version: 66.11
glider: 191
mission: 5
dive: 67
start: 10 5 112 13 11 16
data:
$ID,191
$MISSION,5
$DIVE,67
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3885.5298
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$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,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,051012,130105,2450.920,-3832.202,31,1.1,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-59.4
$GPS2,051012,131047,2450.958,-3832.108,20,0.9,20,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,midP
$TGT_LATLONG,2450.000,-3844.000
$TGT_RADIUS,1852.000
$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,261.3,20067,-13.3,-6.049,-18.38
$D_GRID,980
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-62.00,0.000,2,0.000,0.000,155,1511,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.60,-97.3,3.7,-8.1,4,100,9.35,0.00,-0.32,0.000,6,0.425,0.000,1990,1511,3460,1,0,0,0,0,0,14.41,28.83,14.84
$GC,399,-0.52,-97.3,51.1,-13.1,25,401,0.12,0.00,0.00,0.000,6,0.278,0.000,2018,1513,3462,0,0,0,0,0,0,14.66,28.83,28.83
$GC,699,-0.48,-97.3,81.1,-10.0,45,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,999,-0.44,-97.3,108.8,-8.2,65,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-0.42,-97.3,133.4,-8.4,85,1301,0.15,0.00,0.00,0.000,6,0.243,0.000,2057,1512,3465,0,0,0,0,0,0,14.76,28.83,28.83
$GC,1599,-0.42,-97.3,147.3,-3.6,105,1602,0.00,1.90,0.00,0.000,4,0.000,0.093,2057,442,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1689,-0.42,-97.3,151.7,-5.1,111,1693,0.00,1.77,0.00,0.000,6,0.000,0.050,2050,1500,3466,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1988,-0.42,-97.3,171.7,-7.9,131,1992,0.00,1.77,0.00,0.000,4,0.000,0.061,2043,2556,3466,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2079,-0.43,-97.3,178.8,-8.1,137,2083,0.00,1.85,0.00,0.000,6,0.000,0.071,2043,1492,3466,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2379,-0.43,-97.3,201.3,-7.4,157,2383,0.00,1.88,0.00,0.000,4,0.000,0.094,2043,436,3465,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2455,-0.42,-97.3,207.3,-7.9,162,2458,0.00,1.80,0.00,0.000,6,0.000,0.051,2035,1509,3466,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2754,-0.42,-97.3,227.4,-6.3,182,2758,0.00,1.77,0.00,0.000,4,0.000,0.062,2027,2564,3465,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2918,-0.42,-97.3,238.3,-6.8,193,2922,0.00,1.85,0.00,0.000,6,0.000,0.074,2027,1503,3464,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3233,-0.42,-97.3,261.8,-7.4,209,3237,0.00,1.88,0.00,0.000,4,0.000,0.093,2027,439,3463,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3309,-0.40,-97.3,268.1,-8.2,212,3314,0.15,1.77,0.00,0.000,6,0.240,0.052,2055,1498,3465,0,0,0,0,0,0,14.79,14.95,28.83
$GC,3625,-0.42,-97.3,288.0,-6.0,223,3629,0.00,1.88,0.00,0.000,4,0.000,0.094,2055,442,3462,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3728,-0.42,-97.3,295.2,-6.9,227,3732,0.00,1.77,0.00,0.000,6,0.000,0.052,2049,1500,3462,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4045,-0.43,-97.3,313.1,-5.5,238,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1502,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4344,-0.44,-97.3,331.7,-6.3,248,4347,0.00,1.77,0.00,0.000,4,0.000,0.063,2042,2558,3460,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4433,-0.46,-97.3,336.6,-6.7,251,4437,0.00,1.85,0.00,0.000,6,0.000,0.074,2042,1493,3460,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4734,-0.46,-97.3,360.7,-7.9,261,4737,0.00,1.85,0.00,0.000,4,0.000,0.095,2042,446,3459,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4852,-0.46,-97.3,370.0,-8.9,265,4856,0.00,1.77,0.00,0.000,6,0.000,0.053,2034,1503,3458,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5154,-0.46,-97.3,395.9,-8.0,275,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1504,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5453,-0.46,-97.3,417.5,-6.9,285,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1504,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5754,-0.46,-97.3,437.8,-6.7,295,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1504,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,-0.46,-97.3,459.3,-7.3,305,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1504,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6354,-0.46,-97.3,481.1,-6.9,315,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1504,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6654,-0.46,-97.3,501.2,-6.7,325,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1504,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6954,-0.46,-97.3,519.9,-6.0,335,6958,0.00,1.90,0.00,0.000,4,0.000,0.097,2034,442,3450,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7043,-0.46,-97.3,525.0,-6.7,338,7046,0.00,1.80,0.00,0.000,6,0.000,0.054,2026,1509,3451,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7344,-0.46,-97.3,543.0,-5.3,348,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1511,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7644,-0.46,-97.3,558.9,-5.4,358,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1511,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7944,-0.46,-97.3,577.4,-6.6,368,7948,0.00,1.90,0.00,0.000,4,0.000,0.097,2026,447,3447,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8002,-0.46,-97.3,580.8,-7.1,370,8006,0.00,1.77,0.00,0.000,6,0.000,0.055,2018,1499,3447,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8304,-0.46,-97.3,604.4,-7.4,380,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1499,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8604,-0.46,-97.3,624.5,-6.3,390,8607,0.00,1.90,0.00,0.000,4,0.000,0.098,2019,441,3444,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8678,-0.46,-97.3,629.6,-6.7,393,8683,0.12,1.80,0.00,0.000,6,0.262,0.057,2037,1502,3444,0,0,0,0,0,0,14.75,14.93,28.83
$GC,8995,-0.48,-97.3,646.3,-5.3,404,8999,0.00,1.80,0.00,0.000,4,0.000,0.067,2032,2559,3443,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9143,-0.50,-97.3,653.4,-5.3,409,9147,0.00,1.88,0.00,0.000,6,0.000,0.077,2032,1493,3442,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9444,-0.50,-97.3,671.7,-5.8,419,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1492,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9744,-0.51,-97.3,688.0,-5.2,429,9748,0.00,1.90,0.00,0.000,4,0.000,0.100,2031,436,3441,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9893,-0.51,-97.3,696.2,-6.1,434,9896,0.00,1.83,0.00,0.000,6,0.000,0.057,2024,1509,3440,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10193,-0.51,-97.3,715.4,-6.3,444,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1511,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10494,-0.51,-97.3,737.2,-7.6,454,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1510,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10794,-0.51,-97.3,759.8,-7.3,464,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1511,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11093,-0.51,-97.3,779.5,-6.3,474,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1510,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11395,-0.51,-97.3,797.7,-6.0,484,11398,0.00,1.92,0.00,0.000,4,0.000,0.101,2024,443,3435,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11469,-0.51,-97.3,803.4,-7.1,487,11473,0.00,1.80,0.00,0.000,6,0.000,0.060,2016,1496,3435,0,0,0,0,0,0,28.83,14.89,28.83
$GC,11783,-0.51,-97.3,825.5,-7.2,498,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1498,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12084,-0.51,-97.3,848.4,-7.8,508,12087,0.00,1.92,0.00,0.000,4,0.000,0.103,2016,437,3433,0,0,0,0,0,0,28.83,14.79,28.83
$GC,12158,-0.51,-97.3,854.9,-8.3,511,12162,0.00,1.83,0.00,0.000,6,0.000,0.060,2008,1501,3432,0,0,0,0,0,0,28.83,14.88,28.83
$GC,12474,-0.51,-97.3,879.8,-7.9,522,12475,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1502,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12774,-0.51,-97.3,902.9,-7.7,532,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1502,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13074,-0.51,-97.3,925.1,-7.2,542,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1502,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13373,-0.51,-97.3,946.1,-7.1,552,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1501,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13674,-0.51,-97.3,965.7,-6.3,562,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1502,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13942,begin apogee
$GC,13946,-0.18,0.0,981.3,-5.5,571,14066,0.43,0.00,111.12,2.258,6,0.216,0.000,2124,1501,3062,0,0,0,0,1,0,14.64,28.83,13.27
$STATE,14067,end apogee,CONTROL_FINISHED_OK
$STATE,14067,begin climb
$GC,14069,0.60,97.3,983.0,0.0,575,14206,0.85,0.00,128.25,2.390,6,0.148,0.000,2375,1502,2665,0,0,0,0,1,0,14.14,28.83,13.16
$GC,14499,0.54,97.3,958.9,7.4,590,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1502,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14800,0.49,97.3,939.1,6.4,600,14801,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1501,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15099,0.43,97.3,920.6,6.3,610,15101,0.20,0.00,0.00,0.000,6,0.268,0.000,2330,1502,2658,0,0,0,0,0,0,14.62,28.83,28.83
$GC,15400,0.45,121.7,905.4,5.0,620,15449,0.00,0.00,41.83,1.679,6,0.000,0.000,2329,1502,2565,0,0,0,0,1,0,28.83,28.83,13.70
$GC,15730,0.47,138.4,887.4,5.3,631,15774,0.00,2.00,35.05,1.459,4,0.000,0.111,2335,444,2499,0,0,0,0,1,0,28.83,14.47,13.64
$GC,15848,0.46,145.2,881.2,5.8,634,15873,0.00,1.88,20.55,1.074,6,0.000,0.062,2336,1509,2473,0,0,0,0,0,0,28.83,14.60,14.26
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$STATE,27759,end climb,SURFACE_DEPTH_REACHED
$STATE,27759,begin surface coast
$FINISH,-0.2,1.024510
$STATE,27790,end surface coast,CONTROL_FINISHED_OK
$STATE,27790,begin surface
$SM_CCo,27806,68.55,0.765,0,0,1635,350.04
$SM_GC,0.61,6.55,0.00,68.55,0.087,0.000,0.765,164,1498,1635,-6.28,-0.06,350.04,0,0,0,0,0,0,14.82,28.83,14.29
$IRIDIUM_FIX,2441.81,-3826.24,051012,050508
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.70
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,26.80
$XPDR_PINGS,2
$SC_FREEKB,7744416
$TM_FREEKB,7284832
$24V_AH,13.2,34.180
$10V_AH,13.4,0.000
$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,18.500,114.950,556.450,68.550,0.000,0.000,0.000,351.000,0.500,0.000,21.081,3138.977,21868.457,871.160,2355.313,218.408,0.000,2167.390,0.000,1843.071,0.000,0.550,0.000
$DEVICE_MAMPS,425.340,110.925,2389.860,765.000,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27826.000,6370.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.184,13.103,0.000,0.000
$MEM,344744
$DATA_FILE_SIZE,39968,1145
$CAP_FILE_SIZE,236153,0
$CFSIZE,260034560,248766464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.052, 30.0,1
$GPS,051012,205705,2450.598,-3834.877,35,0.9,35,-14.1