version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 307
start: 2 6 117 3 10 58
data:
$ID,628
$MISSION,3
$DIVE,307
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,4
$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,320
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,50
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.1001
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,552.90619
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-125837.63
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3882
$C_PITCH,2800
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3902
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,734
$VBD_MAX,3960
$C_VBD,2988
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.58914
$PRESSURE_SLOPE,0.00014036
$AD7714Ch0Gain,32
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$DEVICE2,133
$DEVICE3,147
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044104406
$SEABIRD_T_H,0.00064404617
$SEABIRD_T_I,2.5974168e-05
$SEABIRD_T_J,3.1912264e-06
$SEABIRD_C_G,-9.8867512
$SEABIRD_C_H,1.1496466
$SEABIRD_C_I,-0.00071915763
$SEABIRD_C_J,0.00012581857
$GPS1,060217,024454,2305.389,12355.482,36,0.9,36,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-52.8
$GPS2,060217,031035,2305.441,12355.333,6,0.9,6,-3.7
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$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,190.5,176939,-15.8,-10.104,-18.78,2952
$D_GRID,6040
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-194.6,80,2159,761,722,0.0,0.0,0,93,0.00,0.00,-74.90,0.000,16386,0.000,0.000,81,2159,3271,3275,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.78,-194.6,80,2159,3274,3267,3.2,-6.4,11,119,8.55,2.42,-8.35,0.000,19204,0.448,0.076,2539,742,3783,3742,3824,0,0,0,0,0,0,14.31,14.76,15.00
$GC,239,-0.78,-194.6,1536,741,3738,3824,33.7,-18.3,37,248,0.03,2.30,0.00,0.000,3078,0.347,0.044,2542,2129,3783,3741,3825,0,0,0,0,0,0,14.42,14.69,28.83
$GC,496,-0.78,-194.6,1536,2127,3737,3824,84.7,-21.1,86,502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2128,3783,3741,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-0.78,-194.6,1544,2127,3736,3824,136.1,-19.1,135,754,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2128,3782,3740,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1002,-0.78,-194.6,2542,2129,3740,3825,186.1,-18.3,184,1009,0.00,2.33,0.00,0.000,2564,0.000,0.057,2542,745,3782,3740,3825,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1128,-0.78,-194.6,1540,745,3737,3824,206.1,-14.5,208,1136,0.00,2.33,0.00,0.000,3078,0.000,0.041,2534,2161,3782,3739,3825,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1382,-0.78,-194.6,1536,2159,3737,3824,244.0,-15.9,257,1390,0.00,2.38,0.00,0.000,2308,0.000,0.060,2523,3568,3782,3740,3825,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1481,-0.78,-194.6,2523,3567,3739,3825,258.3,-14.8,275,1491,0.05,2.25,0.00,0.000,3078,0.284,0.032,2544,2131,3782,3740,3825,0,0,0,0,0,0,14.32,14.75,28.83
$GC,1730,-0.78,-194.6,2544,2131,3740,3825,292.6,-13.7,301,1740,0.00,2.25,0.00,0.000,2564,0.000,0.054,2544,754,3782,3739,3825,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1787,-0.78,-194.6,2544,754,3739,3825,300.9,-13.6,312,1794,0.00,2.22,0.00,0.000,3078,0.000,0.038,2537,2154,3782,3739,3825,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2034,-0.78,-194.6,2537,2154,3739,3825,336.8,-14.9,337,2044,0.00,2.33,0.00,0.000,2308,0.000,0.061,2526,3555,3781,3737,3825,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2078,-0.78,-194.6,1632,3553,3736,3824,343.9,-14.8,346,2087,0.08,2.28,0.00,0.000,3078,0.355,0.034,2546,2135,3781,3738,3824,0,0,0,0,0,0,14.52,14.83,28.83
$GC,2326,-0.78,-194.6,2546,2135,3738,3825,377.2,-13.3,371,2330,0.00,2.25,0.00,0.000,2564,0.000,0.052,2546,750,3781,3737,3825,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2341,-0.78,-194.6,2546,750,3737,3825,379.4,-13.3,374,2347,0.00,2.25,0.00,0.000,3078,0.000,0.040,2538,2158,3781,3737,3825,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2589,-0.78,-194.6,2538,2158,3736,3825,409.8,-11.9,399,2598,0.00,2.33,0.00,0.000,2308,0.000,0.064,2528,3560,3780,3735,3825,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2620,-0.78,-194.6,2528,3560,3735,3825,413.5,-11.7,405,2629,0.08,2.25,0.00,0.000,3078,0.357,0.034,2547,2145,3780,3735,3825,0,0,0,0,0,0,14.55,14.88,28.83
$GC,2870,-0.78,-194.6,2547,2145,3733,3825,440.3,-11.4,431,2878,0.00,2.28,0.00,0.000,2564,0.000,0.057,2547,757,3778,3732,3825,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2893,-0.78,-194.6,2547,756,3732,3825,443.4,-11.9,436,2901,0.00,2.28,0.00,0.000,3078,0.000,0.043,2539,2146,3778,3732,3825,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3142,-0.78,-194.6,2539,2146,3730,3825,472.1,-12.0,461,3150,0.00,2.33,0.00,0.000,2308,0.000,0.065,2529,3553,3777,3730,3824,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3175,-0.78,-194.6,1664,3553,3727,3823,476.5,-12.3,468,3183,0.08,2.28,0.00,0.000,3078,0.360,0.035,2549,2135,3777,3730,3825,0,0,0,0,0,0,14.52,14.83,28.83
$GC,3423,-0.78,-194.6,2549,2135,3728,3825,504.5,-11.0,493,3431,0.00,2.28,0.00,0.000,516,0.000,0.057,2549,748,3776,3728,3825,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3527,-0.78,-194.6,2547,748,3726,3824,515.0,-9.7,514,3534,0.00,2.28,0.00,0.000,3078,0.000,0.042,2541,2159,3775,3726,3824,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3775,-0.78,-194.6,2541,2160,3726,3822,540.7,-10.6,539,3776,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2160,3774,3726,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4014,-0.78,-194.6,2541,2160,3724,3822,566.3,-10.6,563,4023,0.00,2.33,0.00,0.000,2308,0.000,0.062,2530,3548,3773,3724,3822,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4048,-0.78,-194.6,2530,3547,3723,3822,570.2,-10.4,570,4057,0.05,2.25,0.00,0.000,3078,0.430,0.032,2546,2146,3772,3723,3822,0,0,0,0,0,0,14.55,14.88,28.83
$GC,4295,-0.78,-194.6,2546,2145,3723,3821,593.1,-9.7,595,4299,0.00,2.30,0.00,0.000,2564,0.000,0.059,2546,758,3771,3723,3820,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4339,-0.78,-194.6,2547,757,3722,3820,597.5,-9.4,604,4346,0.00,2.25,0.00,0.000,3078,0.000,0.044,2538,2148,3771,3722,3820,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4597,-0.78,-194.6,2539,2148,3721,3817,621.6,-10.0,619,4601,0.00,2.35,0.00,0.000,2564,0.000,0.058,2538,749,3769,3721,3817,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4640,-0.78,-194.6,1648,748,3717,3816,626.4,-10.4,628,4646,0.03,2.30,0.00,0.000,3078,0.367,0.044,2541,2143,3768,3720,3817,0,0,0,0,0,0,14.45,14.78,28.83
$GC,4898,-0.78,-194.6,2542,2143,3718,3815,652.5,-10.3,643,4904,0.00,2.38,0.00,0.000,2308,0.000,0.063,2533,3552,3765,3717,3814,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4941,-0.78,-194.6,2533,3552,3717,3815,657.4,-11.1,652,4945,0.00,2.25,0.00,0.000,3078,0.000,0.033,2533,2154,3766,3717,3815,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5193,-0.78,-194.6,2532,2153,3716,3813,685.0,-11.0,666,5199,0.00,2.38,0.00,0.000,2308,0.000,0.063,2522,3550,3764,3716,3813,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5221,-0.78,-194.6,2522,3551,3715,3813,688.3,-11.2,672,5227,0.10,2.28,0.00,0.000,3078,0.316,0.034,2549,2139,3764,3716,3813,0,0,0,0,0,0,14.50,14.87,28.83
$GC,5468,-0.78,-194.6,2550,2139,3713,3812,710.1,-8.4,685,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2139,3762,3713,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,-0.78,-194.6,2550,2139,3712,3809,728.7,-7.6,697,5714,0.00,2.33,0.00,0.000,516,0.000,0.059,2551,748,3760,3711,3809,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5773,-0.78,-194.6,2551,748,3711,3809,734.1,-8.4,710,5777,0.00,2.28,0.00,0.000,3078,0.000,0.045,2543,2145,3760,3711,3809,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6024,-0.78,-194.6,2543,2146,3709,3807,756.4,-9.5,724,6025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2145,3757,3709,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6264,-0.78,-194.6,2543,2145,3707,3805,779.8,-9.9,736,6265,0.00,0.00,0.00,0.000,2054,0.000,0.000,2543,2145,3756,3707,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6504,-0.78,-194.6,2543,2145,3705,3804,803.6,-10.0,748,6505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2543,2146,3754,3705,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6744,-0.78,-194.6,2543,2146,3704,3802,826.7,-9.6,760,6750,0.00,2.42,0.00,0.000,2308,0.000,0.067,2533,3562,3752,3703,3802,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6777,-0.78,-194.6,2533,3563,3703,3802,830.1,-9.6,767,6785,0.00,2.33,0.00,0.000,3078,0.000,0.036,2533,2148,3752,3703,3802,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7025,-0.78,-194.6,2532,2147,3702,3800,853.4,-9.3,780,7031,0.00,2.35,0.00,0.000,2564,0.000,0.061,2533,752,3751,3702,3801,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7067,-0.78,-194.6,2533,752,3702,3800,857.7,-9.6,789,7072,0.10,2.30,0.00,0.000,3078,0.336,0.047,2550,2152,3750,3701,3800,0,0,0,0,0,0,14.38,14.76,28.83
$GC,7319,-0.78,-194.6,2551,2152,3700,3799,878.7,-8.7,803,7326,0.00,2.40,0.00,0.000,260,0.000,0.067,2541,3554,3749,3700,3799,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7402,-0.78,-194.6,1664,3552,3695,3798,886.7,-9.5,820,7406,0.00,2.30,0.00,0.000,3078,0.000,0.037,2541,2146,3749,3699,3799,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7660,-0.78,-194.6,2542,2146,3698,3796,912.2,-10.0,835,7661,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2146,3747,3698,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,-0.78,-194.6,2541,2146,3696,3795,936.3,-9.8,847,7906,0.00,2.42,0.00,0.000,2308,0.000,0.067,2531,3548,3746,3696,3796,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7940,-0.78,-194.6,2531,3549,3695,3796,940.3,-10.0,855,7946,0.05,2.30,0.00,0.000,3078,0.402,0.037,2546,2146,3746,3696,3796,0,0,0,0,0,0,14.49,14.78,28.83
$GC,8199,-0.78,-194.6,2546,2145,3695,3794,963.4,-8.7,871,8201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2145,3744,3695,3793,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8278,begin apogee
$GC,8283,-0.17,0.0,2546,1927,3694,3793,970.2,-8.5,875,8567,0.57,0.00,279.88,1.577,10246,0.233,0.000,2750,1926,2987,3025,2950,0,0,0,0,0,0,14.45,28.83,13.50
$STATE,8567,end apogee,CONTROL_FINISHED_OK
$STATE,8568,begin climb
$GC,8569,0.78,194.6,2750,1926,3019,2942,983.0,0.0,889,8792,0.77,2.53,211.60,1.789,10756,0.133,0.076,3065,576,2182,2212,2153,0,0,0,0,0,0,14.14,14.04,13.31
$GC,8842,0.78,194.6,2152,576,2153,2133,962.9,14.1,946,8847,0.00,2.38,0.00,0.000,5126,0.000,0.044,3064,1944,2167,2196,2139,0,0,0,0,0,0,28.83,14.28,28.83
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$GC,14330,0.83,194.6,3066,3346,2192,2121,294.9,10.1,1535,14337,0.00,2.33,0.00,0.000,5126,0.000,0.036,3074,1946,2156,2192,2121,0,0,0,0,0,0,28.83,14.73,28.83
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$STATE,17301,end climb,SURFACE_DEPTH_REACHED
$STATE,17301,begin surface coast
$FINISH,0.2,1.023537
$STATE,17318,end surface coast,CONTROL_FINISHED_OK
$STATE,17318,begin surface
$SM_CCo,17336,180.88,0.149,0,0,733,552.91
$SM_GC,0.85,7.72,2.62,180.88,0.104,0.037,0.149,128,2160,733,-8.24,-1.50,552.91,0,0,0,0,0,0,14.66,14.73,14.54
$IRIDIUM_FIX,2258.07,12356.35,031209,161635
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.85
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,13.3,119.351
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,19.525,215.875,491.475,180.875,0.000,0.000,0.000,1146.000,0.500,0.000,7.304,4408.723,8537.477,951.548,4801.473,332.153,0.000,3733.055,0.000,3679.035,0.000,0.553,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1155.026,2266.995,1692.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328628
$DATA_FILE_SIZE,153809,2064
$CAP_FILE_SIZE,222342,0
$CFSIZE,2097086464,2043019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.113, 48.5,1
$GPS,060217,080400,2303.871,12355.939,29,1.1,29,-3.7