version: 66.11
glider: 191
mission: 5
dive: 55
start: 10 1 112 13 17 15
data:
$ID,191
$MISSION,5
$DIVE,55
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3869.8645
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$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,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$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,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,011012,130206,2432.736,-3802.081,39,0.8,39,-14.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-58.7
$GPS2,011012,131647,2432.627,-3802.138,15,1.4,15,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,midN
$TGT_LATLONG,2512.000,-3802.000
$TGT_RADIUS,1852.000
$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,16.3,72919,-13.3,-6.049,-18.38
$D_GRID,980
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-60.85,0.000,6,0.000,0.000,152,1504,3460,0,0,0,0,0,0,28.83,28.83,14.94
$GC,87,-0.60,-97.3,4.2,-8.5,4,101,9.25,1.80,0.00,0.000,4,0.421,0.057,1983,2569,3462,0,0,0,0,0,0,14.48,14.72,28.83
$GC,265,-0.53,-97.3,32.6,-12.4,16,270,0.15,1.88,0.00,0.000,6,0.269,0.071,2015,1497,3465,0,0,0,0,0,0,14.64,14.77,28.83
$GC,565,-0.48,-97.3,61.0,-9.1,36,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1497,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,865,-0.44,-97.3,87.6,-9.5,56,867,0.12,0.00,0.00,0.000,6,0.269,0.000,2044,1497,3466,0,0,0,0,0,0,14.74,28.83,28.83
$GC,1164,-0.44,-97.3,114.5,-8.6,76,1168,0.00,1.88,0.00,0.000,4,0.000,0.093,2049,443,3467,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1270,-0.42,-97.3,123.4,-8.5,83,1274,0.00,1.77,0.00,0.000,6,0.000,0.050,2039,1500,3466,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1569,-0.42,-97.3,145.2,-7.3,103,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1501,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1869,-0.42,-97.3,166.4,-6.6,123,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1501,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-0.42,-97.3,184.1,-6.2,143,2173,0.00,1.77,0.00,0.000,4,0.000,0.060,2031,2558,3466,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2365,-0.42,-97.3,195.2,-5.9,156,2369,0.00,1.85,0.00,0.000,6,0.000,0.073,2031,1493,3465,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2664,-0.42,-97.3,213.8,-6.2,176,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1493,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,-0.42,-97.3,229.2,-4.9,196,2969,0.00,1.85,0.00,0.000,4,0.000,0.094,2031,446,3464,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3070,-0.40,-97.3,235.2,-6.0,203,3075,0.15,1.77,0.00,0.000,6,0.243,0.053,2059,1500,3463,0,0,0,0,0,0,14.80,14.93,28.83
$GC,3370,-0.42,-97.3,248.7,-5.6,223,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1502,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-0.44,-97.3,267.9,-7.0,234,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1502,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3970,-0.46,-97.3,291.1,-7.7,244,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1501,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4271,-0.49,-97.3,312.3,-6.6,254,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1502,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4570,-0.51,-97.3,331.0,-6.4,264,4572,0.12,0.00,0.00,0.000,6,0.139,0.000,2010,1502,3458,0,0,0,0,0,0,14.98,28.83,28.83
$GC,4871,-0.49,-97.3,355.9,-8.3,274,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1498,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5170,-0.48,-97.3,377.9,-7.0,284,5174,0.00,1.88,0.00,0.000,4,0.000,0.097,2010,447,3455,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5259,-0.45,-97.3,383.2,-7.1,287,5264,0.15,1.77,0.00,0.000,6,0.256,0.055,2037,1502,3456,0,0,0,0,0,0,14.82,14.97,28.83
$GC,5560,-0.45,-97.3,398.5,-4.6,297,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1503,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,-0.45,-97.3,413.3,-5.1,307,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1502,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6159,-0.45,-97.3,432.1,-6.8,317,6163,0.00,1.90,0.00,0.000,4,0.000,0.099,2036,440,3452,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6265,-0.45,-97.3,440.8,-8.4,321,6268,0.00,1.80,0.00,0.000,6,0.000,0.055,2031,1508,3452,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6580,-0.45,-97.3,468.8,-9.5,332,6584,0.00,1.77,0.00,0.000,4,0.000,0.065,2023,2560,3451,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6684,-0.45,-97.3,478.2,-9.0,336,6688,0.00,1.85,0.00,0.000,6,0.000,0.076,2023,1499,3451,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7000,-0.45,-97.3,505.3,-7.8,347,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1498,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,-0.45,-97.3,523.8,-5.5,357,7304,0.00,1.88,0.00,0.000,4,0.000,0.097,2024,444,3448,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7449,-0.44,-97.3,532.8,-6.8,362,7453,0.12,1.77,0.00,0.000,6,0.257,0.054,2043,1500,3448,0,0,0,0,0,0,14.80,14.97,28.83
$GC,7751,-0.45,-97.3,549.5,-5.4,372,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1501,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,-0.47,-97.3,567.4,-6.2,382,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1501,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,-0.49,-97.3,586.0,-6.2,392,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1501,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8650,-0.51,-97.3,604.8,-6.3,402,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1501,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8951,-0.53,-97.3,624.9,-6.9,412,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1501,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9250,-0.55,-97.3,644.0,-6.1,422,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1501,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9551,-0.57,-97.3,660.8,-5.5,432,9553,0.12,0.00,0.00,0.000,6,0.145,0.000,1998,1502,3440,0,0,0,0,0,0,14.94,28.83,28.83
$GC,9850,-0.56,-97.3,683.0,-7.6,442,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1501,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10151,-0.54,-97.3,706.2,-7.7,452,10154,0.00,1.90,0.00,0.000,4,0.000,0.102,1998,445,3441,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10285,-0.51,-97.3,718.3,-9.0,457,10289,0.15,1.80,0.00,0.000,6,0.265,0.057,2023,1506,3438,0,0,0,0,0,0,14.71,14.92,28.83
$GC,10601,-0.51,-97.3,737.1,-5.4,468,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1507,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10900,-0.51,-97.3,749.7,-3.8,478,10903,0.00,1.80,0.00,0.000,4,0.000,0.068,2018,2561,3437,0,0,0,0,0,0,28.83,14.90,28.83
$GC,11005,-0.52,-97.3,753.5,-3.6,482,11009,0.00,1.88,0.00,0.000,6,0.000,0.080,2018,1498,3437,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11321,-0.52,-97.3,766.9,-4.7,493,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1498,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11620,-0.52,-97.3,784.1,-6.4,503,11623,0.00,1.90,0.00,0.000,4,0.000,0.101,2018,443,3435,0,0,0,0,0,0,28.83,14.83,28.83
$GC,11709,-0.52,-97.3,789.8,-7.3,506,11713,0.00,1.80,0.00,0.000,6,0.000,0.057,2010,1499,3434,0,0,0,0,0,0,28.83,14.91,28.83
$GC,12009,-0.52,-97.3,814.6,-8.0,516,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1500,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12310,-0.52,-97.3,839.5,-8.3,526,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1500,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12610,-0.52,-97.3,863.8,-7.8,536,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1500,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12910,-0.52,-97.3,884.8,-6.7,546,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1500,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13210,-0.52,-97.3,903.7,-6.0,556,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1499,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13511,-0.52,-97.3,920.9,-5.5,566,13514,0.00,1.92,0.00,0.000,4,0.000,0.106,2010,443,3429,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13645,-0.51,-97.3,929.8,-6.6,571,13649,0.00,1.83,0.00,0.000,6,0.000,0.061,2002,1505,3429,0,0,0,0,0,0,28.83,14.86,28.83
$GC,13960,-0.51,-97.3,949.2,-6.2,582,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1506,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14259,-0.51,-97.3,968.8,-6.6,592,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1506,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14439,begin apogee
$GC,14442,-0.18,0.0,980.4,-6.5,598,14562,0.45,0.00,111.40,2.386,6,0.223,0.000,2124,1506,3062,0,0,0,0,1,0,14.65,28.83,13.22
$STATE,14564,end apogee,CONTROL_FINISHED_OK
$STATE,14564,begin climb
$GC,14566,0.60,97.3,983.3,0.0,602,14704,0.85,0.00,129.38,2.469,6,0.145,0.000,2376,1506,2665,0,0,0,0,1,0,14.12,28.83,13.14
$GC,14995,0.54,97.3,962.2,6.8,617,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1506,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15295,0.48,97.3,943.1,6.4,627,15297,0.12,0.00,0.00,0.000,6,0.288,0.000,2351,1507,2661,0,0,0,0,0,0,14.60,28.83,28.83
$GC,15596,0.48,122.9,927.8,5.0,637,15646,0.00,0.00,43.40,1.684,6,0.000,0.000,2354,1507,2560,0,0,0,0,1,0,28.83,28.83,13.65
$GC,15926,0.45,122.9,908.4,6.3,648,15930,0.00,1.95,0.00,0.000,4,0.000,0.109,2357,448,2561,0,0,0,0,0,0,28.83,14.67,28.83
$GC,16030,0.41,122.9,900.6,7.4,652,16034,0.15,1.83,0.00,0.000,6,0.259,0.061,2323,1500,2560,0,0,0,0,0,0,14.64,14.77,28.83
$GC,16345,0.41,122.9,880.6,6.5,663,16349,0.00,1.83,0.00,0.000,4,0.000,0.070,2323,2556,2559,0,0,0,0,0,0,28.83,14.81,28.83
$GC,16403,0.41,122.9,877.6,6.5,665,16407,0.00,1.90,0.00,0.000,6,0.000,0.086,2329,1498,2559,0,0,0,0,0,0,28.83,14.80,28.83
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$STATE,28823,end climb,SURFACE_DEPTH_REACHED
$STATE,28824,begin surface coast
$FINISH,0.4,1.024391
$STATE,28839,end surface coast,CONTROL_FINISHED_OK
$STATE,28839,begin surface
$SM_CCo,28855,39.70,0.807,0,0,1634,350.04
$SM_GC,0.94,6.45,0.00,39.70,0.076,0.000,0.807,159,1507,1634,-6.29,0.20,350.04,0,0,0,0,0,0,14.85,28.83,14.35
$IRIDIUM_FIX,2420.48,-3807.04,011012,131313
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.78
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.90
$XPDR_PINGS,1
$SC_FREEKB,7749024
$TM_FREEKB,7405472
$24V_AH,13.1,28.418
$10V_AH,13.4,0.000
$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,18.900,107.575,527.175,39.700,0.000,0.000,0.000,544.200,0.250,0.000,16.034,3234.737,22940.168,795.591,2576.955,223.953,0.000,2307.490,0.000,1890.791,0.000,0.551,0.000
$DEVICE_MAMPS,420.750,110.925,2469.420,807.075,0.000,0.000,0.000,164.475,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28872.000,6670.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.114,13.092,0.000,0.000
$MEM,345232
$DATA_FILE_SIZE,43356,1193
$CAP_FILE_SIZE,246627,0
$CFSIZE,260034560,250376192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.033, 21.4,1
$GPS,011012,212005,2436.178,-3801.799,35,0.9,35,-14.0