version: 66.11
glider: 122
mission: 17
dive: 514
start: 7 20 113 10 38 4
data:
$ID,122
$MISSION,17
$DIVE,514
$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,-46844.008
$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,10
$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
$GPS1,200713,102928,2254.914,-3645.259,38,0.9,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-32.3
$GPS2,200713,103735,2254.922,-3645.213,17,0.9,17,-13.9
$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,349.5,270255,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.05,-126.5,136,1100,1534,1717,0.0,0.0,0,57,0.00,0.00,-34.12,0.000,16386,0.000,0.000,136,1101,2418,2227,2610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.05,-126.5,136,1101,2228,2610,3.4,-4.6,2,103,12.52,0.00,-25.45,0.000,18438,0.365,0.000,2804,1099,3366,3281,3452,0,0,0,0,0,0,14.22,28.83,14.86
$GC,400,-1.05,-126.5,2804,1099,3281,3453,53.3,-14.6,25,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3367,3281,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,702,-1.05,-126.5,2804,1099,3283,3453,92.4,-10.9,45,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3368,3283,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-1.05,-126.5,2804,1099,3284,3453,126.3,-12.3,65,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3368,3284,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1301,-1.05,-126.5,2804,1099,3286,3453,165.1,-13.2,85,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3369,3286,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-1.05,-126.5,2804,1099,3287,3453,202.3,-11.9,105,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1099,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-1.05,-126.5,2804,1099,3287,3453,235.2,-10.3,125,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-1.05,-126.5,2804,1099,3287,3453,267.2,-10.8,140,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1099,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2501,-1.05,-126.5,2804,1099,3287,3453,305.3,-13.5,150,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-1.05,-126.5,2804,1099,3287,3453,345.8,-13.2,160,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-1.05,-126.5,2804,1099,3287,3453,382.2,-11.4,170,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1099,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3400,-1.05,-126.5,2804,1099,3287,3453,413.0,-9.9,180,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1099,3369,3287,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3702,-1.05,-126.5,2804,1099,3287,3452,441.2,-9.5,190,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3369,3287,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4001,-1.05,-126.5,2804,1099,3288,3452,472.2,-10.7,200,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3369,3287,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-1.05,-126.5,2804,1099,3287,3452,507.5,-12.0,210,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3369,3287,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-1.05,-126.5,2804,1099,3287,3451,545.3,-12.6,220,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-1.05,-126.5,2804,1099,3287,3449,582.7,-12.3,230,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3368,3287,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5202,-1.05,-126.5,2804,1099,3287,3446,620.1,-12.5,240,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3366,3287,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-1.05,-126.5,2804,1099,3287,3443,660.2,-13.4,250,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3365,3287,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,-1.05,-126.5,2804,1099,3287,3442,701.1,-13.6,260,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3364,3287,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6100,-1.05,-126.5,2804,1099,3287,3439,739.3,-12.2,270,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3362,3287,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6400,-1.05,-126.5,2804,1099,3287,3437,771.4,-10.2,280,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3362,3287,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6702,-1.05,-126.5,2804,1099,3287,3434,800.1,-9.2,290,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3361,3287,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7002,-1.05,-126.5,2804,1099,3287,3432,829.0,-10.0,300,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3359,3287,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,-1.05,-126.5,2804,1099,3287,3429,861.3,-11.3,310,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3358,3287,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,-1.05,-126.5,2804,1099,3288,3427,898.3,-12.7,320,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3357,3287,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,-1.05,-126.5,2804,1099,3287,3425,936.9,-13.0,330,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3356,3287,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8200,-1.05,-126.5,2804,1099,3284,3425,977.5,-13.8,340,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1099,3354,3284,3424,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8286,begin apogee
$GC,8294,-0.28,0.0,2804,1099,3283,3424,990.1,-13.9,343,8420,0.90,0.00,120.05,1.998,10246,0.195,0.000,3056,1099,2848,2766,2931,0,0,0,0,0,0,14.12,28.83,13.06
$STATE,8421,end apogee,CONTROL_FINISHED_OK
$STATE,8422,begin climb
$GC,8426,1.05,126.5,3055,1099,2764,2930,999.0,0.0,346,8560,1.35,0.00,126.90,1.984,10246,0.114,0.000,3488,1099,2331,2213,2450,0,0,0,0,0,0,14.21,28.83,13.04
$GC,8860,1.19,207.3,3488,1099,2206,2440,991.9,4.4,362,8949,0.15,0.00,82.15,1.971,10246,0.105,0.000,3551,1100,2002,1895,2110,0,0,0,0,0,0,14.70,28.83,13.16
$GC,9252,1.19,207.3,3551,1100,1891,2101,956.3,10.2,375,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1996,1891,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9550,1.19,207.3,3551,1100,1891,2098,924.8,10.3,385,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1994,1891,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9850,1.19,207.3,3551,1100,1887,2097,895.1,9.7,395,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1992,1887,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10150,1.19,207.3,3551,1100,1887,2097,869.8,7.9,405,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1992,1887,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10451,1.20,215.4,3551,1100,1887,2096,847.3,7.5,415,10460,0.00,0.00,7.47,1.623,8198,0.000,0.000,3551,1100,1971,1868,2074,0,0,0,0,0,0,28.83,28.83,13.40
$GC,10750,1.20,215.4,3551,1100,1867,2072,822.2,8.9,425,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1969,1867,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11050,1.20,215.4,3551,1100,1867,2072,792.6,10.3,435,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1969,1867,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11350,1.20,215.4,3551,1100,1864,2072,759.2,11.3,445,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1968,1864,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11650,1.20,215.4,3551,1100,1864,2072,726.2,10.9,455,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1968,1864,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11951,1.20,215.4,3551,1100,1864,2072,696.0,9.8,465,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1968,1864,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12251,1.20,215.4,3551,1100,1864,2068,669.1,8.7,475,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1966,1864,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12550,1.20,215.4,3551,1100,1864,2068,644.7,8.0,485,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1966,1864,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12850,1.20,215.4,3551,1100,1864,2068,619.7,8.5,495,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1966,1864,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13150,1.20,215.4,3551,1100,1864,2068,592.2,9.5,505,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1101,1966,1864,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13450,1.20,215.4,3551,1100,1864,2068,561.6,10.4,515,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1966,1864,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13750,1.20,215.4,3551,1100,1864,2068,530.2,10.1,525,13752,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1966,1864,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14051,1.20,215.4,3551,1100,1864,2068,503.0,8.4,535,14052,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1966,1864,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14350,1.22,228.9,3551,1100,1864,2068,480.7,7.3,545,14366,0.00,0.00,14.43,1.371,8198,0.000,0.000,3551,1100,1915,1815,2015,0,0,0,0,0,0,28.83,28.83,13.60
$GC,14650,1.22,228.9,3551,1100,1815,2013,456.2,8.5,555,14651,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1914,1815,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14950,1.22,228.9,3550,1100,1815,2012,428.3,9.7,565,14951,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1914,1815,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15250,1.22,228.9,3551,1100,1815,2013,398.5,9.8,575,15251,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1913,1815,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15551,1.22,228.9,3551,1100,1815,2012,370.2,9.1,585,15552,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1914,1815,2013,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16150,1.22,228.9,3551,1100,1815,2013,314.4,9.9,605,16151,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1100,1914,1815,2013,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19807,end climb,SURFACE_DEPTH_REACHED
$STATE,19807,begin surface coast
$FINISH,1.8,1.009436
$STATE,19825,end surface coast,CONTROL_FINISHED_OK
$STATE,19826,begin surface
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$SM_GC,2.74,9.73,0.00,0.00,0.052,0.000,0.000,141,1100,1598,-9.30,0.00,307.12,0,0,0,0,0,0,14.69,28.83,28.83
$IRIDIUM_FIX,2246.36,-3647.05,200713,040457
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.96
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,36
$SC_FREEKB,3888704
$24V_AH,13.0,142.924
$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.650,0.000,417.325,0.000,0.000,0.000,0.000,230.875,9.000,0.000,18.579,2030.884,14585.777,403.472,2673.433,684.120,0.000,1390.904,0.000,2496.154,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19842.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.755,0.000,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,26649,826
$CAP_FILE_SIZE,286668,0
$CFSIZE,260034560,205590528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,850
$CURRENT,0.178,168.1,1
$GPS,200713,161104,2254.647,-3645.214,37,0.9,37,-13.9