version: 66.10
glider: 165
mission: 5
dive: 413
start: 2 12 112 4 6 1
data:
$ID,165
$MISSION,5
$DIVE,413
$N_DIVES,0
$D_SURF,5
$D_FLARE,10
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,300
$T_MISSION,340
$T_ABORT,1440
$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,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51872
$NAV_MODE,2
$FERRY_MAX,45
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-272085.44
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2786
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-57.316994
$PRESSURE_SLOPE,0.000116182
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043567759
$SEABIRD_T_H,0.00062679156
$SEABIRD_T_I,2.4204959e-05
$SEABIRD_T_J,2.6176024e-06
$SEABIRD_C_G,-10.134539
$SEABIRD_C_H,1.1435308
$SEABIRD_C_I,-0.0010041125
$SEABIRD_C_J,0.00016055659
$GPS1,120212,035936,1838.594,12031.589,31,1.1,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.67
$_SM_ANGLEo,-61.6
$GPS2,120212,040537,1838.752,12031.587,9,1.1,14,-2.0
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,292.3,67882,-16.0,-11.000
$D_GRID,706
$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,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,17,-0.80,-219.0,0.0,0.0,0,115,0.00,0.00,-95.50,0.000,2,0.000,0.000,132,1939,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.80,-219.0,10.6,-18.7,15,140,10.07,2.25,-6.10,0.000,4,0.228,0.048,2673,3380,3682,0,0,0,0,0,0,25.09,26.17,26.57
$GC,204,-0.67,-219.0,45.8,-32.5,29,212,0.20,2.15,0.00,0.000,6,0.164,0.029,2727,1945,3684,0,0,0,0,0,0,25.79,26.24,28.83
$GC,533,-0.66,-219.0,99.2,-11.6,90,541,0.00,2.15,0.00,0.000,4,0.000,0.047,2727,564,3685,0,0,0,0,0,0,28.83,26.17,28.83
$GC,694,-0.66,-219.0,117.7,-10.5,119,701,0.00,2.10,0.00,0.000,6,0.000,0.036,2726,1948,3685,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1022,-0.66,-219.0,155.0,-11.4,180,1030,0.00,2.20,0.00,0.000,4,0.000,0.047,2726,3353,3686,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1057,-0.67,-219.0,158.8,-10.6,185,1065,0.00,2.10,0.00,0.000,6,0.000,0.030,2726,1948,3686,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1387,-0.67,-219.0,194.6,-9.6,246,1395,0.00,2.22,0.00,0.000,4,0.000,0.047,2726,3353,3686,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1409,-0.68,-219.0,196.9,-9.9,249,1417,0.00,2.10,0.00,0.000,6,0.000,0.031,2726,1949,3686,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1730,-0.69,-219.0,223.6,-8.3,283,1739,0.00,2.15,0.00,0.000,4,0.000,0.050,2726,557,3686,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1783,-0.71,-219.0,228.5,-8.7,288,1793,0.00,2.12,0.00,0.000,6,0.000,0.036,2726,1955,3686,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2095,-0.72,-219.0,259.9,-10.4,319,2103,0.00,2.15,0.00,0.000,4,0.000,0.047,2726,3364,3686,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2138,-0.74,-219.0,264.4,-10.4,323,2147,0.00,2.10,0.00,0.000,6,0.000,0.031,2726,1949,3686,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2447,-0.76,-219.0,289.9,-5.9,354,2457,0.00,2.15,0.00,0.000,4,0.000,0.050,2726,557,3685,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2471,-0.77,-219.0,291.4,-6.2,356,2481,0.00,2.15,0.00,0.000,6,0.000,0.037,2726,1964,3685,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2782,-0.79,-219.0,314.6,-9.0,387,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1964,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3094,-0.81,-219.0,343.7,-9.0,418,3103,0.12,2.15,0.00,0.000,4,0.086,0.048,2644,3361,3682,0,0,0,0,0,0,26.48,26.15,28.83
$GC,3212,-0.79,-219.0,359.0,-13.8,429,3222,0.12,2.10,0.00,0.000,6,0.125,0.032,2688,1962,3682,0,0,0,0,0,0,25.96,26.27,28.83
$GC,3520,-0.79,-219.0,391.1,-9.0,460,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1962,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.79,-219.0,419.1,-9.1,490,3829,0.00,2.20,0.00,0.000,4,0.000,0.051,2688,549,3678,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3852,-0.79,-219.0,422.3,-10.2,493,3862,0.00,2.17,0.00,0.000,6,0.000,0.038,2687,1964,3678,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4162,-0.79,-219.0,452.2,-10.1,524,4171,0.00,2.20,0.00,0.000,4,0.000,0.050,2677,3371,3676,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4206,-0.79,-219.0,456.6,-10.6,528,4213,0.00,2.15,0.00,0.000,6,0.000,0.031,2677,1949,3675,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4513,-0.79,-219.0,493.3,-12.6,559,4522,0.00,2.17,0.00,0.000,4,0.000,0.050,2677,561,3674,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4558,-0.79,-219.0,498.3,-12.0,563,4565,0.00,2.15,0.00,0.000,6,0.000,0.038,2674,1952,3674,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4866,-0.78,-219.0,531.6,-9.8,594,4874,0.00,2.17,0.00,0.000,4,0.000,0.051,2673,3356,3672,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4937,-0.78,-219.0,538.0,-8.6,601,4947,0.00,2.12,0.00,0.000,6,0.000,0.032,2673,1954,3672,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5248,-0.77,-219.0,564.0,-8.4,632,5256,0.00,2.17,0.00,0.000,4,0.000,0.050,2673,559,3670,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5272,-0.76,-219.0,565.9,-8.6,634,5280,0.12,2.17,0.00,0.000,6,0.158,0.039,2706,1964,3670,0,0,0,0,0,0,25.94,26.17,28.83
$GC,5580,-0.78,-219.0,590.1,-8.7,665,5589,0.00,2.15,0.00,0.000,4,0.000,0.050,2700,3355,3667,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5636,-0.80,-219.0,594.8,-8.9,670,5643,0.00,2.12,0.00,0.000,6,0.000,0.032,2700,1954,3667,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5956,-0.82,-219.0,624.2,-8.9,689,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1954,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-0.83,-219.0,652.4,-9.8,704,6258,0.00,2.25,0.00,0.000,4,0.000,0.051,2700,3367,3664,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6277,-0.84,-219.0,654.6,-10.1,705,6283,0.00,2.15,0.00,0.000,6,0.000,0.032,2700,1955,3664,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6593,-0.86,-219.0,686.7,-9.9,721,6598,0.00,2.17,0.00,0.000,4,0.000,0.052,2700,567,3662,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6627,-0.87,-219.0,688.7,-9.9,722,6634,0.00,2.15,0.00,0.000,6,0.000,0.040,2700,1952,3662,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,6809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6810,begin apogee
$GC,6815,-0.17,0.0,706.8,-8.8,732,6998,0.57,0.00,174.80,1.108,6,0.114,0.000,2893,1952,2786,0,0,0,0,0,0,25.72,28.83,23.64
$STATE,6999,end apogee,CONTROL_FINISHED_OK
$STATE,6999,begin climb
$GC,7001,0.80,219.0,715.4,0.0,741,7193,0.85,2.30,180.95,1.074,4,0.053,0.054,3230,596,1893,0,0,0,0,0,0,25.44,25.29,23.81
$GC,7241,0.73,219.0,688.9,16.6,753,7250,0.17,2.20,0.00,0.000,6,0.152,0.037,3184,1997,1887,0,0,0,0,0,0,25.58,25.82,28.83
$GC,7551,0.68,219.0,639.0,15.7,769,7557,0.00,2.20,0.00,0.000,4,0.000,0.047,3184,3410,1885,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7704,0.62,219.0,616.1,16.4,776,7711,0.15,2.17,0.00,0.000,6,0.158,0.034,3152,2006,1884,0,0,0,0,0,0,25.93,26.24,28.83
$GC,8012,0.59,219.0,573.8,12.4,802,8023,0.00,2.20,0.00,0.000,4,0.000,0.044,3151,3405,1883,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8038,0.57,219.0,570.7,12.5,804,8046,0.00,2.17,0.00,0.000,6,0.000,0.034,3159,1972,1883,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8347,0.53,219.0,530.9,12.9,835,8356,0.12,2.22,0.00,0.000,4,0.156,0.042,3120,3398,1882,0,0,0,0,0,0,26.16,26.14,28.83
$GC,8423,0.53,224.8,522.8,10.8,842,8434,0.00,2.15,4.95,0.707,6,0.000,0.032,3127,1997,1868,0,0,0,0,0,0,28.83,26.25,24.05
$GC,8743,0.59,281.4,492.0,9.1,874,8801,0.00,0.00,50.95,0.972,6,0.000,0.000,3127,1997,1637,0,0,0,0,0,0,28.83,28.83,23.88
$GC,9102,0.60,290.8,457.3,10.7,910,9121,0.00,2.22,9.20,0.830,4,0.000,0.042,3127,3413,1599,0,0,0,0,0,0,28.83,26.01,24.11
$GC,9149,0.63,302.7,452.8,10.6,914,9167,0.00,2.20,12.27,0.860,6,0.000,0.031,3137,1975,1551,0,0,0,0,0,0,28.83,26.09,24.18
$GC,9476,0.71,373.1,422.6,8.6,947,9546,0.12,2.22,61.78,0.919,4,0.086,0.049,3229,587,1263,0,0,0,0,0,0,26.37,25.48,24.00
$GC,9590,0.68,373.1,405.3,16.3,958,9600,0.17,2.17,0.00,0.000,6,0.118,0.031,3171,1998,1261,0,0,0,0,0,0,25.57,25.86,28.83
$GC,9899,0.68,373.1,369.5,11.1,989,9908,0.00,2.17,0.00,0.000,4,0.000,0.044,3171,3395,1260,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9962,0.68,373.1,362.3,11.9,995,9966,0.00,2.12,0.00,0.000,6,0.000,0.031,3177,1999,1259,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10274,0.68,373.1,323.6,11.7,1026,10283,0.00,2.20,0.00,0.000,4,0.000,0.048,3188,579,1259,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10348,0.70,383.5,315.7,10.6,1033,10367,0.00,2.12,9.93,0.761,6,0.000,0.031,3188,1991,1221,0,0,0,0,0,0,28.83,26.25,24.14
$GC,10669,0.74,423.3,283.2,9.7,1065,10710,0.00,2.25,34.58,0.816,4,0.000,0.044,3188,3392,1058,0,0,0,0,0,0,28.83,25.77,24.20
$GC,10773,0.75,423.3,272.0,11.5,1075,10782,0.00,2.15,0.00,0.000,6,0.000,0.031,3197,1988,1056,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11079,0.75,423.3,231.6,12.6,1106,11090,0.00,2.20,0.00,0.000,4,0.000,0.047,3208,580,1056,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11137,0.82,469.9,226.5,9.4,1111,11185,0.00,2.15,39.17,0.768,6,0.000,0.030,3208,1999,869,0,0,0,0,0,0,28.83,26.21,24.26
$GC,11488,0.88,509.2,199.0,9.7,1147,11549,0.00,2.17,45.70,0.689,4,0.000,0.041,3208,3390,708,0,0,0,0,2,0,28.83,25.72,24.25
$GC,11572,0.91,509.2,189.7,11.7,1160,11580,0.00,2.20,0.00,0.000,6,0.000,0.034,3217,1991,703,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11912,0.93,509.2,146.8,13.9,1221,11919,0.00,2.22,0.00,0.000,4,0.000,0.048,3228,577,696,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12005,0.94,509.2,135.2,11.8,1237,12012,0.00,2.15,0.00,0.000,6,0.000,0.029,3228,2005,695,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12346,1.05,580.5,102.5,8.6,1298,12413,0.15,2.28,54.20,0.639,4,0.078,0.046,3325,580,483,0,0,0,0,1,0,26.41,25.70,24.31
$GC,12445,1.04,580.5,88.0,14.7,1313,12452,0.15,2.15,0.00,0.000,6,0.135,0.029,3281,1991,483,0,0,0,0,0,0,25.66,25.91,28.83
$GC,12784,1.17,656.3,49.4,8.4,1374,12793,0.12,2.25,0.00,0.000,4,0.086,0.044,3365,583,482,0,0,0,0,0,0,26.37,26.04,28.83
$GC,12820,1.17,656.3,45.7,11.3,1379,12827,0.15,2.12,0.00,0.000,6,0.144,0.029,3322,1996,482,0,0,0,0,0,0,25.91,26.21,28.83
$GC,13162,1.19,656.3,16.3,11.5,1440,13170,0.00,2.25,0.00,0.000,4,0.000,0.046,3330,580,481,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13189,1.22,656.3,12.4,13.0,1444,13196,0.00,2.12,0.00,0.000,6,0.000,0.028,3330,1989,482,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,13241,end climb,SURFACE_DEPTH_REACHED
$STATE,13241,begin surface coast
$FINISH,3.0,1.010306
$STATE,13276,end surface coast,CONTROL_FINISHED_OK
$STATE,13276,begin surface
$SM_CCo,13355,0.00,0.000,0,0,481,565.42
$SM_GC,3.76,8.05,0.00,0.00,0.034,0.000,0.000,170,1998,481,-8.61,1.22,565.42,0,0,0,0,0,0,26.17,28.83,28.83
$IRIDIUM_FIX,1830.49,12030.12,120212,020227
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.39
$INTERNAL_PRESSURE,9.42455
$TCM_TEMP,24.00
$XPDR_PINGS,119
$24V_AH,23.6,89.130
$10V_AH,9.9,71.298
$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,21.450,134.800,678.475,0.000,0.000,23.641,31.799,179.281,31.500,0.000,16.731,3497.270,5842.779,798.102,3186.735,388.789,0.000,2217.605,0.000,2934.027,0.000,15.278,0.000
$DEVICE_MAMPS,227.970,53.550,1108.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.967,0.000,984.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323860
$DATA_FILE_SIZE,80100,1459
$CAP_FILE_SIZE,165027,0
$CFSIZE,260165632,161361920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.114,340.7,1
$GPS,120212,074955,1840.113,12029.873,39,1.2,39,-2.0