version: 66.11
glider: 191
mission: 5
dive: 240
start: 12 2 112 5 52 29
data:
$ID,191
$MISSION,5
$DIVE,240
$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,320
$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,-4117.8892
$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,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,42
$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
$GPS1,021212,054104,2438.303,-3718.305,39,0.8,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-53.8
$GPS2,021212,055159,2438.292,-3718.306,17,0.9,17,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,7.2,62491,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-60.33,0.000,6,0.000,0.000,154,1513,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,3.7,-8.1,4,103,9.68,1.80,0.00,0.000,4,0.418,0.051,1981,2578,3464,1,0,0,0,0,0,13.94,14.56,28.83
$GC,327,-0.56,-97.3,31.6,-12.1,20,330,0.00,1.88,0.00,0.000,6,0.000,0.065,1981,1518,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,627,-0.53,-97.3,57.2,-8.4,40,631,0.15,1.83,0.00,0.000,4,0.247,0.054,2009,2575,3465,0,0,0,0,0,0,14.29,14.52,28.83
$GC,762,-0.53,-97.3,66.7,-7.6,49,765,0.00,1.88,0.00,0.000,6,0.000,0.066,2009,1515,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1062,-0.52,-97.3,94.0,-9.2,69,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1362,-0.52,-97.3,122.2,-8.7,89,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1515,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.52,-97.3,145.8,-6.9,109,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1515,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,-0.52,-97.3,163.0,-4.8,129,1965,0.00,1.83,0.00,0.000,4,0.000,0.055,2001,2576,3466,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2098,-0.52,-97.3,169.0,-4.6,138,2101,0.00,1.88,0.00,0.000,6,0.000,0.065,2001,1513,3467,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2397,-0.52,-97.3,184.6,-5.5,158,2401,0.00,1.90,0.00,0.000,4,0.000,0.088,2001,464,3466,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2488,-0.50,-97.3,190.6,-6.9,164,2492,0.15,1.77,0.00,0.000,6,0.233,0.044,2027,1520,3466,0,0,0,0,0,0,14.32,14.64,28.83
$GC,2787,-0.52,-97.3,209.4,-7.5,184,2791,0.00,1.80,0.00,0.000,4,0.000,0.054,2022,2579,3466,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2937,-0.55,-97.3,221.2,-8.1,194,2941,0.00,1.88,0.00,0.000,6,0.000,0.065,2022,1511,3466,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3237,-0.56,-97.3,245.2,-7.1,214,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3554,-0.57,-97.3,264.6,-5.7,227,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3853,-0.59,-97.3,281.6,-5.9,237,3856,0.00,1.83,0.00,0.000,4,0.000,0.055,2015,2580,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3988,-0.61,-97.3,289.5,-5.9,242,3991,0.00,1.85,0.00,0.000,6,0.000,0.065,2014,1520,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4302,-0.61,-97.3,308.4,-6.0,253,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-0.62,-97.3,324.2,-5.0,263,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4903,-0.63,-97.3,340.0,-5.4,273,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5201,-0.63,-97.3,360.2,-7.3,283,5205,0.00,1.90,0.00,0.000,4,0.000,0.089,2014,464,3461,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5260,-0.63,-97.3,364.0,-8.0,285,5264,0.00,1.77,0.00,0.000,6,0.000,0.044,2007,1521,3461,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5562,-0.63,-97.3,392.7,-9.5,295,5566,0.00,1.80,0.00,0.000,4,0.000,0.057,1999,2578,3460,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5711,-0.65,-97.3,405.6,-9.6,300,5714,0.00,1.85,0.00,0.000,6,0.000,0.067,1999,1521,3459,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6012,-0.65,-97.3,434.5,-8.8,310,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6311,-0.65,-97.3,457.7,-7.4,320,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,-0.65,-97.3,476.0,-5.4,330,6616,0.00,1.80,0.00,0.000,4,0.000,0.056,1991,2576,3457,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6761,-0.65,-97.3,482.2,-4.7,335,6764,0.00,1.88,0.00,0.000,6,0.000,0.068,1991,1513,3456,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7062,-0.65,-97.3,496.6,-4.7,345,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1513,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,-0.65,-97.3,513.1,-6.1,355,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1513,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7661,-0.65,-97.3,536.2,-8.6,365,7665,0.00,1.83,0.00,0.000,4,0.000,0.057,1983,2577,3454,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7811,-0.65,-97.3,548.7,-9.3,370,7815,0.00,1.88,0.00,0.000,6,0.000,0.068,1984,1518,3454,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8112,-0.63,-97.3,579.9,-9.8,380,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1518,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8412,-0.62,-97.3,605.6,-8.0,390,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1518,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,-0.61,-97.3,624.6,-5.8,400,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9012,-0.61,-97.3,640.1,-5.1,410,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9313,-0.61,-97.3,656.2,-5.5,420,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1518,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9611,-0.61,-97.3,674.0,-6.4,430,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1518,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9912,-0.61,-97.3,694.2,-6.8,440,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10211,-0.61,-97.3,717.0,-7.9,450,10215,0.00,1.83,0.00,0.000,4,0.000,0.059,1975,2574,3446,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10300,-0.61,-97.3,723.4,-8.5,453,10304,0.00,1.88,0.00,0.000,6,0.000,0.071,1975,1522,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10604,-0.60,-97.3,754.4,-10.2,463,10608,0.00,1.83,0.00,0.000,4,0.000,0.059,1968,2577,3445,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10690,-0.60,-97.3,762.3,-10.5,466,10694,0.00,1.90,0.00,0.000,6,0.000,0.071,1968,1515,3444,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10992,-0.58,-97.3,798.3,-11.7,476,10994,0.12,0.00,0.00,0.000,6,0.264,0.000,1994,1515,3447,0,0,0,0,0,0,14.35,28.83,28.83
$GC,11291,-0.58,-97.3,827.6,-9.4,486,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1515,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11592,-0.58,-97.3,852.3,-7.6,496,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1515,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11892,-0.58,-97.3,870.6,-5.4,506,11895,0.00,1.85,0.00,0.000,4,0.000,0.060,1989,2576,3441,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11981,-0.59,-97.3,873.9,-4.6,509,11985,0.00,1.90,0.00,0.000,6,0.000,0.072,1989,1520,3440,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12282,-0.59,-97.3,886.1,-3.6,519,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12582,-0.59,-97.3,897.1,-4.0,529,12583,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12883,-0.59,-97.3,911.8,-5.1,539,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13181,-0.59,-97.3,930.3,-6.6,549,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1519,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13482,-0.59,-97.3,950.8,-7.0,559,13486,0.00,1.85,0.00,0.000,4,0.000,0.061,1981,2575,3435,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13557,-0.59,-97.3,955.9,-6.8,562,13561,0.00,1.90,0.00,0.000,6,0.000,0.073,1981,1521,3435,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13871,-0.59,-97.3,977.8,-6.8,573,13875,0.00,1.98,0.00,0.000,4,0.000,0.097,1981,460,3434,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,13915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13915,begin apogee
$GC,13922,-0.18,0.0,981.3,-7.1,575,14045,0.57,0.00,114.38,2.115,6,0.217,0.000,2125,1409,3064,0,0,0,0,1,0,14.13,28.83,13.02
$STATE,14047,end apogee,CONTROL_FINISHED_OK
$STATE,14047,begin climb
$GC,14049,0.60,97.3,985.1,0.0,579,14188,0.82,2.10,127.18,2.132,4,0.129,0.101,2386,338,2666,0,0,0,0,1,0,14.09,13.95,12.95
$GC,14337,0.54,116.3,980.3,5.2,589,14385,0.00,1.85,37.70,1.403,6,0.000,0.050,2386,1403,2587,0,0,0,0,1,0,28.83,14.45,13.23
$GC,14682,0.49,131.1,961.0,5.4,600,14722,0.15,0.00,32.70,1.258,6,0.280,0.000,2360,1404,2527,0,0,0,0,1,0,14.31,28.83,13.39
$GC,15014,0.50,164.2,945.9,4.6,611,15077,0.00,2.03,53.67,1.710,4,0.000,0.105,2360,346,2394,0,0,0,0,1,0,28.83,14.28,13.29
$GC,15162,0.45,176.7,938.4,5.5,616,15206,0.00,1.83,30.92,1.187,6,0.000,0.051,2360,1397,2342,0,0,0,0,1,0,28.83,14.47,13.31
$GC,15507,0.42,176.7,916.7,6.3,628,15509,0.12,0.00,0.00,0.000,6,0.267,0.000,2335,1398,2339,0,0,0,0,0,0,14.38,28.83,28.83
$GC,15807,0.44,187.9,899.8,5.6,638,15845,0.00,1.85,28.48,1.102,4,0.000,0.060,2334,2455,2296,0,0,0,0,1,0,28.83,14.60,13.52
$GC,15943,0.45,196.0,891.9,5.7,643,15980,0.00,1.92,26.67,1.034,6,0.000,0.080,2340,1393,2261,0,0,0,0,1,0,28.83,14.52,13.52
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$STATE,28691,end climb,SURFACE_DEPTH_REACHED
$STATE,28691,begin surface coast
$FINISH,0.3,1.025432
$STATE,28707,end surface coast,CONTROL_FINISHED_OK
$STATE,28707,begin surface
$SM_CCo,28787,0.00,0.000,0,0,1671,341.21
$SM_GC,0.81,6.57,0.17,0.00,0.074,0.099,0.000,162,1525,1671,-6.29,-1.50,341.21,0,0,0,0,0,0,14.54,14.68,28.83
$IRIDIUM_FIX,2427.58,-3717.79,011212,212158
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.08
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,6
$SC_FREEKB,7677984
$TM_FREEKB,5508448
$24V_AH,12.9,114.210
$10V_AH,12.7,0.000
$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,19.250,115.850,684.275,0.000,0.000,0.000,0.000,354.625,1.500,0.000,19.342,3204.628,22419.129,926.240,2408.019,472.257,0.000,2266.990,0.000,1896.424,0.000,0.548,0.000
$DEVICE_MAMPS,417.690,104.805,2132.055,0.000,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28753.000,6545.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.251,13.006,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,43320,1178
$CAP_FILE_SIZE,244625,0
$CFSIZE,260034560,225390592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,13,1,0
$CURRENT,0.063,177.9,1
$GPS,021212,135334,2440.354,-3718.504,36,0.8,36,-13.8