version: 66.11
glider: 181
mission: 11
dive: 165
start: 6 6 113 4 13 22
data:
$ID,181
$MISSION,11
$DIVE,165
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$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,420
$T_MISSION,450
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-05
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-95893.594
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,2
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,060613,040429,2344.482,12327.086,35,2.0,36,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-70.4
$GPS2,060613,041255,2344.459,12327.274,11,1.6,11,-3.3
$SPEED_LIMITS,0.136,0.270
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,49.3,48077,-12.6,-7.857,-16.23,3084
$D_GRID,3830
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.79,-160.6,229,2484,913,910,0.0,0.0,0,104,0.00,0.00,-81.95,0.000,16386,0.000,0.000,228,2485,2991,3043,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.79,-160.6,228,2490,3041,2942,3.3,-11.6,14,127,10.15,0.00,-7.40,0.000,18694,0.395,0.000,2434,2485,3410,3497,3323,0,0,0,0,0,0,14.38,28.83,14.91
$GC,440,-0.79,-160.6,2434,2485,3497,3328,103.6,-22.6,41,445,0.00,2.25,0.00,0.000,516,0.000,0.041,2434,1047,3412,3497,3328,0,0,0,0,0,0,28.83,14.81,28.83
$GC,503,-0.79,-160.6,2434,1046,3497,3329,118.4,-23.2,44,508,0.00,2.22,0.00,0.000,1030,0.000,0.056,2427,2426,3412,3497,3328,0,0,0,0,0,0,28.83,14.79,28.83
$GC,825,-0.79,-160.6,2427,2427,3497,3330,181.9,-17.0,60,832,0.00,2.15,0.00,0.000,516,0.000,0.041,2426,1045,3413,3497,3329,0,0,0,0,0,0,28.83,14.87,28.83
$GC,978,-0.79,-160.6,2426,1045,3498,3329,206.9,-18.0,67,983,0.00,2.28,0.00,0.000,1030,0.000,0.055,2417,2463,3414,3498,3330,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1290,-0.79,-160.6,2417,2463,3498,3330,264.5,-19.1,83,1296,0.00,2.15,0.00,0.000,260,0.000,0.080,2406,3778,3413,3498,3329,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1353,-0.79,-160.6,2407,3779,3498,3329,275.9,-18.3,86,1359,0.15,2.05,0.00,0.000,3078,0.254,0.034,2442,2412,3413,3498,3329,0,0,0,0,0,0,14.71,14.94,28.83
$GC,1676,-0.79,-160.6,2441,2407,3498,3329,323.7,-14.1,102,1681,0.00,2.08,0.00,0.000,516,0.000,0.044,2441,1078,3413,3498,3329,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1742,-0.79,-160.6,2442,1078,3498,3329,332.4,-13.8,105,1748,0.00,2.22,0.00,0.000,1030,0.000,0.060,2434,2459,3413,3498,3329,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2060,-0.79,-160.6,2434,2454,3498,3327,376.0,-12.7,121,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2454,3412,3497,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-0.79,-160.6,2434,2453,3498,3322,416.6,-14.2,136,2367,0.00,2.17,0.00,0.000,260,0.000,0.083,2425,3781,3410,3498,3322,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2414,-0.79,-160.6,2424,3781,3498,3328,422.6,-13.6,138,2419,0.00,2.00,0.00,0.000,1030,0.000,0.036,2424,2463,3409,3497,3322,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2726,-0.79,-160.6,2423,2455,3497,3319,468.9,-14.3,154,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2455,3408,3497,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.79,-160.6,2420,2456,3497,3315,508.1,-12.1,169,3033,0.00,2.17,0.00,0.000,260,0.000,0.083,2414,3771,3405,3497,3314,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3084,-0.79,-160.6,2414,3771,3497,3316,513.9,-12.8,171,3092,0.12,2.03,0.00,0.000,3078,0.253,0.037,2442,2437,3406,3496,3316,0,0,0,0,0,0,14.73,14.98,28.83
$GC,3390,-0.79,-160.6,2442,2435,3496,3313,552.3,-12.1,187,3395,0.00,2.15,0.00,0.000,516,0.000,0.048,2442,1071,3404,3496,3313,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3422,-0.79,-160.6,2442,1071,3496,3312,555.1,-12.2,188,3427,0.00,2.25,0.00,0.000,1030,0.000,0.060,2436,2453,3404,3496,3313,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3734,-0.79,-160.6,2437,2453,3493,3308,591.0,-10.7,204,3740,0.00,2.20,0.00,0.000,516,0.000,0.048,2437,1065,3400,3492,3309,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3802,-0.79,-160.6,2437,1065,3492,3308,597.8,-10.8,207,3807,0.00,2.28,0.00,0.000,1030,0.000,0.064,2431,2454,3400,3492,3308,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4120,-0.79,-160.6,2431,2454,3489,3307,633.1,-11.3,218,4125,0.00,2.20,0.00,0.000,260,0.000,0.091,2421,3777,3398,3490,3307,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4231,-0.79,-160.6,2421,3777,3488,3307,644.5,-12.1,221,4237,0.00,2.03,0.00,0.000,1030,0.000,0.042,2421,2462,3397,3488,3307,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4545,-0.79,-160.6,2421,2460,3487,3302,684.1,-11.1,232,4551,0.00,2.22,0.00,0.000,516,0.000,0.052,2420,1062,3394,3487,3302,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4613,-0.79,-160.6,2421,1061,3486,3302,691.3,-11.3,234,4618,0.12,2.28,0.00,0.000,3078,0.250,0.064,2439,2450,3394,3486,3302,0,0,0,0,0,0,14.73,14.88,28.83
$GC,4942,-0.79,-160.6,2439,2450,3484,3298,728.0,-11.2,245,4948,0.00,2.22,0.00,0.000,516,0.000,0.052,2440,1063,3391,3484,3298,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4984,-0.79,-160.6,2440,1063,3484,3297,731.9,-11.3,246,4990,0.00,2.30,0.00,0.000,1030,0.000,0.067,2437,2453,3390,3483,3298,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5309,-0.79,-160.6,2436,2453,3481,3295,767.0,-10.0,257,5314,0.00,2.25,0.00,0.000,260,0.000,0.096,2427,3787,3388,3481,3295,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5330,-0.79,-160.6,2427,3787,3481,3295,767.0,-10.0,257,5336,0.00,2.08,0.00,0.000,1030,0.000,0.045,2426,2453,3387,3480,3295,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5643,-0.79,-160.6,2427,2452,3480,3292,802.5,-10.1,268,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2452,3386,3479,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,-0.79,-160.6,2427,2452,3477,3290,830.7,-9.0,278,5950,0.00,2.25,0.00,0.000,516,0.000,0.055,2426,1050,3383,3477,3290,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5973,-0.79,-160.6,2427,1050,3477,3290,830.7,-9.0,278,5979,0.00,2.33,0.00,0.000,1030,0.000,0.069,2418,2452,3383,3477,3290,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6277,-0.79,-160.6,2418,2452,3475,3288,860.3,-8.8,289,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2452,3381,3475,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6577,-0.79,-160.6,2417,2452,3473,3286,887.0,-9.2,299,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2452,3380,3474,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6877,-0.79,-160.6,2418,2451,3472,3284,917.0,-10.5,309,6883,0.00,2.25,0.00,0.000,260,0.000,0.099,2408,3775,3377,3471,3284,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6945,-0.79,-160.6,2407,3776,3470,3281,924.6,-11.5,311,6951,0.15,2.10,0.00,0.000,3078,0.248,0.047,2443,2443,3376,3469,3284,0,0,0,0,0,0,14.64,14.92,28.83
$GC,7274,-0.79,-160.6,2443,2446,3469,3281,954.8,-8.6,322,7281,0.00,2.25,0.00,0.000,516,0.000,0.057,2444,1059,3375,3469,3281,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7323,-0.79,-160.6,2443,1060,3469,3281,957.8,-8.6,323,7328,0.00,2.33,0.00,0.000,1030,0.000,0.070,2436,2449,3374,3468,3281,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7641,-0.79,-160.6,2437,2450,3467,3279,985.4,-8.0,334,7646,0.00,2.28,0.00,0.000,260,0.000,0.102,2428,3780,3374,3468,3280,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,7701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7701,begin apogee
$GC,7709,-0.25,0.0,2427,2344,3467,3279,990.9,-8.3,336,7879,0.62,0.00,161.12,1.745,10246,0.208,0.000,2610,2343,2751,2793,2710,0,0,0,0,0,0,14.63,28.83,13.55
$STATE,7881,end apogee,CONTROL_FINISHED_OK
$STATE,7881,begin climb
$GC,7882,0.79,160.6,2611,2343,2791,2710,993.6,0.0,341,8055,1.05,2.47,153.43,2.498,10756,0.115,0.062,2964,966,2100,2116,2085,0,0,0,0,1,0,14.20,13.94,13.11
$GC,8077,0.79,160.6,2964,966,2116,2082,969.7,15.1,348,8082,0.00,2.42,0.00,0.000,1030,0.000,0.068,2964,2346,2098,2115,2081,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8401,0.79,160.6,2964,2347,2115,2071,908.3,19.1,359,8406,0.00,2.45,0.00,0.000,260,0.000,0.099,2963,3758,2093,2115,2071,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8437,0.79,160.6,2048,3757,2077,2062,901.3,19.4,360,8442,0.00,2.25,0.00,0.000,1030,0.000,0.043,2974,2354,2092,2115,2070,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8766,0.79,160.6,2974,2350,2115,2066,835.2,19.7,371,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2350,2090,2115,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,0.79,160.6,2975,2350,2115,2065,778.4,18.6,381,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2350,2090,2115,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9365,0.79,160.6,2974,2350,2115,2063,725.3,17.6,391,9370,0.00,2.42,0.00,0.000,260,0.000,0.096,2974,3759,2089,2115,2063,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9398,0.79,160.6,2974,3759,2115,2063,718.9,18.2,392,9403,0.00,2.25,0.00,0.000,1030,0.000,0.043,2984,2340,2089,2115,2063,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9732,0.79,160.6,2985,2334,2114,2061,656.5,19.2,403,9737,0.00,2.25,0.00,0.000,516,0.000,0.056,2995,953,2088,2115,2061,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9773,0.79,160.6,2995,953,2115,2061,650.3,19.0,404,9779,0.17,2.33,0.00,0.000,5126,0.279,0.062,2956,2361,2088,2115,2061,0,0,0,0,0,0,14.58,14.80,28.83
$GC,10098,0.79,160.6,2956,2361,2115,2059,597.2,15.3,415,10104,0.00,2.38,0.00,0.000,260,0.000,0.095,2956,3751,2087,2115,2059,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10130,0.79,160.6,2956,3755,2115,2059,593.1,15.4,416,10135,0.00,2.22,0.00,0.000,1030,0.000,0.042,2964,2343,2087,2115,2059,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10443,0.79,160.6,2964,2338,2115,2057,542.0,16.7,432,10449,0.00,2.25,0.00,0.000,516,0.000,0.055,2974,954,2086,2115,2057,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10520,0.79,160.6,2974,953,2115,2057,532.0,16.0,435,10527,0.00,2.30,0.00,0.000,1030,0.000,0.062,2974,2347,2086,2115,2057,0,0,0,0,0,0,28.83,14.81,28.83
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$GC,12449,0.79,160.6,2975,2342,2115,2055,250.5,12.3,531,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2342,2085,2115,2055,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15120,end climb,SURFACE_DEPTH_REACHED
$STATE,15120,begin surface coast
$FINISH,-0.1,1.020824
$STATE,15163,end surface coast,CONTROL_FINISHED_OK
$STATE,15163,begin surface
$SM_CCo,15179,60.53,0.141,0,0,915,450.13
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$IRIDIUM_FIX,2326.22,12318.58,050613,232354
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.73
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.90
$XPDR_PINGS,6
$SC_FREEKB,3873696
$24V_AH,13.1,63.474
$10V_AH,13.1,0.000
$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,20.400,139.450,390.250,60.525,0.000,22.829,18.374,242.499,1.500,0.000,14.327,2325.103,10495.227,585.558,2121.522,222.183,0.000,1558.871,0.000,1684.212,0.000,0.543,0.000
$DEVICE_MAMPS,394.740,125.460,2497.725,140.760,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15239.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.829,0.000,0.000,0.000
$MEM,328556
$DATA_FILE_SIZE,26793,727
$CAP_FILE_SIZE,171025,0
$CFSIZE,260034560,241549312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.349, 90.4,1
$GPS,060613,082835,2345.976,12332.000,28,1.0,29,-3.4