version: 66.11
glider: 191
mission: 5
dive: 407
start: 1 28 113 4 12 27
data:
$ID,191
$MISSION,5
$DIVE,407
$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,-5116.48
$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,25
$R_STBD_OVSHOOT,54
$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
$GPS1,280113,035904,2429.931,-3723.390,23,0.9,23,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.0
$GPS2,280113,041155,2429.873,-3723.452,16,1.2,17,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,65.0,13209,-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,22,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-57.25,0.000,6,0.000,0.000,155,1528,3461,0,0,0,0,0,0,28.83,28.83,14.75
$GC,91,-0.60,-97.3,4.5,-8.6,4,106,10.23,1.77,0.00,0.000,4,0.421,0.051,1982,2565,3463,1,0,0,0,0,0,13.69,14.52,28.83
$GC,253,-0.60,-97.3,25.2,-7.9,15,257,0.00,1.88,0.00,0.000,6,0.000,0.064,1982,1518,3469,0,0,0,0,0,0,28.83,14.37,28.83
$GC,553,-0.57,-97.3,54.5,-9.6,35,557,0.00,1.95,0.00,0.000,4,0.000,0.083,1982,457,3464,0,0,0,0,0,0,28.83,14.32,28.83
$GC,644,-0.54,-97.3,63.0,-9.7,41,649,0.17,1.80,0.00,0.000,6,0.236,0.041,2013,1516,3465,0,0,0,0,0,0,14.07,14.45,28.83
$GC,943,-0.54,-97.3,83.8,-6.7,61,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1517,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1243,-0.54,-97.3,105.1,-7.1,81,1247,0.00,1.92,0.00,0.000,4,0.000,0.083,2013,464,3466,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1363,-0.54,-97.3,115.1,-8.5,89,1367,0.00,1.80,0.00,0.000,6,0.000,0.041,2008,1522,3466,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1664,-0.54,-97.3,137.8,-6.9,109,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1964,-0.54,-97.3,157.1,-6.0,129,1968,0.00,1.95,0.00,0.000,4,0.000,0.082,2008,457,3466,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2053,-0.54,-97.3,163.6,-7.6,135,2057,0.00,1.83,0.00,0.000,6,0.000,0.041,2000,1528,3466,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2353,-0.54,-97.3,183.1,-6.1,155,2357,0.00,1.95,0.00,0.000,4,0.000,0.083,2000,464,3466,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2473,-0.52,-97.3,191.2,-6.9,163,2477,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1520,3467,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2773,-0.52,-97.3,210.5,-6.5,183,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,-0.52,-97.3,231.8,-7.6,203,3077,0.00,1.83,0.00,0.000,4,0.000,0.053,1984,2582,3466,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3149,-0.52,-97.3,237.4,-7.6,208,3154,0.15,1.90,0.00,0.000,6,0.226,0.063,2017,1508,3466,0,0,0,0,0,0,14.16,14.45,28.83
$GC,3449,-0.55,-97.3,256.6,-6.4,225,3453,0.00,1.88,0.00,0.000,4,0.000,0.083,2018,469,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3567,-0.56,-97.3,263.6,-6.7,229,3571,0.00,1.77,0.00,0.000,6,0.000,0.041,2013,1522,3465,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3872,-0.58,-97.3,280.4,-5.0,239,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4170,-0.60,-97.3,295.1,-5.0,249,4174,0.00,1.92,0.00,0.000,4,0.000,0.083,2013,463,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4228,-0.61,-97.3,297.6,-5.2,251,4231,0.00,1.77,0.00,0.000,6,0.000,0.041,2005,1521,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4532,-0.62,-97.3,315.2,-5.7,261,4539,0.00,1.92,0.00,0.000,4,0.000,0.083,2005,463,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4633,-0.62,-97.3,321.2,-6.5,264,4636,0.00,1.80,0.00,0.000,6,0.000,0.043,1997,1529,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4934,-0.62,-97.3,342.8,-7.1,274,4938,0.00,1.80,0.00,0.000,4,0.000,0.054,1989,2579,3462,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4992,-0.62,-97.3,346.1,-7.1,276,4996,0.00,1.88,0.00,0.000,6,0.000,0.063,1989,1521,3462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5294,-0.62,-97.3,368.2,-6.8,286,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.62,-97.3,386.5,-5.8,296,5598,0.00,1.92,0.00,0.000,4,0.000,0.086,1989,461,3460,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5683,-0.62,-97.3,391.3,-6.2,299,5686,0.00,1.80,0.00,0.000,6,0.000,0.043,1982,1520,3460,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5983,-0.62,-97.3,409.8,-6.1,309,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6285,-0.62,-97.3,431.4,-7.7,319,6288,0.00,1.95,0.00,0.000,4,0.000,0.085,1982,458,3459,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6358,-0.61,-97.3,438.0,-8.6,322,6362,0.00,1.80,0.00,0.000,6,0.000,0.043,1974,1519,3458,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6677,-0.60,-97.3,465.6,-8.8,333,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6973,-0.60,-97.3,490.1,-7.9,343,6977,0.00,1.92,0.00,0.000,4,0.000,0.086,1974,467,3457,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7049,-0.58,-97.3,496.2,-8.0,346,7053,0.15,1.80,0.00,0.000,6,0.244,0.044,1997,1524,3457,0,0,0,0,0,0,14.16,14.57,28.83
$GC,7366,-0.59,-97.3,514.6,-5.6,357,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1525,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7664,-0.61,-97.3,531.3,-5.5,367,7668,0.00,1.95,0.00,0.000,4,0.000,0.087,1998,464,3453,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7753,-0.61,-97.3,536.1,-6.1,370,7757,0.00,1.80,0.00,0.000,6,0.000,0.044,1993,1521,3455,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8054,-0.61,-97.3,557.1,-6.8,380,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8354,-0.61,-97.3,578.8,-7.3,390,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8654,-0.61,-97.3,600.5,-7.1,400,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1522,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8953,-0.61,-97.3,621.9,-7.1,410,8957,0.00,1.95,0.00,0.000,4,0.000,0.088,1993,466,3451,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9029,-0.61,-97.3,627.9,-7.8,413,9033,0.00,1.80,0.00,0.000,6,0.000,0.046,1985,1519,3451,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9343,-0.61,-97.3,650.8,-7.2,424,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1519,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9644,-0.61,-97.3,672.1,-7.2,434,9648,0.00,1.95,0.00,0.000,4,0.000,0.089,1985,467,3449,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9748,-0.61,-97.3,680.6,-8.1,438,9752,0.00,1.83,0.00,0.000,6,0.000,0.046,1978,1526,3448,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10063,-0.61,-97.3,705.3,-7.9,449,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1527,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10365,-0.61,-97.3,728.5,-7.6,459,10368,0.00,1.98,0.00,0.000,4,0.000,0.090,1977,467,3447,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10438,-0.61,-97.3,734.6,-7.8,462,10442,0.00,1.83,0.00,0.000,6,0.000,0.047,1970,1521,3447,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10755,-0.61,-97.3,756.8,-6.8,473,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1523,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11053,-0.61,-97.3,776.7,-6.6,483,11057,0.00,1.98,0.00,0.000,4,0.000,0.090,1970,461,3444,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11189,-0.59,-97.3,786.4,-7.3,488,11194,0.15,1.83,0.00,0.000,6,0.246,0.046,1993,1521,3444,0,0,0,0,0,0,14.02,14.45,28.83
$GC,11506,-0.60,-97.3,804.6,-5.8,499,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1522,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11806,-0.66,-97.3,823.8,-6.8,509,11810,0.00,1.98,0.00,0.000,4,0.000,0.090,1993,466,3442,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11938,-0.68,-97.3,833.7,-7.5,514,11942,0.00,1.83,0.00,0.000,6,0.000,0.047,1989,1522,3441,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12258,-0.73,-97.3,857.4,-7.7,525,12266,0.12,1.98,0.00,0.000,4,0.142,0.091,1944,468,3441,0,0,0,0,0,0,14.54,14.16,28.83
$GC,12343,-0.73,-97.3,865.8,-9.0,528,12347,0.00,1.85,0.00,0.000,6,0.000,0.048,1936,1523,3440,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12661,-0.70,-97.3,894.3,-9.1,539,12662,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,1525,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12960,-0.67,-97.3,920.3,-8.4,549,12962,0.15,0.00,0.00,0.000,6,0.265,0.000,1967,1525,3438,0,0,0,0,0,0,14.09,28.83,28.83
$GC,13258,-0.67,-97.3,939.8,-6.1,559,13262,0.00,2.00,0.00,0.000,4,0.000,0.093,1967,464,3437,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13394,-0.65,-97.3,948.3,-6.3,564,13398,0.00,1.85,0.00,0.000,6,0.000,0.048,1962,1520,3436,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13711,-0.65,-97.3,965.4,-5.5,575,13712,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1522,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14006,begin apogee
$GC,14014,-0.18,0.0,981.1,-5.1,585,14142,0.62,0.00,115.35,1.871,6,0.210,0.000,2123,1395,3062,0,0,0,0,1,0,13.79,28.83,12.93
$STATE,14143,end apogee,CONTROL_FINISHED_OK
$STATE,14143,begin climb
$GC,14146,0.60,97.3,984.3,0.0,589,14284,0.85,2.03,126.25,1.857,4,0.119,0.099,2392,349,2665,0,0,0,0,1,0,14.18,14.12,12.98
$GC,14504,0.56,140.1,978.9,4.2,602,14578,0.00,1.85,64.32,1.649,6,0.000,0.047,2392,1419,2488,0,0,0,0,1,0,28.83,14.53,13.07
$GC,14879,0.55,187.7,962.8,4.0,614,14955,0.00,0.00,69.35,1.678,6,0.000,0.000,2392,1419,2296,0,0,0,0,1,0,28.83,28.83,13.09
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$STATE,28451,end climb,SURFACE_DEPTH_REACHED
$STATE,28451,begin surface coast
$FINISH,0.5,1.025616
$STATE,28467,end surface coast,CONTROL_FINISHED_OK
$STATE,28467,begin surface
$SM_CCo,28489,26.23,0.688,0,0,1757,320.12
$SM_GC,0.80,6.55,0.15,26.23,0.061,0.108,0.688,160,1506,1757,-6.28,-1.55,320.12,0,0,0,0,0,0,14.43,14.56,13.85
$IRIDIUM_FIX,2420.48,-3724.87,270113,191921
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.90
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.50
$XPDR_PINGS,4
$SC_FREEKB,7613824
$TM_FREEKB,3750304
$24V_AH,12.9,193.670
$10V_AH,12.8,0.000
$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,20.225,159.475,574.500,26.225,0.000,0.000,0.000,395.125,1.000,0.000,18.612,3305.119,21859.180,906.959,2489.663,713.033,0.000,2309.202,0.000,1954.416,0.000,0.549,0.000
$DEVICE_MAMPS,420.750,107.865,1871.190,687.735,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28519.000,6693.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.582,13.045,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43327,1184
$CAP_FILE_SIZE,253469,0
$CFSIZE,260034560,202321920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.007,349.1,1
$GPS,280113,120904,2431.714,-3721.087,35,0.7,35,-13.8