version: 66.11
glider: 191
mission: 5
dive: 271
start: 12 12 112 16 5 23
data:
$ID,191
$MISSION,5
$DIVE,271
$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,-4159.0747
$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,22
$R_STBD_OVSHOOT,48
$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
$GPS1,121212,154553,2513.007,-3812.813,39,0.8,39,-14.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-54.3
$GPS2,121212,160453,2513.029,-3812.833,16,1.2,16,-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,291.8,52263,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-57.30,0.000,6,0.000,0.000,158,1520,3458,0,0,0,0,0,0,28.83,28.83,14.80
$GC,90,-0.60,-97.3,4.7,-9.5,4,105,9.82,1.77,0.00,0.000,4,0.417,0.051,1982,2570,3461,1,0,0,0,0,0,13.86,14.59,28.83
$GC,328,-0.57,-97.3,32.8,-8.1,20,332,0.00,1.88,0.00,0.000,6,0.000,0.064,1981,1508,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,628,-0.53,-97.3,61.7,-9.8,40,632,0.15,1.80,0.00,0.000,4,0.251,0.052,2009,2569,3462,0,0,0,0,0,0,14.35,14.52,28.83
$GC,793,-0.53,-97.3,75.3,-8.1,51,797,0.00,1.85,0.00,0.000,6,0.000,0.064,2008,1520,3461,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1093,-0.53,-97.3,95.9,-6.6,71,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1393,-0.53,-97.3,112.4,-6.0,91,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-0.53,-97.3,131.9,-6.7,111,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,-0.53,-97.3,153.8,-7.0,131,1996,0.00,1.77,0.00,0.000,4,0.000,0.053,2002,2567,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2128,-0.53,-97.3,163.3,-7.2,140,2132,0.00,1.85,0.00,0.000,6,0.000,0.065,2001,1514,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2427,-0.53,-97.3,187.7,-8.4,160,2431,0.00,1.88,0.00,0.000,4,0.000,0.085,2001,467,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2579,-0.51,-97.3,201.8,-9.4,170,2583,0.00,1.75,0.00,0.000,6,0.000,0.042,1993,1516,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2878,-0.51,-97.3,227.1,-8.1,190,2883,0.12,1.88,0.00,0.000,4,0.239,0.085,2021,467,3463,0,0,0,0,0,0,14.43,14.54,28.83
$GC,2938,-0.51,-97.3,231.7,-7.6,194,2942,0.00,1.75,0.00,0.000,6,0.000,0.042,2016,1518,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3239,-0.53,-97.3,252.4,-6.4,213,3242,0.00,1.77,0.00,0.000,4,0.000,0.053,2008,2576,3462,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3327,-0.54,-97.3,257.1,-6.3,216,3331,0.00,1.85,0.00,0.000,6,0.000,0.064,2008,1513,3462,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3628,-0.54,-97.3,277.8,-6.8,226,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1513,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3927,-0.54,-97.3,298.0,-6.5,236,3931,0.00,1.88,0.00,0.000,4,0.000,0.086,2008,462,3461,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4002,-0.54,-97.3,303.0,-6.6,239,4006,0.00,1.77,0.00,0.000,6,0.000,0.043,2000,1528,3461,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4320,-0.54,-97.3,320.0,-5.1,250,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1528,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4618,-0.54,-97.3,336.4,-5.7,260,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1528,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,-0.54,-97.3,356.4,-7.1,270,4921,0.00,1.77,0.00,0.000,4,0.000,0.056,1993,2575,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5023,-0.54,-97.3,364.2,-7.5,274,5027,0.00,1.85,0.00,0.000,6,0.000,0.067,1992,1520,3457,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5337,-0.54,-97.3,391.3,-8.7,285,5341,0.00,1.90,0.00,0.000,4,0.000,0.087,1992,459,3457,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5414,-0.53,-97.3,398.4,-9.2,288,5419,0.12,1.77,0.00,0.000,6,0.248,0.045,2011,1518,3457,0,0,0,0,0,0,14.43,14.74,28.83
$GC,5729,-0.55,-97.3,420.9,-6.4,299,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6029,-0.57,-97.3,436.0,-4.7,309,6032,0.00,1.77,0.00,0.000,4,0.000,0.055,2006,2574,3455,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6163,-0.59,-97.3,442.3,-4.8,314,6167,0.00,1.85,0.00,0.000,6,0.000,0.067,2006,1521,3454,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6479,-0.59,-97.3,459.5,-5.8,325,6482,0.00,1.90,0.00,0.000,4,0.000,0.089,2006,463,3454,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6552,-0.59,-97.3,464.7,-6.6,328,6556,0.00,1.77,0.00,0.000,6,0.000,0.044,1998,1524,3453,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6868,-0.59,-97.3,485.7,-6.6,339,6872,0.00,1.77,0.00,0.000,4,0.000,0.056,1990,2573,3454,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6986,-0.59,-97.3,492.3,-6.4,343,6990,0.00,1.85,0.00,0.000,6,0.000,0.067,1990,1521,3452,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7288,-0.59,-97.3,512.3,-6.5,353,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7588,-0.59,-97.3,534.3,-7.8,363,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7887,-0.59,-97.3,558.8,-8.3,373,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8188,-0.59,-97.3,585.1,-8.6,383,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.59,-97.3,608.5,-7.3,393,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8788,-0.59,-97.3,627.9,-6.1,403,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9089,-0.59,-97.3,645.7,-5.9,413,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9387,-0.59,-97.3,664.9,-6.6,423,9391,0.00,1.92,0.00,0.000,4,0.000,0.090,1990,459,3444,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9477,-0.59,-97.3,670.6,-7.5,426,9481,0.00,1.80,0.00,0.000,6,0.000,0.047,1983,1520,3444,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9778,-0.59,-97.3,693.9,-7.4,436,9781,0.00,1.83,0.00,0.000,4,0.000,0.058,1975,2581,3443,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9852,-0.59,-97.3,699.4,-7.3,439,9856,0.00,1.90,0.00,0.000,6,0.000,0.070,1975,1512,3443,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10168,-0.59,-97.3,721.2,-6.5,450,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1510,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10468,-0.59,-97.3,740.4,-6.5,460,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1515,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10768,-0.59,-97.3,761.9,-7.6,470,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1510,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11068,-0.59,-97.3,785.8,-8.1,480,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1510,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11368,-0.59,-97.3,808.8,-7.5,490,11371,0.00,1.85,0.00,0.000,4,0.000,0.059,1967,2577,3438,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11457,-0.59,-97.3,814.2,-7.1,493,11462,0.12,1.90,0.00,0.000,6,0.249,0.071,1992,1514,3437,0,0,0,0,0,0,14.26,14.53,28.83
$GC,11760,-0.60,-97.3,834.6,-6.4,503,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1513,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12059,-0.61,-97.3,853.6,-6.4,513,12062,0.00,1.85,0.00,0.000,4,0.000,0.060,1987,2577,3435,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12163,-0.63,-97.3,860.0,-6.1,517,12167,0.00,1.90,0.00,0.000,6,0.000,0.071,1987,1519,3434,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12480,-0.63,-97.3,878.6,-5.8,528,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12778,-0.63,-97.3,895.2,-5.5,538,12779,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13079,-0.63,-97.3,912.2,-5.9,548,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13377,-0.63,-97.3,931.9,-6.9,558,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13678,-0.63,-97.3,954.8,-8.1,568,13679,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13975,begin apogee
$GC,13982,-0.18,0.0,980.3,-8.6,578,14105,0.52,0.00,114.43,2.120,6,0.200,0.000,2128,1388,3062,0,0,0,0,1,0,14.12,28.83,12.95
$STATE,14107,end apogee,CONTROL_FINISHED_OK
$STATE,14107,begin climb
$GC,14110,0.60,97.3,986.9,0.0,582,14249,0.80,2.03,128.00,2.108,4,0.124,0.101,2383,349,2665,0,0,0,0,1,0,14.08,13.97,12.93
$GC,14472,0.57,147.0,986.0,4.0,594,14554,0.00,1.83,72.35,1.877,6,0.000,0.049,2384,1409,2462,0,0,0,0,1,0,28.83,14.54,13.09
$GC,14863,0.52,147.0,961.1,6.8,608,14867,0.00,1.98,0.00,0.000,4,0.000,0.099,2391,345,2457,0,0,0,0,0,0,28.83,14.50,28.83
$GC,14938,0.46,147.0,955.2,7.5,611,14942,0.22,1.80,0.00,0.000,6,0.259,0.050,2340,1403,2456,0,0,0,0,0,0,14.32,14.64,28.83
$GC,15256,0.48,177.1,939.5,4.8,622,15314,0.00,0.00,48.95,1.635,6,0.000,0.000,2341,1403,2338,0,0,0,0,1,0,28.83,28.83,13.32
$GC,15614,0.50,197.2,920.9,5.2,634,15659,0.00,0.00,37.45,1.392,6,0.000,0.000,2340,1403,2260,0,0,0,0,1,0,28.83,28.83,13.32
$GC,15943,0.50,197.2,901.1,6.2,645,15947,0.00,1.80,0.00,0.000,4,0.000,0.059,2340,2445,2258,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,28315,end climb,SURFACE_DEPTH_REACHED
$STATE,28315,begin surface coast
$FINISH,0.2,1.011668
$STATE,28362,end surface coast,CONTROL_FINISHED_OK
$STATE,28362,begin surface
$SM_CCo,28382,24.75,0.708,0,0,1757,320.12
$SM_GC,0.73,6.62,0.17,24.75,0.074,0.094,0.708,155,1519,1757,-6.29,-1.47,320.12,0,0,0,0,0,0,14.59,14.69,14.10
$IRIDIUM_FIX,2503.20,-3809.83,121212,151506
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.48
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.90
$XPDR_PINGS,4
$SC_FREEKB,7666048
$TM_FREEKB,5183904
$24V_AH,12.9,129.296
$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,18.800,130.200,574.550,24.750,0.000,0.000,0.000,696.950,1.000,0.000,17.666,3230.246,22199.592,847.023,2746.028,512.195,0.000,2526.600,0.000,1910.339,0.000,0.549,0.000
$DEVICE_MAMPS,416.925,110.160,2119.815,707.625,0.000,0.000,0.000,185.130,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28414.000,6733.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.180,13.019,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,43348,1179
$CAP_FILE_SIZE,247830,0
$CFSIZE,260034560,221196288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.035,139.7,1
$GPS,131212,000004,2513.139,-3815.773,29,0.9,29,-14.0