version: 66.07
glider: 542
mission: 9
dive: 143
start: 1 2 115 15 19 54
data:
$ID,542
$MISSION,9
$DIVE,143
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$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,350
$T_MISSION,365
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53031
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00251332
$HD_B,0.0127788
$HD_C,1.44018e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-56
$TGT_DEFAULT_LON,0.1
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22058.074
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2930
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2342
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-53.02364
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,020115,151034,-5552.160,-30.961,35,1.1,35,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-71.7
$GPS2,020115,151900,-5552.125,-30.891,13,0.7,14,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.063,-0.222
$KALMAN_X,87684.5,-438.2,-242.3,-118921.5,5141.3
$KALMAN_Y,10227.8,-426.1,262.9,4816.0,323.0
$MHEAD_RNG_PITCHd_Wd,215.7,14613,-17.2,-9.524
$D_GRID,1000
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,60,0.00,0.00,-42.12,0.000,2,0.000,0.000,53,2926,2456,0,0,0,0,0,0
$GC,62,-0.44,-146.1,3.3,-3.5,5,89,6.35,1.67,-15.35,0.000,4,0.238,0.085,1634,3900,2939,0,0,0,0,0,0
$GC,165,-0.44,-146.1,18.1,-16.6,20,173,0.00,1.58,0.00,0.000,6,0.000,0.034,1634,2901,2940,0,0,0,0,0,0
$GC,249,-0.44,-146.1,31.6,-16.4,33,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2900,2940,0,0,0,0,0,0
$GC,362,-0.44,-146.1,50.6,-16.1,52,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2900,2940,0,0,0,0,0,0
$GC,477,-0.44,-146.1,68.6,-16.3,71,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2900,2940,0,0,0,0,0,0
$GC,589,-0.44,-146.1,87.1,-15.4,90,599,0.00,1.67,0.00,0.000,4,0.000,0.063,1625,3893,2940,0,0,0,0,0,0
$GC,636,-0.44,-146.1,94.1,-16.7,97,643,0.00,1.50,0.00,0.000,6,0.000,0.033,1626,2922,2941,0,0,0,0,0,0
$GC,866,-0.44,-146.1,129.9,-14.7,121,869,0.00,1.62,0.00,0.000,4,0.000,0.062,1619,3892,2940,0,0,0,0,0,0
$GC,893,-0.44,-146.1,135.3,-16.3,123,901,0.00,1.50,0.00,0.000,6,0.000,0.032,1619,2923,2940,0,0,0,0,0,0
$GC,1220,-0.44,-146.1,186.7,-15.3,154,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2923,2940,0,0,0,0,0,0
$GC,1538,-0.44,-146.1,235.1,-15.3,184,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2923,2941,0,0,0,0,0,0
$GC,1850,-0.44,-146.1,280.4,-14.2,204,1853,0.00,1.62,0.00,0.000,4,0.000,0.064,1611,3897,2940,0,0,0,0,0,0
$GC,1896,-0.44,-146.1,287.4,-16.3,206,1900,0.10,1.48,0.00,0.000,6,0.182,0.034,1641,2941,2940,0,0,0,0,0,0
$GC,2228,-0.44,-146.1,328.3,-12.3,222,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2941,2940,0,0,0,0,0,0
$GC,2539,-0.44,-146.1,365.9,-12.3,237,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2941,2940,0,0,0,0,0,0
$GC,2848,-0.44,-146.1,403.3,-12.1,252,2852,0.00,1.60,0.00,0.000,4,0.000,0.064,1634,3903,2940,0,0,0,0,0,0
$GC,2874,-0.44,-146.1,407.3,-13.1,253,2880,0.00,1.50,0.00,0.000,6,0.000,0.032,1634,2918,2940,0,0,0,0,0,0
$GC,3202,-0.44,-146.1,447.3,-12.1,269,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2917,2940,0,0,0,0,0,0
$GC,3512,-0.44,-146.1,483.9,-11.7,284,3516,0.00,1.62,0.00,0.000,4,0.000,0.064,1627,3894,2940,0,0,0,0,0,0
$GC,3539,-0.44,-146.1,487.4,-12.4,285,3543,0.00,1.48,0.00,0.000,6,0.000,0.032,1626,2920,2940,0,0,0,0,0,0
$GC,3866,-0.44,-146.1,528.2,-12.5,301,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2915,2940,0,0,0,0,0,0
$GC,4176,-0.44,-146.1,567.4,-12.7,316,4180,0.00,1.62,0.00,0.000,4,0.000,0.065,1619,3892,2940,0,0,0,0,0,0
$GC,4225,-0.44,-146.1,574.3,-13.3,318,4230,0.00,1.48,0.00,0.000,6,0.000,0.032,1618,2925,2940,0,0,0,0,0,0
$GC,4553,-0.44,-146.1,617.3,-13.1,334,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2923,2940,0,0,0,0,0,0
$GC,4862,-0.44,-146.1,657.6,-12.9,349,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2923,2940,0,0,0,0,0,0
$GC,5171,-0.44,-146.1,697.6,-12.8,364,5175,0.00,1.62,0.00,0.000,4,0.000,0.065,1611,3900,2941,0,0,0,0,0,0
$GC,5198,-0.44,-146.1,701.4,-13.6,365,5203,0.10,1.45,0.00,0.000,6,0.178,0.032,1642,2952,2940,0,0,0,0,0,0
$GC,5524,-0.44,-146.1,735.7,-10.4,381,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2952,2940,0,0,0,0,0,0
$GC,5834,-0.44,-146.1,767.6,-9.9,396,5838,0.00,2.15,0.00,0.000,4,0.000,0.040,1642,1524,2940,0,0,0,0,0,0
$GC,5856,-0.44,-146.1,769.9,-10.6,397,5861,0.00,2.28,0.00,0.000,6,0.000,0.060,1632,2924,2941,0,0,0,0,0,0
$GC,6177,-0.44,-146.1,802.7,-10.3,413,6181,0.00,1.60,0.00,0.000,4,0.000,0.067,1624,3909,2940,0,0,0,0,0,0
$GC,6215,-0.44,-146.1,807.2,-11.3,414,6223,0.00,1.50,0.00,0.000,6,0.000,0.032,1624,2928,2940,0,0,0,0,0,0
$GC,6531,-0.44,-146.1,843.1,-11.5,430,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2927,2940,0,0,0,0,0,0
$GC,6840,-0.44,-146.1,878.4,-11.3,445,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2928,2940,0,0,0,0,0,0
$GC,7150,-0.44,-146.1,912.6,-10.9,460,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2928,2941,0,0,0,0,0,0
$GC,7460,-0.44,-146.1,946.0,-10.7,475,7464,0.00,1.62,0.00,0.000,4,0.000,0.067,1617,3903,2940,0,0,0,0,0,0
$GC,7486,-0.44,-146.1,949.5,-12.2,476,7491,0.00,1.52,0.00,0.000,6,0.000,0.032,1616,2916,2940,0,0,0,0,0,0
$GC,7814,-0.44,-146.1,986.1,-11.1,492,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2915,2940,0,0,0,0,0,0
$STATE,7957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7957,begin apogee
$GC,7962,-0.13,0.0,1001.9,10.9,499,8100,0.43,0.00,133.93,1.784,6,0.168,0.000,1742,2704,2342,0,0,0,0,0,0
$STATE,8101,end apogee,CONTROL_FINISHED_OK
$STATE,8101,begin climb
$GC,8102,0.44,146.1,1005.8,0.0,506,8255,0.60,0.00,146.98,1.730,6,0.125,0.000,1918,2704,1746,0,0,0,0,0,0
$GC,8555,0.44,146.1,952.6,13.3,528,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2704,1737,0,0,0,0,0,0
$GC,8865,0.44,146.1,913.0,12.6,543,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2704,1735,0,0,0,0,0,0
$GC,9175,0.44,146.1,875.0,12.1,558,9179,0.00,2.03,0.00,0.000,4,0.000,0.068,1918,3904,1735,0,0,0,0,0,0
$GC,9189,0.44,146.1,872.8,12.2,558,9198,0.00,1.88,0.00,0.000,6,0.000,0.034,1927,2743,1733,0,0,0,0,0,0
$GC,9506,0.44,146.1,833.1,12.4,574,9510,0.00,2.30,0.00,0.000,4,0.000,0.046,1938,1285,1733,0,0,0,0,0,0
$GC,9527,0.44,146.1,830.3,12.6,575,9531,0.00,2.33,0.00,0.000,6,0.000,0.058,1938,2728,1733,0,0,0,0,0,0
$GC,9854,0.44,146.1,787.3,13.6,591,9858,0.00,1.92,0.00,0.000,4,0.000,0.067,1938,3882,1732,0,0,0,0,0,0
$GC,9880,0.44,146.1,783.2,15.5,592,9885,0.00,1.88,0.00,0.000,6,0.000,0.035,1947,2710,1732,0,0,0,0,0,0
$GC,10208,0.44,146.1,737.4,13.9,608,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2710,1732,0,0,0,0,0,0
$GC,10517,0.44,146.1,694.6,13.7,623,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2710,1732,0,0,0,0,0,0
$GC,10826,0.44,146.1,654.3,13.1,638,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2710,1731,0,0,0,0,0,0
$GC,11136,0.44,146.1,613.3,13.1,653,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2710,1731,0,0,0,0,0,0
$GC,11445,0.44,146.1,572.5,13.1,668,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2710,1731,0,0,0,0,0,0
$GC,11754,0.44,146.1,530.9,13.4,683,11758,0.00,1.92,0.00,0.000,4,0.000,0.066,1947,3890,1731,0,0,0,0,0,0
$GC,11787,0.44,146.1,525.8,17.0,684,11791,0.00,1.88,0.00,0.000,6,0.000,0.036,1956,2711,1730,0,0,0,0,0,0
$GC,12108,0.44,146.1,479.8,14.2,700,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2711,1730,0,0,0,0,0,0
$GC,12418,0.44,146.1,434.0,15.0,715,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2711,1730,0,0,0,0,0,0
$GC,12727,0.44,146.1,387.3,15.2,730,12730,0.00,1.95,0.00,0.000,4,0.000,0.064,1956,3890,1730,0,0,0,0,0,0
$GC,12759,0.44,146.1,381.5,17.3,731,12764,0.10,1.88,0.00,0.000,6,0.199,0.035,1937,2710,1730,0,0,0,0,0,0
$GC,13084,0.44,146.1,337.7,13.5,747,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1730,0,0,0,0,0,0
$GC,13390,0.44,146.1,298.2,12.8,762,13394,0.00,2.17,0.00,0.000,4,0.000,0.044,1947,1293,1730,0,0,0,0,0,0
$GC,13410,0.44,146.1,296.1,12.8,763,13414,0.00,2.28,0.00,0.000,6,0.000,0.056,1947,2720,1730,0,0,0,0,0,0
$GC,13738,0.44,146.1,252.2,13.3,779,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2721,1730,0,0,0,0,0,0
$GC,14056,0.44,146.1,210.2,13.0,808,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2721,1730,0,0,0,0,0,0
$GC,14373,0.44,146.1,169.0,12.5,838,14377,0.00,1.90,0.00,0.000,4,0.000,0.065,1947,3895,1730,0,0,0,0,0,0
$GC,14400,0.44,146.1,164.9,13.9,840,14411,0.00,1.88,0.00,0.000,6,0.000,0.034,1956,2708,1730,0,0,0,0,0,0
$GC,14729,0.44,146.1,126.0,11.2,871,14732,0.00,1.92,0.00,0.000,4,0.000,0.063,1956,3894,1730,0,0,0,0,0,0
$GC,14743,0.44,146.1,123.8,11.3,872,14754,0.10,1.85,0.00,0.000,6,0.196,0.034,1936,2715,1730,0,0,0,0,0,0
$GC,15074,0.46,174.1,94.8,8.3,908,15096,0.00,2.00,16.27,1.045,4,0.000,0.063,1936,3887,1631,0,0,0,0,0,0
$GC,15126,0.46,174.1,89.9,9.8,916,15133,0.00,1.88,0.00,0.000,6,0.000,0.035,1944,2714,1628,0,0,0,0,0,0
$GC,15367,0.46,174.1,65.9,10.6,957,15374,0.00,2.20,0.00,0.000,4,0.000,0.044,1955,1291,1627,0,0,0,0,0,0
$GC,15406,0.46,174.1,62.0,9.6,963,15414,0.00,2.28,0.00,0.000,6,0.000,0.056,1955,2708,1626,0,0,0,0,0,0
$GC,15519,0.46,174.1,49.8,11.0,982,15527,0.00,1.95,0.00,0.000,4,0.000,0.064,1954,3893,1625,0,0,0,0,0,0
$GC,15534,0.46,174.1,47.9,11.4,984,15543,0.00,1.90,0.00,0.000,6,0.000,0.037,1964,2703,1625,0,0,0,0,0,0
$GC,15652,0.46,174.1,34.0,12.4,1003,15658,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2703,1625,0,0,0,0,0,0
$GC,15769,0.46,174.1,20.1,12.6,1022,15779,0.00,2.20,0.00,0.000,4,0.000,0.044,1974,1300,1625,0,0,0,0,0,0
$GC,15794,0.46,174.1,17.3,11.9,1025,15804,0.10,2.30,0.00,0.000,6,0.171,0.057,1944,2715,1625,0,0,0,0,0,0
$GC,15879,0.46,174.1,8.5,10.6,1038,15888,0.00,1.92,0.00,0.000,4,0.000,0.064,1944,3887,1625,0,0,0,0,0,0
$GC,15896,0.46,174.1,6.7,10.8,1040,15906,0.00,1.88,0.00,0.000,6,0.000,0.037,1952,2714,1625,0,0,0,0,0,0
$STATE,15931,end climb,SURFACE_DEPTH_REACHED
$STATE,15931,begin surface coast
$FINISH,1.1,1.014064
$STATE,15965,end surface coast,CONTROL_FINISHED_OK
$STATE,15965,begin surface
$SM_CCo,15978,14.90,0.144,0,0,1525,200.16
$SM_GC,3.22,0.00,0.00,14.90,0.000,0.000,0.144,53,2935,1525,-5.43,0.14,200.16
$IRIDIUM_FIX,-5527.50,-26.83,020115,101018
$TT8_MAMPS,0.026215
$HUMID,56.22
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,22.0,31.070
$10V_AH,9.9,20.547
$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,12.975,88.800,297.175,14.900,0.000,26.966,41.176,313.983,0.000,0.000,16.918,2573.648,10400.579,449.637,2856.053,215.821,33.371,1403.058,0.000,2310.738,0.000,0.539,0.000
$DEVICE_MAMPS,237.915,84.915,1783.980,143.820,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.701,2172.168,1043.305,1074.123,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353836
$DATA_FILE_SIZE,73827,1050
$CAP_FILE_SIZE,133820,0
$CFSIZE,259252224,217186304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020115,194735,-5553.708,-31.760,32,0.9,32,-19.9