version: 66.10
glider: 169
mission: 6
dive: 69
start: 5 1 112 21 46 3
data:
$ID,169
$MISSION,6
$DIVE,69
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$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,360
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,-15365.933
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,010512,213707,2310.181,12244.135,30,1.0,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-68.1
$GPS2,010512,214538,2309.904,12244.323,14,2.0,14,-3.1
$SPEED_LIMITS,0.159,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,49.0,140889,-13.6,-9.167
$D_GRID,5809
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.61,-219.0,0.0,0.0,0,119,0.00,0.00,-99.53,0.000,2,0.000,0.000,116,2551,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.61,-219.0,4.3,-12.0,17,150,7.32,2.40,-9.77,0.000,4,0.226,0.032,2009,1003,3873,0,0,0,0,0,0,25.59,26.08,26.32
$GC,267,-0.54,-219.0,53.5,-27.9,43,274,0.00,2.53,0.00,0.000,6,0.000,0.041,1997,2522,3874,0,0,0,0,0,0,28.83,26.09,28.83
$GC,465,-0.39,-219.0,134.4,-42.7,80,475,0.25,2.35,0.00,0.000,4,0.207,0.024,2077,1038,3875,0,0,0,0,0,0,25.90,26.25,28.83
$GC,636,-0.37,-219.0,171.5,-14.5,111,643,0.00,2.35,0.00,0.000,6,0.000,0.034,2065,2492,3875,0,0,0,0,0,0,28.83,26.28,28.83
$GC,837,-0.29,-219.0,219.7,-25.4,142,846,0.12,2.25,0.00,0.000,4,0.180,0.023,2112,1044,3875,0,0,0,0,0,0,26.15,26.36,28.83
$GC,863,-0.22,-219.0,225.1,-23.4,144,872,0.00,2.30,0.00,0.000,6,0.000,0.033,2101,2479,3875,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1171,-0.17,-219.0,280.8,-18.9,175,1181,0.12,2.25,0.00,0.000,4,0.160,0.025,2151,1036,3875,0,0,0,0,0,0,26.27,26.42,28.83
$GC,1225,-0.17,-219.0,287.8,-11.4,180,1236,0.00,2.28,0.00,0.000,6,0.000,0.032,2147,2465,3875,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1536,-0.19,-219.0,312.7,-7.8,211,1544,0.00,2.08,0.00,0.000,4,0.000,0.042,2138,3825,3875,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1582,-0.21,-219.0,315.9,-7.7,215,1589,0.00,2.08,0.00,0.000,6,0.000,0.020,2137,2389,3875,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1891,-0.21,-219.0,342.7,-8.7,246,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2390,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-0.22,-219.0,363.0,-5.4,277,2210,0.00,2.30,0.00,0.000,4,0.000,0.043,2128,3821,3874,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2255,-0.24,-219.0,366.3,-5.8,282,2263,0.00,2.08,0.00,0.000,6,0.000,0.021,2128,2399,3874,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2565,-0.24,-219.0,393.0,-9.6,313,2569,0.00,2.12,0.00,0.000,4,0.000,0.027,2128,1031,3873,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2597,-0.26,-219.0,396.2,-9.7,316,2608,0.00,2.33,0.00,0.000,6,0.000,0.032,2125,2483,3872,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2907,-0.26,-219.0,426.5,-10.0,347,2916,0.00,2.08,0.00,0.000,4,0.000,0.043,2116,3821,3871,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2932,-0.26,-219.0,428.7,-10.2,349,2939,0.00,2.10,0.00,0.000,6,0.000,0.021,2115,2388,3870,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3240,-0.26,-219.0,459.6,-9.3,380,3251,0.00,2.05,0.00,0.000,4,0.000,0.026,2116,1034,3869,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3266,-0.26,-219.0,461.8,-8.9,382,3274,0.00,2.30,0.00,0.000,6,0.000,0.034,2112,2480,3869,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3575,-0.26,-219.0,488.8,-9.7,413,3584,0.00,2.03,0.00,0.000,4,0.000,0.047,2102,3810,3867,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3629,-0.26,-219.0,494.0,-10.1,418,3637,0.00,2.03,0.00,0.000,6,0.000,0.023,2102,2432,3867,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3939,-0.26,-219.0,530.3,-12.5,449,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2431,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4250,-0.26,-219.0,564.8,-9.0,480,4261,0.00,2.22,0.00,0.000,4,0.000,0.047,2093,3818,3863,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4295,-0.26,-219.0,568.9,-9.0,484,4298,0.00,2.05,0.00,0.000,6,0.000,0.024,2093,2428,3863,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4607,-0.26,-219.0,596.3,-8.4,515,4615,0.00,2.15,0.00,0.000,4,0.000,0.029,2093,1031,3862,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4660,-0.27,-219.0,600.2,-7.4,520,4671,0.00,2.33,0.00,0.000,6,0.000,0.035,2086,2483,3862,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4971,-0.26,-219.0,629.4,-10.4,536,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2483,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.25,-219.0,660.4,-9.6,551,5275,0.10,2.22,0.00,0.000,4,0.161,0.028,2115,1037,3857,0,0,0,0,0,0,26.51,26.56,28.83
$GC,5325,-0.26,-219.0,663.5,-8.8,553,5331,0.00,2.30,0.00,0.000,6,0.000,0.036,2111,2477,3857,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5631,-0.34,-219.0,686.9,-8.6,569,5635,0.00,2.08,0.00,0.000,4,0.000,0.045,2111,3829,3855,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5701,-0.42,-219.0,692.4,-8.7,572,5706,0.17,2.08,0.00,0.000,6,0.109,0.023,2060,2412,3855,0,0,0,0,0,0,26.43,26.60,28.83
$GC,6011,-0.45,-219.0,716.7,-7.3,587,6016,0.00,2.20,0.00,0.000,4,0.000,0.047,2053,3821,3852,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6032,-0.48,-219.0,718.2,-7.2,588,6038,0.00,2.22,0.00,0.000,6,0.000,0.023,2053,2317,3852,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6352,-0.46,-219.0,753.8,-11.9,604,6357,0.00,2.42,0.00,0.000,4,0.000,0.048,2042,3820,3850,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6380,-0.44,-219.0,756.3,-12.1,605,6384,0.00,2.22,0.00,0.000,6,0.000,0.024,2042,2334,3850,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6687,-0.41,-219.0,796.6,-12.5,620,6692,0.00,2.38,0.00,0.000,4,0.000,0.049,2030,3815,3848,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6736,-0.39,-219.0,802.0,-12.9,622,6741,0.15,2.17,0.00,0.000,6,0.135,0.027,2075,2360,3847,0,0,0,0,0,0,26.33,26.58,28.83
$GC,7043,-0.39,-219.0,832.6,-9.8,637,7049,0.00,2.33,0.00,0.000,4,0.000,0.047,2063,3828,3846,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7085,-0.39,-219.0,836.4,-9.7,639,7089,0.00,2.20,0.00,0.000,6,0.000,0.024,2063,2357,3845,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7398,-0.38,-219.0,868.5,-10.1,655,7404,0.00,2.35,0.00,0.000,4,0.000,0.050,2052,3833,3844,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7430,-0.36,-219.0,870.6,-10.2,656,7440,0.10,2.17,0.00,0.000,6,0.141,0.024,2081,2365,3843,0,0,0,0,0,0,26.39,26.57,28.83
$GC,7738,-0.36,-219.0,899.9,-9.2,672,7743,0.00,2.28,0.00,0.000,4,0.000,0.047,2070,3820,3842,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7785,-0.36,-219.0,903.8,-9.4,674,7789,0.00,2.12,0.00,0.000,6,0.000,0.024,2070,2381,3841,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8094,-0.36,-219.0,935.3,-10.0,689,8100,0.00,2.28,0.00,0.000,4,0.000,0.047,2059,3816,3839,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8121,-0.36,-219.0,937.3,-9.9,690,8125,0.00,2.12,0.00,0.000,6,0.000,0.024,2058,2390,3839,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8429,-0.35,-219.0,969.3,-9.5,705,8435,0.00,2.22,0.00,0.000,4,0.000,0.048,2047,3815,3837,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8461,-0.34,-219.0,971.3,-9.4,706,8468,0.15,2.10,0.00,0.000,6,0.125,0.024,2094,2394,3836,0,0,0,0,0,0,26.32,26.57,28.83
$STATE,8747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8747,begin apogee
$GC,8753,-0.20,0.0,991.3,-6.5,721,8969,0.12,0.05,209.68,1.133,4,0.127,0.129,2139,2507,2978,0,0,0,0,0,0,26.46,24.63,23.97
$STATE,8970,end apogee,CONTROL_FINISHED_OK
$STATE,8970,begin climb
$GC,8972,0.61,219.0,1001.4,0.0,732,9217,0.75,2.40,235.85,1.095,4,0.097,0.031,2389,1060,2085,0,0,0,0,0,0,24.76,24.84,23.72
$GC,9266,0.61,219.0,979.2,9.3,747,9271,0.00,2.50,0.00,0.000,6,0.000,0.038,2389,2531,2055,0,0,0,0,0,0,28.83,24.96,28.83
$GC,9586,0.59,219.0,936.7,13.8,763,9591,0.00,2.03,0.00,0.000,4,0.000,0.048,2389,3830,2047,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9739,0.57,219.0,915.6,14.9,770,9747,0.00,1.98,0.00,0.000,6,0.000,0.026,2399,2519,2044,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10049,0.54,219.0,868.5,14.9,786,10052,0.00,2.08,0.00,0.000,4,0.000,0.047,2400,3828,2043,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10079,0.52,219.0,864.6,15.4,787,10084,0.15,1.92,0.00,0.000,6,0.161,0.024,2369,2529,2043,0,0,0,0,0,0,25.91,26.15,28.83
$GC,10387,0.51,219.0,826.0,11.3,802,10392,0.00,2.03,0.00,0.000,4,0.000,0.047,2368,3823,2043,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10414,0.50,219.0,823.6,11.5,803,10417,0.00,1.90,0.00,0.000,6,0.000,0.024,2378,2533,2042,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10723,0.49,219.0,785.9,11.7,818,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2532,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11021,0.48,219.0,750.3,11.9,833,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2532,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11321,0.47,219.0,716.1,11.3,848,11327,0.00,1.98,0.00,0.000,4,0.000,0.047,2378,3812,2041,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11354,0.46,219.0,713.7,11.5,849,11363,0.15,1.88,0.00,0.000,6,0.150,0.026,2345,2539,2040,0,0,0,0,0,0,26.13,26.38,28.83
$GC,11663,0.55,281.2,686.6,7.4,865,11741,0.10,2.47,69.05,0.905,4,0.089,0.036,2423,1077,1819,0,0,0,0,0,0,26.49,25.32,24.63
$GC,11788,0.54,281.2,671.5,13.1,871,11793,0.15,2.53,0.00,0.000,6,0.129,0.038,2377,2559,1805,0,0,0,0,0,0,25.46,25.54,28.83
$GC,12105,0.55,281.2,638.5,10.6,887,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2557,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12402,0.56,281.2,607.6,9.9,902,12407,0.00,2.38,0.00,0.000,4,0.000,0.034,2390,1086,1800,0,0,0,0,0,0,28.83,26.12,28.83
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$GC,14538,0.66,354.9,365.2,11.4,1108,14544,0.00,1.92,0.00,0.000,6,0.000,0.022,2423,2521,1499,0,0,0,0,0,0,28.83,26.03,28.83
$GC,14845,0.66,354.9,329.3,11.5,1139,14853,0.00,2.28,0.00,0.000,4,0.000,0.032,2434,1081,1499,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,17273,end climb,SURFACE_DEPTH_REACHED
$STATE,17274,begin surface coast
$FINISH,0.2,1.022084
$STATE,17286,end surface coast,CONTROL_FINISHED_OK
$STATE,17286,begin surface
$SM_CCo,17363,0.00,0.000,0,0,769,542.11
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$IRIDIUM_FIX,2302.75,12243.55,010512,161600
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.92
$INTERNAL_PRESSURE,8.22653
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.7,13.549
$10V_AH,10.3,7.508
$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,17.225,176.575,763.650,0.000,0.000,29.435,42.319,296.660,0.000,0.000,15.665,3949.865,9510.177,883.358,3087.047,415.018,0.000,2406.068,0.000,2569.341,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,128.520,1132.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1009.117,1983.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,93538,1489
$CAP_FILE_SIZE,190348,0
$CFSIZE,260165632,215388160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.295,223.7,1
$GPS,020512,023636,2310.711,12246.214,36,0.9,41,-3.1