version: 66.11
glider: 191
mission: 5
dive: 372
start: 1 16 113 4 59 36
data:
$ID,191
$MISSION,5
$DIVE,372
$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,-5068.2832
$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
$GPS1,160113,044652,2427.237,-3832.507,36,0.9,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-55.6
$GPS2,160113,045905,2427.272,-3832.417,18,0.9,18,-14.2
$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,153.7,78445,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.60,-97.3,0.0,0.0,0,89,0.00,0.00,-61.10,0.000,2,0.000,0.000,159,1523,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.60,-97.3,3.4,-7.2,4,110,9.85,1.80,-3.00,0.000,4,0.411,0.080,1980,2566,3458,1,0,0,0,0,0,13.72,14.47,14.75
$GC,330,-0.58,-97.3,27.6,-6.4,20,334,0.00,1.88,0.00,0.000,6,0.000,0.064,1984,1520,3460,0,0,0,0,0,0,28.83,14.42,28.83
$GC,630,-0.55,-97.3,52.5,-11.1,40,634,0.12,1.83,0.00,0.000,4,0.247,0.049,2002,2576,3459,0,0,0,0,0,0,14.21,14.47,28.83
$GC,735,-0.55,-97.3,63.7,-10.2,47,739,0.00,1.90,0.00,0.000,6,0.000,0.062,2003,1511,3460,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1034,-0.55,-97.3,89.6,-8.1,67,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1511,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1334,-0.55,-97.3,112.7,-7.7,87,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1511,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,-0.55,-97.3,132.4,-4.8,107,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1511,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1935,-0.55,-97.3,148.0,-5.7,127,1938,0.00,1.90,0.00,0.000,4,0.000,0.083,2002,466,3461,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2010,-0.54,-97.3,152.8,-6.5,132,2014,0.00,1.77,0.00,0.000,6,0.000,0.041,1995,1515,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2309,-0.54,-97.3,172.8,-7.1,152,2313,0.00,1.83,0.00,0.000,4,0.000,0.051,1987,2577,3460,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2461,-0.54,-97.3,184.1,-7.6,162,2464,0.00,1.88,0.00,0.000,6,0.000,0.062,1987,1519,3461,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2760,-0.54,-97.3,206.0,-7.1,182,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3060,-0.54,-97.3,227.3,-7.1,202,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3360,-0.54,-97.3,249.2,-7.4,222,3363,0.00,1.83,0.00,0.000,4,0.000,0.052,1979,2580,3460,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3464,-0.54,-97.3,257.3,-7.7,226,3469,0.15,1.90,0.00,0.000,6,0.226,0.063,2013,1511,3460,0,0,0,0,0,0,14.26,14.52,28.83
$GC,3783,-0.56,-97.3,276.7,-6.0,237,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1508,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4081,-0.58,-97.3,295.0,-6.0,247,4084,0.00,1.90,0.00,0.000,4,0.000,0.085,2013,463,3459,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4229,-0.58,-97.3,303.5,-6.4,252,4233,0.00,1.77,0.00,0.000,6,0.000,0.041,2008,1521,3459,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4533,-0.59,-97.3,320.0,-4.9,262,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1523,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.60,-97.3,333.8,-4.7,272,4834,0.00,1.80,0.00,0.000,4,0.000,0.053,2001,2576,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4905,-0.62,-97.3,337.3,-4.7,275,4909,0.00,1.88,0.00,0.000,6,0.000,0.063,2001,1521,3457,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5223,-0.62,-97.3,355.0,-5.9,286,5226,0.00,1.92,0.00,0.000,4,0.000,0.086,2000,463,3457,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5324,-0.62,-97.3,362.1,-6.9,290,5328,0.00,1.80,0.00,0.000,6,0.000,0.042,1993,1519,3456,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5640,-0.62,-97.3,382.4,-6.4,301,5644,0.00,1.80,0.00,0.000,4,0.000,0.054,1985,2576,3455,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5729,-0.62,-97.3,387.6,-6.8,304,5733,0.00,1.88,0.00,0.000,6,0.000,0.064,1985,1520,3455,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6030,-0.62,-97.3,410.9,-7.7,314,6034,0.00,1.92,0.00,0.000,4,0.000,0.086,1985,463,3454,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6104,-0.62,-97.3,417.4,-8.5,317,6108,0.00,1.80,0.00,0.000,6,0.000,0.042,1977,1519,3454,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6421,-0.62,-97.3,443.0,-7.9,328,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6719,-0.62,-97.3,464.7,-7.1,338,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7021,-0.62,-97.3,486.7,-7.5,348,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,-0.62,-97.3,511.0,-8.4,358,7323,0.00,1.95,0.00,0.000,4,0.000,0.087,1978,458,3451,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7426,-0.60,-97.3,520.7,-9.2,362,7429,0.00,1.80,0.00,0.000,6,0.000,0.044,1970,1519,3451,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7743,-0.59,-97.3,548.7,-8.9,373,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8040,-0.58,-97.3,572.6,-7.5,383,8044,0.15,1.83,0.00,0.000,4,0.242,0.054,1994,2579,3449,0,0,0,0,0,0,14.32,14.53,28.83
$GC,8115,-0.58,-97.3,576.9,-6.1,386,8119,0.00,1.90,0.00,0.000,6,0.000,0.066,1997,1516,3448,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8432,-0.59,-97.3,592.6,-4.6,397,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1516,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8732,-0.60,-97.3,607.7,-5.4,407,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1515,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9030,-0.61,-97.3,627.1,-6.9,417,9034,0.00,1.95,0.00,0.000,4,0.000,0.090,1998,459,3446,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9135,-0.61,-97.3,635.9,-8.4,421,9139,0.00,1.83,0.00,0.000,6,0.000,0.044,1990,1525,3446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9450,-0.61,-97.3,664.1,-9.3,432,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1525,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9750,-0.61,-97.3,692.9,-9.7,442,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1526,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10050,-0.61,-97.3,718.0,-7.7,452,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1527,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10350,-0.61,-97.3,736.4,-5.4,462,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1527,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10652,-0.61,-97.3,748.6,-3.7,472,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1527,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10950,-0.61,-97.3,762.1,-5.0,482,10954,0.00,1.98,0.00,0.000,4,0.000,0.092,1990,466,3439,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11055,-0.61,-97.3,769.0,-6.6,486,11059,0.00,1.83,0.00,0.000,6,0.000,0.046,1982,1521,3439,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11370,-0.61,-97.3,793.4,-8.4,497,11371,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1522,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11670,-0.61,-97.3,819.5,-8.5,507,11674,0.00,1.98,0.00,0.000,4,0.000,0.092,1982,464,3437,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11759,-0.61,-97.3,826.1,-8.7,510,11763,0.00,1.83,0.00,0.000,6,0.000,0.046,1974,1519,3437,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12060,-0.61,-97.3,849.2,-6.6,520,12063,0.00,1.85,0.00,0.000,4,0.000,0.058,1967,2576,3436,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12135,-0.61,-97.3,853.8,-6.2,523,12139,0.00,1.92,0.00,0.000,6,0.000,0.070,1967,1520,3435,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12452,-0.61,-97.3,871.5,-5.3,534,12456,0.00,1.98,0.00,0.000,4,0.000,0.093,1967,464,3434,0,0,0,0,0,0,28.83,14.18,28.83
$GC,12541,-0.60,-97.3,875.8,-5.6,537,12545,0.15,1.85,0.00,0.000,6,0.251,0.047,1990,1526,3434,0,0,0,0,0,0,14.00,14.44,28.83
$GC,12842,-0.61,-97.3,889.5,-4.3,547,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1528,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13142,-0.62,-97.3,904.2,-5.1,557,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1528,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13440,-0.64,-97.3,921.9,-6.4,567,13444,0.00,1.85,0.00,0.000,4,0.000,0.060,1985,2576,3431,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13501,-0.65,-97.3,925.1,-6.7,569,13504,0.00,1.92,0.00,0.000,6,0.000,0.070,1985,1523,3430,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13801,-0.65,-97.3,948.0,-7.2,579,13805,0.00,2.00,0.00,0.000,4,0.000,0.095,1985,460,3430,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13874,-0.65,-97.3,954.1,-8.1,582,13878,0.00,1.85,0.00,0.000,6,0.000,0.048,1977,1519,3430,0,0,0,0,0,0,28.83,14.40,28.83
$GC,14191,-0.65,-97.3,977.7,-7.4,593,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1521,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14247,begin apogee
$GC,14254,-0.18,0.0,982.0,-7.1,595,14377,0.57,0.00,114.38,1.919,6,0.199,0.000,2128,1394,3062,0,0,0,0,1,0,13.80,28.83,12.93
$STATE,14378,end apogee,CONTROL_FINISHED_OK
$STATE,14379,begin climb
$GC,14382,0.60,97.3,986.7,0.0,599,14520,0.77,2.05,126.90,1.909,4,0.107,0.100,2384,342,2665,0,0,0,0,1,0,14.14,14.09,12.97
$GC,14745,0.54,121.1,980.9,5.0,611,14797,0.00,1.85,42.80,1.427,6,0.000,0.048,2384,1410,2568,0,0,0,0,1,0,28.83,14.54,13.19
$GC,15106,0.47,121.1,958.3,6.1,624,15110,0.17,2.00,0.00,0.000,4,0.268,0.097,2352,343,2566,0,0,0,0,0,0,14.23,14.34,28.83
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$STATE,28306,end climb,SURFACE_DEPTH_REACHED
$STATE,28306,begin surface coast
$FINISH,0.1,1.006356
$STATE,28322,end surface coast,CONTROL_FINISHED_OK
$STATE,28322,begin surface
$SM_CCo,28406,0.00,0.000,0,0,1604,357.65
$SM_GC,1.00,6.68,0.15,0.00,0.069,0.099,0.000,157,1526,1604,-6.30,-1.41,357.65,0,0,0,0,0,0,14.47,14.64,28.83
$IRIDIUM_FIX,2418.11,-3837.37,150113,202024
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.27
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,3
$SC_FREEKB,7627264
$TM_FREEKB,4121472
$24V_AH,12.9,177.160
$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,19.475,139.925,674.200,0.000,0.000,0.000,0.000,376.300,0.750,0.000,19.167,3246.083,21842.891,954.033,2436.740,644.141,0.000,2331.759,0.000,1941.055,0.000,0.549,0.000
$DEVICE_MAMPS,410.805,108.630,1923.210,0.000,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28376.000,6695.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.255,12.999,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,43282,1179
$CAP_FILE_SIZE,251339,0
$CFSIZE,260034560,207249408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.032,341.0,1
$GPS,160113,125422,2425.338,-3830.537,38,0.8,38,-14.2