version: 66.07
glider: 511
mission: 5
dive: 170
start: 12 18 110 11 7 43
data:
$ID,511
$MISSION,5
$DIVE,170
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$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,471
$T_MISSION,725
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,681.43231
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-44986.016
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3277
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,169
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,181210,103800,1940.950,12708.040,38,1.1,38,-2.4
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-73.4
$GPS2,181210,110649,1941.219,12707.478,11,2.2,30,-2.4
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,-0.205
$KALMAN_X,-212202.5,74.6,480.5,162284.2,-10835.2
$KALMAN_Y,506899.0,-727.4,-1588.2,-606830.8,7080.6
$MHEAD_RNG_PITCHd_Wd,156.1,233025,-12.1,-7.006
$D_GRID,990
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.66,-146.0,0.0,0.0,0,83,0.00,0.00,-56.05,0.000,2,0.000,0.000,33,2159,2727,0,0,0,0,0,0
$GC,86,-0.66,-146.0,3.2,-3.8,11,127,10.27,2.25,-23.42,0.000,4,0.258,0.066,2384,737,3875,0,0,0,0,0,0
$GC,289,-0.66,-146.0,52.0,-20.4,44,294,0.00,2.22,0.00,0.000,6,0.000,0.054,2375,2145,3875,0,0,0,0,0,0
$GC,549,-0.66,-146.0,124.6,-25.9,68,553,0.00,2.20,0.00,0.000,4,0.000,0.051,2374,739,3873,0,0,1,0,0,0
$GC,585,-0.66,-146.0,133.8,-22.8,71,591,0.00,2.20,0.00,0.000,6,0.000,0.051,2366,2148,3875,0,0,0,0,0,0
$GC,846,-0.66,-146.0,186.2,-19.7,96,850,0.00,2.20,0.00,0.000,4,0.000,0.059,2355,3559,3876,0,0,0,0,0,0
$GC,882,-0.66,-146.0,193.5,-19.8,99,888,0.12,2.17,0.00,0.000,6,0.154,0.041,2388,2142,3876,0,0,0,0,0,0
$GC,1136,-0.66,-146.0,235.3,-16.1,114,1140,0.00,2.15,0.00,0.000,4,0.000,0.048,2389,733,3876,0,0,0,0,0,0
$GC,1195,-0.66,-146.0,243.9,-14.0,116,1199,0.00,2.20,0.00,0.000,6,0.000,0.051,2385,2150,3878,0,0,1,0,0,0
$GC,1511,-0.66,-146.0,289.6,-14.3,131,1515,0.00,2.22,0.00,0.000,4,0.000,0.062,2385,3553,3875,0,0,0,0,0,0
$GC,1544,-0.66,-146.0,294.2,-12.7,132,1548,0.00,2.12,0.00,0.000,6,0.000,0.040,2384,2144,3876,0,0,0,0,0,0
$GC,1855,-0.66,-146.0,336.0,-13.8,141,1858,0.00,2.15,0.00,0.000,4,0.000,0.048,2384,736,3875,0,0,0,0,0,0
$GC,1881,-0.66,-146.0,339.6,-12.9,141,1885,0.00,2.20,0.00,0.000,6,0.000,0.049,2384,2145,3874,0,0,0,0,0,0
$GC,2220,-0.66,-146.0,382.1,-12.6,150,2224,0.00,2.25,0.00,0.000,4,0.000,0.064,2384,3558,3872,0,0,0,0,0,0
$GC,2330,-0.66,-146.0,393.0,-9.8,152,2334,0.00,2.15,0.00,0.000,6,0.000,0.041,2384,2142,3872,0,0,0,0,0,0
$GC,2678,-0.66,-146.0,427.9,-9.8,161,2682,0.00,2.15,0.00,0.000,4,0.000,0.049,2385,738,3870,0,0,0,0,0,0
$GC,2766,-0.66,-146.0,435.4,-8.1,163,2770,0.00,2.20,0.00,0.000,6,0.000,0.051,2385,2152,3870,0,0,0,0,0,0
$GC,3092,-0.66,-146.0,464.0,-8.8,171,3096,0.00,2.20,0.00,0.000,4,0.000,0.063,2385,3554,3868,0,0,0,0,0,0
$GC,3147,-0.66,-146.0,468.8,-8.3,172,3151,0.00,2.15,0.00,0.000,6,0.000,0.041,2385,2146,3868,0,0,0,0,0,0
$GC,3460,-0.66,-146.0,494.9,-8.0,180,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2140,3866,0,0,0,0,0,0
$GC,3784,-0.66,-146.0,521.9,-8.5,188,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2141,3864,0,0,0,0,0,0
$GC,4109,-0.66,-146.0,555.8,-10.9,196,4113,0.00,2.30,0.00,0.000,4,0.000,0.070,2385,3560,3861,0,0,0,0,0,0
$GC,4173,-0.66,-146.0,562.0,-9.1,197,4177,0.00,2.17,0.00,0.000,6,0.000,0.043,2385,2148,3861,0,0,0,0,0,0
$GC,4485,-0.66,-146.0,588.9,-8.5,205,4489,0.00,2.20,0.00,0.000,4,0.000,0.051,2384,731,3858,0,0,0,0,0,0
$GC,4517,-0.66,-146.0,591.7,-8.6,205,4521,0.00,2.20,0.00,0.000,6,0.000,0.049,2385,2151,3858,0,0,0,0,0,0
$GC,4847,-0.66,-146.0,618.8,-8.3,213,4851,0.00,2.22,0.00,0.000,4,0.000,0.067,2384,3549,3855,0,0,0,0,0,0
$GC,4874,-0.66,-146.0,621.1,-8.4,213,4878,0.00,2.17,0.00,0.000,6,0.000,0.047,2385,2147,3855,0,0,0,0,0,0
$GC,5209,-0.66,-146.0,644.9,-6.9,222,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2144,3852,0,0,0,0,0,0
$GC,5533,-0.66,-146.0,669.3,-7.9,230,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2142,3850,0,0,0,0,0,0
$GC,5858,-0.66,-146.0,697.0,-8.5,238,5862,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,737,3847,0,0,0,0,0,0
$GC,5880,-0.66,-146.0,699.0,-9.4,238,5884,0.00,2.20,0.00,0.000,6,0.000,0.052,2385,2140,3846,0,0,0,0,0,0
$GC,6224,-0.66,-146.0,723.4,-6.5,247,6228,0.00,2.30,0.00,0.000,4,0.000,0.071,2385,3560,3844,0,0,0,0,0,0
$GC,6251,-0.66,-146.0,725.1,-6.1,247,6256,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,2135,3843,0,0,0,0,0,0
$GC,6586,-0.66,-146.0,745.0,-5.8,256,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2135,3842,0,0,0,0,0,0
$GC,6911,-0.66,-146.0,763.0,-5.6,264,6915,0.00,2.35,0.00,0.000,4,0.000,0.074,2385,3563,3843,0,0,0,0,0,0
$GC,6933,-0.66,-146.0,764.3,-5.8,264,6938,0.00,2.20,0.00,0.000,6,0.000,0.047,2385,2138,3842,0,0,1,0,0,0
$GC,7278,-0.66,-146.0,784.7,-6.3,273,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2135,3837,0,0,0,0,0,0
$GC,7603,-0.66,-146.0,807.1,-7.0,281,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2135,3834,0,0,0,0,0,0
$GC,7927,-0.66,-146.0,830.8,-7.3,289,7931,0.00,2.33,0.00,0.000,4,0.000,0.071,2384,3559,3833,0,0,0,0,0,0
$GC,7950,-0.66,-146.0,832.4,-6.6,289,7954,0.00,2.20,0.00,0.000,6,0.000,0.048,2385,2140,3832,0,0,0,0,0,0
$GC,8290,-0.66,-146.0,854.7,-6.4,298,8294,0.00,2.20,0.00,0.000,4,0.000,0.056,2384,740,3831,0,0,0,0,0,0
$GC,8316,-0.66,-146.0,856.4,-7.1,298,8321,0.00,2.25,0.00,0.000,6,0.000,0.056,2385,2153,3831,0,0,0,0,0,0
$GC,8651,-0.66,-146.0,876.3,-6.0,307,8655,0.00,2.30,0.00,0.000,4,0.000,0.072,2385,3556,3829,0,0,0,0,0,0
$GC,8694,-0.66,-146.0,878.9,-5.0,308,8698,0.00,2.22,0.00,0.000,6,0.000,0.048,2385,2139,3829,0,0,0,0,0,0
$GC,9020,-0.66,-146.0,906.7,-9.8,316,9024,0.00,2.22,0.00,0.000,4,0.000,0.059,2385,744,3828,0,0,0,0,0,0
$GC,9190,-0.66,-146.0,924.7,-10.3,319,9194,0.00,2.28,0.00,0.000,6,0.000,0.058,2385,2149,3830,0,0,0,0,0,0
$GC,9520,-0.66,-146.0,960.6,-11.1,327,9524,0.00,2.33,0.00,0.000,4,0.000,0.074,2385,3562,3826,0,0,0,0,0,0
$GC,9779,-0.66,-146.0,989.0,-10.8,332,9783,0.00,2.22,0.00,0.000,6,0.000,0.052,2387,2148,3825,0,0,0,0,0,0
$STATE,9827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9828,begin apogee
$GC,9832,-0.28,0.0,994.0,10.1,334,9950,0.35,0.00,112.55,1.358,6,0.065,0.000,2528,2040,3276,0,0,0,0,0,0
$STATE,9952,end apogee,CONTROL_FINISHED_OK
$STATE,9953,begin climb
$GC,9955,0.66,146.0,1003.0,0.0,337,10089,0.80,2.50,125.75,1.324,4,0.065,0.067,2822,3461,2680,0,0,1,0,0,0
$GC,10353,0.66,146.0,994.7,8.7,346,10357,0.00,2.28,0.00,0.000,6,0.000,0.051,2832,2053,2671,0,0,0,0,0,0
$GC,10680,0.66,146.0,968.9,7.6,354,10683,0.00,2.30,0.00,0.000,4,0.000,0.067,2832,3457,2666,0,0,0,0,0,0
$GC,10784,0.66,146.0,961.1,7.7,356,10788,0.00,2.22,0.00,0.000,6,0.000,0.051,2842,2044,2670,0,0,0,0,0,0
$GC,11097,0.72,192.9,943.0,5.5,364,11138,0.00,0.00,39.47,1.293,6,0.000,0.000,2842,2040,2490,0,0,0,0,0,0
$GC,11461,0.72,192.9,907.1,10.6,373,11466,0.00,2.35,0.00,0.000,4,0.000,0.068,2843,3458,2482,0,0,0,0,0,0
$GC,11511,0.72,192.9,901.1,11.4,374,11516,0.00,2.25,0.00,0.000,6,0.000,0.051,2853,2047,2482,0,0,0,0,0,0
$GC,11829,0.72,192.9,868.0,10.3,382,11833,0.00,2.33,0.00,0.000,4,0.000,0.068,2853,3456,2480,0,0,0,0,0,0
$GC,11855,0.72,192.9,864.9,11.3,382,11860,0.00,2.22,0.00,0.000,6,0.000,0.052,2863,2037,2483,0,0,1,0,0,0
$GC,12195,0.72,192.9,827.9,11.0,391,12199,0.00,2.33,0.00,0.000,4,0.000,0.070,2863,3455,2478,0,0,0,0,0,0
$GC,12226,0.72,192.9,824.3,11.6,391,12231,0.17,2.22,0.00,0.000,6,0.243,0.052,2836,2046,2478,0,0,0,0,0,0
$GC,12556,0.72,192.9,792.0,9.9,399,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2041,2475,0,0,0,0,0,0
$GC,12881,0.72,192.9,759.3,9.7,407,12885,0.00,2.30,0.00,0.000,4,0.000,0.068,2826,3455,2476,0,0,0,0,0,0
$GC,13042,0.72,192.9,743.6,9.4,410,13046,0.00,2.22,0.00,0.000,6,0.000,0.052,2835,2044,2476,0,0,0,0,0,0
$GC,13386,0.72,192.9,714.8,8.3,419,13390,0.00,2.28,0.00,0.000,4,0.000,0.063,2847,632,2476,0,0,0,0,0,0
$GC,13454,0.72,192.9,709.4,8.2,420,13458,0.00,2.28,0.00,0.000,6,0.000,0.055,2844,2046,2475,0,0,0,0,0,0
$GC,13798,0.72,192.9,681.4,8.3,429,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2052,2478,0,0,0,0,0,0
$GC,14123,0.72,192.9,652.0,9.7,437,14127,0.00,2.33,0.00,0.000,4,0.000,0.071,2845,3461,2472,0,0,0,0,0,0
$GC,14193,0.72,192.9,645.0,9.5,438,14197,0.00,2.25,0.00,0.000,6,0.000,0.053,2853,2034,2475,0,0,0,0,0,0
$GC,14532,0.72,192.9,612.7,9.3,447,14536,0.00,2.25,0.00,0.000,4,0.000,0.062,2864,634,2474,0,0,0,0,0,0
$GC,14657,0.72,192.9,601.5,8.5,449,14662,0.12,2.28,0.00,0.000,6,0.234,0.057,2839,2055,2476,0,0,0,0,0,0
$GC,14987,0.72,192.9,577.0,7.5,457,14991,0.00,2.30,0.00,0.000,4,0.000,0.062,2848,635,2473,0,0,0,0,0,0
$GC,15254,0.72,192.9,557.3,7.0,462,15259,0.00,2.28,0.00,0.000,6,0.000,0.055,2844,2048,2473,0,0,0,0,0,0
$GC,15585,0.73,202.8,533.8,6.7,470,15597,0.00,2.30,6.62,0.884,4,0.000,0.062,2853,631,2451,0,0,1,0,0,0
$GC,15736,0.76,224.3,523.8,6.3,473,15761,0.00,2.25,20.05,1.009,6,0.000,0.055,2853,2045,2362,0,0,0,0,0,0
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$STATE,21307,end climb,SURFACE_DEPTH_REACHED
$STATE,21307,begin surface coast
$FINISH,0.8,1.022839
$STATE,21325,end surface coast,CONTROL_FINISHED_OK
$STATE,21325,begin surface
$SM_CCo,21342,155.68,0.569,0,0,499,681.68
$SM_GC,1.41,0.00,0.00,155.68,0.000,0.000,0.569,52,2160,499,-7.96,0.31,681.68
$IRIDIUM_FIX,1932.09,12623.35,120612,050549
$TT8_MAMPS,0.056758
$HUMID,1078675474
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$TCM_TEMP,25.00
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8387133440
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55988781056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,37.126
$10V_AH,10.2,22.718
$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,19.875,189.050,444.425,155.675,0.000,148.586,203.079,921.707,0.250,0.000,33.238,1697.394,16676.457,685.820,3800.302,365.986,33.370,2065.350,0.000,2506.177,0.000,0.544,0.000
$DEVICE_MAMPS,258.479,88.972,1357.590,569.114,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,522.463,0.000,0.000,0.000,0.000,0.000,0.000,21289.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.781,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,26749,776
$CAP_FILE_SIZE,213087,0
$CFSIZE,260165632,244166656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,181210,170728,1939.529,12706.707,35,1.1,35,-2.4