version: 66.11
glider: 191
mission: 5
dive: 378
start: 1 18 113 6 54 7
data:
$ID,191
$MISSION,5
$DIVE,378
$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,-5076.3066
$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
$GPS1,180113,064104,2416.608,-3821.439,40,0.7,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-60.5
$GPS2,180113,065335,2416.635,-3821.435,17,1.2,18,-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,161.0,51366,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-57.08,0.000,6,0.000,0.000,157,1522,3457,0,0,0,0,0,0,28.83,28.83,14.72
$GC,90,-0.60,-97.3,4.8,-9.7,4,102,10.02,0.00,0.00,0.000,6,0.412,0.000,1987,1522,3461,1,0,0,0,0,0,13.69,28.83,28.83
$GC,404,-0.57,-97.3,37.7,-8.2,25,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1524,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,703,-0.55,-97.3,60.7,-7.6,45,704,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1524,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.54,-97.3,85.9,-7.5,65,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-0.52,-97.3,107.5,-7.0,85,1309,0.12,1.95,0.00,0.000,4,0.244,0.084,2017,462,3464,0,0,0,0,0,0,14.21,14.34,28.83
$GC,1363,-0.52,-97.3,112.0,-7.5,89,1367,0.00,1.80,0.00,0.000,6,0.000,0.041,2012,1519,3465,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1664,-0.52,-97.3,131.1,-7.4,109,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1963,-0.52,-97.3,151.7,-5.9,129,1967,0.00,1.95,0.00,0.000,4,0.000,0.083,2012,457,3465,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2039,-0.52,-97.3,156.7,-6.9,134,2043,0.00,1.80,0.00,0.000,6,0.000,0.041,2004,1519,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2338,-0.52,-97.3,179.1,-8.1,154,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-0.52,-97.3,201.8,-7.2,174,2642,0.00,1.80,0.00,0.000,4,0.000,0.052,1996,2576,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2806,-0.53,-97.3,213.4,-7.0,185,2809,0.00,1.88,0.00,0.000,6,0.000,0.062,1996,1519,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3103,-0.53,-97.3,235.1,-7.1,205,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3418,-0.53,-97.3,256.4,-6.6,223,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-0.53,-97.3,273.1,-5.3,233,3722,0.00,1.92,0.00,0.000,4,0.000,0.085,1996,460,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3778,-0.53,-97.3,276.0,-5.7,235,3783,0.12,1.80,0.00,0.000,6,0.236,0.041,2016,1527,3464,0,0,0,0,0,0,14.29,14.62,28.83
$GC,4081,-0.55,-97.3,294.5,-6.2,245,4084,0.00,1.80,0.00,0.000,4,0.000,0.053,2010,2579,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4153,-0.58,-97.3,299.4,-6.5,248,4157,0.00,1.88,0.00,0.000,6,0.000,0.062,2011,1516,3463,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4472,-0.59,-97.3,318.1,-5.5,259,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4770,-0.61,-97.3,333.7,-5.3,269,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5069,-0.63,-97.3,351.4,-5.9,279,5072,0.00,1.90,0.00,0.000,4,0.000,0.086,2010,467,3460,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5143,-0.64,-97.3,356.4,-6.4,282,5147,0.00,1.80,0.00,0.000,6,0.000,0.041,2003,1524,3460,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5462,-0.65,-97.3,375.1,-6.1,293,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1525,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,-0.67,-97.3,394.5,-6.8,303,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1525,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6059,-0.68,-97.3,417.0,-7.5,313,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1525,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6358,-0.69,-97.3,438.1,-6.8,323,6360,0.12,0.00,0.00,0.000,6,0.138,0.000,1956,1525,3458,0,0,0,0,0,0,14.64,28.83,28.83
$GC,6659,-0.67,-97.3,460.9,-7.6,333,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1525,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6958,-0.64,-97.3,481.1,-6.5,343,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1525,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7259,-0.62,-97.3,501.1,-6.8,353,7264,0.12,1.95,0.00,0.000,4,0.247,0.086,1982,461,3455,0,0,0,0,0,0,14.34,14.35,28.83
$GC,7333,-0.60,-97.3,506.3,-7.0,356,7337,0.00,1.80,0.00,0.000,6,0.000,0.043,1977,1520,3455,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7648,-0.60,-97.3,527.7,-7.0,367,7652,0.00,1.83,0.00,0.000,4,0.000,0.055,1970,2577,3453,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7798,-0.60,-97.3,537.4,-7.2,372,7802,0.00,1.90,0.00,0.000,6,0.000,0.065,1970,1517,3453,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8099,-0.59,-97.3,563.5,-8.5,382,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1517,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8399,-0.58,-97.3,591.1,-9.4,392,8401,0.12,0.00,0.00,0.000,6,0.251,0.000,1995,1517,3451,0,0,0,0,0,0,14.32,28.83,28.83
$GC,8699,-0.59,-97.3,615.1,-7.9,402,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1517,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9000,-0.61,-97.3,633.9,-5.6,412,9003,0.00,1.95,0.00,0.000,4,0.000,0.089,1996,461,3450,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9087,-0.61,-97.3,638.2,-5.7,415,9091,0.00,1.83,0.00,0.000,6,0.000,0.044,1990,1521,3449,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9389,-0.61,-97.3,650.4,-3.4,425,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9688,-0.61,-97.3,659.9,-3.3,435,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9988,-0.61,-97.3,675.0,-6.0,445,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1522,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10288,-0.61,-97.3,698.3,-8.4,455,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1522,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10588,-0.61,-97.3,722.1,-7.7,465,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1522,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10889,-0.61,-97.3,743.8,-7.1,475,10893,0.00,1.85,0.00,0.000,4,0.000,0.057,1983,2577,3444,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11037,-0.62,-97.3,753.4,-7.2,480,11041,0.00,1.92,0.00,0.000,6,0.000,0.068,1983,1519,3443,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11339,-0.62,-97.3,775.8,-7.0,490,11343,0.00,1.98,0.00,0.000,4,0.000,0.091,1983,458,3443,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11397,-0.62,-97.3,779.2,-7.1,492,11401,0.00,1.85,0.00,0.000,6,0.000,0.046,1975,1522,3442,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11698,-0.62,-97.3,799.9,-6.3,502,11702,0.00,1.85,0.00,0.000,4,0.000,0.059,1967,2576,3441,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11788,-0.62,-97.3,804.2,-6.0,505,11792,0.00,1.92,0.00,0.000,6,0.000,0.069,1967,1518,3441,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12088,-0.62,-97.3,822.6,-5.7,515,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1518,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12389,-0.62,-97.3,841.6,-6.9,525,12393,0.00,1.98,0.00,0.000,4,0.000,0.091,1967,464,3439,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12463,-0.61,-97.3,847.8,-8.0,528,12468,0.15,1.85,0.00,0.000,6,0.247,0.046,1990,1520,3438,0,0,0,0,0,0,13.96,14.40,28.83
$GC,12781,-0.62,-97.3,872.6,-8.1,539,12784,0.00,1.85,0.00,0.000,4,0.000,0.059,1985,2575,3438,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12855,-0.64,-97.3,878.9,-8.3,542,12858,0.00,1.92,0.00,0.000,6,0.000,0.070,1985,1520,3437,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13168,-0.64,-97.3,905.0,-8.2,553,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13469,-0.64,-97.3,926.0,-6.8,563,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13768,-0.64,-97.3,944.3,-6.1,573,13772,0.00,2.00,0.00,0.000,4,0.000,0.093,1985,458,3435,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13843,-0.64,-97.3,949.2,-6.4,576,13847,0.00,1.88,0.00,0.000,6,0.000,0.047,1977,1523,3434,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14162,-0.64,-97.3,967.7,-5.9,587,14165,0.00,1.88,0.00,0.000,4,0.000,0.060,1970,2580,3433,0,0,0,0,0,0,28.83,14.28,28.83
$GC,14218,-0.64,-97.3,970.3,-5.9,589,14222,0.00,1.95,0.00,0.000,6,0.000,0.070,1970,1518,3433,0,0,0,0,0,0,28.83,14.25,28.83
$STATE,14366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14366,begin apogee
$GC,14374,-0.18,0.0,980.6,-6.2,594,14501,0.60,0.00,115.53,1.901,6,0.207,0.000,2125,1396,3062,0,0,0,0,1,0,13.80,28.83,12.86
$STATE,14503,end apogee,CONTROL_FINISHED_OK
$STATE,14503,begin climb
$GC,14506,0.60,97.3,984.6,0.0,598,14644,0.82,1.95,126.90,1.883,4,0.121,0.058,2376,2461,2666,0,0,0,0,1,0,14.16,14.14,12.93
$GC,14864,0.56,126.5,978.6,4.8,611,14923,0.00,1.95,49.47,1.519,6,0.000,0.073,2385,1394,2546,0,0,0,0,1,0,28.83,14.45,13.11
$GC,15224,0.50,126.5,955.8,6.7,623,15229,0.15,1.98,0.00,0.000,4,0.288,0.097,2361,338,2543,0,0,0,0,0,0,14.21,14.40,28.83
$GC,15313,0.44,126.5,950.9,6.5,626,15317,0.00,1.85,0.00,0.000,6,0.000,0.048,2361,1410,2542,0,0,0,0,0,0,28.83,14.58,28.83
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$STATE,27116,end climb,SURFACE_DEPTH_REACHED
$STATE,27116,begin surface coast
$FINISH,0.1,1.025514
$STATE,27132,end surface coast,CONTROL_FINISHED_OK
$STATE,27132,begin surface
$SM_CCo,27214,0.00,0.000,0,0,1313,429.03
$SM_GC,1.00,6.80,0.15,0.00,0.073,0.096,0.000,148,1522,1313,-6.30,-1.44,429.03,0,0,0,0,0,0,14.49,14.63,28.83
$IRIDIUM_FIX,2411.01,-3535.56,170113,222235
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.47
$INTERNAL_PRESSURE,9.22369
$TCM_TEMP,25.60
$XPDR_PINGS,4
$SC_FREEKB,7624960
$TM_FREEKB,4058208
$24V_AH,12.9,180.030
$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,20.475,137.100,737.425,0.000,0.000,0.000,0.000,387.600,1.000,0.000,19.278,3094.722,20842.273,983.821,2368.034,661.831,0.000,2338.323,0.000,1844.330,0.000,0.549,0.000
$DEVICE_MAMPS,412.335,114.750,1913.265,0.000,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27183.000,6107.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.221,13.014,0.000,0.000
$MEM,345624
$DATA_FILE_SIZE,40084,1117
$CAP_FILE_SIZE,242233,0
$CFSIZE,260034560,206422016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.020,305.7,1
$GPS,180113,142904,2414.160,-3820.027,40,0.9,40,-14.2