version: 66.10
glider: 176
mission: 5
dive: 433
start: 6 12 112 18 5 54
data:
$ID,176
$MISSION,5
$DIVE,433
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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,375
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8153.1309
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,120612,175706,1754.005,12422.344,38,0.9,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.6
$GPS2,120612,180526,1753.877,12422.425,13,1.0,13,-2.0
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,280.9,232051,-14.0,-8.684
$D_GRID,4584
$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,-0.56,-170.3,0.0,0.0,0,79,0.00,0.00,-59.95,0.000,2,0.000,0.000,189,2693,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-170.3,3.4,-7.4,10,125,8.75,2.22,-23.35,0.000,4,0.230,0.041,2335,1187,3627,0,0,0,0,0,0,25.05,26.31,26.74
$GC,189,-0.56,-170.3,34.2,-19.5,26,212,0.00,2.25,0.00,0.000,6,0.000,0.045,2332,2660,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,534,-0.56,-170.3,138.8,-29.7,87,540,0.00,1.67,0.00,0.000,4,0.000,0.047,2324,3776,3627,0,0,0,0,0,0,28.83,26.24,28.83
$GC,568,-0.56,-170.3,148.8,-28.8,90,575,0.08,1.62,0.00,0.000,6,0.201,0.023,2341,2542,3626,0,0,0,0,0,0,26.28,26.55,28.83
$GC,885,-0.56,-170.3,209.2,-17.5,147,889,0.00,1.85,0.00,0.000,4,0.000,0.048,2333,3769,3627,0,0,0,0,0,0,28.83,26.21,28.83
$GC,949,-0.56,-170.3,219.6,-15.8,153,956,0.00,1.65,0.00,0.000,6,0.000,0.022,2332,2565,3626,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1256,-0.56,-170.3,269.1,-15.3,184,1260,0.00,1.92,0.00,0.000,4,0.000,0.023,2332,1180,3626,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1334,-0.56,-170.3,278.8,-11.0,191,1343,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2675,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1643,-0.56,-170.3,324.8,-14.6,222,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2676,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-0.56,-170.3,364.6,-13.3,252,1955,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1191,3623,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2027,-0.56,-170.3,373.8,-9.9,260,2038,0.00,2.22,0.00,0.000,6,0.000,0.044,2330,2677,3622,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2337,-0.56,-170.3,410.8,-11.5,291,2346,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1188,3620,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2391,-0.56,-170.3,415.8,-9.4,296,2400,0.00,2.28,0.00,0.000,6,0.000,0.044,2331,2674,3619,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2699,-0.56,-170.3,448.1,-10.7,327,2702,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1198,3616,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2734,-0.56,-170.3,451.1,-10.0,330,2741,0.00,2.25,0.00,0.000,6,0.000,0.044,2331,2677,3616,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3040,-0.56,-170.3,482.4,-9.9,361,3044,0.00,1.67,-0.10,0.000,4,0.000,0.070,2331,3765,3637,0,0,0,0,0,0,28.83,26.08,25.99
$GC,3084,-0.56,-170.3,486.5,-9.8,365,3087,0.00,1.65,0.00,0.000,6,0.000,0.024,2331,2511,3636,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3396,-0.56,-170.3,516.9,-10.0,396,3399,0.00,1.85,0.00,0.000,4,0.000,0.026,2330,1199,3634,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3430,-0.56,-170.3,519.9,-10.1,399,3437,0.00,2.30,0.00,0.000,6,0.000,0.045,2330,2670,3634,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3738,-0.56,-170.3,551.5,-10.2,430,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2670,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4040,-0.56,-170.3,581.3,-9.3,460,4049,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1191,3627,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4103,-0.56,-170.3,586.7,-8.2,466,4112,0.00,2.25,0.00,0.000,6,0.000,0.044,2330,2669,3626,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4425,-0.56,-170.3,614.2,-8.5,490,4429,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1191,3623,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4450,-0.56,-170.3,616.2,-8.5,491,4454,0.00,2.25,0.00,0.000,6,0.000,0.044,2330,2670,3623,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4764,-0.56,-170.3,642.6,-8.4,507,4770,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1189,3620,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4811,-0.56,-170.3,645.7,-8.1,509,4815,0.00,2.28,0.00,0.000,6,0.000,0.045,2330,2675,3620,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5118,-0.56,-170.3,669.9,-7.6,524,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2675,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5419,-0.56,-170.3,693.9,-8.2,539,5425,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1200,3615,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5462,-0.56,-170.3,697.0,-8.1,541,5466,0.00,2.25,0.00,0.000,6,0.000,0.046,2330,2668,3615,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5774,-0.56,-170.3,725.0,-9.1,557,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2669,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6075,-0.56,-170.3,753.6,-9.7,572,6080,0.00,2.12,0.00,0.000,4,0.000,0.024,2330,1187,3611,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6133,-0.56,-170.3,759.0,-9.0,575,6140,0.00,2.30,0.00,0.000,6,0.000,0.047,2330,2674,3611,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6455,-0.56,-170.3,787.3,-8.6,591,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2674,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6754,-0.56,-170.3,811.5,-7.6,606,6759,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1193,3606,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6815,-0.56,-170.3,815.9,-7.5,609,6820,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2671,3607,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7135,-0.56,-170.3,839.2,-7.2,625,7138,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1184,3604,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7170,-0.56,-170.3,840.9,-7.2,626,7177,0.00,2.30,0.00,0.000,6,0.000,0.047,2330,2670,3604,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7478,-0.56,-170.3,862.8,-7.0,642,7483,0.00,2.15,0.00,0.000,4,0.000,0.024,2330,1188,3602,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7512,-0.56,-170.3,864.2,-7.0,643,7518,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2665,3602,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7817,-0.56,-170.3,887.2,-7.5,659,7823,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1181,3601,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7860,-0.56,-170.3,890.2,-7.6,661,7865,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2658,3600,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8178,-0.56,-170.3,915.5,-8.0,677,8182,0.00,1.73,0.00,0.000,4,0.000,0.059,2330,3772,3600,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8202,-0.56,-170.3,917.5,-8.2,678,8205,0.00,1.70,0.00,0.000,6,0.000,0.024,2330,2492,3599,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8521,-0.56,-170.3,942.8,-7.7,694,8526,0.00,2.00,0.00,0.000,4,0.000,0.057,2331,3764,3597,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8572,-0.56,-170.3,946.0,-7.8,696,8580,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2488,3597,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8879,-0.56,-170.3,969.8,-6.8,712,8885,0.00,2.00,0.00,0.000,4,0.000,0.057,2331,3767,3596,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8928,-0.56,-170.3,972.6,-6.9,714,8932,0.00,1.67,0.00,0.000,6,0.000,0.025,2330,2531,3596,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,9197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9197,begin apogee
$GC,9203,-0.17,0.0,990.4,-6.3,728,9363,0.38,0.05,149.00,1.700,6,0.101,0.048,2466,2488,2930,0,0,0,0,0,0,25.86,24.26,22.66
$STATE,9364,end apogee,CONTROL_FINISHED_OK
$STATE,9364,begin climb
$GC,9366,0.56,170.3,996.7,0.0,736,9542,0.62,2.20,163.77,1.657,4,0.050,0.055,2716,3767,2234,0,0,0,0,0,0,25.03,24.06,22.19
$GC,9594,0.56,170.3,979.5,16.0,747,9598,0.15,1.90,0.00,0.000,6,0.192,0.024,2690,2498,2230,0,0,0,0,0,0,25.08,25.48,28.83
$GC,9900,0.56,170.3,934.6,13.4,762,9905,0.00,2.00,0.00,0.000,4,0.000,0.056,2690,3773,2223,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9944,0.56,170.3,928.3,14.4,764,9947,0.00,1.85,0.00,0.000,6,0.000,0.024,2699,2485,2223,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10255,0.56,170.3,883.0,14.5,780,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2482,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10555,0.56,170.3,840.1,14.4,795,10560,0.00,2.00,0.00,0.000,4,0.000,0.056,2699,3763,2220,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10584,0.56,170.3,836.9,14.8,796,10588,0.10,1.83,0.00,0.000,6,0.205,0.024,2685,2488,2220,0,0,0,0,0,0,25.99,26.38,28.83
$GC,10890,0.56,170.3,795.6,12.4,811,10896,0.00,2.03,0.00,0.000,4,0.000,0.032,2695,1097,2218,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10950,0.56,170.3,788.4,12.1,814,10956,0.00,2.30,0.00,0.000,6,0.000,0.047,2695,2575,2216,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11271,0.56,170.3,746.6,12.7,830,11275,0.00,1.85,0.00,0.000,4,0.000,0.057,2695,3773,2216,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11325,0.56,170.3,740.2,13.8,832,11333,0.08,1.83,0.00,0.000,6,0.224,0.023,2690,2485,2216,0,0,0,0,0,0,26.09,26.39,28.83
$GC,11632,0.56,170.3,700.8,11.8,848,11638,0.00,2.00,0.00,0.000,4,0.000,0.055,2690,3763,2215,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11655,0.56,170.3,698.1,12.1,849,11659,0.00,1.83,0.00,0.000,6,0.000,0.023,2699,2482,2215,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11972,0.56,170.3,655.9,13.4,865,11978,0.00,2.03,0.00,0.000,4,0.000,0.056,2699,3770,2215,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12033,0.56,170.3,646.7,15.1,868,12040,0.10,1.83,0.00,0.000,6,0.203,0.023,2685,2486,2215,0,0,0,0,0,0,25.97,26.37,28.83
$GC,12352,0.56,170.3,607.4,12.3,884,12358,0.00,2.03,0.00,0.000,4,0.000,0.032,2695,1094,2214,0,0,0,0,0,0,28.83,26.18,28.83
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$GC,15098,0.58,189.3,326.9,8.5,1151,15110,0.00,2.25,6.25,1.086,4,0.000,0.031,2707,1104,2157,0,0,0,0,0,0,28.83,26.15,24.06
$GC,15189,0.63,231.0,320.0,7.2,1160,15238,0.00,2.22,38.58,1.229,6,0.000,0.042,2707,2569,1985,0,0,0,0,0,0,28.83,26.10,23.61
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$STATE,18474,end climb,SURFACE_DEPTH_REACHED
$STATE,18474,begin surface coast
$FINISH,0.9,1.021054
$STATE,18495,end surface coast,CONTROL_FINISHED_OK
$STATE,18495,begin surface
$SM_CCo,18573,0.00,0.000,0,0,654,557.81
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$IRIDIUM_FIX,1749.63,12439.85,120612,121250
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.48
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.2,91.118
$10V_AH,9.9,55.810
$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,18.675,173.650,546.350,0.000,0.000,33.214,39.733,263.104,0.250,0.000,16.575,4202.006,10233.053,633.498,3541.546,433.741,0.000,2302.350,0.000,2831.353,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,109.395,1699.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.635,2311.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,123791,1663
$CAP_FILE_SIZE,199969,0
$CFSIZE,260165632,178393088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150, 89.2,1
$GPS,120612,231636,1754.306,12421.563,39,1.1,39,-2.0