version: 66.11
glider: 191
mission: 5
dive: 78
start: 10 9 112 5 35 40
data:
$ID,191
$MISSION,5
$DIVE,78
$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,-3900.7527
$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,35
$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
$GPS1,091012,052452,2431.453,-3844.538,40,0.8,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.5
$GPS2,091012,053512,2431.532,-3844.535,15,1.2,15,-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,203.6,65812,-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,-61.17,0.000,6,0.000,0.000,155,1506,3461,0,0,0,0,0,0,28.83,28.83,14.92
$GC,87,-0.60,-97.3,4.4,-9.2,4,101,9.23,1.88,0.00,0.000,4,0.417,0.077,1998,440,3463,0,0,0,0,0,0,14.44,14.66,28.83
$GC,325,-0.51,-97.3,45.4,-14.2,20,329,0.12,1.80,0.00,0.000,6,0.277,0.050,2017,1508,3465,0,0,0,0,0,0,14.62,14.79,28.83
$GC,625,-0.47,-97.3,76.1,-8.7,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1509,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.44,-97.3,104.8,-9.9,60,929,0.12,1.90,0.00,0.000,4,0.260,0.093,2048,444,3467,0,0,0,0,0,0,14.72,14.78,28.83
$GC,1016,-0.42,-97.3,113.7,-9.7,66,1019,0.00,1.77,0.00,0.000,6,0.000,0.049,2042,1501,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1315,-0.41,-97.3,137.4,-7.5,86,1319,0.00,1.80,0.00,0.000,4,0.000,0.058,2034,2566,3467,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1389,-0.41,-97.3,142.8,-7.2,91,1393,0.00,1.85,0.00,0.000,6,0.000,0.070,2034,1498,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1690,-0.40,-97.3,164.6,-7.2,111,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1499,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.40,-97.3,187.4,-7.5,131,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1495,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2289,-0.40,-97.3,209.3,-7.1,151,2293,0.00,1.88,0.00,0.000,4,0.000,0.091,2034,438,3467,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2365,-0.38,-97.3,214.8,-7.4,156,2370,0.15,1.77,0.00,0.000,6,0.239,0.050,2062,1502,3467,0,0,0,0,0,0,14.73,14.88,28.83
$GC,2666,-0.40,-97.3,226.0,-2.6,176,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1503,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,-0.42,-97.3,237.5,-4.8,196,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1503,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3266,-0.45,-97.3,254.4,-5.9,214,3269,0.00,1.77,0.00,0.000,4,0.000,0.060,2056,2557,3464,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3370,-0.48,-97.3,260.9,-6.2,218,3374,0.00,1.83,0.00,0.000,6,0.000,0.071,2056,1500,3464,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3686,-0.50,-97.3,282.9,-7.1,229,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,1500,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3986,-0.52,-97.3,301.1,-5.8,239,3988,0.12,0.00,0.00,0.000,6,0.143,0.000,2007,1500,3462,0,0,0,0,0,0,14.95,28.83,28.83
$GC,4285,-0.50,-97.3,324.4,-7.8,249,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1500,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4586,-0.48,-97.3,343.7,-6.1,259,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1500,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4885,-0.46,-97.3,364.5,-7.6,269,4890,0.12,1.90,0.00,0.000,4,0.252,0.095,2035,438,3458,0,0,0,0,0,0,14.79,14.86,28.83
$GC,4990,-0.45,-97.3,372.6,-7.8,273,4993,0.00,1.77,0.00,0.000,6,0.000,0.051,2029,1500,3458,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5305,-0.45,-97.3,394.8,-7.3,284,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1502,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.45,-97.3,417.3,-7.4,294,5608,0.00,1.88,0.00,0.000,4,0.000,0.095,2029,446,3456,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5710,-0.44,-97.3,425.3,-7.7,298,5713,0.00,1.77,0.00,0.000,6,0.000,0.054,2022,1502,3456,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6026,-0.44,-97.3,444.0,-5.9,309,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1503,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6324,-0.44,-97.3,464.8,-7.1,319,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1503,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6625,-0.44,-97.3,487.9,-7.9,329,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1503,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6925,-0.44,-97.3,510.4,-7.3,339,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1503,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7226,-0.44,-97.3,533.1,-7.7,349,7230,0.00,1.90,0.00,0.000,4,0.000,0.097,2022,443,3450,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7300,-0.44,-97.3,539.4,-8.2,352,7304,0.12,1.80,0.00,0.000,6,0.258,0.054,2041,1509,3449,0,0,0,0,0,0,14.73,14.93,28.83
$GC,7617,-0.46,-97.3,558.9,-5.7,363,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1511,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7916,-0.48,-97.3,575.3,-5.6,373,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1511,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8216,-0.49,-97.3,593.1,-6.1,383,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1511,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,-0.51,-97.3,611.5,-6.0,393,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1510,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8816,-0.53,-97.3,628.3,-5.3,403,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1511,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9116,-0.55,-97.3,644.5,-5.6,413,9119,0.00,1.92,0.00,0.000,4,0.000,0.099,2041,442,3443,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9204,-0.56,-97.3,649.4,-6.2,416,9208,0.00,1.80,0.00,0.000,6,0.000,0.055,2035,1503,3443,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9505,-0.58,-97.3,669.7,-6.6,426,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1505,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9806,-0.60,-97.3,687.7,-5.8,436,9808,0.12,0.00,0.00,0.000,6,0.145,0.000,1990,1505,3441,0,0,0,0,0,0,14.89,28.83,28.83
$GC,10106,-0.58,-97.3,708.5,-7.2,446,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1505,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10405,-0.55,-97.3,731.7,-7.8,456,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1505,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10705,-0.53,-97.3,757.3,-8.8,466,10709,0.00,1.92,0.00,0.000,4,0.000,0.100,1990,440,3438,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10780,-0.51,-97.3,764.3,-9.3,469,10785,0.17,1.80,0.00,0.000,6,0.256,0.057,2022,1500,3437,0,0,0,0,0,0,14.64,14.88,28.83
$GC,11095,-0.51,-97.3,784.7,-6.1,480,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1502,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11395,-0.51,-97.3,803.2,-6.1,490,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1502,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11695,-0.51,-97.3,819.7,-5.1,500,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1502,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11996,-0.51,-97.3,834.7,-4.8,510,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1504,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12295,-0.52,-97.3,848.2,-4.6,520,12297,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1502,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12596,-0.53,-97.3,863.3,-5.3,530,12600,0.00,1.92,0.00,0.000,4,0.000,0.103,2022,446,3431,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12669,-0.53,-97.3,868.6,-6.7,533,12673,0.00,1.83,0.00,0.000,6,0.000,0.060,2017,1507,3432,0,0,0,0,0,0,28.83,14.85,28.83
$GC,12985,-0.53,-97.3,890.4,-7.1,544,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1508,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13285,-0.53,-97.3,913.2,-7.6,554,13289,0.00,1.95,0.00,0.000,4,0.000,0.104,2017,440,3429,0,0,0,0,0,0,28.83,14.71,28.83
$GC,13359,-0.53,-97.3,919.7,-8.3,557,13363,0.00,1.83,0.00,0.000,6,0.000,0.060,2010,1500,3429,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13675,-0.53,-97.3,943.3,-7.5,568,13679,0.00,1.85,0.00,0.000,4,0.000,0.070,2001,2570,3428,0,0,0,0,0,0,28.83,14.77,28.83
$GC,13780,-0.53,-97.3,950.9,-7.3,572,13783,0.00,1.90,0.00,0.000,6,0.000,0.082,2001,1503,3428,0,0,0,0,0,0,28.83,14.78,28.83
$GC,14095,-0.53,-97.3,974.7,-7.3,583,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1503,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14183,begin apogee
$GC,14187,-0.18,0.0,981.0,-6.9,586,14306,0.45,0.00,110.00,2.207,6,0.220,0.000,2124,1503,3062,0,0,0,0,1,0,14.61,28.83,13.27
$STATE,14307,end apogee,CONTROL_FINISHED_OK
$STATE,14307,begin climb
$GC,14309,0.60,97.3,984.1,0.0,590,14447,0.85,1.95,126.97,2.293,4,0.145,0.068,2376,2562,2666,0,0,0,0,1,0,14.15,14.04,13.23
$GC,14514,0.48,143.9,978.1,4.1,596,14593,0.17,1.98,67.85,1.949,6,0.276,0.082,2347,1494,2476,0,0,0,0,1,0,14.24,14.35,13.29
$GC,14905,0.46,143.9,946.7,8.3,610,14909,0.00,1.95,0.00,0.000,4,0.000,0.106,2353,441,2473,0,0,0,0,0,0,28.83,14.59,28.83
$GC,15024,0.43,143.9,937.4,8.9,614,15028,0.00,1.85,0.00,0.000,6,0.000,0.060,2353,1506,2471,0,0,0,0,0,0,28.83,14.70,28.83
$GC,15326,0.40,143.9,911.5,7.9,624,15328,0.12,0.00,0.00,0.000,6,0.260,0.000,2326,1504,2470,0,0,0,0,0,0,14.62,28.83,28.83
$GC,15625,0.42,156.0,893.5,5.5,634,15660,0.00,0.00,27.80,1.111,6,0.000,0.000,2326,1508,2428,0,0,0,0,1,0,28.83,28.83,13.95
$GC,15956,0.45,183.1,876.3,4.9,645,16015,0.00,1.98,47.00,1.673,4,0.000,0.110,2332,435,2317,0,0,0,0,1,0,28.83,14.42,13.65
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$STATE,28060,end climb,SURFACE_DEPTH_REACHED
$STATE,28060,begin surface coast
$FINISH,0.6,1.024352
$STATE,28077,end surface coast,CONTROL_FINISHED_OK
$STATE,28077,begin surface
$SM_CCo,28096,23.85,0.770,0,0,1634,350.04
$SM_GC,0.50,6.65,1.80,23.85,0.076,0.055,0.770,159,1500,1634,-6.29,-0.96,350.04,0,0,0,0,0,0,14.76,14.77,14.33
$IRIDIUM_FIX,2427.58,-3845.51,081012,212129
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.53
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,27.10
$XPDR_PINGS,3
$SC_FREEKB,7740192
$TM_FREEKB,7172000
$24V_AH,13.2,39.162
$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,19.025,119.600,560.375,23.850,0.000,0.000,0.000,380.025,0.750,0.000,16.237,3228.077,22000.691,814.730,2442.865,247.847,0.000,2173.202,0.000,1891.270,0.000,0.552,0.000
$DEVICE_MAMPS,416.925,110.160,2293.470,769.590,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28102.000,6922.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.252,13.131,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,43268,1177
$CAP_FILE_SIZE,245946,0
$CFSIZE,260034560,247250944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.010,194.4,1
$GPS,091012,132535,2428.437,-3845.246,33,0.8,33,-14.2