version: 66.11
glider: 191
mission: 5
dive: 288
start: 12 18 112 13 26 11
data:
$ID,191
$MISSION,5
$DIVE,288
$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,-4180.8438
$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,50
$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
$GPS1,181212,131328,2442.049,-3840.617,35,0.8,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.6
$GPS2,181212,132541,2442.023,-3840.562,13,1.2,13,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,209.3,13231,-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,-56.92,0.000,6,0.000,0.000,160,1539,3459,0,0,0,0,0,0,28.83,28.83,14.76
$GC,89,-0.60,-97.3,4.9,-10.9,4,101,9.80,0.00,0.00,0.000,6,0.415,0.000,1986,1538,3460,1,0,0,0,0,0,13.83,28.83,28.83
$GC,402,-0.56,-97.3,39.2,-8.7,25,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1540,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,702,-0.54,-97.3,66.4,-8.8,45,703,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1541,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1002,-0.51,-97.3,93.6,-9.1,65,1004,0.15,0.00,0.00,0.000,6,0.239,0.000,2022,1541,3463,0,0,0,0,0,0,14.32,28.83,28.83
$GC,1302,-0.52,-97.3,114.8,-6.4,85,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1541,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-0.53,-97.3,131.9,-5.6,105,1606,0.00,1.75,0.00,0.000,4,0.000,0.055,2017,2566,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1693,-0.56,-97.3,137.0,-5.7,111,1697,0.00,1.85,0.00,0.000,6,0.000,0.064,2017,1516,3464,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1992,-0.56,-97.3,155.2,-6.1,131,1996,0.00,1.90,0.00,0.000,4,0.000,0.085,2017,463,3464,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2097,-0.56,-97.3,162.0,-6.4,138,2101,0.00,1.77,0.00,0.000,6,0.000,0.043,2010,1518,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2398,-0.56,-97.3,180.2,-6.0,158,2402,0.00,1.80,0.00,0.000,4,0.000,0.054,2002,2575,3464,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2518,-0.57,-97.3,187.3,-5.8,166,2522,0.00,1.88,0.00,0.000,6,0.000,0.064,2002,1510,3464,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2817,-0.57,-97.3,207.1,-7.4,186,2821,0.00,1.88,0.00,0.000,4,0.000,0.085,2002,464,3464,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2891,-0.57,-97.3,213.5,-8.8,191,2895,0.00,1.77,0.00,0.000,6,0.000,0.044,1994,1519,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3191,-0.57,-97.3,238.3,-7.8,211,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-0.57,-97.3,256.5,-5.2,227,3498,0.00,1.80,0.00,0.000,4,0.000,0.055,1986,2579,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3581,-0.57,-97.3,260.1,-4.8,230,3584,0.00,1.85,0.00,0.000,6,0.000,0.063,1986,1520,3463,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3882,-0.57,-97.3,279.5,-6.9,240,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-0.57,-97.3,301.5,-7.6,250,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4482,-0.57,-97.3,325.3,-8.3,260,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,-0.57,-97.3,349.9,-8.0,270,4786,0.00,1.90,0.00,0.000,4,0.000,0.086,1986,463,3460,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4857,-0.56,-97.3,356.4,-8.4,273,4862,0.12,1.77,0.00,0.000,6,0.243,0.044,2011,1521,3460,0,0,0,0,0,0,14.43,14.73,28.83
$GC,5174,-0.57,-97.3,377.1,-6.2,284,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1523,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5473,-0.58,-97.3,395.9,-6.4,294,5476,0.00,1.80,0.00,0.000,4,0.000,0.057,2000,2578,3459,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5591,-0.60,-97.3,403.1,-6.8,298,5595,0.00,1.85,0.00,0.000,6,0.000,0.066,2000,1521,3459,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5892,-0.60,-97.3,425.6,-7.2,308,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6192,-0.60,-97.3,446.7,-7.0,318,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6492,-0.60,-97.3,466.1,-6.5,328,6496,0.00,1.90,0.00,0.000,4,0.000,0.089,2000,466,3456,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6580,-0.60,-97.3,471.4,-6.9,331,6584,0.00,1.77,0.00,0.000,6,0.000,0.046,1992,1520,3456,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6882,-0.60,-97.3,491.4,-6.2,341,6885,0.00,1.80,0.00,0.000,4,0.000,0.057,1984,2576,3455,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7018,-0.60,-97.3,499.9,-6.5,346,7022,0.00,1.88,0.00,0.000,6,0.000,0.067,1984,1514,3455,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7332,-0.60,-97.3,523.1,-7.7,357,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1514,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,-0.60,-97.3,547.3,-8.2,367,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1514,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7932,-0.60,-97.3,571.2,-7.8,377,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1514,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,-0.60,-97.3,593.5,-7.2,387,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1514,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8532,-0.60,-97.3,613.9,-6.7,397,8536,0.00,1.83,0.00,0.000,4,0.000,0.058,1976,2576,3450,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8636,-0.60,-97.3,620.6,-6.3,401,8640,0.00,1.88,0.00,0.000,6,0.000,0.070,1976,1523,3449,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8954,-0.60,-97.3,639.4,-5.8,412,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1523,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9252,-0.60,-97.3,656.5,-6.1,422,9255,0.00,1.92,0.00,0.000,4,0.000,0.091,1976,466,3447,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9311,-0.58,-97.3,659.8,-6.6,424,9316,0.15,1.80,0.00,0.000,6,0.242,0.047,2002,1521,3447,0,0,0,0,0,0,14.31,14.66,28.83
$GC,9614,-0.60,-97.3,681.1,-7.1,434,9618,0.00,1.83,0.00,0.000,4,0.000,0.060,1995,2578,3446,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9761,-0.62,-97.3,690.9,-7.4,439,9765,0.00,1.90,0.00,0.000,6,0.000,0.069,1996,1513,3445,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10063,-0.63,-97.3,713.5,-6.9,449,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10362,-0.64,-97.3,732.6,-6.0,459,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10663,-0.65,-97.3,751.1,-6.2,469,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10962,-0.67,-97.3,770.2,-6.4,479,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11263,-0.68,-97.3,791.3,-7.1,489,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11562,-0.69,-97.3,811.5,-6.4,499,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1513,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11863,-0.70,-97.3,829.1,-5.6,509,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12162,-0.72,-97.3,845.7,-5.6,519,12164,0.12,0.00,0.00,0.000,6,0.145,0.000,1952,1513,3439,0,0,0,0,0,0,14.66,28.83,28.83
$GC,12463,-0.69,-97.3,868.2,-7.8,529,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1513,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12762,-0.67,-97.3,892.8,-8.2,539,12766,0.00,1.95,0.00,0.000,4,0.000,0.096,1952,463,3436,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12851,-0.64,-97.3,899.6,-8.9,542,12856,0.17,1.83,0.00,0.000,6,0.265,0.050,1981,1518,3436,0,0,0,0,0,0,14.09,14.56,28.83
$GC,13154,-0.64,-97.3,923.1,-7.2,552,13155,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13452,-0.64,-97.3,946.0,-7.6,562,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13752,-0.64,-97.3,967.5,-6.9,572,13753,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1520,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13959,begin apogee
$GC,13965,-0.18,0.0,981.6,-6.6,579,14090,0.52,0.00,115.53,2.078,6,0.205,0.000,2124,1392,3062,0,0,0,0,1,0,14.10,28.83,12.95
$STATE,14091,end apogee,CONTROL_FINISHED_OK
$STATE,14091,begin climb
$GC,14094,0.60,97.3,986.1,0.0,583,14233,0.82,2.05,126.97,2.047,4,0.125,0.102,2386,347,2666,0,0,0,0,1,0,14.09,14.00,12.95
$GC,14456,0.53,110.6,979.1,5.5,595,14501,0.00,1.85,30.58,1.170,6,0.000,0.052,2386,1411,2612,0,0,0,0,1,0,28.83,14.54,13.29
$GC,14802,0.49,130.2,960.1,5.2,607,14852,0.17,1.85,39.45,1.434,4,0.275,0.061,2349,2454,2532,0,0,0,0,1,0,14.31,14.47,13.30
$GC,14922,0.47,151.2,954.6,5.2,610,14973,0.00,1.92,41.10,1.460,6,0.000,0.077,2351,1401,2445,0,0,0,0,1,0,28.83,14.47,13.21
$GC,15282,0.44,151.2,930.9,6.8,623,15283,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1401,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15583,0.41,151.2,909.7,7.0,633,15588,0.15,1.98,0.00,0.000,4,0.269,0.104,2328,341,2441,0,0,0,0,0,0,14.38,14.52,28.83
$GC,15687,0.39,151.2,902.5,6.9,637,15691,0.00,1.83,0.00,0.000,6,0.000,0.053,2328,1402,2440,0,0,0,0,0,0,28.83,14.65,28.83
$GC,16004,0.40,156.3,883.2,5.8,648,16010,0.00,0.00,3.83,1.997,6,0.000,0.000,2328,1403,2424,0,0,0,0,0,0,28.83,28.83,13.35
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$STATE,28136,end climb,SURFACE_DEPTH_REACHED
$STATE,28136,begin surface coast
$FINISH,0.5,1.025218
$STATE,28153,end surface coast,CONTROL_FINISHED_OK
$STATE,28153,begin surface
$SM_CCo,28233,0.00,0.000,0,0,1620,353.72
$SM_GC,0.99,6.65,0.17,0.00,0.075,0.094,0.000,155,1522,1620,-6.30,-1.36,353.72,0,0,0,0,0,0,14.59,14.69,28.83
$IRIDIUM_FIX,2437.06,-3839.96,181212,050558
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.58
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.90
$XPDR_PINGS,7
$SC_FREEKB,7659520
$TM_FREEKB,5000864
$24V_AH,12.9,137.393
$10V_AH,12.6,0.000
$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,19.650,119.650,739.150,0.000,0.000,0.000,0.000,411.675,1.750,0.000,14.828,3178.255,21790.633,994.569,2430.315,560.098,0.000,2400.643,0.000,1913.377,0.000,0.549,0.000
$DEVICE_MAMPS,415.395,110.925,2077.740,0.000,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28204.000,6491.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.133,13.045,0.000,0.000
$MEM,345676
$DATA_FILE_SIZE,43278,1160
$CAP_FILE_SIZE,245851,0
$CFSIZE,260034560,218796032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,15,1,0
$CURRENT,0.051,168.5,1
$GPS,181212,211805,2438.283,-3841.269,38,1.0,38,-14.2