version: 66.13
glider: 196
mission: 20
dive: 100
start: 10 29 119 14 4 7
data:
$ID,196
$MISSION,20
$DIVE,100
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,540
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,-120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2758
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-161.88326
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,291019,123541,7534.7656,-14439.6758,0,6255.0,0,23.4,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.52
$_SM_ANGLEo,-10.0
$GPS2,291019,123541,7534.7656,-14439.6758,0,6255.0,0,23.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,9_52
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,104.5,12005,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,1,102,2,8152000.000000,0.000000
$EXEC,2,103,2,11151900.000000,0.000000
$EXEC,3,104,2,6012000.000000,0.000000
$EXEC,4,152,2048,2.000000,0.000000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.73,-97.3,2844,1933,1502,1583,0.0,0.0,0,55,0.00,0.00,-45.47,0.004,16390,0.000,0.000,2844,1932,3157,3248,3067,0,0,0,0,0,0,14.41,13.20,14.44
$GC,57,-0.73,-97.3,2844,1933,3250,3069,13.7,-5.7,4,62,1.17,2.62,0.00,0.000,4612,0.135,0.119,2480,530,3159,3249,3069,0,0,0,0,0,0,14.20,14.17,14.28
$GC,71,-0.73,-97.3,2480,530,3250,3070,16.3,-9.9,7,78,0.00,2.45,0.00,0.000,1030,0.000,0.096,2480,1853,3159,3250,3069,0,0,0,0,0,0,14.28,14.21,14.32
$GC,396,-0.73,-97.3,2480,1854,3250,3070,84.2,-17.6,22,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1854,3159,3249,3069,0,0,0,0,0,0,14.57,14.60,14.59
$GC,756,-0.73,-97.3,2480,1855,3250,3070,135.1,-13.5,34,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1854,3159,3249,3069,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1116,-0.73,-97.3,2476,1854,3250,3069,180.5,-12.2,46,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1854,3159,3249,3069,0,0,0,0,0,0,14.71,14.74,14.73
$GC,1476,-0.73,-97.3,2480,1855,3250,3070,223.7,-11.6,58,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1855,3159,3249,3070,0,0,0,0,0,0,14.80,14.83,14.83
$GC,1836,-0.73,-97.3,2480,1855,3250,3070,263.0,-10.5,70,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1854,3159,3249,3069,0,0,0,0,0,0,14.76,14.80,14.79
$GC,2197,-0.73,-97.3,2480,1855,3250,3069,296.4,-8.6,82,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1854,3158,3249,3068,0,0,0,0,0,0,14.78,14.81,14.80
$GC,2556,-0.73,-97.3,2480,1855,3250,3069,324.8,-7.6,94,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1854,3158,3249,3067,0,0,0,0,0,0,14.79,14.83,14.82
$GC,2916,-0.73,-97.3,2480,1855,3250,3068,352.1,-7.5,106,2922,0.00,2.55,0.00,0.000,260,0.000,0.111,2480,3270,3156,3247,3066,0,0,0,0,0,0,14.85,14.54,14.88
$GC,3011,-0.73,-97.3,2480,3270,3250,3067,359.3,-7.5,125,3018,0.00,2.33,0.00,0.000,1030,0.000,0.070,2480,1947,3157,3249,3066,0,0,0,0,0,0,14.63,14.57,14.67
$GC,3397,-0.73,-97.3,2480,1947,3250,3067,387.5,-7.3,142,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1947,3158,3250,3066,0,0,0,0,0,0,14.78,14.82,14.79
$GC,3757,-0.73,-97.3,2480,1948,3250,3066,412.7,-6.8,154,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1947,3158,3250,3066,0,0,0,0,0,0,14.79,14.83,14.81
$GC,4117,-0.73,-97.3,2480,1948,3250,3067,436.4,-6.5,166,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1947,3157,3249,3066,0,0,0,0,0,0,14.79,14.83,14.82
$GC,4477,-0.73,-97.3,2480,1947,3250,3067,460.0,-6.5,178,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1946,3157,3249,3066,0,0,0,0,0,0,14.80,14.83,14.83
$GC,4837,-0.73,-97.3,2480,1947,3250,3067,483.0,-6.3,190,4843,0.00,2.38,0.00,0.000,292,0.000,0.106,2480,3270,3157,3249,3065,0,0,0,0,0,0,14.80,14.54,14.83
$GC,4892,-0.73,-97.3,2480,3270,3249,3064,486.6,-6.6,201,4900,0.00,2.33,0.00,0.000,1030,0.000,0.069,2480,1942,3157,3249,3065,0,0,0,0,0,0,14.64,14.57,14.68
$GC,5257,-0.73,-97.3,2480,1943,3250,3065,509.7,-6.4,214,5259,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1942,3157,3249,3065,0,0,0,0,0,0,14.87,14.90,14.89
$GC,5617,-0.73,-97.3,2480,1943,3250,3065,532.2,-6.2,226,5619,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1943,3157,3249,3065,0,0,0,0,0,0,14.83,14.87,14.86
$GC,5977,-0.73,-97.3,2480,1943,3250,3072,554.1,-6.0,238,5979,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1943,3157,3249,3065,0,0,0,0,0,0,14.82,14.85,14.85
$GC,6337,-0.73,-97.3,2480,1943,3250,3065,575.1,-5.8,250,6339,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1943,3157,3249,3065,0,0,0,0,0,0,14.82,14.85,14.85
$GC,6697,-0.73,-97.3,2480,1943,3250,3066,596.3,-5.9,262,6699,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1942,3157,3249,3065,0,0,0,0,0,0,14.88,14.91,14.90
$GC,7057,-0.73,-97.3,2480,1943,3250,3066,618.0,-6.0,274,7063,0.00,2.38,0.00,0.000,292,0.000,0.105,2480,3268,3157,3250,3065,0,0,0,0,0,0,14.83,14.54,14.85
$GC,7092,-0.73,-97.3,2480,3268,3250,3066,620.1,-6.2,281,7099,0.00,2.33,0.00,0.000,1062,0.000,0.070,2480,1943,3157,3249,3065,0,0,0,0,0,0,14.66,14.57,14.68
$GC,7479,-0.73,-97.3,2480,1943,3250,3066,643.0,-6.0,298,7481,0.00,0.00,0.00,0.000,38,0.000,0.000,2481,1943,3157,3250,3065,0,0,0,0,0,0,14.76,14.80,14.79
$GC,7838,-0.73,-97.3,2480,1943,3250,3066,664.5,-6.0,310,7844,0.00,2.40,0.00,0.000,292,0.000,0.105,2480,3274,3157,3250,3065,0,0,0,0,0,0,14.73,14.42,14.75
$GC,7918,-0.73,-97.3,2480,3274,3251,3066,669.4,-6.1,326,7924,0.00,2.38,0.00,0.000,1062,0.000,0.070,2480,1933,3157,3249,3065,0,0,0,0,0,0,14.51,14.44,14.54
$GC,8288,-0.73,-97.3,2480,1932,3250,3066,691.3,-5.9,340,8290,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1932,3157,3249,3065,0,0,0,0,0,0,14.69,14.72,14.71
$GC,8648,-0.73,-97.3,2480,1932,3250,3066,713.0,-6.0,352,8650,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1932,3159,3247,3072,0,0,0,0,0,0,14.68,14.71,14.70
$GC,9008,-0.73,-97.3,2480,1933,3250,3066,734.4,-5.9,364,9014,0.00,2.42,0.00,0.000,292,0.000,0.107,2480,3265,3156,3249,3064,0,0,0,0,0,0,14.66,14.36,14.68
$GC,9113,-0.73,-97.3,2480,3265,3249,3064,740.8,-6.0,385,9119,0.00,2.38,0.00,0.000,1062,0.000,0.070,2480,1932,3157,3249,3066,0,0,0,0,0,0,14.45,14.38,14.49
$MODEM_MSG,CACST,6,1,20191029160557.457706,06,1921,32,0092,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.8,0.44,-100,2.56,-01,-0.01,63,925,0025*17
$GC,9489,-0.73,-97.3,2480,1933,3250,3066,762.8,-5.9,400,9491,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1932,3157,3249,3065,0,0,0,0,0,0,14.71,14.74,14.73
$GC,9849,-0.73,-97.3,2480,1932,3250,3066,783.6,-5.8,412,9850,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1931,3157,3249,3065,0,0,0,0,0,0,14.71,14.75,14.74
$GC,10209,-0.73,-97.3,2480,1932,3250,3066,804.7,-5.8,424,10215,0.00,2.45,0.00,0.000,292,0.000,0.108,2480,3265,3157,3249,3065,0,0,0,0,0,0,14.75,14.45,14.77
$GC,10294,-0.73,-97.3,2480,3266,3250,3066,809.4,-5.9,441,10302,0.00,2.35,0.00,0.000,1062,0.000,0.071,2479,1941,3157,3249,3065,0,0,0,0,0,0,14.57,14.50,14.60
$GC,10659,-0.73,-97.3,2480,1942,3250,3066,830.7,-5.7,454,10661,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1941,3157,3249,3065,0,0,0,0,0,0,14.83,14.85,14.85
$GC,11019,-0.73,-97.3,2480,1942,3250,3066,851.2,-5.7,466,11021,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1941,3157,3249,3065,0,0,0,0,0,0,14.78,14.81,14.81
$GC,11379,-0.73,-97.3,2484,1942,3250,3065,871.2,-5.7,478,11385,0.00,2.40,0.00,0.000,292,0.000,0.108,2478,3274,3157,3249,3065,0,0,0,0,0,0,14.79,14.50,14.82
$GC,11454,-0.73,-97.3,2480,3274,3250,3066,876.0,-5.8,493,11460,0.00,2.35,0.00,0.000,1062,0.000,0.070,2480,1940,3157,3249,3065,0,0,0,0,0,0,14.61,14.54,14.65
$GC,11830,-0.73,-97.3,2480,1940,3250,3066,896.6,-5.6,508,11831,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1940,3157,3250,3065,0,0,0,0,0,0,14.80,14.83,14.82
$GC,12189,-0.73,-97.3,2480,1940,3249,3065,917.2,-5.8,520,12195,0.00,2.38,0.00,0.000,292,0.000,0.107,2480,3266,3157,3249,3065,0,0,0,0,0,0,14.83,14.52,14.83
$GC,12234,-0.73,-97.3,2480,3267,3250,3066,920.6,-5.9,529,12241,0.00,2.35,0.00,0.000,1062,0.000,0.072,2480,1932,3157,3250,3065,0,0,0,0,0,0,14.61,14.54,14.66
$GC,12610,-0.73,-97.3,2480,1933,3250,3066,941.2,-5.7,544,12612,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1932,3157,3249,3065,0,0,0,0,0,0,14.81,14.83,14.83
$GC,12970,-0.73,-97.3,2480,1933,3250,3066,961.3,-5.6,556,12976,0.00,2.45,0.00,0.000,292,0.000,0.109,2480,3270,3157,3250,3065,0,0,0,0,0,0,14.81,14.50,14.83
$GC,13025,-0.73,-97.3,2480,3270,3249,3065,965.3,-5.8,567,13032,0.00,2.35,0.00,0.000,1062,0.000,0.073,2480,1940,3157,3249,3065,0,0,0,0,0,0,14.62,14.54,14.65
$GC,13390,-0.73,-97.3,2480,1941,3250,3066,984.7,-5.5,580,13392,0.00,0.00,0.00,0.000,38,0.000,0.000,2480,1940,3157,3249,3065,0,0,0,0,0,0,14.81,14.84,14.83
$STATE,13509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13509,begin apogee
$GC,13512,-0.17,0.0,2481,2046,3250,3066,991.3,-5.4,584,13622,0.68,0.00,106.70,2.426,10246,0.232,0.000,2660,2046,2757,2882,2633,0,0,0,0,0,0,14.42,13.84,12.99
$STATE,13623,end apogee,CONTROL_FINISHED_OK
$STATE,13623,begin climb
$GC,13624,0.73,97.3,2660,2046,2882,2634,993.2,0.0,587,13738,0.98,2.83,103.62,2.354,10500,0.149,0.115,2947,3437,2358,2494,2223,0,0,0,0,0,0,13.80,13.38,12.59
$GC,13962,0.73,97.3,2947,3437,2484,2219,957.9,11.8,654,13968,0.00,2.45,0.00,0.000,1030,0.000,0.076,2947,2119,2350,2483,2218,0,0,0,0,0,0,14.04,13.98,14.07
$GC,14347,0.73,97.3,2946,2120,2483,2215,917.4,10.5,671,14353,0.00,2.62,0.00,0.000,516,0.000,0.113,2947,704,2348,2482,2214,0,0,0,0,0,0,14.50,14.26,14.53
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$STATE,25128,end climb,FINISH_DEPTH_REACHED
$STATE,25128,begin subsurface finish
$FINISH1,9.7,1.021654,299
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$FINISH2,8.9
$STATE,25157,end subsurface finish,CONTROL_FINISHED_OK
$STATE,25157,begin surface
$RAFOS_CLK,103
$MODEM,0,1572379557,74.83892,-145.28152,57.312,83399.7
$MODEM,0,1572365157,74.83892,-145.28152,57.458,83611.1
$RAFOS_FIX,7534.178223,-14436.756836,291019,202057,1,2,0.06
$IRIDIUM_FIX,7507.22,-14454.99,171019,151741
$TT8_MAMPS,0.039697,0.283871
$HUMID,50.31
$INTERNAL_PRESSURE,8.80965
$TCM_TEMP,13.40
$XPDR_PINGS,253
$SC_FREEKB,3817152
$24V_AH,12.59,54.387
$10V_AH,12.77,0.000
$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,4.675,127.600,608.150,0.000,0.000,0.000,0.000,0.000,63.250,0.000,0.000,0.000,21743.961,825.526,2558.621,104.828,0.000,1792.932,0.000,1908.584,4404.000,0.531,0.000
$DEVICE_MAMPS,231.795,134.640,2425.815,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.102,0.000,0.000,0.000
$MEM,334876
$DATA_FILE_SIZE,43350,1251
$CAP_FILE_SIZE,152606,0
$CFSIZE,1047117824,1029160960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.2
$GPS,291019,200557,7534.178,-14436.757,0,2002.0,0,23.4,0.0,0.0,0,0.0