version: 66.11
glider: 191
mission: 5
dive: 140
start: 10 29 112 21 27 4
data:
$ID,191
$MISSION,5
$DIVE,140
$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,350
$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,-3985.1699
$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,21
$R_STBD_OVSHOOT,46
$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,12
$MINV_10V,12
$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
$GPS1,291012,211523,2505.097,-3718.593,38,0.9,38,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-53.2
$GPS2,291012,212635,2505.025,-3718.565,27,1.3,27,-13.7
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,1.1,13140,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-61.88,0.000,2,0.000,0.000,154,1532,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.6,-6.9,4,103,9.27,1.92,-0.50,0.000,4,0.412,0.106,1998,459,3460,1,0,0,0,0,0,14.17,14.62,14.81
$GC,296,-0.51,-97.3,38.5,-15.1,18,301,0.12,1.77,0.00,0.000,6,0.272,0.046,2019,1512,3462,0,0,0,0,0,0,14.45,14.70,28.83
$GC,596,-0.48,-97.3,70.6,-9.6,38,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,896,-0.45,-97.3,93.4,-6.8,58,899,0.00,1.80,0.00,0.000,4,0.000,0.056,2012,2576,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1122,-0.44,-97.3,108.9,-7.3,73,1127,0.15,1.85,0.00,0.000,6,0.233,0.066,2047,1515,3464,0,0,0,0,0,0,14.53,14.72,28.83
$GC,1420,-0.44,-97.3,130.1,-7.0,93,1423,0.00,1.88,0.00,0.000,4,0.000,0.087,2045,463,3465,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1510,-0.44,-97.3,136.7,-7.4,99,1514,0.00,1.77,0.00,0.000,6,0.000,0.044,2043,1523,3464,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1810,-0.44,-97.3,156.9,-6.4,119,1813,0.00,1.77,0.00,0.000,4,0.000,0.056,2035,2574,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1901,-0.45,-97.3,162.4,-6.0,125,1904,0.00,1.85,0.00,0.000,6,0.000,0.066,2035,1514,3464,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2200,-0.45,-97.3,181.1,-6.6,145,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.45,-97.3,200.9,-6.8,165,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-0.45,-97.3,221.1,-6.8,185,2803,0.00,1.88,0.00,0.000,4,0.000,0.088,2035,463,3464,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2876,-0.45,-97.3,226.7,-7.5,190,2879,0.00,1.77,0.00,0.000,6,0.000,0.045,2028,1523,3462,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3176,-0.45,-97.3,245.0,-5.9,210,3179,0.00,1.77,0.00,0.000,4,0.000,0.057,2020,2573,3462,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3356,-0.45,-97.3,254.5,-5.8,219,3359,0.00,1.85,0.00,0.000,6,0.000,0.068,2020,1513,3462,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3655,-0.45,-97.3,274.6,-6.6,229,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1513,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3955,-0.45,-97.3,296.3,-7.4,239,3959,0.00,1.80,0.00,0.000,4,0.000,0.057,2012,2575,3461,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4030,-0.45,-97.3,301.6,-7.1,242,4034,0.12,1.85,0.00,0.000,6,0.234,0.068,2040,1514,3460,0,0,0,0,0,0,14.60,14.79,28.83
$GC,4348,-0.47,-97.3,323.3,-7.1,253,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.48,-97.3,346.2,-7.8,263,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1514,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,-0.50,-97.3,369.7,-7.8,273,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1514,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5245,-0.52,-97.3,390.5,-6.5,283,5249,0.00,1.80,0.00,0.000,4,0.000,0.058,2034,2576,3457,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5365,-0.54,-97.3,396.8,-6.0,287,5369,0.00,1.85,0.00,0.000,6,0.000,0.070,2035,1518,3456,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5667,-0.55,-97.3,414.4,-5.3,297,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1517,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5966,-0.56,-97.3,429.8,-5.0,307,5970,0.00,1.80,0.00,0.000,4,0.000,0.060,2027,2574,3454,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6041,-0.58,-97.3,433.6,-5.0,310,6044,0.00,1.85,0.00,0.000,6,0.000,0.070,2028,1520,3454,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6356,-0.58,-97.3,452.0,-6.1,321,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6655,-0.58,-97.3,473.1,-7.4,331,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6955,-0.58,-97.3,496.2,-7.8,341,6959,0.00,1.90,0.00,0.000,4,0.000,0.092,2028,463,3451,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7045,-0.58,-97.3,502.7,-8.5,344,7049,0.00,1.77,0.00,0.000,6,0.000,0.048,2020,1518,3451,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7345,-0.58,-97.3,528.1,-7.8,354,7348,0.00,1.80,0.00,0.000,4,0.000,0.060,2012,2576,3449,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7464,-0.59,-97.3,535.8,-7.4,358,7468,0.00,1.85,0.00,0.000,6,0.000,0.070,2013,1521,3449,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7765,-0.59,-97.3,558.0,-6.9,368,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8065,-0.59,-97.3,575.9,-5.6,378,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8366,-0.59,-97.3,591.3,-5.1,388,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,-0.59,-97.3,607.4,-5.5,398,8669,0.00,1.80,0.00,0.000,4,0.000,0.060,2004,2575,3448,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8831,-0.59,-97.3,617.2,-6.0,404,8834,0.00,1.88,0.00,0.000,6,0.000,0.071,2004,1513,3444,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9146,-0.59,-97.3,640.7,-8.1,415,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9445,-0.59,-97.3,665.7,-8.5,425,9449,0.00,1.90,0.00,0.000,4,0.000,0.095,2004,464,3443,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9535,-0.58,-97.3,672.6,-8.9,428,9539,0.00,1.80,0.00,0.000,6,0.000,0.050,1996,1524,3442,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9835,-0.57,-97.3,701.0,-8.8,438,9839,0.00,1.80,0.00,0.000,4,0.000,0.062,1988,2576,3441,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9954,-0.57,-97.3,709.9,-8.5,442,9958,0.00,1.88,0.00,0.000,6,0.000,0.072,1988,1515,3440,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10256,-0.55,-97.3,734.6,-7.4,452,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1515,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10556,-0.54,-97.3,756.0,-6.7,462,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1513,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10856,-0.52,-97.3,775.4,-6.3,472,10858,0.12,0.00,0.00,0.000,6,0.264,0.000,2015,1514,3438,0,0,0,0,0,0,14.52,28.83,28.83
$GC,11155,-0.52,-97.3,792.9,-6.1,482,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1514,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11455,-0.52,-97.3,811.8,-6.5,492,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1514,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,-0.52,-97.3,832.3,-7.0,502,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1514,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12056,-0.52,-97.3,852.2,-6.5,512,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1514,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12356,-0.53,-97.3,870.7,-5.9,522,12357,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1514,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12656,-0.53,-97.3,887.8,-5.6,532,12660,0.00,1.85,0.00,0.000,4,0.000,0.066,2009,2578,3433,0,0,0,0,0,0,28.83,14.71,28.83
$GC,12761,-0.55,-97.3,893.7,-5.6,536,12764,0.00,1.90,0.00,0.000,6,0.000,0.075,2009,1513,3432,0,0,0,0,0,0,28.83,14.68,28.83
$GC,13075,-0.55,-97.3,913.2,-6.2,547,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1512,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13375,-0.55,-97.3,931.8,-6.1,557,13379,0.00,1.85,0.00,0.000,4,0.000,0.065,2001,2574,3430,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13464,-0.55,-97.3,936.1,-5.8,560,13468,0.00,1.90,0.00,0.000,6,0.000,0.076,2001,1514,3430,0,0,0,0,0,0,28.83,14.67,28.83
$GC,13767,-0.55,-97.3,953.6,-5.4,570,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1513,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14065,-0.55,-97.3,969.7,-5.4,580,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1513,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14273,begin apogee
$GC,14279,-0.18,0.0,980.8,-5.3,587,14399,0.45,0.00,111.30,2.195,6,0.210,0.000,2124,1395,3064,0,0,0,0,1,0,14.52,28.83,13.21
$STATE,14400,end apogee,CONTROL_FINISHED_OK
$STATE,14400,begin climb
$GC,14402,0.60,97.3,983.1,0.0,591,14545,0.85,2.05,126.93,2.250,4,0.141,0.105,2385,351,2667,0,0,0,0,1,0,14.12,13.97,13.12
$GC,14650,0.52,108.2,975.5,5.6,600,14689,0.00,1.85,28.52,1.255,6,0.000,0.052,2385,1406,2622,0,0,0,0,1,0,28.83,14.38,13.35
$GC,14996,0.45,108.2,954.1,6.1,612,14998,0.20,0.00,0.00,0.000,6,0.269,0.000,2340,1406,2621,0,0,0,0,0,0,14.37,28.83,28.83
$GC,15299,0.45,129.0,938.5,5.2,622,15346,0.00,0.00,40.50,1.616,6,0.000,0.000,2340,1406,2536,0,0,0,0,1,0,28.83,28.83,13.64
$GC,15628,0.43,129.0,919.2,6.3,633,15629,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1406,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15926,0.40,129.0,898.9,7.0,643,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1406,2534,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28254,end climb,SURFACE_DEPTH_REACHED
$STATE,28255,begin surface coast
$FINISH,0.7,1.024841
$STATE,28270,end surface coast,CONTROL_FINISHED_OK
$STATE,28270,begin surface
$SM_CCo,28288,11.52,0.752,0,0,1633,350.04
$SM_GC,1.61,6.55,0.17,11.52,0.075,0.093,0.752,157,1523,1633,-6.29,-1.33,350.04,0,0,0,0,0,0,14.68,14.72,14.28
$IRIDIUM_FIX,2453.69,-3717.88,291012,131323
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.84
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,26.50
$XPDR_PINGS,3
$SC_FREEKB,7716384
$TM_FREEKB,6534752
$24V_AH,13.1,67.789
$10V_AH,13.4,0.000
$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,18.700,111.650,544.150,11.525,0.000,0.000,0.000,395.425,0.750,0.000,28.510,3206.141,22183.910,783.910,2455.349,336.898,0.000,2146.157,0.000,1887.314,0.000,0.549,0.000
$DEVICE_MAMPS,411.570,120.870,2249.865,751.995,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28314.000,6860.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.157,13.079,0.000,0.000
$MEM,344712
$DATA_FILE_SIZE,43326,1179
$CAP_FILE_SIZE,241146,0
$CFSIZE,260034560,238850048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,6,1,0
$CURRENT,0.062,136.5,1
$GPS,301012,052005,2507.298,-3718.509,38,0.9,38,-13.7