version: 66.11
glider: 191
mission: 5
dive: 289
start: 12 18 112 21 37 1
data:
$ID,191
$MISSION,5
$DIVE,289
$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,-4182.1011
$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,46
$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
$GPS1,181212,211805,2438.283,-3841.269,38,1.0,38,-14.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.1
$GPS2,181212,213617,2438.186,-3841.292,15,1.4,15,-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,213.7,6019,-19.0,-6.049,-23.31
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.75,-54.2,0.0,0.0,0,86,0.00,0.00,-56.92,0.000,6,0.000,0.000,155,1521,3283,0,0,0,0,0,0,28.83,28.83,14.79
$GC,89,-0.75,-54.2,3.9,-7.2,4,103,9.57,1.92,0.00,0.000,4,0.415,0.079,1948,460,3286,1,0,0,0,0,0,13.85,14.48,28.83
$GC,327,-0.71,-54.2,34.4,-11.0,20,331,0.00,1.80,0.00,0.000,6,0.000,0.044,1943,1520,3287,0,0,0,0,0,0,28.83,14.55,28.83
$GC,627,-0.69,-54.2,65.6,-10.3,40,631,0.00,1.92,0.00,0.000,4,0.000,0.084,1942,458,3286,0,0,0,0,0,0,28.83,14.40,28.83
$GC,854,-0.65,-54.2,89.2,-10.7,55,859,0.17,1.80,0.00,0.000,6,0.275,0.043,1974,1523,3287,0,0,0,0,0,0,14.26,14.64,28.83
$GC,1153,-0.66,-54.2,112.4,-6.6,75,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1524,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1452,-0.68,-54.2,130.9,-6.2,95,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1524,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1752,-0.70,-54.2,149.7,-6.8,115,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1524,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,-0.72,-54.2,171.4,-7.7,135,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1524,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-0.74,-54.2,196.8,-8.0,155,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1524,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,-0.77,-54.2,218.3,-6.7,175,2656,0.00,1.92,0.00,0.000,4,0.000,0.086,1974,459,3287,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2712,-0.78,-54.2,223.1,-8.0,179,2715,0.00,1.80,0.00,0.000,6,0.000,0.044,1968,1526,3287,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3012,-0.80,-54.2,245.0,-7.1,199,3016,0.12,1.80,0.00,0.000,4,0.147,0.056,1916,2577,3287,0,0,0,0,0,0,14.64,14.64,28.83
$GC,3101,-0.80,-54.2,250.9,-8.2,204,3105,0.00,1.85,0.00,0.000,6,0.000,0.065,1915,1517,3286,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3402,-0.78,-54.2,276.2,-7.9,214,3406,0.00,1.88,0.00,0.000,4,0.000,0.085,1915,464,3286,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3491,-0.75,-54.2,282.6,-8.4,217,3495,0.15,1.77,0.00,0.000,6,0.296,0.044,1940,1521,3286,0,0,0,0,0,0,14.29,14.73,28.83
$GC,3792,-0.75,-54.2,306.1,-7.5,227,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1523,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.75,-54.2,330.3,-8.1,237,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1522,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.75,-54.2,353.8,-7.6,247,4396,0.00,1.90,0.00,0.000,4,0.000,0.086,1940,464,3284,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4498,-0.74,-54.2,362.2,-8.0,251,4501,0.00,1.77,0.00,0.000,6,0.000,0.044,1935,1520,3283,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4812,-0.74,-54.2,385.2,-7.2,262,4816,0.00,1.80,0.00,0.000,4,0.000,0.056,1927,2580,3286,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4901,-0.74,-54.2,390.3,-6.8,265,4904,0.00,1.85,0.00,0.000,6,0.000,0.065,1927,1521,3282,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5202,-0.74,-54.2,414.1,-8.0,275,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1521,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-0.74,-54.2,440.2,-8.7,285,5506,0.00,1.90,0.00,0.000,4,0.000,0.087,1927,463,3280,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5577,-0.72,-54.2,447.2,-9.1,288,5581,0.15,1.77,0.00,0.000,6,0.285,0.045,1950,1519,3279,0,0,0,0,0,0,14.27,14.66,28.83
$GC,5895,-0.73,-54.2,469.6,-6.8,299,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1520,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6192,-0.74,-54.2,489.7,-6.8,309,6196,0.00,1.80,0.00,0.000,4,0.000,0.057,1944,2577,3278,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6327,-0.77,-54.2,499.3,-7.2,314,6331,0.00,1.88,0.00,0.000,6,0.000,0.067,1944,1513,3277,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6642,-0.77,-54.2,525.2,-8.4,325,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1512,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6942,-0.77,-54.2,549.4,-7.7,335,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1512,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7242,-0.77,-54.2,570.0,-6.5,345,7246,0.00,1.90,0.00,0.000,4,0.000,0.090,1944,461,3274,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7347,-0.77,-54.2,578.1,-7.8,349,7350,0.00,1.80,0.00,0.000,6,0.000,0.046,1937,1527,3275,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7663,-0.77,-54.2,603.1,-8.3,360,7666,0.00,1.80,0.00,0.000,4,0.000,0.058,1929,2578,3273,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7767,-0.77,-54.2,612.0,-8.6,364,7771,0.00,1.88,0.00,0.000,6,0.000,0.067,1929,1518,3272,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8082,-0.77,-54.2,640.4,-9.0,375,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1518,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8382,-0.77,-54.2,663.2,-7.0,385,8386,0.00,1.90,0.00,0.000,4,0.000,0.090,1929,467,3271,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8471,-0.75,-54.2,668.6,-7.2,388,8475,0.00,1.80,0.00,0.000,6,0.000,0.047,1921,1525,3271,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8772,-0.75,-54.2,689.5,-6.5,398,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1525,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,-0.75,-54.2,710.1,-7.1,408,9075,0.00,1.83,0.00,0.000,4,0.000,0.060,1916,2585,3269,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9207,-0.75,-54.2,720.2,-7.6,413,9212,0.15,1.90,0.00,0.000,6,0.269,0.070,1943,1519,3268,0,0,0,0,0,0,14.23,14.58,28.83
$GC,9525,-0.77,-54.2,742.4,-6.9,424,9528,0.00,1.92,0.00,0.000,4,0.000,0.091,1943,464,3268,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9597,-0.77,-54.2,748.0,-7.5,427,9601,0.00,1.80,0.00,0.000,6,0.000,0.048,1938,1521,3267,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9915,-0.78,-54.2,768.8,-6.4,438,9918,0.00,1.83,0.00,0.000,4,0.000,0.059,1930,2578,3266,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10003,-0.79,-54.2,773.5,-6.3,441,10006,0.00,1.90,0.00,0.000,6,0.000,0.070,1930,1514,3266,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10302,-0.79,-54.2,794.0,-6.7,451,10305,0.00,1.92,0.00,0.000,4,0.000,0.092,1930,463,3265,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10391,-0.79,-54.2,799.9,-7.8,454,10394,0.00,1.80,0.00,0.000,6,0.000,0.047,1922,1520,3264,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10692,-0.79,-54.2,824.9,-8.1,464,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,1523,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10992,-0.79,-54.2,848.0,-7.6,474,10996,0.00,1.83,0.00,0.000,4,0.000,0.060,1914,2578,3261,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11111,-0.79,-54.2,855.8,-7.5,478,11114,0.00,1.90,0.00,0.000,6,0.000,0.071,1914,1519,3261,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11412,-0.79,-54.2,880.4,-7.8,488,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1519,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11712,-0.79,-54.2,903.1,-7.4,498,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1519,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12012,-0.79,-54.2,923.3,-6.4,508,12016,0.00,1.85,0.00,0.000,4,0.000,0.060,1906,2577,3259,0,0,0,0,0,0,28.83,14.56,28.83
$GC,12087,-0.79,-54.2,928.3,-6.8,511,12091,0.00,1.90,0.00,0.000,6,0.000,0.073,1906,1520,3258,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12404,-0.78,-54.2,950.6,-7.2,522,12406,0.15,0.00,0.00,0.000,6,0.284,0.000,1936,1520,3258,0,0,0,0,0,0,14.21,28.83,28.83
$GC,12703,-0.79,-54.2,972.5,-7.7,532,12707,0.00,1.95,0.00,0.000,4,0.000,0.095,1936,466,3257,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,12805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12805,begin apogee
$GC,12813,-0.18,0.0,981.9,-9.1,536,12890,0.75,0.00,68.60,1.861,6,0.238,0.000,2122,1414,3062,0,0,0,0,1,0,13.99,28.83,13.08
$STATE,12892,end apogee,CONTROL_FINISHED_OK
$STATE,12892,begin climb
$GC,12895,0.75,54.2,984.7,0.0,538,12983,0.98,0.00,78.47,1.925,6,0.125,0.000,2427,1414,2841,0,0,0,0,1,0,14.23,28.83,12.97
$GC,13273,0.84,177.8,1000.2,-3.3,551,13440,0.00,1.90,157.27,2.157,4,0.000,0.060,2427,2453,2338,0,0,0,0,1,0,28.83,14.06,12.99
$GC,13500,0.71,184.9,993.6,5.5,558,13511,0.00,1.95,7.12,1.785,6,0.000,0.076,2435,1398,2309,0,0,0,0,0,0,28.83,14.31,13.95
$GC,13815,0.68,184.9,967.0,9.0,568,13816,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1398,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14112,0.65,184.9,938.0,9.8,578,14114,0.15,0.00,0.00,0.000,6,0.296,0.000,2404,1398,2305,0,0,0,0,0,0,14.32,28.83,28.83
$GC,14412,0.65,184.9,912.4,8.5,588,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1398,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14712,0.65,184.9,888.3,7.7,598,14716,0.00,1.83,0.00,0.000,4,0.000,0.060,2404,2450,2302,0,0,0,0,0,0,28.83,14.64,28.83
$GC,14787,0.65,184.9,882.5,7.7,601,14791,0.00,1.90,0.00,0.000,6,0.000,0.079,2409,1400,2302,0,0,0,0,0,0,28.83,14.57,28.83
$GC,15102,0.65,184.9,857.5,8.0,612,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1400,2301,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26697,end climb,SURFACE_DEPTH_REACHED
$STATE,26697,begin surface coast
$FINISH,-0.1,1.025249
$STATE,26712,end surface coast,CONTROL_FINISHED_OK
$STATE,26712,begin surface
$SM_CCo,26732,99.57,0.712,0,0,1755,320.12
$SM_GC,0.70,6.80,0.15,99.57,0.083,0.101,0.712,153,1518,1755,-6.30,-1.53,320.12,0,0,0,0,0,0,14.57,14.66,13.94
$IRIDIUM_FIX,2427.58,-3842.18,181212,212150
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.55
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.50
$XPDR_PINGS,5
$SC_FREEKB,7659136
$TM_FREEKB,4990560
$24V_AH,13.0,137.775
$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,19.950,138.250,332.975,99.575,0.000,0.000,0.000,645.200,1.250,0.000,16.423,3128.172,20986.852,689.816,2549.820,572.086,0.000,2257.264,0.000,1812.219,0.000,0.550,0.000
$DEVICE_MAMPS,415.395,103.275,2157.300,712.215,0.000,0.000,0.000,165.240,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26754.000,6598.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.152,13.052,0.000,0.000
$MEM,345676
$DATA_FILE_SIZE,39970,1117
$CAP_FILE_SIZE,241542,0
$CFSIZE,260034560,218669056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,3,1,0
$CURRENT,0.017,201.2,1
$GPS,191212,050534,2435.696,-3842.169,36,0.7,37,-14.2