version: 66.11
glider: 191
mission: 5
dive: 347
start: 1 7 113 19 25 38
data:
$ID,191
$MISSION,5
$DIVE,347
$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,628.45856
$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,-5035.5996
$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,39
$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,10
$MINV_10V,10
$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
$GPS1,070113,190935,2506.442,-3752.130,33,0.8,33,-13.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-57.0
$GPS2,070113,192506,2506.453,-3752.183,20,1.0,21,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,335.8,17849,-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,25,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-58.08,0.000,6,0.000,0.000,157,1507,3459,0,0,0,0,0,0,28.83,28.83,14.77
$GC,90,-0.60,-97.3,4.1,-7.5,4,106,10.27,1.83,0.00,0.000,4,0.427,0.049,1983,2580,3463,1,0,0,0,0,0,13.76,14.59,28.83
$GC,328,-0.58,-97.3,33.4,-7.6,20,332,0.00,1.90,0.00,0.000,6,0.000,0.066,1983,1519,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,628,-0.56,-97.3,58.2,-9.0,40,629,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-0.54,-97.3,85.8,-9.1,60,933,0.12,1.95,0.00,0.000,4,0.252,0.089,2010,460,3464,0,0,0,0,0,0,14.33,14.35,28.83
$GC,1018,-0.54,-97.3,93.5,-8.6,66,1022,0.00,1.83,0.00,0.000,6,0.000,0.043,2005,1527,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1318,-0.54,-97.3,118.7,-8.4,86,1322,0.00,1.83,0.00,0.000,4,0.000,0.054,1997,2579,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1453,-0.54,-97.3,129.0,-7.6,95,1457,0.00,1.90,0.00,0.000,6,0.000,0.065,1997,1513,3464,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1753,-0.54,-97.3,148.4,-6.1,115,1756,0.00,1.92,0.00,0.000,4,0.000,0.089,1997,464,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1859,-0.52,-97.3,155.9,-7.5,122,1863,0.12,1.80,0.00,0.000,6,0.242,0.042,2015,1521,3464,0,0,0,0,0,0,14.27,14.58,28.83
$GC,2159,-0.54,-97.3,173.9,-6.0,142,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-0.56,-97.3,191.0,-5.5,162,2463,0.00,1.83,0.00,0.000,4,0.000,0.053,2010,2580,3464,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2579,-0.58,-97.3,197.9,-5.8,170,2583,0.00,1.88,0.00,0.000,6,0.000,0.065,2010,1522,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2879,-0.60,-97.3,215.8,-6.3,190,2882,0.00,1.92,0.00,0.000,4,0.000,0.088,2010,466,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2984,-0.60,-97.3,223.7,-7.7,197,2987,0.00,1.80,0.00,0.000,6,0.000,0.043,2002,1523,3465,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3283,-0.60,-97.3,246.5,-8.0,217,3286,0.00,1.83,0.00,0.000,4,0.000,0.054,1995,2581,3464,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3343,-0.61,-97.3,250.1,-8.1,220,3347,0.00,1.90,0.00,0.000,6,0.000,0.065,1995,1510,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3643,-0.61,-97.3,274.3,-7.4,230,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1509,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3943,-0.61,-97.3,296.3,-7.3,240,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1510,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4244,-0.61,-97.3,319.1,-7.5,250,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1510,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4543,-0.61,-97.3,344.5,-8.5,260,4546,0.00,1.85,0.00,0.000,4,0.000,0.054,1987,2580,3462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4633,-0.61,-97.3,351.1,-8.6,263,4637,0.00,1.88,0.00,0.000,6,0.000,0.066,1987,1520,3459,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4933,-0.61,-97.3,377.2,-7.9,273,4937,0.00,1.92,0.00,0.000,4,0.000,0.090,1987,461,3461,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5022,-0.61,-97.3,383.4,-8.2,276,5026,0.00,1.80,0.00,0.000,6,0.000,0.044,1979,1529,3461,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5324,-0.61,-97.3,404.7,-6.1,286,5327,0.00,1.80,0.00,0.000,4,0.000,0.055,1971,2575,3459,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5399,-0.61,-97.3,409.0,-5.9,289,5402,0.00,1.88,0.00,0.000,6,0.000,0.067,1971,1521,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5716,-0.60,-97.3,429.5,-6.6,300,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6014,-0.58,-97.3,451.3,-7.7,310,6016,0.12,0.00,0.00,0.000,6,0.257,0.000,1997,1520,3457,0,0,0,0,0,0,14.42,28.83,28.83
$GC,6314,-0.59,-97.3,472.9,-7.4,320,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1520,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.60,-97.3,496.2,-7.7,330,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6913,-0.61,-97.3,518.1,-7.0,340,6917,0.00,1.92,0.00,0.000,4,0.000,0.091,1998,466,3455,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6989,-0.61,-97.3,523.6,-7.4,343,6993,0.00,1.80,0.00,0.000,6,0.000,0.045,1992,1523,3455,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7305,-0.61,-97.3,543.4,-5.8,354,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1524,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,-0.61,-97.3,559.9,-5.4,364,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1524,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7903,-0.61,-97.3,575.9,-5.3,374,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1524,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,-0.61,-97.3,592.6,-5.9,384,8208,0.00,1.83,0.00,0.000,4,0.000,0.057,1984,2577,3451,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8382,-0.63,-97.3,603.3,-6.6,390,8386,0.00,1.90,0.00,0.000,6,0.000,0.070,1985,1521,3451,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8683,-0.63,-97.3,626.6,-7.7,400,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8984,-0.63,-97.3,650.3,-8.2,410,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9283,-0.63,-97.3,676.2,-8.8,420,9287,0.00,1.98,0.00,0.000,4,0.000,0.094,1985,460,3448,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9343,-0.63,-97.3,680.3,-8.9,422,9346,0.00,1.83,0.00,0.000,6,0.000,0.047,1977,1517,3447,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9643,-0.63,-97.3,705.6,-7.4,432,9647,0.00,1.85,0.00,0.000,4,0.000,0.058,1969,2577,3446,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9822,-0.63,-97.3,716.7,-6.7,438,9826,0.00,1.92,0.00,0.000,6,0.000,0.070,1969,1519,3445,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10123,-0.63,-97.3,734.6,-5.3,448,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1514,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10424,-0.62,-97.3,748.8,-4.5,458,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1513,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10724,-0.62,-97.3,762.6,-4.5,468,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11023,-0.62,-97.3,777.0,-4.8,478,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11324,-0.62,-97.3,792.9,-5.4,488,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1514,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11623,-0.62,-97.3,810.8,-6.2,498,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1513,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11924,-0.62,-97.3,832.1,-7.5,508,11927,0.00,1.90,0.00,0.000,4,0.000,0.061,1961,2579,3439,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12118,-0.62,-97.3,847.3,-7.9,515,12122,0.00,1.95,0.00,0.000,6,0.000,0.073,1961,1512,3438,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12436,-0.60,-97.3,877.0,-10.0,526,12441,0.12,1.98,0.00,0.000,4,0.260,0.098,1988,463,3437,0,0,0,0,0,0,14.26,14.12,28.83
$GC,12510,-0.60,-97.3,884.8,-10.4,529,12513,0.00,1.85,0.00,0.000,6,0.000,0.049,1982,1523,3437,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12824,-0.60,-97.3,916.8,-10.1,540,12828,0.00,1.88,0.00,0.000,4,0.000,0.060,1974,2582,3437,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12884,-0.60,-97.3,921.2,-10.1,542,12888,0.00,1.95,0.00,0.000,6,0.000,0.073,1974,1520,3436,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13184,-0.60,-97.3,952.4,-9.5,552,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13485,-0.60,-97.3,976.7,-7.5,562,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13541,begin apogee
$GC,13548,-0.18,0.0,981.0,-7.2,564,13677,0.57,0.00,115.88,1.945,6,0.203,0.000,2125,1391,3063,0,0,0,0,1,0,13.88,28.83,12.95
$STATE,13678,end apogee,CONTROL_FINISHED_OK
$STATE,13678,begin climb
$GC,13681,0.60,97.3,985.5,0.0,568,13819,0.82,2.05,126.53,1.916,4,0.119,0.104,2385,346,2666,0,0,0,0,1,0,14.15,14.06,12.97
$GC,14040,0.51,97.3,972.9,7.4,581,14044,0.00,1.85,0.00,0.000,6,0.000,0.050,2385,1409,2660,0,0,0,0,0,0,28.83,14.54,28.83
$GC,14357,0.44,97.3,948.4,8.0,592,14362,0.22,2.00,0.00,0.000,4,0.262,0.102,2341,344,2658,0,0,0,0,0,0,14.23,14.45,28.83
$GC,14505,0.40,97.3,938.3,7.4,597,14508,0.00,1.83,0.00,0.000,6,0.000,0.051,2341,1403,2657,0,0,0,0,0,0,28.83,14.61,28.83
$GC,14809,0.38,110.7,919.3,5.5,607,14846,0.00,0.00,29.75,1.124,6,0.000,0.000,2341,1405,2612,0,0,0,0,1,0,28.83,28.83,13.30
$GC,15138,0.45,186.3,906.2,2.9,618,15248,0.00,0.00,102.25,1.864,6,0.000,0.000,2341,1405,2301,0,0,0,0,1,0,28.83,28.83,13.05
$GC,15529,0.54,258.3,894.3,3.0,631,15632,0.00,0.00,95.50,1.828,6,0.000,0.000,2341,1405,2009,0,0,0,0,1,0,28.83,28.83,13.05
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$STATE,27073,end climb,SURFACE_DEPTH_REACHED
$STATE,27073,begin surface coast
$FINISH,0.9,1.025625
$STATE,27089,end surface coast,CONTROL_FINISHED_OK
$STATE,27089,begin surface
$SM_CCo,27109,260.20,0.674,0,0,500,628.46
$SM_GC,0.70,6.68,0.15,260.20,0.074,0.099,0.674,158,1522,500,-6.29,-1.36,628.46,0,0,0,0,0,0,14.46,14.64,13.78
$IRIDIUM_FIX,2458.45,-3619.84,070113,191926
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.21
$INTERNAL_PRESSURE,9.17486
$TCM_TEMP,25.70
$XPDR_PINGS,13
$SC_FREEKB,7636864
$TM_FREEKB,4382720
$24V_AH,12.9,165.359
$10V_AH,13.1,0.000
$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,19.925,129.400,602.400,260.200,0.000,0.000,0.000,334.975,3.250,0.000,21.829,3112.609,21156.260,1110.954,2343.585,568.556,0.000,2389.032,0.000,1833.494,0.000,0.550,0.000
$DEVICE_MAMPS,426.870,113.220,1944.630,673.965,0.000,0.000,0.000,117.045,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27135.000,6615.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.350,12.999,0.000,0.000
$MEM,345768
$DATA_FILE_SIZE,39976,1130
$CAP_FILE_SIZE,237862,0
$CFSIZE,260034560,210608128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,2,0
$CURRENT,0.034,252.1,1
$GPS,080113,030305,2508.766,-3754.638,30,1.2,30,-13.9