version: 66.11
glider: 191
mission: 5
dive: 74
start: 10 7 112 21 18 4
data:
$ID,191
$MISSION,5
$DIVE,74
$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,-3895.4326
$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,22
$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
$GPS1,071012,210805,2442.130,-3844.550,36,0.9,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.4
$GPS2,071012,211735,2442.163,-3844.564,19,0.8,19,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,193.7,85500,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-62.30,0.000,2,0.000,0.000,161,1498,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.8,-7.7,4,104,9.23,1.90,-1.88,0.000,4,0.419,0.113,1996,440,3461,0,0,0,0,0,0,14.45,14.66,14.88
$GC,325,-0.50,-97.3,43.6,-15.4,20,329,0.15,1.80,0.00,0.000,6,0.279,0.050,2022,1506,3462,0,0,0,0,0,0,14.59,14.77,28.83
$GC,625,-0.47,-97.3,73.5,-9.9,40,629,0.00,1.90,0.00,0.000,4,0.000,0.090,2022,441,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,730,-0.42,-97.3,84.1,-10.0,47,735,0.15,1.77,0.00,0.000,6,0.261,0.049,2050,1498,3464,0,0,0,0,0,0,14.68,14.85,28.83
$GC,1029,-0.42,-97.3,110.3,-7.4,67,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1499,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1330,-0.42,-97.3,127.8,-5.5,87,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1499,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1629,-0.42,-97.3,147.5,-7.7,107,1633,0.00,1.80,0.00,0.000,4,0.000,0.060,2044,2568,3465,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1720,-0.43,-97.3,155.1,-8.5,113,1724,0.00,1.88,0.00,0.000,6,0.000,0.070,2044,1490,3465,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2020,-0.43,-97.3,179.1,-6.7,133,2023,0.00,1.85,0.00,0.000,4,0.000,0.092,2044,445,3465,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2125,-0.41,-97.3,186.7,-6.8,140,2129,0.00,1.77,0.00,0.000,6,0.000,0.051,2037,1503,3465,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2425,-0.41,-97.3,203.8,-5.9,160,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1504,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2725,-0.41,-97.3,223.3,-6.9,180,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1504,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3024,-0.41,-97.3,242.3,-6.2,200,3028,0.00,1.90,0.00,0.000,4,0.000,0.093,2037,437,3463,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3116,-0.40,-97.3,248.6,-7.1,206,3120,0.12,1.80,0.00,0.000,6,0.250,0.050,2057,1511,3465,0,0,0,0,0,0,14.74,14.90,28.83
$GC,3416,-0.42,-97.3,265.6,-5.8,217,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3716,-0.44,-97.3,283.7,-6.0,227,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1512,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4016,-0.46,-97.3,300.3,-5.4,237,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,1512,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-0.48,-97.3,316.4,-5.6,247,4319,0.00,1.90,0.00,0.000,4,0.000,0.095,2057,444,3460,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4390,-0.50,-97.3,321.4,-6.4,250,4394,0.00,1.77,0.00,0.000,6,0.000,0.054,2052,1499,3460,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4706,-0.51,-97.3,342.0,-6.6,261,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1499,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5005,-0.53,-97.3,361.8,-6.3,271,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1499,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5305,-0.55,-97.3,377.4,-4.7,281,5307,0.12,0.00,0.00,0.000,6,0.140,0.000,2002,1499,3457,0,0,0,0,0,0,14.95,28.83,28.83
$GC,5605,-0.53,-97.3,397.9,-7.2,291,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1500,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5905,-0.51,-97.3,419.8,-7.4,301,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1500,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6206,-0.49,-97.3,441.3,-7.1,311,6210,0.12,1.90,0.00,0.000,4,0.256,0.097,2029,446,3452,0,0,0,0,0,0,14.77,14.88,28.83
$GC,6295,-0.47,-97.3,446.5,-6.9,314,6299,0.00,1.77,0.00,0.000,6,0.000,0.054,2024,1498,3453,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6595,-0.47,-97.3,468.4,-7.2,324,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1499,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6895,-0.47,-97.3,489.0,-6.7,334,6899,0.00,1.88,0.00,0.000,4,0.000,0.096,2024,447,3451,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7014,-0.46,-97.3,496.6,-7.2,338,7018,0.00,1.77,0.00,0.000,6,0.000,0.054,2017,1501,3451,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7315,-0.46,-97.3,516.8,-6.6,348,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1502,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7615,-0.46,-97.3,540.2,-8.2,358,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1502,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,-0.46,-97.3,565.6,-8.4,368,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1502,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8215,-0.46,-97.3,588.4,-7.2,378,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1502,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8515,-0.46,-97.3,608.2,-6.3,388,8518,0.00,1.90,0.00,0.000,4,0.000,0.097,2017,443,3446,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8634,-0.44,-97.3,615.6,-7.1,392,8639,0.15,1.80,0.00,0.000,6,0.247,0.055,2043,1506,3446,0,0,0,0,0,0,14.72,14.92,28.83
$GC,8936,-0.47,-97.3,632.0,-5.1,402,8940,0.00,1.90,0.00,0.000,4,0.000,0.097,2043,446,3445,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9041,-0.48,-97.3,638.4,-6.2,406,9044,0.00,1.80,0.00,0.000,6,0.000,0.055,2038,1509,3442,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9356,-0.50,-97.3,658.4,-6.4,417,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1510,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,-0.51,-97.3,676.7,-5.9,427,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1510,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,-0.53,-97.3,692.4,-4.9,437,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1510,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10256,-0.55,-97.3,707.3,-5.3,447,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1507,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10555,-0.57,-97.3,727.8,-7.3,457,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1510,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10856,-0.59,-97.3,752.7,-8.4,467,10858,0.12,0.00,0.00,0.000,6,0.145,0.000,1992,1511,3438,0,0,0,0,0,0,14.88,28.83,28.83
$GC,11155,-0.57,-97.3,781.3,-9.1,477,11159,0.00,1.92,0.00,0.000,4,0.000,0.099,1992,443,3436,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11231,-0.55,-97.3,788.1,-8.9,480,11234,0.00,1.80,0.00,0.000,6,0.000,0.057,1984,1498,3436,0,0,0,0,0,0,28.83,14.89,28.83
$GC,11546,-0.53,-97.3,810.2,-6.4,491,11548,0.15,0.00,0.00,0.000,6,0.263,0.000,2017,1499,3436,0,0,0,0,0,0,14.65,28.83,28.83
$GC,11845,-0.53,-97.3,823.0,-4.2,501,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1499,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12145,-0.53,-97.3,839.0,-5.8,511,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1499,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12445,-0.53,-97.3,857.8,-6.4,521,12448,0.00,1.92,0.00,0.000,4,0.000,0.102,2017,440,3430,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12534,-0.53,-97.3,863.3,-7.1,524,12537,0.00,1.83,0.00,0.000,6,0.000,0.060,2013,1503,3432,0,0,0,0,0,0,28.83,14.87,28.83
$GC,12835,-0.53,-97.3,884.6,-6.7,534,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1505,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13135,-0.53,-97.3,905.2,-6.9,544,13136,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1505,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13434,-0.53,-97.3,927.3,-7.4,554,13438,0.00,1.92,0.00,0.000,4,0.000,0.103,2011,446,3430,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13509,-0.53,-97.3,933.7,-8.2,557,13513,0.00,1.83,0.00,0.000,6,0.000,0.060,2004,1506,3430,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13825,-0.53,-97.3,957.6,-7.3,568,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1508,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14125,-0.53,-97.3,977.2,-6.0,578,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1508,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14183,begin apogee
$GC,14187,-0.18,0.0,980.4,-5.5,580,14306,0.45,0.00,108.90,2.160,6,0.217,0.000,2126,1508,3063,0,0,0,0,1,0,14.62,28.83,13.34
$STATE,14307,end apogee,CONTROL_FINISHED_OK
$STATE,14307,begin climb
$GC,14309,0.60,97.3,981.6,0.0,584,14444,0.85,0.00,126.53,2.279,6,0.141,0.000,2379,1508,2665,0,0,0,0,1,0,14.18,28.83,13.24
$GC,14725,0.54,97.3,950.6,9.6,598,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1508,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15025,0.48,97.3,923.1,8.9,608,15027,0.15,0.00,0.00,0.000,6,0.275,0.000,2354,1508,2659,0,0,0,0,0,0,14.56,28.83,28.83
$GC,15326,0.45,100.4,903.5,5.9,618,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1508,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15625,0.47,147.2,889.8,4.1,628,15704,0.00,2.03,68.90,1.931,4,0.000,0.108,2354,449,2462,0,0,0,0,1,0,28.83,14.28,13.52
$GC,15775,0.48,181.5,883.6,4.6,632,15838,0.00,1.85,54.15,1.795,6,0.000,0.060,2354,1499,2322,0,0,0,0,1,0,28.83,14.51,13.42
$GC,16135,0.46,181.5,860.5,6.6,644,16136,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1499,2318,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28328,end climb,SURFACE_DEPTH_REACHED
$STATE,28328,begin surface coast
$FINISH,-0.1,1.024432
$STATE,28344,end surface coast,CONTROL_FINISHED_OK
$STATE,28344,begin surface
$SM_CCo,28361,36.88,0.761,0,0,1633,350.04
$SM_GC,1.21,6.65,0.00,36.88,0.082,0.000,0.761,158,1498,1633,-6.30,-0.06,350.04,0,0,0,0,0,0,14.76,28.83,14.31
$IRIDIUM_FIX,2434.69,-3845.15,071012,131310
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.96
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.70
$XPDR_PINGS,1
$SC_FREEKB,7741728
$TM_FREEKB,7213344
$24V_AH,13.2,37.319
$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,19.675,111.625,525.250,36.875,0.000,0.000,0.000,337.825,0.250,0.000,20.800,3201.275,22381.254,793.265,2358.081,229.466,0.000,2088.215,0.000,1855.953,0.000,0.550,0.000
$DEVICE_MAMPS,419.220,113.220,2278.935,761.175,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28365.000,6596.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.184,13.086,0.000,0.000
$MEM,344796
$DATA_FILE_SIZE,43302,1170
$CAP_FILE_SIZE,243981,0
$CFSIZE,260034560,247799808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.034, 82.9,1
$GPS,081012,051234,2439.255,-3844.014,32,0.8,32,-14.2