version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 538
start: 11 5 116 7 36 1
data:
$ID,542
$MISSION,14
$DIVE,538
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$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,353
$T_MISSION,395
$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,100
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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_GPS_ALMANAC,0
$T_GPS_CHARGE,-42272.379
$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
$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,1955
$C_ROLL_CLIMB,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.17088
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$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
$GPS1,051116,072704,-4254.299,830.231,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.4
$GPS2,051116,073516,-4254.264,830.346,16,1.1,16,-25.0
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,SOUTH
$TGT_LATLONG,-4305.930,830.000
$TGT_RADIUS,1000.000
$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,217.7,21610,-16.3,-9.443,-19.31,2668
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-97.3,137,1954,1816,1705,0.0,0.0,0,69,0.00,0.00,-50.70,0.000,16390,0.000,0.000,137,1954,3080,3128,3033,0,0,0,0,0,0,28.83,28.83,26.45
$GC,73,-0.55,-97.3,137,1955,3128,3034,3.1,-4.5,8,88,8.90,2.30,0.00,0.000,2308,0.218,0.043,2379,3377,3086,3147,3025,0,0,0,0,0,0,24.72,25.79,28.83
$GC,219,-0.55,-97.3,1424,3376,3134,3012,26.4,-10.3,35,226,0.00,2.25,0.00,0.000,1030,0.000,0.041,2379,1950,3087,3158,3016,0,0,0,0,0,0,28.83,25.85,28.83
$GC,349,-0.55,-97.3,1472,1948,3137,3012,42.1,-12.6,60,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1950,3087,3159,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,663,-0.55,-97.3,2379,1950,3160,3016,78.4,-11.3,121,669,0.00,2.25,0.00,0.000,516,0.000,0.055,2379,538,3088,3160,3016,0,0,0,0,0,0,28.83,25.77,28.83
$GC,693,-0.55,-97.3,2379,538,3160,3016,81.8,-11.6,126,700,0.00,2.20,0.00,0.000,1030,0.000,0.042,2369,1957,3088,3160,3016,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1012,-0.55,-97.3,2369,1957,3161,3015,120.7,-13.0,172,1021,0.00,2.20,0.00,0.000,260,0.000,0.049,2359,3375,3088,3161,3016,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1065,-0.55,-97.3,2358,3375,3161,3016,127.5,-12.9,177,1074,0.10,2.20,0.00,0.000,3078,0.141,0.042,2390,1951,3088,3161,3016,0,0,0,0,0,0,25.63,25.95,28.83
$GC,1375,-0.55,-97.3,2390,1952,3162,3016,162.3,-10.7,208,1384,0.00,2.22,0.00,0.000,516,0.000,0.055,2390,541,3089,3162,3016,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1437,-0.55,-97.3,2390,541,3162,3016,169.3,-11.2,214,1448,0.00,2.17,0.00,0.000,1030,0.000,0.042,2381,1958,3089,3162,3016,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1748,-0.55,-97.3,2381,1958,3162,3015,203.7,-10.9,245,1757,0.00,2.17,0.00,0.000,260,0.000,0.049,2371,3363,3089,3163,3016,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1802,-0.55,-97.3,1536,3362,3144,3012,209.3,-10.7,250,1811,0.00,2.22,0.00,0.000,1030,0.000,0.041,2371,1959,3089,3163,3016,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2111,-0.55,-97.3,2370,1959,3163,3016,242.8,-10.9,281,2120,0.00,2.25,0.00,0.000,516,0.000,0.054,2371,537,3089,3163,3016,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2143,-0.55,-97.3,2370,537,3163,3015,246.6,-11.6,284,2153,0.12,2.20,0.00,0.000,3078,0.164,0.042,2391,1963,3089,3163,3016,0,0,0,0,0,0,25.70,25.98,28.83
$GC,2456,-0.55,-97.3,2391,1964,3163,3015,277.1,-9.4,315,2464,0.00,2.17,0.00,0.000,260,0.000,0.049,2382,3370,3089,3163,3016,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2510,-0.55,-97.3,1544,3369,3145,3012,282.3,-9.8,320,2517,0.00,2.25,0.00,0.000,1030,0.000,0.041,2382,1953,3089,3163,3016,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2818,-0.55,-97.3,2382,1953,3163,3016,316.3,-10.5,351,2827,0.00,2.22,0.00,0.000,516,0.000,0.055,2382,546,3089,3163,3016,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2891,-0.55,-97.3,2382,546,3163,3016,324.1,-10.4,358,2895,0.00,2.17,0.00,0.000,1030,0.000,0.042,2372,1957,3089,3163,3016,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3203,-0.55,-97.3,2371,1958,3163,3016,358.6,-11.3,389,3212,0.00,2.20,0.00,0.000,260,0.000,0.049,2361,3365,3089,3163,3016,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3277,-0.55,-97.3,2361,3365,3163,3016,367.1,-11.1,396,3286,0.00,2.17,0.00,0.000,1030,0.000,0.041,2361,1954,3089,3163,3015,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3586,-0.55,-97.3,2361,1954,3163,3016,405.1,-12.4,425,3588,0.12,0.00,0.00,0.000,2054,0.171,0.000,2391,1954,3089,3163,3016,0,0,0,0,0,0,26.06,28.83,28.83
$GC,3887,-0.55,-97.3,2391,1953,3163,3015,436.0,-9.9,440,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1953,3089,3163,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-0.55,-97.3,2391,1953,3163,3016,462.3,-8.1,455,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1953,3089,3163,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4487,-0.55,-97.3,2391,1953,3163,3015,485.5,-8.0,470,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1953,3089,3163,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-0.55,-97.3,2391,1953,3163,3015,512.1,-9.1,485,4792,0.00,2.28,0.00,0.000,516,0.000,0.057,2392,540,3089,3163,3015,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4868,-0.55,-97.3,1552,540,3144,3011,519.8,-9.6,489,4873,0.00,2.20,0.00,0.000,1030,0.000,0.044,2383,1958,3089,3163,3015,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5182,-0.55,-97.3,2383,1958,3163,3014,548.7,-8.9,505,5187,0.00,2.20,0.00,0.000,260,0.000,0.050,2373,3366,3088,3163,3014,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5224,-0.55,-97.3,1536,3365,3145,3010,552.2,-8.8,507,5228,0.00,2.20,0.00,0.000,1030,0.000,0.043,2372,1955,3088,3163,3013,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5538,-0.55,-97.3,2373,1955,3163,3013,580.2,-9.0,523,5543,0.00,2.25,0.00,0.000,516,0.000,0.057,2372,547,3088,3163,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5564,-0.55,-97.3,2372,547,3163,3013,582.1,-9.2,524,5569,0.12,2.17,0.00,0.000,3078,0.163,0.044,2393,1955,3088,3163,3013,0,0,0,0,0,0,25.66,25.94,28.83
$GC,5872,-0.55,-97.3,2392,1955,3163,3012,608.2,-8.6,539,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1955,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6172,-0.55,-97.3,2392,1955,3162,3012,634.8,-8.9,554,6178,0.00,2.20,0.00,0.000,260,0.000,0.051,2384,3369,3087,3163,3012,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6234,-0.55,-97.3,1536,3368,3144,3007,640.2,-9.0,557,6238,0.00,2.22,0.00,0.000,1030,0.000,0.043,2383,1953,3087,3163,3011,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6547,-0.55,-97.3,2384,1952,3163,3011,671.0,-9.9,573,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1952,3087,3163,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,-0.55,-97.3,2383,1952,3165,3007,700.6,-9.9,588,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1952,3086,3165,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7147,-0.55,-97.3,2383,1952,3165,3007,730.0,-9.9,603,7152,0.00,2.30,0.00,0.000,516,0.000,0.059,2383,541,3085,3165,3006,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7195,-0.55,-97.3,2383,541,3165,3006,734.2,-10.2,605,7199,0.00,2.20,0.00,0.000,1030,0.000,0.046,2374,1953,3086,3165,3007,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7501,-0.55,-97.3,2373,1954,3165,3006,766.7,-10.5,620,7505,0.00,2.25,0.00,0.000,260,0.000,0.053,2363,3372,3085,3165,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7555,-0.55,-97.3,2363,3373,3165,3005,771.1,-10.6,622,7563,0.12,2.22,0.00,0.000,3078,0.157,0.044,2393,1956,3085,3165,3005,0,0,0,0,0,0,25.63,25.89,28.83
$GC,7864,-0.55,-97.3,2393,1956,3164,3005,800.2,-8.7,638,7869,0.00,2.28,0.00,0.000,516,0.000,0.060,2394,546,3085,3166,3005,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7926,-0.55,-97.3,2393,546,3165,3005,805.8,-9.3,641,7930,0.00,2.20,0.00,0.000,1030,0.000,0.046,2385,1954,3085,3165,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8238,-0.55,-97.3,2385,1954,3165,3004,832.5,-8.1,657,8244,0.00,2.25,0.00,0.000,516,0.000,0.060,2385,541,3084,3165,3004,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8451,-0.55,-97.3,2385,540,3165,3004,850.7,-9.1,667,8458,0.00,2.22,0.00,0.000,1030,0.000,0.047,2375,1962,3084,3165,3004,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8758,-0.55,-97.3,2375,1962,3165,3003,878.6,-8.6,683,8764,0.00,2.20,0.00,0.000,260,0.000,0.053,2364,3366,3083,3164,3003,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8908,-0.55,-97.3,2364,3366,3164,3003,890.7,-8.6,690,8918,0.12,2.22,0.00,0.000,3078,0.156,0.045,2394,1952,3083,3164,3003,0,0,0,0,0,0,25.60,25.85,28.83
$GC,9218,-0.55,-97.3,2394,1952,3164,3003,913.7,-6.9,706,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1952,3084,3165,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9518,-0.55,-97.3,2394,1952,3165,3002,933.8,-6.6,721,9523,0.00,2.30,0.00,0.000,516,0.000,0.061,2395,540,3083,3165,3002,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9546,-0.55,-97.3,2394,540,3165,3002,935.2,-6.8,722,9551,0.00,2.22,0.00,0.000,1030,0.000,0.047,2386,1958,3083,3164,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9853,-0.55,-97.3,2386,1959,3165,3002,957.7,-6.9,737,9858,0.00,2.25,0.00,0.000,260,0.000,0.054,2375,3376,3083,3165,3002,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9936,-0.55,-97.3,2375,3376,3165,3002,963.8,-7.7,741,9941,0.00,2.25,0.00,0.000,1030,0.000,0.044,2375,1950,3083,3165,3002,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10249,-0.55,-97.3,2375,1949,3165,3002,989.1,-8.1,757,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1949,3083,3164,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10386,begin apogee
$GC,10392,-0.14,0.0,2375,1879,3165,3001,1000.5,-8.1,764,10490,0.50,0.00,94.95,1.873,10246,0.135,0.000,2527,1879,2683,2765,2602,0,0,0,0,0,0,25.29,28.83,21.82
$STATE,10491,end apogee,CONTROL_FINISHED_OK
$STATE,10491,begin climb
$GC,10494,0.55,97.3,2526,1879,2765,2602,1003.2,0.0,769,10604,0.65,2.58,100.93,1.761,10756,0.080,0.063,2758,488,2285,2361,2210,0,0,0,0,0,0,24.06,23.13,21.15
$GC,10636,0.68,227.4,2757,488,2356,2210,998.9,4.4,775,10783,0.10,2.40,138.05,1.737,11270,0.098,0.047,2802,1888,1754,1831,1678,0,0,0,0,0,0,23.95,23.94,21.20
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$STATE,18101,end climb,SURFACE_DEPTH_REACHED
$STATE,18101,begin surface coast
$FINISH,-0.0,1.014109
$STATE,18128,end surface coast,CONTROL_FINISHED_OK
$STATE,18128,begin surface
$SM_CCo,18204,0.00,0.000,0,0,1674,247.50
$SM_GC,1.51,6.78,0.10,0.00,0.033,0.109,0.000,168,1958,1674,-7.40,-0.90,247.50,0,0,0,0,0,0,26.10,26.25,28.83
$IRIDIUM_FIX,-4242.04,828.21,010909,151551
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.12
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.1,82.586
$10V_AH,9.7,55.876
$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,18.325,166.150,342.475,0.000,0.000,23.358,48.984,273.400,0.000,0.000,17.427,3593.099,11046.789,509.684,3182.314,369.812,0.000,1901.731,0.000,2649.260,0.000,1.011,0.000
$DEVICE_MAMPS,218.025,109.395,1872.720,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,999.953,284.445,903.821,418.101,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353164
$DATA_FILE_SIZE,93679,1381
$CAP_FILE_SIZE,183581,0
$CFSIZE,259252224,215416832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,  1.7,1
$GPS,051116,124034,-4255.522,829.677,33,1.4,33,-25.0