version: 66.10
glider: 169
mission: 5
dive: 29
start: 11 14 111 4 49 28
data:
$ID,169
$MISSION,5
$DIVE,29
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,110
$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,350
$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,-8
$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,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-10304.609
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,141111,044224,2333.645,12229.327,39,1.4,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-64.7
$GPS2,141111,044902,2333.812,12229.272,10,1.4,10,-3.2
$SPEED_LIMITS,0.163,0.289
$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,126.5,148290,-14.0,-9.429
$D_GRID,3420
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.59,-194.6,0.0,0.0,0,114,0.00,0.00,-94.90,0.000,2,0.000,0.000,119,2637,3073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.59,-194.6,4.2,-8.1,12,145,6.72,2.22,-11.98,0.000,4,0.236,0.049,1822,1158,3773,0,0,0,0,0,0,25.82,26.08,26.39
$GC,229,-0.54,-194.6,54.3,-24.0,28,240,0.00,2.28,0.00,0.000,6,0.000,0.051,1811,2611,3773,0,0,0,0,0,0,28.83,26.15,28.83
$GC,610,-0.42,-194.6,189.1,-29.1,89,619,0.17,2.17,0.00,0.000,4,0.172,0.032,1875,1152,3773,0,0,0,0,0,0,26.21,26.36,28.83
$GC,629,-0.32,-194.6,194.4,-28.6,91,638,0.10,2.28,0.00,0.000,6,0.113,0.051,1903,2616,3773,0,0,0,0,0,0,26.27,26.34,28.83
$GC,1010,-0.34,-194.6,231.8,-8.1,152,1018,0.00,1.85,0.00,0.000,4,0.000,0.054,1894,3801,3773,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1065,-0.40,-194.6,235.9,-6.3,160,1074,0.00,1.85,0.00,0.000,6,0.000,0.032,1894,2551,3773,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1407,-0.42,-194.6,262.2,-7.5,206,1420,0.00,2.03,0.00,0.000,4,0.000,0.037,1894,1152,3773,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1425,-0.45,-194.6,263.0,-7.6,207,1432,0.00,2.22,0.00,0.000,6,0.000,0.048,1894,2623,3773,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1733,-0.48,-194.6,284.0,-6.3,238,1747,0.12,1.80,0.00,0.000,4,0.076,0.051,1787,3813,3771,0,0,0,0,0,0,26.63,26.53,28.83
$GC,1760,-0.48,-194.6,286.7,-8.4,240,1771,0.22,1.85,0.00,0.000,6,0.127,0.032,1857,2544,3771,0,0,0,0,0,0,26.45,26.58,28.83
$GC,2072,-0.47,-194.6,323.6,-10.4,271,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2544,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2381,-0.47,-194.6,357.0,-10.3,302,2391,0.00,1.95,0.00,0.000,4,0.000,0.054,1848,3815,3768,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2416,-0.47,-194.6,360.4,-10.3,305,2423,0.00,1.88,0.00,0.000,6,0.000,0.032,1848,2553,3767,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2724,-0.47,-194.6,393.0,-11.0,336,2733,0.00,1.98,0.00,0.000,4,0.000,0.054,1839,3821,3766,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2766,-0.47,-194.6,397.6,-11.3,340,2769,0.00,1.85,0.00,0.000,6,0.000,0.034,1839,2558,3765,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3071,-0.45,-194.6,433.6,-11.7,370,3075,0.00,2.03,0.00,0.000,4,0.000,0.040,1839,1158,3764,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3115,-0.45,-194.6,438.1,-10.7,374,3125,0.12,2.22,0.00,0.000,6,0.128,0.049,1870,2631,3764,0,0,0,0,0,0,26.56,26.61,28.83
$GC,3423,-0.48,-194.6,459.1,-6.5,405,3427,0.00,1.83,0.00,0.000,4,0.000,0.057,1862,3804,3761,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3469,-0.53,-194.6,461.7,-6.2,409,3476,0.00,1.83,0.00,0.000,6,0.000,0.033,1862,2551,3760,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3776,-0.55,-194.6,482.7,-6.5,440,3780,0.00,2.03,0.00,0.000,4,0.000,0.040,1862,1159,3758,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3809,-0.59,-194.6,484.8,-6.7,443,3819,0.12,2.20,0.00,0.000,6,0.082,0.050,1786,2629,3758,0,0,0,0,0,0,26.65,26.63,28.83
$GC,4118,-0.53,-194.6,531.8,-14.8,474,4129,0.15,1.80,0.00,0.000,4,0.153,0.056,1826,3814,3756,0,0,0,0,0,0,26.54,26.61,28.83
$GC,4165,-0.51,-194.6,537.2,-12.4,478,4174,0.00,1.88,0.00,0.000,6,0.000,0.034,1826,2554,3755,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4472,-0.49,-194.6,568.2,-10.4,509,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2554,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.49,-194.6,597.9,-9.3,539,4785,0.00,1.98,0.00,0.000,4,0.000,0.057,1817,3816,3750,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4852,-0.49,-194.6,604.5,-9.9,543,4859,0.12,1.85,0.00,0.000,6,0.121,0.034,1857,2553,3750,0,0,0,0,0,0,26.59,26.67,28.83
$GC,5159,-0.51,-194.6,626.5,-6.6,559,5163,0.00,1.95,0.00,0.000,4,0.000,0.057,1848,3812,3747,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5185,-0.54,-194.6,627.9,-6.4,560,5189,0.00,1.85,0.00,0.000,6,0.000,0.036,1848,2558,3746,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5497,-0.56,-194.6,647.9,-6.2,576,5502,0.00,2.08,0.00,0.000,4,0.000,0.042,1848,1154,3745,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5520,-0.58,-194.6,649.2,-6.3,577,5524,0.00,2.25,0.00,0.000,6,0.000,0.053,1841,2628,3745,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5835,-0.60,-194.6,671.0,-7.0,593,5839,0.00,1.85,0.00,0.000,4,0.000,0.059,1832,3808,3743,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5885,-0.61,-194.6,674.2,-7.4,595,5889,0.00,1.83,0.00,0.000,6,0.000,0.037,1832,2557,3742,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6192,-0.61,-194.6,700.4,-8.9,610,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2555,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6493,-0.61,-194.6,726.8,-8.4,625,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2555,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,-0.61,-194.6,750.4,-7.6,640,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2555,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.61,-194.6,772.8,-7.4,655,7098,0.00,2.08,0.00,0.000,4,0.000,0.042,1832,1156,3735,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7125,-0.62,-194.6,774.2,-7.3,656,7134,0.00,2.22,0.00,0.000,6,0.000,0.053,1824,2617,3734,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7432,-0.62,-194.6,798.9,-7.9,672,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2618,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7732,-0.62,-194.6,824.2,-8.7,687,7735,0.00,1.83,0.00,0.000,4,0.000,0.060,1815,3808,3731,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7760,-0.62,-194.6,826.0,-8.8,688,7764,0.00,1.85,0.00,0.000,6,0.000,0.037,1815,2558,3731,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8068,-0.62,-194.6,855.7,-9.8,703,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2555,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,-0.62,-194.6,883.1,-9.3,718,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2555,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8669,-0.62,-194.6,911.6,-9.7,733,8674,0.00,1.95,0.00,0.000,4,0.000,0.061,1807,3807,3727,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8711,-0.62,-194.6,915.7,-10.1,735,8714,0.00,1.85,0.00,0.000,6,0.000,0.037,1807,2558,3727,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9023,-0.61,-194.6,950.9,-11.8,751,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2555,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9323,-0.60,-194.6,986.4,-11.7,766,9328,0.00,1.95,0.00,0.000,4,0.000,0.061,1798,3806,3725,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9360,begin apogee
$GC,9368,-0.20,0.0,991.2,-11.8,768,9537,0.40,0.10,162.05,1.170,6,0.099,0.106,1942,2523,2977,0,0,0,0,0,0,26.55,24.69,23.99
$STATE,9538,end apogee,CONTROL_FINISHED_OK
$STATE,9538,begin climb
$GC,9540,0.59,194.6,1002.3,0.0,776,9732,0.70,2.17,182.32,1.160,4,0.048,0.054,2207,3805,2175,0,0,0,0,0,0,24.90,24.55,23.82
$GC,9809,0.48,194.6,977.9,20.1,788,9816,0.20,2.12,0.00,0.000,6,0.199,0.038,2169,2466,2155,0,0,0,0,0,0,25.10,25.26,28.83
$GC,10116,0.41,194.6,925.6,16.1,804,10121,0.00,2.17,0.00,0.000,4,0.000,0.060,2169,3816,2150,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10164,0.33,194.6,918.3,17.2,806,10169,0.22,2.10,0.00,0.000,6,0.177,0.039,2120,2464,2150,0,0,0,0,0,0,25.76,25.91,28.83
$GC,10472,0.30,194.6,875.8,13.1,821,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2461,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10771,0.27,194.6,836.4,12.9,836,10775,0.00,2.12,0.00,0.000,4,0.000,0.057,2120,3806,2147,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10859,0.23,194.6,824.8,13.9,840,10865,0.17,2.05,0.00,0.000,6,0.165,0.039,2082,2463,2146,0,0,0,0,0,0,26.11,26.25,28.83
$GC,11174,0.23,194.6,793.2,9.6,856,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2462,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11474,0.24,194.6,763.4,10.0,871,11480,0.00,2.12,0.00,0.000,4,0.000,0.057,2082,3805,2145,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11507,0.25,194.6,761.3,10.1,872,11513,0.00,2.03,0.00,0.000,6,0.000,0.038,2092,2463,2145,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11813,0.25,196.7,729.8,9.4,888,11819,0.00,2.10,0.00,0.000,4,0.000,0.047,2103,1068,2144,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11868,0.26,204.3,726.2,9.2,890,11874,0.00,2.22,0.00,0.000,6,0.000,0.050,2103,2518,2143,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12176,0.27,221.2,696.7,8.9,906,12206,0.00,2.08,20.23,0.863,4,0.000,0.059,2103,3816,2074,0,0,0,0,1,0,28.83,26.06,25.18
$GC,12218,0.27,230.9,693.1,9.1,908,12246,0.00,2.08,16.67,0.876,6,0.000,0.038,2113,2461,2027,0,0,0,0,1,0,28.83,26.11,24.62
$GC,12555,0.32,267.2,662.9,8.2,925,12606,0.00,2.20,45.55,0.850,4,0.000,0.057,2113,3806,1884,0,0,0,0,0,0,28.83,25.39,24.77
$GC,12648,0.35,290.5,655.9,8.7,929,12677,0.00,2.10,25.00,0.890,6,0.000,0.039,2123,2462,1794,0,0,0,0,0,0,28.83,25.59,24.56
$GC,12975,0.36,303.5,625.0,9.0,946,12987,0.00,0.00,10.18,0.893,6,0.000,0.000,2123,2461,1741,0,0,0,0,0,0,28.83,28.83,24.98
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$GC,14039,0.36,303.5,509.9,12.7,1037,14045,0.00,2.05,0.00,0.000,6,0.000,0.040,2153,2463,1724,0,0,0,0,0,0,28.83,26.30,28.83
$GC,14345,0.35,303.5,470.7,12.6,1068,14355,0.12,2.10,0.00,0.000,4,0.178,0.055,2116,3806,1724,0,0,0,0,0,0,26.23,26.32,28.83
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$STATE,17703,end climb,SURFACE_DEPTH_REACHED
$STATE,17703,begin surface coast
$FINISH,-0.0,1.011404
$STATE,17718,end surface coast,CONTROL_FINISHED_OK
$STATE,17718,begin surface
$SM_CCo,17793,0.00,0.000,0,0,457,618.65
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$IRIDIUM_FIX,2321.52,12222.50,131111,232333
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.50
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.8,8.053
$10V_AH,10.2,7.154
$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,16.100,148.675,759.400,0.000,0.000,29.434,16.773,220.468,0.000,0.000,11.605,4005.795,8920.752,822.758,4068.179,350.529,0.000,2395.230,0.000,3698.008,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,106.335,1169.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.289,2496.680,1763.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324592
$DATA_FILE_SIZE,100505,1516
$CAP_FILE_SIZE,186183,0
$CFSIZE,260165632,220266496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.339,344.0,1
$GPS,141111,094706,2334.368,12232.348,38,1.2,38,-3.2