version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 49
start: 10 26 117 7 4 42
data:
$ID,542
$MISSION,17
$DIVE,49
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$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,340
$T_MISSION,355
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,180
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1905
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2375
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-176.5815
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,261017,065533,-5246.2373,-4010.7024,34,1.0,34,-6.7,1.0,73.4,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.8
$GPS2,261017,070358,-5246.2036,-4010.7627,19,0.9,19,-6.7,0.8,322.6,10,8.8
$SPEED_LIMITS,0.269,0.279
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,176.9,2896,-17.1,-9.804,-20.00,2497
$D_GRID,1000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.56,-87.6,149,1988,1471,1344,0.0,0.0,0,69,0.00,0.00,-50.08,0.000,16386,0.000,0.000,144,1987,2633,2705,2562,0,0,0,0,0,0,25.91,28.83,25.93
$GC,71,-0.56,-87.6,144,1986,2705,2563,3.5,-5.4,7,88,9.10,0.00,-2.33,0.000,18694,0.252,0.000,2381,1985,2737,2813,2662,0,0,0,0,0,0,25.40,24.79,25.57
$GC,135,-0.56,-87.6,2381,1985,2815,2661,19.8,-19.0,17,142,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1985,2738,2815,2661,0,0,0,0,0,0,25.96,25.98,25.98
$GC,187,-0.56,-87.6,2381,1985,2815,2661,29.9,-18.5,26,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1985,2738,2815,2661,0,0,0,0,0,0,26.01,26.02,26.01
$GC,241,-0.56,-87.6,2381,1985,2815,2661,40.0,-18.7,35,248,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1985,2738,2816,2661,0,0,0,0,0,0,26.04,26.06,26.05
$GC,294,-0.56,-87.6,2381,1985,2815,2661,50.1,-18.8,44,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1985,2738,2816,2661,0,0,0,0,0,0,26.07,26.08,26.08
$GC,349,-0.56,-87.6,2380,1985,2815,2661,60.1,-18.8,53,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1985,2738,2816,2661,0,0,0,0,0,0,26.10,26.11,26.11
$GC,402,-0.56,-87.6,2381,1985,2816,2661,70.3,-19.2,62,410,0.00,2.38,0.00,0.000,260,0.000,0.080,2372,3386,2738,2815,2661,0,0,0,0,0,0,26.13,25.78,26.14
$GC,435,-0.56,-87.6,2372,3385,2816,2662,76.5,-18.9,67,443,0.00,2.38,0.00,0.000,1030,0.000,0.065,2372,1969,2738,2815,2661,0,0,0,0,0,0,25.94,25.81,25.96
$GC,490,-0.56,-87.6,2371,1968,2815,2661,86.9,-19.2,76,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1968,2738,2816,2661,0,0,0,0,0,0,26.15,26.17,26.17
$GC,545,-0.56,-87.6,2371,1968,2816,2661,97.3,-20.0,85,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1968,2738,2816,2661,0,0,0,0,0,0,26.18,26.20,26.19
$GC,596,-0.56,-87.6,2372,1968,2815,2661,107.5,-19.1,94,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1968,2738,2816,2661,0,0,0,0,0,0,26.20,26.21,26.20
$GC,729,-0.56,-87.6,2372,1968,2816,2662,133.3,-19.0,119,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1968,2738,2815,2661,0,0,0,0,0,0,26.25,26.25,26.25
$GC,861,-0.56,-87.6,2372,1968,2815,2661,157.3,-17.1,144,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1968,2738,2816,2661,0,0,0,0,0,0,26.28,26.29,26.29
$GC,996,-0.56,-87.6,2372,1968,2816,2661,180.3,-16.8,169,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1968,2738,2816,2661,0,0,0,0,0,0,26.32,26.33,26.32
$GC,1129,-0.56,-87.6,2372,1968,2816,2661,203.0,-16.6,194,1135,0.00,2.35,0.00,0.000,516,0.000,0.080,2372,554,2738,2816,2661,0,0,0,0,0,0,26.34,26.00,26.36
$GC,1174,-0.56,-87.6,2371,553,2815,2661,210.5,-16.6,202,1181,0.00,2.38,0.00,0.000,1030,0.000,0.069,2362,2002,2738,2816,2661,0,0,0,0,0,0,26.14,26.02,26.16
$GC,1310,-0.56,-87.6,2362,2002,2816,2661,233.7,-17.0,227,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2002,2738,2815,2661,0,0,0,0,0,0,26.37,26.39,26.39
$GC,1444,-0.56,-87.6,2362,2002,2815,2661,256.3,-16.8,252,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2002,2738,2816,2661,0,0,0,0,0,0,26.39,26.41,26.41
$GC,1577,-0.56,-87.6,2361,2002,2815,2661,279.0,-16.7,277,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2002,2738,2816,2661,0,0,0,0,0,0,26.42,26.43,26.43
$GC,1709,-0.56,-87.6,2362,2002,2815,2661,300.6,-16.2,302,1715,0.00,2.33,0.00,0.000,260,0.000,0.082,2351,3414,2738,2815,2661,0,0,0,0,0,0,26.44,26.09,26.45
$GC,1739,-0.56,-87.6,2351,3414,2816,2661,305.7,-16.8,307,1747,0.12,2.38,0.00,0.000,3078,0.193,0.066,2386,1950,2738,2815,2661,0,0,0,0,0,0,26.01,26.11,26.17
$GC,1874,-0.56,-87.6,2385,1951,2815,2661,326.4,-15.4,332,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1950,2739,2816,2662,0,0,0,0,0,0,26.45,26.46,26.46
$GC,2008,-0.56,-87.6,2385,1950,2816,2661,346.4,-15.4,357,2014,0.00,2.30,0.00,0.000,516,0.000,0.083,2386,575,2738,2815,2661,0,0,0,0,0,0,26.46,26.13,26.48
$GC,2038,-0.56,-87.6,2385,574,2816,2661,351.2,-16.4,362,2045,0.00,2.33,0.00,0.000,1030,0.000,0.071,2378,1972,2738,2815,2661,0,0,0,0,0,0,26.20,26.14,26.23
$GC,2174,-0.56,-87.6,2377,1973,2816,2661,372.7,-15.6,387,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1973,2738,2816,2661,0,0,0,0,0,0,26.48,26.49,26.48
$GC,2307,-0.56,-87.6,2377,1973,2815,2661,393.6,-15.8,412,2314,0.00,2.35,0.00,0.000,260,0.000,0.082,2367,3389,2739,2816,2662,0,0,0,0,0,0,26.49,26.15,26.51
$GC,2340,-0.56,-87.6,2366,3389,2816,2661,398.4,-16.1,417,2346,0.00,2.33,0.00,0.000,1030,0.000,0.067,2367,1979,2738,2815,2661,0,0,0,0,0,0,26.23,26.16,26.25
$GC,2473,-0.56,-87.6,2366,1980,2815,2661,420.3,-15.9,442,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1980,2738,2816,2661,0,0,0,0,0,0,26.51,26.51,26.51
$GC,2607,-0.56,-87.6,2366,1980,2816,2661,441.6,-16.1,467,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1980,2738,2816,2661,0,0,0,0,0,0,26.51,26.53,26.53
$GC,2741,-0.56,-87.6,2366,1980,2815,2661,462.8,-15.9,492,2748,0.00,2.33,0.00,0.000,516,0.000,0.082,2367,561,2738,2815,2661,0,0,0,0,0,0,26.53,26.17,26.53
$GC,2773,-0.56,-87.6,2366,560,2815,2661,467.8,-16.7,497,2781,0.10,2.35,0.00,0.000,3078,0.202,0.070,2383,1978,2738,2815,2661,0,0,0,0,0,0,26.10,26.19,26.26
$GC,2909,-0.56,-87.6,2383,1978,2816,2661,487.6,-14.3,522,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1978,2738,2816,2661,0,0,0,0,0,0,26.52,26.54,26.54
$GC,3041,-0.56,-87.6,2383,1978,2816,2661,506.4,-14.0,547,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1978,2738,2815,2661,0,0,0,0,0,0,26.54,26.55,26.55
$GC,3362,-0.56,-87.6,2383,1978,2816,2661,549.8,-13.2,608,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1978,2738,2815,2661,0,0,0,0,0,0,26.57,26.58,26.58
$GC,3685,-0.56,-87.6,2383,1979,2815,2661,592.7,-13.2,669,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1979,2738,2815,2661,0,0,0,0,0,0,26.59,26.60,26.60
$GC,4006,-0.56,-87.6,2383,1978,2815,2661,634.9,-12.9,730,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1978,2738,2815,2661,0,0,0,0,0,0,26.60,26.62,26.61
$GC,4326,-0.56,-87.6,2383,1978,2816,2661,676.3,-12.7,791,4333,0.00,2.38,0.00,0.000,260,0.000,0.083,2374,3415,2738,2815,2661,0,0,0,0,0,0,26.62,26.27,26.63
$GC,4376,-0.56,-87.6,2374,3415,2816,2661,682.7,-12.5,800,4385,0.00,2.35,0.00,0.000,1030,0.000,0.066,2374,1980,2738,2816,2661,0,0,0,0,0,0,26.35,26.28,26.39
$GC,4700,-0.56,-87.6,2373,1980,2815,2661,726.0,-13.2,861,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1980,2738,2816,2661,0,0,0,0,0,0,26.63,26.65,26.64
$GC,5020,-0.56,-87.6,2373,1980,2815,2661,768.4,-13.3,922,5027,0.00,2.33,0.00,0.000,516,0.000,0.082,2374,552,2738,2816,2661,0,0,0,0,0,0,26.65,26.29,26.65
$GC,5061,-0.56,-87.6,2374,552,2816,2661,773.8,-14.0,929,5068,0.00,2.35,0.00,0.000,1030,0.000,0.070,2364,1978,2738,2816,2661,0,0,0,0,0,0,26.38,26.32,26.41
$GC,5383,-0.56,-87.6,2364,1978,2815,2661,819.4,-13.7,990,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1978,2738,2816,2661,0,0,0,0,0,0,26.65,26.66,26.66
$GC,5706,-0.56,-87.6,2364,1979,2814,2661,864.9,-14.2,1051,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1978,2738,2815,2661,0,0,0,0,0,0,26.66,26.67,26.67
$GC,6025,-0.56,-87.6,2364,1978,2815,2661,908.7,-14.1,1112,6034,0.00,2.38,0.00,0.000,260,0.000,0.083,2353,3391,2738,2816,2661,0,0,0,0,0,0,26.67,26.32,26.68
$GC,6057,-0.56,-87.6,2353,3391,2816,2661,913.2,-14.1,1117,6064,0.08,2.30,0.00,0.000,3078,0.185,0.067,2384,1985,2738,2816,2661,0,0,0,0,0,0,26.24,26.33,26.40
$GC,6381,-0.56,-87.6,2383,1985,2815,2661,952.4,-11.8,1178,6388,0.00,2.33,0.00,0.000,516,0.000,0.083,2384,557,2738,2815,2661,0,0,0,0,0,0,26.67,26.32,26.68
$GC,6415,-0.56,-87.6,2384,556,2815,2662,956.7,-12.4,1184,6424,0.00,2.35,0.00,0.000,1030,0.000,0.070,2376,1980,2738,2815,2661,0,0,0,0,0,0,26.39,26.33,26.44
$GC,6740,-0.56,-87.6,2375,1980,2815,2661,996.3,-12.1,1245,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1980,2738,2815,2661,0,0,0,0,0,0,26.67,26.69,26.68
$STATE,6774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6774,begin apogee
$GC,6778,-0.14,0.0,2375,1904,2816,2661,1000.4,-12.0,1251,6866,0.45,0.00,83.00,1.799,10246,0.171,0.000,2517,1904,2375,2458,2292,0,0,0,0,0,0,26.25,24.20,23.25
$STATE,6867,end apogee,CONTROL_FINISHED_OK
$STATE,6867,begin climb
$GC,6869,0.56,87.6,2517,1904,2458,2291,1004.5,0.0,1265,6967,0.75,2.65,86.82,1.752,10756,0.119,0.080,2767,499,2016,2104,1928,0,0,0,0,0,0,24.36,23.31,22.57
$GC,6995,0.61,130.9,2766,500,2098,1927,998.8,8.0,1286,7045,0.00,2.53,43.55,1.716,9222,0.000,0.070,2768,1906,1841,1931,1751,0,0,0,0,0,0,24.13,24.01,22.18
$GC,7361,0.61,130.9,2766,1906,1924,1738,959.7,10.9,1354,7368,0.00,2.50,0.00,0.000,260,0.000,0.082,2767,3315,1830,1923,1737,0,0,0,0,0,0,25.13,24.79,25.13
$GC,7416,0.61,130.9,2766,3316,1921,1737,953.4,11.4,1364,7423,0.00,2.42,0.00,0.000,1030,0.000,0.070,2778,1909,1828,1921,1736,0,0,0,0,0,0,25.03,24.91,25.06
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$STATE,16495,end climb,SURFACE_DEPTH_REACHED
$STATE,16496,begin surface coast
$FINISH,0.2,1.013292
$STATE,16519,end surface coast,CONTROL_FINISHED_OK
$STATE,16519,begin surface
$SM_CCo,16593,0.00,0.000,0,0,1422,233.77
$SM_GC,1.53,7.20,0.12,0.00,0.064,0.113,0.000,179,1982,1422,-7.40,-0.65,233.77,0,0,0,0,0,0,26.01,25.98,26.07
$IRIDIUM_FIX,-5220.79,-4013.35,261017,020111
$TT8_MAMPS,0.02247,0.237433
$HUMID,61.02
$INTERNAL_PRESSURE,9.28714
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.18,13.128
$10V_AH,10.10,19.124
$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,18.350,147.700,292.175,0.000,0.000,23.250,20.567,307.382,0.000,0.000,19.915,6098.217,2122.644,590.031,7983.827,284.564,0.000,2976.500,0.000,7609.359,0.000,1.004,0.000
$DEVICE_MAMPS,251.685,113.220,1798.515,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.556,141.165,7154.053,1509.038,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343376
$DATA_FILE_SIZE,190210,3042
$CAP_FILE_SIZE,269221,0
$CFSIZE,259248128,251723776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,91.98,1
$GPS,261017,114226,-5248.284,-4009.601,41,1.4,41,-6.7,0.0,0.0,7,14.9