version: 66.07
glider: 511
mission: 5
dive: 358
start: 2 7 111 8 3 9
data:
$ID,511
$MISSION,5
$DIVE,358
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-50148.539
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2583
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$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,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,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,357
$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
$GPS1,070211,074606,1830.972,12529.812,28,1.3,28,-2.2
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,6
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.1
$GPS2,070211,080214,1831.262,12529.574,12,2.0,12,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.215,0.011
$KALMAN_X,-540020.1,-171.3,-68.6,321211.2,1542.8
$KALMAN_Y,596416.0,445.4,57.0,-828777.2,-1188.5
$MHEAD_RNG_PITCHd_Wd,275.1,128335,-9.9,-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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.58,-146.0,0.0,0.0,0,100,0.00,0.00,-70.88,0.000,2,0.000,0.000,41,2046,2928,0,0,0,0,0,0
$GC,104,-0.58,-146.0,4.2,-4.8,7,131,10.30,2.30,-10.77,0.000,4,0.250,0.074,2379,3466,3487,0,0,0,0,0,0
$GC,284,-0.58,-146.0,51.8,-18.0,26,289,0.00,2.22,0.00,0.000,6,0.000,0.047,2379,2046,3489,0,0,0,0,0,0
$GC,545,-0.58,-146.0,110.5,-22.8,51,549,0.00,2.22,0.00,0.000,4,0.000,0.059,2379,640,3490,0,0,0,0,0,0
$GC,624,-0.58,-146.0,127.2,-18.7,59,628,0.00,2.22,0.00,0.000,6,0.000,0.050,2369,2054,3490,0,0,0,0,0,0
$GC,886,-0.58,-146.0,175.7,-17.5,83,890,0.00,2.25,0.00,0.000,4,0.000,0.061,2369,642,3491,0,0,0,0,0,0
$GC,919,-0.58,-146.0,182.1,-18.0,86,924,0.12,2.20,0.00,0.000,6,0.165,0.050,2392,2055,3490,0,0,0,0,0,0
$GC,1186,-0.58,-146.0,219.8,-13.1,104,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2056,3491,0,0,0,0,0,0
$GC,1495,-0.58,-146.0,256.7,-11.8,119,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2056,3490,0,0,0,0,0,0
$GC,1804,-0.58,-146.0,292.9,-11.7,134,1808,0.00,2.28,0.00,0.000,4,0.000,0.069,2383,3461,3490,0,0,0,0,0,0
$GC,1860,-0.58,-146.0,299.6,-11.8,136,1864,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,2041,3490,0,0,0,0,0,0
$GC,2170,-0.58,-146.0,335.8,-11.6,144,2174,0.00,2.20,0.00,0.000,4,0.000,0.058,2384,643,3490,0,0,0,0,0,0
$GC,2244,-0.58,-146.0,343.6,-9.9,145,2248,0.00,2.22,0.00,0.000,6,0.000,0.054,2383,2054,3490,0,0,0,0,0,0
$GC,2580,-0.58,-146.0,376.2,-9.9,154,2584,0.00,2.25,0.00,0.000,4,0.000,0.066,2375,3466,3486,0,0,0,0,0,0
$GC,2607,-0.58,-146.0,379.3,-10.6,154,2611,0.00,2.17,0.00,0.000,6,0.000,0.045,2375,2052,3488,0,0,0,0,0,0
$GC,2942,-0.58,-146.0,415.6,-10.9,163,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2052,3486,0,0,0,0,0,0
$GC,3267,-0.58,-146.0,448.6,-10.5,171,3271,0.00,2.20,0.00,0.000,4,0.000,0.054,2371,630,3484,0,0,0,0,0,0
$GC,3290,-0.58,-146.0,451.4,-12.2,171,3295,0.10,2.28,0.00,0.000,6,0.163,0.054,2394,2058,3484,0,0,0,0,0,0
$GC,3630,-0.58,-146.0,482.9,-8.5,180,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2059,3481,0,0,0,0,0,0
$GC,3956,-0.58,-146.0,505.4,-7.0,188,3960,0.00,2.25,0.00,0.000,4,0.000,0.064,2386,3459,3478,0,0,0,0,0,0
$GC,3993,-0.58,-146.0,508.5,-8.5,188,3998,0.00,2.22,0.00,0.000,6,0.000,0.047,2385,2044,3476,0,0,0,0,0,0
$GC,4323,-0.58,-146.0,535.9,-8.2,197,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2044,3476,0,0,0,0,0,0
$GC,4648,-0.58,-146.0,561.0,-7.9,205,4652,0.00,2.35,0.00,0.000,4,0.000,0.074,2376,3458,3473,0,0,0,0,0,0
$GC,4676,-0.58,-146.0,563.3,-8.9,205,4680,0.00,2.20,0.00,0.000,6,0.000,0.048,2375,2040,3471,0,0,0,0,0,0
$GC,5015,-0.58,-146.0,594.6,-9.4,214,5019,0.00,2.20,0.00,0.000,4,0.000,0.055,2376,646,3469,0,0,0,0,0,0
$GC,5038,-0.58,-146.0,597.0,-10.1,214,5043,0.10,2.22,0.00,0.000,6,0.162,0.054,2390,2052,3469,0,0,0,0,0,0
$GC,5379,-0.58,-146.0,624.3,-7.9,223,5383,0.00,2.25,0.00,0.000,4,0.000,0.067,2385,3456,3466,0,0,0,0,0,0
$GC,5415,-0.58,-146.0,627.5,-8.7,223,5421,0.00,2.17,0.00,0.000,6,0.000,0.043,2385,2050,3466,0,0,0,0,0,0
$GC,5746,-0.58,-146.0,655.7,-8.6,232,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2047,3465,0,0,0,0,0,0
$GC,6071,-0.58,-146.0,680.7,-7.1,240,6075,0.00,2.22,0.00,0.000,4,0.000,0.055,2385,643,3462,0,0,0,0,0,0
$GC,6099,-0.58,-146.0,682.6,-6.9,240,6103,0.00,2.22,0.00,0.000,6,0.000,0.049,2375,2052,3461,0,0,0,0,0,0
$GC,6438,-0.58,-146.0,703.1,-5.8,249,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2052,3459,0,0,0,0,0,0
$GC,6764,-0.58,-146.0,725.2,-6.9,257,6768,0.00,2.30,0.00,0.000,4,0.000,0.067,2369,3456,3457,0,0,0,0,0,0
$GC,6800,-0.58,-146.0,728.0,-8.3,257,6805,0.00,2.20,0.00,0.000,6,0.000,0.044,2369,2046,3457,0,0,0,0,0,0
$GC,7131,-0.58,-146.0,751.7,-7.0,266,7132,0.10,0.00,0.00,0.000,6,0.178,0.000,2395,2040,3455,0,0,0,0,0,0
$GC,7457,-0.58,-146.0,768.6,-5.2,274,7461,0.00,2.30,0.00,0.000,4,0.000,0.067,2385,3457,3453,0,0,0,0,0,0
$GC,7485,-0.58,-146.0,770.1,-5.4,274,7489,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,2050,3453,0,0,0,0,0,0
$GC,7820,-0.58,-146.0,791.1,-6.5,283,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2045,3451,0,0,0,0,0,0
$GC,8145,-0.58,-146.0,813.1,-6.8,291,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2044,3452,0,0,0,0,0,0
$GC,8470,-0.58,-146.0,834.8,-6.7,299,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2045,3448,0,0,0,0,0,0
$GC,8795,-0.58,-146.0,856.1,-6.6,307,8799,0.00,2.33,0.00,0.000,4,0.000,0.066,2376,3460,3448,0,0,0,0,0,0
$GC,8822,-0.58,-146.0,858.0,-7.3,307,8826,0.00,2.20,0.00,0.000,6,0.000,0.046,2377,2046,3447,0,0,0,0,0,0
$GC,9161,-0.58,-146.0,880.8,-6.7,316,9165,0.00,2.22,0.00,0.000,4,0.000,0.058,2376,645,3446,0,0,0,0,0,0
$GC,9185,-0.58,-146.0,882.3,-8.1,316,9189,0.00,2.22,0.00,0.000,6,0.000,0.050,2368,2052,3446,0,0,0,0,0,0
$GC,9529,-0.58,-146.0,906.1,-7.0,325,9533,0.10,2.33,0.00,0.000,4,0.177,0.069,2385,3454,3443,0,0,0,0,0,0
$GC,9557,-0.58,-146.0,908.1,-6.2,325,9561,0.00,2.22,0.00,0.000,6,0.000,0.046,2385,2040,3445,0,0,0,0,0,0
$GC,9897,-0.58,-146.0,931.3,-7.0,334,9901,0.00,2.25,0.00,0.000,4,0.000,0.058,2385,644,3443,0,0,0,0,0,0
$GC,9919,-0.58,-146.0,933.0,-8.3,334,9924,0.00,2.25,0.00,0.000,6,0.000,0.052,2381,2047,3444,0,0,0,0,0,0
$GC,10259,-0.58,-146.0,958.8,-7.7,343,10263,0.00,2.33,0.00,0.000,4,0.000,0.069,2368,3460,3443,0,0,0,0,0,0
$GC,10310,-0.58,-146.0,962.9,-8.9,344,10314,0.00,2.22,0.00,0.000,6,0.000,0.047,2372,2047,3443,0,0,0,0,0,0
$GC,10628,-0.58,-146.0,987.3,-7.5,352,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2044,3442,0,0,0,0,0,0
$STATE,10666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10666,begin apogee
$GC,10672,-0.28,0.0,990.4,7.5,353,10798,0.38,0.00,123.22,1.355,6,0.130,0.000,2490,2106,2891,0,0,0,0,0,0
$STATE,10799,end apogee,CONTROL_FINISHED_OK
$STATE,10799,begin climb
$GC,10802,0.58,146.0,995.0,0.0,356,10944,0.80,2.47,134.00,1.317,4,0.087,0.060,2777,699,2296,0,0,1,0,0,0
$GC,11027,0.58,146.0,982.8,11.4,361,11032,0.00,2.30,0.00,0.000,6,0.000,0.054,2777,2092,2284,0,0,0,0,0,0
$GC,11340,0.58,146.0,948.2,11.0,369,11344,0.00,2.35,0.00,0.000,4,0.000,0.070,2783,3518,2282,0,0,0,0,0,0
$GC,11387,0.58,146.0,942.6,12.9,370,11392,0.00,2.22,0.00,0.000,6,0.000,0.049,2787,2107,2282,0,0,1,0,0,0
$GC,11714,0.58,146.0,904.4,11.6,378,11718,0.00,2.30,0.00,0.000,4,0.000,0.061,2798,691,2279,0,0,0,0,0,0
$GC,11760,0.58,146.0,898.6,12.9,379,11764,0.00,2.28,0.00,0.000,6,0.000,0.054,2798,2102,2277,0,0,0,0,0,0
$GC,12083,0.58,146.0,858.9,12.4,387,12087,0.00,2.30,0.00,0.000,4,0.000,0.069,2798,3509,2277,0,0,0,0,0,0
$GC,12142,0.58,146.0,850.4,13.7,388,12147,0.15,2.22,0.00,0.000,6,0.209,0.051,2774,2100,2276,0,0,1,0,0,0
$GC,12456,0.58,146.0,815.6,10.9,396,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2094,2276,0,0,0,0,0,0
$GC,12781,0.58,146.0,783.0,9.6,404,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2094,2276,0,0,0,0,0,0
$GC,13106,0.58,146.0,755.1,8.3,412,13110,0.00,2.33,0.00,0.000,4,0.000,0.069,2774,3509,2278,0,0,0,0,0,0
$GC,13143,0.58,146.0,751.6,9.6,412,13147,0.00,2.20,0.00,0.000,6,0.000,0.051,2778,2100,2278,0,0,1,0,0,0
$GC,13477,0.58,146.0,720.6,9.6,421,13481,0.00,2.25,0.00,0.000,4,0.000,0.061,2793,696,2275,0,0,0,0,0,0
$GC,13524,0.58,146.0,715.9,9.5,422,13528,0.00,2.25,0.00,0.000,6,0.000,0.054,2793,2106,2274,0,0,0,0,0,0
$GC,13851,0.58,146.0,680.8,10.8,430,13853,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2103,2272,0,0,0,0,0,0
$GC,14176,0.58,146.0,648.0,9.7,438,14177,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2102,2273,0,0,0,0,0,0
$GC,14501,0.58,146.0,617.6,9.4,446,14505,0.00,2.30,0.00,0.000,4,0.000,0.069,2793,3504,2273,0,0,0,0,0,0
$GC,14533,0.58,146.0,614.0,10.9,446,14538,0.15,2.20,0.00,0.000,6,0.203,0.050,2769,2091,2274,0,0,1,0,0,0
$GC,14869,0.58,146.0,582.3,9.0,455,14873,0.00,2.28,0.00,0.000,4,0.000,0.061,2778,698,2273,0,0,0,0,0,0
$GC,14990,0.58,146.0,572.5,8.3,457,14994,0.00,2.28,0.00,0.000,6,0.000,0.055,2778,2104,2272,0,0,0,0,0,0
$GC,15326,0.58,146.0,546.5,8.1,466,15330,0.00,2.30,0.00,0.000,4,0.000,0.070,2778,3509,2272,0,0,0,0,0,0
$GC,15385,0.58,146.0,540.7,9.2,467,15390,0.00,2.22,0.00,0.000,6,0.000,0.050,2784,2099,2273,0,0,1,0,0,0
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$STATE,23191,end climb,SURFACE_DEPTH_REACHED
$STATE,23191,begin surface coast
$FINISH,1.0,1.022942
$STATE,23227,end surface coast,CONTROL_FINISHED_OK
$STATE,23227,begin surface
$SM_CCo,23243,49.22,0.537,0,0,1053,450.12
$SM_GC,1.81,0.00,0.00,49.22,0.000,0.000,0.537,48,2088,1053,-7.93,0.93,450.12
$IRIDIUM_FIX,1823.67,12528.56,020812,020208
$TT8_MAMPS,0.056758
$HUMID,1078666442
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.60
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8432713728
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52099743744
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,72.885
$10V_AH,9.8,49.882
$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,20.275,216.075,428.225,49.225,0.000,55.685,70.802,617.478,0.750,0.000,14.274,1819.226,18471.396,608.874,2902.120,450.594,33.366,1881.696,0.000,2200.812,0.000,0.545,0.000
$DEVICE_MAMPS,250.042,111.215,1354.522,536.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,617.463,0.000,0.000,0.000,0.000,0.000,0.000,22194.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.399,0.000,0.000
$MEM,354888
$DATA_FILE_SIZE,33444,916
$CAP_FILE_SIZE,200376,0
$CFSIZE,260165632,227037184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,070211,143350,1831.583,12526.220,74,2.2,93,-2.2