version: 66.11
glider: 167
mission: 14
dive: 167
start: 11 19 112 21 1 28
data:
$ID,167
$MISSION,14
$DIVE,167
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,400
$T_MISSION,425
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-968787.38
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2660
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,80
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,3
$XPDR_VALID,0
$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,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,191112,205306,2130.934,12355.116,35,1.0,35,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-57.9
$GPS2,191112,210102,2130.915,12355.077,5,0.8,5,-3.2
$SPEED_LIMITS,0.143,0.261
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,351.0,306814,-14.1,-8.250,-17.53
$D_GRID,5138
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.54,-171.1,0.0,0.0,0,94,0.00,0.00,-72.00,0.000,2,0.000,0.000,108,2503,2684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.54,-171.1,3.6,-4.8,7,135,9.40,1.92,-21.10,0.000,4,0.222,0.069,2480,3709,3668,0,0,0,0,0,0,25.32,26.02,26.57
$GC,274,-0.48,-171.1,38.9,-21.2,24,280,0.00,1.77,0.00,0.000,6,0.000,0.022,2480,2473,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,599,-0.44,-171.1,93.8,-14.8,43,605,0.12,2.08,0.00,0.000,4,0.151,0.029,2518,1040,3669,0,0,0,0,0,0,26.29,26.41,28.83
$GC,732,-0.45,-171.1,109.0,-11.5,49,737,0.00,2.05,0.00,0.000,6,0.000,0.034,2519,2418,3670,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1045,-0.46,-171.1,143.5,-10.9,65,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2417,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1347,-0.47,-171.1,169.9,-7.8,80,1352,0.00,2.05,0.00,0.000,4,0.000,0.047,2519,3765,3670,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1395,-0.48,-171.1,173.7,-8.3,82,1401,0.00,1.88,0.00,0.000,6,0.000,0.018,2519,2410,3670,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1714,-0.50,-171.1,203.6,-9.7,98,1719,0.00,1.90,0.00,0.000,4,0.000,0.028,2519,1073,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1767,-0.52,-171.1,208.1,-10.1,100,1773,0.00,2.05,0.00,0.000,6,0.000,0.032,2519,2459,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2082,-0.54,-171.1,234.9,-6.9,116,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2459,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,-0.56,-171.1,255.2,-7.4,131,2390,0.12,2.00,0.00,0.000,4,0.079,0.028,2432,1078,3668,0,0,0,0,0,0,26.74,26.54,28.83
$GC,2433,-0.56,-171.1,260.5,-9.5,133,2439,0.17,2.03,0.00,0.000,6,0.136,0.032,2477,2447,3667,0,0,0,0,0,0,26.17,26.46,28.83
$GC,2751,-0.56,-171.1,302.5,-13.0,149,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2447,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3053,-0.56,-171.1,334.2,-9.3,164,3059,0.00,2.03,0.00,0.000,4,0.000,0.049,2478,3767,3665,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3101,-0.56,-171.1,338.0,-8.6,166,3106,0.00,1.83,0.00,0.000,6,0.000,0.018,2477,2444,3665,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3420,-0.56,-171.1,362.6,-8.0,182,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2444,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-0.56,-171.1,391.1,-9.5,197,3728,0.00,1.95,0.00,0.000,4,0.000,0.027,2478,1077,3663,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3755,-0.56,-171.1,393.6,-9.5,198,3760,0.00,2.05,0.00,0.000,6,0.000,0.033,2477,2457,3663,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4069,-0.57,-171.1,421.1,-8.1,214,4074,0.00,2.00,0.00,0.000,4,0.000,0.049,2472,3768,3662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4106,-0.58,-171.1,422.9,-7.9,215,4113,0.00,1.83,0.00,0.000,6,0.000,0.018,2477,2432,3662,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4412,-0.59,-171.1,448.1,-9.1,231,4417,0.00,1.90,0.00,0.000,4,0.000,0.026,2477,1097,3659,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4532,-0.60,-171.1,458.7,-10.5,236,4539,0.00,2.03,-0.08,0.000,6,0.000,0.034,2478,2462,3679,0,0,0,0,0,0,28.83,26.48,25.28
$GC,4836,-0.62,-171.1,491.5,-9.9,252,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2462,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5137,-0.63,-171.1,515.3,-6.7,267,5143,0.00,2.00,0.00,0.000,4,0.000,0.034,2477,1089,3679,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5176,-0.65,-171.1,516.8,-6.4,268,5182,0.00,2.03,0.00,0.000,6,0.000,0.033,2477,2457,3679,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5482,-0.67,-171.1,536.6,-6.8,284,5487,0.00,2.00,0.00,0.000,4,0.000,0.055,2477,3749,3676,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5519,-0.69,-171.1,538.4,-7.1,285,5527,0.12,1.83,0.00,0.000,6,0.081,0.018,2411,2438,3676,0,0,0,0,0,0,26.55,26.69,28.83
$GC,5825,-0.67,-171.1,576.9,-13.1,301,5827,0.12,0.00,0.00,0.000,6,0.151,0.000,2444,2436,3675,0,0,0,0,0,0,26.46,28.83,28.83
$GC,6126,-0.67,-171.1,605.6,-8.5,315,6132,0.00,2.05,0.00,0.000,4,0.000,0.051,2444,3750,3673,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6160,-0.67,-171.1,608.5,-8.4,316,6166,0.00,1.80,0.00,0.000,6,0.000,0.020,2444,2450,3672,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6495,-0.67,-171.1,634.9,-7.9,327,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2451,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6794,-0.67,-171.1,660.8,-9.0,337,6800,0.00,1.98,0.00,0.000,4,0.000,0.034,2444,1089,3668,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6851,-0.67,-171.1,663.8,-9.1,338,6858,0.00,2.05,0.00,0.000,6,0.000,0.035,2444,2447,3668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7157,-0.67,-171.1,697.0,-10.7,349,7163,0.00,1.98,0.00,0.000,4,0.000,0.027,2444,1099,3665,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7191,-0.67,-171.1,700.7,-10.9,350,7197,0.00,2.05,0.00,0.000,6,0.000,0.034,2444,2457,3666,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7527,-0.67,-171.1,736.3,-10.4,361,7533,0.00,2.00,0.00,0.000,4,0.000,0.050,2440,3755,3663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7595,-0.67,-171.1,743.3,-10.6,363,7601,0.00,1.83,0.00,0.000,6,0.000,0.021,2441,2438,3663,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7925,-0.67,-171.1,776.4,-9.7,374,7931,0.00,1.95,0.00,0.000,4,0.000,0.028,2440,1087,3660,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7963,-0.67,-171.1,779.9,-9.7,375,7968,0.00,2.05,0.00,0.000,6,0.000,0.035,2440,2453,3659,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8293,-0.67,-171.1,812.7,-10.1,386,8298,0.00,2.03,0.00,0.000,4,0.000,0.051,2441,3759,3658,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8330,-0.67,-171.1,816.3,-10.2,387,8335,0.00,1.83,0.00,0.000,6,0.000,0.023,2440,2459,3658,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8660,-0.67,-171.1,851.1,-10.7,398,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2458,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8958,-0.67,-171.1,881.4,-9.6,408,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2458,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9259,-0.67,-171.1,904.6,-6.9,418,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2458,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9559,-0.68,-171.1,922.4,-5.7,428,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2458,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9859,-0.69,-171.1,941.6,-7.1,438,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2458,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10158,-0.70,-171.1,967.0,-8.9,448,10163,0.00,2.05,0.00,0.000,4,0.000,0.052,2440,3753,3649,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10196,-0.71,-171.1,970.2,-9.1,449,10201,0.00,1.85,0.00,0.000,6,0.000,0.024,2440,2448,3649,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,10401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10401,begin apogee
$GC,10408,-0.27,0.0,990.9,-9.9,456,10569,0.38,0.00,151.80,1.258,6,0.111,0.000,2566,2300,2961,0,0,0,0,0,0,25.91,28.83,23.26
$STATE,10571,end apogee,CONTROL_FINISHED_OK
$STATE,10571,begin climb
$GC,10573,0.54,171.1,998.4,0.0,461,10741,0.80,2.28,158.68,1.252,4,0.083,0.034,2837,941,2261,0,0,0,0,0,0,24.59,23.85,22.53
$GC,10770,0.55,243.9,991.4,5.9,468,10848,0.00,2.22,69.07,1.310,6,0.000,0.033,2836,2301,1966,0,0,0,0,0,0,28.83,24.51,22.49
$GC,11161,0.55,243.9,956.4,9.5,481,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2301,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11462,0.55,243.9,927.9,9.5,491,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2301,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11761,0.55,243.9,901.1,8.5,501,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2301,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12062,0.55,261.2,877.2,7.7,511,12084,0.00,2.10,15.38,1.235,4,0.000,0.035,2837,942,1899,0,0,0,0,0,0,28.83,26.00,24.59
$GC,12131,0.56,282.6,872.6,7.6,513,12161,0.00,2.08,22.85,1.237,6,0.000,0.037,2836,2308,1810,0,0,0,0,0,0,28.83,25.82,24.20
$GC,12485,0.59,324.2,846.9,6.9,525,12530,0.00,0.00,42.95,1.235,6,0.000,0.000,2836,2308,1645,0,0,0,0,0,0,28.83,28.83,24.00
$GC,12816,0.61,337.9,822.4,7.8,536,12835,0.00,2.12,13.77,1.230,4,0.000,0.033,2836,936,1585,0,0,0,0,0,0,28.83,25.77,24.38
$GC,12893,0.63,344.8,817.3,8.0,538,12903,0.00,2.08,4.15,1.141,6,0.000,0.031,2837,2299,1562,0,0,0,0,0,0,28.83,25.94,24.20
$GC,13213,0.65,344.8,786.1,9.9,549,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2299,1567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13512,0.67,344.8,757.2,9.4,559,13518,0.12,2.05,0.00,0.000,4,0.085,0.033,2907,939,1566,0,0,0,0,0,0,26.48,26.29,28.83
$GC,13550,0.68,344.8,753.3,9.8,560,13556,0.00,2.05,0.00,0.000,6,0.000,0.031,2908,2308,1566,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13882,0.66,344.8,711.3,12.3,571,13888,0.12,2.08,0.00,0.000,4,0.142,0.034,2868,946,1566,0,0,0,0,0,0,26.30,26.33,28.83
$GC,13931,0.65,344.8,707.4,11.9,572,13937,0.00,2.03,0.00,0.000,6,0.000,0.031,2868,2301,1566,0,0,0,0,0,0,28.83,26.37,28.83
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$GC,14712,0.68,376.2,637.6,7.4,598,14746,0.00,2.03,27.02,1.135,6,0.000,0.030,2868,2300,1430,0,0,0,0,0,0,28.83,26.20,24.32
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$STATE,21059,end climb,SURFACE_DEPTH_REACHED
$STATE,21059,begin surface coast
$FINISH,0.9,1.022852
$STATE,21090,end surface coast,CONTROL_FINISHED_OK
$STATE,21090,begin surface
$SM_CCo,21169,0.00,0.000,0,0,1068,465.58
$SM_GC,1.78,7.18,0.17,0.00,0.026,0.068,0.000,126,2454,1068,-7.86,-1.53,465.58,0,0,0,0,0,0,26.39,26.60,28.83
$IRIDIUM_FIX,2124.90,12357.47,191112,141405
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.91
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.40
$XPDR_PINGS,12
$24V_AH,22.5,38.842
$10V_AH,10.2,26.033
$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,19.450,146.050,586.950,0.000,0.000,0.000,0.000,276.900,3.000,0.000,6.737,2939.829,15115.491,696.435,2468.971,399.506,0.000,2187.369,0.000,2108.529,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,68.850,1310.445,0.000,0.000,0.000,0.000,132.345,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21104.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.284,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,33427,931
$CAP_FILE_SIZE,219960,0
$CFSIZE,260165632,233009152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,318.9,1
$GPS,201112,025536,2134.936,12354.004,35,1.0,35,-3.3