version: 66.09
glider: 181
mission: 6
dive: 150
start: 7 8 111 18 7 9
data:
$ID,181
$MISSION,6
$DIVE,150
$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,-40700.473
$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,41
$R_STBD_OVSHOOT,29
$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
$GPS1,080711,180006,1941.242,11945.479,34,1.1,34,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.9
$GPS2,080711,180644,1941.219,11945.391,11,1.6,11,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1933.583,11953.494
$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,3663
$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,14,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-70.70,0.000,2,0.000,0.000,185,2608,2427,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.2,-3.5,10,137,7.97,1.88,-27.05,0.000,4,0.233,0.056,2131,3797,3765,0,0,0,0,0,0
$GC,161,-0.52,-219.0,30.7,-49.4,20,169,0.00,1.85,0.00,0.000,6,0.000,0.026,2130,2569,3767,0,0,0,0,0,0
$GC,294,-0.52,-219.0,91.4,-35.8,45,303,0.00,1.92,0.00,0.000,4,0.000,0.044,2121,3783,3768,0,0,0,0,0,0
$GC,341,-0.52,-219.0,104.7,-26.9,53,350,0.00,1.75,0.00,0.000,6,0.000,0.025,2121,2614,3769,0,0,0,0,0,0
$GC,475,-0.52,-219.0,138.8,-24.8,78,483,0.00,2.10,0.00,0.000,4,0.000,0.028,2121,1201,3769,0,0,0,0,0,0
$GC,542,-0.52,-219.0,153.6,-20.8,90,551,0.10,2.20,0.00,0.000,6,0.144,0.038,2144,2608,3770,0,0,0,0,0,0
$GC,679,-0.52,-219.0,180.8,-18.6,115,687,0.00,1.83,0.00,0.000,4,0.000,0.044,2137,3783,3768,0,0,0,0,0,0
$GC,751,-0.52,-219.0,194.2,-16.4,128,759,0.00,1.73,0.00,0.000,6,0.000,0.023,2133,2614,3770,0,0,0,0,0,0
$GC,888,-0.52,-219.0,217.1,-17.3,144,892,0.00,2.05,0.00,0.000,4,0.000,0.028,2138,1203,3771,0,0,0,0,0,0
$GC,929,-0.52,-219.0,223.5,-15.4,147,933,0.00,2.22,0.00,0.000,6,0.000,0.035,2137,2668,3771,0,0,0,0,0,0
$GC,1256,-0.52,-219.0,275.2,-16.5,177,1260,0.00,1.67,0.00,0.000,4,0.000,0.046,2137,3781,3771,0,0,0,0,0,0
$GC,1281,-0.52,-219.0,279.2,-15.9,179,1285,0.00,1.65,0.00,0.000,6,0.000,0.026,2137,2644,3770,0,0,0,0,0,0
$GC,1612,-0.52,-219.0,329.4,-14.8,210,1616,0.00,2.12,0.00,0.000,4,0.000,0.031,2137,1200,3769,0,0,0,0,0,0
$GC,1652,-0.52,-219.0,334.8,-13.0,213,1657,0.00,2.25,0.00,0.000,6,0.000,0.037,2138,2673,3768,0,0,0,0,0,0
$GC,1978,-0.52,-219.0,381.5,-15.1,243,1982,0.00,2.20,0.00,0.000,4,0.000,0.031,2137,1197,3767,0,0,0,0,0,0
$GC,1994,-0.52,-219.0,384.3,-15.4,244,2001,0.00,2.25,0.00,0.000,6,0.000,0.039,2137,2659,3766,0,0,0,0,0,0
$GC,2319,-0.52,-219.0,433.1,-15.1,275,2323,0.00,2.17,0.00,0.000,4,0.000,0.031,2137,1202,3761,0,0,0,0,0,0
$GC,2353,-0.52,-219.0,437.8,-13.7,278,2357,0.00,2.20,0.00,0.000,6,0.000,0.039,2137,2640,3761,0,0,0,0,0,0
$GC,2678,-0.52,-219.0,480.7,-12.2,308,2682,0.00,1.73,0.00,0.000,4,0.000,0.049,2137,3777,3756,0,0,0,0,0,0
$GC,2736,-0.52,-219.0,486.9,-9.9,313,2739,0.00,1.67,0.00,0.000,6,0.000,0.028,2137,2633,3756,0,0,0,0,0,0
$GC,3071,-0.52,-219.0,525.6,-11.8,335,3075,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1190,3752,0,0,0,0,0,0
$GC,3149,-0.52,-219.0,532.8,-8.0,338,3153,0.00,2.20,0.00,0.000,6,0.000,0.039,2137,2631,3752,0,0,0,0,0,0
$GC,3471,-0.52,-219.0,566.4,-11.4,354,3475,0.00,1.80,0.00,0.000,4,0.000,0.050,2137,3776,3748,0,0,0,0,0,0
$GC,3503,-0.52,-219.0,570.2,-11.0,355,3507,0.00,1.75,0.00,0.000,6,0.000,0.028,2137,2614,3748,0,0,0,0,0,0
$GC,3825,-0.52,-219.0,608.5,-12.5,371,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2611,3745,0,0,0,0,0,0
$GC,4135,-0.52,-219.0,647.7,-12.6,386,4138,0.00,1.83,0.00,0.000,4,0.000,0.050,2137,3787,3742,0,0,0,0,0,0
$GC,4159,-0.52,-219.0,650.7,-12.2,387,4163,0.00,1.75,0.00,0.000,6,0.000,0.029,2137,2627,3742,0,0,0,0,0,0
$GC,4492,-0.52,-219.0,686.0,-10.3,403,4496,0.00,2.12,0.00,0.000,4,0.000,0.034,2137,1196,3739,0,0,0,0,0,0
$GC,4564,-0.52,-219.0,692.4,-8.1,406,4568,0.00,2.20,0.00,0.000,6,0.000,0.040,2137,2619,3739,0,0,0,0,0,0
$GC,4885,-0.52,-219.0,717.6,-7.2,422,4889,0.00,2.12,0.00,0.000,4,0.000,0.034,2137,1204,3736,0,0,0,0,0,0
$GC,4913,-0.52,-219.0,719.9,-7.2,423,4917,0.00,2.17,0.00,0.000,6,0.000,0.040,2137,2619,3736,0,0,0,0,0,0
$GC,5229,-0.52,-219.0,740.7,-7.0,438,5233,0.00,2.12,0.00,0.000,4,0.000,0.034,2137,1206,3733,0,0,0,0,0,0
$GC,5251,-0.52,-219.0,742.4,-7.2,439,5255,0.00,2.15,0.00,0.000,6,0.000,0.041,2137,2604,3733,0,0,0,0,0,0
$GC,5580,-0.52,-219.0,763.6,-6.8,455,5583,0.00,2.12,0.00,0.000,4,0.000,0.035,2137,1201,3731,0,0,0,0,0,0
$GC,5612,-0.52,-219.0,765.8,-6.5,456,5619,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2604,3731,0,0,0,0,0,0
$GC,5929,-0.52,-219.0,787.1,-7.1,472,5933,0.00,2.12,0.00,0.000,4,0.000,0.036,2137,1196,3729,0,0,0,0,0,0
$GC,5957,-0.52,-219.0,789.4,-7.3,473,5961,0.00,2.15,0.00,0.000,6,0.000,0.041,2137,2597,3729,0,0,0,0,0,0
$GC,6285,-0.52,-219.0,816.9,-9.4,489,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2598,3727,0,0,0,0,0,0
$GC,6594,-0.52,-219.0,847.0,-10.0,504,6598,0.00,2.10,0.00,0.000,4,0.000,0.035,2137,1206,3725,0,0,0,0,0,0
$GC,6621,-0.52,-219.0,850.1,-10.6,505,6625,0.00,2.20,0.00,0.000,6,0.000,0.041,2138,2624,3725,0,0,0,0,0,0
$GC,6942,-0.52,-219.0,882.2,-10.2,521,6946,0.00,2.15,0.00,0.000,4,0.000,0.036,2137,1203,3723,0,0,0,0,0,0
$GC,6971,-0.52,-219.0,885.3,-9.9,522,6975,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2575,3723,0,0,0,0,0,0
$GC,7287,-0.52,-219.0,915.9,-10.0,537,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2576,3721,0,0,0,0,0,0
$GC,7597,-0.52,-219.0,945.5,-9.3,552,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2576,3720,0,0,0,0,0,0
$GC,7906,-0.52,-219.0,973.6,-9.1,567,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2576,3719,0,0,0,0,0,0
$STATE,8088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8089,begin apogee
$GC,8095,-0.13,0.0,990.8,9.4,576,8267,0.40,0.00,166.98,1.105,4,0.108,0.000,2276,2115,2869,0,0,0,0,0,0
$STATE,8268,end apogee,CONTROL_FINISHED_OK
$STATE,8268,begin climb
$GC,8270,0.52,219.0,1001.5,0.0,584,8455,0.57,0.00,177.65,1.076,6,0.047,0.000,2505,2114,1976,0,0,0,0,0,0
$GC,8782,0.52,219.0,943.2,15.1,609,8786,0.00,2.30,0.00,0.000,4,0.000,0.047,2505,3545,1975,0,0,0,0,0,0
$GC,8815,0.52,219.0,937.3,17.3,610,8822,0.00,2.20,0.00,0.000,6,0.000,0.030,2515,2134,1975,0,0,0,0,0,0
$GC,9131,0.52,219.0,882.3,17.8,626,9135,0.00,2.17,0.00,0.000,4,0.000,0.040,2526,716,1974,0,0,0,0,0,0
$GC,9264,0.52,219.0,858.5,17.5,632,9269,0.15,2.17,0.00,0.000,6,0.168,0.037,2487,2115,1974,0,0,0,0,0,0
$GC,9592,0.52,219.0,808.4,14.7,648,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2115,1973,0,0,0,0,0,0
$GC,9901,0.52,219.0,766.0,12.9,663,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2115,1972,0,0,0,0,0,0
$GC,10210,0.52,219.0,729.0,11.5,678,10214,0.00,2.15,0.00,0.000,4,0.000,0.041,2495,715,1972,0,0,0,0,0,0
$GC,10277,0.54,231.2,721.4,10.6,681,10295,0.00,2.15,10.43,0.872,6,0.000,0.037,2495,2111,1926,0,0,0,0,0,0
$GC,10605,0.54,231.2,683.7,11.6,697,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2111,1926,0,0,0,0,0,0
$GC,10912,0.54,231.2,648.8,11.1,712,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2111,1926,0,0,0,0,0,0
$GC,11222,0.54,231.2,615.4,11.1,727,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2111,1925,0,0,0,0,0,0
$GC,11531,0.54,231.2,577.4,13.1,742,11535,0.00,2.22,0.00,0.000,4,0.000,0.047,2495,3536,1926,0,0,0,0,0,0
$GC,11622,0.54,231.2,564.1,15.1,746,11626,0.00,2.17,0.00,0.000,6,0.000,0.031,2505,2100,1925,0,0,0,0,0,0
$GC,11955,0.54,231.2,513.7,15.1,762,11959,0.00,2.08,0.00,0.000,4,0.000,0.041,2515,723,1925,0,0,0,0,0,0
$GC,12010,0.54,231.2,505.0,15.2,764,12017,0.00,2.15,0.00,0.000,6,0.000,0.036,2516,2098,1926,0,0,0,0,0,0
$GC,12334,0.54,231.2,455.0,15.1,793,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2099,1926,0,0,0,0,0,0
$GC,12655,0.54,231.2,409.4,14.0,823,12659,0.00,2.22,0.00,0.000,4,0.000,0.047,2515,3544,1924,0,0,0,0,0,0
$GC,12732,0.54,231.2,397.0,15.4,829,12740,0.15,2.17,0.00,0.000,6,0.174,0.029,2487,2111,1925,0,0,0,0,0,0
$GC,13058,0.54,231.2,357.6,12.1,860,13061,0.00,2.12,0.00,0.000,4,0.000,0.041,2496,710,1926,0,0,0,0,0,0
$GC,13097,0.54,231.2,352.7,12.2,863,13104,0.00,2.12,0.00,0.000,6,0.000,0.034,2496,2096,1926,0,0,0,0,0,0
$GC,13423,0.59,270.4,317.2,9.7,894,13458,0.00,2.33,29.48,0.687,4,0.000,0.045,2496,3535,1767,0,0,0,0,0,0
$GC,13521,0.59,270.8,306.8,11.0,902,13528,0.00,2.22,0.00,0.000,6,0.000,0.030,2506,2088,1766,0,0,0,0,0,0
$GC,13848,0.65,322.2,275.2,9.3,933,13895,0.00,2.17,38.50,0.643,4,0.000,0.038,2516,721,1556,0,0,0,0,0,0
$GC,13946,0.68,346.4,265.5,10.2,941,13976,0.00,2.15,19.65,0.596,6,0.000,0.034,2516,2100,1456,0,0,0,0,0,0
$GC,14293,0.70,361.7,224.5,10.5,974,14311,0.00,2.28,12.95,0.608,4,0.000,0.044,2516,3536,1393,0,0,0,0,0,0
$GC,14457,0.76,414.4,208.6,9.2,988,14505,0.12,2.15,38.95,0.584,6,0.095,0.029,2579,2131,1178,0,0,0,0,0,0
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$GC,15982,1.14,716.2,29.5,9.1,1253,15991,0.00,2.17,0.00,0.000,4,0.000,0.040,2675,3529,439,0,0,0,0,0,0
$GC,16025,1.17,747.6,24.9,9.9,1260,16034,0.00,2.20,0.03,0.201,6,0.000,0.028,2684,2102,440,0,0,0,0,0,0
$GC,16161,1.17,747.6,9.4,11.4,1285,16170,0.00,2.15,0.03,0.321,4,0.000,0.035,2695,711,440,0,0,0,0,0,0
$GC,16215,1.22,781.6,4.3,9.8,1294,16223,0.00,2.12,0.00,0.000,6,0.000,0.028,2695,2096,441,0,0,0,0,0,0
$STATE,16229,end climb,SURFACE_DEPTH_REACHED
$STATE,16229,begin surface coast
$FINISH,0.0,1.008227
$STATE,16256,end surface coast,CONTROL_FINISHED_OK
$STATE,16257,begin surface
$SM_CCo,16334,0.00,0.000,0,0,439,595.59
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$IRIDIUM_FIX,1932.09,11944.41,080711,131333
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.60
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.8,23.612
$10V_AH,10.0,23.885
$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
$DEVICE_SECS,16.425,152.500,632.250,0.000,0.000,27.343,42.997,183.997,0.250,0.000,14.503,3102.121,9363.215,679.324,3231.855,342.252,0.000,2038.587,0.000,2216.398,0.000,0.541,0.000
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$SENSOR_SECS,906.233,1325.379,1427.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322676
$DATA_FILE_SIZE,87041,1301
$CAP_FILE_SIZE,172147,0
$CFSIZE,260165632,237162496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080711,224037,1940.026,11946.173,36,0.9,36,-2.1