version: 66.02
glider: 16
mission: 6
dive: 382
start: 1 25 108 8 6 31
data:
$ID,16
$MISSION,6
$DIVE,382
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2086253.1
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,075928,6212.418,-321.559,43,3.5,62,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-54.8
$GPS2,080541,6212.429,-321.552,16,4.0,35,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.217,-0.042
$KALMAN_X,7212.4,1304.1,506.9,293655.0,-13136.5
$KALMAN_Y,-19030.6,170.2,-1328.7,83598.0,10636.4
$MHEAD_RNG_PITCHd_Wd,153.1,149386,-11.0,-6.000
$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
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-58.90,0.000,2,0.000,0.000,75,2409,3018
$GC,89,-0.85,-146.6,4.0,-6.1,3,119,12.20,2.62,-9.15,0.000,4,0.173,0.088,2222,3768,3417
$GC,371,-0.85,-146.6,34.4,-9.7,15,377,0.00,2.55,0.00,0.000,6,0.000,0.058,2222,2397,3417
$GC,687,-0.85,-146.6,56.7,-5.4,31,691,0.00,2.65,0.00,0.000,4,0.000,0.079,2222,3766,3417
$GC,760,-0.85,-146.6,62.1,-7.2,34,764,0.00,2.55,0.00,0.000,6,0.000,0.059,2222,2397,3417
$GC,1077,-0.85,-146.6,86.4,-4.9,49,1081,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,979,3418
$GC,1141,-0.85,-146.6,89.8,-6.4,52,1145,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2397,3418
$GC,1469,-0.85,-146.6,113.6,-7.4,68,1473,0.00,2.62,0.00,0.000,4,0.000,0.079,2222,3768,3419
$GC,1519,-0.85,-146.6,120.0,-10.7,70,1523,0.00,2.55,0.00,0.000,6,0.000,0.059,2222,2400,3419
$GC,1836,-0.85,-146.6,148.6,-8.5,85,1841,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,980,3419
$GC,1926,-0.85,-146.6,156.1,-7.6,89,1931,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2400,3419
$GC,2247,-0.85,-146.6,182.0,-9.0,105,2251,0.00,2.62,0.00,0.000,4,0.000,0.082,2222,3768,3419
$GC,2286,-0.85,-146.6,185.9,-9.8,107,2290,0.00,2.58,0.00,0.000,6,0.000,0.061,2222,2394,3419
$GC,2613,-0.85,-146.6,212.6,-7.7,123,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3419
$GC,2921,-0.85,-146.6,236.8,-8.1,138,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3419
$GC,3231,-0.85,-146.6,262.6,-8.0,153,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2393,3420
$GC,3541,-0.85,-146.6,284.6,-7.9,168,3545,0.00,2.67,0.00,0.000,4,0.000,0.078,2222,983,3420
$GC,3590,-0.85,-146.6,288.8,-8.0,170,3594,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2400,3421
$GC,3905,-0.85,-146.6,311.5,-6.4,185,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3421
$GC,4215,-0.85,-146.6,330.7,-6.7,200,4220,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,980,3421
$GC,4259,-0.85,-146.6,333.9,-7.5,202,4264,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2398,3421
$GC,4581,-0.85,-146.6,352.8,-6.0,218,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3421
$GC,4889,-0.85,-146.6,372.4,-6.7,233,4894,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,977,3421
$GC,4967,-0.85,-146.6,377.6,-6.4,236,4973,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2400,3421
$GC,5283,-0.85,-146.6,396.8,-6.2,252,5288,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,982,3421
$GC,5339,-0.85,-146.6,400.2,-6.1,254,5345,0.00,2.70,0.00,0.000,6,0.000,0.070,2222,2407,3421
$GC,5654,-0.85,-146.6,421.1,-7.0,270,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3420
$GC,5964,-0.85,-146.6,443.4,-7.2,285,5969,0.00,2.72,0.00,0.000,4,0.000,0.082,2222,985,3419
$GC,6019,-0.85,-146.6,447.5,-7.3,287,6025,0.00,2.67,0.00,0.000,6,0.000,0.073,2222,2402,3419
$GC,6335,-0.85,-146.6,467.5,-5.9,303,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,6645,-0.85,-146.6,485.8,-6.2,318,6649,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,982,3419
$GC,6711,-0.85,-146.6,490.4,-7.3,321,6715,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2405,3418
$GC,7031,-0.85,-146.6,512.3,-6.8,337,7036,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,982,3417
$GC,7077,-0.85,-146.6,515.5,-7.1,339,7081,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2404,3417
$GC,7397,-0.85,-146.6,537.5,-7.2,355,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3415
$GC,7706,-0.85,-146.6,559.8,-7.5,370,7711,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,980,3414
$GC,7768,-0.85,-146.6,564.4,-8.0,373,7773,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2397,3414
$GC,8094,-0.85,-146.6,588.4,-7.0,389,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3413
$GC,8404,-0.85,-146.6,610.8,-7.0,404,8408,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,982,3412
$GC,8448,-0.85,-146.6,614.0,-7.0,406,8453,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2407,3412
$GC,8768,-0.85,-146.6,634.9,-6.4,422,8773,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,985,3411
$GC,8812,-0.85,-146.6,637.9,-7.0,424,8816,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2400,3411
$GC,9134,-0.85,-146.6,657.7,-6.3,440,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3410
$GC,9442,-0.85,-146.6,676.8,-6.3,455,9447,0.00,2.75,0.00,0.000,4,0.000,0.086,2222,983,3409
$GC,9499,-0.85,-146.6,680.6,-7.0,457,9505,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2403,3409
$GC,9816,-0.85,-146.6,700.8,-6.3,473,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3408
$GC,10127,-0.85,-146.6,719.8,-5.9,488,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3408
$GC,10433,-0.85,-146.6,739.3,-6.6,503,10438,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,985,3407
$GC,10506,-0.85,-146.6,744.4,-7.1,506,10510,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2401,3407
$GC,10822,-0.85,-146.6,765.3,-6.6,521,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3407
$GC,11132,-0.85,-146.6,785.8,-6.3,536,11136,0.00,2.75,0.00,0.000,4,0.000,0.087,2222,983,3406
$GC,11175,-0.85,-146.6,789.0,-7.3,538,11180,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2403,3406
$STATE,11227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11227,begin apogee
$GC,11233,-0.31,0.0,792.6,7.0,541,11360,0.60,0.00,123.68,1.236,6,0.123,0.000,2337,2197,2817
$STATE,11361,end apogee,CONTROL_FINISHED_OK
$STATE,11361,begin climb
$GC,11364,0.85,146.6,797.3,0.0,547,11495,1.23,2.83,123.30,1.201,4,0.090,0.084,2588,785,2219
$GC,11525,0.88,176.7,793.5,5.2,554,11557,0.00,2.72,26.55,1.200,6,0.000,0.066,2588,2200,2096
$GC,11881,0.88,176.7,772.0,6.4,572,11886,0.00,2.83,0.00,0.000,4,0.000,0.095,2588,3619,2094
$GC,11913,0.88,176.7,769.6,7.4,573,11920,0.00,2.75,0.00,0.000,6,0.000,0.077,2588,2204,2094
$GC,12229,0.88,176.7,749.2,6.2,589,12233,0.00,2.80,0.00,0.000,4,0.000,0.089,2588,778,2094
$GC,12256,0.88,176.7,747.4,6.3,590,12261,0.00,2.70,0.00,0.000,6,0.000,0.065,2588,2206,2093
$GC,12572,0.88,176.7,727.4,6.3,605,12573,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2093
$GC,12881,0.88,176.7,708.3,6.4,620,12885,0.00,2.78,0.00,0.000,4,0.000,0.093,2588,3611,2093
$GC,12931,0.88,176.7,704.7,6.9,622,12935,0.00,2.72,0.00,0.000,6,0.000,0.077,2588,2194,2093
$GC,13246,0.88,176.7,684.6,6.7,637,13247,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2093
$GC,13555,0.88,176.7,664.7,6.4,652,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2092
$GC,13865,0.88,176.7,645.1,6.4,667,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,2092
$GC,14174,0.88,176.7,625.9,6.3,682,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2092
$GC,14483,0.88,176.7,606.4,6.1,697,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2092
$GC,14793,0.88,177.2,587.4,6.0,712,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2091
$GC,15102,0.90,199.3,569.9,5.4,727,15123,0.00,0.00,19.30,1.121,6,0.000,0.000,2588,2194,2004
$GC,15431,0.92,214.9,551.4,5.6,743,15451,0.10,0.00,14.50,1.075,6,0.074,0.000,2614,2194,1940
$GC,15761,0.92,214.9,530.3,6.5,759,15762,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2194,1940
$GC,16069,0.92,214.9,510.6,6.3,774,16071,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2194,1939
$GC,16379,0.92,214.9,491.0,6.4,789,16383,0.00,2.75,0.00,0.000,4,0.000,0.089,2614,788,1939
$GC,16406,0.92,214.9,489.1,6.8,790,16411,0.00,2.67,0.00,0.000,6,0.000,0.064,2614,2209,1938
$GC,16721,0.92,214.9,468.8,6.7,805,16722,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2208,1938
$GC,17031,0.92,214.9,446.6,7.3,820,17032,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2208,1938
$GC,17341,0.92,214.9,423.4,7.3,835,17342,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2208,1938
$GC,17649,0.92,214.9,401.2,7.2,850,17654,0.00,2.75,0.00,0.000,4,0.000,0.084,2614,785,1938
$GC,17683,0.92,214.9,398.6,7.3,851,17689,0.00,2.65,0.00,0.000,6,0.000,0.064,2615,2199,1938
$GC,17999,0.92,214.9,372.6,8.9,867,18000,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,1938
$GC,18307,0.92,214.9,342.0,9.8,882,18309,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,1938
$GC,18617,0.92,214.9,314.3,8.5,897,18618,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,1938
$GC,18928,0.92,214.9,289.2,7.6,912,18933,0.00,2.72,0.00,0.000,4,0.000,0.080,2614,785,1938
$GC,18950,0.92,214.9,287.2,7.9,913,18954,0.00,2.62,0.00,0.000,6,0.000,0.061,2614,2198,1938
$GC,19270,0.92,214.9,263.4,7.4,929,19275,0.00,2.78,0.00,0.000,4,0.000,0.092,2614,3613,1938
$GC,19360,0.92,214.9,256.3,7.2,933,19364,0.00,2.70,0.00,0.000,6,0.000,0.074,2614,2202,1938
$GC,19680,0.92,214.9,233.2,7.5,949,19681,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,1937
$GC,19989,0.92,214.9,209.4,7.7,964,19994,0.00,2.72,0.00,0.000,4,0.000,0.077,2614,777,1938
$GC,20017,0.92,214.9,206.9,8.0,965,20022,0.00,2.65,0.00,0.000,6,0.000,0.058,2614,2206,1938
$GC,20333,0.92,214.9,183.6,6.9,980,20334,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1938
$GC,20642,0.92,214.9,161.5,7.2,995,20643,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1940
$GC,20952,0.92,214.9,137.9,7.7,1010,20953,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1940
$GC,21262,0.92,214.9,114.7,7.0,1025,21267,0.00,2.70,0.00,0.000,4,0.000,0.081,2614,3613,1941
$GC,21303,0.92,214.9,111.5,7.5,1027,21308,0.00,2.70,0.00,0.000,6,0.000,0.068,2614,2194,1941
$GC,21631,0.92,214.9,90.3,6.3,1043,21635,0.00,2.70,0.00,0.000,4,0.000,0.074,2614,773,1942
$GC,21675,0.92,214.9,87.2,6.6,1045,21679,0.00,2.60,0.00,0.000,6,0.000,0.053,2614,2203,1942
$GC,21996,0.93,226.1,68.5,5.7,1061,22009,0.00,0.00,11.38,0.688,6,0.000,0.000,2614,2203,1894
$GC,22307,0.93,226.1,48.1,6.5,1076,22311,0.00,2.70,0.00,0.000,4,0.000,0.071,2614,776,1894
$GC,22324,0.93,226.1,46.5,7.8,1077,22328,0.00,2.62,0.00,0.000,6,0.000,0.053,2614,2205,1894
$GC,22650,0.93,226.1,20.3,7.9,1093,22651,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2204,1894
$STATE,22874,end climb,SURFACE_DEPTH_REACHED
$STATE,22875,begin surface coast
$FINISH,0.8,1.001939
$STATE,22896,end surface coast,CONTROL_FINISHED_OK
$STATE,22897,begin surface
$SM_CCo,22919,45.95,0.648,2,0,1593,300.00
$SM_GC,1.74,0.00,0.00,45.95,0.000,0.000,0.648,75,2400,1593,-10.75,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2102
$TCM_TEMP,16.20
$XPDR_PINGS,123
$ALTIM_BOTTOM_PING,750.3,51.0
$24V_AH,23.2,59.399
$10V_AH,10.1,31.544
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.450,167.800,318.700,45.950,0.000,32.615,33.031,162.588,37.250,0.000,0.000,36.211,1984.395,17986.008,534.122,2276.157,568.727,33.364,1638.772,0.000,2202.067,0.000,44.463
$DEVICE_MAMPS,173.342,95.108,1236.404,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,816.980,759.803,638.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56893,1105
$CFSIZE,260165632,237834240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,250108,143055,6211.579,-318.080,33,1.7,51,-6.4