version: 66.07
glider: 23
mission: 5
dive: 216
start: 1 6 111 4 13 36
data:
$ID,23
$MISSION,5
$DIVE,216
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$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,1100
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56026.168
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$AR_DIVENUM,215
$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
$GPS1,060111,040307,1822.635,12417.220,43,2.0,43,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-57.7
$GPS2,060111,041244,1822.735,12417.149,13,2.0,13,-2.1
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,0.184
$KALMAN_X,-371156.3,339.9,266.5,191433.2,-3836.4
$KALMAN_Y,209410.0,274.6,-8.5,-540555.8,-6017.8
$MHEAD_RNG_PITCHd_Wd,39.0,333424,-11.0,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.92,-175.2,0.0,0.0,0,74,0.00,0.00,-45.83,0.000,2,0.000,0.000,366,2530,2538,0,0,0,0,0,0
$GC,77,-0.92,-175.2,3.0,-0.7,9,149,10.07,1.58,-56.92,0.000,4,0.153,0.058,2144,3454,3786,0,0,0,0,0,0
$GC,289,-0.92,-175.2,30.9,-19.4,48,295,0.00,1.73,0.00,0.000,6,0.000,0.031,2144,2395,3786,0,0,0,0,0,0
$GC,550,-0.92,-175.2,86.6,-21.2,73,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2395,3786,0,0,0,0,0,0
$GC,804,-0.92,-175.2,138.6,-18.8,97,808,0.00,1.75,0.00,0.000,4,0.000,0.032,2144,3458,3787,0,0,0,0,0,0
$GC,1062,-0.92,-175.2,177.1,-12.7,120,1066,0.00,1.75,0.00,0.000,6,0.000,0.025,2144,2392,3788,0,0,0,0,0,0
$GC,1338,-0.92,-175.2,212.9,-14.4,142,1341,0.00,1.75,0.00,0.000,4,0.000,0.035,2144,3456,3788,0,0,0,0,0,0
$GC,1594,-0.92,-175.2,245.1,-11.4,153,1599,0.00,1.75,0.00,0.000,6,0.000,0.025,2144,2398,3788,0,0,0,0,0,0
$GC,1916,-0.92,-175.2,276.9,-9.1,169,1920,0.00,1.75,0.00,0.000,4,0.000,0.038,2144,3455,3788,0,0,0,0,0,0
$GC,2173,-0.92,-175.2,301.5,-10.0,180,2178,0.00,1.75,0.00,0.000,6,0.000,0.026,2144,2400,3788,0,0,0,0,0,0
$GC,2510,-0.92,-175.2,337.7,-11.1,189,2514,0.00,2.30,0.00,0.000,4,0.000,0.044,2144,1339,3787,0,0,0,0,0,0
$GC,2548,-0.92,-175.2,341.7,-10.8,190,2552,0.00,2.25,0.00,0.000,6,0.000,0.028,2144,2392,3785,0,0,0,0,0,0
$GC,2871,-0.92,-175.2,374.7,-10.2,198,2875,0.00,2.33,0.00,0.000,4,0.000,0.043,2143,1333,3784,0,0,0,0,0,0
$GC,2959,-0.92,-175.2,383.2,-9.4,200,2963,0.00,2.30,0.00,0.000,6,0.000,0.027,2144,2409,3783,0,0,0,0,0,0
$GC,3283,-0.92,-175.2,414.3,-10.0,208,3287,0.00,2.33,0.00,0.000,4,0.000,0.042,2144,1334,3782,0,0,0,0,0,0
$GC,3321,-0.92,-175.2,418.1,-9.9,209,3325,0.00,2.28,0.00,0.000,6,0.000,0.028,2144,2399,3781,0,0,0,0,0,0
$GC,3645,-0.92,-175.2,448.7,-9.3,217,3649,0.00,2.38,0.00,0.000,4,0.000,0.043,2143,1334,3779,0,0,0,0,0,0
$GC,3670,-0.92,-175.2,451.4,-9.8,217,3675,0.00,2.33,0.00,0.000,6,0.000,0.028,2144,2406,3778,0,0,0,0,0,0
$GC,4007,-0.92,-175.2,480.9,-8.8,226,4011,0.00,1.77,0.00,0.000,4,0.000,0.044,2144,3474,3776,0,0,0,0,0,0
$GC,4107,-0.92,-175.2,490.1,-8.7,228,4111,0.00,1.80,0.00,0.000,6,0.000,0.028,2130,2396,3776,0,0,0,0,0,0
$GC,4425,-0.92,-175.2,517.1,-8.8,236,4429,0.00,2.30,0.00,0.000,4,0.000,0.044,2144,1341,3773,0,0,0,0,0,0
$GC,4514,-0.92,-175.2,524.9,-8.2,238,4518,0.00,2.30,0.00,0.000,6,0.000,0.031,2143,2399,3771,0,0,0,0,0,0
$GC,4838,-0.92,-175.2,553.3,-8.9,246,4842,0.00,2.35,0.00,0.000,4,0.000,0.044,2143,1335,3769,0,0,0,0,0,0
$GC,4909,-0.92,-175.2,560.0,-9.0,247,4914,0.00,2.35,0.00,0.000,6,0.000,0.031,2143,2414,3768,0,0,0,0,0,0
$GC,5246,-0.92,-175.2,589.5,-8.6,256,5250,0.00,2.35,0.00,0.000,4,0.000,0.044,2143,1342,3764,0,0,0,0,0,0
$GC,5312,-0.92,-175.2,595.2,-8.9,257,5316,0.00,2.30,0.00,0.000,6,0.000,0.031,2144,2392,3763,0,0,0,0,0,0
$GC,5660,-0.92,-175.2,622.9,-7.8,266,5664,0.00,2.30,0.00,0.000,4,0.000,0.045,2143,1347,3761,0,0,0,0,0,0
$GC,5771,-0.92,-175.2,631.6,-8.1,268,5775,0.00,2.33,0.00,0.000,6,0.000,0.033,2144,2404,3761,0,0,0,0,0,0
$GC,6113,-0.92,-175.2,656.5,-7.2,277,6116,0.00,1.80,0.00,0.000,4,0.000,0.051,2143,3457,3757,0,0,0,0,0,0
$GC,6179,-0.92,-175.2,661.5,-7.6,278,6183,0.00,1.80,0.00,0.000,6,0.000,0.031,2125,2393,3757,0,0,0,0,0,0
$GC,6527,-0.92,-175.2,685.5,-7.0,287,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2394,3754,0,0,0,0,0,0
$GC,6851,-0.92,-175.2,709.5,-7.4,295,6855,0.00,2.33,0.00,0.000,4,0.000,0.049,2144,1338,3751,0,0,0,0,0,0
$GC,6990,-0.92,-175.2,719.8,-7.1,298,6995,0.00,2.35,0.00,0.000,6,0.000,0.038,2143,2402,3750,0,0,0,0,0,0
$GC,7315,-0.92,-175.2,741.5,-6.5,306,7319,0.00,2.35,0.00,0.000,4,0.000,0.046,2143,1342,3748,0,0,0,0,0,0
$GC,7376,-0.92,-175.2,745.6,-6.9,307,7380,0.00,2.35,0.00,0.000,6,0.000,0.036,2143,2408,3749,0,0,0,0,0,0
$GC,7689,-0.92,-175.2,765.5,-6.3,315,7693,0.00,2.38,0.00,0.000,4,0.000,0.046,2143,1336,3746,0,0,0,0,0,0
$GC,7743,-0.92,-175.2,769.4,-6.7,316,7748,0.00,2.35,0.00,0.000,6,0.000,0.037,2143,2405,3746,0,0,0,0,0,0
$GC,8056,-0.92,-175.2,790.2,-6.7,324,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2405,3744,0,0,0,0,0,0
$GC,8382,-0.92,-175.2,812.4,-6.8,332,8386,0.00,2.35,0.00,0.000,4,0.000,0.045,2144,1333,3742,0,0,0,0,0,0
$GC,8555,-0.92,-175.2,824.5,-7.1,336,8559,0.00,2.35,0.00,0.000,6,0.000,0.037,2143,2413,3741,0,0,0,0,0,0
$GC,8878,-0.92,-175.2,844.7,-6.2,344,8882,0.00,2.38,0.00,0.000,4,0.000,0.046,2143,1333,3739,0,0,0,0,0,0
$GC,8944,-0.92,-175.2,849.0,-6.8,345,8948,0.00,2.38,0.00,0.000,6,0.000,0.037,2144,2408,3739,0,0,0,0,0,0
$GC,9292,-0.92,-175.2,870.5,-6.4,354,9296,0.00,2.35,0.00,0.000,4,0.000,0.045,2143,1335,3738,0,0,0,0,0,0
$GC,9396,-0.92,-175.2,877.7,-7.4,356,9401,0.00,2.35,0.00,0.000,6,0.000,0.037,2143,2398,3737,0,0,0,0,0,0
$GC,9745,-0.92,-175.2,899.6,-6.3,365,9748,0.00,2.35,0.00,0.000,4,0.000,0.045,2143,1335,3736,0,0,0,0,0,0
$GC,9873,-0.92,-175.2,907.9,-6.3,367,9879,0.00,2.35,0.00,0.000,6,0.000,0.038,2143,2410,3736,0,0,0,0,0,0
$GC,10204,-0.92,-175.2,927.7,-6.0,376,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2410,3735,0,0,0,0,0,0
$GC,10529,-0.92,-175.2,947.3,-5.9,384,10532,0.00,2.38,0.00,0.000,4,0.000,0.046,2143,1338,3734,0,0,0,0,0,0
$GC,10584,-0.92,-175.2,950.9,-5.8,385,10588,0.00,2.33,0.00,0.000,6,0.000,0.038,2143,2397,3734,0,0,0,0,0,0
$GC,10896,-0.92,-175.2,969.0,-6.0,393,10901,0.00,2.33,0.00,0.000,4,0.000,0.045,2144,1341,3733,0,0,0,0,0,0
$GC,11008,-0.92,-175.2,976.3,-6.4,395,11012,0.00,2.35,0.00,0.000,6,0.000,0.038,2143,2404,3733,0,0,0,0,0,0
$STATE,11226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11226,begin apogee
$GC,11232,-0.33,0.0,990.1,6.3,401,11375,0.65,0.00,139.65,1.494,6,0.097,0.000,2276,1873,3071,0,0,0,0,0,0
$STATE,11376,end apogee,CONTROL_FINISHED_OK
$STATE,11376,begin climb
$GC,11378,0.92,175.2,992.4,0.0,404,11532,1.33,0.00,150.50,1.437,6,0.067,0.000,2553,1873,2357,0,0,0,0,0,0
$GC,11833,0.92,175.2,958.6,7.9,416,11837,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,2918,2351,0,0,0,0,0,0
$GC,11910,0.92,175.2,952.0,8.6,417,11915,0.00,2.15,0.00,0.000,6,0.000,0.035,2553,1855,2350,0,0,0,0,0,0
$GC,12247,0.92,175.2,921.8,9.2,426,12251,0.00,2.22,0.00,0.000,4,0.000,0.054,2553,788,2350,0,0,0,0,0,0
$GC,12330,0.92,175.2,913.2,10.7,428,12334,0.00,2.15,0.00,0.000,6,0.000,0.031,2553,1866,2349,0,0,0,0,0,0
$GC,12659,0.92,175.2,881.2,9.7,436,12663,0.00,2.25,0.00,0.000,4,0.000,0.051,2553,790,2348,0,0,0,0,0,0
$GC,12720,0.92,175.2,875.1,9.5,437,12724,0.00,2.17,0.00,0.000,6,0.000,0.031,2553,1863,2348,0,0,0,0,0,0
$GC,13067,0.92,175.2,844.8,8.3,446,13071,0.00,2.25,0.00,0.000,4,0.000,0.051,2553,785,2348,0,0,0,0,0,0
$GC,13156,0.92,175.2,837.1,8.3,448,13160,0.00,2.17,0.00,0.000,6,0.000,0.030,2553,1864,2347,0,0,0,0,0,0
$GC,13480,0.92,175.2,811.9,7.7,456,13484,0.00,2.22,0.00,0.000,4,0.000,0.051,2553,782,2347,0,0,0,0,0,0
$GC,13534,0.92,175.2,807.4,7.9,457,13538,0.00,2.17,0.00,0.000,6,0.000,0.030,2553,1862,2347,0,0,0,0,0,0
$GC,13847,0.92,175.2,782.5,7.9,465,13851,0.00,2.22,0.00,0.000,4,0.000,0.051,2553,780,2347,0,0,0,0,0,0
$GC,13895,0.92,175.2,778.4,8.4,466,13900,0.00,2.20,0.00,0.000,6,0.000,0.031,2553,1870,2347,0,0,0,0,0,0
$GC,14214,0.92,175.2,753.7,7.7,474,14218,0.00,2.28,0.00,0.000,4,0.000,0.051,2553,776,2347,0,0,0,0,0,0
$GC,14268,0.92,175.2,749.0,8.0,475,14273,0.00,2.20,0.00,0.000,6,0.000,0.031,2553,1868,2347,0,0,0,0,0,0
$GC,14582,0.92,175.2,722.9,8.5,483,14585,0.00,2.25,0.00,0.000,4,0.000,0.051,2553,782,2347,0,0,0,0,0,0
$GC,14642,0.92,175.2,717.2,9.2,484,14646,0.00,2.17,0.00,0.000,6,0.000,0.030,2553,1863,2346,0,0,0,0,0,0
$GC,14955,0.92,175.2,689.2,9.0,492,14959,0.00,2.22,0.00,0.000,4,0.000,0.050,2553,779,2346,0,0,0,0,0,0
$GC,15015,0.92,175.2,683.5,8.6,493,15019,0.00,2.17,0.00,0.000,6,0.000,0.029,2553,1864,2346,0,0,0,0,0,0
$GC,15363,0.92,175.2,652.4,8.9,502,15364,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1865,2346,0,0,0,0,0,0
$GC,15688,0.92,175.2,625.7,7.9,510,15692,0.00,2.22,0.00,0.000,4,0.000,0.051,2553,777,2346,0,0,0,0,0,0
$GC,15731,0.92,175.2,622.1,8.7,511,15735,0.00,2.17,0.00,0.000,6,0.000,0.029,2553,1864,2345,0,0,0,0,0,0
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$STATE,23598,end climb,SURFACE_DEPTH_REACHED
$STATE,23598,begin surface coast
$FINISH,2.1,1.013612
$STATE,23639,end surface coast,CONTROL_FINISHED_OK
$STATE,23639,begin surface
$SM_CCo,23658,46.53,0.552,0,0,1439,400.08
$SM_GC,2.95,0.00,0.00,46.53,0.000,0.000,0.552,363,2410,1439,-9.14,0.31,400.08
$IRIDIUM_FIX,1814.58,12417.30,300612,222244
$TT8_MAMPS,0.048321
$HUMID,1078867732
$TCM_TEMP,25.00
$XPDR_PINGS,298
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,2091515904
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077754880
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,37.811
$10V_AH,10.0,21.667
$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,21.775,220.325,403.900,46.525,0.000,60.011,77.129,248.532,74.500,0.000,15.262,1895.483,18509.914,640.924,3005.798,226.919,33.370,2023.026,0.000,2536.179,0.000,0.545,0.000
$DEVICE_MAMPS,153.400,57.525,1494.116,552.240,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,625.365,0.000,0.000,0.000,0.000,0.000,0.000,20852.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.755,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,33327,920
$CAP_FILE_SIZE,198334,0
$CFSIZE,260034560,241307648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,105026,1824.742,12417.889,34,3.5,53,-2.1