version: 66.11
glider: 167
mission: 14
dive: 80
start: 10 27 112 14 59 31
data:
$ID,167
$MISSION,14
$DIVE,80
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,400
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-968598.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$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,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,271012,145137,2319.162,12222.799,28,0.9,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.3
$GPS2,271012,145905,2319.276,12222.745,4,0.9,4,-3.6
$SPEED_LIMITS,0.143,0.261
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,95.7,166322,-14.1,-8.250,-17.53
$D_GRID,5047
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.42,-171.1,0.0,0.0,0,79,0.00,0.00,-58.10,0.000,2,0.000,0.000,109,2304,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.42,-171.1,3.3,-6.0,10,125,9.77,2.00,-25.25,0.000,4,0.224,0.036,2596,933,3667,0,0,0,0,0,0,25.56,26.13,26.46
$GC,176,-0.46,-171.1,14.1,-12.1,26,183,0.00,2.05,0.00,0.000,6,0.000,0.028,2596,2318,3668,0,0,0,0,0,0,28.83,26.15,28.83
$GC,502,-0.46,-171.1,58.4,-13.6,63,508,0.00,2.17,0.00,0.000,4,0.000,0.045,2596,3731,3672,0,0,0,0,0,0,28.83,26.22,28.83
$GC,565,-0.46,-171.1,66.3,-12.5,66,570,0.00,2.00,0.00,0.000,6,0.000,0.021,2596,2310,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,890,-0.55,-171.1,94.5,-6.8,82,895,0.10,2.20,0.00,0.000,4,0.092,0.044,2515,3725,3669,0,0,0,0,0,0,26.61,26.34,28.83
$GC,935,-0.61,-171.1,98.2,-7.0,84,940,0.00,1.95,0.00,0.000,6,0.000,0.018,2515,2305,3669,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1257,-0.61,-171.1,135.8,-11.7,100,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2304,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-0.61,-171.1,169.7,-10.9,115,1564,0.00,2.17,0.00,0.000,4,0.000,0.044,2506,3726,3670,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1593,-0.61,-171.1,172.5,-11.0,116,1599,0.12,1.92,0.00,0.000,6,0.135,0.017,2542,2312,3670,0,0,0,0,0,0,26.38,26.67,28.83
$GC,1908,-0.67,-171.1,198.9,-7.5,132,1913,0.00,1.90,0.00,0.000,4,0.000,0.024,2543,964,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1941,-0.73,-171.1,200.6,-7.5,133,1947,0.12,1.98,0.00,0.000,6,0.078,0.028,2462,2328,3670,0,0,0,0,0,0,26.54,26.57,28.83
$GC,2256,-0.66,-171.1,246.0,-14.0,149,2262,0.17,2.12,0.00,0.000,4,0.138,0.044,2518,3726,3668,0,0,0,0,0,0,26.36,26.46,28.83
$GC,2363,-0.70,-171.1,256.2,-9.0,154,2368,0.00,1.92,0.00,0.000,6,0.000,0.019,2518,2341,3667,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2687,-0.73,-171.1,284.3,-8.7,170,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2341,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-0.76,-171.1,310.2,-8.5,185,2993,0.00,1.98,0.00,0.000,4,0.000,0.027,2518,947,3666,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3031,-0.81,-171.1,314.4,-8.8,187,3037,0.12,2.00,0.00,0.000,6,0.079,0.029,2439,2320,3666,0,0,0,0,0,0,26.56,26.58,28.83
$GC,3355,-0.73,-171.1,362.9,-15.1,203,3357,0.22,0.00,0.00,0.000,6,0.131,0.000,2507,2319,3664,0,0,0,0,0,0,26.32,28.83,28.83
$GC,3657,-0.77,-171.1,389.2,-8.3,218,3663,0.00,2.15,0.00,0.000,4,0.000,0.047,2506,3738,3663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3735,-0.82,-171.1,394.5,-8.1,221,3743,0.00,1.98,0.00,0.000,6,0.000,0.020,2506,2318,3660,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4041,-0.87,-171.1,419.2,-7.8,237,4048,0.12,2.17,0.00,0.000,4,0.080,0.045,2424,3726,3661,0,0,0,0,0,0,26.77,26.46,28.83
$GC,4111,-0.85,-171.1,426.8,-10.8,240,4117,0.15,1.95,0.00,0.000,6,0.143,0.019,2466,2313,3661,0,0,0,0,0,0,26.34,26.74,28.83
$GC,4430,-0.85,-171.1,460.6,-9.6,256,4435,0.00,2.17,0.00,0.000,4,0.000,0.047,2466,3725,3660,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4482,-0.85,-171.1,464.3,-9.0,258,4487,0.00,1.95,0.00,0.000,6,0.000,0.020,2466,2317,3660,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4795,-0.85,-171.1,496.1,-10.2,274,4800,0.00,2.17,0.00,0.000,4,0.000,0.045,2466,3729,3658,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4834,-0.85,-171.1,498.5,-10.0,275,4841,0.00,1.95,0.00,0.000,6,0.000,0.021,2466,2318,3657,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5138,-0.85,-171.1,531.3,-9.8,291,5144,0.00,1.92,0.00,0.000,4,0.000,0.034,2466,967,3655,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5202,-0.85,-171.1,537.6,-9.8,294,5207,0.00,2.00,0.00,0.000,6,0.000,0.029,2466,2326,3655,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5525,-0.85,-171.1,566.0,-8.3,310,5531,0.00,2.15,0.00,0.000,4,0.000,0.047,2466,3733,3653,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5583,-0.86,-171.1,569.6,-8.2,312,5590,0.00,1.98,0.00,0.000,6,0.000,0.021,2466,2320,3653,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5889,-0.88,-171.1,598.4,-9.3,328,5894,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3728,3650,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5925,-0.90,-171.1,601.5,-9.3,330,5931,0.00,1.95,0.00,0.000,6,0.000,0.021,2466,2327,3650,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6256,-0.92,-171.1,632.0,-9.1,341,6261,0.00,2.17,0.00,0.000,4,0.000,0.047,2466,3729,3648,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6320,-0.94,-171.1,637.9,-9.0,343,6326,0.00,1.98,0.00,0.000,6,0.000,0.029,2467,2327,3648,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6656,-0.95,-171.1,666.1,-8.5,354,6661,0.00,2.17,0.00,0.000,4,0.000,0.048,2466,3733,3645,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6703,-0.97,-171.1,669.1,-8.5,355,6709,0.12,1.98,0.00,0.000,6,0.083,0.023,2402,2323,3645,0,0,0,0,0,0,26.57,26.70,28.83
$GC,7024,-0.92,-171.1,711.9,-13.8,366,7030,0.12,2.20,0.00,0.000,4,0.157,0.046,2439,3732,3643,0,0,0,0,0,0,26.43,26.34,28.83
$GC,7073,-0.87,-171.1,716.3,-13.3,367,7078,0.00,1.98,0.00,0.000,6,0.000,0.023,2439,2331,3642,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7392,-0.87,-171.1,752.8,-10.8,378,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2329,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7691,-0.87,-171.1,784.0,-10.3,388,7696,0.00,2.17,0.00,0.000,4,0.000,0.049,2439,3723,3638,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7764,-0.87,-171.1,790.6,-10.5,390,7769,0.00,1.98,0.00,0.000,6,0.000,0.024,2439,2324,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8087,-0.87,-171.1,823.9,-9.7,401,8092,0.00,2.20,0.00,0.000,4,0.000,0.049,2439,3731,3635,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8154,-0.87,-171.1,829.9,-9.7,403,8160,0.00,2.00,0.00,0.000,6,0.000,0.031,2439,2333,3635,0,0,0,0,0,0,28.83,25.31,28.83
$GC,8485,-0.87,-171.1,860.2,-9.0,414,8490,0.00,2.17,0.00,0.000,4,0.000,0.049,2440,3724,3633,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8527,-0.87,-171.1,863.3,-9.0,415,8532,0.00,2.00,0.00,0.000,6,0.000,0.025,2439,2320,3633,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8852,-0.87,-171.1,892.8,-8.9,426,8857,0.00,2.20,0.00,0.000,4,0.000,0.049,2439,3723,3630,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8918,-0.87,-171.1,898.6,-8.9,428,8924,0.00,2.00,0.00,0.000,6,0.000,0.024,2440,2319,3630,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9248,-0.87,-171.1,927.1,-8.6,439,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2316,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9547,-0.87,-171.1,952.0,-8.4,449,9552,0.00,2.22,0.00,0.000,4,0.000,0.050,2439,3726,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9589,-0.87,-171.1,954.9,-8.5,450,9594,0.00,2.00,0.00,0.000,6,0.000,0.025,2439,2326,3627,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9914,-0.87,-171.1,982.7,-8.4,461,9919,0.00,2.22,0.00,0.000,4,0.000,0.057,2439,3730,3625,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9947,-0.87,-171.1,986.0,-8.6,462,9952,0.00,2.03,0.00,0.000,6,0.000,0.031,2439,2328,3624,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,10007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10008,begin apogee
$GC,10013,-0.20,0.0,991.6,-8.9,464,10166,0.70,0.00,144.95,1.341,6,0.106,0.000,2675,2326,2964,0,0,0,0,0,0,25.87,28.83,23.63
$STATE,10168,end apogee,CONTROL_FINISHED_OK
$STATE,10168,begin climb
$GC,10170,0.42,171.1,997.8,0.0,469,10342,0.52,2.40,156.98,1.323,4,0.041,0.034,2890,933,2260,0,0,0,0,0,0,24.84,23.93,22.96
$GC,10395,0.30,171.1,987.7,8.4,476,10401,0.17,2.20,0.00,0.000,6,0.131,0.030,2844,2297,2254,0,0,0,0,0,0,24.63,24.82,28.83
$GC,10711,0.25,171.1,956.7,9.1,487,10717,0.00,2.25,0.00,0.000,4,0.000,0.048,2844,3699,2249,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10789,0.19,171.1,949.8,9.8,489,10795,0.17,2.08,0.00,0.000,6,0.152,0.030,2804,2324,2249,0,0,0,0,0,0,25.66,26.00,28.83
$GC,11110,0.20,198.9,924.2,7.3,500,11137,0.00,0.00,25.40,1.236,6,0.000,0.000,2804,2324,2154,0,0,0,0,0,0,28.83,28.83,24.61
$GC,11438,0.21,227.8,900.3,7.3,511,11468,0.00,0.00,28.85,1.216,6,0.000,0.000,2803,2324,2038,0,0,0,0,0,0,28.83,28.83,24.46
$GC,11770,0.23,241.7,874.9,7.8,522,11787,0.00,0.00,14.38,1.233,6,0.000,0.000,2804,2324,1981,0,0,0,0,0,0,28.83,28.83,24.73
$GC,12070,0.27,264.2,852.1,7.5,532,12099,0.00,2.33,23.15,1.197,4,0.000,0.049,2803,3702,1884,0,0,0,0,0,0,28.83,25.48,24.60
$GC,12122,0.30,284.0,849.8,7.6,533,12150,0.00,2.15,20.77,1.182,6,0.000,0.028,2803,2288,1805,0,0,0,0,0,0,28.83,25.67,24.35
$GC,12464,0.36,328.2,824.0,6.8,545,12518,0.15,2.38,44.65,1.124,4,0.071,0.048,2877,3691,1622,0,0,0,0,0,0,26.12,25.11,24.30
$GC,12530,0.36,328.2,817.8,8.4,547,12535,0.00,2.15,0.00,0.000,6,0.000,0.029,2885,2304,1619,0,0,0,0,0,0,28.83,25.38,28.83
$GC,12860,0.33,328.2,777.8,12.1,558,12866,0.12,2.12,0.00,0.000,4,0.145,0.034,2851,900,1614,0,0,0,0,0,0,25.94,26.03,28.83
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$GC,20810,0.85,522.8,55.7,7.3,917,20832,0.15,2.03,13.38,0.246,6,0.066,0.024,3060,2305,835,0,0,0,0,0,0,26.27,26.28,25.66
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$STATE,21144,end climb,SURFACE_DEPTH_REACHED
$STATE,21144,begin surface coast
$FINISH,1.0,1.022336
$STATE,21160,end surface coast,CONTROL_FINISHED_OK
$STATE,21160,begin surface
$SM_CCo,21240,0.00,0.000,0,0,839,522.24
$SM_GC,1.64,7.20,2.03,0.00,0.021,0.018,0.000,110,2327,839,-8.12,2.26,522.24,0,0,0,0,0,0,26.38,26.41,28.83
$IRIDIUM_FIX,2307.44,12217.48,271012,080804
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.56
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,17
$24V_AH,23.0,21.757
$10V_AH,9.8,12.353
$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,21.700,196.325,570.350,0.000,0.000,0.000,0.000,267.550,4.250,0.000,5.868,3121.202,14805.722,747.989,2588.987,416.121,0.000,2299.962,0.000,2228.039,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,56.610,1341.045,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21174.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.318,0.000,0.000,0.000
$MEM,323824
$DATA_FILE_SIZE,36699,963
$CAP_FILE_SIZE,236507,0
$CFSIZE,260165632,242745344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,330.6,1
$GPS,271012,205453,2320.098,12225.655,39,1.1,39,-3.6