version: 66.06
glider: 146
mission: 8
dive: 27
start: 1 21 113 2 27 19
data:
$ID,146
$MISSION,8
$DIVE,27
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,200
$D_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,300
$T_MISSION,500
$T_ABORT,1440
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-307859.34
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,021806,1928.302,-8115.235,26,1.0,26,-3.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.0
$GPS2,022625,1928.235,-8115.165,12,1.0,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP2
$TGT_LATLONG,1924.000,-8109.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.201,-0.164
$KALMAN_X,-10623.0,65.2,93.4,7344.3,1714.7
$KALMAN_Y,5621.1,435.7,324.3,5762.1,-1257.6
$MHEAD_RNG_PITCHd_Wd,133.1,12627,-17.5,-10.000
$D_GRID,900
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-63.53,0.000,2,0.000,0.000,468,2163,3411,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-4.8,8,116,13.48,2.47,-6.72,0.000,4,0.177,0.054,2868,643,3787,0,0,0,0,0,0
$GC,154,-0.74,-146.0,26.5,-31.2,16,164,0.52,2.53,0.00,0.000,6,0.111,0.019,2979,2242,3787,0,0,0,0,0,0
$GC,429,-0.46,-146.0,89.5,-21.1,42,434,0.30,2.62,0.00,0.000,4,0.100,0.041,3046,652,3788,0,0,0,0,0,0
$GC,476,-0.29,-146.0,98.3,-17.4,45,481,0.17,2.45,0.00,0.000,6,0.107,0.016,3083,2242,3788,0,0,0,0,0,0
$GC,744,-0.29,-146.0,129.1,-9.8,69,748,0.00,2.62,0.00,0.000,4,0.000,0.042,3083,645,3789,0,0,0,0,0,0
$GC,765,-0.29,-146.0,132.1,-10.0,70,774,0.00,2.45,0.00,0.000,6,0.000,0.021,3083,2216,3788,0,0,0,0,0,0
$GC,1030,-0.37,-146.0,154.7,-8.5,95,1035,0.00,2.58,0.00,0.000,4,0.000,0.044,3083,652,3790,0,0,0,0,0,0
$GC,1063,-0.44,-146.0,157.3,-8.1,97,1068,0.12,2.45,0.00,0.000,6,0.070,0.018,3033,2240,3790,0,0,0,0,0,0
$GC,1330,-0.44,-146.0,181.7,-8.9,121,1334,0.00,2.47,0.00,0.000,4,0.000,0.041,3033,3793,3790,0,0,0,0,0,0
$GC,1362,-0.44,-146.0,185.3,-9.4,123,1371,0.00,2.47,0.00,0.000,6,0.000,0.027,3033,2222,3790,0,0,0,0,0,0
$GC,1649,-0.44,-146.0,209.7,-7.9,142,1653,0.00,2.58,0.00,0.000,4,0.000,0.052,3033,660,3790,0,0,0,0,0,0
$GC,1691,-0.48,-146.0,213.1,-9.0,143,1695,0.00,2.42,0.00,0.000,6,0.000,0.028,3033,2235,3791,0,0,0,0,0,0
$GC,1974,-0.48,-146.0,237.4,-8.6,150,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2235,3790,0,0,0,0,0,0
$GC,2217,-0.48,-146.0,256.6,-7.8,156,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2235,3790,0,0,0,0,0,0
$GC,2463,-0.52,-146.0,275.3,-7.8,162,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2235,3790,0,0,0,0,0,0
$GC,2705,-0.57,-146.0,294.8,-8.0,168,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2235,3789,0,0,0,0,0,0
$GC,2949,-0.61,-146.0,313.7,-7.6,174,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2235,3788,0,0,0,0,0,0
$GC,3193,-0.66,-146.0,331.5,-7.3,180,3194,0.12,0.00,0.00,0.000,6,0.069,0.000,2983,2235,3788,0,0,0,0,0,0
$GC,3438,-0.61,-146.0,354.3,-9.5,186,3440,0.15,0.00,0.00,0.000,6,0.100,0.000,3017,2235,3788,0,0,0,0,0,0
$GC,3680,-0.61,-146.0,374.6,-8.2,192,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2235,3786,0,0,0,0,0,0
$GC,3923,-0.61,-146.0,394.4,-8.0,198,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2235,3785,0,0,0,0,0,0
$GC,4169,-0.61,-146.0,413.5,-8.0,204,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2235,3784,0,0,0,0,0,0
$GC,4411,-0.61,-146.0,432.3,-7.8,210,4415,0.00,2.62,0.00,0.000,4,0.000,0.061,3016,3793,3783,0,0,0,0,0,0
$GC,4426,-0.61,-146.0,433.6,-8.0,210,4431,0.00,2.53,0.00,0.000,6,0.000,0.036,3016,2237,3783,0,0,0,0,0,0
$GC,4689,-0.61,-146.0,453.1,-7.3,217,4694,0.00,2.90,0.00,0.000,4,0.000,0.097,3017,643,3782,0,0,0,0,0,0
$GC,4729,-0.65,-146.0,456.0,-7.6,218,4733,0.00,2.55,0.00,0.000,6,0.000,0.044,3016,2198,3781,0,0,0,0,0,0
$GC,5012,-0.65,-146.0,477.5,-7.9,225,5017,0.00,2.78,0.00,0.000,4,0.000,0.068,3016,3811,3780,0,0,0,0,0,0
$GC,5046,-0.65,-146.0,480.4,-9.0,225,5052,0.00,2.65,0.00,0.000,6,0.000,0.046,3017,2222,3780,0,0,0,0,0,0
$GC,5296,-0.65,-146.0,501.9,-8.4,232,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2222,3779,0,0,0,0,0,0
$GC,5540,-0.65,-146.0,520.4,-7.5,238,5545,0.00,2.75,0.00,0.000,4,0.000,0.068,3017,3810,3777,0,0,0,0,0,0
$GC,5559,-0.65,-146.0,521.8,-8.0,238,5563,0.00,2.67,0.00,0.000,6,0.000,0.057,3016,2227,3777,0,0,0,0,0,0
$GC,5820,-0.69,-146.0,543.3,-8.1,245,5824,0.00,2.75,0.00,0.000,4,0.000,0.071,3017,3809,3776,0,0,0,0,0,0
$GC,5836,-0.69,-146.0,544.8,-7.9,245,5840,0.00,2.65,0.00,0.000,6,0.000,0.059,3017,2231,3776,0,0,0,0,0,0
$GC,6099,-0.73,-146.0,564.4,-7.5,252,6104,0.12,3.05,0.00,0.000,4,0.074,0.123,2972,644,3775,0,0,0,0,0,0
$GC,6115,-0.73,-146.0,566.0,-7.5,252,6120,0.00,2.67,0.00,0.000,6,0.000,0.055,2972,2230,3775,0,0,0,0,0,0
$GC,6377,-0.68,-146.0,590.5,-9.5,259,6379,0.12,0.00,0.00,0.000,6,0.111,0.000,2999,2230,3774,0,0,0,0,0,0
$GC,6622,-0.68,-146.0,610.9,-8.3,265,6627,0.00,2.95,0.00,0.000,4,0.000,0.100,2999,644,3772,0,0,0,0,0,0
$GC,6638,-0.68,-146.0,612.6,-8.6,265,6643,0.00,2.72,0.00,0.000,6,0.000,0.064,2999,2229,3772,0,0,0,0,0,0
$GC,6899,-0.68,-146.0,634.2,-8.2,272,6903,0.00,3.03,0.00,0.000,4,0.000,0.120,2999,3816,3770,0,0,0,0,0,0
$GC,6916,-0.68,-146.0,635.6,-8.2,272,6921,0.00,2.80,0.00,0.000,6,0.000,0.081,2999,2231,3770,0,0,0,0,0,0
$GC,7177,-0.68,-146.0,657.0,-8.0,279,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2231,3769,0,0,0,0,0,0
$GC,7421,-0.68,-146.0,677.0,-8.3,285,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2231,3768,0,0,0,0,0,0
$GC,7664,-0.68,-146.0,696.7,-8.0,291,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2231,3767,0,0,0,0,0,0
$GC,7910,-0.68,-146.0,715.6,-7.8,297,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2231,3766,0,0,0,0,0,0
$GC,8152,-0.68,-146.0,736.1,-8.3,303,8157,0.00,3.22,0.00,0.000,4,0.000,0.150,2999,3818,3764,0,0,0,0,0,0
$GC,8173,-0.68,-146.0,738.2,-9.2,303,8178,0.00,2.83,0.00,0.000,6,0.000,0.081,2999,2224,3764,0,0,0,0,0,0
$GC,8431,-0.68,-146.0,758.6,-7.9,310,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2224,3762,0,0,0,0,0,0
$GC,8672,-0.68,-146.0,778.3,-8.2,316,8677,0.00,2.90,0.00,0.000,4,0.000,0.096,2999,3826,3762,0,0,0,0,0,0
$GC,8693,-0.68,-146.0,780.3,-9.0,316,8698,0.00,2.78,0.00,0.000,6,0.000,0.067,2999,2229,3762,0,0,0,0,0,0
$GC,8948,-0.68,-146.0,801.7,-8.4,323,8953,0.00,2.85,0.00,0.000,4,0.000,0.087,2999,3824,3761,0,0,0,0,0,0
$GC,8966,-0.68,-146.0,803.1,-8.4,323,8971,0.00,2.80,0.00,0.000,6,0.000,0.067,2999,2223,3761,0,0,0,0,0,0
$GC,9227,-0.68,-146.0,823.4,-7.5,330,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2223,3760,0,0,0,0,0,0
$GC,9470,-0.68,-146.0,841.4,-7.4,336,9475,0.00,2.85,0.00,0.000,4,0.000,0.087,2999,3825,3759,0,0,0,0,0,0
$GC,9490,-0.68,-146.0,842.6,-7.6,336,9494,0.00,2.78,0.00,0.000,6,0.000,0.067,2999,2231,3759,0,0,0,0,0,0
$GC,9750,-0.68,-146.0,863.7,-7.9,343,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2231,3758,0,0,0,0,0,0
$GC,9994,-0.68,-146.0,881.7,-7.4,349,9999,0.00,2.83,0.00,0.000,4,0.000,0.083,2999,3826,3756,0,0,0,0,0,0
$GC,10030,-0.68,-146.0,884.4,-8.5,349,10036,0.00,2.78,0.00,0.000,6,0.000,0.067,2999,2238,3756,0,0,0,0,0,0
$STATE,10237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10237,begin apogee
$GC,10243,-0.31,0.0,901.4,8.0,355,10364,0.38,0.00,118.12,1.235,6,0.091,0.000,3082,2378,3190,0,0,0,0,0,0
$STATE,10365,end apogee,CONTROL_FINISHED_OK
$STATE,10365,begin climb
$GC,10367,1.27,146.0,907.1,0.0,358,10499,1.52,0.00,127.12,1.204,6,0.071,0.000,3422,2377,2593,0,0,0,0,0,0
$GC,10736,1.57,236.3,891.0,5.8,367,10826,0.25,3.20,80.90,1.180,4,0.060,0.117,3491,770,2225,0,0,0,0,0,0
$GC,10856,1.62,236.3,880.1,11.2,369,10862,0.00,2.75,0.00,0.000,6,0.000,0.058,3491,2346,2222,0,0,0,0,0,0
$GC,11106,1.71,241.3,855.1,9.8,376,11115,0.12,0.00,4.65,0.779,6,0.081,0.000,3524,2346,2206,0,0,0,0,0,0
$GC,11395,1.71,241.3,823.7,11.1,383,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2346,2204,0,0,0,0,0,0
$GC,11640,1.71,241.3,796.6,11.0,389,11645,0.00,2.80,0.00,0.000,4,0.000,0.073,3524,3941,2204,0,0,0,0,0,0
$GC,11661,1.71,241.3,793.8,11.5,389,11666,0.00,2.70,0.00,0.000,6,0.000,0.046,3524,2345,2203,0,0,0,0,0,0
$GC,11916,1.71,241.3,765.1,11.3,396,11918,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2345,2202,0,0,0,0,0,0
$GC,12162,1.71,241.3,738.7,10.7,402,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2345,2201,0,0,0,0,0,0
$GC,12404,1.71,241.3,713.1,10.6,408,12408,0.00,2.75,0.00,0.000,4,0.000,0.061,3525,3943,2201,0,0,0,0,0,0
$GC,12424,1.71,241.3,710.7,11.2,408,12429,0.00,2.67,0.00,0.000,6,0.000,0.045,3524,2365,2200,0,0,0,0,0,0
$GC,12679,1.71,241.3,683.6,10.5,415,12684,0.00,3.05,0.00,0.000,4,0.000,0.117,3524,771,2199,0,0,0,0,0,0
$GC,12714,1.71,241.3,679.9,11.1,415,12720,0.00,2.67,0.00,0.000,6,0.000,0.048,3524,2368,2199,0,0,0,0,0,0
$GC,12963,1.71,241.3,653.7,10.4,422,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2369,2199,0,0,0,0,0,0
$GC,13208,1.75,241.3,626.6,11.3,428,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2369,2198,0,0,0,0,0,0
$GC,13451,1.79,241.3,599.2,11.2,434,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2371,2199,0,0,0,0,0,0
$GC,13697,1.82,241.3,574.0,10.1,440,13699,0.10,0.00,0.00,0.000,6,0.094,0.000,3552,2371,2198,0,0,0,0,0,0
$GC,13938,1.82,241.3,545.9,11.7,446,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2371,2198,0,0,0,0,0,0
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$GC,14463,1.82,241.3,484.0,11.7,458,14468,0.00,2.67,0.00,0.000,4,0.000,0.050,3552,3938,2198,0,0,0,0,0,0
$GC,14484,1.82,241.3,481.3,12.1,458,14488,0.00,2.58,0.00,0.000,6,0.000,0.035,3552,2364,2197,0,0,0,0,0,0
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$STATE,18760,end climb,SURFACE_DEPTH_REACHED
$STATE,18761,begin surface coast
$FINISH,0.8,1.013074
$STATE,18803,end surface coast,CONTROL_FINISHED_OK
$STATE,18803,begin surface
$SM_CCo,18888,0.00,0.000,0,0,1916,312.27
$SM_GC,1.60,12.77,0.00,0.00,0.025,0.000,0.000,471,2209,1916,-12.20,-0.59,312.27
$IRIDIUM_FIX,1906.95,-8326.48,160402,212120
$TT8_MAMPS,0.026078
$HUMID,55.98
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.80
$XPDR_PINGS,46
$24V_AH,23.2,4.558
$10V_AH,10.4,3.555
$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,30.575,177.625,394.475,0.000,0.000,27.210,36.514,274.741,11.500,0.000,13.678,1435.356,14576.159,516.948,2069.939,779.687,33.362,1415.178,0.000,2074.170,0.000,0.536,0.000
$DEVICE_MAMPS,177.177,149.565,1234.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.662,314.340,407.003,514.691,980.512,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,54341,701
$CAP_FILE_SIZE,156508,0
$CFSIZE,260165632,126779392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210113,074324,1927.071,-8111.218,39,1.2,39,-3.8