version: 66.11
glider: 167
mission: 14
dive: 373
start: 1 12 113 4 38 9
data:
$ID,167
$MISSION,14
$DIVE,373
$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,370
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,190
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,-971281.88
$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,2665
$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,0.0099999998
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,41
$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,0.0012000001
$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,21
$MINV_10V,9
$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,48
$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
$GPS1,120113,043023,2151.430,12243.710,42,1.3,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-59.1
$GPS2,120113,043742,2151.398,12243.587,5,1.3,5,-3.2
$SPEED_LIMITS,0.154,0.278
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,326.5,188234,-14.5,-8.919,-17.77
$D_GRID,4895
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.59,-185.7,0.0,0.0,0,93,0.00,0.00,-71.10,0.000,2,0.000,0.000,108,2449,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-185.7,3.3,-3.6,7,139,9.60,2.05,-24.80,0.000,4,0.221,0.063,2465,3754,3726,0,0,0,0,0,0,25.01,25.96,26.70
$GC,265,-0.54,-185.7,30.6,-16.5,23,270,0.00,1.88,0.00,0.000,6,0.000,0.018,2465,2431,3727,0,0,0,0,0,0,28.83,26.40,28.83
$GC,579,-0.51,-185.7,77.8,-14.5,45,585,0.12,2.00,0.00,0.000,4,0.150,0.031,2505,1054,3727,0,0,0,0,0,0,26.29,26.29,28.83
$GC,612,-0.48,-185.7,81.2,-14.2,46,618,0.00,2.08,0.00,0.000,6,0.000,0.033,2505,2444,3727,0,0,0,0,0,0,28.83,26.20,28.83
$GC,926,-0.48,-185.7,118.2,-10.7,62,932,0.00,2.03,0.00,0.000,4,0.000,0.048,2505,3762,3728,0,0,0,0,0,0,28.83,26.07,28.83
$GC,970,-0.48,-185.7,122.8,-10.7,64,975,0.00,1.88,0.00,0.000,6,0.000,0.018,2505,2438,3727,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1295,-0.49,-185.7,153.8,-8.6,80,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2438,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-0.56,-185.7,174.5,-6.7,95,1601,0.00,2.05,0.00,0.000,4,0.000,0.046,2505,3763,3728,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1631,-0.63,-185.7,176.3,-6.7,96,1637,0.12,1.85,0.00,0.000,6,0.076,0.019,2421,2443,3728,0,0,0,0,0,0,26.38,26.49,28.83
$GC,1945,-0.59,-185.7,216.7,-13.9,112,1951,0.15,1.98,0.00,0.000,4,0.143,0.025,2470,1063,3728,0,0,0,0,0,0,26.25,26.35,28.83
$GC,2033,-0.59,-185.7,226.2,-11.2,116,2039,0.00,2.08,0.00,0.000,6,0.000,0.031,2467,2460,3728,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2352,-0.60,-185.7,258.3,-10.4,132,2357,0.00,2.00,0.00,0.000,4,0.000,0.047,2467,3765,3728,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2405,-0.61,-185.7,263.0,-10.5,134,2411,0.00,1.85,0.00,0.000,6,0.000,0.018,2466,2444,3730,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2719,-0.62,-185.7,296.8,-10.6,150,2725,0.00,1.98,0.00,0.000,4,0.000,0.028,2466,1064,3728,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2778,-0.64,-185.7,301.8,-10.8,152,2785,0.00,2.08,0.00,0.000,6,0.000,0.033,2466,2454,3728,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3083,-0.66,-185.7,335.3,-10.0,168,3089,0.00,2.03,0.00,0.000,4,0.000,0.047,2466,3765,3727,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3138,-0.68,-185.7,339.8,-10.2,170,3143,0.00,1.85,0.00,0.000,6,0.000,0.019,2466,2442,3727,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3451,-0.70,-185.7,367.8,-8.6,186,3456,0.00,1.98,0.00,0.000,4,0.000,0.027,2466,1063,3726,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3504,-0.72,-185.7,371.9,-9.1,188,3511,0.10,2.08,0.00,0.000,6,0.093,0.032,2398,2451,3725,0,0,0,0,0,0,26.21,26.24,28.83
$GC,3820,-0.69,-185.7,414.7,-13.8,204,3826,0.12,2.05,0.00,0.000,4,0.153,0.029,2437,1064,3724,0,0,0,0,0,0,26.30,26.31,28.83
$GC,3866,-0.68,-185.7,420.2,-13.1,206,3871,0.00,2.10,0.00,0.000,6,0.000,0.034,2437,2459,3724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4189,-0.69,-185.7,448.9,-7.9,222,4195,0.00,2.00,0.00,0.000,4,0.000,0.048,2437,3761,3723,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4285,-0.70,-185.7,456.1,-8.5,226,4290,0.00,1.85,0.00,0.000,6,0.000,0.019,2437,2447,3722,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4599,-0.71,-185.7,487.1,-9.6,242,4604,0.00,2.05,0.00,0.000,4,0.000,0.046,2437,3766,3720,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4636,-0.73,-185.7,489.4,-9.6,243,4643,0.00,1.88,0.00,0.000,6,0.000,0.021,2437,2433,3720,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4943,-0.74,-185.7,520.0,-9.5,259,4948,0.00,1.95,0.00,0.000,4,0.000,0.028,2437,1076,3718,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4970,-0.76,-185.7,522.4,-9.5,260,4975,0.00,2.08,0.00,0.000,6,0.000,0.039,2438,2450,3718,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5291,-0.77,-185.7,552.7,-8.9,276,5296,0.00,2.05,0.00,0.000,4,0.000,0.049,2437,3765,3713,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5438,-0.79,-185.7,565.6,-8.7,283,5443,0.00,1.85,0.00,0.000,6,0.000,0.021,2437,2457,3715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5757,-0.81,-185.7,592.3,-8.4,299,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2457,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6068,-0.83,-185.7,619.8,-8.7,311,6075,0.12,2.05,0.00,0.000,4,0.082,0.046,2365,3761,3710,0,0,0,0,0,0,26.59,25.98,28.83
$GC,6113,-0.83,-185.7,623.9,-9.3,312,6120,0.12,1.88,0.00,0.000,6,0.153,0.021,2395,2446,3710,0,0,0,0,0,0,26.06,26.47,28.83
$GC,6440,-0.82,-185.7,657.3,-9.8,323,6445,0.00,2.08,0.00,0.000,4,0.000,0.050,2397,3760,3708,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6523,-0.80,-185.7,663.8,-9.9,325,6528,0.00,1.88,0.00,0.000,6,0.000,0.021,2397,2450,3707,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6838,-0.79,-185.7,698.9,-10.8,336,6843,0.00,2.08,0.00,0.000,4,0.000,0.049,2397,3765,3705,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6912,-0.77,-185.7,706.4,-11.2,338,6918,0.00,1.90,0.00,0.000,6,0.000,0.021,2397,2442,3704,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7238,-0.76,-185.7,741.4,-10.0,349,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2442,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7537,-0.75,-185.7,767.3,-8.4,359,7543,0.00,2.10,0.00,0.000,4,0.000,0.054,2398,3764,3699,0,0,0,0,0,0,28.83,24.94,28.83
$GC,7621,-0.74,-185.7,773.1,-8.7,361,7627,0.00,1.90,0.00,0.000,6,0.000,0.023,2398,2442,3699,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7938,-0.73,-185.7,804.9,-9.9,372,7940,0.10,0.00,0.00,0.000,6,0.160,0.000,2424,2440,3697,0,0,0,0,0,0,26.41,28.83,28.83
$GC,8235,-0.75,-185.7,832.0,-9.0,382,8240,0.00,2.10,0.00,0.000,4,0.000,0.055,2424,3756,3695,0,0,0,0,0,0,28.83,24.86,28.83
$GC,8338,-0.77,-185.7,840.8,-9.4,385,8344,0.00,1.90,0.00,0.000,6,0.000,0.024,2424,2430,3694,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8664,-0.78,-185.7,870.2,-8.7,396,8670,0.00,2.12,0.00,0.000,4,0.000,0.056,2424,3754,3692,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8723,-0.80,-185.7,873.4,-8.7,397,8730,0.00,1.88,0.00,0.000,6,0.000,0.024,2424,2447,3690,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9030,-0.82,-185.7,905.6,-10.1,408,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2447,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9329,-0.84,-185.7,936.4,-10.2,418,9335,0.00,2.03,0.00,0.000,4,0.000,0.029,2424,1070,3689,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9382,-0.86,-185.7,940.0,-10.1,419,9388,0.12,2.10,0.00,0.000,6,0.083,0.035,2364,2448,3688,0,0,0,0,0,0,25.99,26.01,28.83
$GC,9699,-0.83,-185.7,980.3,-12.1,430,9705,0.12,2.08,0.00,0.000,4,0.155,0.049,2400,3754,3687,0,0,0,0,0,0,26.20,24.98,28.83
$GC,9778,-0.81,-185.7,987.2,-10.9,432,9783,0.00,1.88,0.00,0.000,6,0.000,0.024,2400,2452,3687,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,9793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9793,begin apogee
$GC,9800,-0.20,0.0,990.3,-10.3,433,9978,0.60,0.00,170.10,1.217,6,0.113,0.000,2594,2184,2958,0,0,0,0,0,0,25.33,28.83,23.03
$STATE,9980,end apogee,CONTROL_FINISHED_OK
$STATE,9980,begin climb
$GC,9983,0.59,185.7,996.6,0.0,439,10175,0.70,2.47,180.38,1.224,4,0.061,0.052,2850,3600,2193,0,0,0,0,0,0,25.04,24.41,22.69
$GC,10288,0.55,185.7,975.3,10.5,449,10294,0.00,2.05,0.00,0.000,6,0.000,0.028,2852,2239,2179,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10615,0.52,185.7,943.5,9.3,460,10620,0.00,2.17,0.00,0.000,4,0.000,0.048,2853,3608,2176,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10662,0.49,185.7,939.8,9.4,461,10668,0.15,2.12,0.00,0.000,6,0.153,0.028,2820,2193,2176,0,0,0,0,0,0,25.89,26.33,28.83
$GC,10984,0.60,274.2,916.8,6.1,472,11085,0.12,2.25,91.82,1.154,4,0.083,0.037,2894,802,1838,0,0,0,0,0,0,26.51,25.20,23.47
$GC,11116,0.57,278.0,906.0,8.8,476,11122,0.17,2.17,0.00,0.000,6,0.125,0.032,2844,2213,1824,0,0,0,0,0,0,25.46,25.69,28.83
$GC,11442,0.62,317.0,880.5,7.7,487,11498,0.00,2.33,46.30,1.121,4,0.000,0.048,2844,3605,1660,0,0,0,0,0,0,28.83,25.43,23.80
$GC,11528,0.66,343.7,875.8,8.1,489,11563,0.10,2.12,27.38,1.147,6,0.093,0.028,2897,2202,1562,0,0,0,0,0,0,25.80,25.87,23.72
$GC,11863,0.65,343.7,832.5,12.9,501,11868,0.00,2.12,0.00,0.000,4,0.000,0.038,2897,799,1537,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11890,0.63,343.7,832.5,12.9,501,11897,0.00,2.10,0.00,0.000,6,0.000,0.030,2897,2203,1538,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12199,0.62,343.7,790.3,12.1,512,12205,0.12,2.17,0.00,0.000,4,0.134,0.045,2856,3600,1536,0,0,0,0,0,0,26.27,26.07,28.83
$GC,12258,0.61,343.7,786.3,11.8,513,12265,0.00,2.10,0.00,0.000,6,0.000,0.028,2856,2197,1536,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12565,0.67,380.9,758.7,7.7,524,12612,0.00,2.17,39.92,1.067,4,0.000,0.037,2856,798,1406,0,0,0,0,0,0,28.83,25.57,23.84
$GC,12642,0.75,424.7,754.1,7.5,526,12699,0.15,2.15,48.42,1.093,6,0.071,0.030,2928,2206,1230,0,0,0,0,0,0,25.85,25.86,23.65
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$GC,14752,0.79,424.7,540.9,11.2,605,14757,0.00,2.10,0.00,0.000,4,0.000,0.037,2908,806,1204,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,19651,end climb,SURFACE_DEPTH_REACHED
$STATE,19651,begin surface coast
$FINISH,1.1,1.023036
$STATE,19671,end surface coast,CONTROL_FINISHED_OK
$STATE,19671,begin surface
$SM_CCo,19750,0.00,0.000,0,0,1137,449.14
$SM_GC,1.72,7.50,0.35,0.00,0.031,0.048,0.000,112,2459,1137,-7.89,-1.47,449.14,0,0,0,0,0,0,26.20,26.41,28.83
$IRIDIUM_FIX,2143.45,12253.74,110113,222255
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.80
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.60
$XPDR_PINGS,50
$24V_AH,22.7,80.343
$10V_AH,9.8,52.180
$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,21.375,198.625,624.100,0.000,0.000,0.000,0.000,243.550,12.500,0.000,6.429,2946.168,13485.057,767.865,2508.677,471.526,0.000,2312.489,0.000,2184.525,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,62.730,1224.000,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19676.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.383,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,33368,866
$CAP_FILE_SIZE,233143,0
$CFSIZE,260165632,212189184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.179,231.2,1
$GPS,120113,100837,2152.579,12240.342,35,1.3,35,-3.2