version: 66.07.10.p01
glider: 573
mission: 12
dive: 453
start: 11 3 115 2 18 25
data:
$ID,573
$MISSION,12
$DIVE,453
$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,-22411.902
$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,35
$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,452
$GPS1,031115,020903,-4505.341,631.704,39,1.2,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-69.2
$GPS2,031115,021804,-4505.390,631.781,16,1.5,16,-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,308.6,10498,-17.9,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,34,0.00,0.00,-7.32,0.000,2,0.000,0.000,64,2062,1281,0,0,0,0,0,0
$GC,37,-0.76,-116.8,3.1,-0.0,1,113,11.55,2.35,-54.28,0.000,4,0.223,0.072,2924,3465,2427,0,0,0,0,0,0
$GC,354,-0.69,-116.8,28.2,-10.9,52,362,0.10,2.22,0.00,0.000,6,0.135,0.039,2958,2068,2429,0,0,0,0,0,0
$GC,509,-0.69,-116.8,43.0,-9.3,77,514,0.00,2.30,0.00,0.000,4,0.000,0.053,2958,645,2429,0,0,0,0,0,0
$GC,532,-0.69,-116.8,45.5,-9.5,81,539,0.00,2.25,0.00,0.000,6,0.000,0.037,2949,2057,2429,0,0,0,0,0,0
$GC,888,-0.66,-116.8,82.1,-9.7,140,890,0.08,0.00,0.00,0.000,6,0.205,0.000,2966,2057,2429,0,0,0,0,0,0
$GC,1200,-0.66,-116.8,111.4,-9.5,155,1204,0.00,2.30,0.00,0.000,4,0.000,0.059,2956,3472,2429,0,0,0,0,0,0
$GC,1262,-0.66,-116.8,117.7,-10.0,158,1266,0.00,2.22,0.00,0.000,6,0.000,0.041,2956,2049,2429,0,0,0,0,0,0
$GC,1588,-0.66,-116.8,148.6,-9.4,174,1590,0.03,0.00,0.00,0.000,6,0.262,0.000,2965,2049,2429,0,0,0,0,0,0
$GC,1900,-0.66,-116.8,174.8,-7.9,189,1904,0.00,2.30,0.00,0.000,4,0.000,0.059,2956,3463,2429,0,0,0,0,0,0
$GC,1963,-0.66,-116.8,180.2,-8.3,192,1967,0.00,2.20,0.00,0.000,6,0.000,0.038,2956,2048,2429,0,0,0,0,0,0
$GC,2290,-0.66,-116.8,208.8,-9.2,208,2294,0.00,2.22,0.00,0.000,4,0.000,0.052,2956,659,2430,0,0,0,0,0,0
$GC,2330,-0.66,-116.8,212.8,-10.1,210,2335,0.10,2.20,0.00,0.000,6,0.178,0.038,2972,2063,2429,0,0,0,0,0,0
$GC,2658,-0.70,-116.8,240.9,-8.6,226,2662,0.00,2.28,0.00,0.000,4,0.000,0.062,2962,3460,2429,0,0,0,0,0,0
$GC,2743,-0.75,-116.8,248.7,-9.1,230,2748,0.05,2.17,0.00,0.000,6,0.164,0.038,2923,2058,2430,0,0,0,0,0,0
$GC,3071,-0.69,-116.8,282.6,-10.0,246,3073,0.12,0.00,0.00,0.000,6,0.165,0.000,2957,2058,2430,0,0,0,0,0,0
$GC,3379,-0.69,-116.8,308.0,-7.8,261,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2057,2429,0,0,0,0,0,0
$GC,3687,-0.69,-116.8,332.2,-7.8,276,3691,0.00,2.30,0.00,0.000,4,0.000,0.061,2948,3460,2430,0,0,0,0,0,0
$GC,3714,-0.69,-116.8,334.5,-8.0,277,3718,0.00,2.17,0.00,0.000,6,0.000,0.039,2947,2061,2430,0,0,0,0,0,0
$GC,4036,-0.69,-116.8,360.0,-8.0,293,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2060,2430,0,0,0,0,0,0
$GC,4344,-0.69,-116.8,385.7,-8.5,308,4348,0.00,2.25,0.00,0.000,4,0.000,0.054,2947,658,2430,0,0,0,0,0,0
$GC,4377,-0.69,-116.8,388.7,-9.6,309,4382,0.05,2.22,0.00,0.000,6,0.155,0.040,2956,2053,2430,0,0,0,0,0,0
$GC,4694,-0.69,-116.8,414.1,-8.1,325,4698,0.00,2.28,0.00,0.000,4,0.000,0.057,2946,3468,2429,0,0,0,0,0,0
$GC,4755,-0.69,-116.8,419.3,-7.7,328,4759,0.00,2.20,0.00,0.000,6,0.000,0.038,2946,2053,2429,0,0,0,0,0,0
$GC,5081,-0.69,-116.8,445.4,-7.7,344,5082,0.05,0.00,0.00,0.000,6,0.217,0.000,2957,2053,2430,0,0,0,0,0,0
$GC,5391,-0.69,-116.8,468.5,-7.4,359,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2053,2430,0,0,0,0,0,0
$GC,5700,-0.72,-116.8,492.0,-7.8,374,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2053,2429,0,0,0,0,0,0
$GC,6010,-0.72,-116.8,515.3,-7.4,389,6014,0.00,2.22,0.00,0.000,4,0.000,0.055,2957,662,2429,0,0,0,0,0,0
$GC,6053,-0.72,-116.8,518.9,-8.2,391,6057,0.00,2.20,0.00,0.000,6,0.000,0.037,2948,2071,2429,0,0,0,0,0,0
$GC,6381,-0.72,-116.8,545.2,-8.1,407,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2071,2429,0,0,0,0,0,0
$GC,6689,-0.72,-116.8,570.7,-8.2,422,6693,0.00,2.25,0.00,0.000,4,0.000,0.060,2938,3466,2429,0,0,0,0,0,0
$GC,6777,-0.72,-116.8,578.3,-8.6,426,6781,0.00,2.22,0.00,0.000,6,0.000,0.039,2938,2057,2429,0,0,0,0,0,0
$GC,7103,-0.72,-116.8,606.9,-8.6,442,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2057,2429,0,0,0,0,0,0
$GC,7414,-0.72,-116.8,635.5,-9.6,457,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2057,2429,0,0,0,0,0,0
$GC,7722,-0.72,-116.8,664.1,-9.2,472,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2057,2428,0,0,0,0,0,0
$GC,8033,-0.72,-116.8,691.8,-8.9,487,8037,0.00,2.28,0.00,0.000,4,0.000,0.057,2937,655,2428,0,0,0,0,0,0
$GC,8065,-0.72,-116.8,695.3,-10.2,488,8072,0.08,2.22,0.00,0.000,6,0.186,0.043,2947,2057,2428,0,0,0,0,0,0
$GC,8380,-0.72,-116.8,721.9,-8.4,504,8384,0.00,2.30,0.00,0.000,4,0.000,0.060,2937,3471,2428,0,0,0,0,0,0
$GC,8418,-0.72,-116.8,725.3,-8.6,505,8424,0.00,2.25,0.00,0.000,6,0.000,0.041,2937,2055,2427,0,0,0,0,0,0
$GC,8735,-0.72,-116.8,752.8,-8.6,521,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2055,2427,0,0,0,0,0,0
$GC,9043,-0.72,-116.8,779.9,-8.8,536,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2055,2427,0,0,0,0,0,0
$GC,9354,-0.72,-116.8,806.0,-8.2,551,9358,0.00,2.25,0.00,0.000,4,0.000,0.056,2936,659,2427,0,0,0,0,0,0
$GC,9408,-0.72,-116.8,810.7,-8.4,553,9414,0.05,2.25,0.00,0.000,6,0.154,0.041,2945,2060,2427,0,0,0,0,0,0
$GC,9725,-0.75,-116.8,834.8,-7.5,569,9729,0.00,2.33,0.00,0.000,4,0.000,0.063,2935,3466,2426,0,0,0,0,0,0
$GC,9797,-0.75,-116.8,840.8,-8.4,572,9801,0.00,2.22,0.00,0.000,6,0.000,0.041,2935,2053,2426,0,0,0,0,0,0
$GC,10118,-0.75,-116.8,865.5,-7.8,588,10123,0.00,2.25,0.00,0.000,4,0.000,0.057,2935,658,2426,0,0,0,0,0,0
$GC,10162,-0.75,-116.8,869.3,-9.5,590,10166,0.00,2.25,0.00,0.000,6,0.000,0.040,2926,2066,2426,0,0,0,0,0,0
$GC,10489,-0.75,-116.8,897.5,-8.8,606,10493,0.00,2.30,0.00,0.000,4,0.000,0.063,2916,3463,2426,0,0,0,0,0,0
$GC,10551,-0.75,-116.8,902.9,-8.9,609,10555,0.10,2.20,0.00,0.000,6,0.164,0.041,2942,2057,2425,0,0,0,0,0,0
$GC,10879,-0.79,-116.8,930.5,-8.3,625,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2057,2426,0,0,0,0,0,0
$GC,11186,-0.82,-116.8,955.9,-8.2,640,11190,0.08,2.30,0.00,0.000,4,0.119,0.055,2897,649,2426,0,0,0,0,0,0
$GC,11218,-0.73,-116.8,959.0,-10.7,641,11223,0.20,2.25,0.00,0.000,6,0.157,0.042,2943,2064,2425,0,0,0,0,0,0
$GC,11536,-0.77,-116.8,985.2,-8.4,657,11540,0.00,2.30,0.00,0.000,4,0.000,0.063,2933,3465,2425,0,0,0,0,0,0
$GC,11591,-0.80,-116.8,990.2,-8.3,659,11595,0.00,2.20,0.00,0.000,6,0.000,0.041,2933,2059,2425,0,0,0,0,0,0
$STATE,11719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11719,begin apogee
$GC,11725,-0.19,0.0,1001.3,8.6,665,11841,0.60,0.00,110.85,1.268,6,0.139,0.000,3114,1590,1950,0,0,0,0,0,0
$STATE,11842,end apogee,CONTROL_FINISHED_OK
$STATE,11842,begin climb
$GC,11844,0.76,116.8,1005.2,0.0,671,11967,0.93,0.00,117.53,1.222,6,0.089,0.000,3420,1590,1474,0,0,0,0,0,0
$GC,12274,0.79,116.8,973.9,8.6,692,12278,0.00,2.38,0.00,0.000,4,0.000,0.057,3431,192,1466,0,0,0,0,0,0
$GC,12329,0.79,116.8,968.6,9.7,694,12335,0.00,2.33,0.00,0.000,6,0.000,0.037,3431,1616,1464,0,0,0,0,0,0
$GC,12644,0.79,116.8,939.4,9.2,710,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1616,1463,0,0,0,0,0,0
$GC,12955,0.79,116.8,910.1,9.2,725,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1616,1463,0,0,0,0,0,0
$GC,13263,0.79,116.8,881.2,9.3,740,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1617,1462,0,0,0,0,0,0
$GC,13574,0.79,116.8,853.2,9.0,755,13578,0.00,2.33,0.00,0.000,4,0.000,0.056,3441,193,1462,0,0,0,0,0,0
$GC,13612,0.79,116.8,849.5,9.8,756,13618,0.00,2.22,0.00,0.000,6,0.000,0.037,3441,1598,1461,0,0,0,0,0,0
$GC,13927,0.79,116.8,822.0,8.6,772,13928,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1598,1461,0,0,0,0,0,0
$GC,14237,0.79,116.8,794.9,8.9,787,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1598,1461,0,0,0,0,0,0
$GC,14545,0.79,116.8,767.3,8.7,802,14546,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1598,1461,0,0,0,0,0,0
$GC,14856,0.79,116.8,740.4,8.7,817,14860,0.00,2.22,0.00,0.000,4,0.000,0.054,3441,2997,1460,0,0,0,0,0,0
$GC,14905,0.79,116.8,735.9,9.2,819,14909,0.00,2.20,0.00,0.000,6,0.000,0.036,3450,1600,1461,0,0,0,0,0,0
$GC,15227,0.79,120.7,708.2,8.4,835,15231,0.00,2.30,0.00,0.000,4,0.000,0.057,3461,192,1461,0,0,0,0,0,0
$GC,15316,0.75,120.7,700.0,9.7,839,15321,0.12,2.20,0.00,0.000,6,0.148,0.037,3425,1602,1460,0,0,0,0,0,0
$GC,15638,0.80,145.8,676.0,7.3,855,15672,0.00,2.40,27.02,1.056,4,0.000,0.055,3434,189,1354,0,0,0,0,0,0
$GC,15707,0.84,147.9,670.5,8.4,858,15712,0.08,2.25,0.00,0.000,6,0.122,0.037,3476,1606,1352,0,0,0,0,0,0
$GC,16028,0.80,147.9,640.5,9.4,874,16030,0.12,0.00,0.00,0.000,6,0.147,0.000,3440,1607,1350,0,0,0,0,0,0
$GC,16338,0.84,163.7,615.6,7.8,889,16362,0.00,2.38,18.38,0.991,4,0.000,0.055,3450,195,1281,0,0,0,0,0,0
$GC,16453,0.85,172.6,605.7,8.1,894,16469,0.00,2.22,9.98,0.899,6,0.000,0.036,3450,1602,1245,0,0,0,0,0,0
$GC,16779,0.88,172.6,577.1,8.7,910,16780,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1602,1242,0,0,0,0,0,0
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$GC,19176,0.86,172.6,338.8,9.9,1026,19177,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,1599,1240,0,0,0,0,0,0
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$STATE,22534,end climb,SURFACE_DEPTH_REACHED
$STATE,22534,begin surface coast
$FINISH,2.1,1.023392
$STATE,22572,end surface coast,CONTROL_FINISHED_OK
$STATE,22573,begin surface
$SM_CCo,22591,4.20,0.056,0,0,1132,200.16
$SM_GC,3.40,0.00,0.00,4.20,0.000,0.000,0.056,68,2081,1132,-9.74,0.59,200.16
$IRIDIUM_FIX,-4444.39,631.19,290808,090942
$TT8_MAMPS,0.026964
$HUMID,64.33
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.10
$XPDR_PINGS,1
$24V_AH,22.0,53.784
$10V_AH,9.7,56.502
$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,23.550,155.050,292.925,4.200,0.000,25.321,21.200,333.153,0.250,0.000,20.017,2760.797,16245.145,402.044,3420.527,297.997,0.000,1683.527,0.000,2895.175,0.000,0.540,0.000
$DEVICE_MAMPS,262.395,71.910,1268.370,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.571,1819.699,983.529,584.565,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,93848,1288
$CAP_FILE_SIZE,188209,0
$CFSIZE,2097086464,2032664576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031115,083603,-4505.079,629.662,26,0.9,26,-24.4