version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 19
start: 12 11 116 9 16 41
data:
$ID,628
$MISSION,3
$DIVE,19
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,4
$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,380
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53567
$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,4743.1001
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-123767.69
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3882
$C_PITCH,2815
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3902
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,734
$VBD_MAX,3960
$C_VBD,2988
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.58914
$PRESSURE_SLOPE,0.00014036
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,133
$DEVICE3,147
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$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,0.0044104406
$SEABIRD_T_H,0.00064404617
$SEABIRD_T_I,2.5974168e-05
$SEABIRD_T_J,3.1912264e-06
$SEABIRD_C_G,-9.8867512
$SEABIRD_C_H,1.1496466
$SEABIRD_C_I,-0.00071915763
$SEABIRD_C_J,0.00012581857
$GPS1,111216,090231,2211.650,12115.915,34,1.0,34,-3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.7
$GPS2,111216,091549,2211.942,12115.764,9,1.3,10,-3.3
$SPEED_LIMITS,0.150,0.255
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,33.2,97199,-15.6,-8.684,-18.78,2740
$D_GRID,904
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-155.7,80,2147,1274,1240,0.0,0.0,0,78,0.00,0.00,-61.28,0.000,16386,0.000,0.000,80,2147,3352,3356,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.72,-155.7,80,2147,3355,3349,3.8,-9.0,9,96,9.00,0.00,-4.30,0.000,18694,0.511,0.000,2569,2147,3624,3616,3633,0,0,0,0,0,0,14.50,28.83,14.93
$GC,403,-0.72,-155.7,1568,2145,3610,3633,79.9,-20.4,71,411,0.00,2.38,0.00,0.000,2308,0.000,0.066,2560,3572,3624,3615,3634,0,0,0,0,0,0,28.83,14.83,28.83
$GC,514,-0.72,-155.7,2560,3572,3615,3634,98.1,-15.4,92,522,0.05,2.30,0.00,0.000,3078,0.334,0.035,2592,2136,3624,3615,3634,0,0,0,0,0,0,14.72,14.87,28.83
$GC,827,-0.72,-155.7,1600,2133,3610,3633,138.7,-12.4,153,835,0.00,2.28,0.00,0.000,4612,0.000,0.063,2593,759,3625,3615,3635,0,0,0,0,0,0,28.83,14.88,28.83
$GC,943,-0.72,-155.7,2593,759,3615,3635,153.0,-12.4,175,950,0.00,2.25,0.00,0.000,1030,0.000,0.046,2585,2154,3625,3615,3635,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1256,-0.72,-155.7,1568,2153,3609,3633,188.2,-9.6,236,1263,0.00,2.33,0.00,0.000,260,0.000,0.067,2574,3552,3625,3615,3635,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1468,-0.72,-155.7,1568,3552,3609,3633,210.5,-11.3,277,1477,0.00,2.25,0.00,0.000,3078,0.000,0.035,2574,2148,3625,3615,3635,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1783,-0.72,-155.7,1552,2145,3607,3633,245.4,-9.8,338,1790,0.00,2.35,0.00,0.000,2308,0.000,0.067,2565,3543,3624,3613,3635,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1817,-0.72,-155.7,1600,3542,3607,3633,249.1,-10.5,344,1825,0.03,2.22,0.00,0.000,3078,0.371,0.035,2576,2151,3624,3613,3635,0,0,0,0,0,0,14.78,14.93,28.83
$GC,2131,-0.72,-155.7,2576,2151,3612,3635,281.7,-10.7,376,2135,0.00,2.25,0.00,0.000,2564,0.000,0.063,2577,753,3623,3612,3635,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2200,-0.72,-155.7,2577,753,3611,3635,289.1,-9.8,389,2210,0.00,2.20,0.00,0.000,3078,0.000,0.045,2569,2168,3622,3610,3634,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2509,-0.72,-155.7,2570,2168,3610,3635,320.0,-10.0,421,2510,0.00,0.00,0.00,0.000,2054,0.000,0.000,2570,2168,3622,3610,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2809,-0.72,-155.7,2569,2168,3606,3635,349.4,-9.8,451,2813,0.00,2.28,0.00,0.000,2564,0.000,0.064,2569,755,3620,3606,3634,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2898,-0.72,-155.7,2570,755,3605,3635,358.5,-9.9,469,2906,0.08,2.22,0.00,0.000,3078,0.407,0.047,2581,2163,3619,3605,3634,0,0,0,0,0,0,14.90,15.04,28.83
$GC,3205,-0.72,-155.7,2581,2163,3603,3633,383.7,-7.5,500,3214,0.00,2.25,0.00,0.000,260,0.000,0.069,2573,3548,3617,3602,3633,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3358,-0.72,-155.7,1704,3546,3595,3632,396.5,-8.3,531,3367,0.00,2.22,0.00,0.000,3078,0.000,0.037,2573,2155,3617,3601,3633,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3666,-0.72,-155.7,2573,2154,3600,3629,425.4,-10.3,562,3670,0.00,2.30,0.00,0.000,2308,0.000,0.070,2565,3549,3614,3599,3629,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3763,-0.72,-155.7,2565,3549,3598,3629,435.9,-11.0,581,3773,0.05,2.20,0.00,0.000,3078,0.444,0.037,2579,2142,3613,3598,3629,0,0,0,0,0,0,14.91,15.08,28.83
$GC,4072,-0.72,-155.7,2579,2142,3597,3627,466.2,-9.3,613,4076,0.00,2.25,0.00,0.000,2564,0.000,0.065,2580,747,3612,3597,3627,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4120,-0.72,-155.7,2580,747,3597,3627,471.0,-9.3,623,4128,0.00,2.22,0.00,0.000,3078,0.000,0.047,2571,2158,3612,3597,3627,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4427,-0.72,-155.7,2574,2158,3595,3625,497.9,-8.5,654,4428,0.00,0.00,0.00,0.000,2054,0.000,0.000,2574,2158,3610,3595,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4728,-0.72,-155.7,2574,2158,3593,3623,521.0,-7.7,684,4732,0.00,2.28,0.00,0.000,2564,0.000,0.065,2574,755,3608,3593,3623,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4798,-0.72,-155.7,2574,755,3593,3623,526.8,-8.2,698,4803,0.03,2.20,0.00,0.000,3078,0.619,0.048,2579,2147,3607,3592,3623,0,0,0,0,0,0,14.90,15.08,28.83
$GC,5104,-0.72,-155.7,2580,2147,3591,3621,549.0,-8.2,729,5108,0.00,2.30,0.00,0.000,2308,0.000,0.071,2570,3551,3605,3591,3620,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5177,-0.72,-155.7,1696,3550,3585,3619,555.3,-7.6,744,5186,0.00,2.25,0.00,0.000,3078,0.000,0.038,2570,2152,3605,3590,3621,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5485,-0.72,-155.7,2570,2152,3588,3619,582.6,-9.2,775,5489,0.00,2.28,0.00,0.000,2564,0.000,0.068,2570,751,3603,3588,3619,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5529,-0.72,-155.7,2570,752,3588,3619,587.0,-9.5,784,5536,0.08,2.25,0.00,0.000,3078,0.429,0.050,2582,2162,3603,3588,3619,0,0,0,0,0,0,14.92,15.07,28.83
$GC,5836,-0.72,-155.7,2582,2162,3587,3617,613.4,-9.7,808,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2163,3602,3587,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6136,-0.72,-155.7,2583,2162,3586,3615,638.9,-8.4,823,6140,0.00,2.28,0.00,0.000,260,0.000,0.071,2574,3551,3600,3586,3615,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6192,-0.72,-155.7,2574,3551,3586,3615,644.4,-9.8,834,6198,0.00,2.20,0.00,0.000,3078,0.000,0.039,2574,2150,3600,3586,3615,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6512,-0.72,-155.7,2574,2149,3584,3614,674.5,-8.8,853,6518,0.00,2.28,0.00,0.000,2564,0.000,0.068,2574,747,3599,3585,3614,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6544,-0.72,-155.7,2574,747,3584,3613,677.7,-9.2,860,6552,0.05,2.25,0.00,0.000,3078,0.480,0.050,2580,2157,3598,3584,3613,0,0,0,0,0,0,14.92,15.09,28.83
$GC,6851,-0.72,-155.7,2580,2158,3583,3612,702.4,-8.7,876,6855,0.00,2.30,0.00,0.000,2308,0.000,0.072,2572,3557,3597,3582,3612,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6890,-0.72,-155.7,1704,3557,3577,3610,706.1,-9.1,884,6895,0.00,2.25,0.00,0.000,3078,0.000,0.039,2572,2156,3597,3582,3612,0,0,0,0,0,0,28.83,15.10,28.83
$GC,7207,-0.72,-155.7,2571,2155,3581,3610,733.7,-8.3,902,7211,0.00,2.28,0.00,0.000,2564,0.000,0.069,2572,753,3595,3581,3610,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7231,-0.72,-155.7,2572,753,3581,3610,735.9,-9.0,907,7236,0.08,2.28,0.00,0.000,3078,0.411,0.051,2582,2148,3595,3581,3609,0,0,0,0,0,0,14.95,15.09,28.83
$GC,7543,-0.72,-155.7,2583,2148,3579,3609,758.5,-7.2,924,7547,0.00,2.30,0.00,0.000,516,0.000,0.069,2583,747,3594,3580,3609,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7572,-0.72,-155.7,2584,747,3580,3608,760.8,-7.9,930,7579,0.00,2.25,0.00,0.000,3078,0.000,0.050,2578,2157,3592,3577,3608,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7879,-0.72,-155.7,2578,2157,3578,3607,782.6,-6.8,946,7883,0.00,2.30,0.00,0.000,2308,0.000,0.073,2568,3556,3592,3578,3607,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7943,-0.72,-155.7,2568,3556,3578,3607,787.3,-7.4,959,7947,0.00,2.22,0.00,0.000,3078,0.000,0.040,2568,2149,3592,3578,3607,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8255,-0.72,-155.7,2568,2148,3577,3606,808.8,-7.2,976,8261,0.00,2.33,0.00,0.000,2308,0.000,0.074,2560,3548,3591,3577,3606,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8298,-0.72,-155.7,2559,3549,3577,3606,812.1,-7.7,985,8303,0.05,2.25,0.00,0.000,3078,0.308,0.040,2580,2148,3591,3577,3606,0,0,0,0,0,0,14.94,15.10,28.83
$GC,8615,-0.72,-155.7,2580,2147,3576,3604,832.3,-6.0,1003,8616,0.00,0.00,0.00,0.000,2054,0.000,0.000,2580,2147,3590,3576,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8915,-0.72,-155.7,2580,2147,3575,3603,851.7,-6.7,1018,8919,0.00,2.28,0.00,0.000,2564,0.000,0.071,2581,750,3589,3575,3603,0,0,0,0,0,0,28.83,15.08,28.83
$GC,8948,-0.72,-155.7,2581,749,3574,3603,854.2,-7.0,1025,8956,0.00,2.28,0.00,0.000,3078,0.000,0.053,2576,2145,3588,3574,3603,0,0,0,0,0,0,28.83,15.09,28.83
$GC,9255,-0.72,-155.7,2576,2145,3573,3602,870.9,-6.1,1041,9260,0.00,2.33,0.00,0.000,2308,0.000,0.072,2566,3559,3587,3573,3602,0,0,0,0,0,0,28.83,15.07,28.83
$GC,9304,-0.72,-155.7,2566,3560,3573,3602,874.8,-8.4,1051,9312,0.00,2.28,0.00,0.000,3078,0.000,0.041,2566,2155,3587,3573,3602,0,0,0,0,0,0,28.83,15.09,28.83
$GC,9612,-0.72,-155.7,2566,2154,3573,3601,902.9,-7.9,1067,9618,0.05,2.30,0.00,0.000,2564,0.457,0.067,2580,744,3586,3572,3601,0,0,0,0,0,0,14.96,15.07,28.83
$STATE,9624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9624,begin apogee
$GC,9629,-0.17,0.0,2577,1953,3572,3601,904.2,-8.2,1070,9855,0.47,0.00,222.68,1.603,10246,0.266,0.000,2755,1955,2987,3025,2950,0,0,0,0,0,0,14.92,28.83,13.66
$STATE,9856,end apogee,CONTROL_FINISHED_OK
$STATE,9856,begin climb
$GC,9858,0.72,155.7,2754,1955,3018,2941,909.1,0.0,1082,10073,0.77,2.50,203.00,1.622,10756,0.180,0.079,3051,558,2342,2364,2320,0,0,0,0,0,0,14.16,14.12,13.62
$GC,10218,0.72,155.7,3052,558,2348,2308,884.4,12.6,1155,10222,0.00,2.30,0.00,0.000,5126,0.000,0.050,3052,1943,2328,2348,2309,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10535,0.72,155.7,3051,1945,2348,2302,845.9,12.7,1173,10539,0.00,2.38,0.00,0.000,4356,0.000,0.073,3051,3362,2325,2348,2302,0,0,0,0,0,0,28.83,14.75,28.83
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$GC,14371,0.72,155.7,2144,3358,2303,2285,396.8,8.3,1556,14378,0.00,2.33,0.00,0.000,5126,0.000,0.045,3056,1946,2317,2343,2291,0,0,0,0,0,0,28.83,14.98,28.83
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$STATE,18491,end climb,SURFACE_DEPTH_REACHED
$STATE,18492,begin surface coast
$FINISH,0.0,1.022817
$STATE,18519,end surface coast,CONTROL_FINISHED_OK
$STATE,18519,begin surface
$SM_CCo,18533,84.00,0.161,0,0,1254,425.10
$SM_GC,0.98,7.20,0.32,84.00,0.095,0.067,0.161,144,2172,1254,-8.28,-1.19,425.10,0,0,0,0,0,0,14.80,14.88,14.73
$IRIDIUM_FIX,2204.37,12115.40,071009,222203
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.18
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,13.6,7.089
$10V_AH,13.2,0.000
$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
$DEVICE_SECS,18.525,183.425,523.650,84.000,0.000,0.000,0.000,567.325,0.000,0.000,11.308,4830.623,8982.303,787.860,4626.209,188.460,0.000,3057.910,0.000,4044.841,0.000,0.551,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1293.967,2525.540,1967.452,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323116
$DATA_FILE_SIZE,167204,2239
$CAP_FILE_SIZE,213766,0
$CFSIZE,2097086464,2089943040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.174,330.2,1
$GPS,111216,142801,2215.380,12115.913,29,0.9,29,-3.3