version: 66.11
glider: 122
mission: 17
dive: 426
start: 6 29 113 23 16 29
data:
$ID,122
$MISSION,17
$DIVE,426
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53959
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-46453.211
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,1
$C_ROLL_DIVE,1100
$C_ROLL_CLIMB,1100
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.500248
$PRESSURE_SLOPE,0.0001162797
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1284
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$SC_RECORDABOVE,1050.0
$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
$GPS1,290613,230804,2319.060,-3634.279,37,0.8,37,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-32.3
$GPS2,290613,231600,2319.028,-3634.337,21,0.9,21,-13.8
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,0.2,256947,-15.2,-7.857,-19.53,2419
$D_GRID,990
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.05,-126.5,134,1101,1534,1710,0.0,0.0,0,57,0.00,0.00,-34.92,0.000,16386,0.000,0.000,134,1101,2421,2228,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.05,-126.5,133,1101,2229,2616,3.3,-5.1,2,104,12.35,0.00,-27.83,0.000,18438,0.363,0.000,2807,1098,3367,3282,3453,0,0,0,0,0,0,14.28,28.83,14.87
$GC,399,-1.05,-126.5,2807,1098,3284,3454,47.1,-12.7,25,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3284,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,701,-1.05,-126.5,2807,1098,3284,3454,89.2,-14.0,45,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3284,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-1.05,-126.5,2807,1097,3285,3454,127.6,-11.9,65,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3285,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-1.05,-126.5,2807,1098,3286,3454,157.7,-9.5,85,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-1.05,-126.5,2807,1098,3287,3454,188.1,-11.1,105,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-1.05,-126.5,2807,1098,3287,3454,225.4,-13.6,125,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3371,3288,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-1.05,-126.5,2807,1098,3287,3454,266.2,-13.3,141,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2499,-1.05,-126.5,2807,1098,3287,3454,302.7,-11.2,151,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,-1.05,-126.5,2807,1098,3287,3454,332.5,-9.6,161,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3099,-1.05,-126.5,2807,1098,3287,3454,362.4,-10.3,171,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-1.05,-126.5,2807,1098,3287,3454,398.5,-12.8,181,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3700,-1.05,-126.5,2807,1098,3287,3454,438.7,-13.4,191,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3999,-1.05,-126.5,2807,1098,3287,3453,474.5,-11.2,201,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4299,-1.05,-126.5,2807,1098,3287,3453,504.8,-9.9,211,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4599,-1.05,-126.5,2807,1098,3287,3451,532.1,-8.9,221,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4899,-1.05,-126.5,2807,1098,3287,3450,562.5,-10.5,231,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3368,3287,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5200,-1.05,-126.5,2807,1098,3287,3448,597.9,-12.4,241,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3367,3287,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-1.05,-126.5,2807,1098,3287,3445,636.8,-13.1,251,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3366,3287,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,-1.05,-126.5,2807,1098,3287,3443,674.2,-12.1,261,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3365,3287,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6100,-1.05,-126.5,2807,1098,3287,3440,706.6,-10.6,271,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3364,3287,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6400,-1.05,-126.5,2807,1098,3287,3438,738.2,-10.7,281,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3362,3287,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6702,-1.05,-126.5,2807,1098,3287,3437,773.9,-12.4,291,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3362,3287,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7001,-1.05,-126.5,2807,1098,3287,3434,813.0,-13.1,301,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3360,3287,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,-1.05,-126.5,2807,1098,3287,3431,850.8,-12.4,311,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3359,3287,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,-1.05,-126.5,2807,1098,3287,3429,884.4,-10.6,321,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3358,3287,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,-1.05,-126.5,2807,1098,3287,3427,915.0,-9.9,331,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3357,3287,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8200,-1.05,-126.5,2807,1098,3287,3425,946.9,-11.0,341,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3356,3287,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,-1.05,-126.5,2807,1098,3287,3422,981.9,-12.1,351,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3354,3287,3422,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8587,begin apogee
$GC,8594,-0.28,0.0,2807,1098,3286,3422,993.1,-12.4,354,8719,0.88,0.00,116.50,2.021,10246,0.189,0.000,3056,1098,2847,2766,2929,0,0,0,0,0,0,14.21,28.83,13.20
$STATE,8720,end apogee,CONTROL_FINISHED_OK
$STATE,8720,begin climb
$GC,8724,1.05,126.5,3056,1098,2765,2929,1000.9,0.0,357,8859,1.33,0.00,124.93,2.001,10246,0.106,0.000,3487,1098,2331,2213,2449,0,0,0,0,0,0,14.23,28.83,13.12
$GC,9160,1.13,174.8,3487,1098,2205,2440,989.8,5.8,373,9209,0.00,0.00,47.35,1.968,8198,0.000,0.000,3487,1098,2136,2019,2253,0,0,0,0,0,0,28.83,28.83,13.36
$GC,9490,1.13,174.8,3487,1098,2012,2242,962.2,8.9,384,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2127,2012,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,1.13,174.8,3487,1098,2011,2241,933.6,9.8,394,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2127,2012,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10090,1.13,174.8,3487,1098,2009,2240,903.0,10.5,404,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2124,2009,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10390,1.13,174.8,3487,1098,2009,2239,873.2,9.5,414,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2124,2009,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10689,1.13,174.8,3487,1098,2009,2239,846.5,8.5,424,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2123,2008,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10990,1.17,198.2,3487,1098,2006,2239,824.6,6.9,434,11019,0.12,0.00,22.83,1.794,10246,0.129,0.000,3541,1098,2039,1928,2151,0,0,0,0,0,0,14.78,28.83,13.71
$GC,11319,1.17,198.2,3541,1098,1927,2146,796.6,8.8,445,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1098,2036,1927,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11619,1.17,198.2,3541,1098,1927,2144,768.0,9.8,455,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2035,1927,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11920,1.17,198.2,3541,1098,1924,2144,736.7,10.7,465,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2034,1924,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12220,1.17,198.2,3541,1098,1924,2144,703.3,11.2,475,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2034,1924,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12519,1.17,198.2,3541,1098,1924,2144,670.4,10.7,485,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2034,1924,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12819,1.17,198.2,3541,1098,1924,2144,639.1,10.3,495,12821,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2034,1924,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13119,1.17,198.2,3541,1098,1924,2144,610.0,9.4,505,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2034,1924,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13419,1.17,198.2,3541,1098,1924,2141,582.9,8.9,515,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2032,1924,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13720,1.17,198.2,3541,1098,1923,2141,557.4,8.7,525,13721,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2032,1924,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14020,1.17,198.2,3541,1098,1924,2141,530.7,9.2,535,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2032,1924,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14319,1.17,198.2,3541,1098,1924,2140,501.2,10.3,545,14321,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2032,1924,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14619,1.17,198.2,3541,1098,1924,2141,470.1,10.2,555,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2032,1924,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14919,1.17,198.2,3541,1098,1924,2141,440.7,9.6,565,14921,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2032,1924,2141,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16119,1.17,198.2,3541,1098,1924,2141,326.9,9.6,605,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1098,2032,1924,2141,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19766,end climb,SURFACE_DEPTH_REACHED
$STATE,19766,begin surface coast
$FINISH,1.5,1.025414
$STATE,19793,end surface coast,CONTROL_FINISHED_OK
$STATE,19793,begin surface
$SM_CCo,19815,28.95,0.083,0,0,1626,300.00
$SM_GC,2.56,9.65,0.00,28.95,0.051,0.000,0.083,141,1100,1626,-9.30,-0.03,300.00,0,0,0,0,0,0,14.73,28.83,14.63
$IRIDIUM_FIX,2312.13,-3834.09,290613,171717
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.36
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.70
$XPDR_PINGS,26
$SC_FREEKB,3911264
$24V_AH,13.1,117.414
$10V_AH,13.6,0.000
$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,24.325,0.000,341.375,28.950,0.000,0.000,0.000,232.750,6.500,0.000,21.924,2041.561,14600.865,377.855,2674.200,613.990,0.000,1358.344,0.000,2480.422,0.000,0.538,0.000
$DEVICE_MAMPS,363.375,0.000,2021.130,82.620,0.000,0.000,0.000,208.080,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19807.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.746,0.000,0.000,0.000
$MEM,354020
$DATA_FILE_SIZE,26699,824
$CAP_FILE_SIZE,287404,0
$CFSIZE,260034560,212111360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,848
$CURRENT,0.148,170.4,1
$GPS,300613,044829,2318.686,-3634.485,38,0.9,38,-13.8