version: 66.03
glider: 17
mission: 6
dive: 90
start: 7 14 108 21 54 28
data:
$ID,17
$MISSION,6
$DIVE,90
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00251
$HD_B,0.0080399998
$HD_C,2.6800001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,66
$TGT_DEFAULT_LON,6
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-88012.57
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1935
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,32
$C_ROLL_DIVE,2105
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.9708929
$PRESSURE_SLOPE,9.1642258e-05
$AD7714Ch0Gain,64
$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,20
$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
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043458045
$SEABIRD_T_H,0.00063927198
$SEABIRD_T_I,2.5059786e-05
$SEABIRD_T_J,2.8926322e-06
$SEABIRD_C_G,-8.9986515
$SEABIRD_C_H,1.011379
$SEABIRD_C_I,-0.0019357111
$SEABIRD_C_J,0.00022611961
$GPS1,214632,6619.617,350.915,40,1.5,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-48.1
$GPS2,215408,6619.618,350.889,10,2.0,15,-3.2
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,OWSM
$TGT_LATLONG,6600.000,200.000
$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,260.6,91090,-11.9,-6.875
$D_GRID,990
$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
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.87,-116.7,0.0,0.0,0,69,0.00,0.00,-49.55,0.000,2,0.000,0.000,59,2117,3029
$GC,72,-0.87,-116.7,3.2,-5.5,7,94,10.43,2.12,-5.78,0.000,4,0.199,0.061,1739,973,3270
$GC,246,-0.94,-116.7,19.5,-6.3,37,253,0.00,1.98,0.00,0.000,6,0.000,0.034,1739,2099,3272
$GC,591,-1.04,-116.7,38.9,-6.1,98,598,0.15,0.00,0.00,0.000,6,0.045,0.000,1696,2099,3274
$GC,935,-1.04,-116.7,64.6,-7.3,159,941,0.00,2.08,0.00,0.000,4,0.000,0.053,1696,3227,3275
$GC,975,-0.97,-116.7,67.7,-7.7,166,983,0.10,2.00,0.00,0.000,6,0.092,0.035,1718,2102,3275
$GC,1321,-0.97,-116.7,90.8,-6.4,227,1328,0.00,2.08,0.00,0.000,4,0.000,0.052,1718,3236,3276
$GC,1350,-0.97,-116.7,92.9,-6.5,232,1357,0.00,1.98,0.00,0.000,6,0.000,0.035,1718,2107,3276
$GC,1696,-0.97,-116.7,115.3,-6.3,293,1702,0.00,2.08,0.00,0.000,4,0.000,0.053,1717,3227,3277
$GC,1765,-0.97,-116.7,120.0,-6.8,305,1771,0.00,1.95,0.00,0.000,6,0.000,0.036,1718,2108,3277
$GC,2107,-0.97,-116.7,141.0,-6.0,366,2115,0.00,2.08,0.00,0.000,4,0.000,0.054,1718,3233,3277
$GC,2160,-0.97,-116.7,144.3,-6.4,375,2167,0.00,1.98,0.00,0.000,6,0.000,0.037,1718,2105,3277
$GC,2503,-0.97,-116.7,166.1,-6.3,436,2510,0.00,2.08,0.00,0.000,4,0.000,0.054,1717,3227,3277
$GC,2534,-0.97,-116.7,168.0,-6.5,441,2540,0.00,1.95,0.00,0.000,6,0.000,0.038,1717,2112,3277
$GC,2876,-0.97,-116.7,189.7,-6.6,502,2884,0.00,2.08,0.00,0.000,4,0.000,0.054,1718,3234,3277
$GC,2912,-0.97,-116.7,192.1,-6.8,508,2919,0.00,1.98,0.00,0.000,6,0.000,0.038,1718,2110,3277
$GC,3249,-0.97,-116.7,214.3,-6.9,550,3252,0.00,2.05,0.00,0.000,4,0.000,0.054,1718,3233,3277
$GC,3299,-0.97,-116.7,217.9,-7.1,554,3302,0.00,1.95,0.00,0.000,6,0.000,0.038,1718,2117,3277
$GC,3624,-0.97,-116.7,240.3,-6.8,584,3628,0.00,2.05,0.00,0.000,4,0.000,0.054,1718,3232,3277
$GC,3674,-0.97,-116.7,243.8,-7.0,588,3677,0.00,1.95,0.00,0.000,6,0.000,0.038,1718,2113,3276
$GC,4000,-1.04,-116.7,266.3,-7.3,618,4004,0.00,2.08,0.00,0.000,4,0.000,0.054,1717,3233,3277
$GC,4043,-1.04,-116.7,269.9,-7.8,621,4051,0.00,1.98,0.00,0.000,6,0.000,0.038,1718,2126,3277
$GC,4370,-1.10,-116.7,293.1,-7.0,652,4373,0.00,2.03,0.00,0.000,4,0.000,0.055,1717,3227,3276
$GC,4419,-1.10,-116.7,296.8,-7.2,656,4423,0.00,1.92,0.00,0.000,6,0.000,0.038,1718,2125,3276
$GC,4745,-1.10,-116.7,317.4,-6.1,686,4748,0.00,2.03,0.00,0.000,4,0.000,0.055,1717,3234,3276
$GC,4772,-1.10,-116.7,319.2,-6.9,688,4776,0.00,1.92,0.00,0.000,6,0.000,0.039,1718,2131,3276
$GC,5097,-1.16,-116.7,339.4,-6.2,718,5102,0.15,2.00,0.00,0.000,4,0.049,0.055,1674,3233,3276
$GC,5136,-1.04,-116.7,342.5,-8.1,721,5141,0.17,1.92,0.00,0.000,6,0.104,0.039,1705,2131,3276
$GC,5460,-1.04,-116.7,365.1,-7.2,751,5464,0.00,2.03,0.00,0.000,4,0.000,0.055,1705,3233,3276
$GC,5514,-1.04,-116.7,369.5,-7.7,755,5522,0.00,1.98,0.00,0.000,6,0.000,0.038,1705,2130,3275
$GC,5840,-1.04,-116.7,392.4,-6.8,786,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2131,3275
$GC,6159,-1.04,-116.7,413.1,-6.4,816,6163,0.00,2.05,0.00,0.000,4,0.000,0.056,1705,3227,3275
$GC,6236,-1.04,-116.7,418.2,-6.6,822,6243,0.00,1.95,0.00,0.000,6,0.000,0.038,1705,2136,3274
$GC,6564,-1.04,-116.7,437.2,-6.0,853,6567,0.00,2.00,0.00,0.000,4,0.000,0.058,1705,3235,3274
$GC,6591,-1.04,-116.7,438.9,-6.4,855,6595,0.00,1.92,0.00,0.000,6,0.000,0.041,1705,2136,3275
$GC,6916,-1.04,-116.7,456.9,-5.6,885,6920,0.00,2.00,0.00,0.000,4,0.000,0.058,1705,3227,3274
$GC,6966,-1.04,-116.7,459.9,-6.2,889,6970,0.00,1.90,0.00,0.000,6,0.000,0.041,1705,2142,3274
$GC,7291,-1.04,-116.7,479.2,-6.4,919,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2141,3274
$GC,7619,-1.04,-116.7,502.3,-7.3,949,7622,0.00,2.03,0.00,0.000,4,0.000,0.061,1705,3230,3273
$GC,7680,-1.04,-116.7,507.2,-8.4,952,7683,0.00,1.92,0.00,0.000,6,0.000,0.042,1705,2136,3273
$GC,8006,-1.04,-116.7,532.0,-7.5,968,8009,0.00,2.00,0.00,0.000,4,0.000,0.061,1705,3225,3273
$GC,8037,-1.04,-116.7,534.6,-8.1,969,8045,0.00,1.98,0.00,0.000,6,0.000,0.043,1705,2141,3273
$GC,8353,-1.04,-116.7,556.4,-6.7,985,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2141,3272
$GC,8663,-1.04,-116.7,575.8,-6.0,1000,8666,0.00,2.05,0.00,0.000,4,0.000,0.064,1705,3225,3271
$GC,8694,-1.04,-116.7,577.8,-6.7,1001,8702,0.00,1.95,0.00,0.000,6,0.000,0.044,1705,2153,3271
$GC,9011,-1.04,-116.7,594.8,-5.4,1017,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2153,3270
$GC,9320,-1.04,-116.7,612.7,-6.0,1032,9324,0.00,2.03,0.00,0.000,4,0.000,0.066,1705,3230,3270
$GC,9352,-1.04,-116.7,614.8,-6.4,1033,9359,0.00,1.98,0.00,0.000,6,0.000,0.046,1705,2146,3270
$GC,9668,-1.04,-116.7,633.4,-5.8,1049,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2146,3269
$GC,9977,-1.04,-116.7,652.0,-6.1,1064,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2146,3268
$GC,10286,-1.04,-116.7,671.5,-6.4,1079,10290,0.00,2.05,0.00,0.000,4,0.000,0.071,1705,3230,3267
$GC,10312,-1.04,-116.7,673.3,-7.1,1080,10316,0.00,1.98,0.00,0.000,6,0.000,0.048,1705,2151,3267
$GC,10634,-1.04,-116.7,693.9,-6.5,1096,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2150,3266
$GC,10943,-1.04,-116.7,713.4,-6.2,1111,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2150,3265
$GC,11252,-1.04,-116.7,731.8,-6.0,1126,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2149,3265
$GC,11562,-1.04,-116.7,750.5,-6.1,1141,11566,0.00,2.03,0.00,0.000,4,0.000,0.071,1705,3230,3264
$GC,11594,-1.04,-116.7,752.7,-6.7,1142,11601,0.00,1.98,0.00,0.000,6,0.000,0.049,1705,2153,3264
$GC,11910,-1.04,-116.7,772.1,-6.0,1158,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2153,3263
$GC,12219,-1.04,-116.7,790.5,-5.9,1173,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2152,3262
$GC,12528,-1.04,-116.7,808.8,-5.8,1188,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2152,3262
$GC,12837,-1.04,-116.7,826.4,-5.6,1203,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2152,3261
$GC,13147,-1.04,-116.7,843.6,-5.5,1218,13148,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2152,3261
$GC,13456,-1.04,-116.7,861.6,-6.0,1233,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2152,3260
$GC,13765,-1.04,-116.7,880.5,-6.2,1248,13769,0.00,2.05,0.00,0.000,4,0.000,0.067,1706,3232,3260
$GC,13791,-1.04,-116.7,882.3,-7.4,1249,13795,0.00,1.98,0.00,0.000,6,0.000,0.050,1705,2154,3260
$GC,14113,-1.04,-116.7,902.3,-6.3,1265,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2154,3260
$GC,14423,-1.11,-116.7,921.5,-6.2,1280,14424,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2154,3260
$GC,14732,-1.17,-116.7,940.4,-6.0,1295,14734,0.12,0.00,0.00,0.000,6,0.064,0.000,1677,2153,3259
$GC,15041,-1.17,-116.7,961.3,-6.6,1310,15042,0.00,0.00,0.00,0.000,6,0.000,0.000,1677,2153,3259
$GC,15350,-1.17,-116.7,981.3,-6.4,1325,15351,0.00,0.00,0.00,0.000,6,0.000,0.000,1677,2153,3259
$STATE,15492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15492,begin apogee
$GC,15497,-0.31,0.0,990.5,6.5,1332,15603,0.98,0.00,102.85,1.590,6,0.111,0.000,1866,2006,2792
$STATE,15604,end apogee,CONTROL_FINISHED_OK
$STATE,15604,begin climb
$GC,15606,0.87,116.7,992.6,0.0,1337,15716,1.27,0.00,103.90,1.529,6,0.077,0.000,2123,2005,2316
$GC,16024,0.87,116.7,967.2,7.7,1358,16028,0.00,2.15,0.00,0.000,4,0.000,0.067,2123,3134,2314
$GC,16085,0.87,116.7,962.5,7.9,1361,16089,0.00,2.05,0.00,0.000,6,0.000,0.053,2123,2018,2313
$GC,16410,0.87,116.7,938.4,7.3,1377,16411,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2018,2313
$GC,16720,0.88,122.6,917.1,6.6,1392,16731,0.00,2.22,6.25,1.210,4,0.000,0.066,2123,3140,2292
$GC,16763,0.89,128.3,913.9,6.7,1394,16774,0.00,2.12,6.85,1.230,6,0.000,0.053,2123,2010,2269
$GC,17084,0.89,132.9,892.1,6.7,1409,17092,0.00,0.00,5.95,1.177,6,0.000,0.000,2123,2010,2250
$GC,17393,0.90,136.9,871.3,6.7,1424,17403,0.00,2.15,5.40,1.124,4,0.000,0.066,2123,3130,2233
$GC,17446,0.90,136.9,867.4,7.8,1426,17454,0.00,2.10,0.00,0.000,6,0.000,0.053,2123,2012,2233
$GC,17763,0.90,138.9,846.2,6.8,1442,17764,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2012,2232
$GC,18071,0.90,138.9,824.6,7.0,1457,18075,0.00,2.15,0.00,0.000,4,0.000,0.067,2123,3141,2232
$GC,18114,0.90,138.9,821.4,7.8,1459,18118,0.00,2.10,0.00,0.000,6,0.000,0.053,2123,2015,2231
$GC,18442,0.90,140.5,798.4,6.8,1475,18448,0.00,0.00,4.47,1.012,6,0.000,0.000,2123,2015,2219
$GC,18751,0.90,140.5,776.3,7.1,1490,18752,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2015,2219
$GC,19060,0.90,140.5,754.1,7.2,1505,19063,0.00,2.10,0.00,0.000,4,0.000,0.066,2123,3136,2219
$GC,19114,0.90,140.5,750.0,7.5,1507,19122,0.00,2.08,0.00,0.000,6,0.000,0.052,2123,2019,2219
$GC,19430,0.90,142.7,728.6,6.8,1523,19436,0.00,0.00,4.05,0.922,6,0.000,0.000,2123,2019,2210
$GC,19739,0.91,152.7,708.5,6.5,1538,19752,0.00,0.00,10.27,1.273,6,0.000,0.000,2123,2019,2169
$GC,20049,0.98,154.5,687.3,6.8,1553,20053,0.12,2.12,0.00,0.000,4,0.061,0.064,2152,3137,2168
$GC,20088,0.90,154.5,684.2,8.0,1555,20091,0.00,2.05,0.00,0.000,6,0.000,0.053,2152,2021,2168
$GC,20414,0.90,154.5,657.3,8.5,1571,20415,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2021,2168
$GC,20723,0.90,154.5,630.2,8.7,1586,20726,0.00,2.10,0.00,0.000,4,0.000,0.066,2152,3141,2168
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$GC,23140,1.00,180.2,449.3,7.2,1737,23142,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2021,2055
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$GC,28059,1.00,192.0,27.1,6.4,2376,28079,0.00,1.98,12.23,0.785,6,0.000,0.040,2151,2040,2009
$GC,28417,1.12,192.0,3.4,7.3,2439,28425,0.12,2.03,0.00,0.000,4,0.054,0.050,2183,3132,2008
$STATE,28441,end climb,SURFACE_DEPTH_REACHED
$STATE,28441,begin surface coast
$FINISH,0.0,1.016984
$STATE,28476,end surface coast,CONTROL_FINISHED_OK
$STATE,28476,begin surface
$SM_CCo,28495,34.78,0.788,0,0,1771,250.21
$SM_GC,0.94,0.00,0.00,34.78,0.000,0.000,0.788,59,2097,1771,-8.63,-0.23,250.21
$IRIDIUM_FIX,6553.70,355.97,081097,141429
$TT8_MAMPS,0.021476
$HUMID,2035
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,14.701
$10V_AH,10.1,7.852
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.550,166.550,287.100,34.775,0.000,29.673,31.443,267.239,0.000,0.000,0.000,15.605,5079.486,19668.490,651.614,2981.283,589.875,0.000,2487.825,0.000,2232.022,0.000,0.653
$DEVICE_MAMPS,199.420,70.564,1589.991,787.709,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,2338.625,1619.103,844.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119753,2449
$CAP_FILE_SIZE,239527,0
$CFSIZE,256368640,246697984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,211.9,1
$GPS,150708,055108,6618.094,340.926,35,1.8,35,-3.3