version: 66.11
glider: 191
mission: 5
dive: 287
start: 12 18 112 5 12 30
data:
$ID,191
$MISSION,5
$DIVE,287
$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,-4179.5835
$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,25
$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
$GPS1,181212,045934,2445.513,-3839.253,37,0.8,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-58.7
$GPS2,181212,051200,2445.493,-3839.192,15,1.5,15,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,218.6,20000,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-59.35,0.000,6,0.000,0.000,158,1518,3459,0,0,0,0,0,0,28.83,28.83,14.78
$GC,90,-0.60,-97.3,4.3,-8.5,4,102,9.80,0.00,0.00,0.000,6,0.415,0.000,1992,1518,3461,1,0,0,0,0,0,13.82,28.83,28.83
$GC,403,-0.57,-97.3,38.0,-9.2,25,407,0.00,1.92,0.00,0.000,4,0.000,0.086,1993,464,3463,0,0,0,0,0,0,28.83,14.35,28.83
$GC,508,-0.53,-97.3,48.5,-10.2,32,512,0.12,1.77,0.00,0.000,6,0.251,0.044,2013,1514,3464,0,0,0,0,0,0,14.23,14.53,28.83
$GC,807,-0.53,-97.3,73.0,-7.6,52,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1108,-0.53,-97.3,96.4,-8.3,72,1112,0.00,1.83,0.00,0.000,4,0.000,0.055,2008,2577,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1167,-0.53,-97.3,101.1,-7.8,76,1171,0.00,1.88,0.00,0.000,6,0.000,0.064,2008,1513,3463,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1468,-0.53,-97.3,122.5,-6.2,96,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1768,-0.53,-97.3,139.8,-5.6,116,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,-0.53,-97.3,159.7,-6.9,136,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,-0.53,-97.3,181.3,-7.2,156,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2667,-0.53,-97.3,202.5,-6.8,176,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,-0.53,-97.3,221.9,-6.6,196,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3268,-0.53,-97.3,239.8,-5.9,216,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3571,-0.54,-97.3,257.2,-5.6,232,3574,0.00,1.88,0.00,0.000,4,0.000,0.087,2008,468,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3627,-0.54,-97.3,259.9,-5.8,234,3631,0.00,1.77,0.00,0.000,6,0.000,0.044,2000,1523,3464,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3929,-0.54,-97.3,277.2,-5.3,244,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,-0.54,-97.3,297.0,-7.2,254,4231,0.00,1.77,0.00,0.000,4,0.000,0.057,1994,2577,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4333,-0.54,-97.3,304.9,-7.6,258,4337,0.00,1.85,0.00,0.000,6,0.000,0.066,1992,1522,3462,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4648,-0.54,-97.3,328.8,-7.3,269,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4949,-0.54,-97.3,347.7,-5.9,279,4952,0.00,1.90,0.00,0.000,4,0.000,0.087,1992,463,3460,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5023,-0.53,-97.3,352.7,-6.6,282,5027,0.12,1.77,0.00,0.000,6,0.243,0.044,2012,1521,3460,0,0,0,0,0,0,14.45,14.74,28.83
$GC,5341,-0.55,-97.3,370.4,-5.9,293,5344,0.00,1.80,0.00,0.000,4,0.000,0.056,2007,2579,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5474,-0.57,-97.3,379.1,-6.5,298,5477,0.00,1.88,0.00,0.000,6,0.000,0.066,2007,1512,3458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5790,-0.58,-97.3,401.0,-7.1,309,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1512,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6089,-0.59,-97.3,421.8,-6.9,319,6093,0.00,1.83,0.00,0.000,4,0.000,0.057,1999,2578,3457,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6193,-0.61,-97.3,429.2,-7.1,323,6197,0.00,1.88,0.00,0.000,6,0.000,0.066,1999,1514,3457,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6508,-0.61,-97.3,451.7,-7.2,334,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6808,-0.61,-97.3,472.4,-6.9,344,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7108,-0.61,-97.3,493.0,-6.8,354,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7409,-0.61,-97.3,513.0,-6.6,364,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7708,-0.61,-97.3,532.6,-6.3,374,7711,0.00,1.83,0.00,0.000,4,0.000,0.057,1990,2576,3452,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7784,-0.62,-97.3,537.2,-6.2,377,7788,0.00,1.88,0.00,0.000,6,0.000,0.068,1991,1518,3452,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8098,-0.62,-97.3,557.4,-6.5,388,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1518,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8399,-0.62,-97.3,577.7,-6.9,398,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1518,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,-0.62,-97.3,598.7,-7.0,408,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8998,-0.62,-97.3,617.9,-6.2,418,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1518,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9298,-0.62,-97.3,636.0,-6.1,428,9302,0.00,1.85,0.00,0.000,4,0.000,0.059,1983,2580,3448,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9402,-0.62,-97.3,642.8,-6.4,432,9406,0.00,1.90,0.00,0.000,6,0.000,0.070,1983,1512,3447,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9719,-0.62,-97.3,664.8,-6.9,443,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1511,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10018,-0.62,-97.3,683.9,-6.1,453,10021,0.00,1.85,0.00,0.000,4,0.000,0.059,1976,2576,3450,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10093,-0.62,-97.3,688.3,-5.9,456,10097,0.00,1.88,0.00,0.000,6,0.000,0.070,1975,1521,3445,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10410,-0.62,-97.3,707.1,-5.9,467,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10708,-0.62,-97.3,725.4,-6.6,477,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11008,-0.62,-97.3,749.2,-8.7,487,11012,0.00,1.83,0.00,0.000,4,0.000,0.060,1968,2575,3442,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11097,-0.62,-97.3,756.1,-9.1,490,11101,0.00,1.90,0.00,0.000,6,0.000,0.071,1968,1516,3440,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11399,-0.61,-97.3,786.5,-9.5,500,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1516,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11698,-0.61,-97.3,810.9,-7.3,510,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1516,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11998,-0.61,-97.3,827.8,-4.9,520,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1516,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12299,-0.61,-97.3,841.1,-4.5,530,12303,0.00,1.85,0.00,0.000,4,0.000,0.062,1960,2574,3439,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12387,-0.61,-97.3,844.8,-4.8,533,12392,0.12,1.90,0.00,0.000,6,0.247,0.073,1986,1520,3438,0,0,0,0,0,0,14.23,14.50,28.83
$GC,12691,-0.61,-97.3,861.6,-5.7,543,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12988,-0.61,-97.3,881.2,-6.9,553,12991,0.00,1.85,0.00,0.000,4,0.000,0.061,1981,2577,3437,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13124,-0.63,-97.3,890.9,-7.3,558,13127,0.00,1.92,0.00,0.000,6,0.000,0.073,1981,1512,3437,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13438,-0.63,-97.3,913.6,-7.3,569,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1512,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13738,-0.63,-97.3,934.7,-6.8,579,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1512,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14038,-0.63,-97.3,953.8,-6.2,589,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1512,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14338,-0.63,-97.3,971.9,-5.9,599,14339,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1512,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14485,begin apogee
$GC,14492,-0.18,0.0,980.7,-5.8,604,14616,0.55,0.00,115.45,2.081,6,0.197,0.000,2128,1395,3063,0,0,0,0,1,0,14.11,28.83,12.94
$STATE,14618,end apogee,CONTROL_FINISHED_OK
$STATE,14618,begin climb
$GC,14621,0.60,97.3,984.8,0.0,608,14760,0.80,1.95,128.30,2.095,4,0.116,0.060,2379,2453,2666,0,0,0,0,1,0,14.11,14.04,12.91
$GC,14909,0.61,159.3,983.7,3.4,618,15006,0.00,1.92,86.85,1.942,6,0.000,0.077,2387,1402,2412,0,0,0,0,1,0,28.83,14.43,13.02
$GC,15316,0.57,174.5,962.9,5.4,632,15355,0.00,0.00,32.22,1.223,6,0.000,0.000,2387,1403,2351,0,0,0,0,1,0,28.83,28.83,13.32
$GC,15647,0.52,174.5,941.9,6.8,643,15649,0.15,0.00,0.00,0.000,6,0.273,0.000,2356,1402,2349,0,0,0,0,0,0,14.28,28.83,28.83
$GC,15945,0.49,174.5,923.5,6.3,653,15946,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1403,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16245,0.47,174.5,902.6,7.0,663,16248,0.00,1.85,0.00,0.000,4,0.000,0.061,2356,2459,2346,0,0,0,0,0,0,28.83,14.51,28.83
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$STATE,28740,end climb,SURFACE_DEPTH_REACHED
$STATE,28740,begin surface coast
$FINISH,0.2,1.025255
$STATE,28756,end surface coast,CONTROL_FINISHED_OK
$STATE,28756,begin surface
$SM_CCo,28776,0.93,1.008,0,0,1755,320.12
$SM_GC,1.18,6.68,0.20,0.93,0.078,0.087,1.008,160,1541,1755,-6.28,-0.93,320.12,0,0,0,0,0,0,14.55,14.67,13.66
$IRIDIUM_FIX,2437.06,-3836.62,171212,202015
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.33
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.90
$XPDR_PINGS,5
$SC_FREEKB,7659904
$TM_FREEKB,5011008
$24V_AH,12.9,136.905
$10V_AH,12.6,0.000
$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,18.750,94.075,637.275,0.925,0.000,0.000,0.000,412.825,1.250,0.000,16.912,3209.663,22438.098,860.575,2458.628,541.985,0.000,2262.490,0.000,1920.458,0.000,0.549,0.000
$DEVICE_MAMPS,414.630,118.575,2095.335,1008.270,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28809.000,6703.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.159,13.067,0.000,0.000
$MEM,345728
$DATA_FILE_SIZE,43277,1192
$CAP_FILE_SIZE,238229,0
$CFSIZE,260034560,218939392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.042,170.3,1
$GPS,181212,131328,2442.049,-3840.617,35,0.8,36,-14.2