version: 66.11
glider: 191
mission: 5
dive: 340
start: 1 5 113 10 7 13
data:
$ID,191
$MISSION,5
$DIVE,340
$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,-5026.6016
$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,51
$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
$GPS1,050113,095434,2449.434,-3732.914,33,0.8,33,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.0
$GPS2,050113,100642,2449.451,-3732.945,14,1.4,15,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-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,330.0,62904,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-61.28,0.000,2,0.000,0.000,156,1520,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.5,-5.3,4,108,10.12,1.83,-0.85,0.000,4,0.422,0.081,1982,2577,3460,0,0,0,0,0,0,14.01,14.47,14.70
$GC,329,-0.58,-97.3,30.8,-7.1,20,332,0.00,1.90,0.00,0.000,6,0.000,0.063,1982,1515,3464,0,0,0,0,0,0,28.83,14.39,28.83
$GC,628,-0.56,-97.3,52.4,-7.3,40,632,0.00,1.83,0.00,0.000,4,0.000,0.052,1974,2571,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,764,-0.54,-97.3,62.3,-7.3,49,768,0.15,1.90,0.00,0.000,6,0.234,0.064,2008,1509,3463,0,0,0,0,0,0,14.23,14.49,28.83
$GC,1063,-0.54,-97.3,84.4,-7.7,69,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1509,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.54,-97.3,107.4,-7.1,89,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1508,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1663,-0.54,-97.3,126.5,-5.8,109,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1508,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1963,-0.54,-97.3,141.9,-5.4,129,1967,0.00,1.83,0.00,0.000,4,0.000,0.052,2002,2570,3463,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2188,-0.56,-97.3,155.4,-6.1,144,2192,0.00,1.88,0.00,0.000,6,0.000,0.064,2003,1517,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2488,-0.56,-97.3,175.6,-7.3,164,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1517,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2788,-0.56,-97.3,198.0,-7.6,184,2791,0.00,1.80,0.00,0.000,4,0.000,0.053,1996,2563,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2894,-0.57,-97.3,206.0,-7.5,191,2898,0.00,1.85,0.00,0.000,6,0.000,0.064,1995,1520,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3194,-0.57,-97.3,228.9,-7.5,211,3197,0.00,1.80,0.00,0.000,4,0.000,0.053,1988,2573,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3253,-0.57,-97.3,233.3,-7.4,215,3256,0.00,1.88,0.00,0.000,6,0.000,0.064,1988,1516,3463,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3553,-0.57,-97.3,254.9,-6.9,233,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3853,-0.57,-97.3,274.1,-6.2,243,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4153,-0.57,-97.3,291.1,-5.6,253,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4454,-0.57,-97.3,308.8,-5.9,263,4458,0.00,1.80,0.00,0.000,4,0.000,0.054,1985,2568,3461,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4588,-0.57,-97.3,316.8,-6.0,268,4592,0.00,1.85,0.00,0.000,6,0.000,0.066,1980,1521,3461,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4904,-0.57,-97.3,336.9,-6.4,279,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5203,-0.57,-97.3,359.0,-7.8,289,5207,0.00,1.92,0.00,0.000,4,0.000,0.088,1979,458,3461,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5262,-0.55,-97.3,363.1,-8.4,291,5267,0.15,1.77,0.00,0.000,6,0.239,0.044,2005,1514,3458,0,0,0,0,0,0,14.31,14.67,28.83
$GC,5566,-0.57,-97.3,388.9,-8.3,301,5569,0.00,1.80,0.00,0.000,4,0.000,0.055,1999,2575,3458,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5652,-0.58,-97.3,395.3,-8.5,304,5656,0.00,1.88,0.00,0.000,6,0.000,0.066,2000,1519,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5954,-0.58,-97.3,422.8,-8.8,314,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-0.58,-97.3,446.9,-7.5,324,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6554,-0.58,-97.3,464.2,-5.0,334,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1518,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6854,-0.60,-97.3,478.3,-4.7,344,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1518,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,-0.61,-97.3,494.2,-5.6,354,7158,0.00,1.83,0.00,0.000,4,0.000,0.055,1992,2577,3454,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7228,-0.62,-97.3,498.9,-6.1,357,7232,0.00,1.88,0.00,0.000,6,0.000,0.067,1992,1521,3454,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7543,-0.62,-97.3,520.4,-6.9,368,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7844,-0.62,-97.3,540.7,-6.8,378,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8143,-0.62,-97.3,560.9,-6.8,388,8147,0.00,1.95,0.00,0.000,4,0.000,0.091,1992,459,3451,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8278,-0.62,-97.3,571.4,-7.8,393,8282,0.00,1.80,0.00,0.000,6,0.000,0.045,1984,1522,3451,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8593,-0.62,-97.3,592.7,-6.5,404,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,-0.62,-97.3,611.7,-6.3,414,8896,0.00,1.83,0.00,0.000,4,0.000,0.057,1976,2574,3449,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9013,-0.62,-97.3,618.4,-6.4,418,9016,0.00,1.90,0.00,0.000,6,0.000,0.068,1976,1515,3448,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9313,-0.62,-97.3,640.2,-6.9,428,9316,0.00,1.85,0.00,0.000,4,0.000,0.057,1969,2577,3448,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9419,-0.62,-97.3,647.4,-6.9,432,9423,0.00,1.90,0.00,0.000,6,0.000,0.068,1969,1521,3447,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9735,-0.61,-97.3,670.1,-7.2,443,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10033,-0.60,-97.3,693.6,-8.1,453,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10333,-0.60,-97.3,718.3,-8.1,463,10336,0.00,1.95,0.00,0.000,4,0.000,0.093,1969,467,3444,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10409,-0.58,-97.3,724.6,-8.3,466,10414,0.17,1.80,0.00,0.000,6,0.237,0.047,2000,1516,3444,0,0,0,0,0,0,14.15,14.57,28.83
$GC,10726,-0.60,-97.3,742.1,-4.9,477,10730,0.00,1.85,0.00,0.000,4,0.000,0.057,1994,2580,3444,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10799,-0.62,-97.3,745.6,-4.6,480,10803,0.00,1.90,0.00,0.000,6,0.000,0.068,1994,1522,3443,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11117,-0.63,-97.3,759.8,-4.7,491,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11414,-0.65,-97.3,775.6,-5.5,501,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1519,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11715,-0.66,-97.3,793.4,-5.9,511,11718,0.00,1.85,0.00,0.000,4,0.000,0.057,1987,2578,3440,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11790,-0.68,-97.3,797.8,-6.0,514,11793,0.00,1.92,0.00,0.000,6,0.000,0.070,1986,1515,3440,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12104,-0.68,-97.3,817.5,-6.1,525,12108,0.00,1.98,0.00,0.000,4,0.000,0.096,1987,459,3439,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12162,-0.68,-97.3,820.6,-6.4,527,12166,0.00,1.85,0.00,0.000,6,0.000,0.047,1979,1524,3439,0,0,0,0,0,0,28.83,14.51,28.83
$GC,12464,-0.68,-97.3,839.9,-5.8,537,12467,0.00,1.85,0.00,0.000,4,0.000,0.059,1971,2579,3438,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12570,-0.68,-97.3,846.0,-5.8,541,12574,0.00,1.92,0.00,0.000,6,0.000,0.070,1971,1518,3438,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12883,-0.68,-97.3,864.7,-6.2,552,12887,0.00,1.88,0.00,0.000,4,0.000,0.059,1963,2580,3437,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12973,-0.68,-97.3,869.7,-6.5,555,12977,0.00,1.92,0.00,0.000,6,0.000,0.070,1963,1521,3437,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13274,-0.67,-97.3,894.3,-8.5,565,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13574,-0.67,-97.3,922.2,-9.6,575,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13874,-0.66,-97.3,951.0,-9.6,585,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14174,-0.65,-97.3,976.8,-7.9,595,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14231,begin apogee
$GC,14238,-0.18,0.0,981.3,-7.5,597,14367,0.62,0.00,115.97,1.960,6,0.211,0.000,2126,1390,3062,0,0,0,0,1,0,13.92,28.83,12.95
$STATE,14368,end apogee,CONTROL_FINISHED_OK
$STATE,14368,begin climb
$GC,14371,0.60,97.3,985.8,0.0,601,14510,0.82,2.05,126.82,1.939,4,0.118,0.102,2387,342,2665,0,0,0,0,1,0,14.15,14.05,12.96
$GC,14729,0.51,97.3,975.3,6.2,614,14733,0.12,1.85,0.00,0.000,6,0.282,0.049,2361,1411,2660,0,0,0,0,0,0,14.23,14.54,28.83
$GC,15047,0.50,125.1,958.8,4.9,625,15104,0.00,1.98,46.85,1.513,4,0.000,0.103,2367,348,2552,0,0,0,0,1,0,28.83,14.38,13.25
$GC,15271,0.45,134.2,947.6,5.7,632,15313,0.12,1.83,27.08,1.031,6,0.266,0.048,2342,1408,2515,0,0,0,0,1,0,14.24,14.54,13.30
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$STATE,27883,end climb,SURFACE_DEPTH_REACHED
$STATE,27883,begin surface coast
$FINISH,0.7,1.025431
$STATE,27898,end surface coast,CONTROL_FINISHED_OK
$STATE,27898,begin surface
$SM_CCo,27979,0.00,0.000,0,0,1617,354.46
$SM_GC,1.17,6.68,0.17,0.00,0.070,0.095,0.000,153,1531,1617,-6.30,-1.33,354.46,0,0,0,0,0,0,14.50,14.64,28.83
$IRIDIUM_FIX,2439.44,-3730.64,050113,010128
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.52
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,5
$SC_FREEKB,7639552
$TM_FREEKB,4456992
$24V_AH,12.9,161.992
$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,19.575,135.975,654.625,0.000,0.000,0.000,0.000,386.175,1.250,0.000,16.166,3186.142,21584.383,920.740,2414.783,586.394,0.000,2290.176,0.000,1899.042,0.000,0.549,0.000
$DEVICE_MAMPS,422.280,112.455,1959.930,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27946.000,6508.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.307,13.016,0.000,0.000
$MEM,345600
$DATA_FILE_SIZE,43340,1158
$CAP_FILE_SIZE,244797,0
$CFSIZE,260034560,211632128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$CURRENT,0.025,306.9,1
$GPS,050113,175452,2452.015,-3735.419,38,0.8,38,-13.8