version: 66.11
glider: 167
mission: 14
dive: 107
start: 11 3 112 22 37 42
data:
$ID,167
$MISSION,14
$DIVE,107
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,450
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$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,425
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-968633.31
$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,2740
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$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,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,031112,223005,2335.345,12326.711,26,1.2,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.7
$GPS2,031112,223715,2335.486,12326.692,5,1.2,5,-3.7
$SPEED_LIMITS,0.127,0.250
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,83.6,54975,-12.5,-7.333,-16.34
$D_GRID,3141
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.38,-171.1,0.0,0.0,0,85,0.00,0.00,-64.50,0.000,2,0.000,0.000,110,2319,2543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.1,-5.4,11,132,9.75,2.25,-27.40,0.000,4,0.220,0.058,2607,3719,3668,0,0,0,0,0,0,25.53,26.05,26.46
$GC,181,-0.44,-171.1,11.7,-7.9,27,187,0.00,2.03,0.00,0.000,6,0.000,0.023,2607,2323,3667,0,0,0,0,0,0,28.83,26.23,28.83
$GC,492,-0.44,-171.1,40.8,-10.9,70,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2323,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-0.46,-171.1,70.0,-9.6,90,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2323,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1104,-0.49,-171.1,98.6,-9.1,105,1110,0.00,2.17,0.00,0.000,4,0.000,0.047,2602,3720,3668,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1168,-0.56,-171.1,103.6,-7.8,108,1176,0.15,1.98,0.00,0.000,6,0.064,0.018,2516,2306,3668,0,0,0,0,0,0,26.53,26.62,28.83
$GC,1494,-0.49,-171.1,147.6,-12.6,124,1496,0.22,0.00,0.00,0.000,6,0.122,0.000,2581,2306,3666,0,0,0,0,0,0,26.30,28.83,28.83
$GC,1796,-0.55,-171.1,170.7,-7.3,139,1802,0.00,1.92,0.00,0.000,4,0.000,0.028,2586,943,3669,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1840,-0.62,-171.1,174.2,-7.4,141,1846,0.15,2.00,0.00,0.000,6,0.066,0.029,2491,2320,3669,0,0,0,0,0,0,26.54,26.53,28.83
$GC,2165,-0.56,-171.1,214.9,-13.3,157,2171,0.20,2.15,0.00,0.000,4,0.129,0.044,2557,3726,3666,0,0,0,0,0,0,26.33,26.43,28.83
$GC,2265,-0.60,-171.1,221.7,-7.8,161,2273,0.00,1.95,0.00,0.000,6,0.000,0.018,2557,2321,3669,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2569,-0.65,-171.1,245.1,-7.0,177,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2321,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2873,-0.71,-171.1,264.3,-6.4,192,2879,0.12,2.15,0.00,0.000,4,0.076,0.044,2466,3725,3668,0,0,0,0,0,0,26.77,26.44,28.83
$GC,2930,-0.71,-171.1,269.0,-8.1,194,2938,0.15,1.95,0.00,0.000,6,0.133,0.018,2509,2314,3668,0,0,0,0,0,0,26.34,26.70,28.83
$GC,3237,-0.71,-171.1,303.3,-10.3,210,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2314,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-0.71,-171.1,332.3,-10.2,225,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2314,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3838,-0.71,-171.1,361.2,-9.6,240,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2314,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.71,-171.1,388.0,-8.5,255,4145,0.00,2.17,0.00,0.000,4,0.000,0.047,2509,3729,3663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4178,-0.71,-171.1,390.1,-8.5,256,4185,0.00,1.95,0.00,0.000,6,0.000,0.019,2508,2317,3663,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4482,-0.71,-171.1,415.4,-7.5,272,4487,0.00,1.92,0.00,0.000,4,0.000,0.024,2508,953,3666,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4520,-0.71,-171.1,417.2,-7.6,273,4526,0.00,2.03,0.00,0.000,6,0.000,0.034,2508,2335,3662,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4826,-0.73,-171.1,442.8,-8.4,289,4831,0.00,2.12,0.00,0.000,4,0.000,0.044,2508,3725,3660,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4932,-0.76,-171.1,451.2,-8.1,294,4938,0.00,1.95,0.00,0.000,6,0.000,0.019,2508,2314,3659,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5256,-0.79,-171.1,476.5,-7.8,310,5262,0.00,1.92,0.00,0.000,4,0.000,0.025,2508,967,3658,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5295,-0.82,-171.1,478.5,-7.8,311,5302,0.00,2.00,-0.08,0.000,6,0.000,0.028,2508,2328,3681,0,0,0,0,0,0,28.83,26.55,25.35
$GC,5600,-0.85,-171.1,500.4,-6.4,327,5606,0.12,2.12,0.00,0.000,4,0.080,0.044,2427,3723,3679,0,0,0,0,0,0,26.76,26.38,28.83
$GC,5686,-0.80,-171.1,509.3,-10.7,331,5692,0.20,1.92,0.00,0.000,6,0.132,0.019,2485,2333,3679,0,0,0,0,0,0,26.20,26.70,28.83
$GC,6010,-0.80,-171.1,535.0,-7.9,347,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2333,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-0.80,-171.1,560.6,-8.2,362,6317,0.00,2.17,0.00,0.000,4,0.000,0.047,2485,3731,3675,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6376,-0.82,-171.1,566.3,-8.6,365,6382,0.00,1.98,0.00,0.000,6,0.000,0.020,2486,2301,3676,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6700,-0.84,-171.1,594.4,-8.8,381,6706,0.00,2.20,0.00,0.000,4,0.000,0.044,2485,3726,3674,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6778,-0.86,-171.1,600.3,-9.2,384,6783,0.00,1.92,0.00,0.000,6,0.000,0.021,2485,2323,3673,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7098,-0.88,-171.1,629.9,-8.5,395,7104,0.00,2.17,0.00,0.000,4,0.000,0.051,2485,3722,3673,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7262,-0.91,-171.1,643.1,-8.5,400,7269,0.12,1.92,0.00,0.000,6,0.081,0.021,2420,2332,3671,0,0,0,0,0,0,26.55,26.70,28.83
$GC,7589,-0.85,-171.1,682.7,-12.1,411,7594,0.12,2.17,0.00,0.000,4,0.151,0.043,2453,3728,3669,0,0,0,0,0,0,26.44,26.32,28.83
$GC,7653,-0.81,-171.1,689.6,-11.1,413,7659,0.00,1.98,0.00,0.000,6,0.000,0.021,2453,2326,3669,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7988,-0.81,-171.1,722.0,-9.6,424,7993,0.00,1.95,0.00,0.000,4,0.000,0.026,2453,966,3666,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8040,-0.81,-171.1,725.3,-9.5,425,8046,0.00,2.03,0.00,0.000,6,0.000,0.030,2453,2335,3666,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8354,-0.81,-171.1,758.3,-10.2,436,8360,0.00,1.98,0.00,0.000,4,0.000,0.026,2453,973,3664,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8391,-0.81,-171.1,761.8,-10.4,437,8396,0.00,2.00,0.00,0.000,6,0.000,0.030,2453,2328,3663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8719,-0.81,-171.1,795.3,-9.9,448,8724,0.00,2.15,0.00,0.000,4,0.000,0.047,2453,3724,3661,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8752,-0.81,-171.1,798.5,-9.8,449,8758,0.00,2.00,0.00,0.000,6,0.000,0.022,2453,2314,3661,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9087,-0.81,-171.1,828.6,-8.7,460,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2313,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,-0.81,-171.1,855.7,-9.1,470,9390,0.00,2.20,0.00,0.000,4,0.000,0.047,2454,3723,3656,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9427,-0.81,-171.1,858.8,-9.2,471,9432,0.00,1.98,0.00,0.000,6,0.000,0.024,2453,2320,3656,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9752,-0.81,-171.1,888.6,-8.8,482,9758,0.00,2.20,0.00,0.000,4,0.000,0.047,2452,3728,3654,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9825,-0.81,-171.1,894.4,-8.9,484,9830,0.00,1.98,0.00,0.000,6,0.000,0.024,2453,2332,3654,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10150,-0.81,-171.1,922.2,-8.2,495,10155,0.00,2.17,0.00,0.000,4,0.000,0.047,2453,3723,3653,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10192,-0.81,-171.1,925.3,-8.4,496,10198,0.00,2.00,0.00,0.000,6,0.000,0.024,2453,2313,3652,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10516,-0.81,-171.1,951.5,-7.6,507,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2311,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10816,-0.81,-171.1,973.1,-7.1,517,10822,0.00,2.22,0.00,0.000,4,0.000,0.047,2453,3723,3653,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10905,-0.81,-171.1,977.8,-7.2,519,10911,0.00,2.00,0.00,0.000,6,0.000,0.025,2452,2324,3648,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,11057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11058,begin apogee
$GC,11064,-0.20,0.0,990.6,-7.1,525,11220,0.65,0.00,148.75,1.354,6,0.103,0.000,2672,2323,2964,0,0,0,0,0,0,25.77,28.83,23.55
$STATE,11222,end apogee,CONTROL_FINISHED_OK
$STATE,11222,begin climb
$GC,11225,0.38,171.1,995.8,0.0,530,11393,0.50,2.30,154.95,1.268,4,0.039,0.034,2882,944,2260,0,0,0,0,0,0,24.80,23.97,23.01
$GC,11558,0.28,171.1,972.5,10.7,541,11564,0.17,2.12,0.00,0.000,6,0.129,0.034,2833,2312,2250,0,0,0,0,0,0,25.25,25.43,28.83
$GC,11883,0.23,171.1,942.8,8.9,552,11888,0.00,2.20,0.00,0.000,4,0.000,0.053,2833,3702,2247,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12003,0.16,171.1,932.9,10.1,555,12010,0.17,2.08,0.00,0.000,6,0.148,0.028,2787,2316,2246,0,0,0,0,0,0,25.86,26.22,28.83
$GC,12309,0.16,171.1,906.6,7.7,566,12314,0.00,2.20,0.00,0.000,4,0.000,0.047,2791,3702,2244,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12357,0.16,171.1,903.5,7.8,567,12362,0.00,2.08,0.00,0.000,6,0.000,0.028,2797,2299,2244,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12675,0.16,171.1,876.8,8.0,578,12680,0.00,2.20,0.00,0.000,4,0.000,0.047,2797,3697,2243,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12753,0.13,171.1,871.1,8.5,580,12758,0.00,2.08,0.00,0.000,6,0.000,0.028,2800,2299,2243,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13073,0.12,183.7,846.8,7.0,591,13084,0.00,2.20,4.15,1.165,4,0.000,0.046,2800,3701,2222,0,0,0,0,0,0,28.83,26.34,24.91
$GC,13132,0.10,193.2,844.3,7.1,592,13156,0.00,2.10,16.95,1.252,6,0.000,0.028,2800,2288,2174,0,0,0,0,0,0,28.83,26.40,24.87
$GC,13469,0.11,204.7,818.5,7.0,604,13483,0.00,0.00,12.10,1.252,6,0.000,0.000,2800,2288,2132,0,0,0,0,0,0,28.83,28.83,24.82
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$GC,22485,0.81,515.6,38.6,6.6,1017,22502,0.12,2.05,11.50,0.200,4,0.076,0.028,3048,923,866,0,0,0,0,0,0,26.56,26.36,25.72
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$STATE,22802,end climb,SURFACE_DEPTH_REACHED
$STATE,22802,begin surface coast
$FINISH,0.7,1.022736
$STATE,22831,end surface coast,CONTROL_FINISHED_OK
$STATE,22831,begin surface
$SM_CCo,22909,0.00,0.000,0,0,869,514.88
$SM_GC,1.55,7.18,0.00,0.00,0.024,0.000,0.000,119,2311,869,-8.11,-0.40,514.88,0,0,0,0,0,0,26.40,28.83,28.83
$IRIDIUM_FIX,2323.87,12325.76,031112,161627
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.62
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.40
$XPDR_PINGS,21
$24V_AH,23.0,27.111
$10V_AH,9.8,16.630
$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,21.450,178.675,603.975,0.000,0.000,0.000,0.000,242.650,5.250,0.000,5.859,3403.693,15933.913,764.025,2781.565,446.720,0.000,2381.445,0.000,2441.222,0.000,0.544,0.000
$DEVICE_MAMPS,220.320,58.140,1354.050,0.000,0.000,0.000,0.000,130.815,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22852.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.588,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,40029,1073
$CAP_FILE_SIZE,248068,0
$CFSIZE,260165632,239665152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134,342.4,1
$GPS,041112,050053,2337.493,12330.006,39,1.4,39,-3.7