version: 66.06
glider: 143
mission: 10
dive: 191
start: 11 24 109 11 19 44
data:
$ID,143
$MISSION,10
$DIVE,191
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33538.945
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,111311,6703.470,-5703.583,39,1.4,55,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.0
$GPS2,111925,6703.494,-5703.682,9,0.9,14,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,293.9,152348,-16.9,-9.167
$D_GRID,666
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-95.12,0.000,2,0.000,0.000,123,2461,3171,0,0,0,0,0,0
$GC,115,-0.73,-146.0,3.7,-7.8,19,142,11.15,2.65,-5.68,0.000,4,0.295,0.100,2446,3916,3399,0,0,0,0,0,0
$GC,395,-0.65,-146.0,45.6,-14.0,69,401,0.12,2.45,0.00,0.000,6,0.216,0.061,2475,2457,3401,0,0,0,0,0,0
$GC,739,-0.65,-146.0,82.0,-10.3,130,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2458,3401,0,0,0,0,0,0
$GC,1072,-0.70,-146.0,114.7,-9.7,177,1077,0.00,2.55,0.00,0.000,4,0.000,0.087,2474,3911,3401,0,0,0,0,0,0
$GC,1185,-0.78,-146.0,125.3,-9.1,186,1191,0.12,2.45,0.00,0.000,6,0.120,0.061,2433,2446,3401,0,0,0,0,0,0
$GC,1509,-0.71,-146.0,160.3,-10.6,217,1513,0.00,2.55,0.00,0.000,4,0.000,0.087,2432,3908,3401,0,0,0,0,0,0
$GC,1541,-0.63,-146.0,164.0,-11.2,219,1548,0.20,2.42,0.00,0.000,6,0.205,0.061,2480,2452,3400,0,0,0,0,0,0
$GC,1868,-0.73,-146.0,192.0,-8.5,250,1872,0.00,2.55,0.00,0.000,4,0.000,0.087,2480,3912,3401,0,0,0,0,0,0
$GC,1912,-0.85,-146.0,195.9,-8.4,253,1918,0.20,2.40,0.00,0.000,6,0.098,0.061,2411,2468,3401,0,0,0,0,0,0
$GC,2238,-0.74,-146.0,230.0,-10.3,284,2243,0.15,2.53,0.00,0.000,4,0.206,0.084,2436,3910,3400,0,0,0,0,0,0
$GC,2288,-0.74,-146.0,234.9,-9.5,288,2292,0.00,2.35,0.00,0.000,6,0.000,0.059,2435,2487,3400,0,0,0,0,0,0
$GC,2612,-0.74,-146.0,263.0,-8.3,318,2616,0.00,2.47,0.00,0.000,4,0.000,0.085,2436,3914,3401,0,0,0,0,0,0
$GC,2644,-0.74,-146.0,265.8,-8.5,320,2650,0.00,2.35,0.00,0.000,6,0.000,0.058,2436,2487,3401,0,0,0,0,0,0
$GC,2970,-0.74,-146.0,292.5,-9.3,351,2974,0.00,2.47,0.00,0.000,4,0.000,0.084,2436,3914,3401,0,0,0,0,0,0
$GC,3031,-0.74,-146.0,298.5,-9.5,356,3035,0.00,2.33,0.00,0.000,6,0.000,0.058,2436,2505,3401,0,0,0,0,0,0
$GC,3355,-0.74,-146.0,328.3,-8.9,386,3359,0.00,2.42,0.00,0.000,4,0.000,0.084,2436,3909,3402,0,0,0,0,0,0
$GC,3404,-0.74,-146.0,333.2,-9.4,390,3410,0.00,2.33,0.00,0.000,6,0.000,0.058,2436,2522,3402,0,0,0,0,0,0
$GC,3728,-0.74,-146.0,363.2,-9.5,421,3732,0.00,2.40,0.00,0.000,4,0.000,0.084,2436,3909,3402,0,0,0,0,0,0
$GC,3749,-0.74,-146.0,365.3,-9.5,422,3756,0.00,2.35,0.00,0.000,6,0.000,0.058,2436,2510,3402,0,0,0,0,0,0
$GC,4076,-0.74,-146.0,395.2,-8.8,453,4080,0.00,2.60,0.00,0.000,4,0.000,0.076,2436,867,3402,0,0,0,0,0,0
$GC,4109,-0.74,-146.0,398.5,-10.0,455,4115,0.00,2.62,0.00,0.000,6,0.000,0.068,2436,2524,3402,0,0,0,0,0,0
$GC,4433,-0.74,-146.0,427.3,-8.9,486,4438,0.00,2.38,0.00,0.000,4,0.000,0.084,2436,3908,3403,0,0,0,0,0,0
$GC,4495,-0.74,-146.0,432.9,-9.5,491,4499,0.00,2.30,0.00,0.000,6,0.000,0.058,2436,2520,3403,0,0,0,0,0,0
$GC,4825,-0.74,-146.0,462.5,-8.7,522,4829,0.00,2.42,0.00,0.000,4,0.000,0.084,2436,3919,3403,0,0,0,0,0,0
$GC,4897,-0.74,-146.0,469.0,-9.2,528,4901,0.00,2.30,0.00,0.000,6,0.000,0.058,2436,2527,3403,0,0,0,0,0,0
$GC,5221,-0.74,-146.0,497.5,-8.9,558,5225,0.00,2.40,0.00,0.000,4,0.000,0.084,2436,3912,3403,0,0,0,0,0,0
$GC,5243,-0.74,-146.0,499.4,-8.4,559,5249,0.00,2.28,0.00,0.000,6,0.000,0.058,2436,2534,3403,0,0,0,0,0,0
$GC,5568,-0.74,-146.0,527.9,-8.8,590,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2534,3403,0,0,0,0,0,0
$GC,5886,-0.74,-146.0,555.3,-8.6,620,5890,0.00,2.40,0.00,0.000,4,0.000,0.084,2436,3919,3404,0,0,0,0,0,0
$GC,5918,-0.74,-146.0,558.1,-8.9,622,5924,0.00,2.28,0.00,0.000,6,0.000,0.058,2436,2539,3404,0,0,0,0,0,0
$GC,6245,-0.74,-146.0,583.5,-7.8,653,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2539,3403,0,0,0,0,0,0
$GC,6559,-0.74,-146.0,607.7,-7.8,677,6563,0.00,2.38,0.00,0.000,4,0.000,0.084,2436,3909,3404,0,0,0,0,0,0
$GC,6631,-0.74,-146.0,613.6,-8.2,679,6635,0.00,2.25,0.00,0.000,6,0.000,0.058,2436,2539,3403,0,0,0,0,0,0
$GC,6961,-0.74,-146.0,638.1,-7.4,690,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2540,3404,0,0,0,0,0,0
$GC,7267,-0.74,-146.0,661.1,-7.5,700,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2540,3404,0,0,0,0,0,0
$STATE,7326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7326,begin apogee
$GC,7331,-0.16,0.0,666.1,7.7,702,7455,0.70,0.00,120.65,1.166,6,0.179,0.000,2629,1944,2799,0,0,0,0,0,0
$STATE,7456,end apogee,CONTROL_FINISHED_OK
$STATE,7456,begin climb
$GC,7458,0.73,146.0,669.0,0.0,706,7594,0.95,3.00,124.72,1.114,4,0.130,0.074,2913,3534,2202,0,0,0,0,0,0
$GC,7611,0.66,146.0,657.5,11.0,711,7616,0.00,2.88,0.00,0.000,6,0.000,0.064,2926,1958,2199,0,0,0,0,0,0
$GC,7947,0.59,146.0,618.4,11.6,722,7952,0.17,2.62,0.00,0.000,4,0.189,0.084,2895,352,2195,0,0,0,0,0,0
$GC,7975,0.59,146.0,615.2,10.4,723,7979,0.00,2.53,0.00,0.000,6,0.000,0.061,2894,1952,2194,0,0,0,0,0,0
$GC,8295,0.59,151.1,585.2,9.0,742,8306,0.00,2.72,4.15,0.716,4,0.000,0.077,2895,3547,2182,0,0,0,0,0,0
$GC,8339,0.59,151.1,580.6,10.0,746,8344,0.00,2.72,0.00,0.000,6,0.000,0.066,2907,1935,2182,0,0,0,0,0,0
$GC,8664,0.60,155.0,549.5,9.0,776,8673,0.00,0.00,4.82,0.784,6,0.000,0.000,2907,1936,2168,0,0,0,0,0,0
$GC,8992,0.60,155.0,518.2,9.9,807,8996,0.00,2.72,0.00,0.000,4,0.000,0.078,2907,3537,2167,0,0,0,0,0,0
$GC,9035,0.55,155.0,513.7,10.7,810,9042,0.20,2.65,0.00,0.000,6,0.185,0.067,2870,1959,2166,0,0,0,0,0,0
$GC,9360,0.71,177.7,486.9,8.2,841,9387,0.15,2.72,20.33,1.018,4,0.107,0.077,2923,3541,2074,0,0,0,0,0,0
$GC,9427,0.63,177.7,479.4,12.2,846,9433,0.15,2.67,0.00,0.000,6,0.193,0.067,2901,1967,2072,0,0,0,0,0,0
$GC,9751,0.69,177.7,445.4,10.8,877,9756,0.00,2.58,0.00,0.000,4,0.000,0.086,2911,359,2071,0,0,0,0,0,0
$GC,9802,0.69,177.7,439.8,11.2,881,9806,0.00,2.53,0.00,0.000,6,0.000,0.062,2911,1986,2070,0,0,0,0,0,0
$GC,10126,0.69,177.7,403.0,11.4,911,10130,0.00,2.62,0.00,0.000,4,0.000,0.078,2910,3537,2070,0,0,0,0,0,0
$GC,10148,0.69,177.7,400.4,12.1,912,10154,0.00,2.65,0.00,0.000,6,0.000,0.067,2922,1961,2069,0,0,0,0,0,0
$GC,10472,0.69,177.7,362.0,12.3,943,10476,0.00,2.55,0.00,0.000,4,0.000,0.086,2934,358,2069,0,0,0,0,0,0
$GC,10510,0.69,177.7,357.3,12.5,946,10515,0.00,2.50,0.00,0.000,6,0.000,0.064,2934,1977,2069,0,0,0,0,0,0
$GC,10834,0.69,177.7,316.4,12.6,976,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1977,2069,0,0,0,0,0,0
$GC,11156,0.69,177.7,277.5,12.2,1006,11160,0.00,2.60,0.00,0.000,4,0.000,0.087,2946,359,2069,0,0,0,0,0,0
$GC,11206,0.64,177.7,271.0,12.4,1010,11211,0.20,2.47,0.00,0.000,6,0.188,0.063,2897,1964,2069,0,0,0,0,0,0
$GC,11531,0.73,177.7,239.1,9.8,1040,11535,0.00,2.65,0.00,0.000,4,0.000,0.079,2896,3540,2068,0,0,0,0,0,0
$GC,11585,0.78,177.7,233.6,10.0,1044,11592,0.10,2.62,0.00,0.000,6,0.126,0.068,2941,1963,2068,0,0,0,0,0,0
$GC,11910,0.78,177.7,197.1,11.6,1075,11914,0.00,2.55,0.00,0.000,4,0.000,0.086,2953,359,2068,0,0,0,0,0,0
$GC,11982,0.72,177.7,188.1,12.7,1081,11987,0.00,2.47,0.00,0.000,6,0.000,0.062,2953,1962,2068,0,0,0,0,0,0
$GC,12307,0.65,177.7,149.6,10.7,1111,12312,0.20,2.58,0.00,0.000,4,0.190,0.084,2913,361,2068,0,0,0,0,0,0
$GC,12346,0.75,177.7,145.8,9.3,1114,12350,0.00,2.42,0.00,0.000,6,0.000,0.063,2913,1937,2068,0,0,0,0,0,0
$GC,12671,0.85,193.8,117.5,8.5,1144,12692,0.15,2.70,13.65,0.776,4,0.106,0.077,2967,3549,2008,0,0,0,0,0,0
$GC,12731,0.73,193.8,109.7,14.2,1149,12738,0.22,2.67,0.00,0.000,6,0.191,0.067,2925,1948,2007,0,0,0,0,0,0
$GC,13069,0.80,193.8,76.5,9.2,1201,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1949,2006,0,0,0,0,0,0
$GC,13411,0.94,200.9,45.2,8.9,1262,13428,0.20,2.75,6.95,0.683,4,0.097,0.077,2994,3540,1980,0,0,0,0,0,0
$GC,13486,0.77,200.9,36.4,12.9,1275,13492,0.25,2.65,0.00,0.000,6,0.193,0.069,2946,1962,1980,0,0,0,0,0,0
$FREEZE,8.65,0.265,-1.818,0,1,0
$FREEZE,8.08,0.258,-1.818,0,1,0
$FREEZE,7.50,0.255,-1.817,0,1,0
$FREEZE,7.08,0.257,-1.817,0,1,0
$FREEZE,6.56,0.256,-1.817,0,1,0
$FREEZE,6.15,0.253,-1.816,0,1,0
$FREEZE,5.66,0.252,-1.816,0,1,0
$FREEZE,5.06,0.258,-1.815,0,1,0
$FREEZE,4.19,0.258,-1.815,0,1,0
$FREEZE,3.55,0.256,-1.814,0,1,0
$FREEZE,3.02,0.256,-1.814,0,1,0
$GC,13833,0.85,217.5,5.1,8.5,1336,13856,0.00,2.60,14.85,0.730,4,0.000,0.083,2955,363,1911,0,0,0,0,0,0
$FREEZE,2.01,0.256,-1.813,0,1,0
$FREEZE,1.50,0.252,-1.813,0,1,0
$STATE,13867,end climb,SURFACE_DEPTH_REACHED
$STATE,13867,begin surface coast
$FREEZE,0.87,0.252,-1.812,0,1,0
$FREEZE,0.52,0.253,-1.791,0,1,0
$FREEZE,0.48,0.151,-1.815,0,1,0
$FREEZE,0.44,0.289,-1.811,0,1,0
$FINISH,0.4,1.026515
$STATE,13890,end surface coast,CONTROL_FINISHED_OK
$STATE,13890,begin surface
$SM_CCo,13910,63.25,0.726,0,0,1474,325.02
$SM_GC,1.24,0.00,0.00,63.25,0.000,0.000,0.726,130,2461,1474,-8.00,0.03,325.02
$RAFOS_CLK,861
$RAFOS,6,1259066947,12.833333,12.818611,91,64,58,0,0,0,775,221,147,0,0,0
$RAFOS,5,1259066462,12.700000,12.683888,107,64,63,0,0,0,621,216,225,0,0,0
$RAFOS,4,1259065983,12.566667,12.550834,91,60,59,0,0,0,845,198,222,0,0,0
$RAFOS,3,1259065508,12.433333,12.418889,64,63,59,0,0,0,216,177,193,0,0,0
$RAFOS,2,1259065024,12.300000,12.284445,60,60,57,0,0,0,152,163,206,0,0,0
$RAFOS,1,1259064550,12.166667,12.152778,59,58,58,0,0,0,215,194,174,0,0,0
$RAFOS,0,1259064066,12.033333,12.018333,74,61,57,0,0,0,222,200,212,0,0,0
$RAFOS_FIX,6703.686035,-5708.914062,241109,121244,3,96,0.75
$IRIDIUM_FIX,6631.12,-5701.34,180299,070727
$TT8_MAMPS,0.026845
$HUMID,46.85
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.90
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,600.5,117.0
$24V_AH,23.0,43.299
$10V_AH,10.2,22.149
$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,23.825,153.350,310.125,63.250,0.000,30.109,39.116,183.428,4.250,0.000,15.523,2299.948,8827.449,563.218,2194.135,466.973,0.000,1698.184,0.000,2153.855,2520.000,21.062,0.000
$DEVICE_MAMPS,294.528,100.477,1165.840,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.410,924.501,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,53666,1346
$CAP_FILE_SIZE,162174,0
$CFSIZE,260165632,235180032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.4
$GPS,241109,151407,6703.246,-5709.983,31,1.3,31,-37.6