version: 67.00
glider: 675
mission: 3
dive: 397
start: 5 14 122 5 59 15
data:
$ID,675
$MISSION,3
$DIVE,397
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,15
$T_BOOST,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,580
$T_ABORT,700
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,90
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53587
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-54
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,210
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,0
$RAFOS_HIT_WINDOW,0
$RAFOS_MMODEM,0
$PITCH_MIN,162
$PITCH_MAX,3892
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031260001
$PITCH_GAIN,33
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,206
$ROLL_MAX,3820
$ROLL_DEG,30
$C_ROLL_DIVE,2140
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,623
$VBD_MAX,3960
$C_VBD,2940
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0.5
$LOITER_DBDW,200
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,1
$SHORTING_PLUG,1
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,22.353933
$FG_AHR_24V,54.118565
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.96762
$PRESSURE_SLOPE,0.000108611
$COMPASS_USE,0
$ALTIM_PING_FIT,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,30
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,92
$INT_PRESSURE_SLOPE,1.96e-06
$INT_PRESSURE_YINT,2.5599999
$DEEPGLIDER,0
$MOTHERBOARD,6
$DEVICE1,10
$DEVICE2,70
$DEVICE3,35
$DEVICE4,55
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,18
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,5
$SIM_W,0
$SEABIRD_T_G,0.0044220379
$SEABIRD_T_H,0.00064413931
$SEABIRD_T_I,2.6853917e-05
$SEABIRD_T_J,3.402645e-06
$SEABIRD_C_G,-10.01496
$SEABIRD_C_H,1.1201342
$SEABIRD_C_I,-0.0031396081
$SEABIRD_C_J,0.00029222821
$SEABIRD_C_Z,0
$GPS1,140522,055241,-5401.168,-1.062,81,1.0,92,-20.4
$_CALLS,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.1
$GPS2,140522,055855,-5401.139,-1.080,18,1.0,29,-20.4
$SPEED_LIMITS,0.141,0.176
$TGT_NAME,SW
$TGT_LATLONG,-5405.000,-7.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.064,-0.195
$KALMAN_X,6098.8,118.7,-323.8,-5622.1,1406.5
$KALMAN_Y,7297.4,35.4,157.5,-35327.9,228.7
$MHEAD_RNG_PITCHd_Wd,244.7,9617,-18.3,-8.120,-24.74
$D_GRID,950
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,1,end surface,CONTROL_FINISHED_OK
$STATE,1,begin dive
$GC,2.51,2,-87.59,-0.66,0.00,2078.5,2137.8,2019.2,152.6,2082.4,0.00,0.00,0,77.00,71.96,0.00,0.12,0.005,0.000,0.194,3295.88,3300.81,3290.94,152.75,2180.50,0,0,0,14.64,30.00,14.91
$GC,77.25,549,-87.59,-0.66,-30.00,3296.0,3301.1,3291.0,152.6,2180.6,3.30,-3.32,14,100.05,0.00,14.48,1.92,0.000,0.393,0.062,3298.12,3305.06,3291.19,2386.31,1049.50,0,0,0,30.00,14.90,15.29
$GC,119.30,1028,-87.59,-0.66,0.00,3299.1,3307.2,3291.0,2386.5,1049.2,14.38,-25.03,22,124.69,0.00,0.00,1.90,0.000,0.000,0.070,3299.88,3308.50,3291.25,2386.19,2160.12,0,0,0,30.00,30.00,15.33
$GC,304.39,0,-87.59,-0.66,0.00,3299.1,3309.7,3288.4,2385.9,2162.4,48.07,-18.44,59,309.35,0.00,0.00,0.00,0.000,0.000,0.000,3301.31,3311.25,3291.38,2385.06,2162.12,0,0,0,30.00,30.00,30.00
$GC,489.49,0,-87.59,-0.66,0.00,3299.4,3310.1,3288.8,2386.5,2162.2,78.32,-17.06,96,494.43,0.00,0.00,0.00,0.000,0.000,0.000,3300.09,3310.81,3289.38,2385.06,2162.69,0,0,0,30.00,30.00,30.00
$GC,674.56,516,-87.59,-0.66,-30.00,3299.2,3310.3,3288.0,2386.1,2162.4,108.73,-15.28,133,677.36,0.00,0.00,1.88,0.000,0.000,0.066,3299.44,3310.00,3288.88,2386.25,1054.69,0,0,0,30.00,30.00,15.48
$GC,772.02,1028,-87.59,-0.66,0.00,3299.3,3310.1,3288.6,2385.9,1053.6,123.00,-13.63,150,774.78,0.00,0.00,1.84,0.000,0.000,0.061,3300.69,3310.88,3290.50,2384.69,2162.88,0,0,0,30.00,30.00,15.59
$GC,1087.06,260,-87.59,-0.66,30.00,3299.5,3310.8,3288.2,2386.1,2163.4,169.80,-14.75,166,1089.81,0.00,0.00,1.79,0.000,0.000,0.081,3299.19,3310.00,3288.38,2384.94,3222.38,0,0,0,30.00,30.00,15.58
$GC,1202.10,1028,-87.59,-0.66,0.00,3299.3,3310.1,3288.5,2385.7,3222.5,185.44,-13.52,172,1204.87,0.00,0.00,1.83,0.000,0.000,0.045,3298.84,3310.69,3287.00,2386.38,2105.62,0,0,0,30.00,30.00,15.70
$GC,1517.13,516,-87.59,-0.66,-30.00,3299.5,3311.1,3287.9,2386.4,2103.0,227.71,-13.45,188,1519.89,0.00,0.00,1.75,0.000,0.000,0.066,3299.97,3311.88,3288.06,2385.94,1052.19,0,0,0,30.00,30.00,15.67
$GC,1547.11,1028,-87.59,-0.66,0.00,3299.3,3310.5,3288.1,2386.1,1051.8,232.14,-13.67,189,1549.88,0.00,0.00,1.85,0.000,0.000,0.060,3301.03,3313.00,3289.06,2385.75,2166.56,0,0,0,30.00,30.00,15.68
$GC,1847.16,516,-87.59,-0.66,-30.00,3299.2,3310.9,3287.6,2386.6,2166.6,275.37,-14.18,204,1849.93,0.00,0.00,1.85,0.000,0.000,0.063,3299.53,3312.19,3286.88,2385.38,1052.25,0,0,0,30.00,30.00,15.69
$GC,1877.13,1028,-87.59,-0.66,0.00,3299.0,3310.9,3287.2,2386.4,1051.9,279.84,-14.34,205,1879.91,0.00,0.00,1.84,0.000,0.000,0.059,3297.84,3309.75,3285.94,2386.06,2166.00,0,0,0,30.00,30.00,15.71
$GC,2177.19,260,-87.59,-0.66,30.00,3298.8,3310.8,3286.8,2386.4,2167.1,321.63,-13.96,220,2179.94,0.00,0.00,1.78,0.000,0.000,0.080,3299.66,3310.81,3288.50,2385.25,3223.44,0,0,0,30.00,30.00,15.65
$GC,2212.19,1028,-87.59,-0.66,0.00,3298.6,3310.7,3286.6,2386.2,3223.6,326.67,-14.14,222,2214.96,0.00,0.00,1.82,0.000,0.000,0.044,3299.12,3310.94,3287.31,2386.00,2101.56,0,0,0,30.00,30.00,15.76
$GC,2527.29,260,-87.59,-0.66,30.00,3298.7,3311.2,3286.1,2386.2,2100.1,369.28,-13.30,238,2530.08,0.00,0.00,1.90,0.000,0.000,0.078,3298.12,3310.50,3285.75,2386.00,3223.38,0,0,0,30.00,30.00,15.67
$GC,2567.20,1028,-87.59,-0.66,0.00,3298.4,3310.7,3286.1,2386.1,3222.8,374.61,-13.27,240,2569.98,0.00,0.00,1.80,0.000,0.000,0.043,3297.41,3309.94,3284.88,2386.12,2101.62,0,0,0,30.00,30.00,15.78
$GC,2877.26,260,-87.59,-0.66,30.00,3298.4,3310.9,3285.8,2386.2,2099.0,414.37,-12.56,256,2880.03,0.00,0.00,1.90,0.000,0.000,0.079,3300.41,3312.44,3288.38,2384.12,3221.94,0,0,0,30.00,30.00,15.67
$GC,2907.25,1028,-87.59,-0.66,0.00,3298.7,3311.3,3286.0,2386.4,3221.9,418.20,-12.61,257,2910.02,0.00,0.00,1.82,0.000,0.000,0.044,3298.56,3310.75,3286.38,2385.81,2101.50,0,0,0,30.00,30.00,15.79
$GC,3207.29,516,-87.59,-0.66,-30.00,3298.4,3310.8,3286.0,2386.1,2098.9,455.01,-12.05,272,3210.05,0.00,0.00,1.73,0.000,0.000,0.064,3299.84,3312.62,3287.06,2386.06,1052.38,0,0,0,30.00,30.00,15.72
$GC,3264.76,1028,-87.59,-0.66,0.00,3298.5,3311.2,3285.9,2385.9,1050.4,461.66,-12.03,275,3267.67,0.00,0.00,1.84,0.000,0.000,0.059,3299.19,3312.06,3286.31,2385.94,2167.12,0,0,0,30.00,30.00,15.67
$GC,3584.80,0,-87.59,-0.66,0.00,3298.4,3311.2,3285.7,2385.8,2167.9,498.81,-11.32,291,3586.14,0.00,0.00,0.00,0.000,0.000,0.000,3299.91,3312.31,3287.50,2383.88,2167.69,0,0,0,30.00,30.00,30.00
$GC,3882.37,0,-87.59,-0.66,0.00,3298.6,3311.6,3285.6,2386.3,2167.9,530.83,-10.45,306,3883.71,0.00,0.00,0.00,0.000,0.000,0.000,3299.28,3311.56,3287.00,2383.75,2167.50,0,0,0,30.00,30.00,30.00
$GC,4184.86,0,-87.59,-0.66,0.00,3298.8,3311.7,3286.0,2386.2,2167.6,561.54,-10.19,321,4186.20,0.00,0.00,0.00,0.000,0.000,0.000,3299.50,3312.38,3286.62,2383.88,2167.56,0,0,0,30.00,30.00,30.00
$GC,4482.42,260,-87.59,-0.66,30.00,3299.1,3312.1,3286.1,2385.9,2167.4,593.07,-10.37,336,4485.17,0.00,0.00,1.78,0.000,0.000,0.079,3297.25,3310.25,3284.25,2386.19,3222.25,0,0,0,30.00,30.00,15.68
$GC,4507.45,1028,-87.59,-0.66,0.00,3298.8,3311.7,3285.9,2385.6,3221.8,595.64,-10.40,337,4510.22,0.00,0.00,1.83,0.000,0.000,0.044,3299.69,3312.06,3287.31,2383.75,2100.94,0,0,0,30.00,30.00,15.80
$GC,4814.91,0,-87.59,-0.66,0.00,3299.2,3312.2,3286.2,2385.8,2098.4,626.32,-9.87,353,4816.25,0.00,0.00,0.00,0.000,0.000,0.000,3299.75,3313.19,3286.31,2384.06,2098.19,0,0,0,30.00,30.00,30.00
$GC,5112.49,0,-87.59,-0.66,0.00,3299.1,3312.1,3286.1,2386.0,2098.7,656.56,-10.23,368,5113.83,0.00,0.00,0.00,0.000,0.000,0.000,3300.56,3312.88,3288.25,2383.75,2098.81,0,0,0,30.00,30.00,30.00
$GC,5414.97,260,-87.59,-0.66,30.00,3299.3,3312.4,3286.2,2386.5,2099.2,687.76,-10.32,383,5417.87,0.00,0.00,1.91,0.000,0.000,0.077,3300.75,3314.38,3287.12,2386.06,3223.12,0,0,0,30.00,30.00,15.62
$GC,5454.96,1028,-87.59,-0.66,0.00,3299.1,3312.7,3285.6,2386.0,3223.0,691.83,-10.25,385,5457.86,0.00,0.00,1.82,0.000,0.000,0.043,3299.16,3312.69,3285.62,2386.38,2100.38,0,0,0,30.00,30.00,15.72
$GC,5774.99,516,-87.59,-0.66,-30.00,3299.3,3312.7,3285.9,2385.9,2097.7,723.44,-9.80,401,5777.87,0.00,0.00,1.72,0.000,0.000,0.063,3300.88,3314.56,3287.19,2385.75,1053.31,0,0,0,30.00,30.00,15.65
$GC,5797.57,1028,-87.59,-0.66,0.00,3299.3,3313.1,3285.5,2386.4,1053.7,725.99,-9.90,402,5800.34,0.00,0.00,1.82,0.000,0.000,0.057,3301.12,3314.50,3287.75,2384.56,2168.56,0,0,0,30.00,30.00,15.75
$GC,6107.58,0,-87.59,-0.66,0.00,3299.3,3313.0,3285.7,2386.2,2169.2,756.25,-9.73,418,6108.92,0.00,0.00,0.00,0.000,0.000,0.000,3300.78,3313.94,3287.62,2383.81,2169.25,0,0,0,30.00,30.00,30.00
$GC,6409.42,0,-87.59,-0.66,0.00,3299.3,3313.0,3285.6,2386.4,2169.1,785.04,-9.58,433,6410.75,0.00,0.00,0.00,0.000,0.000,0.000,3300.25,3313.38,3287.12,2384.44,2168.69,0,0,0,30.00,30.00,30.00
$GC,6707.65,0,-87.59,-0.66,0.00,3299.6,3313.5,3285.6,2386.1,2169.2,812.49,-8.94,448,6708.99,0.00,0.00,0.00,0.000,0.000,0.000,3301.03,3314.56,3287.50,2383.75,2169.06,0,0,0,30.00,30.00,30.00
$GC,7008.56,0,-87.59,-0.66,0.00,3299.7,3313.4,3286.0,2385.9,2168.8,839.15,-8.81,463,7009.90,0.00,0.00,0.00,0.000,0.000,0.000,3299.69,3314.12,3285.25,2384.06,2168.81,0,0,0,30.00,30.00,30.00
$GC,7307.73,0,-87.59,-0.66,0.00,3299.7,3313.6,3285.8,2385.9,2169.1,865.78,-8.99,478,7309.08,0.00,0.00,0.00,0.000,0.000,0.000,3300.69,3315.00,3286.38,2384.38,2169.25,0,0,0,30.00,30.00,30.00
$GC,7610.23,0,-87.59,-0.66,0.00,3299.8,3313.9,3285.6,2386.0,2169.3,892.57,-9.09,493,7611.57,0.00,0.00,0.00,0.000,0.000,0.000,3300.16,3313.69,3286.62,2384.25,2168.88,0,0,0,30.00,30.00,30.00
$GC,7907.79,0,-87.59,-0.66,0.00,3299.9,3314.2,3285.6,2386.2,2168.6,919.09,-8.67,508,7909.13,0.00,0.00,0.00,0.000,0.000,0.000,3300.75,3314.50,3287.00,2384.12,2168.62,0,0,0,30.00,30.00,30.00
$GC,8210.29,516,-87.59,-0.66,-30.00,3300.2,3314.4,3286.0,2386.2,2169.0,945.35,-8.87,523,8213.17,0.00,0.00,1.88,0.000,0.000,0.065,3300.06,3314.25,3285.88,2386.50,1052.25,0,0,0,30.00,30.00,15.64
$GC,8250.28,1028,-87.59,-0.66,0.00,3299.9,3314.2,3285.6,2386.5,1052.0,949.18,-9.20,525,8253.19,0.00,0.00,1.84,0.000,0.000,0.058,3300.25,3314.69,3285.81,2386.25,2166.62,0,0,0,30.00,30.00,15.65
$STATE,8257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8257,begin apogee
$GC,8259.08,3,0.00,-0.15,0.00,3300.1,3314.2,3286.0,2386.2,1985.3,950.04,-9.20,525,8372.88,107.51,0.94,0.14,1.594,0.285,0.160,2938.22,3000.19,2876.25,2549.50,2098.56,0,0,0,11.32,15.04,15.02
$STATE,8373,end apogee,CONTROL_FINISHED_OK
$STATE,8373,begin loiter
$GC,8667.89,0,0.00,-0.15,0.00,2935.2,2999.9,2870.6,2549.9,2099.0,952.46,0.23,546,8669.23,0.00,0.00,0.00,0.000,0.000,0.000,2935.81,3001.44,2870.19,2547.75,2098.44,0,0,0,30.00,30.00,30.00
$GC,8970.43,0,0.00,-0.15,0.00,2936.2,3001.1,2871.2,2549.8,2098.8,951.00,0.36,561,8971.78,0.00,0.00,0.00,0.000,0.000,0.000,2936.84,3002.50,2871.19,2547.75,2098.75,0,0,0,30.00,30.00,30.00
$GC,9267.96,0,0.00,-0.15,0.00,2936.2,3001.2,2871.2,2549.8,2099.0,949.52,0.49,576,9269.30,0.00,0.00,0.00,0.000,0.000,0.000,2936.72,3003.19,2870.25,2548.06,2098.88,0,0,0,30.00,30.00,30.00
$GC,9570.42,0,0.00,-0.15,0.00,2936.0,3000.9,2871.0,2549.9,2098.9,948.88,0.35,591,9571.75,0.00,0.00,0.00,0.000,0.000,0.000,2937.06,3002.25,2871.88,2547.88,2098.25,0,0,0,30.00,30.00,30.00
$GC,9868.02,0,0.00,-0.15,0.00,2936.0,3000.8,2871.2,2550.2,2098.6,949.51,-0.01,606,9869.36,0.00,0.00,0.00,0.000,0.000,0.000,2937.00,3002.56,2871.44,2548.00,2098.56,0,0,0,30.00,30.00,30.00
$GC,10170.48,0,0.00,-0.15,0.00,2936.3,3001.4,2871.3,2550.1,2099.0,951.29,-0.41,621,10171.82,0.00,0.00,0.00,0.000,0.000,0.000,2935.50,3000.75,2870.25,2548.44,2098.06,0,0,0,30.00,30.00,30.00
$GC,10468.09,32,1.79,-0.15,0.00,2936.1,3001.2,2870.9,2549.6,2098.9,954.17,-0.92,636,10469.43,0.00,0.00,0.00,0.000,0.000,0.000,2936.81,3001.50,2872.12,2548.00,2097.88,0,0,0,30.00,30.00,30.00
$GC,10770.55,34,4.00,-0.15,0.00,2936.2,3001.2,2871.1,2549.8,2099.2,957.57,-1.13,651,10778.11,6.45,0.00,0.00,1.265,0.000,0.000,2920.44,2986.31,2854.56,2549.69,2098.94,0,0,0,11.20,30.00,30.00
$GC,11068.10,32,5.29,-0.15,0.00,2919.5,2986.1,2852.9,2550.0,2098.5,958.59,-0.66,666,11069.44,0.00,0.00,0.00,0.000,0.000,0.000,2920.03,2986.38,2853.69,2548.12,2098.12,0,0,0,30.00,30.00,30.00
$GC,11370.58,0,5.29,-0.15,0.00,2920.3,2986.9,2853.7,2549.9,2098.7,959.58,-0.30,681,11371.92,0.00,0.00,0.00,0.000,0.000,0.000,2920.75,2987.38,2854.12,2547.81,2098.25,0,0,0,30.00,30.00,30.00
$GC,11668.16,0,5.29,-0.15,0.00,2919.9,2986.4,2853.4,2550.1,2098.8,960.17,-0.25,696,11669.50,0.00,0.00,0.00,0.000,0.000,0.000,2921.12,2987.75,2854.50,2547.88,2098.69,0,0,0,30.00,30.00,30.00
$GC,11970.62,0,5.29,-0.15,0.00,2919.8,2986.2,2853.4,2549.8,2098.9,960.98,-0.23,711,11971.96,0.00,0.00,0.00,0.000,0.000,0.000,2920.53,2986.44,2854.62,2547.62,2098.00,0,0,0,30.00,30.00,30.00
$GC,12268.22,0,5.29,-0.15,0.00,2919.5,2986.4,2852.7,2550.1,2098.8,961.92,-0.29,726,12269.56,0.00,0.00,0.00,0.000,0.000,0.000,2919.91,2985.88,2853.94,2548.44,2098.88,0,0,0,30.00,30.00,30.00
$GC,12570.67,0,5.29,-0.15,0.00,2919.8,2986.8,2852.8,2549.6,2098.6,962.62,-0.27,741,12572.01,0.00,0.00,0.00,0.000,0.000,0.000,2920.38,2988.12,2852.62,2549.12,2099.12,0,0,0,30.00,30.00,30.00
$GC,12868.24,0,5.29,-0.15,0.00,2919.6,2986.2,2853.1,2549.1,2098.2,963.17,-0.22,756,12869.58,0.00,0.00,0.00,0.000,0.000,0.000,2920.53,2987.56,2853.50,2549.00,2097.94,0,0,0,30.00,30.00,30.00
$GC,13169.13,0,5.29,-0.15,0.00,2919.7,2986.5,2852.9,2549.9,2098.9,963.43,-0.13,771,13170.47,0.00,0.00,0.00,0.000,0.000,0.000,2921.38,2987.56,2855.19,2548.25,2098.81,0,0,0,30.00,30.00,30.00
$GC,13468.32,0,5.29,-0.15,0.00,2919.5,2986.7,2852.4,2549.8,2098.9,963.47,-0.04,786,13469.66,0.00,0.00,0.00,0.000,0.000,0.000,2920.34,2987.31,2853.38,2548.19,2098.00,0,0,0,30.00,30.00,30.00
$GC,13769.25,0,5.29,-0.15,0.00,2919.4,2986.2,2852.6,2550.1,2098.9,963.40,0.00,801,13770.58,0.00,0.00,0.00,0.000,0.000,0.000,2921.16,2986.81,2855.50,2547.75,2097.94,0,0,0,30.00,30.00,30.00
$GC,14068.33,0,5.29,-0.15,0.00,2919.6,2986.8,2852.4,2550.2,2098.8,963.06,0.07,816,14069.67,0.00,0.00,0.00,0.000,0.000,0.000,2919.47,2986.62,2852.31,2548.38,2098.56,0,0,0,30.00,30.00,30.00
$GC,14369.22,0,5.29,-0.15,0.00,2919.5,2986.4,2852.6,2550.0,2098.6,962.20,0.20,831,14370.56,0.00,0.00,0.00,0.000,0.000,0.000,2920.38,2987.50,2853.25,2548.62,2098.50,0,0,0,30.00,30.00,30.00
$GC,14668.37,0,5.29,-0.15,0.00,2919.6,2986.4,2852.7,2550.0,2099.1,960.79,0.39,846,14669.71,0.00,0.00,0.00,0.000,0.000,0.000,2919.69,2986.31,2853.06,2548.75,2098.69,0,0,0,30.00,30.00,30.00
$GC,14969.27,0,5.29,-0.15,0.00,2919.7,2986.7,2852.6,2549.9,2099.1,958.90,0.58,861,14970.61,0.00,0.00,0.00,0.000,0.000,0.000,2921.50,2987.44,2855.56,2547.44,2098.62,0,0,0,30.00,30.00,30.00
$GC,15268.43,0,5.29,-0.15,0.00,2919.3,2986.1,2852.5,2549.6,2098.8,956.17,0.85,876,15269.77,0.00,0.00,0.00,0.000,0.000,0.000,2919.59,2987.12,2852.06,2548.31,2098.31,0,0,0,30.00,30.00,30.00
$STATE,15570,end loiter,LOITER_COMPLETE
$STATE,15570,begin climb
$GC,15571.00,519,87.59,0.66,-30.00,2919.2,2986.2,2852.2,2549.8,2098.6,952.96,0.00,891,15694.16,116.21,1.45,2.01,1.546,0.241,0.082,2576.91,2676.19,2477.62,2812.56,968.25,0,0,0,11.41,15.13,14.99
$GC,15861.09,1062,95.23,0.67,0.00,2572.9,2668.9,2476.9,2812.2,967.9,935.30,7.64,905,15876.08,9.99,0.00,1.86,1.430,0.000,0.051,2550.12,2647.50,2452.75,2813.00,2088.56,0,0,0,11.63,30.00,15.39
$GC,16191.09,262,95.23,0.67,30.00,2540.4,2638.6,2442.2,2812.5,2088.7,907.38,8.43,922,16193.84,0.00,0.00,1.77,0.000,0.000,0.072,2544.19,2641.69,2446.69,2811.06,3131.81,0,0,0,30.00,30.00,15.52
$GC,16248.51,1030,95.23,0.67,0.00,2539.5,2637.2,2441.8,2812.6,3131.8,902.59,8.54,925,16251.41,0.00,0.00,1.87,0.000,0.000,0.052,2540.72,2638.81,2442.62,2812.69,2016.38,0,0,0,30.00,30.00,15.53
$GC,16568.56,2,95.23,0.67,0.00,2539.2,2637.3,2441.0,2812.3,2015.2,875.96,8.44,941,16569.90,0.00,0.00,0.00,0.000,0.000,0.000,2540.19,2637.38,2443.00,2810.44,2014.69,0,0,0,30.00,30.00,30.00
$GC,16866.12,262,95.23,0.67,30.00,2538.5,2636.6,2440.4,2812.6,2015.1,850.37,8.51,956,16868.90,0.00,0.00,1.89,0.000,0.000,0.068,2536.59,2634.19,2439.00,2812.00,3137.25,0,0,0,30.00,30.00,15.65
$GC,16916.11,1030,95.23,0.67,0.00,2536.7,2634.8,2438.5,2811.9,3137.2,845.81,8.72,958,16918.88,0.00,0.00,1.86,0.000,0.000,0.051,2537.31,2634.69,2439.94,2812.31,2013.31,0,0,0,30.00,30.00,15.70
$GC,17217.04,2,95.23,0.67,0.00,2536.8,2634.9,2438.8,2812.6,2013.7,819.37,8.80,973,17218.39,0.00,0.00,0.00,0.000,0.000,0.000,2538.56,2636.00,2441.12,2811.81,2013.12,0,0,0,30.00,30.00,30.00
$GC,17516.19,262,95.23,0.67,30.00,2536.8,2634.8,2438.9,2812.8,2013.9,793.71,8.54,988,17518.97,0.00,0.00,1.88,0.000,0.000,0.068,2535.00,2632.62,2437.38,2812.56,3135.75,0,0,0,30.00,30.00,15.68
$GC,17546.20,1030,95.23,0.67,0.00,2535.7,2633.1,2438.2,2812.5,3135.9,791.06,8.55,989,17548.98,0.00,0.00,1.85,0.000,0.000,0.052,2534.28,2632.06,2436.50,2812.44,2015.44,0,0,0,30.00,30.00,15.73
$GC,17846.22,2,95.23,0.67,0.00,2535.7,2633.2,2438.1,2813.2,2014.9,765.45,8.65,1004,17847.56,0.00,0.00,0.00,0.000,0.000,0.000,2536.69,2634.12,2439.25,2811.06,2014.69,0,0,0,30.00,30.00,30.00
$GC,18147.12,262,95.23,0.67,30.00,2535.5,2633.2,2437.8,2813.1,2015.0,739.57,8.63,1019,18151.30,0.00,0.00,1.88,0.000,0.000,0.068,2535.81,2633.75,2437.88,2812.69,3136.06,0,0,0,30.00,30.00,15.70
$GC,18176.29,1030,95.23,0.67,0.00,2534.8,2632.0,2437.6,2813.2,3135.9,736.85,8.71,1020,18179.07,0.00,0.00,1.84,0.000,0.000,0.052,2536.00,2632.50,2439.50,2812.19,2013.31,0,0,0,30.00,30.00,15.76
$GC,18481.27,2,95.23,0.67,0.00,2534.8,2632.2,2437.4,2812.9,2012.1,711.37,8.30,1036,18482.62,0.00,0.00,0.00,0.000,0.000,0.000,2536.22,2632.81,2439.62,2810.50,2012.06,0,0,0,30.00,30.00,30.00
$GC,18782.20,32,98.56,0.68,0.00,2535.1,2632.5,2437.6,2812.9,2012.3,687.34,7.91,1051,18783.54,0.00,0.00,0.00,0.000,0.000,0.000,2536.62,2633.94,2439.31,2811.50,2011.88,0,0,0,30.00,30.00,30.00
$GC,19081.34,294,101.69,0.68,30.00,2535.0,2632.1,2437.8,2812.8,2012.1,663.50,7.92,1066,19086.77,2.26,0.00,1.89,0.127,0.000,0.068,2524.56,2622.75,2426.38,2812.75,3135.94,0,0,0,15.16,30.00,15.64
$GC,19136.31,1028,101.69,0.68,0.00,2526.4,2624.9,2427.9,2812.8,3136.2,658.88,8.17,1068,19139.08,0.00,0.00,1.85,0.000,0.000,0.051,2527.62,2625.31,2429.94,2812.88,2014.62,0,0,0,30.00,30.00,15.77
$GC,19437.23,260,101.69,0.68,30.00,2532.0,2630.2,2433.8,2812.4,2013.7,634.34,8.31,1083,19441.40,0.00,0.00,1.88,0.000,0.000,0.068,2532.84,2631.75,2433.94,2813.06,3138.62,0,0,0,30.00,30.00,15.72
$GC,19461.45,1028,101.69,0.68,0.00,2531.8,2630.1,2433.6,2812.8,3138.9,632.23,8.38,1084,19464.22,0.00,0.00,1.83,0.000,0.000,0.051,2531.97,2630.19,2433.75,2812.38,2014.00,0,0,0,30.00,30.00,15.78
$GC,19771.40,294,103.15,0.68,30.00,2532.4,2630.8,2434.0,2812.9,2013.7,607.30,8.03,1100,19783.01,8.37,0.00,1.86,1.186,0.000,0.071,2514.97,2613.62,2416.31,2811.56,3136.81,0,0,0,11.11,30.00,15.62
$GC,19811.38,1060,103.31,0.68,0.00,2513.1,2611.9,2414.2,2813.1,3137.6,603.95,8.11,1102,19814.15,0.00,0.00,1.83,0.000,0.000,0.051,2514.00,2612.88,2415.12,2813.06,2013.62,0,0,0,30.00,30.00,15.82
$GC,20121.45,516,103.31,0.68,-30.00,2512.6,2611.6,2413.6,2812.6,2013.5,578.42,8.38,1118,20124.20,0.00,0.00,1.76,0.000,0.000,0.078,2511.66,2610.88,2412.44,2812.56,966.88,0,0,0,30.00,30.00,15.67
$GC,20161.39,1028,103.31,0.68,0.00,2512.2,2611.4,2413.0,2812.4,967.1,575.21,8.23,1120,20164.15,0.00,0.00,1.78,0.000,0.000,0.047,2511.44,2611.19,2411.69,2812.38,2088.56,0,0,0,30.00,30.00,15.76
$GC,20471.44,260,103.31,0.68,30.00,2512.4,2611.2,2413.6,2813.0,2089.8,549.35,8.46,1136,20474.19,0.00,0.00,1.74,0.000,0.000,0.067,2515.19,2612.75,2417.62,2811.38,3137.44,0,0,0,30.00,30.00,15.73
$GC,20496.49,1028,103.31,0.68,0.00,2511.2,2609.9,2412.6,2812.1,3136.8,547.07,8.56,1137,20499.26,0.00,0.00,1.84,0.000,0.000,0.051,2510.56,2609.00,2412.12,2812.75,2012.06,0,0,0,30.00,30.00,15.78
$GC,20802.35,0,103.31,0.68,0.00,2511.5,2610.2,2412.8,2812.9,2012.5,520.83,8.59,1153,20803.69,0.00,0.00,0.00,0.000,0.000,0.000,2513.06,2610.62,2415.50,2810.88,2011.62,0,0,0,30.00,30.00,30.00
$GC,21101.50,260,103.31,0.68,30.00,2511.4,2610.0,2412.8,2811.9,2012.0,495.74,8.30,1168,21104.27,0.00,0.00,1.88,0.000,0.000,0.066,2510.09,2608.69,2411.50,2812.88,3136.56,0,0,0,30.00,30.00,15.73
$GC,21126.53,1030,103.31,0.68,0.00,2510.7,2608.9,2412.5,2813.2,3135.8,493.53,8.33,1169,21129.31,0.00,0.00,1.85,0.000,0.000,0.052,2510.50,2609.00,2412.00,2811.06,2013.62,0,0,0,30.00,30.00,15.78
$GC,21432.40,2,103.31,0.68,0.00,2510.7,2608.9,2412.4,2813.1,2013.7,468.55,8.12,1185,21433.74,0.00,0.00,0.00,0.000,0.000,0.000,2512.44,2610.00,2414.88,2811.38,2013.25,0,0,0,30.00,30.00,30.00
$GC,21731.57,550,115.07,0.70,-30.00,2510.4,2608.5,2412.4,2812.6,2013.3,445.73,7.38,1200,21754.24,18.93,0.00,1.75,1.186,0.000,0.081,2464.78,2565.44,2364.12,2812.62,966.75,0,0,0,11.43,30.00,15.57
$GC,21776.56,1062,126.15,0.71,0.00,2462.1,2560.9,2363.2,2813.1,966.4,442.35,7.42,1202,21796.73,15.31,0.00,1.80,1.140,0.000,0.047,2422.22,2521.62,2322.81,2812.75,2090.81,0,0,0,12.36,30.00,15.78
$GC,22107.53,2,126.15,0.71,0.00,2411.6,2509.4,2313.8,2812.6,2091.7,414.77,8.38,1219,22108.87,0.00,0.00,0.00,0.000,0.000,0.000,2413.53,2510.94,2316.12,2811.50,2091.50,0,0,0,30.00,30.00,30.00
$GC,22406.64,262,126.15,0.71,30.00,2411.6,2509.4,2313.8,2812.4,2091.5,389.39,8.42,1234,22409.39,0.00,0.00,1.74,0.000,0.000,0.067,2413.97,2510.25,2317.69,2811.50,3135.69,0,0,0,30.00,30.00,15.69
$GC,22441.63,1030,126.15,0.71,0.00,2410.7,2508.0,2313.4,2812.4,3135.7,386.21,8.72,1236,22444.41,0.00,0.00,1.85,0.000,0.000,0.052,2411.62,2509.00,2314.25,2811.12,2015.81,0,0,0,30.00,30.00,15.73
$GC,22756.69,518,126.15,0.71,-30.00,2410.2,2507.4,2313.0,2813.2,2014.6,358.32,9.08,1252,22759.44,0.00,0.00,1.77,0.000,0.000,0.078,2410.84,2508.38,2313.31,2812.62,965.06,0,0,0,30.00,30.00,15.65
$GC,22786.74,1030,126.15,0.71,0.00,2410.7,2507.9,2313.4,2813.1,965.2,355.69,9.04,1253,22789.51,0.00,0.00,1.82,0.000,0.000,0.047,2411.25,2508.25,2314.25,2811.50,2088.56,0,0,0,30.00,30.00,15.73
$GC,23086.73,262,126.15,0.71,30.00,2410.7,2507.9,2313.4,2812.8,2090.1,329.31,8.78,1268,23089.48,0.00,0.00,1.74,0.000,0.000,0.068,2410.84,2508.12,2313.56,2811.12,3136.50,0,0,0,30.00,30.00,15.72
$GC,23121.74,1030,126.15,0.71,0.00,2409.2,2505.4,2312.9,2812.8,3136.5,326.08,8.94,1270,23124.51,0.00,0.00,1.84,0.000,0.000,0.053,2410.00,2505.69,2314.31,2812.50,2014.94,0,0,0,30.00,30.00,15.75
$GC,23436.79,2,126.15,0.71,0.00,2409.2,2505.3,2313.1,2812.8,2014.8,299.95,8.13,1286,23438.14,0.00,0.00,0.00,0.000,0.000,0.000,2410.31,2506.50,2314.12,2811.06,2014.94,0,0,0,30.00,30.00,30.00
$GC,23737.72,548,130.27,0.72,-30.00,2409.2,2505.4,2313.1,2812.8,2015.0,276.14,7.86,1301,23741.88,0.00,0.00,1.77,0.000,0.000,0.079,2409.88,2506.19,2313.56,2812.62,968.06,0,0,0,30.00,30.00,15.66
$GC,23779.29,1062,137.26,0.72,0.00,2409.3,2505.5,2313.1,2812.5,968.2,273.16,7.68,1303,23797.57,14.27,0.00,1.80,1.046,0.000,0.047,2381.41,2473.75,2289.06,2811.94,2084.62,0,0,0,11.49,30.00,15.69
$GC,24097.83,262,137.26,0.72,30.00,2367.5,2457.9,2277.1,2812.8,2085.3,246.48,8.98,1319,24101.99,0.00,0.00,1.75,0.000,0.000,0.068,2367.59,2458.19,2277.00,2813.44,3136.19,0,0,0,30.00,30.00,15.71
$GC,24151.85,1030,137.26,0.72,0.00,2366.8,2456.8,2276.9,2812.9,3136.2,241.09,9.37,1321,24154.63,0.00,0.00,1.86,0.000,0.000,0.054,2369.97,2460.00,2279.94,2811.56,2014.62,0,0,0,30.00,30.00,15.75
$GC,24451.92,2,137.26,0.72,0.00,2366.5,2456.4,2276.6,2813.1,2014.0,212.89,9.20,1336,24453.27,0.00,0.00,0.00,0.000,0.000,0.000,2368.44,2457.81,2279.06,2810.94,2013.62,0,0,0,30.00,30.00,30.00
$GC,24752.86,292,141.98,0.73,30.00,2366.5,2456.3,2276.7,2812.6,2013.7,187.46,7.82,1351,24757.03,0.00,0.00,1.89,0.000,0.000,0.067,2370.34,2461.06,2279.62,2811.38,3137.19,0,0,0,30.00,30.00,15.72
$GC,24786.95,1062,147.24,0.74,0.00,2366.1,2455.2,2276.9,2812.5,3137.5,184.68,7.79,1352,24803.69,13.45,0.00,1.85,0.975,0.000,0.053,2336.19,2428.31,2244.06,2813.06,2014.69,0,0,0,11.69,30.00,15.77
$GC,25107.97,34,158.59,0.75,0.00,2328.1,2420.6,2235.6,2813.1,2015.1,160.39,7.41,1369,25127.15,16.49,0.00,0.00,0.965,0.000,0.000,2289.97,2385.94,2194.00,2813.19,2014.44,0,0,0,11.72,30.00,30.00
$GC,25427.94,295,178.35,0.77,30.00,2281.6,2378.3,2184.9,2812.8,2014.5,137.89,6.88,1385,25463.18,29.97,0.17,1.89,0.952,0.109,0.068,2209.19,2306.94,2111.44,2860.88,3138.94,0,0,0,11.79,15.61,15.51
$GC,25522.05,1030,178.35,0.77,0.00,2200.5,2298.4,2102.7,2861.9,3138.7,129.51,8.29,1389,25524.83,0.00,0.00,1.88,0.000,0.000,0.055,2202.09,2298.81,2105.38,2861.00,2014.81,0,0,0,30.00,30.00,15.65
$GC,25822.15,262,178.35,0.77,30.00,2198.2,2297.1,2099.2,2862.2,2014.9,101.82,8.43,1434,25824.94,0.00,0.00,1.90,0.000,0.000,0.066,2196.97,2295.94,2098.00,2862.81,3141.38,0,0,0,30.00,30.00,15.64
$GC,25858.14,1030,178.35,0.77,0.00,2198.0,2296.8,2099.2,2862.8,3141.2,98.62,9.03,1441,25862.34,0.00,0.00,1.87,0.000,0.000,0.054,2199.78,2298.44,2101.12,2862.25,2014.44,0,0,0,30.00,30.00,15.67
$GC,26042.22,518,178.35,0.77,-30.00,2197.9,2297.2,2098.6,2862.4,2014.2,80.65,10.11,1478,26044.98,0.00,0.00,1.78,0.000,0.000,0.080,2195.91,2294.69,2097.12,2863.06,968.12,0,0,0,30.00,30.00,15.59
$GC,26078.20,1030,178.35,0.77,0.00,2197.5,2296.3,2098.8,2862.2,967.9,77.27,9.58,1485,26083.39,0.00,0.00,1.80,0.000,0.000,0.047,2197.56,2296.75,2098.38,2862.62,2087.81,0,0,0,30.00,30.00,15.67
$GC,26264.87,262,178.35,0.77,30.00,2197.0,2295.8,2098.2,2862.4,2090.1,58.57,11.22,1522,26270.22,0.00,0.00,1.77,0.000,0.000,0.067,2198.03,2296.56,2099.50,2862.50,3134.75,0,0,0,30.00,30.00,15.42
$GC,26289.87,1030,178.35,0.77,0.00,2196.5,2294.8,2098.3,2862.3,3134.6,55.57,11.69,1527,26295.25,0.00,0.00,1.88,0.000,0.000,0.054,2197.97,2295.88,2100.06,2862.12,2019.56,0,0,0,30.00,30.00,15.45
$GC,26474.97,518,178.35,0.77,-30.00,2196.4,2294.6,2098.2,2862.6,2019.4,36.02,10.22,1564,26480.33,0.00,0.00,1.81,0.000,0.000,0.081,2198.09,2296.44,2099.75,2861.62,965.38,0,0,0,30.00,30.00,15.38
$GC,26514.97,1030,178.35,0.77,0.00,2196.1,2294.2,2098.0,2862.6,965.3,31.72,10.36,1572,26520.36,0.00,0.00,1.84,0.000,0.000,0.048,2196.47,2295.25,2097.69,2863.12,2085.06,0,0,0,30.00,30.00,14.67
$GC,26703.05,262,178.35,0.77,30.00,2196.2,2294.3,2098.1,2862.8,2088.1,12.46,9.87,1609,26708.39,0.00,0.00,1.78,0.000,0.000,0.067,2196.19,2294.38,2098.00,2863.06,3136.19,0,0,0,30.00,30.00,15.40
$GC,26733.04,1030,178.35,0.77,0.00,2195.9,2293.8,2098.1,2862.2,3135.6,9.18,10.85,1615,26738.42,0.00,0.00,1.88,0.000,0.000,0.054,2198.25,2295.88,2100.62,2861.75,2014.81,0,0,0,30.00,30.00,15.44
$STATE,26787,end climb,SURFACE_DEPTH_REACHED
$STATE,26788,begin surface coast
$FINISH,-0.0,1.027044
$STATE,26813,end surface coast,CONTROL_FINISHED_OK
$STATE,26813,begin surface
$SM_CCo,26853.70,21.83,0.130,0,2080.2,2143.1,2017.2,210.91
$SM_GC,1.09,21.83,12.66,0.23,0.130,0.070,0.077,2080.2,2143.1,2017.2,145.1,2172.9,0,0,0,15.35,15.49,15.66
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,-5359.03,0.00,130522,223215
$TCM_TEMP,5.30
$XPDR_PINGS,15
$ALTIM_TOP_PING,30.0,17.6
$HUMID,57.15
$TEMP,1.50
$INTERNAL_PRESSURE,8.59964
$24V_AH,14.65,118.794
$10V_AH,14.99,0.000
$FG_AHR_24Vo,54.238
$FG_AHR_10Vo,22.411
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,453.005,29.700,136.450,252.630,4.000,38.255,5455.650,21728.490,4398.275,0.000,1.000,0.000
$DEVICE_MAMPS,1594.160,393.024,194.256,229.900,420.000,12.720,8.350,2.190,15.750,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,3345.232,1156.502,2932.794,1131.751,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.620,100.000,43.580,6.610,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1168796,29,14464,75
$DATA_FILE_SIZE,123430,1631
$CAP_FILE_SIZE,364871,0
$SDSIZE,3931136,3834560
$SDFILEDIR,1239,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029, 80.9,1
$GPS,140522,132749,-5402.348,-2.593,36,0.8,54,-20.4