version: 67.00
glider: 237
mission: 6
dive: 173
start: 5 6 121 7 16 6
data:
$ID,237
$MISSION,6
$DIVE,173
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,260
$T_MISSION,290
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,74630
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3950
$C_PITCH,1800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,22
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,465
$ROLL_MAX,3180
$ROLL_DEG,80
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1450
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,510
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,38.158573
$FG_AHR_24V,120.60867
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.10413
$PRESSURE_SLOPE,0.00022584078
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,65
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044171116
$SEABIRD_T_H,0.00064316206
$SEABIRD_T_I,2.5361865e-05
$SEABIRD_T_J,3.0211725e-06
$SEABIRD_C_G,-9.9751892
$SEABIRD_C_H,1.1606171
$SEABIRD_C_I,-0.0016447038
$SEABIRD_C_J,0.0002149943
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,0.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,358.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$GPS1,060521,070739,4837.143,-1859.831,20,1.2,21,-6.4
$_CALLS,2
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-40.3
$GPS2,060521,071548,4837.120,-1859.837,4,1.3,6,-6.4
$SPEED_LIMITS,0.220,0.350
$TGT_NAME,A1_C
$TGT_LATLONG,4833.000,-1900.000
$TGT_RADIUS,5000.000
$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,225.7,7633,-16.6,-12.692,-19.91
$D_GRID,1000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.46,16386,-243.31,-1.12,0.00,654.3,607.9,700.6,179.7,1963.9,0.00,0.00,0,140.31,133.30,0.00,0.00,0.005,0.000,0.000,3337.31,3352.94,3321.69,179.75,1962.69,0,0,0,15.19,30.00,30.00
$GC,140.57,18727,-243.31,-1.12,80.00,3337.2,3351.2,3323.2,179.8,1963.5,3.37,-1.91,26,176.44,16.80,11.45,3.23,0.006,0.302,0.114,3960.84,3947.06,3974.62,1528.44,3187.12,0,0,0,15.31,15.24,15.14
$GC,274.04,1156,-243.31,-1.08,0.00,3960.4,3946.8,3974.1,1528.9,3186.6,25.25,-15.51,53,279.63,0.00,0.00,2.81,0.000,0.000,0.039,3960.91,3946.56,3975.25,1528.56,1973.25,0,0,0,30.00,30.00,15.65
$GC,459.12,2693,-243.31,-1.02,-80.00,3960.7,3945.9,3975.4,1528.6,1973.2,55.90,-16.38,90,464.86,0.00,0.17,3.80,0.000,0.189,0.122,3960.81,3946.56,3975.06,1555.38,535.06,0,0,0,30.00,15.66,15.57
$GC,489.06,1156,-243.31,-0.97,0.00,3961.3,3947.1,3975.5,1555.1,535.1,60.88,-16.73,96,494.79,0.00,0.00,3.51,0.000,0.000,0.033,3960.78,3946.00,3975.56,1555.50,2025.25,0,0,0,30.00,30.00,15.79
$GC,674.06,0,-243.31,-0.97,0.00,3960.9,3946.1,3975.8,1555.1,2024.4,87.87,-14.72,133,675.39,0.00,0.00,0.00,0.000,0.000,0.000,3960.78,3946.44,3975.12,1555.50,2024.62,0,0,0,30.00,30.00,30.00
$GC,859.10,516,-243.31,-0.97,-80.00,3960.7,3946.2,3975.1,1555.2,2024.6,114.74,-14.50,160,864.56,0.00,0.00,3.97,0.000,0.000,0.118,3961.84,3947.25,3976.44,1555.25,534.88,0,0,0,30.00,30.00,15.63
$GC,889.10,1028,-243.31,-0.97,0.00,3961.8,3947.4,3976.1,1555.7,534.9,119.48,-15.92,166,894.48,0.00,0.00,3.48,0.000,0.000,0.032,3961.62,3946.44,3976.81,1555.38,2024.69,0,0,0,30.00,30.00,15.80
$GC,1199.11,516,-243.31,-0.97,-80.00,3960.9,3946.2,3975.6,1555.2,2024.4,164.04,-14.16,198,1204.59,0.00,0.00,3.96,0.000,0.000,0.119,3961.69,3946.69,3976.69,1555.50,536.06,0,0,0,30.00,30.00,15.64
$GC,1229.14,1156,-243.31,-0.94,0.00,3961.0,3946.3,3975.8,1556.0,536.0,168.64,-15.53,204,1234.52,0.00,0.00,3.48,0.000,0.000,0.032,3961.47,3946.38,3976.56,1555.12,2027.94,0,0,0,30.00,30.00,15.83
$GC,1539.13,0,-243.31,-0.94,0.00,3960.7,3945.9,3975.5,1555.5,2028.6,212.14,-13.93,236,1540.46,0.00,0.00,0.00,0.000,0.000,0.000,3960.66,3945.88,3975.44,1555.56,2028.56,0,0,0,30.00,30.00,30.00
$GC,1839.25,0,-243.31,-0.94,0.00,3961.4,3946.5,3976.4,1555.4,2028.0,253.70,-13.74,266,1840.58,0.00,0.00,0.00,0.000,0.000,0.000,3960.78,3945.69,3975.88,1555.38,2028.44,0,0,0,30.00,30.00,30.00
$GC,2139.24,516,-243.31,-0.94,-80.00,3960.7,3945.6,3975.7,1555.5,2027.9,294.79,-13.49,296,2144.68,0.00,0.00,4.01,0.000,0.000,0.119,3961.09,3945.94,3976.25,1555.75,536.44,0,0,0,30.00,30.00,15.66
$GC,2183.87,1028,-243.31,-0.94,0.00,3960.8,3945.5,3976.0,1555.2,536.5,301.47,-15.13,305,2189.91,0.00,0.00,3.46,0.000,0.000,0.032,3961.16,3946.12,3976.19,1555.31,2025.75,0,0,0,30.00,30.00,15.78
$GC,2489.20,0,-243.31,-0.94,0.00,3960.9,3946.1,3975.8,1555.6,2025.1,342.25,-13.03,336,2490.53,0.00,0.00,0.00,0.000,0.000,0.000,3960.72,3946.12,3975.31,1555.56,2025.25,0,0,0,30.00,30.00,30.00
$GC,2789.29,516,-243.31,-0.94,-80.00,3961.1,3946.2,3976.1,1555.5,2025.1,380.67,-12.87,366,2794.73,0.00,0.00,4.01,0.000,0.000,0.122,3961.19,3946.62,3975.75,1555.62,536.38,0,0,0,30.00,30.00,15.65
$GC,2813.91,1028,-243.31,-0.94,0.00,3961.1,3945.6,3976.6,1555.4,536.8,384.11,-13.23,371,2819.96,0.00,0.00,3.46,0.000,0.000,0.032,3961.25,3946.50,3976.00,1555.62,2024.44,0,0,0,30.00,30.00,15.79
$GC,3119.27,0,-243.31,-0.94,0.00,3960.9,3945.6,3976.2,1555.6,2024.5,423.25,-12.81,402,3120.60,0.00,0.00,0.00,0.000,0.000,0.000,3960.78,3945.88,3975.69,1555.75,2023.88,0,0,0,30.00,30.00,30.00
$GC,3419.40,548,-243.31,-0.94,-80.00,3960.4,3945.4,3975.5,1555.7,2024.4,460.49,-12.27,432,3424.82,0.00,0.00,4.02,0.000,0.000,0.126,3960.47,3945.56,3975.38,1555.50,536.38,0,0,0,30.00,30.00,15.64
$GC,3454.03,1028,-243.31,-0.94,0.00,3960.5,3945.9,3975.2,1555.8,536.7,465.15,-13.66,439,3460.06,0.00,0.00,3.46,0.000,0.000,0.035,3961.97,3946.81,3977.12,1555.25,2023.56,0,0,0,30.00,30.00,15.90
$GC,3759.39,32,-243.31,-0.94,0.00,3960.5,3945.0,3976.1,1555.9,2023.6,503.03,-12.34,470,3760.72,0.00,0.00,0.00,0.000,0.000,0.000,3960.34,3944.88,3975.81,1555.19,2023.38,0,0,0,30.00,30.00,30.00
$GC,4059.50,548,-243.31,-0.94,-80.00,3960.5,3944.7,3976.4,1555.8,2023.4,538.98,-11.75,500,4064.92,0.00,0.00,4.05,0.000,0.000,0.131,3961.03,3945.81,3976.25,1555.12,536.62,0,0,0,30.00,30.00,15.63
$GC,4124.13,1028,-243.31,-0.94,0.00,3959.8,3944.2,3975.4,1555.7,536.8,547.74,-13.55,513,4130.16,0.00,0.00,3.47,0.000,0.000,0.037,3960.94,3945.56,3976.31,1555.12,2021.81,0,0,0,30.00,30.00,15.91
$GC,4429.50,32,-243.31,-0.94,0.00,3959.7,3943.9,3975.5,1555.9,2022.1,583.65,-11.51,544,4430.83,0.00,0.00,0.00,0.000,0.000,0.000,3959.81,3943.62,3976.00,1555.06,2021.50,0,0,0,30.00,30.00,30.00
$GC,4729.62,548,-243.31,-0.94,-80.00,3959.6,3943.4,3975.7,1555.9,2021.9,618.99,-12.00,574,4735.02,0.00,0.00,4.07,0.000,0.000,0.134,3960.19,3944.44,3975.94,1555.38,537.56,0,0,0,30.00,30.00,15.61
$GC,4769.55,1028,-243.31,-0.94,0.00,3959.8,3943.8,3975.8,1555.2,537.5,624.10,-13.03,582,4774.94,0.00,0.00,3.48,0.000,0.000,0.039,3960.06,3944.12,3976.00,1555.31,2020.69,0,0,0,30.00,30.00,15.90
$GC,5079.61,32,-243.31,-0.94,0.00,3960.2,3943.8,3976.6,1555.7,2021.5,659.87,-11.04,614,5080.95,0.00,0.00,0.00,0.000,0.000,0.000,3959.56,3943.31,3975.81,1555.50,2021.25,0,0,0,30.00,30.00,30.00
$GC,5379.73,548,-243.31,-0.94,-80.00,3958.7,3942.4,3974.9,1555.6,2020.9,694.10,-11.80,644,5385.14,0.00,0.00,4.09,0.000,0.000,0.138,3959.19,3942.56,3975.81,1555.81,536.31,0,0,0,30.00,30.00,15.60
$GC,5414.34,1028,-243.31,-0.94,0.00,3959.2,3942.2,3976.1,1555.8,536.6,698.49,-12.89,651,5420.38,0.00,0.00,3.48,0.000,0.000,0.039,3959.91,3942.94,3976.88,1554.75,2020.69,0,0,0,30.00,30.00,15.91
$GC,5719.72,32,-243.31,-0.94,0.00,3958.7,3941.7,3975.7,1555.6,2020.6,734.53,-12.01,682,5721.04,0.00,0.00,0.00,0.000,0.000,0.000,3958.78,3942.31,3975.25,1555.56,2020.88,0,0,0,30.00,30.00,30.00
$GC,6019.83,548,-243.31,-0.94,-80.00,3958.5,3941.4,3975.7,1555.6,2020.5,768.64,-11.08,712,6025.25,0.00,0.00,4.11,0.000,0.000,0.142,3960.00,3943.06,3976.94,1555.62,536.50,0,0,0,30.00,30.00,15.58
$GC,6079.84,1060,-243.31,-0.94,0.00,3958.7,3941.6,3975.8,1555.4,536.8,776.20,-12.59,724,6085.15,0.00,0.00,3.49,0.000,0.000,0.041,3958.94,3941.88,3976.00,1555.62,2018.00,0,0,0,30.00,30.00,15.92
$GC,6389.82,548,-243.31,-0.94,-80.00,3958.6,3941.1,3976.1,1555.3,2017.8,810.90,-11.29,756,6395.32,0.00,0.00,4.11,0.000,0.000,0.143,3959.22,3941.56,3976.88,1555.56,537.69,0,0,0,30.00,30.00,15.58
$GC,6414.51,1060,-243.31,-0.94,0.00,3958.6,3941.2,3976.0,1555.9,537.9,813.83,-11.62,761,6420.55,0.00,0.00,3.48,0.000,0.000,0.041,3958.62,3941.50,3975.75,1555.19,2021.00,0,0,0,30.00,30.00,15.82
$GC,6719.88,32,-243.31,-0.94,0.00,3958.2,3940.8,3975.6,1555.5,2020.8,849.21,-11.51,792,6721.21,0.00,0.00,0.00,0.000,0.000,0.000,3958.31,3941.50,3975.12,1555.69,2020.62,0,0,0,30.00,30.00,30.00
$GC,7019.99,548,-243.31,-0.94,-80.00,3957.8,3940.0,3975.6,1555.4,2020.4,882.96,-11.22,822,7025.43,0.00,0.00,4.14,0.000,0.000,0.148,3958.00,3940.56,3975.44,1555.12,536.81,0,0,0,30.00,30.00,15.56
$GC,7054.61,1060,-243.31,-0.94,0.00,3957.9,3940.6,3975.2,1555.6,537.2,887.23,-12.44,829,7060.64,0.00,0.00,3.49,0.000,0.000,0.044,3958.56,3941.12,3976.00,1554.94,2017.00,0,0,0,30.00,30.00,15.89
$GC,7359.99,548,-243.31,-0.94,-80.00,3957.8,3939.6,3976.1,1555.9,2016.9,922.42,-11.70,860,7365.50,0.00,0.00,4.14,0.000,0.000,0.150,3958.28,3939.88,3976.69,1555.31,537.62,0,0,0,30.00,30.00,15.55
$GC,7389.99,1028,-243.31,-0.94,0.00,3957.8,3939.8,3975.8,1555.3,537.7,926.25,-12.75,866,7395.37,0.00,0.00,3.50,0.000,0.000,0.045,3958.41,3940.50,3976.31,1555.19,2019.00,0,0,0,30.00,30.00,15.88
$GC,7700.02,32,-243.31,-0.94,0.00,3957.3,3938.7,3976.0,1556.0,2018.5,960.32,-10.69,898,7701.35,0.00,0.00,0.00,0.000,0.000,0.000,3957.34,3939.38,3975.31,1555.25,2018.12,0,0,0,30.00,30.00,30.00
$STATE,7980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7980,begin apogee
$GC,7983.06,10243,0.00,-0.23,0.00,3956.8,3938.4,3975.2,1555.1,1438.9,990.48,-10.44,926,8193.74,206.28,1.30,0.05,2.036,0.147,0.338,2966.94,2922.75,3011.12,1747.38,1474.31,0,0,0,10.66,15.73,15.06
$STATE,8195,end apogee,CONTROL_FINISHED_OK
$STATE,8195,begin climb
$GC,8195.13,10759,243.31,1.12,-80.00,2965.7,2921.4,3010.1,1747.5,1474.1,996.85,0.00,947,8419.33,215.27,2.23,3.08,1.990,0.106,0.184,1973.09,1925.81,2020.38,2074.12,459.25,0,0,0,11.97,15.17,14.97
$GC,8506.82,17414,243.31,1.12,0.00,1967.5,1922.2,2012.8,2074.9,459.1,973.03,12.87,1009,8511.98,0.00,0.00,2.41,0.000,0.000,0.031,1967.94,1923.06,2012.81,2074.75,1485.19,0,0,0,30.00,30.00,15.37
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$GC,13063.01,0,438.90,1.46,0.00,1173.1,1112.4,1233.9,2165.6,1437.9,328.52,14.92,1495,13064.34,0.00,0.00,0.00,0.000,0.000,0.000,1172.84,1112.12,1233.56,2165.81,1437.62,0,0,0,30.00,30.00,30.00
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$STATE,15348,end climb,SURFACE_DEPTH_REACHED
$STATE,15348,begin surface coast
$FINISH,-0.0,1.026677
$STATE,15358,end surface coast,CONTROL_FINISHED_OK
$STATE,15358,begin surface
$SM_CCo,15427.93,49.30,0.898,0,929.8,882.1,977.5,499.98
$SM_GC,0.70,49.30,12.16,1.10,0.898,0.052,0.036,929.8,882.1,977.5,181.0,2039.0,0,0,0,11.24,15.81,15.86
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4837.46,-1858.03,060521,070951
$TCM_TEMP,15.50
$XPDR_PINGS,1,13.0,11.5
$SC_FREEKB,3803296
$HUMID,50.86
$TEMP,11.34
$INTERNAL_PRESSURE,8.67977
$24V_AH,14.36,73.956
$10V_AH,15.00,0.000
$FG_AHR_24Vo,120.940
$FG_AHR_10Vo,38.229
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,800.970,28.290,166.580,306.515,0.250,15.405,5188.697,10689.438,2663.592,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2035.976,302.496,337.920,212.115,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15384.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.319,0.000,0.000,0.000
$MEM,1127248,27,49516,100
$DATA_FILE_SIZE,54459,1801
$CAP_FILE_SIZE,345805,0
$SDSIZE,3918848,3860992
$SDFILEDIR,1111,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.250, 77.9,1
$GPS,060521,113357,4835.262,-1859.470,17,1.0,35,-6.4