version: 66.12
glider: 141
mission: 23
dive: 75
start: 9 3 115 18 33 37
data:
$ID,141
$MISSION,23
$DIVE,75
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$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,330
$T_MISSION,350
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$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,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,030915,182515,813.8504,8539.4160,177,1.9,217,-1.9,0.0,344.0,5,17.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-67.1
$GPS2,030915,183303,813.8509,8539.4258,37,1.8,62,-1.9,0.9,166.3,8,8.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,125.1,45626,-14.9,-10.000,-18.74,2959
$D_GRID,1000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.62,-194.6,11,2656,359,428,0.0,0.0,0,137,0.00,0.00,-108.78,0.000,16386,0.000,0.000,8,2657,3506,3572,3441,0,0,0,0,0,0,14.92,28.83,14.95
$GC,144,-0.62,-194.6,8,2657,3572,3441,5.3,-4.9,11,167,11.93,2.35,-5.82,0.000,18692,0.418,0.094,2499,4032,3923,3992,3854,0,0,0,0,0,0,14.47,13.71,14.76
$GC,244,-0.62,-194.6,2499,4032,3991,3853,49.6,-30.7,29,251,0.00,2.17,0.00,0.000,1030,0.000,0.035,2499,2645,3921,3990,3853,0,0,0,0,0,0,14.84,14.78,14.86
$GC,562,-0.62,-194.6,2499,2644,3990,3853,142.2,-24.6,46,567,0.00,2.30,0.00,0.000,260,0.000,0.083,2492,4023,3921,3990,3853,0,0,0,0,0,0,15.04,14.80,15.07
$GC,648,-0.62,-194.6,2489,4023,3990,3853,161.1,-20.7,62,653,0.00,2.12,0.00,0.000,1030,0.000,0.034,2489,2646,3921,3990,3853,0,0,0,0,0,0,14.94,14.88,14.95
$GC,973,-0.62,-194.6,2489,2645,3990,3853,210.1,-13.9,81,979,0.00,2.20,0.00,0.000,516,0.000,0.054,2489,1253,3922,3991,3853,0,0,0,0,0,0,15.09,14.85,15.13
$GC,1034,-0.62,-194.6,2489,1254,3990,3853,218.7,-13.4,92,1042,0.15,2.20,0.00,0.000,3078,0.256,0.054,2517,2639,3921,3990,3853,0,0,0,0,0,0,14.75,14.88,14.93
$GC,1380,-0.62,-194.6,2516,2639,3990,3853,259.4,-12.1,108,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2639,3924,3990,3859,0,0,0,0,0,0,15.12,15.16,15.16
$GC,1681,-0.62,-194.6,2516,2639,3985,3853,288.4,-9.2,113,1687,0.00,2.33,0.00,0.000,260,0.000,0.083,2510,4042,3918,3983,3853,0,0,0,0,0,0,15.14,14.88,15.17
$GC,1732,-0.62,-194.6,2510,4042,3983,3853,293.8,-10.4,122,1738,0.00,2.15,0.00,0.000,1030,0.000,0.033,2510,2641,3917,3982,3853,0,0,0,0,0,0,15.02,14.97,15.04
$GC,2054,-0.62,-194.6,2510,2641,3977,3853,326.6,-10.2,130,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2640,3915,3977,3853,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2354,-0.62,-194.6,2510,2641,3970,3853,352.1,-8.4,135,2359,0.00,2.17,0.00,0.000,516,0.000,0.054,2510,1258,3911,3969,3853,0,0,0,0,0,0,15.16,14.93,15.19
$GC,2395,-0.62,-194.6,2510,1258,3969,3853,355.8,-9.0,142,2401,0.00,2.22,0.00,0.000,1030,0.000,0.057,2502,2643,3909,3968,3851,0,0,0,0,0,0,15.02,14.92,15.04
$GC,2726,-0.62,-194.6,2502,2643,3961,3853,385.9,-9.0,152,2732,0.00,2.33,0.00,0.000,260,0.000,0.086,2492,4041,3906,3960,3853,0,0,0,0,0,0,15.16,14.89,15.20
$GC,2757,-0.62,-194.6,2492,4042,3961,3852,388.8,-9.2,157,2763,0.00,2.17,0.00,0.000,1030,0.000,0.034,2492,2644,3906,3960,3853,0,0,0,0,0,0,15.03,14.97,15.05
$GC,3099,-0.62,-194.6,2492,2644,3958,3851,418.1,-8.6,169,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2641,3904,3958,3851,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3400,-0.62,-194.6,2492,2641,3951,3849,447.2,-9.8,174,3407,0.00,2.22,0.00,0.000,516,0.000,0.055,2492,1242,3900,3951,3849,0,0,0,0,0,0,15.16,14.92,15.20
$GC,3441,-0.62,-194.6,2492,1242,3951,3849,451.6,-10.0,181,3448,0.00,2.28,0.00,0.000,1030,0.000,0.059,2488,2655,3899,3950,3849,0,0,0,0,0,0,15.01,14.92,15.03
$GC,3774,-0.62,-194.6,2488,2655,3948,3846,482.6,-9.2,191,3779,0.00,2.30,0.00,0.000,260,0.000,0.086,2477,4040,3897,3948,3846,0,0,0,0,0,0,15.17,14.89,15.21
$GC,3804,-0.62,-194.6,2478,4041,3948,3845,485.3,-8.8,196,3810,0.15,2.15,0.00,0.000,3078,0.240,0.035,2514,2643,3896,3948,3845,0,0,0,0,0,0,14.78,14.97,14.97
$GC,4150,-0.62,-194.6,2514,2643,3943,3844,509.6,-7.1,208,4155,0.00,2.22,0.00,0.000,516,0.000,0.057,2514,1253,3894,3943,3845,0,0,0,0,0,0,15.15,14.92,15.18
$GC,4180,-0.62,-194.6,2514,1254,3942,3845,512.4,-7.4,213,4186,0.00,2.25,0.00,0.000,1030,0.000,0.059,2514,2649,3892,3941,3844,0,0,0,0,0,0,15.00,14.90,15.03
$GC,4522,-0.62,-194.6,2514,2649,3940,3842,541.6,-8.8,225,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2649,3891,3940,3842,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4823,-0.62,-194.6,2514,2649,3937,3840,570.1,-9.5,230,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2649,3889,3938,3840,0,0,0,0,0,0,15.16,15.21,15.20
$GC,5122,-0.62,-194.6,2514,2649,3936,3838,598.0,-9.2,235,5128,0.00,2.35,0.00,0.000,260,0.000,0.090,2504,4048,3886,3935,3838,0,0,0,0,0,0,15.17,14.87,15.21
$GC,5158,-0.62,-194.6,2504,4048,3935,3837,601.5,-9.9,241,5164,0.00,2.17,0.00,0.000,1030,0.000,0.036,2504,2646,3886,3936,3837,0,0,0,0,0,0,15.01,14.96,15.04
$GC,5495,-0.62,-194.6,2504,2646,3932,3835,631.0,-8.7,252,5500,0.00,2.22,0.00,0.000,516,0.000,0.059,2504,1248,3881,3928,3835,0,0,0,0,0,0,15.17,14.90,15.21
$GC,5531,-0.62,-194.6,2504,1249,3932,3836,634.1,-8.8,258,5536,0.00,2.28,0.00,0.000,1030,0.000,0.063,2501,2648,3884,3932,3836,0,0,0,0,0,0,15.00,14.90,15.02
$GC,5868,-0.62,-194.6,2501,2649,3930,3834,663.0,-8.6,269,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2649,3881,3929,3834,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6168,-0.62,-194.6,2501,2649,3927,3832,688.6,-8.5,274,6174,0.00,2.35,0.00,0.000,260,0.000,0.093,2492,4045,3879,3926,3832,0,0,0,0,0,0,15.16,14.85,15.20
$GC,6204,-0.62,-194.6,2492,4044,3927,3831,691.7,-8.1,280,6209,0.00,2.17,0.00,0.000,1030,0.000,0.039,2492,2652,3879,3927,3831,0,0,0,0,0,0,15.02,14.95,15.03
$GC,6599,-0.62,-194.6,2492,2649,3924,3831,721.5,-7.5,290,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2652,3877,3924,3830,0,0,0,0,0,0,15.16,15.19,15.19
$GC,7198,-0.62,-194.6,2492,2652,3922,3829,765.9,-7.6,295,7202,0.00,2.28,0.00,0.000,516,0.000,0.063,2492,1248,3875,3921,3829,0,0,0,0,0,0,15.16,14.88,15.19
$GC,7246,-0.62,-194.6,2492,1248,3921,3829,770.4,-9.3,304,7252,0.00,2.28,0.00,0.000,1030,0.000,0.066,2489,2646,3875,3921,3829,0,0,0,0,0,0,14.91,14.85,14.95
$GC,7924,-0.62,-194.6,2488,2646,3919,3828,835.9,-9.8,324,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2646,3873,3918,3828,0,0,0,0,0,0,15.14,15.19,15.18
$GC,8521,-0.62,-194.6,2488,2646,3915,3826,879.3,-7.0,329,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2646,3870,3915,3826,0,0,0,0,0,0,15.16,15.20,15.19
$GC,9121,-0.62,-194.6,2488,2646,3913,3825,926.1,-8.0,334,9127,0.00,2.38,0.00,0.000,260,0.000,0.099,2480,4046,3868,3912,3825,0,0,0,0,0,0,15.16,14.76,15.19
$GC,9151,-0.62,-194.6,2479,4046,3913,3824,928.8,-9.3,340,9158,0.15,2.20,0.00,0.000,3078,0.230,0.044,2517,2657,3868,3912,3824,0,0,0,0,0,0,14.71,14.90,14.92
$GC,9842,-0.62,-194.6,2517,2657,3910,3823,974.6,-6.4,363,9848,0.00,2.30,0.00,0.000,516,0.000,0.069,2517,1245,3866,3910,3823,0,0,0,0,0,0,15.15,14.82,15.18
$GC,9892,-0.62,-194.6,2517,1245,3910,3823,977.8,-6.2,373,9898,0.00,2.33,0.00,0.000,1030,0.000,0.072,2517,2651,3866,3909,3823,0,0,0,0,0,0,14.95,14.82,14.97
$STATE,10197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10197,begin apogee
$GC,10207,-0.20,0.0,2517,2464,3908,3821,995.5,-5.7,389,10354,0.45,0.00,143.23,2.029,10246,0.187,0.000,2647,2464,3126,3057,3195,0,0,0,0,0,0,14.71,14.14,13.43
$STATE,10356,end apogee,CONTROL_FINISHED_OK
$STATE,10356,begin climb
$GC,10360,0.62,194.6,2648,2464,3056,3192,998.3,0.0,390,10523,0.80,2.42,152.43,1.991,10756,0.126,0.079,2917,1093,2328,2244,2413,0,0,0,0,0,0,14.15,13.90,13.33
$GC,10590,0.62,194.6,2917,1093,2251,2403,977.3,13.2,442,10595,0.00,2.40,0.00,0.000,1030,0.000,0.070,2917,2484,2327,2251,2403,0,0,0,0,0,0,14.37,14.28,14.39
$GC,11293,0.62,194.6,2917,2480,2257,2392,886.5,12.6,467,11300,0.00,2.42,0.00,0.000,260,0.000,0.103,2917,3877,2325,2258,2392,0,0,0,0,0,0,14.93,14.64,14.97
$GC,11416,0.62,194.6,2917,3878,2266,2379,869.8,14.0,491,11422,0.00,2.25,0.00,0.000,1030,0.000,0.060,2926,2502,2324,2266,2382,0,0,0,0,0,0,14.76,14.71,14.79
$GC,12136,0.62,194.6,2927,2502,2265,2381,773.8,13.2,520,12142,0.00,2.40,0.00,0.000,260,0.000,0.103,2928,3877,2323,2266,2381,0,0,0,0,0,0,15.04,14.73,15.07
$GC,12166,0.62,194.6,2927,3878,2269,2377,769.6,14.5,526,12172,0.00,2.30,0.00,0.000,1030,0.000,0.060,2937,2471,2323,2269,2377,0,0,0,0,0,0,14.88,14.80,14.92
$GC,12796,0.62,194.6,2937,2471,2269,2377,681.1,14.2,549,12802,0.00,2.45,0.00,0.000,260,0.000,0.102,2938,3890,2324,2271,2377,0,0,0,0,0,0,15.07,14.73,15.11
$GC,12866,0.62,194.6,2937,3890,2270,2373,670.2,15.3,563,12872,0.15,2.30,0.00,0.000,5126,0.313,0.059,2917,2476,2321,2270,2373,0,0,0,0,0,0,14.61,14.83,14.87
$GC,13220,0.62,194.6,2917,2477,2270,2373,627.2,12.1,578,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2476,2321,2270,2373,0,0,0,0,0,0,15.07,15.11,15.10
$GC,13516,0.62,194.6,2917,2476,2270,2373,589.3,12.8,583,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2476,2321,2270,2373,0,0,0,0,0,0,15.09,15.12,15.12
$GC,13816,0.62,194.6,2916,2476,2271,2373,548.8,13.6,588,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2477,2321,2269,2373,0,0,0,0,0,0,15.09,15.12,15.12
$GC,14116,0.62,194.6,2917,2476,2270,2373,508.6,13.3,593,14122,0.00,2.42,0.00,0.000,260,0.000,0.099,2917,3877,2321,2270,2373,0,0,0,0,0,0,15.11,14.74,15.14
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$GC,15857,0.62,194.6,2921,2475,2275,2372,301.5,11.5,666,15861,0.00,2.40,0.00,0.000,260,0.000,0.097,2921,3879,2323,2275,2371,0,0,0,0,0,0,15.11,14.78,15.14
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$STATE,18923,end climb,SURFACE_DEPTH_REACHED
$STATE,18923,begin surface coast
$FINISH,2.3,0.000000
$STATE,18928,end surface coast,CONTROL_FINISHED_OK
$STATE,18929,begin surface
$SM_CCo,18958,4.30,0.055,0,0,1087,500.17
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$IRIDIUM_FIX,813.42,8536.08,030915,131646
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.11
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,4001920
$24V_AH,13.33,30.431
$10V_AH,13.22,0.000
$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,22.025,133.450,499.425,4.300,0.000,0.000,0.000,227.000,0.000,0.000,65.180,1070.180,15435.034,619.664,1719.970,583.573,0.000,1726.908,0.000,1406.629,0.000,0.544,0.000
$DEVICE_MAMPS,418.455,103.275,2028.780,55.080,0.000,0.000,0.000,222.615,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.242,0.000,0.000,0.000
$MEM,260960
$DATA_FILE_SIZE,33374,957
$CAP_FILE_SIZE,149935,0
$CFSIZE,260034560,242487296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,137.57,1
$GPS,030915,235339,811.876,8541.189,149,99.0,189,-1.9,1.2,229.7,4,-1.0