version: 66.07
glider: 178
mission: 4
dive: 16
start: 6 9 110 6 28 2
data:
$ID,178
$MISSION,4
$DIVE,16
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,330
$T_MISSION,360
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51773
$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,24.688
$TGT_DEFAULT_LON,-77.613998
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,8
$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,-5999.1982
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2440
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-49.540699
$PRESSURE_SLOPE,0.0001161899
$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,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$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,1
$LOGGERDEVICE1,69
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,090610,062006,2440.881,-7736.690,112,1.7,112,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-75.2
$GPS2,090610,062720,2440.844,-7736.696,15,1.7,15,-7.1
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.011,0.173
$KALMAN_X,-1148.2,182.0,-34.4,406.0,-140.4
$KALMAN_Y,-1494.9,307.6,-106.8,757.1,-539.7
$MHEAD_RNG_PITCHd_Wd,3.4,876,-27.2,-10.000
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.83,-63.0,0.0,0.0,0,115,0.00,0.00,-95.07,0.000,6,0.000,0.000,162,2446,2997,0,0,0,0,0,0
$GC,117,-0.90,-113.5,2.7,-4.6,17,141,12.35,2.15,-4.15,0.000,4,0.272,0.070,2852,3775,3200,0,0,0,0,0,0
$GC,379,-0.90,-113.5,64.0,-16.7,47,388,0.00,2.08,0.00,0.000,6,0.000,0.034,2858,2423,3204,0,0,0,0,0,0
$GC,571,-0.90,-113.5,94.0,-15.5,66,576,0.00,2.15,0.00,0.000,4,0.000,0.054,2850,3768,3205,0,0,0,0,0,0
$GC,646,-0.90,-113.5,106.3,-16.5,71,651,0.00,2.03,0.00,0.000,6,0.000,0.033,2851,2434,3205,0,0,0,0,0,0
$GC,970,-0.90,-113.5,157.6,-16.0,82,975,0.00,2.12,0.00,0.000,4,0.000,0.054,2840,3780,3206,0,0,0,0,0,0
$GC,1007,-0.90,-113.5,163.9,-16.8,83,1012,0.00,2.03,0.00,0.000,6,0.000,0.033,2843,2441,3206,0,0,0,0,0,0
$GC,1337,-0.90,-113.5,211.8,-13.7,94,1342,0.00,2.40,0.00,0.000,4,0.000,0.041,2844,868,3206,0,0,0,0,0,0
$GC,1433,-0.90,-113.5,224.3,-12.5,97,1438,0.12,2.45,0.00,0.000,6,0.198,0.044,2867,2440,3206,0,0,0,0,0,0
$GC,1769,-0.90,-113.5,261.9,-10.9,108,1773,0.00,2.12,0.00,0.000,4,0.000,0.056,2862,3775,3207,0,0,0,0,0,0
$GC,1853,-0.90,-113.5,271.6,-11.5,110,1858,0.00,2.03,0.00,0.000,6,0.000,0.034,2859,2435,3207,0,0,0,0,0,0
$GC,2167,-0.90,-113.5,306.4,-11.2,120,2175,0.00,2.08,0.00,0.000,4,0.000,0.056,2849,3780,3207,0,0,0,0,0,0
$GC,2205,-0.90,-113.5,310.7,-11.4,120,2213,0.00,2.00,0.00,0.000,6,0.000,0.034,2849,2430,3208,0,0,0,0,0,0
$GC,2529,-0.90,-113.5,348.0,-11.6,126,2537,0.00,2.35,0.00,0.000,4,0.000,0.042,2849,858,3207,0,0,0,0,0,0
$GC,2556,-0.90,-113.5,351.1,-12.4,126,2565,0.12,2.42,0.00,0.000,6,0.208,0.044,2865,2446,3207,0,0,0,0,0,0
$GC,2886,-0.90,-113.5,385.2,-10.3,132,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2446,3206,0,0,0,0,0,0
$GC,3188,-0.90,-113.5,415.2,-10.0,137,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2446,3205,0,0,0,0,0,0
$GC,3489,-0.90,-113.5,445.5,-10.0,142,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2446,3206,0,0,0,0,0,0
$GC,3795,-0.90,-116.8,474.5,-9.6,147,3806,0.00,2.05,0.00,0.000,4,0.000,0.059,2857,3775,3202,0,0,0,0,0,0
$GC,3874,-0.90,-116.8,483.2,-10.7,148,3886,0.00,1.98,0.00,0.000,6,0.000,0.036,2857,2435,3202,0,0,0,0,0,0
$GC,4233,-0.90,-118.5,518.3,-9.8,154,4244,0.00,2.38,0.00,0.000,4,0.000,0.044,2857,850,3201,0,0,0,0,0,0
$GC,4264,-0.90,-118.5,521.7,-10.2,154,4276,0.00,2.45,0.00,0.000,6,0.000,0.047,2845,2446,3201,0,0,0,0,0,0
$GC,4601,-0.90,-118.5,556.8,-10.7,160,4613,0.00,2.08,0.00,0.000,4,0.000,0.059,2835,3776,3198,0,0,0,0,0,0
$GC,4668,-0.90,-118.5,564.5,-10.9,161,4680,0.12,2.00,0.00,0.000,6,0.210,0.037,2862,2429,3199,0,0,0,0,0,0
$GC,5034,-0.91,-120.6,601.6,-9.8,167,5038,0.00,2.15,0.00,0.000,4,0.000,0.060,2854,3777,3198,0,0,0,0,0,0
$GC,5097,-0.91,-120.6,608.1,-10.2,168,5102,0.00,2.05,0.00,0.000,6,0.000,0.036,2854,2429,3198,0,0,0,0,0,0
$GC,5463,-0.91,-127.4,642.1,-9.3,174,5468,0.00,2.40,0.00,0.000,4,0.000,0.044,2854,870,3196,0,0,0,0,0,0
$GC,5537,-0.91,-127.4,649.6,-10.0,175,5542,0.00,2.47,0.00,0.000,6,0.000,0.047,2843,2442,3196,0,0,0,0,0,0
$GC,5893,-0.91,-127.5,684.5,-10.0,181,5897,0.00,2.12,0.00,0.000,4,0.000,0.060,2833,3778,3194,0,0,0,0,0,0
$GC,5962,-0.91,-127.5,692.0,-11.1,182,5967,0.10,2.05,0.00,0.000,6,0.196,0.037,2860,2420,3193,0,0,0,0,0,0
$GC,6322,-0.93,-140.3,723.6,-8.6,188,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2421,3192,0,0,0,0,0,0
$GC,6624,-0.95,-153.4,749.4,-8.6,193,6628,0.00,2.17,0.00,0.000,4,0.000,0.062,2851,3775,3191,0,0,0,0,0,0
$GC,6671,-0.96,-164.4,753.9,-8.8,193,6676,0.00,2.05,0.00,0.000,6,0.000,0.038,2851,2435,3190,0,0,0,0,0,0
$GC,6989,-0.97,-170.3,781.7,-8.6,199,6993,0.00,2.42,0.00,0.000,4,0.000,0.047,2851,868,3188,0,0,0,0,0,0
$GC,7042,-0.97,-170.3,786.3,-9.1,199,7047,0.00,2.50,0.00,0.000,6,0.000,0.050,2841,2443,3191,0,0,0,0,0,0
$GC,7355,-0.97,-170.3,815.2,-9.3,205,7359,0.00,2.15,0.00,0.000,4,0.000,0.063,2830,3782,3187,0,0,0,0,0,0
$GC,7385,-0.97,-170.3,818.4,-10.9,205,7391,0.00,2.08,0.00,0.000,6,0.000,0.039,2830,2434,3187,0,0,0,0,0,0
$GC,7719,-0.97,-170.3,850.0,-9.4,211,7724,0.00,2.45,0.00,0.000,4,0.000,0.047,2830,859,3185,0,0,0,0,0,0
$GC,7773,-0.97,-170.3,855.3,-10.0,211,7777,0.00,2.53,0.00,0.000,6,0.000,0.051,2818,2444,3185,0,0,0,0,0,0
$GC,8085,-0.97,-170.3,886.5,-10.1,217,8086,0.12,0.00,0.00,0.000,6,0.230,0.000,2844,2445,3183,0,0,0,0,0,0
$GC,8386,-0.97,-170.3,913.0,-8.7,222,8391,0.00,2.47,0.00,0.000,4,0.000,0.048,2844,865,3182,0,0,0,0,0,0
$GC,8451,-0.97,-170.3,919.0,-9.0,223,8455,0.00,2.50,0.00,0.000,6,0.000,0.053,2835,2435,3182,0,0,0,0,0,0
$GC,8816,-0.97,-170.3,951.7,-9.0,229,8820,0.00,2.17,0.00,0.000,4,0.000,0.067,2825,3780,3180,0,0,0,0,0,0
$GC,8863,-0.97,-170.3,956.2,-9.9,229,8868,0.00,2.08,0.00,0.000,6,0.000,0.041,2825,2440,3179,0,0,0,0,0,0
$GC,9181,-0.97,-170.3,984.4,-8.8,235,9186,0.00,2.50,0.00,0.000,4,0.000,0.050,2824,856,3178,0,0,0,0,0,0
$GC,9218,-0.97,-170.3,987.8,-9.5,235,9223,0.10,2.53,0.00,0.000,6,0.210,0.053,2836,2439,3178,0,0,0,0,0,0
$STATE,9244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9244,begin apogee
$GC,9246,-0.14,0.0,990.2,8.8,236,9339,0.98,0.00,90.30,1.193,6,0.191,0.000,3115,2439,2737,0,0,0,0,0,0
$STATE,9340,end apogee,CONTROL_FINISHED_OK
$STATE,9340,begin climb
$GC,9341,0.97,170.3,990.4,0.0,237,9497,1.05,2.75,148.57,1.175,4,0.079,0.047,3483,822,2042,0,0,0,0,0,0
$GC,9528,0.97,170.3,963.3,21.6,240,9533,0.00,2.65,0.00,0.000,6,0.000,0.050,3480,2396,2036,0,0,0,0,0,0
$GC,9852,0.97,170.3,892.9,21.8,246,9856,0.00,2.53,0.00,0.000,4,0.000,0.048,3489,825,2030,0,0,0,0,0,0
$GC,9888,0.97,170.3,884.9,21.1,246,9893,0.00,2.58,0.00,0.000,6,0.000,0.050,3489,2406,2025,0,0,0,0,0,0
$GC,10217,0.97,170.3,811.6,22.4,252,10221,0.00,2.53,0.00,0.000,4,0.000,0.050,3500,827,2027,0,0,0,0,0,0
$GC,10254,0.97,170.3,803.6,22.4,252,10259,0.00,2.55,0.00,0.000,6,0.000,0.051,3494,2407,2025,0,0,0,0,0,0
$GC,10582,0.97,170.3,730.4,22.3,258,10587,0.00,2.53,0.00,0.000,4,0.000,0.049,3504,820,2024,0,0,0,0,0,0
$GC,10592,0.97,170.3,728.1,22.2,258,10597,0.10,2.53,0.00,0.000,6,0.209,0.050,3478,2395,2023,0,0,0,0,0,0
$GC,10948,0.97,170.3,653.8,20.6,264,10952,0.00,2.47,0.00,0.000,4,0.000,0.047,3487,827,2023,0,0,0,0,0,0
$GC,10995,0.97,170.3,643.9,21.0,264,11000,0.00,2.50,0.00,0.000,6,0.000,0.050,3480,2399,2022,0,0,0,0,0,0
$GC,11313,0.97,170.3,578.5,20.7,270,11317,0.00,2.50,0.00,0.000,4,0.000,0.048,3493,820,2021,0,0,0,0,0,0
$GC,11392,0.97,170.3,562.2,19.8,271,11397,0.00,2.53,0.00,0.000,6,0.000,0.050,3490,2406,2020,0,0,0,0,0,0
$GC,11742,0.97,170.3,487.7,21.3,277,11747,0.00,2.50,0.00,0.000,4,0.000,0.048,3503,824,2020,0,0,0,0,0,0
$GC,11811,0.97,170.3,473.2,19.4,278,11816,0.00,2.53,0.00,0.000,6,0.000,0.050,3499,2409,2019,0,0,0,0,0,0
$GC,12172,0.97,170.3,394.7,21.8,284,12176,0.00,2.50,0.00,0.000,4,0.000,0.047,3509,816,2019,0,0,0,0,0,0
$GC,12246,0.97,170.3,378.2,23.0,285,12251,0.10,2.50,0.00,0.000,6,0.200,0.048,3480,2397,2018,0,0,0,0,0,0
$GC,12601,0.97,170.3,305.0,20.5,291,12606,0.00,2.47,0.00,0.000,4,0.000,0.044,3489,813,2018,0,0,0,0,0,0
$GC,12707,0.97,170.3,283.6,20.5,293,12712,0.00,2.50,0.00,0.000,6,0.000,0.045,3483,2400,2018,0,0,0,0,0,0
$GC,13032,0.97,170.3,220.0,19.3,304,13037,0.00,2.47,0.00,0.000,4,0.000,0.045,3493,815,2019,0,0,0,0,0,0
$GC,13053,0.97,170.3,216.0,18.8,304,13058,0.00,2.50,0.00,0.000,6,0.000,0.044,3490,2408,2018,0,0,0,0,0,0
$GC,13367,0.97,170.3,158.1,17.8,315,13372,0.00,2.47,0.00,0.000,4,0.000,0.044,3500,814,2019,0,0,0,0,0,0
$GC,13436,0.97,170.3,145.8,17.9,317,13441,0.08,2.47,0.00,0.000,6,0.197,0.044,3480,2399,2018,0,0,0,0,0,0
$GC,13747,0.97,170.3,89.2,19.1,330,13752,0.00,2.45,0.00,0.000,4,0.000,0.042,3490,811,2018,0,0,0,0,0,0
$GC,13768,0.97,170.3,85.6,16.1,332,13773,0.00,2.47,0.00,0.000,6,0.000,0.043,3489,2400,2020,0,0,0,0,0,0
$GC,13965,0.97,170.3,52.4,16.4,351,13969,0.00,2.17,0.00,0.000,4,0.000,0.057,3489,3776,2021,0,0,0,0,0,0
$GC,13996,0.97,170.3,47.0,16.6,354,14001,0.00,2.10,0.00,0.000,6,0.000,0.032,3501,2388,2022,0,0,0,0,0,0
$GC,14188,0.97,170.3,16.8,14.4,374,14196,0.00,2.22,0.00,0.000,4,0.000,0.056,3500,3785,2024,0,0,0,0,0,0
$GC,14275,0.97,170.3,4.4,10.3,390,14282,0.12,2.08,0.00,0.000,6,0.204,0.033,3482,2399,2021,0,0,0,0,0,0
$STATE,14301,end climb,SURFACE_DEPTH_REACHED
$STATE,14301,begin surface coast
$FINISH,0.1,1.023600
$STATE,14323,end surface coast,CONTROL_FINISHED_OK
$STATE,14323,begin surface
$SM_CCo,14336,172.40,0.526,0,0,494,550.21
$SM_GC,0.89,0.00,0.00,172.40,0.000,0.000,0.526,167,2451,494,-9.36,0.31,550.21
$IRIDIUM_FIX,2432.32,-7739.08,021211,202008
$TT8_MAMPS,0.119091
$HUMID,1078087087
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.00
$XPDR_PINGS,1
$PA_PMVER,0.4
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Sun May 9 16:06:59 PDT 2010
$PA_BOOTCOUNT,34
$PA_DFQS,0/0
$PA_CMQS,0/0
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,8.4/483886/443187
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.9/297829/283209
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,43.9/7836665/4393721
$24V_AH,24.0,10.551
$10V_AH,10.4,9.702
$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,24.400,158.300,238.875,172.400,0.000,29.614,28.038,237.860,0.250,0.000,16.875,0.000,12031.800,655.643,2155.789,96.275,33.329,1453.438,0.000,1253.337,0.000,0.541,0.000
$DEVICE_MAMPS,271.575,119.340,1193.400,526.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,268.012,0.000,0.000,0.000,0.000,0.000,10636.050,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,56.571,0.000,0.000,0.000
$MEM,355080
$DATA_FILE_SIZE,13426,399
$CAP_FILE_SIZE,127820,0
$CFSIZE,260165632,253886464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,103151,2442.555,-7736.684,83,5.8,102,-7.1