version: 66.11
glider: 191
mission: 5
dive: 377
start: 1 17 113 22 39 59
data:
$ID,191
$MISSION,5
$DIVE,377
$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,-5074.9517
$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,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,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
$GPS1,170113,222205,2418.231,-3823.411,37,0.9,37,-14.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.3
$GPS2,170113,223929,2418.241,-3823.499,17,1.2,18,-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,156.3,55941,-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,25,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-57.10,0.000,6,0.000,0.000,161,1520,3459,0,0,0,0,0,0,28.83,28.83,14.74
$GC,91,-0.60,-97.3,4.9,-9.4,4,103,9.93,0.00,0.00,0.000,6,0.407,0.000,1989,1520,3460,1,0,0,0,0,0,13.67,28.83,28.83
$GC,404,-0.57,-97.3,36.7,-8.0,25,408,0.00,1.83,0.00,0.000,4,0.000,0.052,1984,2574,3466,0,0,0,0,0,0,28.83,14.45,28.83
$GC,480,-0.57,-97.3,43.3,-8.3,30,484,0.00,1.90,0.00,0.000,6,0.000,0.062,1987,1512,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,780,-0.54,-97.3,71.8,-9.6,50,782,0.12,0.00,0.00,0.000,6,0.245,0.000,2011,1510,3463,0,0,0,0,0,0,14.21,28.83,28.83
$GC,1079,-0.54,-97.3,95.4,-7.4,70,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1508,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1379,-0.54,-97.3,115.5,-6.6,90,1383,0.00,1.92,0.00,0.000,4,0.000,0.084,2011,461,3464,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1559,-0.54,-97.3,129.2,-7.7,102,1563,0.00,1.80,0.00,0.000,6,0.000,0.041,2005,1520,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1859,-0.54,-97.3,149.9,-6.5,122,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,-0.54,-97.3,167.8,-5.6,142,2165,0.00,1.83,0.00,0.000,4,0.000,0.052,1997,2581,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2265,-0.55,-97.3,173.6,-5.5,149,2269,0.00,1.90,0.00,0.000,6,0.000,0.061,1997,1515,3464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2564,-0.55,-97.3,192.9,-7.1,169,2568,0.00,1.92,0.00,0.000,4,0.000,0.083,1997,465,3464,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2624,-0.54,-97.3,197.8,-8.2,173,2628,0.00,1.80,0.00,0.000,6,0.000,0.042,1990,1519,3464,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2924,-0.54,-97.3,219.8,-7.0,193,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1525,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-0.54,-97.3,238.8,-6.1,213,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3527,-0.54,-97.3,258.1,-6.7,229,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3824,-0.54,-97.3,279.6,-7.2,239,3828,0.00,1.83,0.00,0.000,4,0.000,0.051,1982,2582,3462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3914,-0.54,-97.3,285.3,-7.5,242,3918,0.12,1.90,0.00,0.000,6,0.230,0.062,2008,1507,3462,0,0,0,0,0,0,14.19,14.46,28.83
$GC,4216,-0.56,-97.3,306.4,-6.6,252,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1509,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4515,-0.57,-97.3,327.6,-7.1,262,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1508,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-0.59,-97.3,348.9,-6.9,272,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1509,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5116,-0.61,-97.3,365.7,-4.9,282,5119,0.00,1.85,0.00,0.000,4,0.000,0.052,2003,2580,3458,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5204,-0.63,-97.3,369.1,-4.6,285,5208,0.00,1.88,0.00,0.000,6,0.000,0.063,2003,1522,3458,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5508,-0.65,-97.3,382.8,-4.6,295,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1523,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5804,-0.66,-97.3,401.5,-7.0,305,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6104,-0.67,-97.3,423.8,-7.3,315,6108,0.00,1.92,0.00,0.000,4,0.000,0.086,2003,468,3457,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6194,-0.67,-97.3,429.4,-7.3,318,6198,0.00,1.80,0.00,0.000,6,0.000,0.044,1994,1525,3457,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6494,-0.67,-97.3,446.7,-4.8,328,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1526,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6795,-0.67,-97.3,463.0,-6.2,338,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1526,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7094,-0.67,-97.3,485.8,-8.0,348,7098,0.00,1.95,0.00,0.000,4,0.000,0.087,1995,467,3454,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7169,-0.67,-97.3,492.5,-8.7,351,7173,0.00,1.83,0.00,0.000,6,0.000,0.044,1987,1526,3453,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7485,-0.67,-97.3,517.4,-7.6,362,7489,0.00,1.83,0.00,0.000,4,0.000,0.054,1979,2580,3453,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7559,-0.67,-97.3,522.8,-7.2,365,7563,0.00,1.90,0.00,0.000,6,0.000,0.064,1980,1518,3452,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7875,-0.67,-97.3,543.7,-6.4,376,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1518,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8174,-0.67,-97.3,564.0,-7.1,386,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1517,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,-0.67,-97.3,586.4,-7.5,396,8478,0.00,1.95,0.00,0.000,4,0.000,0.089,1979,464,3450,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8534,-0.67,-97.3,590.0,-7.6,398,8538,0.00,1.83,0.00,0.000,6,0.000,0.044,1972,1526,3450,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8834,-0.67,-97.3,611.4,-6.4,408,8838,0.00,1.83,0.00,0.000,4,0.000,0.055,1964,2577,3448,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9001,-0.67,-97.3,621.6,-6.3,414,9005,0.00,1.90,0.00,0.000,6,0.000,0.067,1964,1522,3448,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9317,-0.66,-97.3,640.7,-5.9,425,9321,0.00,1.95,0.00,0.000,4,0.000,0.089,1964,466,3448,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9373,-0.64,-97.3,643.6,-6.1,427,9377,0.00,1.83,0.00,0.000,6,0.000,0.045,1957,1526,3447,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9676,-0.62,-97.3,663.5,-6.3,437,9678,0.15,0.00,0.00,0.000,6,0.246,0.000,1989,1527,3446,0,0,0,0,0,0,14.19,28.83,28.83
$GC,9974,-0.62,-97.3,681.3,-6.3,447,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1527,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10275,-0.62,-97.3,701.4,-6.7,457,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1528,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10574,-0.63,-97.3,722.7,-7.1,467,10578,0.00,1.98,0.00,0.000,4,0.000,0.091,1989,465,3443,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10634,-0.63,-97.3,726.1,-7.3,469,10637,0.00,1.83,0.00,0.000,6,0.000,0.045,1984,1520,3443,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10934,-0.63,-97.3,748.3,-7.0,479,10938,0.00,1.85,0.00,0.000,4,0.000,0.056,1976,2577,3442,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11040,-0.64,-97.3,755.7,-7.0,483,11044,0.00,1.92,0.00,0.000,6,0.000,0.068,1976,1516,3442,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11355,-0.64,-97.3,777.3,-6.9,494,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1515,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11654,-0.64,-97.3,800.0,-8.0,504,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1516,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11955,-0.64,-97.3,824.0,-7.8,514,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1516,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12254,-0.64,-97.3,845.3,-6.6,524,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1516,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12555,-0.64,-97.3,862.9,-5.6,534,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1515,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12854,-0.64,-97.3,877.8,-4.6,544,12856,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1516,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13154,-0.64,-97.3,890.2,-4.4,554,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1515,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13455,-0.64,-97.3,906.3,-5.7,564,13459,0.00,1.98,0.00,0.000,4,0.000,0.095,1976,467,3434,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13559,-0.64,-97.3,913.5,-7.0,568,13563,0.00,1.85,0.00,0.000,6,0.000,0.048,1969,1523,3432,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13875,-0.64,-97.3,934.2,-6.5,579,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1525,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14174,-0.64,-97.3,954.4,-6.8,589,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1525,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14475,-0.64,-97.3,975.5,-7.3,599,14479,0.00,1.88,0.00,0.000,4,0.000,0.060,1961,2578,3431,0,0,0,0,0,0,28.83,14.29,28.83
$STATE,14548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14548,begin apogee
$GC,14557,-0.18,0.0,981.2,-7.5,602,14682,0.60,0.00,115.30,1.911,6,0.213,0.000,2120,1395,3063,0,0,0,0,1,0,13.76,28.83,12.89
$STATE,14684,end apogee,CONTROL_FINISHED_OK
$STATE,14684,begin climb
$GC,14687,0.60,97.3,987.4,0.0,606,14826,0.85,1.95,127.28,1.921,4,0.121,0.057,2379,2464,2665,0,0,0,0,1,0,14.14,14.14,12.92
$GC,15045,0.64,189.9,990.0,2.1,619,15177,0.00,1.95,119.68,1.897,6,0.000,0.073,2387,1394,2286,0,0,0,0,1,0,28.83,14.45,13.01
$GC,15495,0.59,191.6,967.1,6.0,634,15499,0.00,1.88,0.00,0.000,4,0.000,0.057,2387,2465,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,15570,0.54,191.6,962.4,6.1,637,15574,0.00,1.95,0.00,0.000,6,0.000,0.075,2395,1392,2278,0,0,0,0,0,0,28.83,14.50,28.83
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$STATE,28724,end climb,SURFACE_DEPTH_REACHED
$STATE,28724,begin surface coast
$FINISH,0.8,1.025454
$STATE,28741,end surface coast,CONTROL_FINISHED_OK
$STATE,28741,begin surface
$SM_CCo,28764,14.62,0.718,0,0,1756,320.12
$SM_GC,1.59,6.68,0.15,14.62,0.072,0.098,0.718,157,1523,1756,-6.30,-1.44,320.12,0,0,0,0,0,0,14.42,14.61,13.83
$IRIDIUM_FIX,2408.65,-3816.34,170113,222209
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.55
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.60
$XPDR_PINGS,5
$SC_FREEKB,7625344
$TM_FREEKB,4067744
$24V_AH,12.9,179.510
$10V_AH,10.4,0.000
$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,19.875,136.650,569.900,14.625,0.000,0.000,0.000,558.925,1.250,0.000,19.041,3301.772,22373.379,836.073,2624.480,671.856,0.000,2395.281,0.000,1944.560,0.000,0.549,0.000
$DEVICE_MAMPS,406.980,104.805,1920.915,717.570,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28790.000,6904.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.279,13.018,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,43289,1198
$CAP_FILE_SIZE,255135,0
$CFSIZE,260034560,206544896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.050,  3.0,1
$GPS,180113,064104,2416.608,-3821.439,40,0.7,40,-14.2