version: 66.04
glider: 103
mission: 11
dive: 270
start: 4 21 109 19 35 50
data:
$ID,103
$MISSION,11
$DIVE,270
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-148112.98
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2675
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2902
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.802039
$PRESSURE_SLOPE,0.0001162
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$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,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,192906,6323.322,-1319.022,28,1.3,28,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-54.1
$GPS2,193456,6323.308,-1319.021,11,1.3,11,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.132,-0.174
$KALMAN_X,-21080.3,833.4,1118.0,-3786.1,-16622.1
$KALMAN_Y,42064.8,-1255.6,-319.3,-101868.0,10995.4
$MHEAD_RNG_PITCHd_Wd,155.4,15748,-11.1,-6.000
$D_GRID,990
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,69,0.00,0.00,-51.33,0.000,2,0.000,0.000,50,2674,3010
$GC,73,-1.10,-146.6,3.3,-4.3,3,99,12.10,2.17,-9.18,0.000,4,0.158,0.103,2193,3789,3501
$GC,247,-1.10,-146.6,20.7,-9.0,11,251,0.00,2.03,0.00,0.000,6,0.000,0.063,2194,2691,3501
$GC,580,-1.10,-146.6,47.3,-7.2,27,583,0.00,2.15,0.00,0.000,4,0.000,0.091,2193,3789,3501
$GC,619,-1.10,-146.6,50.9,-8.3,28,626,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2674,3501
$GC,935,-1.10,-146.6,83.7,-8.0,44,940,0.00,2.65,0.00,0.000,4,0.000,0.076,2194,1256,3501
$GC,969,-1.10,-146.6,86.4,-6.6,45,975,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2681,3501
$GC,1287,-1.10,-146.6,110.0,-7.8,61,1290,0.00,2.15,0.00,0.000,4,0.000,0.092,2194,3793,3501
$GC,1326,-1.10,-146.6,113.7,-8.4,62,1332,0.00,2.05,0.00,0.000,6,0.000,0.059,2193,2666,3501
$GC,1644,-1.10,-146.6,136.1,-7.0,78,1648,0.00,2.62,0.00,0.000,4,0.000,0.074,2194,1255,3501
$GC,1707,-1.10,-146.6,140.9,-7.3,81,1711,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2677,3501
$GC,2033,-1.10,-146.6,165.0,-7.3,97,2037,0.00,2.12,0.00,0.000,4,0.000,0.093,2194,3786,3501
$GC,2084,-1.10,-146.6,169.0,-7.4,99,2088,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2667,3501
$GC,2411,-1.10,-146.6,193.2,-7.3,115,2415,0.00,2.62,0.00,0.000,4,0.000,0.074,2194,1253,3501
$GC,2439,-1.10,-146.6,195.2,-6.8,116,2443,0.00,2.65,0.00,0.000,6,0.000,0.065,2194,2679,3501
$GC,2755,-1.10,-146.6,216.4,-6.4,131,2759,0.00,2.15,0.00,0.000,4,0.000,0.094,2193,3790,3501
$GC,2811,-1.10,-146.6,220.7,-8.0,133,2815,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2672,3501
$GC,3133,-1.10,-146.6,244.0,-7.0,149,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3501
$GC,3442,-1.10,-146.6,266.0,-7.1,164,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3501
$GC,3751,-1.10,-146.6,288.3,-7.2,179,3755,0.00,2.62,0.00,0.000,4,0.000,0.074,2194,1254,3501
$GC,3773,-1.10,-146.6,289.9,-7.0,180,3778,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2677,3501
$GC,4095,-1.10,-146.6,313.0,-7.3,196,4098,0.00,2.15,0.00,0.000,4,0.000,0.092,2193,3792,3501
$GC,4128,-1.10,-146.6,315.7,-7.5,197,4132,0.00,2.05,0.00,0.000,6,0.000,0.057,2193,2666,3501
$GC,4450,-1.10,-146.6,339.6,-7.7,213,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3501
$GC,4759,-1.10,-146.6,364.1,-8.4,228,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2666,3501
$GC,5068,-1.10,-146.6,390.4,-8.2,243,5072,0.00,2.20,0.00,0.000,4,0.000,0.092,2194,3793,3501
$GC,5115,-1.10,-146.6,394.3,-8.7,245,5118,0.00,2.03,0.00,0.000,6,0.000,0.056,2194,2673,3501
$GC,5448,-1.10,-146.6,421.0,-8.0,261,5452,0.00,2.60,0.00,0.000,4,0.000,0.070,2194,1256,3501
$GC,5480,-1.10,-146.6,423.6,-8.4,262,5487,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2677,3501
$GC,5797,-1.10,-146.6,447.7,-7.7,278,5801,0.00,2.12,0.00,0.000,4,0.000,0.090,2194,3790,3501
$GC,5847,-1.10,-146.6,451.8,-8.2,280,5851,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2667,3501
$GC,6175,-1.10,-146.6,476.6,-7.3,296,6179,0.00,2.60,0.00,0.000,4,0.000,0.069,2194,1245,3501
$GC,6203,-1.10,-146.6,478.9,-7.8,297,6207,0.00,2.65,0.00,0.000,6,0.000,0.064,2194,2681,3501
$GC,6518,-1.10,-146.6,502.6,-7.7,312,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2681,3501
$GC,6828,-1.10,-146.6,527.0,-8.2,327,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2680,3501
$GC,7137,-1.10,-146.6,553.1,-8.2,342,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2681,3501
$GC,7446,-1.10,-146.6,580.4,-9.1,357,7450,0.00,2.12,0.00,0.000,4,0.000,0.090,2193,3793,3501
$GC,7492,-1.10,-146.6,584.6,-10.0,359,7496,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2665,3501
$GC,7825,-1.10,-146.6,613.6,-8.3,375,7829,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1247,3501
$GC,7887,-1.10,-146.6,618.9,-8.3,378,7892,0.00,2.65,0.00,0.000,6,0.000,0.063,2194,2684,3501
$GC,8214,-1.10,-146.6,644.1,-7.8,394,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2685,3501
$GC,8524,-1.10,-146.6,668.4,-8.7,409,8528,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3793,3501
$GC,8592,-1.10,-146.6,674.4,-8.9,412,8596,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2656,3501
$GC,8926,-1.10,-146.6,700.3,-7.8,428,8930,0.00,2.55,0.00,0.000,4,0.000,0.066,2193,1253,3500
$GC,8982,-1.10,-146.6,705.1,-8.2,430,8988,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2678,3500
$GC,9298,-1.10,-146.6,727.7,-7.7,446,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3500
$GC,9610,-1.10,-146.6,751.4,-7.7,461,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3500
$GC,9920,-1.10,-146.6,775.5,-7.1,476,9923,0.00,2.12,0.00,0.000,4,0.000,0.093,2194,3786,3500
$GC,9970,-1.10,-146.6,779.9,-8.9,478,9974,0.00,2.00,0.00,0.000,6,0.000,0.052,2194,2670,3500
$STATE,10005,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10006,begin apogee
$GC,10014,-0.42,0.0,782.7,7.7,480,10143,0.77,0.00,125.78,1.190,6,0.094,0.000,2348,2073,2902
$STATE,10144,end apogee,CONTROL_FINISHED_OK
$STATE,10144,begin climb
$GC,10147,1.10,146.6,788.0,0.0,486,10281,1.55,2.78,123.53,1.154,4,0.061,0.061,2678,3514,2304
$GC,10539,1.19,217.7,779.8,4.0,503,10608,0.00,2.58,61.10,1.144,6,0.000,0.041,2678,2065,2014
$GC,10921,1.19,217.7,757.1,6.8,522,10925,0.00,2.67,0.00,0.000,4,0.000,0.064,2678,3497,2013
$GC,11044,1.19,217.7,747.6,7.4,527,11050,0.00,2.55,0.00,0.000,6,0.000,0.045,2678,2077,2013
$GC,11360,1.19,217.7,728.3,6.0,543,11364,0.00,2.60,0.00,0.000,4,0.000,0.064,2677,658,2013
$GC,11393,1.19,217.7,726.0,6.8,544,11397,0.00,2.55,0.00,0.000,6,0.000,0.041,2678,2095,2013
$GC,11709,1.19,217.7,704.9,6.4,559,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2095,2013
$GC,12018,1.19,217.7,684.8,6.2,574,12022,0.00,2.62,0.00,0.000,4,0.000,0.061,2678,664,2013
$GC,12085,1.19,217.7,680.5,6.4,577,12089,0.00,2.50,0.00,0.000,6,0.000,0.040,2678,2081,2012
$GC,12406,1.19,217.7,660.8,6.3,593,12411,0.00,2.58,0.00,0.000,4,0.000,0.064,2678,3485,2012
$GC,12428,1.19,217.7,659.2,6.8,594,12433,0.00,2.53,0.00,0.000,6,0.000,0.044,2678,2071,2012
$GC,12750,1.19,217.7,639.1,6.4,610,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2070,2012
$GC,13059,1.19,217.7,619.2,6.5,625,13064,0.00,2.55,0.00,0.000,4,0.000,0.061,2678,664,2011
$GC,13087,1.19,217.7,617.2,7.1,626,13092,0.00,2.47,0.00,0.000,6,0.000,0.038,2678,2077,2012
$GC,13404,1.20,224.4,598.0,5.8,641,13418,0.10,2.65,6.85,0.905,4,0.050,0.060,2715,3485,1987
$GC,13436,1.20,224.4,595.7,6.9,642,13440,0.00,2.53,0.00,0.000,6,0.000,0.043,2715,2073,1987
$GC,13751,1.20,224.4,575.0,6.5,657,13756,0.00,2.55,0.00,0.000,4,0.000,0.058,2715,659,1987
$GC,13824,1.20,224.4,570.1,6.6,660,13829,0.00,2.47,0.00,0.000,6,0.000,0.037,2715,2080,1987
$GC,14141,1.24,258.7,552.4,5.0,675,14173,0.00,0.00,30.05,1.029,6,0.000,0.000,2715,2080,1847
$GC,14470,1.26,274.4,533.0,5.6,691,14489,0.00,0.00,14.77,0.971,6,0.000,0.000,2715,2081,1783
$GC,14799,1.29,300.8,514.3,5.3,707,14825,0.00,0.00,23.70,0.985,6,0.000,0.000,2715,2081,1675
$GC,15128,1.29,300.8,493.9,6.8,723,15129,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2081,1675
$GC,15437,1.29,300.8,471.5,7.0,738,15442,0.00,2.58,0.00,0.000,4,0.000,0.065,2715,3482,1675
$GC,15465,1.29,300.8,469.5,7.5,739,15470,0.00,2.53,0.00,0.000,6,0.000,0.045,2715,2072,1675
$GC,15781,1.29,300.8,449.0,6.2,754,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2072,1675
$GC,16091,1.29,300.8,427.5,6.5,769,16094,0.00,2.53,0.00,0.000,4,0.000,0.060,2715,663,1675
$GC,16130,1.29,300.8,424.8,6.4,770,16136,0.00,2.47,0.00,0.000,6,0.000,0.039,2715,2076,1675
$GC,16446,1.29,300.8,404.6,6.6,786,16451,0.00,2.60,0.00,0.000,4,0.000,0.066,2715,3489,1675
$GC,16469,1.29,300.8,403.0,6.2,787,16473,0.00,2.55,0.00,0.000,6,0.000,0.048,2715,2068,1675
$GC,16790,1.29,300.8,382.7,6.3,803,16794,0.00,2.55,0.00,0.000,4,0.000,0.061,2715,657,1676
$GC,16817,1.29,300.8,380.9,7.5,804,16821,0.00,2.50,0.00,0.000,6,0.000,0.040,2715,2078,1675
$GC,17133,1.29,300.8,358.6,7.1,819,17137,0.00,2.60,0.00,0.000,4,0.000,0.067,2715,3491,1676
$GC,17166,1.29,300.8,356.3,6.8,820,17172,0.00,2.53,0.00,0.000,6,0.000,0.048,2715,2076,1676
$GC,17483,1.33,328.4,338.3,5.2,836,17509,0.00,0.00,24.17,0.881,6,0.000,0.000,2715,2076,1563
$GC,17811,1.33,328.4,319.0,6.9,852,17815,0.00,2.62,0.00,0.000,4,0.000,0.068,2715,3482,1563
$GC,17861,1.33,328.4,314.8,7.7,854,17866,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,2074,1563
$GC,18177,1.33,328.4,292.5,6.4,869,18178,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2074,1563
$GC,18486,1.33,328.4,270.0,7.5,884,18491,0.00,2.65,0.00,0.000,4,0.000,0.070,2715,3486,1563
$GC,18514,1.33,328.4,267.7,8.5,885,18518,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,2076,1563
$GC,18830,1.33,328.4,241.9,9.3,900,18835,0.00,2.65,0.00,0.000,4,0.000,0.071,2715,3486,1563
$GC,18852,1.33,328.4,239.4,10.2,901,18856,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,2076,1563
$GC,19173,1.33,328.4,208.2,9.0,917,19174,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2076,1563
$GC,19482,1.33,328.4,181.1,8.5,932,19487,0.00,2.65,0.00,0.000,4,0.000,0.071,2715,3489,1563
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$GC,20900,1.33,328.4,74.9,7.1,1001,20904,0.00,2.65,0.00,0.000,4,0.000,0.068,2715,3490,1563
$GC,20944,1.33,328.4,71.2,8.0,1003,20949,0.00,2.58,0.00,0.000,6,0.000,0.055,2715,2073,1563
$GC,21267,1.33,328.4,48.3,7.5,1019,21271,0.00,2.65,0.00,0.000,4,0.000,0.070,2715,3488,1563
$GC,21299,1.33,328.4,45.6,7.5,1020,21306,0.00,2.58,0.00,0.000,6,0.000,0.057,2715,2065,1564
$GC,21617,1.33,328.4,22.4,7.8,1036,21618,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2064,1564
$STATE,21860,end climb,SURFACE_DEPTH_REACHED
$STATE,21860,begin surface coast
$FINISH,0.5,1.018873
$STATE,21882,end surface coast,CONTROL_FINISHED_OK
$STATE,21882,begin surface
$SM_CCo,21967,0.00,0.000,0,0,1562,328.70
$SM_GC,1.22,11.52,0.00,0.00,0.022,0.000,0.000,47,2674,1562,-10.92,-0.03,328.70
$IRIDIUM_FIX,6303.50,-1315.53,160798,141414
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.5,16.3
$24V_AH,23.3,47.059
$10V_AH,10.1,26.774
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.050,198.600,409.950,0.000,0.000,29.577,32.371,155.353,6.750,0.000,0.000,11.563,1906.101,16978.447,548.758,2253.331,627.141,33.361,1702.853,0.000,2210.760,0.000,46.903,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,734.464,779.516,612.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53642,1049
$CAP_FILE_SIZE,153562,0
$CFSIZE,260165632,241156096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220409,014307,6319.148,-1317.279,33,1.1,33,-12.3