version: 66.10
glider: 169
mission: 5
dive: 645
start: 3 12 112 10 44 46
data:
$ID,169
$MISSION,5
$DIVE,645
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,425
$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,-13735.659
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,120312,103337,2337.238,12140.156,37,1.6,37,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.3
$GPS2,120312,104406,2337.503,12140.245,29,1.6,29,-3.2
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,DOGLEG
$TGT_LATLONG,2336.000,12140.700
$TGT_RADIUS,1000.000
$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,195.3,2889,-25.7,-10.000
$D_GRID,1670
$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,14,begin dive
$GC,18,-0.73,-74.3,0.0,0.0,0,113,0.00,0.00,-91.85,0.000,2,0.000,0.000,121,2682,2806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.79,-117.3,3.2,-6.1,16,143,7.03,1.77,-13.35,0.000,4,0.243,0.049,1740,3838,3460,0,0,0,0,0,0,25.06,25.67,26.39
$GC,273,-0.75,-117.3,67.5,-29.8,45,280,0.00,1.77,0.00,0.000,6,0.000,0.024,1747,2592,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,586,-0.69,-117.3,154.8,-26.5,106,594,0.12,2.38,0.00,0.000,4,0.190,0.026,1792,1176,3460,0,0,0,0,0,0,25.64,25.53,28.83
$GC,674,-0.72,-117.3,171.0,-13.9,122,681,0.00,2.53,0.00,0.000,6,0.000,0.034,1780,2650,3460,0,0,0,0,0,0,28.83,25.44,28.83
$GC,987,-0.70,-117.3,228.9,-20.2,168,996,0.00,2.42,0.00,0.000,4,0.000,0.025,1786,1182,3460,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1111,-0.73,-117.3,247.9,-14.4,180,1119,0.00,2.53,0.00,0.000,6,0.000,0.037,1774,2651,3460,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1419,-0.72,-117.3,302.6,-17.5,211,1428,0.00,2.42,0.00,0.000,4,0.000,0.024,1778,1185,3459,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1524,-0.76,-117.3,317.4,-12.5,221,1532,0.00,2.53,0.00,0.000,6,0.000,0.035,1766,2650,3458,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1831,-0.76,-117.3,368.5,-16.6,252,1840,0.00,2.45,0.00,0.000,4,0.000,0.026,1768,1177,3456,0,0,0,0,0,0,28.83,25.55,28.83
$GC,2017,-0.80,-117.3,393.8,-11.5,270,2025,0.00,2.53,0.00,0.000,6,0.000,0.036,1756,2640,3455,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2326,-0.79,-117.3,443.8,-17.1,301,2336,0.00,2.42,0.00,0.000,4,0.000,0.028,1759,1189,3452,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2494,-0.81,-117.3,467.5,-13.2,317,2502,0.00,2.53,0.00,0.000,6,0.000,0.037,1747,2646,3450,0,0,0,0,0,0,28.83,25.31,28.83
$GC,2802,-0.80,-117.3,516.9,-15.9,348,2811,0.00,2.42,0.00,0.000,4,0.000,0.026,1748,1179,3448,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2918,-0.82,-117.3,532.1,-12.8,359,2925,0.00,2.55,0.00,0.000,6,0.000,0.037,1735,2649,3447,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3226,-0.81,-117.3,585.3,-17.5,390,3235,0.00,2.45,0.00,0.000,4,0.000,0.028,1735,1175,3444,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3393,-0.82,-117.3,611.9,-15.5,403,3398,0.00,2.53,0.00,0.000,6,0.000,0.037,1723,2646,3442,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3707,-0.79,-117.3,670.8,-18.8,419,3713,0.12,2.45,0.00,0.000,4,0.173,0.025,1769,1176,3439,0,0,0,0,0,0,25.70,25.42,28.83
$GC,3854,-0.83,-117.3,690.0,-12.4,426,3859,0.00,2.53,0.00,0.000,6,0.000,0.037,1757,2646,3438,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4163,-0.84,-117.3,737.7,-15.0,441,4169,0.00,2.42,0.00,0.000,4,0.000,0.028,1757,1186,3435,0,0,0,0,0,0,28.83,25.42,28.83
$GC,4336,-0.88,-117.3,758.7,-12.4,449,4344,0.00,2.55,0.00,0.000,6,0.000,0.039,1745,2646,3433,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4644,-0.88,-117.3,806.1,-15.1,465,4649,0.00,2.45,0.00,0.000,4,0.000,0.028,1746,1188,3432,0,0,0,0,0,0,28.83,25.40,28.83
$GC,4744,-0.90,-117.3,820.0,-13.5,470,4750,0.00,2.53,0.00,0.000,6,0.000,0.039,1734,2642,3431,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5065,-0.90,-117.3,871.4,-16.8,486,5071,0.00,2.45,0.00,0.000,4,0.000,0.028,1736,1180,3429,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5152,-0.91,-117.3,883.6,-15.0,490,5157,0.00,2.58,0.00,0.000,6,0.000,0.040,1725,2644,3428,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5459,-0.90,-117.3,938.4,-18.2,505,5465,0.00,2.42,0.00,0.000,4,0.000,0.029,1726,1192,3426,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5622,-0.91,-117.3,963.4,-15.3,513,5627,0.00,2.55,0.00,0.000,6,0.000,0.039,1714,2649,3425,0,0,0,0,0,0,28.83,25.13,28.83
$STATE,5793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5793,begin apogee
$GC,5800,-0.20,0.0,993.6,-17.6,522,5908,0.73,0.17,102.15,1.183,6,0.127,0.067,1937,2524,2978,0,0,0,0,0,0,24.23,24.46,23.36
$STATE,5910,end apogee,CONTROL_FINISHED_OK
$STATE,5910,begin climb
$GC,5913,0.79,117.3,999.1,0.0,527,6038,0.95,2.25,118.50,1.177,4,0.059,0.040,2264,3818,2493,0,0,0,0,0,0,24.42,23.39,22.31
$GC,6072,0.70,117.3,990.1,11.2,535,6078,0.17,2.25,0.00,0.000,6,0.210,0.026,2237,2469,2482,0,0,0,0,0,0,23.01,23.71,28.83
$GC,6387,0.65,117.3,943.1,14.5,551,6391,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,3815,2474,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6422,0.60,117.3,939.4,15.1,552,6430,0.17,2.08,0.00,0.000,6,0.200,0.028,2205,2462,2473,0,0,0,0,0,0,24.83,25.54,28.83
$GC,6731,0.58,117.3,891.5,15.2,568,6736,0.00,2.17,0.00,0.000,4,0.000,0.044,2204,3804,2470,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6817,0.53,117.3,878.5,16.3,572,6822,0.12,2.05,0.00,0.000,6,0.200,0.028,2187,2468,2469,0,0,0,0,0,0,24.98,25.50,28.83
$GC,7126,0.52,117.3,837.7,13.1,587,7132,0.00,2.17,0.00,0.000,4,0.000,0.045,2187,3817,2468,0,0,0,0,0,0,28.83,25.13,28.83
$GC,7287,0.49,117.3,813.7,14.8,595,7292,0.00,2.05,0.00,0.000,6,0.000,0.027,2197,2465,2467,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7608,0.47,117.3,775.7,11.3,611,7614,0.12,2.20,0.00,0.000,4,0.191,0.041,2156,3811,2466,0,0,0,0,0,0,25.56,25.08,28.83
$GC,7676,0.46,117.3,768.9,11.3,614,7680,0.00,2.05,0.00,0.000,6,0.000,0.027,2165,2466,2465,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7984,0.48,122.0,738.0,9.6,629,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2465,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8284,0.49,123.7,708.0,9.8,644,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2465,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8585,0.52,135.8,680.4,8.9,659,8606,0.00,2.20,15.57,0.961,4,0.000,0.045,2166,3818,2418,0,0,0,0,0,0,28.83,25.52,24.30
$GC,8627,0.54,144.0,676.8,9.3,661,8638,0.00,2.10,3.33,0.626,6,0.000,0.027,2176,2465,2391,0,0,0,0,0,0,28.83,25.47,23.99
$GC,8939,0.56,144.0,639.8,12.1,677,8944,0.00,2.20,0.00,0.000,4,0.000,0.045,2176,3809,2395,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8993,0.56,144.0,634.1,13.2,679,8999,0.00,2.08,0.00,0.000,6,0.000,0.028,2187,2467,2395,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9298,0.56,144.0,594.2,10.6,697,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2466,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9603,0.58,157.0,565.4,8.8,727,9628,0.00,0.00,19.60,0.913,6,0.000,0.000,2187,2466,2331,0,0,0,0,0,0,28.83,28.83,24.36
$GC,9930,0.60,157.0,528.9,11.2,760,9939,0.00,2.22,0.00,0.000,4,0.000,0.046,2187,3813,2318,0,0,0,0,0,0,28.83,25.10,28.83
$GC,10056,0.60,157.0,512.0,13.7,772,10063,0.00,2.08,0.00,0.000,6,0.000,0.026,2198,2466,2318,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10364,0.61,157.0,474.5,12.8,803,10373,0.00,2.20,0.00,0.000,4,0.000,0.044,2198,3810,2317,0,0,0,0,0,0,28.83,24.98,28.83
$GC,10406,0.61,157.0,468.5,13.9,807,10415,0.00,2.05,0.00,0.000,6,0.000,0.027,2209,2466,2317,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10716,0.61,157.0,430.3,11.9,838,10725,0.00,2.20,0.00,0.000,4,0.000,0.044,2209,3814,2316,0,0,0,0,0,0,28.83,24.91,28.83
$GC,10835,0.58,157.0,414.2,14.8,849,10842,0.00,2.10,0.00,0.000,6,0.000,0.026,2220,2458,2316,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11141,0.58,157.0,371.4,13.3,880,11150,0.00,2.22,0.00,0.000,4,0.000,0.042,2220,3811,2316,0,0,0,0,0,0,28.83,24.93,28.83
$GC,11233,0.56,157.0,358.0,14.1,889,11242,0.15,2.08,0.00,0.000,6,0.182,0.027,2196,2465,2316,0,0,0,0,0,0,24.74,25.39,28.83
$GC,11543,0.58,161.5,328.2,9.6,920,11552,0.00,2.30,0.00,0.000,4,0.000,0.034,2207,1056,2316,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11618,0.63,176.7,321.7,8.6,927,11645,0.00,2.45,19.08,0.760,6,0.000,0.037,2207,2522,2250,0,0,0,0,0,0,28.83,24.99,24.45
$GC,11946,0.65,176.7,281.6,12.4,960,11955,0.00,2.05,0.00,0.000,4,0.000,0.044,2207,3818,2237,0,0,0,0,0,0,28.83,25.10,28.83
$GC,12111,0.65,176.7,259.3,13.9,976,12118,0.00,2.10,0.00,0.000,6,0.000,0.026,2218,2457,2236,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12419,0.67,176.7,224.6,11.0,1007,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2456,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12720,0.68,176.7,191.8,10.6,1044,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2456,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13033,0.71,185.4,162.4,9.2,1105,13041,0.00,2.30,2.22,0.271,4,0.000,0.042,2218,3816,2221,0,0,0,0,0,0,28.83,25.29,23.49
$GC,13273,0.71,185.4,137.5,10.3,1151,13280,0.00,2.10,0.00,0.000,6,0.000,0.025,2229,2453,2229,0,0,0,0,0,0,28.83,25.43,28.83
$GC,13588,0.74,185.4,105.7,10.9,1212,13595,0.00,2.30,0.00,0.000,4,0.000,0.035,2240,1050,2229,0,0,0,0,0,0,28.83,25.10,28.83
$GC,13796,0.82,211.2,87.9,7.7,1252,13833,0.00,2.42,32.12,0.288,6,0.000,0.034,2241,2522,2118,0,0,0,0,0,0,28.83,25.14,24.89
$GC,14142,0.97,296.1,65.1,2.4,1318,14235,0.20,2.45,83.15,0.246,4,0.069,0.034,2349,1032,1775,0,0,0,0,0,0,26.00,25.73,25.06
$GC,14339,1.00,296.1,48.5,10.9,1353,14347,0.00,2.45,1.77,0.161,6,0.000,0.034,2349,2518,1769,0,0,0,0,0,0,28.83,25.37,24.99
$GC,14654,0.99,296.1,7.6,12.7,1414,14662,0.00,2.15,1.60,0.165,4,0.000,0.043,2349,3822,1774,0,0,0,0,0,0,28.83,25.40,25.03
$GC,14677,0.99,296.1,4.2,13.5,1417,14684,0.12,2.10,0.00,0.000,6,0.200,0.025,2333,2456,1779,0,0,0,0,0,0,25.06,25.63,28.83
$STATE,14691,end climb,SURFACE_DEPTH_REACHED
$STATE,14691,begin surface coast
$FINISH,0.0,1.022213
$STATE,14713,end surface coast,CONTROL_FINISHED_OK
$STATE,14713,begin surface
$SM_CCo,14729,62.47,0.124,0,0,1245,425.10
$SM_GC,1.26,5.82,0.40,62.47,0.037,0.050,0.124,120,2656,1245,-5.80,-0.48,425.10,0,0,0,0,0,0,25.60,25.82,25.34
$IRIDIUM_FIX,2326.22,12138.14,120312,101051
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.26
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,22.3,131.546
$10V_AH,9.8,77.388
$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,15.850,138.425,399.100,62.475,0.000,57.943,64.466,274.646,0.000,0.000,30.133,3572.337,7639.437,639.593,3119.706,440.406,0.000,2012.884,0.000,2566.611,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,67.320,1182.690,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.800,1748.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324420
$DATA_FILE_SIZE,93685,1423
$CAP_FILE_SIZE,168016,0
$CFSIZE,260165632,162488320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223, 24.5,1
$GPS,120312,145301,2337.750,12141.569,68,1.5,69,-3.2