version: 66.09
glider: 167
mission: 8
dive: 326
start: 8 20 111 18 18 29
data:
$ID,167
$MISSION,8
$DIVE,326
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56801.008
$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,2800
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,96
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,200811,180336,1915.392,12418.484,36,0.8,37,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.7
$GPS2,200811,181802,1915.550,12418.442,16,1.5,16,-2.3
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,147.8,161105,-15.3,-9.706
$D_GRID,5000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,106,0.00,0.00,-85.47,0.000,2,0.000,0.000,110,1917,2917,0,0,0,0,0,0
$GC,109,-0.62,-194.6,5.1,-8.2,12,139,9.95,2.08,-12.57,0.000,4,0.228,0.033,2594,463,3635,0,0,0,0,0,0
$GC,205,-0.62,-194.6,35.7,-24.0,27,212,0.00,2.00,0.00,0.000,6,0.000,0.020,2587,1854,3636,0,0,0,0,0,0
$GC,348,-0.62,-194.6,68.6,-20.0,52,356,0.00,2.10,0.00,0.000,4,0.000,0.031,2576,3268,3636,0,0,0,0,0,0
$GC,419,-0.62,-194.6,83.5,-20.8,63,426,0.00,1.90,0.00,0.000,6,0.000,0.016,2575,1900,3636,0,0,0,0,0,0
$GC,562,-0.62,-194.6,116.8,-23.0,88,569,0.00,2.03,0.00,0.000,4,0.000,0.028,2567,3266,3636,0,0,0,0,0,0
$GC,576,-0.62,-194.6,120.4,-22.7,90,586,0.08,1.83,0.00,0.000,6,0.158,0.017,2591,1937,3636,0,0,0,0,0,0
$GC,730,-0.62,-194.6,152.3,-21.4,115,737,0.00,2.05,0.00,0.000,4,0.000,0.026,2591,510,3636,0,0,0,0,0,0
$GC,747,-0.62,-194.6,156.7,-20.9,117,754,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1921,3636,0,0,0,0,0,0
$GC,890,-0.62,-194.6,186.2,-19.4,142,899,0.00,2.00,0.00,0.000,4,0.000,0.032,2579,3274,3636,0,0,0,0,0,0
$GC,941,-0.62,-194.6,195.2,-17.1,150,949,0.00,1.88,0.00,0.000,6,0.000,0.020,2578,1948,3636,0,0,0,0,0,0
$GC,1079,-0.62,-194.6,220.3,-17.8,165,1083,0.00,2.08,0.00,0.000,4,0.000,0.027,2579,513,3636,0,0,0,0,0,0
$GC,1117,-0.62,-194.6,227.1,-16.8,168,1125,0.00,2.12,0.00,0.000,6,0.000,0.021,2574,1960,3636,0,0,0,0,0,0
$GC,1443,-0.62,-194.6,272.4,-13.4,199,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1961,3635,0,0,0,0,0,0
$GC,1765,-0.62,-194.6,316.4,-15.6,229,1769,0.00,1.90,0.00,0.000,4,0.000,0.033,2565,3273,3634,0,0,0,0,0,0
$GC,1794,-0.62,-194.6,321.5,-15.9,231,1802,0.10,1.88,0.00,0.000,6,0.138,0.017,2597,1922,3634,0,0,0,0,0,0
$GC,2119,-0.62,-194.6,365.5,-12.3,262,2123,0.00,2.00,0.00,0.000,4,0.000,0.027,2598,526,3633,0,0,0,0,0,0
$GC,2159,-0.62,-194.6,370.1,-11.4,265,2166,0.00,2.03,0.00,0.000,6,0.000,0.020,2596,1938,3631,0,0,0,0,0,0
$GC,2485,-0.62,-194.6,400.7,-8.8,296,2489,0.00,1.98,0.00,0.000,4,0.000,0.035,2596,3264,3630,0,0,0,0,0,0
$GC,2543,-0.62,-194.6,404.9,-7.1,301,2547,0.00,1.80,0.00,0.000,6,0.000,0.017,2596,1961,3630,0,0,0,0,0,0
$GC,2877,-0.62,-194.6,430.3,-9.5,332,2881,0.00,2.08,0.00,0.000,4,0.000,0.028,2596,524,3628,0,0,0,0,0,0
$GC,2964,-0.62,-194.6,439.6,-10.5,339,2968,0.00,2.05,0.00,0.000,6,0.000,0.020,2590,1950,3628,0,0,0,0,0,0
$GC,3295,-0.62,-194.6,478.5,-11.2,370,3299,0.00,1.95,0.00,0.000,4,0.000,0.035,2588,3271,3626,0,0,0,0,0,0
$GC,3342,-0.62,-194.6,483.4,-10.6,374,3347,0.00,1.80,0.00,0.000,6,0.000,0.018,2588,1988,3625,0,0,0,0,0,0
$GC,3680,-0.62,-194.6,514.4,-8.6,398,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1987,3624,0,0,0,0,0,0
$GC,3988,-0.62,-194.6,540.8,-8.6,413,3992,0.00,2.10,0.00,0.000,4,0.000,0.029,2588,529,3621,0,0,0,0,0,0
$GC,4074,-0.62,-194.6,548.6,-9.7,417,4078,0.00,2.03,0.00,0.000,6,0.000,0.021,2588,1926,3621,0,0,0,0,0,0
$GC,4408,-0.62,-194.6,589.9,-13.6,433,4411,0.00,2.00,0.00,0.000,4,0.000,0.036,2588,3272,3619,0,0,0,0,0,0
$GC,4437,-0.62,-194.6,594.1,-14.0,434,4442,0.00,1.83,0.00,0.000,6,0.000,0.018,2588,1984,3618,0,0,0,0,0,0
$GC,4764,-0.62,-194.6,630.0,-9.1,450,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1983,3616,0,0,0,0,0,0
$GC,5073,-0.62,-194.6,649.3,-5.1,465,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1983,3614,0,0,0,0,0,0
$GC,5384,-0.62,-194.6,662.6,-4.0,480,5388,0.00,2.15,0.00,0.000,4,0.000,0.032,2588,523,3611,0,0,0,0,0,0
$GC,5509,-0.62,-194.6,669.4,-5.6,485,5516,0.00,2.03,0.00,0.000,6,0.000,0.023,2588,1911,3611,0,0,0,0,0,0
$GC,5827,-0.62,-194.6,691.0,-7.7,501,5830,0.00,2.03,0.00,0.000,4,0.000,0.037,2588,3267,3608,0,0,0,0,0,0
$GC,5910,-0.62,-194.6,697.8,-7.8,504,5917,0.00,1.85,0.00,0.000,6,0.000,0.018,2588,1954,3608,0,0,0,0,0,0
$GC,6226,-0.62,-194.6,725.3,-8.8,520,6231,0.00,2.10,0.00,0.000,4,0.000,0.030,2588,537,3605,0,0,0,0,0,0
$GC,6282,-0.62,-194.6,730.7,-9.2,522,6285,0.00,2.00,0.00,0.000,6,0.000,0.023,2588,1908,3605,0,0,0,0,0,0
$GC,6604,-0.62,-194.6,757.8,-8.3,538,6607,0.00,2.03,0.00,0.000,4,0.000,0.037,2588,3269,3602,0,0,0,0,0,0
$GC,6689,-0.62,-194.6,764.6,-8.0,541,6696,0.00,1.88,0.00,0.000,6,0.000,0.018,2588,1946,3602,0,0,0,0,0,0
$GC,7005,-0.62,-194.6,788.5,-7.6,557,7010,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,534,3600,0,0,0,0,0,0
$GC,7056,-0.62,-194.6,792.8,-8.4,559,7060,0.00,2.03,0.00,0.000,6,0.000,0.023,2587,1918,3600,0,0,0,0,0,0
$GC,7386,-0.62,-194.6,818.8,-7.9,575,7390,0.00,2.03,0.00,0.000,4,0.000,0.039,2588,3266,3597,0,0,0,0,0,0
$GC,7442,-0.62,-194.6,823.3,-7.5,577,7447,0.00,1.92,0.00,0.000,6,0.000,0.019,2588,1930,3597,0,0,0,0,0,0
$GC,7767,-0.62,-194.6,846.4,-7.0,593,7770,0.00,2.03,0.00,0.000,4,0.000,0.037,2587,3273,3595,0,0,0,0,0,0
$GC,7840,-0.62,-194.6,851.4,-6.4,596,7843,0.00,1.88,0.00,0.000,6,0.000,0.019,2588,1957,3595,0,0,0,0,0,0
$GC,8167,-0.62,-194.6,872.3,-6.2,612,8171,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,533,3593,0,0,0,0,0,0
$GC,8241,-0.62,-194.6,877.1,-6.8,615,8245,0.00,2.03,0.00,0.000,6,0.000,0.024,2588,1908,3593,0,0,0,0,0,0
$GC,8563,-0.62,-194.6,896.5,-6.1,631,8566,0.00,2.05,0.00,0.000,4,0.000,0.038,2588,3276,3591,0,0,0,0,0,0
$GC,8648,-0.62,-194.6,901.8,-6.0,634,8657,0.00,1.90,0.00,0.000,6,0.000,0.021,2588,1956,3590,0,0,0,0,0,0
$GC,8965,-0.62,-194.6,921.6,-6.4,650,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1956,3589,0,0,0,0,0,0
$GC,9276,-0.62,-194.6,940.0,-5.8,665,9280,0.00,2.03,0.00,0.000,4,0.000,0.039,2588,3263,3588,0,0,0,0,0,0
$GC,9314,-0.62,-194.6,942.4,-5.7,666,9323,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1975,3587,0,0,0,0,0,0
$GC,9630,-0.62,-194.6,959.6,-5.4,682,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1974,3586,0,0,0,0,0,0
$GC,9941,-0.62,-194.6,976.1,-5.4,697,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1974,3585,0,0,0,0,0,0
$STATE,10184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10184,begin apogee
$GC,10191,-0.20,0.0,991.1,6.2,709,10350,0.43,0.00,155.20,1.395,4,0.112,0.000,2732,2106,2839,0,0,0,0,0,0
$STATE,10351,end apogee,CONTROL_FINISHED_OK
$STATE,10351,begin climb
$GC,10354,0.62,194.6,995.9,0.0,716,10532,0.75,0.00,170.77,1.340,6,0.077,0.000,2995,2105,2044,0,0,0,0,0,0
$GC,10843,0.62,194.6,948.6,11.3,740,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2106,2034,0,0,0,0,0,0
$GC,11151,0.62,194.6,910.4,13.0,755,11154,0.00,2.05,0.00,0.000,4,0.000,0.040,2995,3447,2032,0,0,0,0,0,0
$GC,11176,0.62,194.6,907.0,13.7,756,11181,0.00,1.98,0.00,0.000,6,0.000,0.021,3004,2114,2032,0,0,0,0,0,0
$GC,11508,0.62,194.6,858.6,14.6,772,11512,0.00,2.12,0.00,0.000,4,0.000,0.033,3013,685,2031,0,0,0,0,0,0
$GC,11597,0.62,194.6,845.7,14.1,776,11601,0.00,1.98,0.00,0.000,6,0.000,0.024,3013,2015,2030,0,0,0,0,0,0
$GC,11927,0.62,194.6,801.6,13.3,792,11931,0.00,2.20,0.00,0.000,4,0.000,0.040,3013,3444,2030,0,0,0,0,0,0
$GC,12049,0.62,194.6,783.7,14.1,797,12053,0.00,1.98,0.00,0.000,6,0.000,0.021,3021,2107,2029,0,0,0,0,0,0
$GC,12372,0.62,194.6,746.7,10.2,813,12376,0.00,2.12,0.00,0.000,4,0.000,0.034,3032,695,2029,0,0,0,0,0,0
$GC,12485,0.65,216.7,736.4,9.0,818,12508,0.00,2.03,17.90,1.182,6,0.000,0.024,3032,2065,1954,0,0,0,0,0,0
$GC,12822,0.65,216.7,704.9,9.9,834,12826,0.00,2.15,0.00,0.000,4,0.000,0.040,3032,3472,1950,0,0,0,0,0,0
$GC,12857,0.65,216.7,700.1,11.5,835,12864,0.12,2.00,0.00,0.000,6,0.166,0.021,3008,2096,1949,0,0,0,0,0,0
$GC,13174,0.65,216.7,662.0,13.6,851,13178,0.00,2.08,0.00,0.000,4,0.000,0.033,3017,706,1948,0,0,0,0,0,0
$GC,13310,0.65,216.7,641.3,15.1,857,13313,0.00,2.03,0.00,0.000,6,0.000,0.024,3017,2072,1948,0,0,0,0,0,0
$GC,13645,0.65,216.7,590.1,14.8,873,13649,0.00,2.12,0.00,0.000,4,0.000,0.039,3017,3472,1948,0,0,0,0,0,0
$GC,13733,0.65,216.7,576.0,14.7,877,13738,0.00,2.05,0.00,0.000,6,0.000,0.020,3026,2062,1947,0,0,0,0,0,0
$GC,14061,0.65,216.7,536.1,11.1,893,14065,0.00,2.03,0.00,0.000,4,0.000,0.034,3037,697,1947,0,0,0,0,0,0
$GC,14234,0.65,216.7,517.5,10.4,900,14241,0.00,1.98,0.00,0.000,6,0.000,0.024,3036,2009,1947,0,0,0,0,0,0
$GC,14555,0.65,216.7,484.7,10.6,922,14559,0.00,2.20,0.00,0.000,4,0.000,0.038,3036,3465,1947,0,0,0,0,0,0
$GC,14630,0.65,216.7,476.1,12.2,928,14635,0.12,2.05,0.00,0.000,6,0.164,0.021,3012,2050,1946,0,0,0,0,0,0
$GC,14958,0.68,241.6,445.1,8.9,958,14985,0.00,2.05,22.27,0.971,4,0.000,0.031,3021,689,1853,0,0,0,0,0,0
$GC,15158,0.69,248.4,426.1,9.5,975,15170,0.00,1.92,6.97,0.812,6,0.000,0.022,3021,1977,1826,0,0,0,0,0,0
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$GC,16139,0.69,248.4,315.0,11.1,1067,16140,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1978,1823,0,0,0,0,0,0
$GC,16459,0.80,343.0,288.7,6.5,1097,16544,0.10,0.00,78.05,0.837,6,0.103,0.000,3075,1978,1440,0,0,0,0,0,0
$GC,16863,0.80,343.0,241.3,13.2,1135,16868,0.00,1.95,0.00,0.000,4,0.000,0.031,3082,686,1435,0,0,0,0,0,0
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$STATE,18906,end climb,SURFACE_DEPTH_REACHED
$STATE,18906,begin surface coast
$FINISH,1.4,1.021160
$STATE,18919,end surface coast,CONTROL_FINISHED_OK
$STATE,18919,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,37.83
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.80
$XPDR_PINGS,51
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$10V_AH,9.8,53.050
$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
$DEVICE_SECS,20.000,165.075,635.875,0.000,0.000,61.044,82.242,440.434,12.750,0.000,17.811,3676.058,11210.767,727.998,3414.520,815.486,0.000,2242.681,0.000,3021.431,0.000,0.543,0.000
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$SENSOR_SECS,989.215,1065.589,558.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329648
$DATA_FILE_SIZE,83622,1461
$CAP_FILE_SIZE,199653,0
$CFSIZE,260165632,110485504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,295.8,1
$GPS,200811,233624,1913.646,12418.902,38,1.8,39,-2.3