version: 66.11
glider: 191
mission: 5
dive: 80
start: 10 9 112 21 29 28
data:
$ID,191
$MISSION,5
$DIVE,80
$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,-3903.4609
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,091012,211935,2425.938,-3845.700,28,1.1,28,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-55.8
$GPS2,091012,212900,2425.941,-3845.767,15,1.3,16,-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,182.1,55532,-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,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-60.78,0.000,6,0.000,0.000,158,1502,3460,0,0,0,0,0,0,28.83,28.83,14.91
$GC,87,-0.60,-97.3,4.5,-9.7,4,101,9.25,1.85,0.00,0.000,4,0.419,0.073,1995,447,3463,0,0,0,0,0,0,14.42,14.66,28.83
$GC,325,-0.50,-97.3,44.7,-14.1,20,329,0.15,1.77,0.00,0.000,6,0.279,0.050,2021,1495,3463,0,0,0,0,0,0,14.58,14.76,28.83
$GC,625,-0.47,-97.3,76.1,-9.6,40,629,0.00,1.80,0.00,0.000,4,0.000,0.059,2016,2560,3464,0,0,0,0,0,0,28.83,14.81,28.83
$GC,790,-0.44,-97.3,90.2,-8.8,51,795,0.12,1.85,0.00,0.000,6,0.257,0.068,2043,1495,3466,0,0,0,0,0,0,14.68,14.81,28.83
$GC,1090,-0.43,-97.3,114.4,-6.5,71,1094,0.00,1.88,0.00,0.000,4,0.000,0.091,2043,443,3467,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1180,-0.40,-97.3,120.7,-7.1,77,1184,0.00,1.77,0.00,0.000,6,0.000,0.050,2038,1501,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1481,-0.39,-97.3,141.7,-6.9,97,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1502,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1779,-0.39,-97.3,159.0,-6.5,117,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1503,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.39,-97.3,181.5,-7.7,137,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1503,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.39,-97.3,203.9,-7.3,157,2383,0.00,1.77,0.00,0.000,4,0.000,0.059,2029,2557,3467,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2469,-0.39,-97.3,210.5,-7.4,163,2474,0.12,1.85,0.00,0.000,6,0.236,0.070,2058,1492,3466,0,0,0,0,0,0,14.74,14.85,28.83
$GC,2771,-0.41,-97.3,226.4,-4.7,183,2775,0.00,1.85,0.00,0.000,4,0.000,0.093,2058,446,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2935,-0.41,-97.3,235.7,-6.1,194,2938,0.00,1.77,0.00,0.000,6,0.000,0.050,2053,1505,3465,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3235,-0.42,-97.3,255.2,-7.2,212,3239,0.00,1.90,0.00,0.000,4,0.000,0.093,2053,439,3465,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3325,-0.42,-97.3,261.2,-7.9,215,3328,0.00,1.77,0.00,0.000,6,0.000,0.050,2045,1502,3465,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3625,-0.43,-97.3,284.9,-7.3,225,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1502,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3926,-0.44,-97.3,305.6,-6.5,235,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1502,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4225,-0.46,-97.3,323.8,-6.2,245,4229,0.00,1.88,0.00,0.000,4,0.000,0.093,2051,446,3461,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4314,-0.46,-97.3,329.3,-7.0,248,4318,0.00,1.77,0.00,0.000,6,0.000,0.052,2038,1504,3460,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4615,-0.46,-97.3,352.8,-7.6,258,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1505,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-0.46,-97.3,374.4,-7.1,268,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1505,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.46,-97.3,394.8,-6.4,278,5218,0.00,1.90,0.00,0.000,4,0.000,0.094,2038,439,3458,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5290,-0.46,-97.3,400.0,-6.8,281,5294,0.00,1.77,0.00,0.000,6,0.000,0.051,2030,1496,3458,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5604,-0.46,-97.3,420.8,-7.1,292,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1497,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5905,-0.46,-97.3,444.4,-8.0,302,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6205,-0.46,-97.3,467.3,-7.2,312,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6506,-0.46,-97.3,486.5,-6.0,322,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6805,-0.46,-97.3,502.6,-5.1,332,6809,0.00,1.88,0.00,0.000,4,0.000,0.095,2030,445,3452,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6924,-0.46,-97.3,508.4,-5.5,336,6928,0.00,1.80,0.00,0.000,6,0.000,0.054,2021,1513,3452,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7225,-0.46,-97.3,526.9,-6.3,346,7229,0.00,1.77,0.00,0.000,4,0.000,0.063,2014,2566,3450,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7313,-0.46,-97.3,531.8,-6.7,349,7317,0.00,1.88,0.00,0.000,6,0.000,0.075,2014,1495,3449,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7615,-0.46,-97.3,556.8,-8.2,359,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1495,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,-0.46,-97.3,579.9,-7.3,369,7919,0.00,1.88,0.00,0.000,4,0.000,0.097,2014,446,3447,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8080,-0.43,-97.3,593.4,-8.3,375,8084,0.17,1.77,0.00,0.000,6,0.237,0.054,2048,1498,3446,0,0,0,0,0,0,14.71,14.92,28.83
$GC,8397,-0.46,-97.3,610.7,-5.3,386,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1499,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8695,-0.49,-97.3,629.3,-6.6,396,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1499,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8996,-0.51,-97.3,648.8,-6.4,406,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1499,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,-0.54,-97.3,666.6,-5.8,416,9299,0.00,1.90,0.00,0.000,4,0.000,0.099,2048,444,3443,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9370,-0.57,-97.3,671.3,-6.1,419,9374,0.12,1.80,0.00,0.000,6,0.146,0.056,1998,1503,3442,0,0,0,0,0,0,14.87,14.90,28.83
$GC,9686,-0.55,-97.3,696.6,-8.6,430,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1505,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,-0.54,-97.3,725.2,-9.9,440,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1505,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10286,-0.53,-97.3,754.0,-9.3,450,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1505,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10586,-0.51,-97.3,776.0,-6.3,460,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1505,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10886,-0.50,-97.3,788.9,-3.5,470,10890,0.12,1.92,0.00,0.000,4,0.259,0.100,2025,445,3437,0,0,0,0,0,0,14.66,14.81,28.83
$GC,10990,-0.50,-97.3,792.2,-3.2,474,10994,0.00,1.83,0.00,0.000,6,0.000,0.057,2019,1510,3436,0,0,0,0,0,0,28.83,14.87,28.83
$GC,11307,-0.50,-97.3,802.3,-3.7,485,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1511,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11605,-0.50,-97.3,816.1,-4.9,495,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1511,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11905,-0.50,-97.3,833.9,-6.2,505,11909,0.00,1.95,0.00,0.000,4,0.000,0.102,2019,440,3432,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12024,-0.50,-97.3,841.7,-7.4,509,12028,0.00,1.83,0.00,0.000,6,0.000,0.058,2011,1503,3433,0,0,0,0,0,0,28.83,14.85,28.83
$GC,12325,-0.50,-97.3,863.6,-7.0,519,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1505,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12626,-0.50,-97.3,885.3,-7.4,529,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1505,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12925,-0.50,-97.3,907.9,-7.5,539,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1505,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13225,-0.50,-97.3,930.0,-7.2,549,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1505,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13525,-0.50,-97.3,951.2,-6.9,559,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1505,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13826,-0.50,-97.3,971.4,-6.7,569,13829,0.00,1.95,0.00,0.000,4,0.000,0.104,2011,441,3427,0,0,0,0,0,0,28.83,14.71,28.83
$GC,13944,-0.50,-97.3,978.8,-7.2,573,13948,0.00,1.83,0.00,0.000,6,0.000,0.061,2003,1498,3427,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,13973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13973,begin apogee
$GC,13977,-0.18,0.0,981.9,-7.1,574,14096,0.45,0.00,109.12,2.185,6,0.214,0.000,2127,1499,3064,0,0,0,0,1,0,14.60,28.83,13.31
$STATE,14098,end apogee,CONTROL_FINISHED_OK
$STATE,14098,begin climb
$GC,14099,0.60,97.3,984.6,0.0,578,14235,0.85,0.00,126.57,2.280,6,0.142,0.000,2379,1499,2665,0,0,0,0,1,0,14.16,28.83,13.19
$GC,14515,0.53,97.3,964.1,6.9,592,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1499,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14815,0.47,97.3,944.8,6.4,602,14820,0.15,1.95,0.00,0.000,4,0.273,0.106,2353,441,2659,0,0,0,0,0,0,14.54,14.66,28.83
$GC,14964,0.43,100.4,936.8,5.9,607,14968,0.00,1.85,0.00,0.000,6,0.000,0.060,2353,1508,2658,0,0,0,0,0,0,28.83,14.76,28.83
$GC,15266,0.42,124.5,920.3,5.0,617,15318,0.00,0.00,44.45,1.651,6,0.000,0.000,2354,1509,2554,0,0,0,0,1,0,28.83,28.83,13.70
$GC,15597,0.39,124.5,900.6,6.4,628,15599,0.15,0.00,0.00,0.000,6,0.256,0.000,2321,1510,2554,0,0,0,0,0,0,14.55,28.83,28.83
$GC,15895,0.41,141.0,884.6,5.4,638,15936,0.00,0.00,33.90,1.366,6,0.000,0.000,2320,1510,2486,0,0,0,0,1,0,28.83,28.83,13.75
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$STATE,28899,end climb,SURFACE_DEPTH_REACHED
$STATE,28899,begin surface coast
$FINISH,0.0,0.998365
$STATE,28930,end surface coast,CONTROL_FINISHED_OK
$STATE,28930,begin surface
$SM_CCo,28945,11.50,0.787,0,0,1633,350.04
$SM_GC,1.69,6.50,0.00,11.50,0.078,0.000,0.787,159,1502,1633,-6.29,0.06,350.04,0,0,0,0,0,0,14.78,28.83,14.36
$IRIDIUM_FIX,2420.48,-3845.88,091012,131327
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.18
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,27.10
$XPDR_PINGS,0
$SC_FREEKB,7739424
$TM_FREEKB,7151776
$24V_AH,13.2,40.087
$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,18.850,119.075,579.775,11.500,0.000,0.000,0.000,330.700,0.000,0.000,16.907,3264.220,22766.320,846.238,2394.810,244.509,0.000,2150.767,0.000,1897.555,0.000,0.550,0.000
$DEVICE_MAMPS,419.220,107.865,2280.465,787.185,0.000,0.000,0.000,179.775,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28951.000,6509.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.112,13.131,0.000,0.000
$MEM,344744
$DATA_FILE_SIZE,43246,1188
$CAP_FILE_SIZE,246407,0
$CFSIZE,260034560,246980608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.024, 38.3,1
$GPS,101012,053323,2423.243,-3844.900,37,0.9,37,-14.3