version: 66.09
glider: 181
mission: 6
dive: 149
start: 7 8 111 13 20 39
data:
$ID,181
$MISSION,6
$DIVE,149
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$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,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40699.215
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,080711,131330,1942.355,11945.425,35,1.4,35,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.3
$GPS2,080711,132014,1942.332,11945.297,11,1.4,11,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1934.695,11953.401
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,137.1,20000,-15.3,-11.000
$D_GRID,3637
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-71.00,0.000,2,0.000,0.000,197,2617,2432,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.2,-3.4,10,137,7.88,1.85,-26.58,0.000,4,0.231,0.060,2133,3777,3765,0,0,0,0,0,0
$GC,205,-0.52,-219.0,59.0,-66.9,28,213,0.00,1.80,0.00,0.000,6,0.000,0.025,2133,2590,3767,0,0,0,0,0,0
$GC,338,-0.52,-219.0,104.5,-26.9,53,346,0.00,2.08,0.00,0.000,4,0.000,0.028,2132,1201,3767,0,0,0,0,0,0
$GC,421,-0.52,-219.0,123.0,-20.3,68,429,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2573,3767,0,0,0,0,0,0
$GC,554,-0.52,-219.0,156.7,-25.0,93,562,0.00,1.88,0.00,0.000,4,0.000,0.044,2114,3778,3769,0,0,0,0,0,0
$GC,627,-0.52,-219.0,172.6,-19.5,106,636,0.10,1.75,0.00,0.000,6,0.142,0.024,2146,2594,3769,0,0,0,0,0,0
$GC,763,-0.52,-219.0,198.1,-18.9,131,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2591,3769,0,0,0,0,0,0
$GC,907,-0.52,-219.0,219.5,-12.9,145,910,0.00,2.00,0.00,0.000,4,0.000,0.028,2146,1213,3769,0,0,0,0,0,0
$GC,990,-0.52,-219.0,229.8,-10.8,152,998,0.00,2.15,0.00,0.000,6,0.000,0.034,2139,2601,3770,0,0,0,0,0,0
$GC,1317,-0.52,-219.0,276.8,-15.2,183,1320,0.00,1.80,0.00,0.000,4,0.000,0.046,2138,3775,3769,0,0,0,0,0,0
$GC,1408,-0.52,-219.0,287.8,-10.2,191,1412,0.00,1.67,0.00,0.000,6,0.000,0.025,2138,2616,3769,0,0,0,0,0,0
$GC,1739,-0.52,-219.0,338.5,-14.6,222,1743,0.00,2.05,0.00,0.000,4,0.000,0.030,2138,1214,3766,0,0,0,0,0,0
$GC,1763,-0.52,-219.0,341.9,-14.7,224,1767,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2615,3766,0,0,0,0,0,0
$GC,2088,-0.52,-219.0,386.5,-13.5,254,2091,0.00,1.77,0.00,0.000,4,0.000,0.047,2137,3792,3763,0,0,0,0,0,0
$GC,2115,-0.52,-219.0,390.2,-12.9,256,2122,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2609,3762,0,0,0,0,0,0
$GC,2441,-0.52,-219.0,430.3,-13.3,287,2445,0.00,2.05,0.00,0.000,4,0.000,0.030,2137,1206,3759,0,0,0,0,0,0
$GC,2484,-0.52,-219.0,436.1,-12.1,290,2491,0.00,2.20,0.00,0.000,6,0.000,0.036,2138,2625,3759,0,0,0,0,0,0
$GC,2810,-0.52,-219.0,475.2,-12.9,321,2813,0.00,1.75,0.00,0.000,4,0.000,0.048,2138,3777,3755,0,0,0,0,0,0
$GC,2833,-0.52,-219.0,478.2,-12.6,323,2837,0.00,1.67,0.00,0.000,6,0.000,0.027,2138,2624,3754,0,0,0,0,0,0
$GC,3163,-0.52,-219.0,517.7,-12.0,347,3167,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1190,3752,0,0,0,0,0,0
$GC,3212,-0.52,-219.0,523.6,-10.1,349,3216,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2619,3751,0,0,0,0,0,0
$GC,3535,-0.52,-219.0,557.7,-11.0,365,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2621,3747,0,0,0,0,0,0
$GC,3844,-0.52,-219.0,589.9,-10.2,380,3848,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1202,3745,0,0,0,0,0,0
$GC,3877,-0.52,-219.0,593.2,-10.2,381,3884,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2615,3745,0,0,0,0,0,0
$GC,4194,-0.52,-219.0,623.7,-10.1,397,4198,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3775,3742,0,0,0,0,0,0
$GC,4244,-0.52,-219.0,628.5,-9.3,399,4248,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2615,3741,0,0,0,0,0,0
$GC,4571,-0.52,-219.0,659.6,-9.8,415,4575,0.00,2.08,0.00,0.000,4,0.000,0.032,2138,1205,3742,0,0,0,0,0,0
$GC,4650,-0.52,-219.0,667.1,-8.6,418,4657,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2617,3738,0,0,0,0,0,0
$GC,4966,-0.52,-219.0,696.9,-9.3,434,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2617,3735,0,0,0,0,0,0
$GC,5276,-0.52,-219.0,725.1,-8.8,449,5280,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1199,3733,0,0,0,0,0,0
$GC,5331,-0.52,-219.0,729.8,-8.4,451,5338,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2595,3732,0,0,0,0,0,0
$GC,5648,-0.52,-219.0,755.5,-8.2,467,5651,0.00,1.83,0.00,0.000,4,0.000,0.051,2138,3783,3730,0,0,0,0,0,0
$GC,5676,-0.52,-219.0,758.0,-8.3,468,5680,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2594,3730,0,0,0,0,0,0
$GC,6003,-0.52,-219.0,782.1,-7.4,484,6007,0.00,2.05,0.00,0.000,4,0.000,0.033,2138,1205,3728,0,0,0,0,0,0
$GC,6048,-0.52,-219.0,785.6,-7.6,486,6052,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2592,3731,0,0,0,0,0,0
$GC,6369,-0.52,-219.0,808.0,-7.1,502,6373,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3781,3727,0,0,0,0,0,0
$GC,6397,-0.52,-219.0,809.9,-7.2,503,6401,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2593,3726,0,0,0,0,0,0
$GC,6725,-0.52,-219.0,832.0,-7.2,519,6729,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1190,3724,0,0,0,0,0,0
$GC,6774,-0.52,-219.0,835.7,-7.1,521,6778,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2590,3724,0,0,0,0,0,0
$GC,7099,-0.52,-219.0,860.1,-8.0,537,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2590,3723,0,0,0,0,0,0
$GC,7405,-0.52,-219.0,886.8,-8.8,552,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2590,3721,0,0,0,0,0,0
$GC,7715,-0.52,-219.0,915.7,-9.6,567,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2589,3717,0,0,0,0,0,0
$GC,8024,-0.52,-219.0,944.9,-9.6,582,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2590,3718,0,0,0,0,0,0
$GC,8333,-0.52,-219.0,974.2,-9.5,597,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2590,3717,0,0,0,0,0,0
$STATE,8518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8518,begin apogee
$GC,8524,-0.13,0.0,990.6,8.8,606,8696,0.40,0.00,166.50,1.110,4,0.110,0.000,2281,2111,2869,0,0,0,0,0,0
$STATE,8697,end apogee,CONTROL_FINISHED_OK
$STATE,8697,begin climb
$GC,8699,0.52,219.0,1000.6,0.0,614,8887,0.62,2.40,177.62,1.076,4,0.055,0.044,2505,3541,1976,0,0,0,0,0,0
$GC,9063,0.52,219.0,959.1,16.5,631,9067,0.00,2.20,0.00,0.000,6,0.000,0.029,2514,2138,1975,0,0,0,0,0,0
$GC,9389,0.52,219.0,906.4,16.2,647,9393,0.00,2.25,0.00,0.000,4,0.000,0.042,2514,3548,1974,0,0,0,0,0,0
$GC,9495,0.52,219.0,887.6,17.6,651,9503,0.15,2.20,0.00,0.000,6,0.192,0.029,2489,2111,1974,0,0,0,0,0,0
$GC,9812,0.52,219.0,842.5,14.2,667,9816,0.00,2.12,0.00,0.000,4,0.000,0.038,2498,715,1973,0,0,0,0,0,0
$GC,9951,0.52,219.0,822.0,14.6,673,9955,0.00,2.12,0.00,0.000,6,0.000,0.034,2498,2099,1973,0,0,0,0,0,0
$GC,10273,0.52,219.0,773.3,15.1,689,10277,0.00,2.25,0.00,0.000,4,0.000,0.046,2498,3541,1974,0,0,0,0,0,0
$GC,10297,0.52,219.0,769.5,15.1,690,10301,0.00,2.22,0.00,0.000,6,0.000,0.029,2508,2074,1972,0,0,0,0,0,0
$GC,10624,0.52,219.0,718.9,15.3,706,10628,0.00,2.05,0.00,0.000,4,0.000,0.038,2518,716,1971,0,0,0,0,0,0
$GC,10752,0.52,219.0,699.9,14.2,711,10759,0.00,2.12,0.00,0.000,6,0.000,0.034,2519,2068,1971,0,0,0,0,0,0
$GC,11069,0.52,219.0,652.8,14.9,727,11073,0.00,2.08,0.00,0.000,4,0.000,0.037,2527,707,1970,0,0,0,0,0,0
$GC,11158,0.52,219.0,639.6,14.4,731,11163,0.10,2.10,0.00,0.000,6,0.148,0.035,2488,2054,1970,0,0,0,0,0,0
$GC,11486,0.52,219.0,601.3,11.6,747,11490,0.00,2.30,0.00,0.000,4,0.000,0.045,2487,3536,1970,0,0,0,0,0,0
$GC,11580,0.52,219.0,589.1,12.9,751,11584,0.00,2.25,0.00,0.000,6,0.000,0.029,2497,2058,1970,0,0,0,0,0,0
$GC,11908,0.52,219.0,548.6,12.5,767,11911,0.00,2.03,0.00,0.000,4,0.000,0.038,2506,710,1970,0,0,0,0,0,0
$GC,11991,0.52,219.0,538.5,11.8,770,11998,0.00,2.08,0.00,0.000,6,0.000,0.034,2506,2066,1970,0,0,0,0,0,0
$GC,12308,0.52,219.0,495.7,13.7,787,12312,0.00,2.28,0.00,0.000,4,0.000,0.046,2507,3541,1970,0,0,0,0,0,0
$GC,12370,0.52,219.0,486.2,15.8,792,12374,0.00,2.22,0.00,0.000,6,0.000,0.029,2516,2065,1972,0,0,0,0,0,0
$GC,12695,0.52,219.0,438.6,13.7,822,12699,0.00,2.03,0.00,0.000,4,0.000,0.038,2527,715,1970,0,0,0,0,0,0
$GC,12766,0.52,219.0,428.1,13.4,828,12774,0.10,2.10,0.00,0.000,6,0.145,0.034,2496,2065,1970,0,0,0,0,0,0
$GC,13092,0.54,229.1,391.0,10.7,859,13106,0.00,2.12,8.35,0.706,4,0.000,0.038,2502,717,1935,0,0,0,0,0,0
$GC,13133,0.56,245.4,386.5,10.4,862,13152,0.00,2.05,14.00,0.669,6,0.000,0.035,2502,2054,1868,0,0,0,0,0,0
$GC,13470,0.56,245.4,348.0,12.3,894,13474,0.00,2.30,0.00,0.000,4,0.000,0.045,2503,3539,1868,0,0,0,0,0,0
$GC,13513,0.56,245.4,341.8,14.1,897,13520,0.00,2.28,0.00,0.000,6,0.000,0.028,2513,2031,1868,0,0,0,0,0,0
$GC,13839,0.56,245.4,298.5,13.0,928,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2031,1869,0,0,0,0,0,0
$GC,14159,0.56,246.6,260.8,11.0,958,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2031,1869,0,0,0,0,0,0
$GC,14477,0.56,246.6,225.0,11.9,988,14481,0.00,2.35,0.00,0.000,4,0.000,0.041,2513,3543,1869,0,0,0,0,0,0
$GC,14492,0.56,246.6,222.6,12.5,989,14499,0.00,2.25,0.00,0.000,6,0.000,0.028,2523,2046,1869,0,0,0,0,0,0
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$GC,16311,1.05,644.3,31.0,9.7,1291,16320,0.00,2.45,0.43,0.096,4,0.000,0.038,2664,3539,442,0,0,0,0,0,0
$GC,16389,1.05,644.3,22.1,11.3,1305,16398,0.00,2.38,0.73,0.076,6,0.000,0.027,2675,1998,443,0,0,0,0,0,0
$GC,16528,1.07,664.5,8.3,10.3,1330,16537,0.00,1.92,2.55,0.213,4,0.000,0.034,2684,716,440,0,0,0,0,0,0
$GC,16576,1.09,683.1,3.2,10.4,1338,16585,0.00,1.98,0.03,0.202,6,0.000,0.028,2685,2007,440,0,0,0,0,0,0
$STATE,16591,end climb,SURFACE_DEPTH_REACHED
$STATE,16591,begin surface coast
$FINISH,0.1,1.020030
$STATE,16618,end surface coast,CONTROL_FINISHED_OK
$STATE,16618,begin surface
$SM_CCo,16695,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,1936.66,11942.42,080711,080808
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.39
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.8,23.445
$10V_AH,10.0,23.741
$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
$DEVICE_SECS,16.075,159.750,631.900,0.000,0.000,24.367,22.976,206.211,0.000,0.000,14.431,3209.441,9453.995,671.333,3412.405,338.791,0.000,2094.826,0.000,2345.891,0.000,0.542,0.000
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$SENSOR_SECS,938.048,1380.753,1514.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,90528,1345
$CAP_FILE_SIZE,177263,0
$CFSIZE,260165632,237252608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080711,180006,1941.242,11945.479,34,1.1,34,-2.1