version: 66.07.10.p01
glider: 573
mission: 4
dive: 419
start: 1 2 113 10 23 39
data:
$ID,573
$MISSION,4
$DIVE,419
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$T_BOOST_BLACKOUT,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,340
$T_MISSION,355
$T_ABORT,720
$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,0
$APOGEE_PITCH,-5
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,0
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,-5660.6299
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3052
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1890
$C_ROLL_CLIMB,1572
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.947678
$PRESSURE_SLOPE,0.00011693723
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,398
$GPS1,020113,101505,-4210.921,-448.652,42,1.1,42,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-64.9
$GPS2,020113,102244,-4210.920,-448.632,30,1.9,31,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.254,-0.101
$KALMAN_X,-36307.6,-94.4,-394.7,136617.4,-3009.9
$KALMAN_Y,-98485.7,74.7,-149.6,69410.6,628.5
$MHEAD_RNG_PITCHd_Wd,133.8,30552,-16.8,-9.804
$D_GRID,1000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.94,-165.4,0.0,0.0,0,69,0.00,0.00,-41.83,0.000,2,0.000,0.000,81,1896,1961,0,0,0,0,0,0
$GC,72,-0.94,-165.4,3.0,-0.7,7,163,10.93,2.38,-69.22,0.000,4,0.230,0.079,2732,3295,3539,0,0,0,0,0,0
$GC,249,-0.98,-165.4,15.6,-13.2,36,256,0.00,2.30,0.00,0.000,6,0.000,0.052,2733,1881,3540,0,0,0,0,0,0
$GC,329,-0.98,-165.4,24.2,-10.3,49,336,0.00,1.73,0.00,0.000,4,0.000,0.061,2733,843,3540,0,0,0,0,0,0
$GC,369,-0.94,-165.4,29.5,-12.6,55,376,0.05,1.70,0.00,0.000,6,0.156,0.050,2743,1884,3540,0,0,0,0,0,0
$GC,446,-0.94,-165.4,38.6,-12.6,68,453,0.00,2.15,0.00,0.000,4,0.000,0.063,2734,3190,3540,0,0,0,0,0,0
$GC,513,-0.94,-165.4,46.4,-11.5,79,518,0.00,2.08,0.00,0.000,6,0.000,0.050,2734,1884,3541,0,0,0,0,0,0
$GC,740,-0.97,-165.4,71.1,-11.0,111,744,0.00,0.65,0.00,0.000,4,0.000,0.060,2731,2300,3541,0,0,0,0,0,0
$GC,787,-0.97,-165.4,75.9,-10.8,115,791,0.00,0.65,0.00,0.000,6,0.000,0.056,2731,1883,3541,0,0,0,0,0,0
$GC,1124,-0.99,-165.4,112.8,-10.9,143,1128,0.00,1.55,0.00,0.000,4,0.000,0.060,2724,2833,3541,0,0,0,0,0,0
$GC,1176,-1.02,-165.4,118.6,-10.7,146,1179,0.00,1.50,0.00,0.000,6,0.000,0.052,2725,1898,3541,0,0,0,0,0,0
$GC,1509,-1.04,-165.4,150.1,-8.7,167,1513,0.00,0.55,0.00,0.000,4,0.000,0.061,2722,2258,3541,0,0,0,0,0,0
$GC,1582,-1.06,-165.4,156.2,-8.9,171,1585,0.00,0.57,0.00,0.000,6,0.000,0.056,2722,1881,3542,0,0,0,0,0,0
$GC,1913,-1.08,-165.4,186.3,-9.7,192,1918,0.05,1.73,0.00,0.000,4,0.164,0.061,2675,2957,3542,0,0,0,0,0,0
$GC,1968,-1.02,-165.4,191.7,-10.0,195,1972,0.15,1.67,0.00,0.000,6,0.152,0.049,2717,1892,3542,0,0,0,0,0,0
$GC,2291,-1.02,-165.4,224.7,-10.7,212,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1892,3542,0,0,0,0,0,0
$GC,2599,-1.02,-165.4,258.5,-10.9,227,2602,0.00,1.98,0.00,0.000,4,0.000,0.061,2708,3114,3542,0,0,0,0,0,0
$GC,2667,-1.02,-165.4,266.0,-10.8,230,2670,0.00,1.92,0.00,0.000,6,0.000,0.048,2708,1889,3542,0,0,0,0,0,0
$GC,2999,-1.02,-165.4,301.5,-10.4,246,3003,0.00,1.17,0.00,0.000,4,0.000,0.059,2703,2623,3542,0,0,0,0,0,0
$GC,3054,-1.02,-165.4,307.4,-10.4,247,3059,0.03,1.17,0.00,0.000,6,0.166,0.050,2714,1884,3542,0,0,0,0,0,0
$GC,3372,-1.02,-165.4,340.1,-10.4,258,3376,0.00,1.15,0.00,0.000,4,0.000,0.060,2709,2600,3542,0,0,0,0,0,0
$GC,3421,-1.02,-165.4,345.5,-11.0,259,3426,0.00,1.12,0.00,0.000,6,0.000,0.052,2709,1893,3542,0,0,0,0,0,0
$GC,3746,-1.02,-165.4,378.5,-10.2,270,3750,0.00,0.45,0.00,0.000,4,0.000,0.061,2707,2192,3542,0,0,0,0,0,0
$GC,3840,-1.02,-165.4,388.2,-10.2,272,3846,0.00,0.47,0.00,0.000,6,0.000,0.058,2707,1887,3542,0,0,0,0,0,0
$GC,4153,-1.02,-165.4,419.5,-10.1,283,4157,0.00,1.75,0.00,0.000,4,0.000,0.061,2699,2982,3542,0,0,0,0,0,0
$GC,4213,-1.02,-165.4,425.9,-10.7,284,4220,0.05,1.75,0.00,0.000,6,0.146,0.048,2718,1884,3542,0,0,0,0,0,0
$GC,4527,-1.05,-165.4,457.8,-10.4,295,4531,0.00,1.08,0.00,0.000,4,0.000,0.060,2713,2561,3541,0,0,0,0,0,0
$GC,4587,-1.05,-165.4,464.4,-10.9,296,4593,0.00,1.05,0.00,0.000,6,0.000,0.051,2713,1895,3541,0,0,0,0,0,0
$GC,4900,-1.05,-165.4,498.0,-10.9,307,4903,0.00,1.25,0.00,0.000,4,0.000,0.060,2708,2670,3541,0,0,0,0,0,0
$GC,4968,-1.05,-165.4,505.4,-10.5,309,4971,0.00,1.25,0.00,0.000,6,0.000,0.051,2708,1887,3541,0,0,0,0,0,0
$GC,5308,-1.05,-165.4,543.0,-11.0,320,5312,0.00,2.12,0.00,0.000,4,0.000,0.062,2698,3198,3540,0,0,0,0,0,0
$GC,5363,-1.05,-165.4,549.2,-10.5,321,5369,0.03,2.08,0.00,0.000,6,0.168,0.049,2708,1892,3540,0,0,0,0,0,0
$GC,5676,-1.05,-165.4,582.4,-10.5,332,5680,0.00,1.60,0.00,0.000,4,0.000,0.061,2701,2877,3540,0,0,0,0,0,0
$GC,5736,-1.05,-165.4,588.6,-9.9,333,5742,0.00,1.58,0.00,0.000,6,0.000,0.050,2701,1889,3540,0,0,0,0,0,0
$GC,6050,-1.05,-165.4,619.3,-9.7,344,6053,0.00,1.77,0.00,0.000,4,0.000,0.061,2693,3005,3539,0,0,0,0,0,0
$GC,6104,-1.05,-165.4,625.1,-9.9,345,6109,0.05,1.77,0.00,0.000,6,0.147,0.049,2712,1888,3539,0,0,0,0,0,0
$GC,6423,-1.05,-165.4,654.7,-9.1,356,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1888,3539,0,0,0,0,0,0
$GC,6729,-1.05,-165.4,682.7,-9.0,366,6733,0.00,2.30,0.00,0.000,4,0.000,0.064,2701,3305,3538,0,0,0,0,0,0
$GC,6818,-1.05,-165.4,690.8,-9.6,368,6823,0.00,2.22,0.00,0.000,6,0.000,0.049,2701,1889,3537,0,0,0,0,0,0
$GC,7131,-1.05,-165.4,719.4,-9.2,379,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1888,3537,0,0,0,0,0,0
$GC,7437,-1.05,-165.4,749.1,-10.1,389,7441,0.00,2.30,0.00,0.000,4,0.000,0.064,2691,3301,3537,0,0,0,0,0,0
$GC,7499,-1.05,-165.4,755.3,-9.7,391,7504,0.10,2.25,0.00,0.000,6,0.160,0.050,2718,1878,3536,0,0,0,0,0,0
$GC,7834,-1.08,-165.4,788.6,-9.8,402,7838,0.00,1.60,0.00,0.000,4,0.000,0.062,2711,2856,3535,0,0,0,0,0,0
$GC,7895,-1.10,-165.4,794.7,-9.7,403,7900,0.00,1.55,0.00,0.000,6,0.000,0.052,2711,1890,3535,0,0,0,0,0,0
$GC,8209,-1.13,-165.4,824.7,-9.5,414,8213,0.08,1.95,0.00,0.000,4,0.123,0.064,2659,3085,3533,0,0,0,0,0,0
$GC,8263,-1.06,-165.4,830.4,-10.1,415,8268,0.12,1.92,0.00,0.000,6,0.135,0.051,2709,1891,3534,0,0,0,0,0,0
$GC,8582,-1.09,-165.4,860.3,-9.3,426,8586,0.00,0.95,0.00,0.000,4,0.000,0.060,2705,2481,3532,0,0,0,0,0,0
$GC,8643,-1.09,-165.4,866.1,-9.6,427,8649,0.00,0.95,0.00,0.000,6,0.000,0.054,2705,1882,3532,0,0,0,0,0,0
$GC,8957,-1.11,-165.4,894.4,-9.0,438,8960,0.00,1.65,0.00,0.000,4,0.000,0.063,2698,2917,3532,0,0,0,0,0,0
$GC,9017,-1.11,-165.4,900.3,-8.4,439,9023,0.00,1.65,0.00,0.000,6,0.000,0.053,2698,1893,3532,0,0,0,0,0,0
$GC,9330,-1.11,-165.4,930.3,-9.8,450,9334,0.00,2.30,0.00,0.000,4,0.000,0.065,2687,3308,3531,0,0,0,0,0,0
$GC,9432,-1.08,-165.4,940.8,-10.7,453,9437,0.03,2.25,0.00,0.000,6,0.256,0.051,2697,1887,3531,0,0,0,0,0,0
$GC,9772,-1.08,-165.4,976.2,-10.5,464,9776,0.00,2.33,0.00,0.000,4,0.000,0.066,2686,3305,3531,0,0,0,0,0,0
$GC,9844,-1.06,-165.4,983.8,-10.5,466,9848,0.08,2.28,0.00,0.000,6,0.179,0.051,2705,1880,3531,0,0,0,0,0,0
$STATE,10018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10018,begin apogee
$GC,10023,-0.28,0.0,1001.9,10.4,472,10170,0.80,0.00,143.85,1.267,6,0.115,0.000,2963,1569,2862,0,0,0,0,0,0
$STATE,10171,end apogee,CONTROL_FINISHED_OK
$STATE,10171,begin climb
$GC,10173,0.94,165.4,1012.9,0.0,477,10333,1.12,2.65,150.02,1.229,4,0.063,0.063,3364,160,2186,0,0,0,0,0,0
$GC,10440,0.79,248.0,1008.5,6.5,485,10523,0.22,2.38,75.57,1.211,6,0.158,0.045,3305,1578,1851,0,0,0,0,0,0
$GC,10853,0.79,309.2,978.8,7.4,499,10913,0.00,0.47,56.10,1.213,4,0.000,0.059,3305,1862,1600,0,0,0,0,0,0
$GC,10952,0.85,338.7,970.9,8.6,502,10985,0.00,0.47,28.52,1.170,6,0.000,0.067,3306,1577,1480,0,0,0,0,0,0
$GC,11316,0.93,357.9,938.4,9.0,514,11341,0.12,2.42,17.88,1.147,4,0.086,0.069,3379,170,1401,0,0,0,0,0,0
$GC,11386,0.90,357.9,931.4,10.5,516,11391,0.12,2.30,0.00,0.000,6,0.155,0.048,3346,1576,1399,0,0,0,0,0,0
$GC,11716,0.94,357.9,898.4,10.3,527,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1576,1397,0,0,0,0,0,0
$GC,12022,0.98,357.9,866.9,10.4,537,12024,0.05,0.00,0.00,0.000,6,0.168,0.000,3376,1576,1395,0,0,0,0,0,0
$GC,12328,0.98,357.9,833.7,10.8,547,12331,0.00,0.62,0.00,0.000,4,0.000,0.068,3379,1189,1395,0,0,0,0,0,0
$GC,12388,0.98,357.9,827.0,11.1,548,12394,0.00,0.62,0.00,0.000,6,0.000,0.056,3379,1574,1394,0,0,0,0,0,0
$GC,12701,0.98,357.9,792.5,11.3,559,12705,0.00,0.65,0.00,0.000,4,0.000,0.067,3381,1173,1395,0,0,0,0,0,0
$GC,12779,0.98,357.9,783.7,11.9,561,12784,0.05,0.65,0.00,0.000,6,0.213,0.054,3369,1572,1395,0,0,0,0,0,0
$GC,13109,0.98,357.9,749.5,10.1,572,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1573,1394,0,0,0,0,0,0
$GC,13415,0.98,365.3,719.9,9.5,582,13425,0.00,0.70,6.97,0.910,4,0.000,0.058,3369,2009,1372,0,0,0,0,0,0
$GC,13477,0.98,372.8,714.0,9.5,584,13491,0.00,0.70,8.90,0.959,6,0.000,0.064,3372,1571,1342,0,0,0,0,0,0
$GC,13815,0.98,372.8,681.2,9.9,595,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1571,1339,0,0,0,0,0,0
$GC,14122,0.98,376.6,651.2,9.7,605,14131,0.00,1.35,4.88,0.757,4,0.000,0.060,3372,2399,1325,0,0,0,0,0,0
$GC,14181,0.98,383.0,645.4,9.5,606,14193,0.00,1.35,8.02,0.905,6,0.000,0.058,3377,1571,1300,0,0,0,0,0,0
$GC,14524,0.98,386.0,612.2,9.7,618,14533,0.00,0.75,4.00,0.649,4,0.000,0.069,3381,1123,1288,0,0,0,0,0,0
$GC,14584,0.98,395.0,606.2,9.4,619,14599,0.00,0.75,10.18,0.931,6,0.000,0.054,3381,1581,1252,0,0,0,0,0,0
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$GC,20165,1.09,458.7,27.2,7.6,916,20203,0.00,1.85,31.58,0.612,4,0.000,0.058,3395,2720,991,0,0,0,0,0,0
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$GC,20321,1.11,485.7,12.2,8.7,941,20341,0.00,2.25,12.70,0.530,4,0.000,0.071,3413,258,883,0,0,0,0,0,0
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$STATE,20404,end climb,SURFACE_DEPTH_REACHED
$STATE,20404,begin surface coast
$FINISH,2.2,1.021787
$STATE,20435,end surface coast,CONTROL_FINISHED_OK
$STATE,20435,begin surface
$SM_CCo,20513,0.00,0.000,0,0,873,487.89
$SM_GC,2.95,8.88,0.00,0.00,0.038,0.000,0.000,85,1904,873,-9.20,0.42,487.89
$IRIDIUM_FIX,-4158.28,-511.40,020113,040409
$TT8_MAMPS,0.026964
$HUMID,46.81
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,22.3,69.402
$10V_AH,9.9,57.145
$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
$DEVICE_SECS,23.325,120.125,569.550,0.000,0.000,25.833,40.068,235.928,0.250,0.000,33.180,2472.133,14642.906,620.337,2988.074,241.961,33.371,1899.191,0.000,2621.816,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.847,901.601,653.151,73.804,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354576
$DATA_FILE_SIZE,57010,959
$CAP_FILE_SIZE,182734,0
$CFSIZE,2097086464,2038956032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020113,160652,-4211.300,-446.905,29,1.4,46,-22.2