version: 66.11
glider: 191
mission: 5
dive: 61
start: 10 3 112 13 21 33
data:
$ID,191
$MISSION,5
$DIVE,61
$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,-3877.5085
$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,20
$R_STBD_OVSHOOT,32
$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
$GPS1,031012,131054,2449.616,-3813.596,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-58.5
$GPS2,031012,132105,2449.662,-3813.580,15,1.3,16,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,309.7,65652,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-60.67,0.000,6,0.000,0.000,160,1493,3460,0,0,0,0,0,0,28.83,28.83,14.93
$GC,88,-0.60,-97.3,4.4,-8.6,4,102,9.27,1.80,0.00,0.000,4,0.424,0.056,1981,2562,3462,0,0,0,0,0,0,14.49,14.71,28.83
$GC,326,-0.53,-97.3,40.7,-12.5,20,330,0.17,1.88,0.00,0.000,6,0.258,0.071,2021,1488,3464,0,0,0,0,0,0,14.66,14.78,28.83
$GC,626,-0.49,-97.3,75.4,-10.7,40,630,0.00,1.85,0.00,0.000,4,0.000,0.092,2021,444,3465,0,0,0,0,0,0,28.83,14.79,28.83
$GC,686,-0.44,-97.3,81.3,-10.0,44,690,0.12,1.77,0.00,0.000,6,0.271,0.050,2042,1500,3465,0,0,0,0,0,0,14.71,14.85,28.83
$GC,986,-0.43,-97.3,97.7,-5.8,64,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1502,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1286,-0.42,-97.3,119.1,-6.9,84,1289,0.00,1.77,0.00,0.000,4,0.000,0.061,2036,2558,3466,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1436,-0.42,-97.3,131.1,-8.4,94,1440,0.00,1.83,0.00,0.000,6,0.000,0.072,2037,1501,3472,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1736,-0.41,-97.3,156.4,-7.7,114,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1500,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-0.41,-97.3,180.0,-8.7,134,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1498,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.41,-97.3,201.4,-6.7,154,2340,0.00,1.88,0.00,0.000,4,0.000,0.093,2034,437,3465,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2471,-0.39,-97.3,211.4,-7.1,163,2474,0.00,1.77,0.00,0.000,6,0.000,0.050,2034,1502,3465,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2770,-0.39,-97.3,232.8,-7.2,183,2772,0.12,0.00,0.00,0.000,6,0.246,0.000,2057,1503,3465,0,0,0,0,0,0,14.81,28.83,28.83
$GC,3087,-0.41,-97.3,251.8,-5.6,203,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1503,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3386,-0.43,-97.3,267.7,-5.1,213,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1501,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3687,-0.45,-97.3,284.2,-5.8,223,3690,0.00,1.88,0.00,0.000,4,0.000,0.096,2058,445,3462,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3761,-0.47,-97.3,289.5,-6.8,226,3764,0.00,1.77,0.00,0.000,6,0.000,0.054,2053,1505,3461,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4077,-0.48,-97.3,312.8,-7.7,237,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1506,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4376,-0.50,-97.3,336.6,-8.0,247,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1506,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4676,-0.52,-97.3,356.9,-6.3,257,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1506,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.54,-97.3,373.3,-5.4,267,4981,0.12,1.88,0.00,0.000,4,0.142,0.096,2004,445,3457,0,0,0,0,0,0,14.97,14.92,28.83
$GC,5112,-0.50,-97.3,385.1,-9.1,272,5116,0.12,1.77,0.00,0.000,6,0.266,0.054,2022,1503,3457,0,0,0,0,0,0,14.82,14.97,28.83
$GC,5426,-0.50,-97.3,409.2,-7.6,283,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1505,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5726,-0.50,-97.3,431.5,-7.4,293,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1505,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6026,-0.50,-97.3,453.2,-7.1,303,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1505,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6325,-0.50,-97.3,475.3,-7.5,313,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1504,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6626,-0.50,-97.3,495.7,-6.4,323,6629,0.00,1.90,0.00,0.000,4,0.000,0.099,2022,439,3451,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6715,-0.50,-97.3,500.9,-6.6,326,6719,0.00,1.80,0.00,0.000,6,0.000,0.055,2017,1509,3451,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7016,-0.50,-97.3,519.8,-6.0,336,7020,0.00,1.90,0.00,0.000,4,0.000,0.098,2017,443,3449,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7091,-0.48,-97.3,525.1,-7.0,339,7095,0.00,1.77,0.00,0.000,6,0.000,0.056,2009,1499,3449,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7407,-0.47,-97.3,546.1,-6.6,350,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1500,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,-0.46,-97.3,565.4,-6.3,360,7710,0.12,1.83,0.00,0.000,4,0.258,0.067,2030,2565,3445,0,0,0,0,0,0,14.81,14.95,28.83
$GC,7812,-0.48,-97.3,571.0,-5.3,364,7816,0.00,1.88,0.00,0.000,6,0.000,0.078,2031,1494,3447,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8126,-0.48,-97.3,588.8,-5.8,375,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1494,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,-0.48,-97.3,607.8,-6.4,385,8429,0.00,1.88,0.00,0.000,4,0.000,0.100,2031,444,3444,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8500,-0.48,-97.3,613.3,-7.1,388,8504,0.00,1.80,0.00,0.000,6,0.000,0.057,2023,1508,3444,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8816,-0.48,-97.3,635.0,-7.1,399,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1509,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9116,-0.48,-97.3,655.7,-6.8,409,9119,0.00,1.92,0.00,0.000,4,0.000,0.100,2023,437,3441,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9204,-0.48,-97.3,661.2,-7.2,412,9208,0.00,1.80,0.00,0.000,6,0.000,0.057,2015,1498,3441,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9506,-0.48,-97.3,680.2,-5.5,422,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1499,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9806,-0.48,-97.3,697.3,-6.0,432,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1499,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10106,-0.48,-97.3,719.5,-7.8,442,10110,0.00,1.90,0.00,0.000,4,0.000,0.101,2015,443,3438,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10211,-0.47,-97.3,729.3,-9.4,446,10216,0.12,1.80,0.00,0.000,6,0.258,0.058,2035,1503,3437,0,0,0,0,0,0,14.75,14.93,28.83
$GC,10527,-0.49,-97.3,753.6,-7.6,457,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1503,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10826,-0.50,-97.3,774.0,-6.4,467,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1503,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11127,-0.52,-97.3,791.6,-5.7,477,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1503,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11427,-0.54,-97.3,807.2,-5.1,487,11430,0.00,1.92,0.00,0.000,4,0.000,0.103,2034,440,3434,0,0,0,0,0,0,28.83,14.83,28.83
$GC,11545,-0.55,-97.3,813.4,-5.9,491,11549,0.00,1.83,0.00,0.000,6,0.000,0.060,2029,1508,3434,0,0,0,0,0,0,28.83,14.90,28.83
$GC,11847,-0.57,-97.3,831.0,-5.8,501,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1508,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12146,-0.58,-97.3,850.1,-6.6,511,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1508,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12446,-0.60,-97.3,870.6,-6.9,521,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1508,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12746,-0.61,-97.3,890.0,-6.4,531,12748,0.12,0.00,0.00,0.000,6,0.149,0.000,1985,1509,3430,0,0,0,0,0,0,14.88,28.83,28.83
$GC,13046,-0.59,-97.3,912.7,-7.6,541,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1509,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13346,-0.58,-97.3,934.9,-7.5,551,13350,0.00,1.95,0.00,0.000,4,0.000,0.106,1985,437,3428,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13435,-0.55,-97.3,941.2,-8.2,554,13440,0.15,1.83,0.00,0.000,6,0.272,0.061,2009,1499,3428,0,0,0,0,0,0,14.64,14.88,28.83
$GC,13736,-0.55,-97.3,961.9,-6.3,564,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1500,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14036,-0.55,-97.3,980.0,-5.9,574,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1500,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14064,begin apogee
$GC,14068,-0.18,0.0,981.7,-5.8,575,14188,0.43,0.00,111.85,2.352,6,0.215,0.000,2128,1500,3062,0,0,0,0,1,0,14.66,28.83,13.26
$STATE,14190,end apogee,CONTROL_FINISHED_OK
$STATE,14190,begin climb
$GC,14191,0.60,97.3,983.8,0.0,579,14330,0.85,2.08,127.75,2.368,4,0.142,0.109,2389,441,2667,0,0,0,0,1,0,14.13,14.00,13.22
$GC,14399,0.45,97.3,975.5,6.1,587,14404,0.22,1.90,0.00,0.000,6,0.269,0.060,2341,1509,2664,0,0,0,0,0,0,14.26,14.38,28.83
$GC,14714,0.43,104.0,956.6,5.8,598,14727,0.00,1.85,4.85,2.140,4,0.000,0.070,2339,2561,2640,0,0,0,0,0,0,28.83,14.65,13.78
$GC,14803,0.42,111.8,951.5,5.7,601,14839,0.00,1.92,26.58,1.090,6,0.000,0.085,2350,1493,2606,0,0,0,0,1,0,28.83,14.66,13.85
$GC,15148,0.39,111.8,930.0,6.3,613,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1495,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15449,0.36,112.2,911.6,6.0,623,15453,0.15,1.92,0.00,0.000,4,0.274,0.109,2317,441,2605,0,0,0,0,0,0,14.67,14.75,28.83
$GC,15537,0.36,121.1,907.4,5.7,626,15574,0.00,1.83,26.80,1.105,6,0.000,0.061,2317,1502,2567,0,0,0,0,1,0,28.83,14.83,13.97
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$STATE,28694,end climb,SURFACE_DEPTH_REACHED
$STATE,28694,begin surface coast
$FINISH,0.3,1.024304
$STATE,28710,end surface coast,CONTROL_FINISHED_OK
$STATE,28710,begin surface
$SM_CCo,28726,73.45,0.761,0,0,1633,350.04
$SM_GC,0.87,6.47,0.00,73.45,0.076,0.000,0.761,162,1501,1633,-6.28,0.03,350.04,0,0,0,0,0,0,14.85,28.83,14.29
$IRIDIUM_FIX,2434.69,-3811.43,031012,050543
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.55
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,27.60
$XPDR_PINGS,1
$SC_FREEKB,7746720
$TM_FREEKB,7344576
$24V_AH,13.2,31.348
$10V_AH,13.5,0.000
$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,19.225,104.325,526.525,73.450,0.000,0.000,0.000,376.600,0.250,0.000,17.039,3241.649,22661.504,844.134,2429.651,225.793,0.000,2182.700,0.000,1880.556,0.000,0.552,0.000
$DEVICE_MAMPS,423.810,111.690,2368.440,761.175,0.000,0.000,0.000,172.890,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28748.000,6604.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.160,13.126,0.000,0.000
$MEM,345004
$DATA_FILE_SIZE,43304,1186
$CAP_FILE_SIZE,246103,0
$CFSIZE,260034560,249565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.042,  9.0,1
$GPS,031012,212252,2451.721,-3816.496,39,0.8,39,-14.0