version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 467
start: 10 20 116 5 50 27
data:
$ID,542
$MISSION,14
$DIVE,467
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$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,353
$T_MISSION,395
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-42053.969
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.17088
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$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
$DEVICE2,134
$DEVICE3,147
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,201016,054112,-4307.782,830.842,81,1.2,81,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.4
$GPS2,201016,054942,-4307.805,830.898,22,1.1,22,-25.1
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,SOUTH
$TGT_LATLONG,-4305.930,830.000
$TGT_RADIUS,1000.000
$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,6.0,3679,-17.1,-9.443,-20.00,2451
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-97.3,137,1959,1883,1813,0.0,0.0,0,69,0.00,0.00,-48.90,0.000,16390,0.000,0.000,138,1959,3083,3144,3022,0,0,0,0,0,0,28.83,28.83,26.41
$GC,72,-0.57,-97.3,137,1958,3145,3022,3.5,-7.9,8,87,8.80,2.30,0.00,0.000,2308,0.218,0.049,2373,3372,3084,3149,3019,0,0,0,0,0,0,24.79,25.73,28.83
$GC,180,-0.57,-97.3,1440,3370,3138,3008,27.9,-13.4,28,187,0.00,2.25,0.00,0.000,1030,0.000,0.044,2373,1952,3087,3162,3012,0,0,0,0,0,0,28.83,25.77,28.83
$GC,313,-0.57,-97.3,2373,1951,3163,3012,45.3,-14.4,53,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1951,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,623,-0.57,-97.3,2373,1951,3163,3012,83.8,-11.5,114,630,0.00,2.28,0.00,0.000,516,0.000,0.057,2374,544,3088,3164,3012,0,0,0,0,0,0,28.83,25.75,28.83
$GC,653,-0.57,-97.3,2373,544,3164,3012,87.6,-12.8,119,660,0.00,2.20,0.00,0.000,1030,0.000,0.044,2364,1959,3088,3164,3012,0,0,0,0,0,0,28.83,25.91,28.83
$GC,965,-0.57,-97.3,2363,1959,3164,3012,126.8,-12.2,159,973,0.00,2.22,0.00,0.000,260,0.000,0.052,2353,3372,3088,3164,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1037,-0.57,-97.3,2353,3371,3165,3012,135.5,-12.0,166,1048,0.12,2.22,0.00,0.000,3078,0.163,0.044,2383,1951,3088,3165,3012,0,0,0,0,0,0,25.65,25.91,28.83
$GC,1347,-0.57,-97.3,2383,1952,3165,3012,168.5,-10.2,197,1356,0.00,2.22,0.00,0.000,516,0.000,0.057,2383,552,3089,3166,3012,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1370,-0.57,-97.3,2383,552,3165,3012,170.9,-10.5,199,1379,0.00,2.15,0.00,0.000,1030,0.000,0.044,2375,1953,3088,3165,3012,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1678,-0.57,-97.3,2375,1953,3165,3012,204.0,-10.7,230,1688,0.00,2.22,0.00,0.000,260,0.000,0.052,2364,3373,3088,3165,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1784,-0.57,-97.3,2363,3373,3165,3012,215.2,-11.1,240,1794,0.00,2.22,0.00,0.000,1030,0.000,0.044,2364,1950,3089,3166,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2096,-0.57,-97.3,2364,1950,3166,3012,251.2,-11.4,271,2105,0.00,2.22,0.00,0.000,516,0.000,0.057,2364,548,3088,3165,3012,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2120,-0.57,-97.3,2364,547,3166,3012,254.0,-11.5,273,2129,0.10,2.15,0.00,0.000,3078,0.148,0.044,2385,1952,3089,3166,3012,0,0,0,0,0,0,25.63,25.98,28.83
$GC,2427,-0.57,-97.3,2385,1952,3166,3012,283.5,-9.4,304,2437,0.00,2.22,0.00,0.000,260,0.000,0.051,2377,3373,3089,3166,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2532,-0.57,-97.3,2376,3374,3166,3012,292.9,-8.9,314,2542,0.00,2.20,0.00,0.000,1030,0.000,0.044,2376,1957,3089,3166,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2843,-0.57,-97.3,2375,1956,3166,3012,322.6,-9.7,345,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1956,3089,3166,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3154,-0.57,-97.3,2376,1956,3166,3012,354.4,-10.4,376,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1956,3089,3166,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3465,-0.57,-97.3,2376,1956,3166,3012,386.2,-9.9,407,3473,0.00,2.25,0.00,0.000,516,0.000,0.058,2376,546,3089,3166,3012,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3527,-0.57,-97.3,2376,546,3166,3012,393.4,-11.0,413,3536,0.00,2.20,0.00,0.000,1030,0.000,0.046,2366,1962,3089,3166,3012,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3836,-0.57,-97.3,2366,1962,3166,3012,428.6,-11.5,432,3842,0.00,2.22,0.00,0.000,260,0.000,0.053,2355,3368,3089,3166,3012,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3979,-0.57,-97.3,2355,3369,3166,3012,444.4,-11.1,439,3985,0.08,2.20,0.00,0.000,3078,0.144,0.044,2380,1953,3089,3167,3012,0,0,0,0,0,0,25.66,25.93,28.83
$GC,4298,-0.57,-97.3,2380,1953,3166,3012,476.7,-9.7,455,4303,0.00,2.25,0.00,0.000,260,0.000,0.053,2371,3369,3089,3166,3012,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4341,-0.57,-97.3,2371,3369,3166,3012,480.6,-9.7,457,4345,0.00,2.22,0.00,0.000,1030,0.000,0.045,2371,1953,3089,3167,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4653,-0.57,-97.3,2371,1953,3166,3012,513.7,-10.7,473,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1952,3088,3166,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4953,-0.57,-97.3,2371,1952,3166,3011,545.1,-10.3,488,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1952,3088,3166,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,-0.57,-97.3,2371,1952,3166,3010,575.5,-10.1,503,5259,0.00,2.25,0.00,0.000,260,0.000,0.054,2361,3371,3088,3166,3010,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5314,-0.57,-97.3,2361,3371,3166,3009,581.6,-10.2,506,5320,0.00,2.22,0.00,0.000,1030,0.000,0.045,2361,1951,3088,3166,3010,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5633,-0.57,-97.3,2361,1951,3166,3009,615.6,-10.6,522,5639,0.00,2.25,0.00,0.000,260,0.000,0.053,2351,3371,3087,3166,3009,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5646,-0.57,-97.3,2351,3371,3166,3009,615.6,-10.6,522,5654,0.15,2.25,0.00,0.000,3078,0.158,0.046,2389,1946,3087,3166,3008,0,0,0,0,0,0,25.58,25.89,28.83
$GC,5953,-0.57,-97.3,2389,1946,3166,3008,645.2,-9.1,538,5959,0.00,2.28,0.00,0.000,260,0.000,0.054,2381,3365,3087,3166,3008,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5997,-0.57,-97.3,2380,3366,3166,3007,648.8,-9.0,540,6001,0.00,2.22,0.00,0.000,1030,0.000,0.047,2381,1957,3086,3166,3007,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6308,-0.57,-97.3,2380,1957,3166,3007,678.9,-9.5,556,6314,0.00,2.28,0.00,0.000,260,0.000,0.054,2370,3374,3086,3166,3007,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6341,-0.57,-97.3,2370,3374,3166,3007,680.9,-9.5,557,6348,0.00,2.25,0.00,0.000,1030,0.000,0.046,2370,1954,3086,3166,3007,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6649,-0.57,-97.3,2370,1954,3166,3006,713.7,-10.3,573,6655,0.00,2.28,0.00,0.000,516,0.000,0.061,2370,545,3086,3166,3006,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6672,-0.57,-97.3,2370,545,3166,3006,715.9,-10.4,574,6676,0.00,2.22,0.00,0.000,1030,0.000,0.048,2361,1963,3086,3166,3006,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6984,-0.57,-97.3,2360,1963,3166,3006,751.2,-11.2,590,6988,0.00,2.22,0.00,0.000,260,0.000,0.054,2350,3368,3086,3166,3006,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7029,-0.57,-97.3,2349,3369,3166,3006,755.8,-11.0,592,7034,0.15,2.22,0.00,0.000,3078,0.158,0.047,2388,1952,3086,3166,3006,0,0,0,0,0,0,25.56,25.86,28.83
$GC,7342,-0.57,-97.3,2388,1953,3166,3005,785.2,-9.5,608,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1953,3085,3166,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7643,-0.57,-97.3,2387,1953,3167,3005,813.1,-9.1,623,7648,0.00,2.28,0.00,0.000,516,0.000,0.062,2388,545,3085,3166,3004,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7695,-0.57,-97.3,2388,545,3166,3005,817.0,-9.4,625,7702,0.00,2.22,0.00,0.000,1030,0.000,0.050,2379,1957,3085,3166,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8002,-0.57,-97.3,2379,1957,3166,3004,847.2,-9.4,641,8008,0.00,2.25,0.00,0.000,260,0.000,0.057,2369,3370,3085,3166,3004,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8095,-0.57,-97.3,2368,3370,3166,3004,854.9,-9.6,645,8102,0.00,2.25,0.00,0.000,1030,0.000,0.047,2368,1951,3085,3167,3004,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8402,-0.57,-97.3,2368,1951,3166,3004,885.8,-9.5,661,8407,0.00,2.28,0.00,0.000,260,0.000,0.056,2358,3367,3085,3166,3004,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8443,-0.57,-97.3,2358,3367,3166,3004,889.6,-9.6,663,8448,0.00,2.22,0.00,0.000,1030,0.000,0.047,2358,1953,3085,3166,3004,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8762,-0.57,-97.3,2358,1952,3166,3003,922.1,-10.1,679,8764,0.12,0.00,0.00,0.000,2054,0.174,0.000,2389,1951,3084,3166,3003,0,0,0,0,0,0,26.08,28.83,28.83
$GC,9063,-0.57,-97.3,2388,1951,3166,3003,945.2,-7.6,694,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1951,3084,3166,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9362,-0.57,-97.3,2389,1951,3166,3002,968.3,-7.7,709,9368,0.00,2.30,0.00,0.000,516,0.000,0.063,2389,543,3084,3166,3002,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9382,-0.57,-97.3,2389,543,3166,3002,970.0,-7.9,710,9388,0.00,2.22,0.00,0.000,1030,0.000,0.050,2380,1955,3084,3166,3002,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9703,-0.57,-97.3,2380,1955,3166,3002,997.2,-8.8,726,9708,0.00,2.22,0.00,0.000,260,0.000,0.057,2370,3364,3084,3166,3002,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,9740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9740,begin apogee
$GC,9748,-0.14,0.0,2370,1884,3166,3002,1000.6,-8.6,728,9845,0.50,0.00,94.32,1.825,10246,0.139,0.000,2520,1884,2683,2760,2606,0,0,0,0,0,0,25.25,28.83,22.15
$STATE,9846,end apogee,CONTROL_FINISHED_OK
$STATE,9846,begin climb
$GC,9848,0.57,97.3,2520,1884,2760,2606,1004.2,0.0,733,9956,0.70,2.60,99.70,1.750,10756,0.085,0.064,2762,480,2286,2356,2216,0,0,0,0,0,0,24.08,23.21,21.44
$GC,9981,0.68,202.4,2762,480,2350,2216,998.8,5.0,739,10102,0.00,2.42,111.43,1.725,9222,0.000,0.049,2762,1888,1857,1930,1785,0,0,0,0,0,0,28.83,23.86,21.41
$GC,10400,0.68,202.4,2762,1888,1925,1771,948.6,13.1,760,10406,0.00,2.30,0.00,0.000,260,0.000,0.057,2762,3300,1848,1925,1771,0,0,0,0,0,0,28.83,25.49,28.83
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$STATE,17630,end climb,SURFACE_DEPTH_REACHED
$STATE,17630,begin surface coast
$FINISH,-0.1,1.026676
$STATE,17651,end surface coast,CONTROL_FINISHED_OK
$STATE,17651,begin surface
$SM_CCo,17730,0.00,0.000,0,0,1810,214.14
$SM_GC,1.24,6.90,2.20,0.00,0.042,0.044,0.000,160,1947,1810,-7.42,0.51,214.14,0,0,0,0,0,0,26.12,25.90,28.83
$IRIDIUM_FIX,-4247.91,826.16,160809,131347
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.53
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.4,70.092
$10V_AH,9.7,47.971
$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,18.275,194.350,309.225,0.000,0.000,24.813,46.899,290.717,0.000,0.000,22.757,3506.414,10758.498,524.083,3095.116,364.288,0.000,1894.801,0.000,2545.719,0.000,1.010,0.000
$DEVICE_MAMPS,218.025,68.850,1825.290,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.739,280.019,897.104,403.417,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,90346,1356
$CAP_FILE_SIZE,181577,0
$CFSIZE,259252224,221622272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030, 30.1,1
$GPS,201016,104725,-4305.686,830.178,32,2.2,52,-25.1