.6,-6.5,501,11625,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1517,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11924,-0.63,-97.3,820.9,-6.1,511,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1517,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12223,-0.63,-97.3,839.6,-6.2,521,12227,0.00,1.85,0.00,0.000,4,0.000,0.059,1967,2574,3438,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12329,-0.63,-97.3,846.2,-6.3,525,12333,0.00,1.92,0.00,0.000,6,0.000,0.071,1966,1516,3438,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12646,-0.62,-97.3,866.6,-6.5,536,12649,0.00,1.95,0.00,0.000,4,0.000,0.094,1965,466,3437,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12719,-0.60,-97.3,872.0,-7.0,539,12724,0.15,1.83,0.00,0.000,6,0.247,0.048,1990,1520,3437,0,0,0,0,0,0,14.13,14.54,28.83
$GC,13037,-0.62,-97.3,887.9,-4.8,550,13040,0.00,1.85,0.00,0.000,4,0.000,0.060,1984,2578,3437,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13170,-0.63,-97.3,894.8,-5.1,555,13173,0.00,1.92,0.00,0.000,6,0.000,0.071,1984,1520,3436,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13484,-0.63,-97.3,913.5,-6.2,566,13488,0.00,1.98,0.00,0.000,4,0.000,0.096,1984,461,3435,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13575,-0.63,-97.3,919.0,-7.1,569,13578,0.00,1.85,0.00,0.000,6,0.000,0.049,1977,1526,3434,0,0,0,0,0,0,28.83,14.51,28.83
$GC,13874,-0.63,-97.3,942.0,-7.3,579,13877,0.00,1.85,0.00,0.000,4,0.000,0.061,1969,2579,3434,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13993,-0.63,-97.3,950.0,-7.6,583,13997,0.00,1.92,0.00,0.000,6,0.000,0.071,1969,1521,3434,0,0,0,0,0,0,28.83,14.38,28.83
$GC,14294,-0.63,-97.3,974.2,-7.6,593,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1520,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14381,begin apogee
$GC,14388,-0.18,0.0,980.9,-7.5,596,14515,0.60,0.00,116.07,2.009,6,0.205,0.000,2128,1390,3063,0,0,0,0,1,0,14.02,28.83,12.92
$STATE,14517,end apogee,CONTROL_FINISHED_OK
$STATE,14517,begin climb
$GC,14521,0.60,97.3,986.3,0.0,600,14660,0.82,2.03,127.85,1.989,4,0.122,0.100,2387,349,2666,0,0,0,0,1,0,14.13,14.02,12.93
$GC,14849,0.55,127.8,982.1,4.8,612,14910,0.00,1.85,51.00,1.581,6,0.000,0.048,2386,1421,2541,0,0,0,0,1,0,28.83,14.54,13.16
$GC,15224,0.49,127.8,959.3,6.2,625,15226,0.15,0.00,0.00,0.000,6,0.276,0.000,2353,1422,2537,0,0,0,0,0,0,14.31,28.83,28.83
$GC,15527,0.48,148.0,943.2,5.2,635,15573,0.00,0.00,38.60,1.385,6,0.000,0.000,2353,1422,2457,0,0,0,0,1,0,28.83,28.83,13.32
$GC,15856,0.46,154.1,924.7,5.8,646,15864,0.00,0.00,6.00,2.032,6,0.000,0.000,2353,1422,2433,0,0,0,0,0,0,28.83,28.83,14.16
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$STATE,29833,end climb,SURFACE_DEPTH_REACHED
$STATE,29833,begin surface coast
$FINISH,0.4,1.025309
$STATE,29850,end surface coast,CONTROL_FINISHED_OK
$STATE,29850,begin surface
$SM_CCo,29871,22.75,0.704,0,0,1757,320.12
$SM_GC,0.70,6.70,0.17,22.75,0.076,0.095,0.704,158,1524,1757,-6.28,-1.27,320.12,0,0,0,0,0,0,14.54,14.66,13.97
$IRIDIUM_FIX,2349.77,-3758.70,281212,060628
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.81
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.70
$XPDR_PINGS,7
$SC_FREEKB,7648384
$TM_FREEKB,4694656
$24V_AH,12.9,151.096
$10V_AH,13.1,0.000
$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,19.500,120.200,609.725,22.750,0.000,0.000,0.000,400.050,1.750,0.000,18.617,3340.986,23267.777,884.767,2528.318,599.239,0.000,2302.970,0.000,1989.582,0.000,0.549,0.000
$DEVICE_MAMPS,419.985,110.925,2031.840,703.800,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29898.000,6705.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.151,13.024,0.000,0.000
$MEM,345620
$DATA_FILE_SIZE,43317,1222
$CAP_FILE_SIZE,253835,0
$CFSIZE,260034560,214769664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.058,235.4,1
$GPS,281212,232722,2402.178,-3754.250,39,0.8,40,-14.1