version: 66.11
glider: 191
mission: 5
dive: 99
start: 10 16 112 5 9 27
data:
$ID,191
$MISSION,5
$DIVE,99
$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,-3928.874
$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,21
$R_STBD_OVSHOOT,35
$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
$GPS1,161012,045900,2353.951,-3820.861,39,0.8,39,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-56.2
$GPS2,161012,050859,2353.889,-3820.952,19,1.1,19,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$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,113.3,103251,-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,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-61.47,0.000,6,0.000,0.000,155,1500,3460,0,0,0,0,0,0,28.83,28.83,14.90
$GC,88,-0.60,-97.3,4.3,-9.1,4,101,9.23,1.90,0.00,0.000,4,0.415,0.077,1996,433,3463,0,0,0,0,0,0,14.40,14.65,28.83
$GC,190,-0.51,-97.3,24.1,-14.8,11,195,0.15,1.80,0.00,0.000,6,0.269,0.049,2023,1497,3465,0,0,0,0,0,0,14.52,14.73,28.83
$GC,490,-0.46,-97.3,60.2,-11.4,31,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1498,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-0.43,-97.3,86.3,-6.5,51,794,0.10,1.88,0.00,0.000,4,0.273,0.090,2045,442,3466,0,0,0,0,0,0,14.65,14.74,28.83
$GC,941,-0.41,-97.3,95.7,-6.5,61,945,0.00,1.77,0.00,0.000,6,0.000,0.048,2040,1504,3465,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1240,-0.39,-97.3,114.4,-6.5,81,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1506,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1540,-0.39,-97.3,136.3,-7.4,101,1543,0.00,1.80,0.00,0.000,4,0.000,0.058,2032,2569,3467,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1615,-0.39,-97.3,142.1,-7.6,106,1619,0.00,1.88,0.00,0.000,6,0.000,0.070,2032,1492,3467,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1916,-0.38,-97.3,169.4,-9.1,126,1918,0.12,0.00,0.00,0.000,6,0.247,0.000,2060,1492,3467,0,0,0,0,0,0,14.69,28.83,28.83
$GC,2216,-0.40,-97.3,190.3,-6.4,146,2219,0.00,1.83,0.00,0.000,4,0.000,0.060,2055,2567,3467,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2336,-0.43,-97.3,197.8,-6.4,154,2340,0.00,1.88,0.00,0.000,6,0.000,0.070,2054,1492,3466,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2636,-0.45,-97.3,215.8,-5.6,174,2640,0.00,1.88,0.00,0.000,4,0.000,0.093,2055,437,3466,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2740,-0.45,-97.3,222.1,-5.7,181,2744,0.00,1.77,0.00,0.000,6,0.000,0.048,2047,1499,3466,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3040,-0.46,-97.3,239.2,-6.6,201,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1501,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3356,-0.48,-97.3,261.3,-7.0,217,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1501,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.49,-97.3,280.8,-6.0,227,3660,0.00,1.77,0.00,0.000,4,0.000,0.061,2037,2555,3463,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3790,-0.52,-97.3,288.1,-5.4,232,3794,0.00,1.85,0.00,0.000,6,0.000,0.070,2039,1491,3463,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4106,-0.52,-97.3,306.1,-6.0,243,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1491,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4405,-0.53,-97.3,325.2,-6.5,253,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1491,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4705,-0.54,-97.3,344.4,-6.2,263,4709,0.00,1.80,0.00,0.000,4,0.000,0.060,2032,2555,3460,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4794,-0.55,-97.3,349.0,-6.0,266,4798,0.00,1.85,0.00,0.000,6,0.000,0.072,2029,1494,3459,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5095,-0.55,-97.3,368.0,-6.0,276,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1494,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5395,-0.55,-97.3,386.4,-6.3,286,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1494,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5695,-0.55,-97.3,407.1,-7.0,296,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1494,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5995,-0.55,-97.3,426.3,-6.2,306,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1494,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6295,-0.55,-97.3,443.8,-5.8,316,6299,0.00,1.83,0.00,0.000,4,0.000,0.062,2025,2567,3454,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6415,-0.57,-97.3,449.6,-5.5,320,6419,0.00,1.88,0.00,0.000,6,0.000,0.074,2025,1499,3453,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6715,-0.57,-97.3,468.0,-5.8,330,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1499,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,-0.57,-97.3,486.6,-6.2,340,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1499,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.57,-97.3,506.7,-6.8,350,7319,0.00,1.80,0.00,0.000,4,0.000,0.061,2017,2556,3450,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7420,-0.58,-97.3,513.8,-6.8,354,7424,0.00,1.85,0.00,0.000,6,0.000,0.073,2017,1499,3449,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7735,-0.58,-97.3,537.7,-7.7,365,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1499,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8035,-0.58,-97.3,560.9,-7.6,375,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1499,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8335,-0.58,-97.3,583.0,-7.2,385,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1496,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8635,-0.58,-97.3,603.5,-6.9,395,8639,0.00,1.80,0.00,0.000,4,0.000,0.063,2009,2555,3445,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8724,-0.58,-97.3,608.6,-6.7,398,8728,0.00,1.85,0.00,0.000,6,0.000,0.074,2009,1500,3444,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9025,-0.58,-97.3,628.8,-6.3,408,9029,0.00,1.90,0.00,0.000,4,0.000,0.096,2010,442,3444,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9101,-0.57,-97.3,634.5,-7.2,411,9104,0.00,1.80,0.00,0.000,6,0.000,0.053,2002,1506,3444,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9416,-0.56,-97.3,656.1,-6.9,422,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1507,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9715,-0.55,-97.3,677.4,-7.0,432,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1507,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10015,-0.55,-97.3,698.1,-6.9,442,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1510,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10315,-0.55,-97.3,719.0,-7.2,452,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1507,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10615,-0.55,-97.3,741.0,-7.5,462,10618,0.00,1.80,0.00,0.000,4,0.000,0.067,1994,2557,3438,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10734,-0.55,-97.3,748.7,-7.3,466,10738,0.00,1.88,0.00,0.000,6,0.000,0.077,1994,1497,3438,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11035,-0.53,-97.3,774.0,-8.1,476,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1497,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11336,-0.52,-97.3,798.2,-8.0,486,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1496,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11635,-0.51,-97.3,821.6,-7.8,496,11637,0.12,0.00,0.00,0.000,6,0.259,0.000,2021,1497,3435,0,0,0,0,0,0,14.61,28.83,28.83
$GC,11935,-0.52,-97.3,841.2,-6.6,506,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1497,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12236,-0.53,-97.3,861.1,-6.7,516,12239,0.00,1.85,0.00,0.000,4,0.000,0.067,2015,2567,3433,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12341,-0.55,-97.3,868.2,-6.7,520,12345,0.00,1.90,0.00,0.000,6,0.000,0.078,2015,1500,3432,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12655,-0.55,-97.3,891.5,-7.5,531,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1500,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12955,-0.55,-97.3,913.7,-7.2,541,12958,0.00,1.92,0.00,0.000,4,0.000,0.101,2015,443,3431,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13061,-0.55,-97.3,922.2,-8.1,545,13064,0.00,1.83,0.00,0.000,6,0.000,0.057,2007,1506,3431,0,0,0,0,0,0,28.83,14.81,28.83
$GC,13375,-0.55,-97.3,945.2,-7.1,556,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1508,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13675,-0.55,-97.3,966.1,-7.0,566,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1508,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13884,begin apogee
$GC,13888,-0.18,0.0,980.7,-6.9,573,14009,0.43,0.00,112.18,2.277,6,0.213,0.000,2124,1508,3062,0,0,0,0,1,0,14.58,28.83,13.23
$STATE,14010,end apogee,CONTROL_FINISHED_OK
$STATE,14010,begin climb
$GC,14012,0.60,97.3,984.2,0.0,577,14149,0.85,0.00,128.10,2.340,6,0.143,0.000,2376,1508,2665,0,0,0,0,1,0,14.13,28.83,13.16
$GC,14440,0.55,104.4,967.3,5.7,592,14448,0.00,0.00,5.80,2.251,6,0.000,0.000,2376,1507,2636,0,0,0,0,0,0,28.83,28.83,13.66
$GC,14741,0.49,104.4,949.2,6.1,602,14742,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1508,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15040,0.43,104.4,930.9,6.1,612,15045,0.20,1.95,0.00,0.000,4,0.268,0.106,2337,446,2634,0,0,0,0,0,0,14.54,14.68,28.83
$GC,15145,0.41,114.9,925.0,5.6,616,15183,0.00,1.83,27.67,1.143,6,0.000,0.058,2337,1504,2593,0,0,0,0,1,0,28.83,14.78,13.83
$GC,15490,0.40,123.5,905.9,5.7,628,15524,0.00,0.00,26.90,1.112,6,0.000,0.000,2336,1505,2558,0,0,0,0,1,0,28.83,28.83,13.85
$GC,15822,0.38,128.4,886.5,5.8,639,15834,0.00,1.95,4.90,2.199,4,0.000,0.108,2345,449,2539,0,0,0,0,0,0,28.83,14.68,13.81
$GC,16000,0.35,128.4,873.8,7.3,645,16005,0.17,1.83,0.00,0.000,6,0.245,0.058,2304,1504,2538,0,0,0,0,0,0,14.57,14.74,28.83
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$STATE,27968,end climb,SURFACE_DEPTH_REACHED
$STATE,27968,begin surface coast
$FINISH,0.2,1.024466
$STATE,28002,end surface coast,CONTROL_FINISHED_OK
$STATE,28002,begin surface
$SM_CCo,28018,54.72,0.772,0,0,1634,350.04
$SM_GC,0.68,6.35,0.00,54.72,0.056,0.000,0.772,149,1507,1634,-6.30,0.20,350.04,0,0,0,0,0,0,14.82,28.83,14.30
$IRIDIUM_FIX,2345.05,-3824.13,151012,212133
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.45
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,26.80
$XPDR_PINGS,2
$SC_FREEKB,7732128
$TM_FREEKB,6959136
$24V_AH,13.2,48.904
$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,18.900,122.675,574.700,54.725,0.000,0.000,0.000,354.700,0.500,0.000,19.732,3199.122,21932.088,883.482,2384.438,265.300,0.000,2198.802,0.000,1869.362,0.000,0.551,0.000
$DEVICE_MAMPS,414.630,107.865,2340.135,771.885,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28042.000,6735.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.231,13.109,0.000,0.000
$MEM,344780
$DATA_FILE_SIZE,43385,1166
$CAP_FILE_SIZE,244949,0
$CFSIZE,260034560,244441088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$CURRENT,0.077, 22.7,1
$GPS,161012,125835,2354.060,-3817.218,34,0.8,34,-14.2