version: 66.11
glider: 191
mission: 5
dive: 77
start: 10 8 112 21 16 5
data:
$ID,191
$MISSION,5
$DIVE,77
$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,-3899.4939
$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,22
$R_STBD_OVSHOOT,41
$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
$GPS1,081012,210528,2433.960,-3845.010,35,0.8,35,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-57.3
$GPS2,081012,211536,2433.966,-3845.095,18,0.8,19,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,191.5,70337,-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,-60.83,0.000,6,0.000,0.000,160,1501,3460,0,0,0,0,0,0,28.83,28.83,14.92
$GC,87,-0.60,-97.3,4.5,-9.3,4,101,9.30,1.88,0.00,0.000,4,0.422,0.076,1998,434,3463,0,0,0,0,0,0,14.43,14.67,28.83
$GC,325,-0.51,-97.3,44.7,-14.4,20,330,0.12,1.80,0.00,0.000,6,0.279,0.050,2018,1498,3465,0,0,0,0,0,0,14.62,14.78,28.83
$GC,625,-0.47,-97.3,77.6,-10.4,40,629,0.00,1.88,0.00,0.000,4,0.000,0.090,2018,443,3465,0,0,0,0,0,0,28.83,14.77,28.83
$GC,745,-0.42,-97.3,91.8,-11.5,48,750,0.17,1.77,0.00,0.000,6,0.253,0.049,2054,1503,3466,0,0,0,0,0,0,14.68,14.85,28.83
$GC,1044,-0.42,-97.3,115.3,-6.2,68,1048,0.00,1.90,0.00,0.000,4,0.000,0.091,2054,441,3467,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1136,-0.40,-97.3,120.8,-6.1,74,1139,0.00,1.77,0.00,0.000,6,0.000,0.049,2048,1506,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1435,-0.40,-97.3,138.3,-6.5,94,1439,0.00,1.77,0.00,0.000,4,0.000,0.060,2040,2553,3467,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1539,-0.40,-97.3,145.2,-6.7,101,1543,0.00,1.83,0.00,0.000,6,0.000,0.070,2045,1498,3465,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1840,-0.40,-97.3,164.0,-6.4,121,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1498,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2139,-0.40,-97.3,186.2,-8.1,141,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1498,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2439,-0.40,-97.3,210.0,-7.6,161,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1498,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.40,-97.3,229.9,-6.0,181,2744,0.00,1.88,0.00,0.000,4,0.000,0.092,2040,439,3466,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2830,-0.39,-97.3,236.1,-7.1,187,2834,0.12,1.77,0.00,0.000,6,0.246,0.050,2061,1496,3465,0,0,0,0,0,0,14.75,14.90,28.83
$GC,3146,-0.41,-97.3,251.3,-4.4,207,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1497,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-0.44,-97.3,264.3,-4.5,217,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1497,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-0.46,-97.3,282.4,-6.7,227,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1497,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-0.49,-97.3,302.9,-6.4,237,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1497,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4346,-0.51,-97.3,318.6,-4.8,247,4348,0.12,0.00,0.00,0.000,6,0.138,0.000,2012,1498,3460,0,0,0,0,0,0,14.95,28.83,28.83
$GC,4645,-0.49,-97.3,338.6,-6.6,257,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1497,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.48,-97.3,357.3,-6.2,267,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1498,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5245,-0.46,-97.3,376.7,-6.6,277,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1498,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5545,-0.45,-97.3,397.5,-7.0,287,5547,0.12,0.00,0.00,0.000,6,0.250,0.000,2040,1497,3457,0,0,0,0,0,0,14.79,28.83,28.83
$GC,5845,-0.46,-97.3,416.9,-6.9,297,5849,0.00,1.88,0.00,0.000,4,0.000,0.096,2041,443,3456,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5964,-0.46,-97.3,425.0,-7.8,301,5967,0.00,1.77,0.00,0.000,6,0.000,0.054,2035,1499,3455,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6265,-0.46,-97.3,448.4,-7.2,311,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1500,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6565,-0.46,-97.3,468.5,-6.6,321,6568,0.00,1.90,0.00,0.000,4,0.000,0.096,2035,436,3453,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6670,-0.46,-97.3,476.1,-7.2,325,6673,0.00,1.80,0.00,0.000,6,0.000,0.053,2027,1507,3452,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6985,-0.46,-97.3,494.7,-5.7,336,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1508,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,-0.46,-97.3,510.3,-4.9,346,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1508,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7585,-0.46,-97.3,526.7,-5.9,356,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1508,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7884,-0.46,-97.3,546.4,-6.8,366,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1508,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-0.46,-97.3,568.6,-7.3,376,8189,0.00,1.92,0.00,0.000,4,0.000,0.098,2027,435,3447,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8274,-0.46,-97.3,574.7,-7.9,379,8277,0.00,1.80,0.00,0.000,6,0.000,0.054,2019,1502,3447,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8575,-0.46,-97.3,599.2,-7.8,389,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1503,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8875,-0.46,-97.3,621.9,-7.3,399,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1503,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9175,-0.46,-97.3,643.8,-7.4,409,9178,0.00,1.90,0.00,0.000,4,0.000,0.099,2019,443,3444,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9354,-0.45,-97.3,656.9,-8.0,415,9359,0.12,1.80,0.00,0.000,6,0.258,0.055,2038,1505,3443,0,0,0,0,0,0,14.71,14.90,28.83
$GC,9656,-0.47,-97.3,674.1,-5.1,425,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1506,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9956,-0.49,-97.3,688.4,-4.7,435,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1506,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10255,-0.50,-97.3,703.2,-5.0,445,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1507,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10556,-0.52,-97.3,719.8,-5.6,455,10559,0.00,1.92,0.00,0.000,4,0.000,0.100,2038,441,3439,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10660,-0.52,-97.3,726.8,-6.7,459,10664,0.00,1.80,0.00,0.000,6,0.000,0.057,2033,1497,3439,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10976,-0.54,-97.3,747.9,-6.7,470,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1498,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11275,-0.55,-97.3,767.4,-6.4,480,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1498,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11575,-0.57,-97.3,785.5,-5.9,490,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1498,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11876,-0.59,-97.3,800.6,-4.8,500,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1498,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12176,-0.60,-97.3,815.1,-4.9,510,12178,0.12,0.00,0.00,0.000,6,0.145,0.000,1987,1498,3437,0,0,0,0,0,0,14.86,28.83,28.83
$GC,12475,-0.58,-97.3,838.5,-8.3,520,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1495,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12775,-0.56,-97.3,864.6,-8.9,530,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1497,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13075,-0.55,-97.3,892.2,-9.1,540,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1498,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13375,-0.53,-97.3,916.9,-7.8,550,13379,0.12,1.92,0.00,0.000,4,0.263,0.103,2014,441,3431,0,0,0,0,0,0,14.62,14.73,28.83
$GC,13480,-0.53,-97.3,924.2,-7.0,554,13483,0.00,1.83,0.00,0.000,6,0.000,0.060,2008,1501,3430,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13796,-0.53,-97.3,941.6,-5.3,565,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1502,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14095,-0.53,-97.3,957.1,-4.9,575,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1502,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14395,-0.53,-97.3,970.5,-4.4,585,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1502,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14633,begin apogee
$GC,14637,-0.18,0.0,981.4,-4.6,593,14757,0.43,0.00,110.90,2.263,6,0.214,0.000,2124,1502,3062,0,0,0,0,1,0,14.61,28.83,13.26
$STATE,14758,end apogee,CONTROL_FINISHED_OK
$STATE,14758,begin climb
$GC,14760,0.60,97.3,982.8,0.0,597,14899,0.85,1.95,127.22,2.316,4,0.142,0.070,2376,2556,2666,0,0,0,0,1,0,14.14,14.03,13.21
$GC,14952,0.50,139.0,975.9,4.3,603,15026,0.15,1.95,63.50,1.929,6,0.285,0.083,2355,1501,2495,0,0,0,0,1,0,14.20,14.30,13.28
$GC,15341,0.47,139.0,950.7,6.5,616,15345,0.00,1.95,0.00,0.000,4,0.000,0.107,2361,446,2490,0,0,0,0,0,0,28.83,14.57,28.83
$GC,15537,0.42,139.0,937.0,7.1,623,15541,0.12,1.83,0.00,0.000,6,0.268,0.061,2332,1499,2488,0,0,0,0,0,0,14.57,14.71,28.83
$GC,15852,0.43,155.8,920.2,5.3,634,15893,0.00,0.00,33.45,1.355,6,0.000,0.000,2333,1499,2426,0,0,0,0,1,0,28.83,28.83,13.77
$GC,16183,0.44,162.1,901.7,5.8,645,16190,0.00,0.00,5.72,2.169,6,0.000,0.000,2332,1499,2401,0,0,0,0,0,0,28.83,28.83,13.83
$GC,16481,0.45,172.2,884.5,5.6,655,16516,0.00,0.00,28.30,1.143,6,0.000,0.000,2332,1499,2360,0,0,0,0,1,0,28.83,28.83,13.84
$GC,16811,0.45,172.2,864.1,6.3,666,16812,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1499,2361,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,29187,end climb,SURFACE_DEPTH_REACHED
$STATE,29187,begin surface coast
$FINISH,0.2,1.024452
$STATE,29202,end surface coast,CONTROL_FINISHED_OK
$STATE,29202,begin surface
$SM_CCo,29221,24.98,0.759,0,0,1633,350.04
$SM_GC,0.90,6.70,1.80,24.98,0.078,0.050,0.759,155,1506,1633,-6.30,-0.93,350.04,0,0,0,0,0,0,14.74,14.77,14.33
$IRIDIUM_FIX,2427.58,-3844.03,081012,131319
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.94
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,27.10
$XPDR_PINGS,0
$SC_FREEKB,7740576
$TM_FREEKB,7182816
$24V_AH,13.2,38.709
$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,19.375,111.825,578.225,24.975,0.000,0.000,0.000,371.575,0.000,0.000,20.323,3297.670,22997.869,840.632,2473.785,239.529,0.000,2206.791,0.000,1930.993,0.000,0.551,0.000
$DEVICE_MAMPS,422.280,109.395,2316.420,758.880,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29225.000,6809.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.207,13.110,0.000,0.000
$MEM,344760
$DATA_FILE_SIZE,43330,1205
$CAP_FILE_SIZE,249109,0
$CFSIZE,260034560,247390208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.044, 47.0,1
$GPS,091012,052452,2431.453,-3844.538,40,0.8,40,-14.2