version: 66.11
glider: 191
mission: 5
dive: 321
start: 12 30 112 0 0 47
data:
$ID,191
$MISSION,5
$DIVE,321
$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,-5002.1274
$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,50
$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,10
$MINV_10V,10
$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
$GPS1,291212,234758,2407.755,-3748.018,39,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-52.8
$GPS2,301212,000018,2407.851,-3748.101,17,1.2,18,-14.0
$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,60.3,71400,-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,-97.3,0.0,0.0,0,102,0.00,0.00,-69.82,0.000,6,0.000,0.000,153,1524,3461,0,0,0,0,0,0,28.83,28.83,14.79
$GC,105,-0.60,-97.3,5.3,-8.7,5,119,10.20,1.77,0.00,0.000,4,0.425,0.051,1984,2566,3463,1,0,0,0,0,0,13.78,14.52,28.83
$GC,301,-0.58,-97.3,28.3,-9.1,18,305,0.00,1.88,0.00,0.000,6,0.000,0.064,1984,1518,3465,0,0,0,0,0,0,28.83,14.43,28.83
$GC,599,-0.55,-97.3,55.5,-9.2,38,603,0.00,1.92,0.00,0.000,4,0.000,0.086,1984,459,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,674,-0.51,-97.3,63.6,-11.0,43,679,0.17,1.80,0.00,0.000,6,0.242,0.043,2016,1517,3464,0,0,0,0,0,0,14.25,14.57,28.83
$GC,973,-0.51,-97.3,91.2,-8.5,63,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1273,-0.51,-97.3,114.7,-6.9,83,1277,0.00,1.80,0.00,0.000,4,0.000,0.053,2010,2576,3465,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1500,-0.53,-97.3,126.5,-4.4,98,1504,0.00,1.88,0.00,0.000,6,0.000,0.063,2010,1512,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1799,-0.53,-97.3,141.6,-6.1,118,1802,0.00,1.83,0.00,0.000,4,0.000,0.052,2003,2577,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2023,-0.54,-97.3,157.6,-7.4,133,2027,0.00,1.88,0.00,0.000,6,0.000,0.063,2003,1517,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2324,-0.54,-97.3,178.6,-6.8,153,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2623,-0.54,-97.3,196.0,-5.4,173,2627,0.00,1.83,0.00,0.000,4,0.000,0.052,1995,2579,3465,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2821,-0.56,-97.3,204.9,-4.4,186,2825,0.00,1.88,0.00,0.000,6,0.000,0.063,1995,1513,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3120,-0.56,-97.3,219.5,-6.0,206,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3418,-0.56,-97.3,240.9,-8.0,226,3422,0.00,1.83,0.00,0.000,4,0.000,0.053,1987,2578,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3509,-0.56,-97.3,248.4,-8.4,232,3512,0.00,1.88,0.00,0.000,6,0.000,0.063,1986,1514,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3808,-0.56,-97.3,275.1,-9.1,243,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-0.56,-97.3,300.9,-8.1,253,4112,0.00,1.83,0.00,0.000,4,0.000,0.053,1979,2581,3463,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4214,-0.56,-97.3,308.7,-7.4,257,4218,0.12,1.88,0.00,0.000,6,0.234,0.063,2006,1516,3462,0,0,0,0,0,0,14.38,14.54,28.83
$GC,4531,-0.57,-97.3,327.7,-5.7,268,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.59,-97.3,344.4,-5.7,278,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5128,-0.60,-97.3,363.4,-6.5,288,5132,0.00,1.90,0.00,0.000,4,0.000,0.087,2006,464,3461,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5278,-0.60,-97.3,373.6,-7.6,293,5282,0.00,1.77,0.00,0.000,6,0.000,0.044,2001,1520,3460,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5578,-0.60,-97.3,394.3,-6.1,303,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5879,-0.60,-97.3,409.8,-4.8,313,5883,0.00,1.80,0.00,0.000,4,0.000,0.054,1994,2578,3458,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6028,-0.62,-97.3,416.1,-4.7,318,6031,0.00,1.88,0.00,0.000,6,0.000,0.064,1994,1514,3458,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6328,-0.62,-97.3,430.4,-4.5,328,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1514,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6629,-0.62,-97.3,445.6,-5.5,338,6633,0.00,1.83,0.00,0.000,4,0.000,0.054,1987,2577,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6717,-0.62,-97.3,450.0,-5.8,341,6721,0.00,1.88,0.00,0.000,6,0.000,0.066,1986,1516,3457,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7019,-0.62,-97.3,468.7,-5.9,351,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1516,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,-0.62,-97.3,489.2,-7.2,361,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7619,-0.62,-97.3,511.2,-7.4,371,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1516,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7918,-0.62,-97.3,533.3,-7.4,381,7922,0.00,1.83,0.00,0.000,4,0.000,0.056,1978,2576,3453,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8023,-0.62,-97.3,541.0,-7.4,385,8027,0.00,1.88,0.00,0.000,6,0.000,0.067,1978,1521,3453,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8339,-0.62,-97.3,563.1,-6.8,396,8343,0.00,1.92,0.00,0.000,4,0.000,0.090,1978,463,3452,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8427,-0.60,-97.3,568.7,-7.4,399,8431,0.00,1.80,0.00,0.000,6,0.000,0.045,1971,1523,3451,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8730,-0.59,-97.3,592.9,-7.8,409,8733,0.00,1.80,0.00,0.000,4,0.000,0.057,1963,2575,3450,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8937,-0.59,-97.3,609.2,-8.4,416,8942,0.15,1.90,0.00,0.000,6,0.233,0.067,1996,1511,3449,0,0,0,0,0,0,14.26,14.48,28.83
$GC,9241,-0.60,-97.3,632.7,-7.1,426,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1511,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,-0.61,-97.3,651.4,-6.0,436,9543,0.00,1.92,0.00,0.000,4,0.000,0.092,1997,462,3449,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9613,-0.61,-97.3,656.4,-6.4,439,9617,0.00,1.80,0.00,0.000,6,0.000,0.045,1991,1519,3448,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9929,-0.61,-97.3,675.2,-5.8,450,9932,0.00,1.83,0.00,0.000,4,0.000,0.057,1983,2577,3447,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10064,-0.63,-97.3,682.6,-5.5,455,10068,0.00,1.90,0.00,0.000,6,0.000,0.068,1984,1514,3446,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10381,-0.63,-97.3,700.1,-5.7,466,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10678,-0.63,-97.3,717.4,-5.8,476,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10979,-0.63,-97.3,736.1,-6.5,486,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11278,-0.63,-97.3,757.4,-7.4,496,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11578,-0.63,-97.3,780.8,-7.8,506,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11879,-0.63,-97.3,802.5,-7.0,516,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1513,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12178,-0.63,-97.3,821.2,-5.9,526,12182,0.00,1.85,0.00,0.000,4,0.000,0.059,1976,2575,3440,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12255,-0.63,-97.3,825.4,-5.7,529,12258,0.00,1.90,0.00,0.000,6,0.000,0.070,1976,1521,3440,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12570,-0.63,-97.3,842.5,-5.3,540,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12870,-0.63,-97.3,858.4,-5.4,550,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13168,-0.63,-97.3,877.8,-6.9,560,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13469,-0.63,-97.3,901.0,-7.8,570,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13769,-0.63,-97.3,924.9,-8.0,580,13773,0.00,1.85,0.00,0.000,4,0.000,0.060,1968,2574,3435,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13903,-0.63,-97.3,935.9,-8.0,585,13907,0.00,1.92,0.00,0.000,6,0.000,0.073,1968,1515,3435,0,0,0,0,0,0,28.83,14.41,28.83
$GC,14219,-0.63,-97.3,959.9,-7.3,596,14220,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1516,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14519,-0.63,-97.3,979.1,-6.0,606,14520,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1515,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14545,begin apogee
$GC,14553,-0.18,0.0,980.9,-5.9,607,14681,0.60,0.00,115.90,1.982,6,0.201,0.000,2129,1397,3063,0,0,0,0,1,0,14.02,28.83,12.95
$STATE,14682,end apogee,CONTROL_FINISHED_OK
$STATE,14683,begin climb
$GC,14685,0.60,97.3,983.6,0.0,611,14824,0.80,1.95,127.12,1.957,4,0.111,0.058,2378,2461,2665,0,0,0,0,1,0,14.14,14.08,12.96
$GC,14939,0.48,102.9,978.4,5.8,620,14954,0.17,1.95,5.15,1.993,6,0.276,0.076,2351,1400,2642,0,0,0,0,0,0,14.18,14.40,13.17
$GC,15254,0.44,102.9,956.3,6.8,631,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1400,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15555,0.42,118.6,938.6,5.4,641,15596,0.00,0.00,33.83,1.246,6,0.000,0.000,2350,1400,2578,0,0,0,0,1,0,28.83,28.83,13.35
$GC,15886,0.44,162.6,922.8,4.2,652,15958,0.00,0.00,65.60,1.734,6,0.000,0.000,2350,1399,2401,0,0,0,0,1,0,28.83,28.83,13.14
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$STATE,27476,end climb,SURFACE_DEPTH_REACHED
$STATE,27476,begin surface coast
$FINISH,0.6,1.025446
$STATE,27492,end surface coast,CONTROL_FINISHED_OK
$STATE,27492,begin surface
$SM_CCo,27573,0.00,0.000,0,0,1518,378.74
$SM_GC,1.08,6.75,0.17,0.00,0.073,0.096,0.000,155,1516,1518,-6.30,-1.55,378.74,0,0,0,0,0,0,14.47,14.64,28.83
$IRIDIUM_FIX,2356.84,-3748.36,291212,151505
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.29
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.60
$XPDR_PINGS,1
$SC_FREEKB,7646848
$TM_FREEKB,4654240
$24V_AH,13.0,153.092
$10V_AH,12.5,0.000
$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,19.400,124.150,666.325,0.000,0.000,0.000,0.000,403.350,0.250,0.000,18.857,3109.855,21299.791,918.675,2391.238,575.856,0.000,2283.386,0.000,1843.647,0.000,0.549,0.000
$DEVICE_MAMPS,425.340,117.045,1992.825,0.000,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27537.000,6640.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.141,13.025,0.000,0.000
$MEM,345620
$DATA_FILE_SIZE,40051,1143
$CAP_FILE_SIZE,236313,0
$CFSIZE,260034560,214233088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.035,238.3,1
$GPS,301212,074134,2409.484,-3746.091,32,0.8,32,-14.0