version: 66.10
glider: 169
mission: 5
dive: 352
start: 1 15 112 20 53 6
data:
$ID,169
$MISSION,5
$DIVE,352
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,320
$T_MISSION,360
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,280
$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,1
$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,-11165.562
$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,2630
$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,9.5
$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
$GPS1,150112,204536,2240.639,12203.635,39,1.0,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-65.9
$GPS2,150112,205244,2240.771,12203.689,12,1.1,12,-3.0
$SPEED_LIMITS,0.179,0.315
$TGT_NAME,HEADING
$TGT_LATLONG,2242.646,12152.161
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,283.0,20000,-15.1,-10.312
$D_GRID,4610
$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,-0.65,-219.0,0.0,0.0,0,119,0.00,0.00,-100.03,0.000,2,0.000,0.000,129,2659,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.65,-219.0,3.3,-6.9,18,154,7.05,1.80,-16.00,0.000,4,0.237,0.054,1781,3828,3870,0,0,0,0,0,0,24.82,25.99,26.53
$GC,201,-0.55,-219.0,37.9,-35.4,32,208,0.15,1.83,0.00,0.000,6,0.156,0.024,1829,2586,3870,0,0,0,0,0,0,25.72,26.13,28.83
$GC,513,-0.47,-219.0,126.6,-24.8,93,519,0.00,2.05,0.00,0.000,4,0.000,0.026,1835,1174,3869,0,0,0,0,0,0,28.83,26.22,28.83
$GC,558,-0.46,-219.0,135.8,-16.7,101,566,0.12,2.28,0.00,0.000,6,0.132,0.040,1862,2655,3870,0,0,0,0,0,0,25.97,26.13,28.83
$GC,870,-0.45,-219.0,177.2,-12.2,162,877,0.00,2.20,0.00,0.000,4,0.000,0.028,1862,1168,3870,0,0,0,0,0,0,28.83,26.26,28.83
$GC,930,-0.52,-219.0,182.8,-6.2,173,937,0.00,2.28,0.00,0.000,6,0.000,0.038,1856,2657,3870,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1246,-0.51,-219.0,222.3,-14.9,220,1250,0.00,1.77,0.00,0.000,4,0.000,0.044,1847,3821,3870,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1278,-0.49,-219.0,227.1,-14.6,223,1281,0.00,1.80,0.00,0.000,6,0.000,0.023,1847,2571,3870,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1589,-0.46,-219.0,272.9,-15.6,254,1597,0.00,1.98,0.00,0.000,4,0.000,0.044,1837,3816,3870,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1650,-0.46,-219.0,281.5,-12.9,260,1653,0.00,1.80,0.00,0.000,6,0.000,0.023,1837,2568,3870,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1962,-0.46,-219.0,318.3,-12.3,291,1966,0.00,2.00,0.00,0.000,4,0.000,0.026,1837,1171,3870,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1983,-0.46,-219.0,321.0,-11.9,293,1993,0.12,2.28,0.00,0.000,6,0.123,0.038,1869,2655,3870,0,0,0,0,0,0,26.08,26.22,28.83
$GC,2295,-0.50,-219.0,341.1,-6.0,324,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2655,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,-0.56,-219.0,359.7,-6.9,354,2605,0.12,0.00,0.00,0.000,6,0.077,0.000,1768,2655,3868,0,0,0,0,0,0,26.55,28.83,28.83
$GC,2904,-0.49,-219.0,422.1,-22.5,385,2913,0.25,1.80,0.00,0.000,4,0.138,0.043,1840,3821,3866,0,0,0,0,0,0,25.93,26.17,28.83
$GC,2936,-0.45,-219.0,427.6,-18.3,388,2940,0.00,1.83,0.00,0.000,6,0.000,0.023,1840,2571,3866,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3248,-0.48,-219.0,454.6,-8.0,419,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2562,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3549,-0.51,-219.0,480.1,-8.3,449,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2562,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3860,-0.54,-219.0,503.1,-6.9,480,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2562,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4171,-0.57,-219.0,526.1,-8.1,511,4179,0.00,2.00,0.00,0.000,4,0.000,0.045,1832,3808,3859,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4216,-0.62,-219.0,529.2,-7.1,515,4223,0.00,1.80,0.00,0.000,6,0.000,0.024,1832,2561,3859,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4524,-0.65,-219.0,553.2,-7.2,546,4533,0.00,2.03,0.00,0.000,4,0.000,0.029,1832,1175,3857,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4552,-0.68,-219.0,555.0,-7.4,548,4559,0.12,2.25,0.00,0.000,6,0.082,0.039,1766,2652,3857,0,0,0,0,0,0,26.17,26.17,28.83
$GC,4857,-0.64,-219.0,604.0,-17.3,578,4863,0.12,1.80,0.00,0.000,4,0.149,0.044,1799,3817,3854,0,0,0,0,0,0,26.23,26.10,28.83
$GC,4906,-0.61,-219.0,609.8,-15.8,580,4909,0.00,1.83,0.00,0.000,6,0.000,0.024,1799,2565,3854,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5213,-0.61,-219.0,646.9,-11.5,595,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2563,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5513,-0.61,-219.0,677.8,-10.1,610,5518,0.00,2.00,0.00,0.000,4,0.000,0.046,1790,3821,3850,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5581,-0.62,-219.0,683.5,-9.7,613,5584,0.00,1.83,0.00,0.000,6,0.000,0.025,1790,2569,3850,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5887,-0.61,-219.0,717.6,-11.2,628,5892,0.00,2.05,0.00,0.000,4,0.000,0.031,1790,1179,3848,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5910,-0.61,-219.0,719.9,-11.2,629,5915,0.12,2.28,0.00,0.000,6,0.127,0.041,1820,2653,3847,0,0,0,0,0,0,25.97,26.11,28.83
$GC,6224,-0.63,-219.0,745.4,-8.1,645,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2653,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6526,-0.66,-219.0,768.8,-7.3,660,6529,0.00,1.83,0.00,0.000,4,0.000,0.050,1812,3814,3844,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6550,-0.69,-219.0,770.5,-7.3,661,6554,0.00,1.85,0.00,0.000,6,0.000,0.027,1812,2567,3844,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6867,-0.71,-219.0,794.0,-7.2,677,6873,0.00,2.00,0.00,0.000,4,0.000,0.050,1803,3811,3841,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6901,-0.72,-219.0,795.5,-7.2,678,6908,0.00,1.83,0.00,0.000,6,0.000,0.026,1803,2563,3842,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7209,-0.73,-219.0,818.6,-7.3,694,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2563,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7508,-0.75,-219.0,840.7,-7.8,709,7514,0.00,2.00,0.00,0.000,4,0.000,0.047,1796,3821,3838,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7555,-0.76,-219.0,844.1,-8.0,711,7559,0.00,1.83,0.00,0.000,6,0.000,0.026,1795,2568,3838,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7862,-0.76,-219.0,873.3,-9.5,726,7867,0.00,2.00,0.00,0.000,4,0.000,0.049,1786,3814,3837,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7887,-0.76,-219.0,875.1,-9.4,727,7893,0.00,1.83,0.00,0.000,6,0.000,0.027,1786,2568,3837,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8202,-0.76,-219.0,907.2,-9.9,743,8208,0.00,2.00,0.00,0.000,4,0.000,0.049,1776,3818,3835,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8245,-0.76,-219.0,911.2,-10.0,745,8249,0.00,1.83,0.00,0.000,6,0.000,0.024,1776,2564,3835,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8558,-0.75,-219.0,943.4,-10.2,761,8564,0.00,1.98,0.00,0.000,4,0.000,0.047,1767,3814,3834,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8590,-0.74,-219.0,945.5,-10.3,762,8596,0.00,1.83,0.00,0.000,6,0.000,0.024,1767,2568,3834,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8898,-0.73,-219.0,982.5,-11.9,778,8903,0.00,1.98,0.00,0.000,4,0.000,0.048,1757,3821,3833,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8920,-0.71,-219.0,984.9,-12.0,779,8924,0.00,1.85,0.00,0.000,6,0.000,0.026,1758,2565,3833,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,8969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8969,begin apogee
$GC,8975,-0.20,0.0,991.7,-12.3,782,9175,0.52,0.15,192.35,1.184,6,0.105,0.078,1937,2534,2978,0,0,0,0,0,0,25.61,24.64,23.22
$STATE,9176,end apogee,CONTROL_FINISHED_OK
$STATE,9176,begin climb
$GC,9178,0.65,219.0,1002.2,0.0,792,9399,0.77,2.47,210.07,1.184,4,0.049,0.034,2239,1066,2073,0,0,0,0,0,0,24.89,24.31,22.87
$GC,9452,0.57,219.0,973.2,19.1,806,9458,0.17,2.35,0.00,0.000,6,0.163,0.039,2195,2530,2057,0,0,0,0,0,0,24.84,25.13,28.83
$GC,9773,0.51,219.0,919.6,16.0,822,9778,0.00,2.00,0.00,0.000,4,0.000,0.045,2194,3812,2053,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9832,0.44,219.0,908.5,18.1,825,9838,0.20,2.05,0.00,0.000,6,0.168,0.028,2151,2458,2049,0,0,0,0,0,0,25.58,26.03,28.83
$GC,10153,0.41,219.0,867.9,12.4,841,10158,0.00,2.15,0.00,0.000,4,0.000,0.047,2150,3816,2049,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10196,0.38,219.0,862.2,13.2,843,10200,0.00,2.08,0.00,0.000,6,0.000,0.029,2161,2453,2048,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10507,0.35,219.0,821.4,12.7,859,10514,0.12,2.15,0.00,0.000,4,0.173,0.042,2124,3821,2047,0,0,0,0,0,0,25.98,26.03,28.83
$GC,10537,0.32,219.0,818.9,12.6,860,10541,0.00,2.05,0.00,0.000,6,0.000,0.028,2134,2460,2047,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10842,0.32,219.0,786.2,10.6,875,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2457,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11142,0.32,219.0,753.5,11.1,890,11148,0.00,2.15,0.00,0.000,4,0.000,0.047,2134,3812,2046,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11186,0.31,219.0,748.7,11.5,892,11191,0.12,2.05,0.00,0.000,6,0.161,0.028,2112,2456,2045,0,0,0,0,0,0,25.87,26.20,28.83
$GC,11500,0.37,254.8,720.1,9.2,908,11538,0.00,0.00,26.60,0.960,6,0.000,0.000,2112,2453,1941,0,0,0,0,1,0,28.83,28.83,23.98
$GC,11840,0.46,302.9,688.7,8.8,925,11903,0.12,2.17,57.25,0.950,4,0.076,0.036,2203,1066,1737,0,0,0,0,0,0,26.29,25.39,24.00
$GC,11930,0.43,302.9,677.5,14.8,929,11938,0.17,2.28,0.00,0.000,6,0.134,0.039,2153,2523,1722,0,0,0,0,0,0,25.31,25.53,28.83
$GC,12238,0.43,302.9,637.5,12.6,945,12244,0.00,2.03,0.00,0.000,4,0.000,0.045,2153,3815,1718,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12259,0.43,302.9,634.8,12.8,946,12263,0.00,2.05,0.00,0.000,6,0.000,0.027,2163,2461,1717,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12567,0.42,302.9,594.8,12.3,963,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2460,1717,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14267,0.53,326.1,412.0,11.5,1132,14276,0.00,2.05,0.00,0.000,6,0.000,0.027,2169,2451,1638,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14578,0.55,339.6,378.3,9.9,1163,14599,0.00,2.22,15.43,0.768,4,0.000,0.044,2169,3815,1585,0,0,0,0,0,0,28.83,26.03,24.43
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$STATE,17692,end climb,SURFACE_DEPTH_REACHED
$STATE,17692,begin surface coast
$FINISH,0.3,1.023204
$STATE,17713,end surface coast,CONTROL_FINISHED_OK
$STATE,17713,begin surface
$SM_CCo,17791,0.00,0.000,0,0,1078,466.32
$SM_GC,0.95,5.43,1.85,0.00,0.033,0.019,0.000,129,2541,1078,-5.80,0.25,466.32,0,0,0,0,0,0
$IRIDIUM_FIX,2232.34,12203.54,150112,161613
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,22.9,75.163
$10V_AH,9.9,44.770
$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,16.575,147.125,640.350,0.000,0.000,28.012,42.869,223.472,0.500,0.000,13.626,3823.820,10087.254,744.150,3140.006,397.975,0.000,2274.691,0.000,2692.586,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,78.030,1184.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1106.364,2078.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324608
$DATA_FILE_SIZE,107113,1625
$CAP_FILE_SIZE,194725,0
$CFSIZE,260165632,190660608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160112,015037,2240.087,12200.726,33,1.0,33,-3.0