version: 66.07.10.p01
glider: 573
mission: 12
dive: 376
start: 10 16 115 5 52 1
data:
$ID,573
$MISSION,12
$DIVE,376
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,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,390
$T_MISSION,420
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$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,-4300
$TGT_DEFAULT_LON,800
$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,-22195.691
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,375
$GPS1,161015,054303,-4503.457,630.354,68,0.9,68,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-71.1
$GPS2,161015,055140,-4503.478,630.411,20,1.0,20,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,287.8,8441,-17.9,-8.547
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.76,-116.8,0.0,0.0,0,52,0.00,0.00,-25.88,0.000,2,0.000,0.000,81,2028,1629,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.2,-3.8,4,112,11.77,2.40,-35.90,0.000,4,0.236,0.076,2921,3444,2428,0,0,0,0,0,0
$GC,286,-0.66,-116.8,23.4,-11.0,41,294,0.12,2.17,0.00,0.000,6,0.140,0.043,2961,2092,2428,0,0,0,0,0,0
$GC,444,-0.66,-116.8,38.8,-8.9,66,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2092,2429,0,0,0,0,0,0
$GC,592,-0.66,-116.8,53.7,-10.4,91,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2092,2429,0,0,0,0,0,0
$GC,945,-0.66,-116.8,91.3,-10.3,139,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2092,2429,0,0,0,0,0,0
$GC,1252,-0.66,-116.8,120.9,-9.9,154,1256,0.00,2.33,0.00,0.000,4,0.000,0.054,2961,651,2429,0,0,0,0,0,0
$GC,1291,-0.62,-116.8,125.1,-10.3,155,1297,0.10,2.22,0.00,0.000,6,0.181,0.041,2977,2058,2429,0,0,0,0,0,0
$GC,1609,-0.62,-116.8,156.8,-10.4,171,1613,0.00,2.30,0.00,0.000,4,0.000,0.062,2967,3464,2429,0,0,0,0,0,0
$GC,1636,-0.66,-116.8,160.1,-10.9,172,1640,0.00,2.22,0.00,0.000,6,0.000,0.041,2966,2046,2429,0,0,0,0,0,0
$GC,1957,-0.66,-116.8,191.8,-9.7,188,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2046,2429,0,0,0,0,0,0
$GC,2268,-0.66,-116.8,220.3,-8.8,203,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2046,2429,0,0,0,0,0,0
$GC,2575,-0.66,-116.8,247.4,-8.7,218,2579,0.00,2.22,0.00,0.000,4,0.000,0.054,2967,655,2429,0,0,0,0,0,0
$GC,2602,-0.66,-116.8,249.4,-8.9,219,2606,0.00,2.22,0.00,0.000,6,0.000,0.040,2958,2066,2429,0,0,0,0,0,0
$GC,2930,-0.66,-116.8,280.3,-9.7,235,2935,0.00,2.30,0.00,0.000,4,0.000,0.064,2948,3469,2429,0,0,0,0,0,0
$GC,2957,-0.66,-116.8,283.4,-10.1,236,2962,0.05,2.22,0.00,0.000,6,0.151,0.042,2965,2065,2430,0,0,0,0,0,0
$GC,3277,-0.66,-116.8,313.1,-9.1,252,3281,0.00,2.25,0.00,0.000,4,0.000,0.054,2965,654,2429,0,0,0,0,0,0
$GC,3304,-0.66,-116.8,315.9,-10.3,253,3308,0.00,2.25,0.00,0.000,6,0.000,0.040,2956,2061,2430,0,0,0,0,0,0
$GC,3626,-0.66,-116.8,345.8,-9.2,269,3630,0.00,2.30,0.00,0.000,4,0.000,0.063,2946,3469,2430,0,0,0,0,0,0
$GC,3658,-0.66,-116.8,348.8,-9.3,270,3663,0.05,2.25,0.00,0.000,6,0.145,0.042,2964,2054,2429,0,0,0,0,0,0
$GC,3978,-0.66,-116.8,375.9,-8.4,286,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2054,2430,0,0,0,0,0,0
$GC,4289,-0.66,-116.8,400.9,-8.1,301,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2054,2429,0,0,0,0,0,0
$GC,4596,-0.66,-116.8,427.1,-8.7,316,4600,0.00,2.25,0.00,0.000,4,0.000,0.057,2965,649,2429,0,0,0,0,0,0
$GC,4629,-0.66,-116.8,430.2,-9.4,317,4634,0.00,2.25,0.00,0.000,6,0.000,0.044,2956,2052,2429,0,0,0,0,0,0
$GC,4945,-0.66,-116.8,460.3,-9.9,333,4947,0.05,0.00,0.00,0.000,6,0.230,0.000,2967,2052,2430,0,0,0,0,0,0
$GC,5254,-0.69,-116.8,487.9,-8.9,348,5258,0.00,2.28,0.00,0.000,4,0.000,0.055,2967,658,2429,0,0,0,0,0,0
$GC,5292,-0.69,-116.8,491.4,-9.1,350,5296,0.00,2.22,0.00,0.000,6,0.000,0.041,2958,2069,2429,0,0,0,0,0,0
$GC,5623,-0.69,-116.8,520.6,-8.7,366,5627,0.00,2.28,0.00,0.000,4,0.000,0.063,2948,3465,2430,0,0,0,0,0,0
$GC,5650,-0.69,-116.8,523.0,-9.0,367,5655,0.00,2.22,0.00,0.000,6,0.000,0.041,2948,2057,2429,0,0,0,0,0,0
$GC,5972,-0.69,-116.8,553.3,-9.8,383,5976,0.00,2.28,0.00,0.000,4,0.000,0.057,2948,656,2429,0,0,0,0,0,0
$GC,6033,-0.69,-116.8,559.8,-11.1,386,6038,0.08,2.25,0.00,0.000,6,0.190,0.044,2957,2068,2429,0,0,0,0,0,0
$GC,6364,-0.69,-116.8,590.2,-8.9,402,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2068,2429,0,0,0,0,0,0
$GC,6676,-0.69,-116.8,616.6,-8.2,417,6680,0.00,2.30,0.00,0.000,4,0.000,0.064,2947,3470,2429,0,0,0,0,0,0
$GC,6741,-0.69,-116.8,622.6,-8.8,420,6746,0.00,2.22,0.00,0.000,6,0.000,0.042,2947,2066,2429,0,0,0,0,0,0
$GC,7068,-0.69,-116.8,650.9,-8.7,436,7072,0.00,2.30,0.00,0.000,4,0.000,0.056,2947,647,2429,0,0,0,0,0,0
$GC,7100,-0.69,-116.8,654.0,-10.1,437,7105,0.05,2.25,0.00,0.000,6,0.153,0.041,2956,2057,2429,0,0,0,0,0,0
$GC,7416,-0.69,-116.8,680.9,-8.5,453,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2057,2429,0,0,0,0,0,0
$GC,7725,-0.73,-116.8,706.4,-8.1,468,7729,0.00,2.30,0.00,0.000,4,0.000,0.060,2945,3476,2429,0,0,0,0,0,0
$GC,7779,-0.76,-116.8,711.1,-8.6,470,7785,0.00,2.22,0.00,0.000,6,0.000,0.044,2946,2054,2428,0,0,0,0,0,0
$GC,8094,-0.76,-116.8,737.5,-8.4,486,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2054,2428,0,0,0,0,0,0
$GC,8405,-0.76,-116.8,762.3,-8.2,501,8409,0.00,2.28,0.00,0.000,4,0.000,0.057,2945,656,2428,0,0,0,0,0,0
$GC,8445,-0.76,-116.8,765.8,-8.5,503,8450,0.00,2.25,0.00,0.000,6,0.000,0.044,2936,2069,2428,0,0,0,0,0,0
$GC,8772,-0.76,-116.8,793.4,-8.2,519,8777,0.00,2.30,0.00,0.000,4,0.000,0.063,2926,3471,2427,0,0,0,0,0,0
$GC,8816,-0.76,-116.8,797.5,-8.4,521,8820,0.00,2.22,0.00,0.000,6,0.000,0.043,2926,2058,2427,0,0,0,0,0,0
$GC,9144,-0.76,-116.8,825.0,-8.4,537,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2058,2427,0,0,0,0,0,0
$GC,9452,-0.76,-116.8,850.7,-8.1,552,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2058,2427,0,0,0,0,0,0
$GC,9763,-0.76,-116.8,875.8,-8.2,567,9767,0.00,2.25,0.00,0.000,4,0.000,0.057,2926,660,2427,0,0,0,0,0,0
$GC,9803,-0.71,-116.8,879.3,-9.1,569,9808,0.12,2.22,0.00,0.000,6,0.162,0.042,2950,2059,2427,0,0,0,0,0,0
$GC,10131,-0.74,-116.8,904.2,-7.8,585,10135,0.00,2.30,0.00,0.000,4,0.000,0.063,2940,3464,2427,0,0,0,0,0,0
$GC,10192,-0.74,-116.8,909.4,-8.2,588,10196,0.00,2.20,0.00,0.000,6,0.000,0.042,2940,2061,2427,0,0,0,0,0,0
$GC,10518,-0.74,-116.8,934.7,-7.7,604,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2061,2427,0,0,0,0,0,0
$GC,10828,-0.74,-116.8,958.6,-7.7,619,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2061,2426,0,0,0,0,0,0
$GC,11136,-0.74,-116.8,981.5,-6.9,634,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2061,2426,0,0,0,0,0,0
$STATE,11423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11423,begin apogee
$GC,11429,-0.19,0.0,1000.5,6.4,648,11544,0.57,0.00,110.05,1.277,6,0.132,0.000,3117,1591,1949,0,0,0,0,0,0
$STATE,11545,end apogee,CONTROL_FINISHED_OK
$STATE,11545,begin climb
$GC,11547,0.76,116.8,1001.9,0.0,654,11668,0.95,0.00,116.97,1.229,6,0.084,0.000,3428,1591,1473,0,0,0,0,0,0
$GC,11975,0.76,116.8,962.2,10.4,675,11979,0.00,2.38,0.00,0.000,4,0.000,0.057,3439,200,1466,0,0,0,0,0,0
$GC,12036,0.76,116.8,955.3,10.6,678,12040,0.00,2.30,0.00,0.000,6,0.000,0.037,3439,1620,1465,0,0,0,0,0,0
$GC,12367,0.76,116.8,922.6,9.6,694,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1620,1464,0,0,0,0,0,0
$GC,12678,0.76,116.8,894.2,9.0,709,12679,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1620,1463,0,0,0,0,0,0
$GC,12986,0.76,116.8,867.0,8.6,724,12990,0.00,2.22,0.00,0.000,4,0.000,0.056,3439,2989,1462,0,0,0,0,0,0
$GC,13019,0.72,116.8,863.9,10.0,725,13024,0.12,2.17,0.00,0.000,6,0.163,0.037,3414,1597,1462,0,0,0,0,0,0
$GC,13342,0.76,134.0,839.3,7.7,741,13363,0.00,2.28,16.17,1.108,4,0.000,0.056,3424,202,1402,0,0,0,0,0,0
$GC,13459,0.77,148.7,829.2,7.8,746,13479,0.00,2.22,15.80,1.088,6,0.000,0.037,3424,1608,1342,0,0,0,0,0,0
$GC,13797,0.81,148.7,798.5,9.7,763,13802,0.05,2.35,0.00,0.000,4,0.168,0.054,3469,199,1340,0,0,0,0,0,0
$GC,13869,0.74,148.7,790.0,11.8,766,13874,0.15,2.20,0.00,0.000,6,0.137,0.037,3424,1597,1339,0,0,0,0,0,0
$GC,14186,0.79,148.7,757.9,10.1,781,14187,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1597,1338,0,0,0,0,0,0
$GC,14493,0.82,148.7,728.4,9.6,796,14494,0.08,0.00,0.00,0.000,6,0.124,0.000,3468,1597,1338,0,0,0,0,0,0
$GC,14803,0.78,148.7,694.6,10.9,811,14808,0.12,2.33,0.00,0.000,4,0.148,0.056,3441,193,1338,0,0,0,0,0,0
$GC,14863,0.78,148.7,688.4,9.7,813,14868,0.00,2.22,0.00,0.000,6,0.000,0.036,3441,1600,1337,0,0,0,0,0,0
$GC,15180,0.78,148.7,657.9,9.8,829,15181,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1600,1337,0,0,0,0,0,0
$GC,15487,0.78,148.7,628.7,9.4,844,15489,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1600,1337,0,0,0,0,0,0
$GC,15798,0.78,148.7,599.3,9.6,859,15802,0.00,2.30,0.00,0.000,4,0.000,0.055,3451,193,1337,0,0,0,0,0,0
$GC,15875,0.78,148.7,591.3,9.7,862,15882,0.03,2.22,0.00,0.000,6,0.167,0.037,3439,1599,1337,0,0,0,0,0,0
$GC,16190,0.78,148.7,561.4,9.4,878,16192,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1599,1336,0,0,0,0,0,0
$GC,16501,0.78,148.7,531.3,9.4,893,16502,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1599,1337,0,0,0,0,0,0
$GC,16809,0.78,148.7,500.6,10.1,908,16810,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1598,1337,0,0,0,0,0,0
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$GC,20268,0.87,182.9,182.8,7.3,1075,20298,0.00,2.28,25.38,0.763,4,0.000,0.055,3458,190,1203,0,0,0,0,0,0
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$STATE,22081,end climb,SURFACE_DEPTH_REACHED
$STATE,22081,begin surface coast
$FINISH,1.7,1.023325
$STATE,22119,end surface coast,CONTROL_FINISHED_OK
$STATE,22119,begin surface
$SM_CCo,22137,7.78,0.056,0,0,1132,200.16
$SM_GC,3.66,0.00,0.00,7.78,0.000,0.000,0.056,62,2071,1132,-9.76,0.31,200.16
$IRIDIUM_FIX,-4447.43,634.22,110808,121258
$TT8_MAMPS,0.026964
$HUMID,63.78
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,1
$24V_AH,22.3,45.394
$10V_AH,9.7,47.619
$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,24.025,155.025,292.675,7.775,0.000,26.954,22.305,309.569,0.250,0.000,23.677,2688.619,16014.924,434.771,3257.587,258.191,0.000,1653.257,0.000,2759.766,0.000,0.539,0.000
$DEVICE_MAMPS,236.385,76.500,1276.785,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.001,1764.352,943.980,544.795,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353208
$DATA_FILE_SIZE,90551,1256
$CAP_FILE_SIZE,182281,0
$CFSIZE,2097086464,2042757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161015,120221,-4503.186,627.519,37,1.0,37,-24.4