version: 66.10
glider: 169
mission: 5
dive: 490
start: 2 13 112 3 16 1
data:
$ID,169
$MISSION,5
$DIVE,490
$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,380
$T_MISSION,420
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$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,0.0038360001
$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,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,-12529.038
$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
$GPS1,130212,030825,2204.273,12403.844,41,1.1,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.1
$GPS2,130212,031536,2204.241,12403.727,16,1.5,26,-3.0
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,162.4,63739,-16.1,-8.684
$D_GRID,5347
$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,17,-0.58,-146.0,0.0,0.0,0,96,0.00,0.00,-76.65,0.000,2,0.000,0.000,113,2670,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-146.0,3.4,-6.1,13,127,7.18,2.38,-9.05,0.000,4,0.230,0.040,1826,1179,3576,0,0,0,0,0,0,24.79,26.04,26.55
$GC,196,-0.54,-146.0,35.0,-20.6,30,202,0.00,2.33,0.00,0.000,6,0.000,0.037,1815,2644,3577,0,0,0,0,0,0,28.83,25.96,28.83
$GC,508,-0.44,-146.0,123.9,-28.8,91,516,0.12,2.25,0.00,0.000,4,0.180,0.026,1863,1175,3577,0,0,0,0,0,0,26.03,26.13,28.83
$GC,564,-0.44,-146.0,136.3,-15.7,101,571,0.00,2.33,0.00,0.000,6,0.000,0.037,1852,2644,3577,0,0,0,0,0,0,28.83,26.03,28.83
$GC,876,-0.39,-146.0,194.9,-16.1,162,883,0.00,2.28,0.00,0.000,4,0.000,0.028,1852,1170,3577,0,0,0,0,0,0,28.83,26.16,28.83
$GC,942,-0.41,-146.0,203.7,-10.9,171,953,0.08,2.33,0.00,0.000,6,0.099,0.035,1875,2646,3577,0,0,0,0,0,0,25.94,26.08,28.83
$GC,1251,-0.40,-146.0,241.6,-12.9,202,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,2646,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1554,-0.39,-146.0,278.6,-11.9,232,1563,0.00,2.25,0.00,0.000,4,0.000,0.026,1876,1176,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1619,-0.43,-146.0,285.2,-9.2,238,1625,0.00,2.33,0.00,0.000,6,0.000,0.035,1867,2654,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1926,-0.42,-146.0,325.3,-13.8,269,1935,0.00,2.25,0.00,0.000,4,0.000,0.026,1867,1170,3577,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1971,-0.44,-146.0,330.8,-13.1,273,1977,0.00,2.33,0.00,0.000,6,0.000,0.036,1861,2648,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2278,-0.43,-146.0,373.2,-13.3,304,2287,0.00,2.25,0.00,0.000,4,0.000,0.028,1861,1174,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2322,-0.45,-146.0,378.2,-12.0,308,2329,0.00,2.33,0.00,0.000,6,0.000,0.037,1853,2651,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2630,-0.44,-146.0,410.8,-9.4,339,2639,0.00,2.25,0.00,0.000,4,0.000,0.026,1852,1164,3577,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2663,-0.45,-146.0,413.5,-8.5,342,2671,0.00,2.33,0.00,0.000,6,0.000,0.037,1846,2648,3577,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2972,-0.45,-146.0,443.2,-11.1,373,2976,0.00,1.77,0.00,0.000,4,0.000,0.044,1837,3822,3576,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2986,-0.45,-146.0,444.4,-11.4,374,2993,0.00,1.80,0.00,0.000,6,0.000,0.021,1837,2568,3576,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3293,-0.45,-146.0,483.2,-12.1,405,3304,0.00,2.08,0.00,0.000,4,0.000,0.028,1837,1169,3575,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3357,-0.48,-146.0,490.1,-10.3,411,3367,0.00,2.30,0.00,0.000,6,0.000,0.035,1827,2644,3575,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3668,-0.47,-146.0,527.4,-11.7,442,3677,0.12,2.25,0.00,0.000,4,0.145,0.024,1870,1170,3573,0,0,0,0,0,0,26.22,26.17,28.83
$GC,3711,-0.50,-146.0,531.2,-8.5,446,3719,0.00,2.33,0.00,0.000,6,0.000,0.036,1865,2646,3573,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4022,-0.53,-146.0,550.5,-6.2,477,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2646,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4334,-0.56,-146.0,567.4,-4.4,508,4343,0.10,2.28,0.00,0.000,4,0.092,0.026,1790,1172,3570,0,0,0,0,0,0,26.52,26.15,28.83
$GC,4379,-0.57,-146.0,570.8,-7.5,512,4388,0.12,2.35,0.00,0.000,6,0.093,0.037,1827,2648,3569,0,0,0,0,0,0,25.85,26.03,28.83
$GC,4686,-0.57,-146.0,600.1,-10.7,543,4689,0.00,1.83,0.00,0.000,4,0.000,0.045,1819,3822,3568,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4756,-0.57,-146.0,606.4,-10.7,546,4759,0.00,1.80,0.00,0.000,6,0.000,0.024,1818,2589,3568,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5067,-0.57,-146.0,642.1,-11.4,562,5073,0.00,2.15,0.00,0.000,4,0.000,0.030,1818,1174,3566,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5130,-0.58,-146.0,648.5,-11.0,565,5134,0.00,2.35,0.00,0.000,6,0.000,0.039,1810,2648,3565,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5443,-0.56,-146.0,687.7,-12.5,581,5449,0.00,2.28,0.00,0.000,4,0.000,0.030,1810,1177,3563,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5490,-0.56,-146.0,692.4,-12.1,583,5494,0.00,2.33,0.00,0.000,6,0.000,0.038,1800,2644,3563,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5798,-0.54,-146.0,733.1,-12.8,598,5800,0.12,0.00,0.00,0.000,6,0.146,0.000,1836,2644,3561,0,0,0,0,0,0,26.23,28.83,28.83
$GC,6098,-0.56,-146.0,755.9,-6.6,613,6103,0.00,2.25,0.00,0.000,4,0.000,0.032,1837,1184,3559,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6121,-0.58,-146.0,757.2,-6.5,614,6125,0.00,2.33,0.00,0.000,6,0.000,0.041,1827,2643,3559,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6435,-0.59,-146.0,780.5,-7.9,630,6438,0.00,2.25,0.00,0.000,4,0.000,0.028,1827,1188,3557,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6477,-0.61,-146.0,784.0,-8.2,632,6483,0.00,2.35,0.00,0.000,6,0.000,0.040,1825,2643,3557,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6799,-0.62,-146.0,813.1,-9.6,648,6803,0.00,1.83,0.00,0.000,4,0.000,0.046,1817,3809,3554,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6821,-0.63,-146.0,815.5,-9.7,649,6824,0.00,1.83,0.00,0.000,6,0.000,0.024,1816,2577,3554,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7142,-0.63,-146.0,847.4,-9.9,665,7147,0.00,2.15,0.00,0.000,4,0.000,0.030,1817,1170,3552,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7176,-0.64,-146.0,849.3,-9.8,666,7183,0.00,2.38,0.00,0.000,6,0.000,0.040,1813,2647,3552,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7482,-0.64,-146.0,878.5,-8.8,682,7485,0.00,1.80,0.00,0.000,4,0.000,0.047,1804,3812,3551,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7525,-0.64,-146.0,882.3,-9.0,684,7529,0.00,1.83,0.00,0.000,6,0.000,0.025,1804,2585,3550,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7844,-0.64,-146.0,911.8,-9.0,700,7849,0.00,2.12,0.00,0.000,4,0.000,0.032,1804,1189,3548,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7875,-0.64,-146.0,913.5,-9.0,701,7882,0.00,2.35,0.00,0.000,6,0.000,0.041,1799,2642,3549,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8182,-0.64,-146.0,943.3,-9.7,717,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2642,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8484,-0.64,-146.0,975.9,-11.5,732,8489,0.00,2.25,0.00,0.000,4,0.000,0.031,1800,1189,3545,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8565,-0.65,-146.0,984.8,-11.2,736,8569,0.00,2.35,0.00,0.000,6,0.000,0.042,1799,2650,3545,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,8615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8615,begin apogee
$GC,8622,-0.20,0.0,991.2,-11.3,739,8760,0.40,0.15,130.15,1.186,6,0.103,0.076,1938,2533,2974,0,0,0,0,0,0,25.63,24.89,23.27
$STATE,8761,end apogee,CONTROL_FINISHED_OK
$STATE,8761,begin climb
$GC,8763,0.58,146.0,1000.4,0.0,746,8914,0.70,2.40,140.82,1.193,4,0.056,0.032,2216,1053,2375,0,0,0,0,0,0,25.23,25.07,23.33
$GC,8959,0.50,146.0,995.4,8.7,755,8965,0.12,2.35,0.00,0.000,6,0.155,0.038,2177,2534,2362,0,0,0,0,0,0,25.24,25.58,28.83
$GC,9279,0.44,146.0,960.4,11.4,771,9285,0.00,2.30,0.00,0.000,4,0.000,0.036,2188,1054,2355,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9319,0.38,146.0,955.9,11.3,773,9325,0.15,2.30,0.00,0.000,6,0.138,0.038,2140,2520,2354,0,0,0,0,0,0,25.53,25.95,28.83
$GC,9640,0.36,146.0,921.3,11.6,789,9645,0.00,2.00,0.00,0.000,4,0.000,0.044,2139,3812,2353,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9700,0.32,146.0,913.1,13.3,792,9706,0.10,2.03,0.00,0.000,6,0.154,0.027,2118,2460,2352,0,0,0,0,0,0,25.69,26.13,28.83
$GC,10020,0.31,146.0,874.3,12.2,808,10025,0.00,2.15,0.00,0.000,4,0.000,0.045,2118,3812,2350,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10063,0.29,146.0,869.0,12.6,810,10067,0.00,2.03,0.00,0.000,6,0.000,0.027,2128,2458,2349,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10375,0.28,146.0,831.0,11.3,826,10381,0.00,2.15,0.00,0.000,4,0.000,0.044,2128,3811,2349,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10455,0.25,146.0,821.0,12.5,830,10459,0.17,2.05,0.00,0.000,6,0.159,0.027,2092,2458,2349,0,0,0,0,0,0,25.59,26.13,28.83
$GC,10780,0.41,257.6,801.5,4.2,846,10899,0.12,2.28,106.80,1.055,4,0.078,0.036,2185,1069,1912,0,0,0,0,0,0,26.43,25.18,23.49
$GC,10918,0.37,257.6,791.1,9.8,852,10925,0.20,2.35,0.00,0.000,6,0.132,0.037,2128,2530,1903,0,0,0,0,0,0,25.20,25.46,28.83
$GC,11226,0.47,315.1,769.8,6.4,868,11289,0.00,2.10,57.38,0.991,4,0.000,0.041,2128,3811,1686,0,0,0,0,0,0,28.83,25.33,23.72
$GC,11307,0.55,368.0,764.7,6.6,872,11366,0.15,2.10,52.70,1.004,6,0.064,0.026,2225,2463,1477,0,0,0,0,0,0,25.58,25.58,23.64
$GC,11679,0.52,368.0,696.2,19.1,891,11685,0.15,2.22,0.00,0.000,4,0.167,0.043,2179,3814,1449,0,0,0,0,0,0,25.73,25.84,28.83
$GC,11734,0.50,368.0,689.1,18.6,893,11741,0.00,2.08,0.00,0.000,6,0.000,0.028,2189,2458,1448,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12038,0.50,368.0,641.6,15.6,909,12044,0.00,2.17,0.00,0.000,4,0.000,0.037,2200,1053,1447,0,0,0,0,0,0,28.83,25.94,28.83
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$GC,14135,0.59,368.0,357.9,9.7,1101,14144,0.00,2.30,0.00,0.000,6,0.000,0.034,2209,2527,1443,0,0,0,0,0,0,28.83,25.97,28.83
$GC,14445,0.59,368.0,321.8,12.6,1132,14454,0.00,2.03,0.00,0.000,4,0.000,0.041,2208,3815,1443,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,17035,end climb,SURFACE_DEPTH_REACHED
$STATE,17035,begin surface coast
$FINISH,0.4,1.023739
$STATE,17058,end surface coast,CONTROL_FINISHED_OK
$STATE,17058,begin surface
$SM_CCo,17134,0.00,0.000,0,0,1073,467.54
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$IRIDIUM_FIX,2159.71,12406.56,120212,222236
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.3,100.342
$10V_AH,9.8,60.664
$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,16.175,187.750,567.900,0.000,0.000,24.758,28.473,216.922,0.000,0.000,27.861,3846.418,9431.069,734.389,3102.577,422.350,0.000,2263.289,0.000,2648.616,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,76.500,1193.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.771,1979.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330464
$DATA_FILE_SIZE,100378,1533
$CAP_FILE_SIZE,193764,0
$CFSIZE,260165632,176517120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,248.0,1
$GPS,130212,080236,2201.298,12402.995,32,1.0,32,-3.0