version: 66.07.10.p01
glider: 573
mission: 4
dive: 537
start: 1 30 113 20 28 16
data:
$ID,573
$MISSION,4
$DIVE,537
$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,-5974.9038
$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,3049
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1910
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,32
$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,516
$GPS1,300113,201535,-4240.075,-257.494,50,1.0,50,-22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-65.3
$GPS2,300113,202722,-4240.034,-257.483,29,1.1,44,-22.3
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-130.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.221,0.161
$KALMAN_X,-347291.3,57.0,-466.3,600685.1,-3399.3
$KALMAN_Y,52316.2,104.0,1432.7,-136931.6,-2089.4
$MHEAD_RNG_PITCHd_Wd,76.2,177615,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.00,-165.3,0.0,0.0,0,52,0.00,0.00,-23.25,0.000,2,0.000,0.000,73,1921,1043,0,0,0,0,0,0
$GC,55,-1.00,-165.4,3.1,-0.5,4,177,10.90,2.35,-103.15,0.000,4,0.222,0.069,2724,501,3537,0,0,0,0,0,0
$GC,239,-1.00,-165.4,15.3,-15.7,34,246,0.00,2.28,0.00,0.000,6,0.000,0.047,2713,1904,3539,0,0,0,0,0,0
$GC,319,-1.00,-165.4,25.3,-10.7,47,326,0.00,1.67,0.00,0.000,4,0.000,0.059,2714,896,3539,0,0,0,0,0,0
$GC,450,-1.00,-165.4,39.9,-10.8,69,455,0.08,1.65,0.00,0.000,6,0.180,0.048,2725,1924,3540,0,0,0,0,0,0
$GC,680,-1.04,-165.4,66.0,-11.3,105,685,0.00,2.35,0.00,0.000,4,0.000,0.058,2725,493,3540,0,0,0,0,0,0
$GC,802,-1.04,-165.4,79.0,-10.0,115,806,0.00,2.28,0.00,0.000,6,0.000,0.047,2715,1919,3540,0,0,0,0,0,0
$GC,1133,-1.08,-165.4,116.3,-11.3,141,1137,0.00,0.55,0.00,0.000,4,0.000,0.057,2715,1562,3540,0,0,0,0,0,0
$GC,1392,-1.13,-165.4,144.4,-10.5,156,1396,0.05,0.55,0.00,0.000,6,0.062,0.055,2657,1914,3541,0,0,0,0,0,0
$GC,1720,-1.08,-165.4,178.1,-10.8,177,1725,0.15,2.33,0.00,0.000,4,0.148,0.057,2702,498,3541,0,0,0,0,0,0
$GC,1809,-1.08,-165.4,188.1,-10.4,182,1817,0.00,2.25,0.00,0.000,6,0.000,0.045,2691,1905,3541,0,0,0,0,0,0
$GC,2126,-1.08,-165.4,220.1,-10.1,200,2130,0.00,0.90,0.00,0.000,4,0.000,0.054,2691,1334,3541,0,0,0,0,0,0
$GC,2182,-1.08,-165.4,225.9,-10.2,202,2186,0.00,0.90,0.00,0.000,6,0.000,0.049,2687,1910,3541,0,0,0,0,0,0
$GC,2504,-1.08,-165.4,257.5,-9.8,218,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1910,3541,0,0,0,0,0,0
$GC,2814,-1.08,-165.4,288.9,-10.2,233,2818,0.00,1.67,0.00,0.000,4,0.000,0.054,2687,856,3541,0,0,0,0,0,0
$GC,2909,-1.08,-165.4,299.4,-10.6,237,2914,0.05,1.67,0.00,0.000,6,0.145,0.046,2698,1905,3541,0,0,0,0,0,0
$GC,3234,-1.11,-165.4,332.9,-10.5,248,3237,0.00,1.80,0.00,0.000,4,0.000,0.055,2699,792,3541,0,0,0,0,0,0
$GC,3311,-1.11,-165.4,341.6,-11.2,250,3315,0.00,1.80,0.00,0.000,6,0.000,0.046,2690,1914,3541,0,0,0,0,0,0
$GC,3641,-1.11,-165.4,377.2,-11.0,261,3645,0.00,0.55,0.00,0.000,4,0.000,0.057,2690,1553,3540,0,0,0,0,0,0
$GC,3878,-1.11,-165.4,403.9,-11.4,268,3882,0.00,0.55,0.00,0.000,6,0.000,0.054,2688,1910,3540,0,0,0,0,0,0
$GC,4219,-1.11,-165.4,441.7,-10.7,279,4222,0.00,1.27,0.00,0.000,4,0.000,0.054,2688,1120,3540,0,0,0,0,0,0
$GC,4296,-1.11,-165.4,450.1,-10.9,281,4300,0.00,1.27,0.00,0.000,6,0.000,0.048,2682,1917,3539,0,0,0,0,0,0
$GC,4626,-1.11,-165.4,483.9,-10.3,292,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1919,3539,0,0,0,0,0,0
$GC,4932,-1.11,-165.4,514.6,-10.2,302,4936,0.00,0.80,0.00,0.000,4,0.000,0.057,2682,1410,3539,0,0,0,0,0,0
$GC,5038,-1.11,-165.4,525.7,-10.1,305,5042,0.00,0.80,0.00,0.000,6,0.000,0.052,2678,1912,3538,0,0,0,0,0,0
$GC,5374,-1.11,-165.4,561.6,-10.8,316,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1912,3537,0,0,0,0,0,0
$GC,5680,-1.11,-165.4,596.2,-11.3,326,5684,0.00,0.43,0.00,0.000,4,0.000,0.062,2676,2202,3537,0,0,0,0,0,0
$GC,5803,-1.11,-165.4,610.3,-11.8,329,5807,0.00,0.47,0.00,0.000,6,0.000,0.057,2677,1900,3536,0,0,0,0,0,0
$GC,6121,-1.11,-165.4,645.8,-11.0,340,6125,0.00,1.88,0.00,0.000,4,0.000,0.062,2668,3052,3536,0,0,0,0,0,0
$GC,6193,-1.11,-165.4,654.1,-11.7,342,6198,0.05,1.83,0.00,0.000,6,0.140,0.047,2687,1910,3536,0,0,0,0,0,0
$GC,6528,-1.11,-165.4,691.0,-11.2,353,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1910,3535,0,0,0,0,0,0
$GC,6835,-1.13,-165.4,724.0,-10.7,363,6838,0.00,1.00,0.00,0.000,4,0.000,0.057,2686,1273,3534,0,0,0,0,0,0
$GC,6895,-1.13,-165.4,730.8,-10.9,364,6901,0.00,1.00,0.00,0.000,6,0.000,0.050,2682,1907,3533,0,0,0,0,0,0
$GC,7209,-1.13,-165.4,764.7,-11.2,375,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1907,3532,0,0,0,0,0,0
$GC,7515,-1.13,-165.4,800.1,-11.6,385,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1907,3532,0,0,0,0,0,0
$GC,7821,-1.13,-165.4,836.4,-11.9,395,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1907,3531,0,0,0,0,0,0
$GC,8128,-1.16,-165.4,871.3,-11.2,405,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1907,3531,0,0,0,0,0,0
$GC,8434,-1.18,-165.4,903.8,-10.3,415,8438,0.00,1.23,0.00,0.000,4,0.000,0.058,2682,1153,3530,0,0,0,0,0,0
$GC,8506,-1.18,-165.4,911.1,-9.6,417,8510,0.00,1.23,0.00,0.000,6,0.000,0.051,2677,1914,3530,0,0,0,0,0,0
$GC,8842,-1.21,-165.4,941.8,-8.9,428,8846,0.00,2.00,0.00,0.000,4,0.000,0.060,2677,691,3529,0,0,0,0,0,0
$GC,8931,-1.21,-165.4,950.0,-9.0,430,8935,0.00,1.95,0.00,0.000,6,0.000,0.049,2668,1917,3529,0,0,0,0,0,0
$GC,9250,-1.21,-165.4,977.9,-9.0,441,9254,0.00,2.25,0.00,0.000,4,0.000,0.060,2667,548,3527,0,0,0,0,0,0
$GC,9328,-1.21,-165.4,985.5,-9.7,443,9332,0.00,2.20,0.00,0.000,6,0.000,0.049,2657,1913,3527,0,0,0,0,0,0
$STATE,9496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9497,begin apogee
$GC,9502,-0.29,0.0,1001.8,9.8,449,9651,0.93,0.00,144.95,1.245,6,0.115,0.000,2952,1576,2862,0,0,0,0,0,0
$STATE,9651,end apogee,CONTROL_FINISHED_OK
$STATE,9652,begin climb
$GC,9654,1.00,165.4,1014.0,0.0,454,9814,1.17,2.58,150.30,1.217,4,0.056,0.057,3372,2989,2186,0,0,0,0,0,0
$GC,10067,0.78,326.6,1015.7,3.4,466,10219,0.30,2.28,144.15,1.219,6,0.170,0.050,3302,1583,1530,0,0,0,0,0,0
$GC,10527,0.78,406.2,989.1,6.6,481,10607,0.00,1.65,73.50,1.203,4,0.000,0.066,3309,647,1204,0,0,0,0,0,0
$GC,10689,0.85,430.4,976.3,8.8,486,10719,0.00,1.55,23.17,1.147,6,0.000,0.050,3309,1581,1106,0,0,0,0,0,0
$GC,11028,0.92,432.6,944.2,9.7,497,11033,0.10,1.27,0.00,0.000,4,0.099,0.068,3366,840,1099,0,0,0,0,0,0
$GC,11096,0.92,432.6,936.9,10.7,499,11100,0.05,1.23,0.00,0.000,6,0.145,0.050,3348,1592,1098,0,0,0,0,0,0
$GC,11436,0.92,432.6,899.5,11.4,510,11440,0.00,1.30,0.00,0.000,4,0.000,0.063,3354,808,1097,0,0,0,0,0,0
$GC,11542,0.92,432.6,887.2,11.2,513,11546,0.00,1.27,0.00,0.000,6,0.000,0.051,3353,1590,1096,0,0,0,0,0,0
$GC,11877,0.92,432.6,850.0,10.8,524,11881,0.00,0.85,0.00,0.000,4,0.000,0.064,3357,1073,1096,0,0,0,0,0,0
$GC,12005,0.92,432.6,836.4,10.6,527,12011,0.00,0.85,0.00,0.000,6,0.000,0.054,3358,1590,1096,0,0,0,0,0,0
$GC,12319,0.92,449.7,806.7,9.1,538,12340,0.00,0.80,17.90,1.089,4,0.000,0.065,3361,1126,1028,0,0,0,0,0,0
$GC,12516,0.93,482.4,789.5,8.5,544,12553,0.03,0.73,32.90,1.117,6,0.174,0.053,3351,1579,895,0,0,0,0,0,0
$GC,12884,0.98,514.3,757.8,8.5,556,12919,0.00,0.88,31.33,1.084,4,0.000,0.069,3354,1084,764,0,0,0,0,0,0
$GC,13172,1.07,520.5,731.7,9.6,564,13181,0.08,0.82,6.00,0.828,6,0.057,0.054,3404,1591,739,0,0,0,0,0,0
$GC,13517,1.07,520.5,696.5,10.4,576,13520,0.00,0.50,0.00,0.000,4,0.000,0.069,3406,1281,737,0,0,0,0,0,0
$GC,13695,1.07,520.5,677.0,10.0,581,13699,0.00,0.50,0.00,0.000,6,0.000,0.058,3406,1588,736,0,0,0,0,0,0
$GC,14025,1.07,520.5,639.3,11.6,592,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1588,736,0,0,0,0,0,0
$GC,14331,1.07,520.5,604.2,11.3,602,14332,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1588,735,0,0,0,0,0,0
$GC,14637,1.07,520.5,568.6,11.7,612,14641,0.00,0.43,0.00,0.000,4,0.000,0.061,3406,1874,735,0,0,0,0,0,0
$GC,14715,1.07,520.5,559.3,11.8,614,14720,0.05,0.47,0.00,0.000,6,0.227,0.067,3397,1589,735,0,0,0,0,0,0
$GC,15045,1.07,520.5,521.8,11.2,625,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1589,734,0,0,0,0,0,0
$GC,15351,1.07,520.5,488.1,11.0,635,15355,0.00,0.62,0.00,0.000,4,0.000,0.069,3400,1196,734,0,0,0,0,0,0
$GC,15429,1.07,520.5,479.5,10.5,637,15433,0.00,0.65,0.00,0.000,6,0.000,0.054,3400,1595,734,0,0,0,0,0,0
$GC,15759,1.07,520.5,444.8,10.5,648,15762,0.00,0.75,0.00,0.000,4,0.000,0.068,3403,1139,734,0,0,0,0,0,0
$GC,15827,1.07,520.5,437.8,10.8,650,15830,0.00,0.70,0.00,0.000,6,0.000,0.055,3403,1578,734,0,0,0,0,0,0
$GC,16168,1.07,521.6,403.5,9.8,661,16171,0.00,0.47,0.00,0.000,4,0.000,0.060,3403,1892,734,0,0,0,0,0,0
$GC,16262,1.07,521.6,393.9,10.4,663,16267,0.00,0.52,0.00,0.000,6,0.000,0.066,3405,1578,734,0,0,0,0,0,0
$GC,16575,1.07,521.6,362.5,10.2,674,16576,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1578,734,0,0,0,0,0,0
$GC,16881,1.07,521.6,330.4,10.5,684,16885,0.00,1.25,0.00,0.000,4,0.000,0.066,3411,824,734,0,0,0,0,0,0
$GC,16976,1.07,521.6,319.9,11.2,686,16982,0.05,1.25,0.00,0.000,6,0.150,0.050,3394,1590,734,0,0,0,0,0,0
$GC,17290,1.07,521.6,283.3,12.1,699,17291,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1590,734,0,0,0,0,0,0
$GC,17602,1.09,521.6,245.2,12.3,714,17605,0.00,0.93,0.00,0.000,4,0.000,0.055,3393,2183,734,0,0,0,0,0,0
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$GC,19222,1.09,521.6,60.9,10.0,820,19225,0.00,0.70,0.00,0.000,6,0.000,0.060,3406,1584,734,0,0,0,0,0,0
$GC,19574,1.09,521.6,20.5,12.7,880,19581,0.00,0.95,0.00,0.000,4,0.000,0.056,3406,2181,734,0,0,0,0,0,0
$GC,19648,1.09,521.6,10.8,12.3,892,19655,0.00,0.95,0.00,0.000,6,0.000,0.056,3410,1586,733,0,0,0,0,0,0
$STATE,19709,end climb,SURFACE_DEPTH_REACHED
$STATE,19709,begin surface coast
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$STATE,19740,end surface coast,CONTROL_FINISHED_OK
$STATE,19740,begin surface
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$SM_GC,3.20,8.77,0.00,0.00,0.035,0.000,0.000,79,1915,732,-9.18,0.14,522.48
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$TT8_MAMPS,0.026964
$HUMID,49.37
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.3,95.132
$10V_AH,9.9,70.066
$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
$DEVICE_SECS,22.800,84.750,624.200,0.000,0.000,56.392,78.147,316.989,0.000,0.000,46.965,2373.677,13928.074,631.285,3305.566,279.474,33.383,1960.522,0.000,2766.934,0.000,1.008,0.000
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$SENSOR_SECS,608.571,820.401,619.148,67.731,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,53640,907
$CAP_FILE_SIZE,169996,0
$CFSIZE,2097086464,2023489536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,310113,020005,-4239.127,-256.755,54,1.9,54,-22.3