version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 146
start: 1 4 117 13 47 9
data:
$ID,628
$MISSION,3
$DIVE,146
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,320
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,70
$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,400
$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,-124710.12
$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,2800
$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,38
$R_STBD_OVSHOOT,69
$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
$GPS1,040117,133548,2142.275,12351.933,37,0.8,37,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.1
$GPS2,040117,134645,2142.227,12351.780,7,0.9,7,-3.4
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12127.900
$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,310.2,287787,-15.8,-10.104,-18.78,2952
$D_GRID,4675
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-194.6,96,2171,1371,1348,0.0,0.0,0,72,0.00,0.00,-54.80,0.000,16386,0.000,0.000,93,2171,3261,3259,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,94,2171,3259,3262,3.6,-7.2,8,97,8.55,2.33,-8.20,0.000,18692,0.467,0.082,2528,3524,3784,3739,3829,0,0,0,0,0,0,14.40,14.72,14.91
$GC,197,-0.78,-194.6,1536,3523,3734,3829,37.1,-21.5,30,205,0.05,2.28,0.00,0.000,3078,0.308,0.034,2546,2136,3784,3738,3830,0,0,0,0,0,0,14.54,14.76,28.83
$GC,451,-0.78,-194.6,1544,2132,3734,3829,100.5,-24.7,79,458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2134,3784,3738,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,704,-0.78,-194.6,1536,2132,3734,3829,146.5,-16.8,128,711,0.00,2.38,0.00,0.000,2308,0.000,0.062,2538,3545,3784,3738,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,759,-0.78,-194.6,1536,3544,3735,3829,157.4,-20.8,138,766,0.00,2.28,0.00,0.000,3078,0.000,0.033,2537,2144,3784,3738,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1013,-0.78,-194.6,1552,2142,3735,3830,207.3,-18.7,187,1020,0.00,2.35,0.00,0.000,2308,0.000,0.062,2527,3523,3784,3738,3831,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1149,-0.78,-194.6,1536,3523,3735,3830,229.7,-14.7,213,1158,0.05,2.22,0.00,0.000,3078,0.285,0.032,2547,2146,3785,3739,3831,0,0,0,0,0,0,14.66,14.84,28.83
$GC,1403,-0.78,-194.6,2547,2145,3739,3831,262.5,-12.1,252,1412,0.00,2.22,0.00,0.000,2564,0.000,0.057,2547,751,3784,3738,3831,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1507,-0.78,-194.6,1672,751,3736,3830,277.2,-16.0,273,1514,0.00,2.22,0.00,0.000,3078,0.000,0.040,2541,2131,3785,3739,3831,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1755,-0.78,-194.6,2541,2132,3739,3831,316.4,-15.1,298,1764,0.00,2.30,0.00,0.000,2308,0.000,0.057,2531,3548,3784,3738,3831,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1828,-0.78,-194.6,2531,3548,3738,3831,327.7,-14.8,313,1836,0.03,2.25,0.00,0.000,3078,0.371,0.029,2541,2138,3784,3738,3831,0,0,0,0,0,0,14.68,14.92,28.83
$GC,2076,-0.78,-194.6,2541,2137,3737,3831,359.3,-13.0,338,2080,0.00,2.22,0.00,0.000,2564,0.000,0.052,2541,746,3784,3737,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2096,-0.78,-194.6,2541,746,3737,3831,362.0,-13.4,342,2100,0.00,2.20,0.00,0.000,3078,0.000,0.037,2533,2154,3784,3737,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2342,-0.78,-194.6,2533,2154,3736,3831,395.1,-13.7,367,2352,0.00,2.28,0.00,0.000,2308,0.000,0.058,2524,3554,3783,3736,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2404,-0.78,-194.6,2524,3554,3734,3831,403.9,-14.2,379,2409,0.10,2.17,0.00,0.000,3078,0.327,0.030,2552,2147,3782,3734,3831,0,0,0,0,0,0,14.79,15.02,28.83
$GC,2649,-0.78,-194.6,2552,2146,3732,3831,433.5,-12.0,404,2653,0.00,2.30,0.00,0.000,260,0.000,0.064,2543,3545,3781,3732,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2698,-0.78,-194.6,2544,3546,3731,3832,439.7,-12.1,414,2705,0.00,2.22,0.00,0.000,3078,0.000,0.029,2544,2153,3781,3731,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2945,-0.78,-194.6,2543,2152,3730,3831,472.5,-13.4,439,2954,0.00,2.25,0.00,0.000,2564,0.000,0.053,2543,747,3780,3730,3830,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2996,-0.78,-194.6,2544,747,3730,3831,478.9,-12.1,449,3000,0.00,2.20,0.00,0.000,3078,0.000,0.037,2535,2160,3780,3729,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3241,-0.78,-194.6,2535,2161,3726,3830,509.6,-12.2,474,3251,0.00,2.25,0.00,0.000,2564,0.000,0.053,2535,756,3778,3725,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3294,-0.78,-194.6,2535,756,3725,3830,515.9,-11.6,484,3303,0.08,2.17,0.00,0.000,3078,0.389,0.037,2545,2148,3777,3725,3830,0,0,0,0,0,0,14.76,15.02,28.83
$GC,3543,-0.78,-194.6,2545,2148,3725,3827,540.4,-9.2,510,3547,0.00,2.30,0.00,0.000,2308,0.000,0.062,2537,3551,3776,3724,3828,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3619,-0.78,-194.6,2537,3552,3724,3827,547.5,-8.8,525,3628,0.00,2.20,0.00,0.000,3078,0.000,0.030,2537,2141,3775,3723,3828,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3869,-0.78,-194.6,2537,2141,3722,3825,570.8,-9.8,551,3871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2141,3774,3723,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4109,-0.78,-194.6,2538,2141,3721,3823,597.0,-11.8,575,4110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2141,3772,3721,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-0.78,-194.6,2537,2141,3719,3822,625.8,-11.1,589,4363,0.00,2.33,0.00,0.000,2308,0.000,0.063,2527,3543,3770,3718,3822,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4383,-0.78,-194.6,2527,3544,3719,3822,628.6,-10.6,594,4388,0.05,2.22,0.00,0.000,3078,0.281,0.031,2548,2153,3769,3716,3822,0,0,0,0,0,0,14.76,15.02,28.83
$GC,4635,-0.78,-194.6,2548,2152,3717,3821,653.0,-9.7,608,4641,0.00,2.33,0.00,0.000,260,0.000,0.063,2540,3552,3768,3716,3821,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4718,-0.78,-194.6,2539,3552,3716,3821,661.2,-9.1,625,4722,0.00,2.22,0.00,0.000,3078,0.000,0.031,2540,2143,3769,3716,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4975,-0.78,-194.6,2540,2141,3714,3818,685.9,-9.5,640,4979,0.00,2.25,0.00,0.000,2564,0.000,0.056,2539,753,3766,3714,3818,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5031,-0.78,-194.6,2540,753,3714,3818,691.4,-9.8,651,5035,0.05,2.22,0.00,0.000,3078,0.449,0.041,2545,2156,3766,3714,3818,0,0,0,0,0,0,14.76,15.02,28.83
$GC,5292,-0.78,-194.6,2545,2157,3711,3816,717.5,-10.7,667,5293,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2157,3763,3711,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5532,-0.78,-194.6,2545,2157,3710,3814,743.7,-10.7,679,5536,0.00,2.33,0.00,0.000,2308,0.000,0.066,2537,3549,3762,3710,3814,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5593,-0.78,-194.6,2537,3549,3709,3814,749.8,-10.0,691,5597,0.00,2.20,0.00,0.000,3078,0.000,0.032,2537,2153,3761,3709,3814,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5849,-0.78,-194.6,2537,2152,3707,3812,772.5,-7.9,706,5853,0.00,2.28,0.00,0.000,2564,0.000,0.057,2537,753,3759,3707,3812,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5886,-0.78,-194.6,2537,753,3707,3812,775.4,-8.1,713,5892,0.08,2.22,0.00,0.000,3078,0.387,0.041,2547,2157,3759,3707,3812,0,0,0,0,0,0,14.75,15.02,28.83
$GC,6145,-0.78,-194.6,2546,2158,3705,3810,794.5,-8.0,729,6149,0.00,2.30,0.00,0.000,2308,0.000,0.067,2539,3546,3758,3705,3811,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6202,-0.78,-194.6,2539,3546,3705,3810,799.5,-9.0,740,6206,0.00,2.20,0.00,0.000,3078,0.000,0.033,2539,2149,3757,3704,3811,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6463,-0.78,-194.6,2539,2148,3703,3808,827.4,-11.3,756,6464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2148,3755,3703,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6703,-0.78,-194.6,2539,2148,3702,3807,854.0,-11.0,768,6707,0.00,2.35,0.00,0.000,2308,0.000,0.067,2529,3545,3754,3702,3807,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6739,-0.78,-194.6,2530,3545,3701,3807,857.8,-10.5,775,6743,0.08,2.22,0.00,0.000,3078,0.360,0.034,2549,2143,3753,3701,3806,0,0,0,0,0,0,14.75,15.03,28.83
$GC,6996,-0.78,-194.6,2549,2143,3700,3805,881.4,-8.6,790,7002,0.00,2.28,0.00,0.000,516,0.000,0.058,2549,753,3752,3700,3805,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7048,-0.78,-194.6,2549,752,3699,3805,886.2,-8.8,801,7055,0.00,2.25,0.00,0.000,3078,0.000,0.042,2542,2154,3752,3699,3805,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7295,-0.78,-194.6,2543,2154,3698,3803,908.2,-9.4,814,7299,0.00,2.33,0.00,0.000,2308,0.000,0.068,2533,3545,3750,3697,3804,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7360,-0.78,-194.6,2533,3545,3697,3804,914.6,-9.6,827,7364,0.00,2.22,0.00,0.000,3078,0.000,0.034,2533,2150,3750,3697,3804,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7611,-0.78,-194.6,2533,2149,3696,3802,941.0,-10.7,841,7615,0.00,2.28,0.00,0.000,2564,0.000,0.058,2533,757,3749,3696,3802,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7667,-0.78,-194.6,2533,757,3695,3802,947.1,-11.0,852,7672,0.10,2.22,0.00,0.000,3078,0.353,0.044,2550,2148,3748,3695,3802,0,0,0,0,0,0,14.71,15.00,28.83
$STATE,7923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7923,begin apogee
$GC,7927,-0.17,0.0,2551,1919,3694,3800,970.6,-8.9,867,8213,0.52,0.00,281.70,1.594,10246,0.239,0.000,2741,1918,2988,3026,2951,0,0,0,0,0,0,14.73,28.83,13.66
$STATE,8214,end apogee,CONTROL_FINISHED_OK
$STATE,8214,begin climb
$GC,8215,0.78,194.6,2741,1918,3019,2943,982.5,0.0,881,8438,0.80,2.42,211.30,1.789,10756,0.145,0.073,3060,588,2182,2213,2151,0,0,0,0,0,0,14.17,14.04,13.49
$GC,8494,0.78,194.6,3060,587,2196,2137,957.1,15.3,939,8498,0.00,2.30,0.00,0.000,5126,0.000,0.043,3060,1948,2166,2196,2136,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8740,0.78,194.6,3060,1949,2196,2129,920.7,14.7,952,8744,0.00,2.40,0.00,0.000,4356,0.000,0.064,3060,3363,2162,2196,2129,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8789,0.78,194.6,3060,3362,2196,2129,912.8,15.7,962,8797,0.08,2.30,0.00,0.000,5126,0.461,0.044,3054,1991,2162,2196,2128,0,0,0,0,0,0,14.45,14.69,28.83
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$GC,12207,0.86,194.6,3050,1942,2193,2115,458.9,8.9,1259,12211,0.10,2.33,0.00,0.000,2564,0.232,0.064,3105,548,2154,2193,2115,0,0,0,0,0,0,14.85,14.89,28.83
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$STATE,16219,end climb,SURFACE_DEPTH_REACHED
$STATE,16220,begin surface coast
$FINISH,0.3,1.022856
$STATE,16242,end surface coast,CONTROL_FINISHED_OK
$STATE,16242,begin surface
$SM_CCo,16256,52.95,0.153,0,0,1356,400.08
$SM_GC,1.06,7.20,0.32,52.95,0.093,0.057,0.153,135,2190,1356,-8.23,-1.19,400.08,0,0,0,0,0,0,14.76,14.88,14.70
$IRIDIUM_FIX,2131.85,12352.99,011109,030302
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.54
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,13.5,55.634
$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
$DEVICE_SECS,18.750,193.150,597.650,52.950,0.000,0.000,0.000,493.100,0.500,0.000,8.288,4053.987,7998.604,819.539,3868.391,205.793,0.000,2844.730,0.000,3383.314,0.000,0.552,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1065.336,2086.242,1492.376,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328800
$DATA_FILE_SIZE,146885,1917
$CAP_FILE_SIZE,200973,0
$CFSIZE,2097086464,2069626880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.250,250.4,1
$GPS,040117,182000,2142.919,12347.549,27,1.1,27,-3.4