version: 66.07.10.p01
glider: 573
mission: 12
dive: 331
start: 10 6 115 2 47 41
data:
$ID,573
$MISSION,12
$DIVE,331
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,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,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$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,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-22071.387
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,330
$GPS1,061015,023928,-4504.222,625.552,47,0.9,47,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-72.9
$GPS2,061015,024722,-4504.163,625.700,20,1.2,20,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,302.1,2245,-27.7,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,48,0.00,0.00,-20.23,0.000,2,0.000,0.000,81,2065,1521,0,0,0,0,0,0
$GC,51,-1.12,-85.3,3.0,-4.5,3,108,11.68,2.35,-39.17,0.000,4,0.250,0.076,2816,662,2296,0,0,0,0,0,0
$GC,239,-1.05,-85.3,22.2,-18.1,33,247,0.10,2.28,0.00,0.000,6,0.170,0.041,2837,2060,2297,0,0,0,0,0,0
$GC,396,-1.05,-85.3,46.9,-14.9,58,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2060,2297,0,0,0,0,0,0
$GC,747,-1.05,-85.3,102.6,-15.6,101,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2060,2297,0,0,0,0,0,0
$GC,1054,-1.05,-85.3,150.4,-15.5,116,1058,0.00,2.30,0.00,0.000,4,0.000,0.065,2826,3463,2297,0,0,0,0,0,0
$GC,1121,-1.05,-85.3,161.4,-15.5,119,1126,0.05,2.22,0.00,0.000,6,0.179,0.043,2842,2072,2298,0,0,0,0,0,0
$GC,1451,-1.09,-85.3,208.9,-13.5,135,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2072,2298,0,0,0,0,0,0
$GC,1757,-1.12,-85.3,250.3,-12.9,150,1759,0.05,0.00,0.00,0.000,6,0.164,0.000,2810,2072,2299,0,0,0,0,0,0
$GC,2069,-1.12,-85.3,294.7,-15.0,165,2073,0.00,2.30,0.00,0.000,4,0.000,0.059,2800,3477,2298,0,0,0,0,0,0
$GC,2111,-1.08,-85.3,301.1,-15.4,167,2116,0.12,2.25,0.00,0.000,6,0.181,0.044,2832,2052,2298,0,0,0,0,0,0
$GC,2438,-1.15,-85.3,339.2,-9.7,183,2443,0.00,2.35,0.00,0.000,4,0.000,0.064,2822,3469,2299,0,0,0,0,0,0
$GC,2695,-1.15,-85.3,375.5,-14.3,194,2702,0.00,2.28,0.00,0.000,6,0.000,0.048,2822,2060,2299,0,0,0,0,0,0
$GC,3010,-1.15,-85.3,419.5,-14.1,210,3015,0.00,2.30,0.00,0.000,4,0.000,0.063,2813,3466,2299,0,0,0,0,0,0
$GC,3253,-1.15,-85.3,455.0,-15.1,221,3257,0.00,2.22,0.00,0.000,6,0.000,0.046,2813,2059,2299,0,0,0,0,0,0
$GC,3580,-1.15,-85.3,503.1,-14.7,237,3584,0.00,2.33,0.00,0.000,4,0.000,0.063,2804,3463,2299,0,0,0,0,0,0
$GC,3634,-1.15,-85.3,511.6,-16.0,239,3639,0.00,2.25,0.00,0.000,6,0.000,0.044,2804,2053,2299,0,0,0,0,0,0
$GC,3951,-1.15,-85.3,559.9,-15.7,255,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2053,2298,0,0,0,0,0,0
$GC,4258,-1.15,-85.3,607.2,-15.4,270,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2053,2299,0,0,0,0,0,0
$GC,4569,-1.15,-85.3,655.2,-15.7,285,4573,0.00,2.33,0.00,0.000,4,0.000,0.063,2795,3465,2299,0,0,0,0,0,0
$GC,4602,-1.12,-85.3,660.7,-16.4,286,4608,0.10,2.22,0.00,0.000,6,0.192,0.046,2818,2056,2298,0,0,0,0,0,0
$GC,4916,-1.12,-85.3,707.5,-14.8,302,4920,0.00,2.30,0.00,0.000,4,0.000,0.063,2810,3464,2298,0,0,0,0,0,0
$GC,5022,-1.12,-85.3,723.5,-14.4,306,5028,0.00,2.25,0.00,0.000,6,0.000,0.045,2810,2055,2298,0,0,0,0,0,0
$GC,5337,-1.12,-85.3,769.1,-14.5,322,5341,0.00,2.33,0.00,0.000,4,0.000,0.063,2801,3474,2298,0,0,0,0,0,0
$GC,5387,-1.12,-85.3,776.6,-15.1,324,5392,0.05,2.28,0.00,0.000,6,0.177,0.047,2816,2058,2297,0,0,0,0,0,0
$GC,5713,-1.12,-85.3,822.1,-13.5,340,5717,0.00,2.33,0.00,0.000,4,0.000,0.064,2807,3463,2297,0,0,0,0,0,0
$GC,5775,-1.12,-85.3,830.5,-13.2,343,5779,0.00,2.22,0.00,0.000,6,0.000,0.044,2807,2055,2297,0,0,0,0,0,0
$GC,6101,-1.12,-85.3,872.3,-12.5,359,6105,0.00,2.33,0.00,0.000,4,0.000,0.063,2799,3463,2298,0,0,0,0,0,0
$GC,6218,-1.12,-85.3,888.1,-13.5,364,6223,0.05,2.25,0.00,0.000,6,0.181,0.045,2814,2059,2297,0,0,0,0,0,0
$GC,6538,-1.12,-85.3,926.6,-12.0,380,6542,0.00,2.33,0.00,0.000,4,0.000,0.064,2806,3463,2297,0,0,0,0,0,0
$GC,6643,-1.12,-85.3,940.0,-13.0,384,6650,0.03,2.28,0.00,0.000,6,0.208,0.044,2814,2047,2297,0,0,0,0,0,0
$GC,6959,-1.16,-85.3,976.5,-11.5,400,6963,0.00,2.30,0.00,0.000,4,0.000,0.057,2806,3465,2298,0,0,0,0,0,0
$GC,7007,-1.16,-85.3,982.7,-12.7,402,7012,0.00,2.25,0.00,0.000,6,0.000,0.044,2806,2054,2297,0,0,0,0,0,0
$STATE,7161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7161,begin apogee
$GC,7167,-0.19,0.0,1001.2,11.9,410,7250,1.08,0.00,79.82,1.280,6,0.168,0.000,3113,1593,1950,0,0,0,0,0,0
$STATE,7251,end apogee,CONTROL_FINISHED_OK
$STATE,7251,begin climb
$GC,7253,1.12,85.3,1003.7,0.0,414,7345,1.27,2.50,83.38,1.243,4,0.089,0.054,3549,190,1602,0,0,0,0,0,0
$GC,7428,1.12,85.3,988.6,12.6,422,7433,0.00,2.40,0.00,0.000,6,0.000,0.034,3549,1612,1598,0,0,0,0,0,0
$GC,7749,1.12,85.3,949.0,12.6,438,7753,0.00,2.40,0.00,0.000,4,0.000,0.051,3559,188,1594,0,0,0,0,0,0
$GC,7856,1.08,85.3,935.1,12.8,443,7861,0.10,2.28,0.00,0.000,6,0.186,0.036,3536,1604,1593,0,0,0,0,0,0
$GC,8184,1.12,85.3,896.2,12.1,459,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1605,1593,0,0,0,0,0,0
$GC,8492,1.16,85.3,860.9,11.5,474,8497,0.05,2.33,0.00,0.000,4,0.166,0.053,3580,195,1592,0,0,0,0,0,0
$GC,8671,1.09,85.3,837.5,13.3,482,8676,0.17,2.25,0.00,0.000,6,0.167,0.035,3535,1623,1592,0,0,0,0,0,0
$GC,8997,1.12,85.3,802.7,10.3,498,9001,0.00,2.35,0.00,0.000,4,0.000,0.052,3544,193,1592,0,0,0,0,0,0
$GC,9062,1.12,85.3,795.3,11.4,501,9067,0.00,2.25,0.00,0.000,6,0.000,0.037,3544,1603,1591,0,0,0,0,0,0
$GC,9390,1.12,85.3,761.3,10.1,517,9394,0.00,2.33,0.00,0.000,4,0.000,0.052,3552,191,1591,0,0,0,0,0,0
$GC,9466,1.12,85.3,752.6,10.8,520,9473,0.00,2.22,0.00,0.000,6,0.000,0.035,3553,1596,1591,0,0,0,0,0,0
$GC,9781,1.12,85.3,718.7,10.7,536,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1596,1591,0,0,0,0,0,0
$GC,10092,1.12,85.3,684.7,10.9,551,10096,0.00,2.25,0.00,0.000,4,0.000,0.055,3553,2991,1591,0,0,0,0,0,0
$GC,10146,1.12,85.3,678.3,11.8,553,10152,0.03,2.20,0.00,0.000,6,0.208,0.036,3554,1590,1590,0,0,0,0,0,0
$GC,10463,1.12,85.3,646.1,9.8,569,10467,0.00,2.28,0.00,0.000,4,0.000,0.054,3564,193,1590,0,0,0,0,0,0
$GC,10540,1.09,85.3,637.9,9.9,572,10547,0.08,2.22,0.00,0.000,6,0.166,0.037,3541,1589,1590,0,0,0,0,0,0
$GC,10855,1.13,85.3,610.0,8.8,588,10859,0.00,2.28,0.00,0.000,4,0.000,0.051,3549,198,1590,0,0,0,0,0,0
$GC,11033,1.13,85.3,593.5,9.3,596,11038,0.00,2.22,0.00,0.000,6,0.000,0.037,3549,1602,1590,0,0,0,0,0,0
$GC,11359,1.13,85.3,563.4,9.5,612,11363,0.00,2.30,0.00,0.000,4,0.000,0.052,3558,199,1590,0,0,0,0,0,0
$GC,11420,1.13,85.3,557.4,9.7,614,11426,0.00,2.22,0.00,0.000,6,0.000,0.037,3557,1603,1590,0,0,0,0,0,0
$GC,11735,1.13,85.3,527.8,9.4,630,11739,0.00,2.30,0.00,0.000,4,0.000,0.052,3565,199,1590,0,0,0,0,0,0
$GC,11848,1.13,85.3,516.3,11.1,635,11853,0.08,2.20,0.00,0.000,6,0.197,0.037,3549,1602,1590,0,0,0,0,0,0
$GC,12174,1.13,85.3,486.2,9.2,651,12178,0.00,2.30,0.00,0.000,4,0.000,0.052,3558,194,1590,0,0,0,0,0,0
$GC,12408,1.13,85.3,462.9,10.0,661,12413,0.00,2.22,0.00,0.000,6,0.000,0.036,3558,1605,1589,0,0,0,0,0,0
$GC,12725,1.13,85.3,432.3,9.7,677,12729,0.00,2.30,0.00,0.000,4,0.000,0.052,3567,198,1590,0,0,0,0,0,0
$GC,12786,1.13,85.3,425.8,10.9,680,12791,0.08,2.20,0.00,0.000,6,0.200,0.037,3551,1605,1590,0,0,0,0,0,0
$GC,13112,1.13,85.3,392.6,10.1,696,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1605,1590,0,0,0,0,0,0
$GC,13422,1.13,85.3,362.2,9.6,711,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1605,1590,0,0,0,0,0,0
$GC,13730,1.16,85.3,332.4,9.5,726,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1604,1590,0,0,0,0,0,0
$GC,14041,1.19,88.5,305.2,8.2,741,14043,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1605,1589,0,0,0,0,0,0
$GC,14350,1.20,96.1,280.7,7.7,756,14364,0.00,2.30,9.12,0.741,4,0.000,0.052,3559,201,1558,0,0,0,0,0,0
$GC,14455,1.20,96.1,271.2,8.6,760,14463,0.00,2.22,0.00,0.000,6,0.000,0.036,3560,1605,1558,0,0,0,0,0,0
$GC,14771,1.20,97.5,244.6,8.4,776,14775,0.00,2.30,0.00,0.000,4,0.000,0.051,3569,196,1558,0,0,0,0,0,0
$GC,14912,1.20,98.0,232.3,8.5,782,14916,0.00,2.20,0.00,0.000,6,0.000,0.035,3568,1604,1558,0,0,0,0,0,0
$GC,15233,1.20,98.0,203.2,9.7,798,15237,0.00,2.28,0.00,0.000,4,0.000,0.052,3577,199,1558,0,0,0,0,0,0
$GC,15283,1.16,98.0,198.0,10.4,800,15288,0.08,2.22,0.00,0.000,6,0.199,0.036,3561,1624,1558,0,0,0,0,0,0
$GC,15610,1.16,99.4,168.2,8.4,816,15620,0.00,2.30,4.68,0.522,4,0.000,0.052,3570,191,1544,0,0,0,0,0,0
$GC,15766,1.17,107.6,154.9,7.6,823,15783,0.00,2.22,9.48,0.709,6,0.000,0.036,3570,1601,1511,0,0,0,0,0,0
$GC,16095,1.17,107.6,125.0,9.3,839,16099,0.00,2.28,0.00,0.000,4,0.000,0.051,3579,196,1511,0,0,0,0,0,0
$GC,16262,1.17,107.6,106.9,11.1,846,16270,0.05,2.22,0.00,0.000,6,0.168,0.036,3562,1599,1510,0,0,0,0,0,0
$GC,16584,1.21,107.6,76.9,9.1,865,16589,0.00,2.30,0.00,0.000,4,0.000,0.051,3571,190,1510,0,0,0,0,0,0
$GC,16664,1.21,107.6,68.6,10.2,879,16671,0.00,2.22,0.00,0.000,6,0.000,0.035,3571,1599,1510,0,0,0,0,0,0
$GC,17018,1.21,107.6,36.8,9.2,940,17025,0.00,2.30,0.00,0.000,4,0.000,0.051,3580,199,1510,0,0,0,0,0,0
$GC,17241,1.21,107.6,14.3,10.6,976,17249,0.00,2.22,0.00,0.000,6,0.000,0.037,3580,1599,1509,0,0,0,0,0,0
$GC,17300,1.21,107.6,8.5,9.3,985,17307,0.00,2.28,0.00,0.000,4,0.000,0.050,3589,205,1510,0,0,0,0,0,0
$STATE,17350,end climb,SURFACE_DEPTH_REACHED
$STATE,17350,begin surface coast
$FINISH,1.6,1.012721
$STATE,17382,end surface coast,CONTROL_FINISHED_OK
$STATE,17383,begin surface
$SM_CCo,17403,46.38,0.054,0,0,1132,200.16
$SM_GC,2.63,0.00,0.00,46.38,0.000,0.000,0.054,64,2072,1132,-9.75,0.34,200.16
$IRIDIUM_FIX,-4447.43,625.13,010808,070723
$TT8_MAMPS,0.026964
$HUMID,63.34
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.9,40.511
$10V_AH,9.7,42.547
$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,24.575,151.775,186.475,46.375,0.000,27.291,22.461,280.997,0.000,0.000,22.295,2244.565,12035.761,359.351,3076.879,204.405,0.000,1510.030,0.000,2612.149,0.000,0.540,0.000
$DEVICE_MAMPS,250.155,75.735,1279.845,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.012,1461.720,821.899,473.573,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353232
$DATA_FILE_SIZE,73745,998
$CAP_FILE_SIZE,158102,0
$CFSIZE,2097086464,2048688128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061015,073957,-4503.376,624.072,50,0.9,50,-24.4