version: 66.07.10.p01
glider: 573
mission: 4
dive: 14
start: 9 26 112 20 48 58
data:
$ID,573
$MISSION,4
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$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,333
$T_MISSION,363
$T_ABORT,720
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-4009.0781
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1825
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,-87.947678
$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,20
$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,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$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,20
$GC_LAST_COLLECTION,-1
$GPS1,260912,203905,-4252.791,-1051.293,27,1.8,27,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-61.2
$GPS2,260912,204836,-4252.766,-1051.318,18,1.7,18,-21.2
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.120,-0.304
$KALMAN_X,-151.7,-151.7,-151.7,138.2,-343.1
$KALMAN_Y,273.5,273.5,273.5,229.1,618.8
$MHEAD_RNG_PITCHd_Wd,123.5,236229,-13.9,-10.010
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.64,-243.2,0.0,0.0,0,120,0.00,0.00,-94.72,0.000,2,0.000,0.000,88,1665,3051,0,0,0,0,0,0
$GC,122,-0.64,-243.2,3.0,-3.5,16,160,11.68,1.67,-18.00,0.000,4,0.266,0.072,2804,638,3855,0,0,0,0,0,0
$GC,256,-0.61,-243.2,22.0,-12.2,38,264,0.08,1.90,0.00,0.000,6,0.158,0.047,2821,1817,3856,0,0,0,0,0,0
$GC,337,-0.57,-243.2,31.7,-11.2,51,341,0.05,0.00,0.00,0.000,6,0.232,0.000,2833,1818,3857,0,0,0,0,0,0
$GC,570,-0.57,-243.2,58.5,-13.3,92,577,0.00,0.75,0.00,0.000,4,0.000,0.056,2830,2308,3857,0,0,0,0,0,0
$GC,773,-0.57,-243.2,83.5,-12.8,127,778,0.00,0.75,0.00,0.000,6,0.000,0.050,2830,1818,3857,0,0,0,0,0,0
$GC,1122,-0.57,-243.2,122.1,-10.7,188,1129,0.00,1.42,0.00,0.000,4,0.000,0.057,2823,2713,3857,0,0,0,0,0,0
$GC,1249,-0.57,-243.2,135.7,-10.6,210,1256,0.00,1.38,0.00,0.000,6,0.000,0.047,2823,1828,3857,0,0,0,0,0,0
$GC,1602,-0.55,-243.2,175.2,-11.4,271,1607,0.08,0.98,0.00,0.000,4,0.200,0.056,2836,2446,3857,0,0,0,0,0,0
$GC,1742,-0.55,-243.2,189.3,-9.7,295,1747,0.00,0.95,0.00,0.000,6,0.000,0.049,2836,1827,3857,0,0,0,0,0,0
$GC,2091,-0.55,-243.2,223.3,-9.4,356,2098,0.00,0.90,0.00,0.000,4,0.000,0.054,2832,2410,3857,0,0,0,0,0,0
$GC,2181,-0.55,-243.2,231.3,-9.2,371,2186,0.00,0.90,0.00,0.000,6,0.000,0.048,2832,1818,3857,0,0,0,0,0,0
$GC,2527,-0.55,-243.2,263.6,-10.6,432,2535,0.00,1.05,0.00,0.000,4,0.000,0.055,2827,2493,3857,0,0,0,0,0,0
$GC,2643,-0.55,-243.2,274.7,-9.5,452,2648,0.00,1.02,0.00,0.000,6,0.000,0.047,2827,1827,3857,0,0,0,0,0,0
$GC,2984,-0.55,-243.2,309.9,-10.5,513,2991,0.05,1.08,0.00,0.000,4,0.227,0.056,2833,2507,3857,0,0,0,0,0,0
$GC,3102,-0.55,-243.2,322.1,-10.2,534,3110,0.00,1.08,0.00,0.000,6,0.000,0.047,2833,1801,3857,0,0,0,0,0,0
$GC,3450,-0.55,-243.2,358.2,-9.9,595,3454,0.00,1.70,0.00,0.000,4,0.000,0.058,2825,2895,3857,0,0,0,0,0,0
$GC,3574,-0.55,-243.2,370.8,-9.9,617,3579,0.08,1.65,0.00,0.000,6,0.181,0.045,2845,1827,3857,0,0,0,0,0,0
$GC,3916,-0.58,-243.2,402.1,-9.4,678,3923,0.00,0.68,0.00,0.000,4,0.000,0.055,2842,2276,3857,0,0,0,0,0,0
$GC,4018,-0.61,-243.2,411.4,-9.2,696,4025,0.00,0.68,0.00,0.000,6,0.000,0.050,2842,1824,3857,0,0,0,0,0,0
$GC,4366,-0.63,-243.2,443.5,-9.2,757,4371,0.08,0.93,0.00,0.000,4,0.133,0.057,2800,2415,3856,0,0,0,0,0,0
$GC,4484,-0.61,-243.2,457.2,-11.4,778,4490,0.05,0.90,0.00,0.000,6,0.155,0.050,2819,1823,3857,0,0,0,0,0,0
$GC,4827,-0.61,-243.2,493.4,-10.6,839,4832,0.00,1.75,0.00,0.000,4,0.000,0.058,2811,2944,3856,0,0,0,0,0,0
$GC,4955,-0.61,-243.2,507.1,-10.2,862,4960,0.00,1.73,0.00,0.000,6,0.000,0.047,2811,1829,3856,0,0,0,0,0,0
$GC,5297,-0.59,-243.2,546.8,-11.8,923,5303,0.08,0.80,0.00,0.000,4,0.209,0.057,2825,2345,3856,0,0,0,0,0,0
$GC,5420,-0.59,-243.2,560.0,-10.5,945,5426,0.00,0.82,0.00,0.000,6,0.000,0.050,2825,1809,3856,0,0,0,0,0,0
$GC,5762,-0.59,-243.2,597.9,-10.8,1006,5766,0.00,1.52,0.00,0.000,4,0.000,0.058,2818,2773,3855,0,0,0,0,0,0
$GC,5880,-0.59,-243.2,610.8,-10.7,1027,5885,0.00,1.45,0.00,0.000,6,0.000,0.047,2818,1833,3855,0,0,0,0,0,0
$GC,6221,-0.59,-243.2,651.2,-12.1,1088,6226,0.00,1.27,0.00,0.000,4,0.000,0.057,2812,2644,3854,0,0,0,0,0,0
$GC,6350,-0.59,-243.2,666.9,-12.2,1111,6355,0.05,1.27,0.00,0.000,6,0.146,0.049,2830,1818,3854,0,0,0,0,0,0
$GC,6691,-0.59,-243.2,705.0,-11.4,1172,6696,0.00,1.35,0.00,0.000,4,0.000,0.058,2824,2671,3853,0,0,0,0,0,0
$GC,6792,-0.61,-243.2,715.5,-10.8,1190,6797,0.00,1.33,0.00,0.000,6,0.000,0.049,2824,1820,3853,0,0,0,0,0,0
$GC,7134,-0.61,-243.2,751.1,-10.6,1251,7140,0.00,1.42,0.00,0.000,4,0.000,0.060,2817,2717,3852,0,0,0,0,0,0
$GC,7246,-0.61,-243.2,762.3,-10.4,1271,7251,0.00,1.38,0.00,0.000,6,0.000,0.049,2818,1830,3852,0,0,0,0,0,0
$GC,7588,-0.61,-243.2,798.3,-10.2,1332,7594,0.00,1.30,0.00,0.000,4,0.000,0.058,2812,2654,3852,0,0,0,0,0,0
$GC,7695,-0.61,-243.2,809.4,-11.0,1351,7699,0.00,1.27,0.00,0.000,6,0.000,0.049,2812,1830,3851,0,0,0,0,0,0
$GC,8037,-0.61,-243.2,846.1,-9.9,1412,8041,0.00,1.10,0.00,0.000,4,0.000,0.058,2807,2529,3851,0,0,0,0,0,0
$GC,8153,-0.61,-243.2,857.7,-10.0,1433,8158,0.03,1.10,0.00,0.000,6,0.181,0.050,2817,1820,3851,0,0,0,0,0,0
$GC,8495,-0.61,-243.2,892.3,-10.8,1494,8500,0.00,1.15,0.00,0.000,4,0.000,0.059,2812,2555,3850,0,0,0,0,0,0
$GC,8606,-0.61,-243.2,903.8,-10.4,1514,8611,0.00,1.15,0.00,0.000,6,0.000,0.050,2812,1820,3850,0,0,0,0,0,0
$GC,8948,-0.61,-243.2,941.7,-11.4,1575,8954,0.00,0.88,0.00,0.000,4,0.000,0.057,2809,2376,3849,0,0,0,0,0,0
$GC,9093,-0.61,-243.2,958.3,-11.5,1601,9098,0.00,0.85,0.00,0.000,6,0.000,0.052,2809,1822,3849,0,0,0,0,0,0
$GC,9435,-0.61,-243.2,996.5,-11.5,1662,9441,0.05,1.00,0.00,0.000,4,0.231,0.058,2815,2444,3849,0,0,0,0,0,0
$STATE,9467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9467,begin apogee
$GC,9472,-0.23,0.0,1000.1,10.6,1668,9678,0.38,0.00,201.32,1.314,6,0.139,0.000,2942,1652,2862,0,0,0,0,0,0
$STATE,9680,end apogee,CONTROL_FINISHED_OK
$STATE,9680,begin climb
$GC,9681,0.64,243.2,1013.0,0.0,1709,9903,0.90,2.58,211.30,1.273,4,0.106,0.063,3232,252,1870,0,0,0,0,0,0
$GC,10010,0.69,358.6,1000.0,6.8,1772,10122,0.00,2.35,105.07,1.249,6,0.000,0.047,3232,1648,1400,0,0,0,0,0,0
$GC,10459,0.80,499.6,972.2,6.1,1854,10595,0.15,1.23,130.18,1.243,4,0.091,0.061,3298,959,825,0,0,0,0,0,0
$GC,10662,0.88,545.8,954.4,8.7,1893,10713,0.00,1.17,43.83,1.199,6,0.000,0.048,3298,1644,636,0,0,0,0,0,0
$GC,11051,0.98,611.7,921.4,8.2,1963,11108,0.12,2.50,50.12,1.208,4,0.096,0.066,3359,243,410,0,0,0,0,0,0
$GC,11241,1.00,611.7,899.0,12.8,1998,11247,0.00,2.38,0.00,0.000,6,0.000,0.049,3358,1658,403,0,0,0,0,0,0
$GC,11585,1.05,611.7,859.3,11.9,2059,11589,0.00,2.40,0.00,0.000,4,0.000,0.067,3367,242,401,0,0,0,0,0,0
$GC,11689,1.05,611.7,845.5,12.6,2078,11695,0.00,2.30,0.00,0.000,6,0.000,0.050,3367,1645,400,0,0,0,0,0,0
$GC,12032,1.08,611.7,803.3,12.1,2139,12037,0.00,2.33,0.00,0.000,4,0.000,0.067,3376,247,399,0,0,0,0,0,0
$GC,12160,1.08,611.7,786.1,13.5,2162,12165,0.00,2.28,0.00,0.000,6,0.000,0.050,3376,1648,399,0,0,0,0,0,0
$GC,12502,1.11,611.7,742.1,13.0,2223,12507,0.00,2.33,0.00,0.000,4,0.000,0.067,3385,245,398,0,0,0,0,0,0
$GC,12626,1.11,611.7,724.5,14.8,2245,12630,0.00,2.25,0.00,0.000,6,0.000,0.050,3385,1653,398,0,0,0,0,0,0
$GC,12966,1.11,611.7,676.3,14.8,2306,12971,0.00,2.33,0.00,0.000,4,0.000,0.067,3394,245,398,0,0,0,0,0,0
$GC,13083,1.11,611.7,658.4,15.2,2327,13089,0.03,2.25,0.00,0.000,6,0.179,0.050,3384,1642,397,0,0,0,0,0,0
$GC,13425,1.11,611.7,610.3,13.4,2388,13431,0.00,2.30,0.00,0.000,4,0.000,0.067,3394,246,397,0,0,0,0,0,0
$GC,13549,1.11,611.7,592.2,14.8,2410,13554,0.05,2.22,0.00,0.000,6,0.214,0.050,3382,1651,397,0,0,0,0,0,0
$GC,13890,1.11,611.7,549.1,12.0,2471,13895,0.00,2.33,0.00,0.000,4,0.000,0.067,3392,236,397,0,0,0,0,0,0
$GC,13995,1.11,611.7,535.1,13.4,2490,14001,0.00,2.25,0.00,0.000,6,0.000,0.050,3392,1646,397,0,0,0,0,0,0
$GC,14340,1.11,611.7,491.2,12.6,2551,14344,0.00,2.28,0.00,0.000,4,0.000,0.068,3401,246,397,0,0,0,0,0,0
$GC,14464,1.09,611.7,473.6,14.8,2573,14469,0.10,2.22,0.00,0.000,6,0.172,0.050,3374,1655,397,0,0,0,0,0,0
$GC,14806,1.12,611.7,433.4,12.3,2634,14813,0.00,2.33,0.00,0.000,4,0.000,0.067,3385,249,397,0,0,0,0,0,0
$GC,14907,1.12,611.7,420.2,13.0,2652,14916,0.00,2.22,0.00,0.000,6,0.000,0.050,3385,1647,397,0,0,0,0,0,0
$GC,15254,1.12,611.7,376.6,13.4,2713,15259,0.00,2.30,0.00,0.000,4,0.000,0.067,3394,238,397,0,0,0,0,0,0
$GC,15357,1.12,611.7,361.6,14.6,2731,15361,0.00,2.20,0.00,0.000,6,0.000,0.050,3394,1650,397,0,0,0,0,0,0
$GC,15696,1.12,611.7,311.9,14.4,2792,15702,0.00,2.30,0.00,0.000,4,0.000,0.067,3404,249,397,0,0,0,0,0,0
$GC,15844,1.09,611.7,288.2,16.6,2818,15849,0.12,2.20,0.00,0.000,6,0.162,0.050,3369,1650,397,0,0,0,0,0,0
$GC,16191,1.13,611.7,242.0,12.6,2879,16196,0.00,2.30,0.00,0.000,4,0.000,0.067,3378,236,397,0,0,0,0,0,0
$GC,16287,1.16,611.7,228.3,14.8,2896,16294,0.00,2.22,0.00,0.000,6,0.000,0.049,3379,1643,397,0,0,0,0,0,0
$GC,16639,1.19,611.7,179.8,13.4,2957,16645,0.08,2.28,0.00,0.000,4,0.133,0.066,3425,237,397,0,0,0,0,0,0
$GC,16790,1.13,611.7,150.8,21.5,2983,16796,0.15,2.22,0.00,0.000,6,0.159,0.047,3383,1661,397,0,0,0,0,0,0
$GC,17139,1.13,611.7,97.0,20.0,3044,17146,0.00,2.33,0.00,0.000,4,0.000,0.066,3394,244,397,0,0,0,0,0,0
$GC,17243,1.13,611.7,77.3,13.4,3062,17250,0.00,2.22,0.00,0.000,6,0.000,0.048,3393,1652,397,0,0,0,0,0,0
$GC,17595,1.13,611.7,24.2,15.4,3123,17603,0.00,2.30,0.00,0.000,4,0.000,0.063,3403,242,397,0,0,0,0,0,0
$GC,17698,1.08,611.7,5.3,15.3,3140,17706,0.10,2.22,0.00,0.000,6,0.139,0.047,3369,1655,397,0,0,0,0,0,0
$STATE,17712,end climb,SURFACE_DEPTH_REACHED
$STATE,17713,begin surface coast
$FINISH,0.9,1.026720
$STATE,17732,end surface coast,CONTROL_FINISHED_OK
$STATE,17732,begin surface
$SM_CCo,17806,0.00,0.000,0,0,397,604.65
$SM_GC,1.82,8.55,0.00,0.00,0.042,0.000,0.000,92,1832,397,-9.08,0.20,604.65
$IRIDIUM_FIX,-4236.17,-1049.80,260912,151523
$TT8_MAMPS,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,8.95232
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.0,7.285
$10V_AH,10.3,4.482
$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,23.050,125.650,741.825,0.000,0.000,25.236,46.455,368.452,0.000,0.000,20.566,4990.896,6110.111,738.301,6332.671,178.845,0.000,3077.282,0.000,5807.790,0.000,1.010,0.000
$DEVICE_MAMPS,266.220,71.910,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.029,2104.201,860.388,176.837,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,176680,3145
$CAP_FILE_SIZE,255851,0
$CFSIZE,2097086464,2092728320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,270912,014705,-4252.473,-1049.592,50,1.2,50,-21.2