version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 88
start: 12 23 115 4 15 14
data:
$ID,542
$MISSION,12
$DIVE,88
$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,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53125
$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,230
$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_GPS_ALMANAC,0
$T_GPS_CHARGE,-29760.219
$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,2570
$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,1995
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,2909
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-177.38863
$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,20
$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
$DEVICE2,166
$DEVICE3,115
$DEVICE4,133
$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
$GPS1,231215,040504,-4304.761,828.639,29,1.5,29,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.1
$GPS2,231215,041448,-4304.685,828.897,23,1.1,23,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,268.3,6746,-17.9,-9.804,-20.77,2280
$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,15,-0.68,-146.0,174,2002,1962,1916,0.0,0.0,0,73,0.00,0.00,-55.95,0.000,16386,0.000,0.000,174,2003,3456,3511,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.68,-146.0,174,2002,3511,3403,3.8,-7.4,7,95,8.25,2.25,-0.98,0.000,18692,0.227,0.069,2333,3401,3507,3555,3459,0,0,0,0,0,0,25.70,25.98,26.22
$GC,159,-0.68,-146.0,2333,3401,3559,3459,28.4,-16.7,19,167,0.00,2.28,0.00,0.000,1030,0.000,0.053,2333,1989,3509,3559,3459,0,0,0,0,0,0,28.83,26.01,28.83
$GC,310,-0.68,-146.0,2332,1987,3559,3459,54.6,-17.9,44,322,0.00,2.30,0.00,0.000,516,0.000,0.068,2333,588,3509,3560,3459,0,0,0,0,0,0,28.83,26.05,28.83
$GC,382,-0.68,-146.0,1416,588,3553,3456,66.9,-16.7,56,391,0.00,2.25,0.00,0.000,1030,0.000,0.054,2323,1989,3509,3560,3459,0,0,0,0,0,0,28.83,26.10,28.83
$GC,711,-0.68,-146.0,2322,1989,3561,3459,124.7,-18.6,104,721,0.00,2.25,0.00,0.000,516,0.000,0.066,2323,584,3509,3560,3459,0,0,0,0,0,0,28.83,26.17,28.83
$GC,746,-0.68,-146.0,2322,584,3561,3459,130.8,-18.6,107,754,0.10,2.25,0.00,0.000,3078,0.164,0.054,2344,1989,3510,3561,3459,0,0,0,0,0,0,26.07,26.21,28.83
$GC,1054,-0.68,-146.0,2344,1989,3562,3459,180.1,-15.7,138,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1989,3510,3562,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1354,-0.68,-146.0,2344,1989,3561,3459,225.5,-14.5,168,1364,0.00,2.22,0.00,0.000,516,0.000,0.065,2344,586,3510,3562,3459,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1396,-0.68,-146.0,2344,587,3562,3459,231.8,-14.8,172,1400,0.00,2.22,0.00,0.000,1030,0.000,0.054,2335,1995,3510,3562,3459,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1702,-0.68,-146.0,2335,1996,3562,3459,277.6,-14.4,202,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3510,3562,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2001,-0.68,-146.0,2336,1997,3563,3459,317.7,-13.0,232,2005,0.00,2.25,0.00,0.000,516,0.000,0.066,2335,581,3511,3563,3459,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2048,-0.68,-146.0,2335,580,3562,3459,324.1,-13.8,236,2059,0.00,2.22,0.00,0.000,1030,0.000,0.055,2325,2006,3510,3562,3459,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2358,-0.68,-146.0,2325,2006,3563,3459,367.1,-14.1,267,2362,0.00,2.28,0.00,0.000,516,0.000,0.067,2325,576,3510,3562,3459,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2408,-0.68,-146.0,2325,576,3563,3459,373.8,-14.0,271,2419,0.12,2.28,0.00,0.000,3078,0.181,0.055,2345,2001,3511,3563,3459,0,0,0,0,0,0,26.26,26.39,28.83
$GC,2728,-0.68,-146.0,2345,2001,3563,3459,412.3,-12.1,298,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2001,3510,3562,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.68,-146.0,2345,2001,3562,3459,448.7,-12.3,313,3032,0.00,2.25,0.00,0.000,516,0.000,0.069,2345,587,3511,3563,3459,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3059,-0.68,-146.0,2345,587,3563,3459,451.3,-12.4,314,3066,0.00,2.22,0.00,0.000,1030,0.000,0.057,2337,2001,3511,3563,3459,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3366,-0.68,-146.0,2337,2002,3562,3458,493.5,-13.4,330,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2002,3510,3562,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3667,-0.68,-146.0,2337,2001,3563,3459,533.7,-13.4,345,3673,0.00,2.25,0.00,0.000,516,0.000,0.070,2337,591,3511,3563,3459,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3690,-0.68,-146.0,2336,591,3563,3459,536.5,-13.5,346,3694,0.00,2.25,0.00,0.000,1030,0.000,0.058,2327,1989,3511,3563,3459,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4008,-0.68,-146.0,2327,1989,3563,3459,582.7,-14.6,362,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1989,3511,3563,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4309,-0.68,-146.0,2326,1989,3562,3459,626.4,-14.4,377,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1989,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4608,-0.68,-146.0,2326,1989,3562,3458,668.5,-13.9,392,4614,0.00,2.25,0.00,0.000,516,0.000,0.071,2327,582,3510,3562,3458,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4630,-0.68,-146.0,2327,582,3563,3458,671.4,-14.1,393,4636,0.10,2.28,0.00,0.000,3078,0.157,0.060,2348,1997,3510,3562,3458,0,0,0,0,0,0,26.32,26.44,28.83
$GC,4951,-0.68,-146.0,2348,1997,3563,3458,710.3,-12.0,409,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1997,3510,3562,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5249,-0.68,-146.0,2348,1997,3562,3458,745.6,-11.7,424,5255,0.00,2.28,0.00,0.000,516,0.000,0.072,2349,588,3510,3562,3458,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5292,-0.68,-146.0,2347,588,3562,3458,750.3,-11.6,426,5296,0.00,2.22,0.00,0.000,1030,0.000,0.061,2340,1997,3510,3562,3458,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5603,-0.68,-146.0,2340,1997,3562,3458,788.1,-12.0,442,5607,0.00,2.28,0.00,0.000,516,0.000,0.073,2340,587,3510,3562,3458,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5634,-0.68,-146.0,2340,587,3562,3458,790.1,-12.3,443,5640,0.00,2.25,0.00,0.000,1030,0.000,0.061,2330,2004,3510,3562,3458,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5939,-0.68,-146.0,2330,2005,3562,3458,829.6,-12.4,459,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2005,3509,3561,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6240,-0.68,-146.0,2330,2005,3561,3458,866.4,-12.1,474,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2005,3509,3561,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6540,-0.68,-146.0,2330,2005,3560,3458,902.7,-12.1,489,6546,0.00,2.28,0.00,0.000,516,0.000,0.073,2330,584,3509,3560,3459,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6563,-0.68,-146.0,2330,584,3560,3458,905.2,-12.2,490,6568,0.08,2.28,0.00,0.000,3078,0.161,0.062,2344,1987,3509,3560,3458,0,0,0,0,0,0,26.34,26.45,28.83
$GC,6882,-0.68,-146.0,2344,1988,3560,3457,939.8,-10.6,506,6888,0.00,2.22,0.00,0.000,516,0.000,0.073,2344,593,3508,3560,3457,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6903,-0.68,-146.0,2343,594,3559,3457,942.1,-10.8,507,6908,0.00,2.28,0.00,0.000,1030,0.000,0.063,2336,1997,3508,3559,3457,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7221,-0.68,-146.0,2336,1997,3559,3456,977.9,-11.1,523,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3507,3559,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7440,begin apogee
$GC,7445,-0.14,0.0,2336,1862,3559,3456,1002.2,-11.0,534,7582,0.60,0.00,130.40,1.789,10246,0.139,0.000,2524,1860,2908,2983,2834,0,0,0,0,0,0,26.34,28.83,23.37
$STATE,7583,end apogee,CONTROL_FINISHED_OK
$STATE,7583,begin climb
$GC,7584,0.68,146.0,2524,1860,2983,2834,1007.5,0.0,541,7730,0.75,2.62,136.35,1.764,10756,0.046,0.073,2816,468,2313,2373,2254,0,0,0,0,0,0,24.54,23.33,22.39
$GC,7870,0.68,146.0,2816,468,2366,2247,982.8,16.6,555,7874,0.00,2.40,0.00,0.000,1030,0.000,0.061,2816,1869,2306,2366,2247,0,0,0,0,0,0,28.83,24.72,28.83
$GC,8177,0.68,146.0,2815,1869,2365,2242,932.2,15.7,570,8181,0.00,2.35,0.00,0.000,260,0.000,0.069,2816,3287,2303,2365,2242,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8216,0.68,146.0,2815,3287,2365,2242,926.0,16.3,572,8222,0.15,2.33,0.00,0.000,5126,0.226,0.061,2795,1872,2303,2365,2242,0,0,0,0,0,0,25.37,25.52,28.83
$GC,8528,0.68,146.0,2795,1873,2363,2240,878.9,14.7,588,8533,0.00,2.33,0.00,0.000,260,0.000,0.070,2794,3285,2302,2365,2240,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8598,0.68,146.0,2794,3285,2364,2240,870.4,15.0,591,8605,0.00,2.30,0.00,0.000,1030,0.000,0.062,2803,1870,2302,2364,2240,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8905,0.68,146.0,2802,1870,2364,2238,823.8,14.4,607,8909,0.00,2.30,0.00,0.000,260,0.000,0.070,2803,3282,2301,2365,2238,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8953,0.68,146.0,2802,3282,2364,2238,818.4,14.6,609,8961,0.00,2.30,0.00,0.000,1030,0.000,0.060,2813,1861,2301,2364,2238,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9262,0.68,146.0,2813,1861,2364,2237,769.9,15.3,625,9267,0.00,2.30,0.00,0.000,260,0.000,0.068,2813,3284,2300,2363,2237,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9313,0.68,146.0,2813,3284,2363,2237,763.6,15.6,627,9322,0.10,2.30,0.00,0.000,5126,0.210,0.060,2797,1873,2300,2363,2237,0,0,0,0,0,0,25.98,26.13,28.83
$GC,9621,0.68,146.0,2797,1872,2363,2236,716.4,14.6,643,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1873,2299,2363,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9921,0.68,146.0,2796,1872,2363,2235,673.0,14.3,658,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1873,2299,2363,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10221,0.68,146.0,2796,1873,2363,2235,631.9,13.5,673,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1872,2299,2363,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10521,0.68,146.0,2797,1873,2363,2234,593.3,12.5,688,10527,0.00,2.28,0.00,0.000,260,0.000,0.069,2794,3291,2298,2363,2234,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10593,0.68,146.0,2793,3291,2362,2234,585.4,13.0,691,10601,0.00,2.30,0.00,0.000,1030,0.000,0.060,2803,1853,2298,2363,2234,0,0,0,0,0,0,28.83,26.32,28.83
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$GC,12309,0.68,146.0,2795,1864,2362,2234,359.8,12.2,793,12318,0.00,2.25,0.00,0.000,260,0.000,0.067,2795,3289,2298,2362,2234,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,15360,end climb,SURFACE_DEPTH_REACHED
$STATE,15361,begin surface coast
$FINISH,-0.2,1.026495
$STATE,15387,end surface coast,CONTROL_FINISHED_OK
$STATE,15387,begin surface
$SM_CCo,15402,32.20,0.146,0,0,1967,230.09
$SM_GC,0.67,6.68,2.08,32.20,0.036,0.057,0.146,183,1996,1967,-7.40,0.68,230.09,0,0,0,0,0,0,26.48,26.43,26.22
$IRIDIUM_FIX,-4247.91,826.16,181008,171756
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.02
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,17.616
$10V_AH,10.1,14.613
$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,17.325,132.050,266.750,32.200,0.000,50.312,61.588,229.939,49.250,0.000,24.103,3073.929,9317.216,476.017,2961.096,188.859,0.000,1578.343,0.000,2326.198,0.000,297.494,0.000
$DEVICE_MAMPS,227.205,84.150,1789.335,146.115,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.103,68.352,658.445,1726.978,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352700
$DATA_FILE_SIZE,73602,1159
$CAP_FILE_SIZE,167343,0
$CFSIZE,259248128,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185, 38.0,1
$GPS,231215,083334,-4304.601,827.852,29,1.8,29,-25.0