version: 66.11
glider: 191
mission: 5
dive: 277
start: 12 14 112 17 41 22
data:
$ID,191
$MISSION,5
$DIVE,277
$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,320
$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,-4167.0034
$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,24
$R_STBD_OVSHOOT,44
$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
$GPS1,141212,172722,2512.785,-3827.244,36,0.8,37,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-54.4
$GPS2,141212,174053,2512.853,-3827.178,14,1.7,14,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,289.3,28234,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-61.30,0.000,2,0.000,0.000,155,1519,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,4.0,-8.5,4,106,9.82,1.92,-0.52,0.000,4,0.417,0.106,1997,451,3461,1,0,0,0,0,0,13.81,14.48,14.69
$GC,328,-0.55,-97.3,34.1,-9.3,20,331,0.00,1.80,0.00,0.000,6,0.000,0.043,1991,1521,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,628,-0.53,-97.3,61.4,-9.0,40,629,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-0.50,-97.3,87.6,-8.8,60,930,0.15,0.00,0.00,0.000,6,0.244,0.000,2025,1520,3464,0,0,0,0,0,0,14.37,28.83,28.83
$GC,1227,-0.50,-97.3,106.6,-6.1,80,1231,0.00,1.90,0.00,0.000,4,0.000,0.084,2025,464,3464,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1363,-0.50,-97.3,115.7,-6.9,89,1366,0.00,1.77,0.00,0.000,6,0.000,0.042,2025,1520,3464,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1662,-0.50,-97.3,138.2,-8.0,109,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1963,-0.51,-97.3,163.9,-8.4,129,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,-0.52,-97.3,184.1,-5.3,149,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2564,-0.54,-97.3,198.1,-4.6,169,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2863,-0.55,-97.3,214.6,-6.2,189,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3163,-0.56,-97.3,233.3,-6.2,209,3166,0.00,1.80,0.00,0.000,4,0.000,0.054,2011,2578,3464,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3254,-0.59,-97.3,239.2,-6.3,215,3257,0.00,1.85,0.00,0.000,6,0.000,0.063,2008,1518,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3568,-0.60,-97.3,259.9,-6.5,231,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3869,-0.61,-97.3,278.9,-6.4,241,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-0.62,-97.3,298.4,-6.6,251,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-0.63,-97.3,316.8,-5.9,261,4473,0.00,1.90,0.00,0.000,4,0.000,0.088,2011,464,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4558,-0.63,-97.3,322.0,-6.6,264,4562,0.00,1.77,0.00,0.000,6,0.000,0.044,2004,1523,3459,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4858,-0.63,-97.3,343.2,-6.9,274,4862,0.00,1.77,0.00,0.000,4,0.000,0.055,1996,2576,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4977,-0.64,-97.3,351.1,-7.6,278,4981,0.00,1.85,0.00,0.000,6,0.000,0.066,1996,1519,3459,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5278,-0.64,-97.3,374.4,-7.0,288,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1518,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5578,-0.64,-97.3,393.6,-6.1,298,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1518,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5878,-0.64,-97.3,411.8,-6.2,308,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6178,-0.64,-97.3,430.5,-6.2,318,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1518,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6478,-0.64,-97.3,450.3,-6.8,328,6481,0.00,1.80,0.00,0.000,4,0.000,0.055,1989,2577,3459,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6597,-0.64,-97.3,458.0,-7.4,332,6600,0.00,1.85,0.00,0.000,6,0.000,0.067,1989,1521,3456,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6898,-0.64,-97.3,485.9,-9.2,342,6902,0.00,1.90,0.00,0.000,4,0.000,0.089,1988,464,3456,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6957,-0.64,-97.3,490.4,-9.6,344,6960,0.00,1.77,0.00,0.000,6,0.000,0.044,1981,1522,3454,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7258,-0.64,-97.3,519.0,-8.5,354,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1523,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7559,-0.64,-97.3,540.3,-6.8,364,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1523,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7858,-0.64,-97.3,558.3,-5.9,374,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1523,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8159,-0.64,-97.3,575.3,-5.7,384,8162,0.00,1.80,0.00,0.000,4,0.000,0.057,1973,2577,3450,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8353,-0.64,-97.3,587.4,-6.4,391,8357,0.00,1.88,0.00,0.000,6,0.000,0.067,1973,1516,3450,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8670,-0.63,-97.3,609.7,-7.1,402,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1515,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8968,-0.62,-97.3,631.8,-7.5,412,8972,0.00,1.92,0.00,0.000,4,0.000,0.090,1973,460,3448,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9059,-0.60,-97.3,638.2,-8.3,415,9064,0.12,1.80,0.00,0.000,6,0.256,0.045,1991,1522,3447,0,0,0,0,0,0,14.33,14.69,28.83
$GC,9359,-0.60,-97.3,661.9,-7.5,425,9363,0.00,1.80,0.00,0.000,4,0.000,0.058,1986,2576,3446,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9508,-0.61,-97.3,671.9,-7.4,430,9511,0.00,1.88,0.00,0.000,6,0.000,0.069,1986,1520,3446,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9808,-0.61,-97.3,694.2,-6.7,440,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10108,-0.61,-97.3,712.7,-6.0,450,10112,0.00,1.83,0.00,0.000,4,0.000,0.058,1978,2578,3444,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10197,-0.61,-97.3,717.3,-6.1,453,10200,0.00,1.88,0.00,0.000,6,0.000,0.069,1978,1520,3443,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10498,-0.61,-97.3,737.7,-6.7,463,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10798,-0.61,-97.3,759.8,-7.7,473,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11097,-0.61,-97.3,784.5,-8.2,483,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1522,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11398,-0.61,-97.3,807.8,-7.5,493,11401,0.00,1.83,0.00,0.000,4,0.000,0.059,1970,2576,3440,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11487,-0.61,-97.3,813.2,-7.2,496,11491,0.00,1.90,0.00,0.000,6,0.000,0.070,1970,1515,3439,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11787,-0.61,-97.3,834.8,-6.7,506,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1515,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12088,-0.61,-97.3,853.7,-6.2,516,12092,0.00,1.95,0.00,0.000,4,0.000,0.094,1970,461,3437,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12164,-0.60,-97.3,858.9,-6.8,519,12168,0.15,1.83,0.00,0.000,6,0.247,0.047,1995,1526,3437,0,0,0,0,0,0,14.21,14.61,28.83
$GC,12481,-0.61,-97.3,876.4,-5.7,530,12484,0.00,1.83,0.00,0.000,4,0.000,0.060,1995,2578,3436,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12643,-0.63,-97.3,885.9,-5.9,536,12647,0.00,1.90,0.00,0.000,6,0.000,0.071,1989,1521,3436,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12958,-0.63,-97.3,905.2,-6.3,547,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13258,-0.63,-97.3,923.3,-5.8,557,13259,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13558,-0.63,-97.3,939.9,-5.4,567,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13859,-0.63,-97.3,956.0,-5.3,577,13860,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14158,-0.63,-97.3,973.0,-5.8,587,14162,0.00,1.85,0.00,0.000,4,0.000,0.060,1982,2576,3431,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,14290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14290,begin apogee
$GC,14299,-0.18,0.0,981.2,-6.0,592,14426,0.55,0.00,115.32,2.105,6,0.201,0.000,2129,1403,3063,0,0,0,0,1,0,14.09,28.83,12.95
$STATE,14427,end apogee,CONTROL_FINISHED_OK
$STATE,14428,begin climb
$GC,14430,0.60,97.3,985.7,0.0,596,14570,0.82,2.08,128.50,2.112,4,0.122,0.101,2389,345,2666,0,0,0,0,1,0,14.12,13.97,12.91
$GC,14789,0.56,135.2,981.5,4.5,609,14861,0.00,1.83,59.08,1.755,6,0.000,0.049,2389,1408,2511,0,0,0,0,1,0,28.83,14.54,13.14
$GC,15179,0.49,135.2,958.5,6.6,622,15183,0.17,1.83,0.00,0.000,4,0.271,0.057,2351,2449,2506,0,0,0,0,0,0,14.31,14.59,28.83
$GC,15268,0.45,135.2,953.9,6.3,625,15272,0.00,1.90,0.00,0.000,6,0.000,0.076,2356,1396,2504,0,0,0,0,0,0,28.83,14.56,28.83
$GC,15571,0.42,135.2,934.8,6.2,635,15573,0.12,0.00,0.00,0.000,6,0.282,0.000,2330,1396,2504,0,0,0,0,0,0,14.38,28.83,28.83
$GC,15871,0.42,151.4,918.3,5.4,645,15911,0.00,0.00,33.30,1.275,6,0.000,0.000,2331,1396,2445,0,0,0,0,1,0,28.83,28.83,13.40
$GC,16231,0.46,179.8,899.7,4.9,657,16289,0.00,1.88,48.38,1.607,4,0.000,0.060,2331,2446,2329,0,0,0,0,1,0,28.83,14.41,13.31
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$STATE,28768,end climb,SURFACE_DEPTH_REACHED
$STATE,28768,begin surface coast
$FINISH,1.2,1.025265
$STATE,28783,end surface coast,CONTROL_FINISHED_OK
$STATE,28783,begin surface
$SM_CCo,28862,0.00,0.000,0,0,1735,325.51
$SM_GC,0.80,6.85,0.15,0.00,0.094,0.098,0.000,156,1521,1735,-6.30,-1.44,325.51,0,0,0,0,0,0,14.57,14.69,28.83
$IRIDIUM_FIX,2503.20,-3828.43,141212,171730
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.97
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.70
$XPDR_PINGS,8
$SC_FREEKB,7663744
$TM_FREEKB,5119072
$24V_AH,12.9,132.156
$10V_AH,12.7,0.000
$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,19.125,115.850,644.925,0.000,0.000,0.000,0.000,433.950,2.000,0.000,15.405,3257.963,22487.303,888.409,2515.112,510.256,0.000,2320.961,0.000,1938.920,0.000,0.549,0.000
$DEVICE_MAMPS,416.925,105.570,2112.165,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28828.000,6790.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.110,13.031,0.000,0.000
$MEM,344800
$DATA_FILE_SIZE,43243,1190
$CAP_FILE_SIZE,244432,0
$CFSIZE,260034560,220356608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.052,111.2,1
$GPS,151212,014334,2512.806,-3829.721,28,1.2,28,-14.1