version: 66.11
glider: 167
mission: 14
dive: 112
start: 11 5 112 6 55 18
data:
$ID,167
$MISSION,14
$DIVE,112
$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,-968639.56
$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,70
$R_STBD_OVSHOOT,51
$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
$GPS1,051112,064701,2342.629,12343.736,40,1.6,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-59.6
$GPS2,051112,065451,2342.607,12343.747,5,1.2,5,-3.8
$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,62.7,23470,-12.5,-7.333,-16.34
$D_GRID,3394
$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,-171.1,0.0,0.0,0,91,0.00,0.00,-70.32,0.000,2,0.000,0.000,109,2337,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.38,-171.1,3.1,-5.5,12,133,9.75,2.15,-22.33,0.000,4,0.220,0.045,2607,928,3667,0,0,0,0,0,0,25.56,26.16,26.53
$GC,158,-0.43,-171.1,10.2,-7.8,22,165,0.00,2.08,0.00,0.000,6,0.000,0.032,2607,2312,3669,0,0,0,0,0,0,28.83,26.11,28.83
$GC,475,-0.45,-171.1,41.4,-10.0,69,481,0.00,2.17,0.00,0.000,4,0.000,0.045,2607,3738,3668,0,0,0,0,0,0,28.83,26.20,28.83
$GC,549,-0.52,-171.1,48.0,-8.3,76,555,0.12,2.03,0.00,0.000,6,0.075,0.020,2526,2304,3668,0,0,0,0,0,0,26.36,26.44,28.83
$GC,873,-0.41,-171.1,106.3,-19.7,93,875,0.28,0.00,0.00,0.000,6,0.128,0.000,2609,2304,3668,0,0,0,0,0,0,26.09,28.83,28.83
$GC,1176,-0.48,-171.1,132.9,-6.9,108,1181,0.00,1.98,0.00,0.000,4,0.000,0.032,2609,947,3665,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1203,-0.55,-171.1,134.6,-6.6,109,1210,0.15,2.05,0.00,0.000,6,0.066,0.033,2509,2339,3668,0,0,0,0,0,0,26.47,26.46,28.83
$GC,1524,-0.50,-171.1,177.9,-13.6,125,1529,0.20,2.10,0.00,0.000,4,0.131,0.042,2574,3725,3669,0,0,0,0,0,0,26.29,26.36,28.83
$GC,1562,-0.46,-171.1,180.7,-13.1,126,1569,0.00,1.98,0.00,0.000,6,0.000,0.022,2575,2353,3668,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1870,-0.54,-171.1,202.0,-6.2,142,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2353,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-0.62,-171.1,221.5,-6.5,157,2176,0.10,2.12,0.00,0.000,4,0.095,0.049,2500,3723,3668,0,0,0,0,0,0,26.77,26.38,28.83
$GC,2263,-0.62,-171.1,230.4,-10.2,161,2269,0.15,2.00,0.00,0.000,6,0.132,0.018,2543,2274,3668,0,0,0,0,0,0,26.33,26.70,28.83
$GC,2578,-0.65,-171.1,257.1,-7.2,177,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2274,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2880,-0.70,-171.1,277.8,-7.2,192,2885,0.00,2.22,0.00,0.000,4,0.000,0.046,2543,3723,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2989,-0.76,-171.1,286.0,-7.7,197,2995,0.15,2.00,0.00,0.000,6,0.069,0.018,2453,2283,3666,0,0,0,0,0,0,26.60,26.70,28.83
$GC,3308,-0.67,-171.1,333.1,-15.1,213,3314,0.20,2.22,0.00,0.000,4,0.132,0.044,2517,3726,3665,0,0,0,0,0,0,26.32,26.41,28.83
$GC,3367,-0.63,-171.1,338.2,-13.2,215,3375,0.00,1.95,0.00,0.000,6,0.000,0.019,2518,2329,3665,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3673,-0.65,-171.1,367.5,-8.6,231,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2329,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.67,-171.1,390.0,-7.2,246,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2329,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4274,-0.70,-171.1,412.8,-7.7,261,4279,0.00,2.17,0.00,0.000,4,0.000,0.055,2517,3728,3661,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4301,-0.73,-171.1,414.8,-7.8,262,4307,0.00,1.98,0.00,0.000,6,0.000,0.019,2517,2311,3661,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4621,-0.76,-171.1,440.5,-8.6,278,4626,0.00,1.95,0.00,0.000,4,0.000,0.034,2517,941,3659,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4673,-0.80,-171.1,444.5,-8.8,280,4679,0.12,2.05,0.00,0.000,6,0.078,0.030,2441,2331,3658,0,0,0,0,0,0,26.25,25.89,28.83
$GC,4987,-0.73,-171.1,486.7,-12.3,296,4990,0.20,0.00,-0.10,0.000,6,0.132,0.000,2501,2332,3680,0,0,0,0,0,0,26.33,28.83,25.81
$GC,5288,-0.76,-171.1,509.7,-7.2,311,5293,0.00,2.12,0.00,0.000,4,0.000,0.047,2501,3725,3680,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5377,-0.79,-171.1,515.9,-7.3,315,5383,0.00,1.95,0.00,0.000,6,0.000,0.019,2501,2320,3680,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5696,-0.82,-171.1,538.3,-6.6,331,5701,0.00,2.17,0.00,0.000,4,0.000,0.047,2501,3726,3675,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5784,-0.87,-171.1,543.7,-6.5,335,5790,0.12,1.95,0.00,0.000,6,0.079,0.020,2430,2325,3678,0,0,0,0,0,0,26.57,26.70,28.83
$GC,6104,-0.80,-171.1,580.8,-11.4,351,6110,0.15,2.17,0.00,0.000,4,0.141,0.044,2478,3726,3675,0,0,0,0,0,0,26.41,26.33,28.83
$GC,6151,-0.77,-171.1,584.7,-9.7,353,6157,0.00,1.95,0.00,0.000,6,0.000,0.020,2478,2329,3675,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6471,-0.77,-171.1,611.5,-8.9,367,6476,0.00,2.17,0.00,0.000,4,0.000,0.046,2478,3733,3673,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6498,-0.77,-171.1,611.5,-8.9,367,6505,0.00,2.00,0.00,0.000,6,0.000,0.021,2478,2320,3673,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6804,-0.77,-171.1,640.3,-8.2,378,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2320,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7105,-0.78,-171.1,663.7,-7.8,388,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2320,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7405,-0.80,-171.1,687.3,-7.6,398,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2320,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7705,-0.82,-171.1,709.5,-7.6,408,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2320,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8004,-0.84,-171.1,732.5,-7.7,418,8009,0.00,2.17,0.00,0.000,4,0.000,0.047,2478,3723,3663,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8087,-0.87,-171.1,737.2,-7.5,420,8092,0.00,1.98,0.00,0.000,6,0.000,0.022,2478,2322,3663,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8402,-0.90,-171.1,760.8,-6.8,431,8407,0.00,1.98,0.00,0.000,4,0.000,0.027,2478,948,3661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8436,-0.93,-171.1,763.3,-6.9,432,8442,0.12,2.05,0.00,0.000,6,0.083,0.030,2415,2325,3661,0,0,0,0,0,0,26.39,26.41,28.83
$GC,8772,-0.88,-171.1,798.3,-11.1,443,8774,0.15,0.00,0.00,0.000,6,0.148,0.000,2455,2326,3658,0,0,0,0,0,0,26.38,28.83,28.83
$GC,9070,-0.88,-171.1,823.8,-8.1,453,9075,0.00,2.17,0.00,0.000,4,0.000,0.049,2454,3728,3656,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9148,-0.88,-171.1,828.9,-7.9,455,9153,0.00,2.00,0.00,0.000,6,0.000,0.031,2454,2332,3656,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9466,-0.88,-171.1,855.9,-8.3,466,9471,0.00,2.20,0.00,0.000,4,0.000,0.048,2454,3722,3654,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9553,-0.88,-171.1,861.3,-8.4,468,9560,0.00,2.00,0.00,0.000,6,0.000,0.024,2454,2315,3653,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9858,-0.88,-171.1,889.0,-8.3,479,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2314,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10159,-0.88,-171.1,911.8,-7.4,489,10165,0.00,2.22,0.00,0.000,4,0.000,0.049,2454,3729,3650,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10253,-0.88,-171.1,918.9,-7.5,492,10258,0.00,2.03,0.00,0.000,6,0.000,0.024,2450,2317,3650,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10588,-0.88,-171.1,944.6,-7.7,503,10593,0.00,2.22,0.00,0.000,4,0.000,0.048,2454,3730,3648,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10713,-0.88,-171.1,954.1,-7.6,507,10718,0.00,2.03,0.00,0.000,6,0.000,0.024,2454,2325,3648,0,0,0,0,0,0,28.83,26.57,28.83
$GC,11047,-0.88,-171.1,976.9,-7.5,518,11053,0.00,2.22,0.00,0.000,4,0.000,0.054,2453,3724,3646,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,11228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11228,begin apogee
$GC,11236,-0.20,0.0,991.0,-7.5,524,11396,0.62,0.00,149.23,1.349,6,0.103,0.000,2665,2291,2962,0,0,0,0,0,0,25.73,28.83,23.52
$STATE,11398,end apogee,CONTROL_FINISHED_OK
$STATE,11398,begin climb
$GC,11400,0.38,171.1,997.2,0.0,529,11565,0.52,2.35,156.38,1.308,4,0.040,0.034,2885,927,2263,0,0,0,0,0,0,24.82,23.95,22.95
$GC,11588,0.26,253.9,993.4,4.9,535,11672,0.20,2.22,75.80,1.228,6,0.127,0.029,2831,2297,1930,0,0,0,0,0,0,24.33,24.49,22.94
$GC,11991,0.24,253.9,958.2,7.7,549,11996,0.00,2.25,0.00,0.000,4,0.000,0.047,2831,3710,1916,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12093,0.20,253.9,949.6,8.9,552,12099,0.00,2.10,0.00,0.000,6,0.000,0.028,2831,2313,1915,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12419,0.18,253.9,923.4,7.9,563,12425,0.12,2.20,0.00,0.000,4,0.147,0.046,2791,3710,1914,0,0,0,0,0,0,26.12,26.11,28.83
$GC,12462,0.18,253.9,920.5,7.9,564,12468,0.00,2.10,0.00,0.000,6,0.000,0.028,2791,2292,1913,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12788,0.23,295.1,900.0,6.1,575,12834,0.00,2.33,39.15,1.257,4,0.000,0.048,2791,3701,1759,0,0,0,0,0,0,28.83,25.34,24.35
$GC,12880,0.25,312.5,893.5,6.8,578,12907,0.00,2.15,18.17,1.249,6,0.000,0.028,2791,2294,1689,0,0,0,0,0,0,28.83,25.72,24.25
$GC,13208,0.32,348.4,872.2,6.3,589,13248,0.15,0.00,36.88,1.237,6,0.072,0.000,2869,2291,1545,0,0,0,0,0,0,26.19,28.83,24.29
$GC,13540,0.30,348.4,838.8,10.1,600,13546,0.00,2.25,0.00,0.000,4,0.000,0.047,2875,3705,1534,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13593,0.28,348.4,834.9,10.3,601,13599,0.15,2.10,0.00,0.000,6,0.138,0.030,2827,2308,1532,0,0,0,0,0,0,25.91,26.14,28.83
$GC,13909,0.31,353.2,809.5,7.2,612,13914,0.00,2.10,0.00,0.000,4,0.000,0.037,2827,904,1532,0,0,0,0,0,0,28.83,26.21,28.83
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$GC,18470,0.47,364.9,376.6,7.3,803,18476,0.00,2.05,0.00,0.000,4,0.000,0.030,2871,909,1479,0,0,0,0,0,0,28.83,26.42,28.83
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$STATE,22510,end climb,SURFACE_DEPTH_REACHED
$STATE,22510,begin surface coast
$FINISH,1.1,1.022701
$STATE,22538,end surface coast,CONTROL_FINISHED_OK
$STATE,22539,begin surface
$SM_CCo,22616,0.00,0.000,0,0,791,534.02
$SM_GC,1.58,7.18,0.00,0.00,0.021,0.000,0.000,103,2304,791,-8.12,-0.62,534.02,0,0,0,0,0,0,26.41,28.83,28.83
$IRIDIUM_FIX,2330.93,12340.10,051112,000040
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.17
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.20
$XPDR_PINGS,21
$24V_AH,22.9,28.147
$10V_AH,9.8,17.413
$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,22.125,179.700,604.125,0.000,0.000,0.000,0.000,281.075,5.250,0.000,5.842,3321.134,15797.176,753.497,2771.540,432.661,0.000,2390.403,0.000,2394.854,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,55.080,1349.460,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22564.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.257,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,36696,1036
$CAP_FILE_SIZE,245496,0
$CFSIZE,260165632,239108096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,120.9,1
$GPS,051112,131335,2343.308,12348.613,38,0.9,38,-3.8