version: 66.07
glider: 511
mission: 5
dive: 373
start: 2 11 111 15 24 27
data:
$ID,511
$MISSION,5
$DIVE,373
$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,586.50275
$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,-50557.707
$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,2579
$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,37
$R_STBD_OVSHOOT,24
$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,372
$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
$GPS1,110211,145707,1829.830,12441.530,149,1.1,149,-2.2
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-71.0
$GPS2,110211,152332,1829.479,12441.053,13,1.3,13,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.210,-0.045
$KALMAN_X,-522370.6,-218.6,-116.9,219552.5,798.0
$KALMAN_Y,589830.7,-235.5,-285.5,-824465.9,-857.2
$MHEAD_RNG_PITCHd_Wd,260.3,44461,-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,-146.0,0.0,0.0,0,90,0.00,0.00,-60.85,0.000,2,0.000,0.000,30,2039,2654,0,0,0,0,0,0
$GC,94,-0.58,-146.0,3.3,-2.8,6,129,10.05,2.30,-18.67,0.000,4,0.243,0.077,2376,3455,3486,0,0,0,0,0,0
$GC,364,-0.58,-146.0,60.7,-17.8,35,370,0.00,2.15,0.00,0.000,6,0.000,0.044,2376,2062,3488,0,0,0,0,0,0
$GC,625,-0.58,-146.0,113.4,-20.9,60,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3488,0,0,0,0,0,0
$GC,880,-0.58,-146.0,164.7,-19.8,84,883,0.00,2.25,0.00,0.000,4,0.000,0.063,2376,641,3488,0,0,0,0,0,0
$GC,936,-0.58,-146.0,175.1,-16.9,90,940,0.00,2.20,0.00,0.000,6,0.000,0.051,2366,2044,3488,0,0,0,0,0,0
$GC,1193,-0.58,-146.0,218.4,-16.2,109,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2044,3488,0,0,0,0,0,0
$GC,1503,-0.58,-146.0,263.9,-14.3,124,1507,0.00,2.25,0.00,0.000,4,0.000,0.061,2366,635,3488,0,0,0,0,0,0
$GC,1546,-0.58,-146.0,269.8,-13.6,125,1552,0.12,2.22,0.00,0.000,6,0.160,0.051,2390,2050,3488,0,0,0,0,0,0
$GC,1881,-0.58,-146.0,305.7,-10.9,141,1885,0.00,2.28,0.00,0.000,4,0.000,0.071,2382,3462,3488,0,0,0,0,0,0
$GC,1941,-0.58,-146.0,312.3,-11.3,142,1945,0.00,2.20,0.00,0.000,6,0.000,0.045,2382,2047,3488,0,0,0,0,0,0
$GC,2254,-0.58,-146.0,348.1,-11.6,150,2258,0.00,2.22,0.00,0.000,4,0.000,0.060,2382,640,3487,0,0,0,0,0,0
$GC,2310,-0.58,-146.0,354.4,-11.4,151,2314,0.00,2.22,0.00,0.000,6,0.000,0.052,2374,2053,3486,0,0,0,0,0,0
$GC,2624,-0.58,-146.0,386.1,-9.8,159,2628,0.00,2.25,0.00,0.000,4,0.000,0.066,2364,3461,3485,0,0,0,0,0,0
$GC,2739,-0.58,-146.0,398.6,-10.7,161,2743,0.00,2.20,0.00,0.000,6,0.000,0.047,2364,2051,3484,0,0,0,0,0,0
$GC,3084,-0.58,-146.0,437.6,-11.2,170,3088,0.10,2.22,0.00,0.000,4,0.177,0.055,2386,635,3482,0,0,0,0,0,0
$GC,3139,-0.58,-146.0,443.2,-9.2,171,3143,0.00,2.25,0.00,0.000,6,0.000,0.053,2383,2049,3481,0,0,0,0,0,0
$GC,3452,-0.58,-146.0,468.4,-8.3,179,3456,0.00,2.25,0.00,0.000,4,0.000,0.064,2376,3464,3479,0,0,0,0,0,0
$GC,3503,-0.58,-146.0,473.1,-9.2,180,3507,0.00,2.22,0.00,0.000,6,0.000,0.048,2373,2048,3482,0,0,0,0,0,0
$GC,3825,-0.58,-146.0,503.6,-9.5,188,3829,0.00,2.22,0.00,0.000,4,0.000,0.054,2374,625,3477,0,0,0,0,0,0
$GC,3895,-0.58,-146.0,510.6,-9.6,189,3900,0.00,2.28,0.00,0.000,6,0.000,0.056,2374,2048,3476,0,0,0,0,0,0
$GC,4236,-0.58,-146.0,541.5,-8.8,198,4240,0.00,2.30,0.00,0.000,4,0.000,0.067,2374,3468,3477,0,0,0,0,0,0
$GC,4286,-0.58,-146.0,546.1,-9.1,199,4290,0.00,2.17,0.00,0.000,6,0.000,0.046,2373,2039,3473,0,0,1,0,0,0
$GC,4604,-0.58,-146.0,573.9,-8.9,207,4608,0.00,2.17,0.00,0.000,4,0.000,0.054,2374,644,3470,0,0,0,0,0,0
$GC,4636,-0.58,-146.0,577.0,-9.8,207,4640,0.00,2.25,0.00,0.000,6,0.000,0.051,2373,2059,3470,0,0,0,0,0,0
$GC,4971,-0.58,-146.0,605.3,-8.3,216,4975,0.00,2.25,0.00,0.000,4,0.000,0.066,2373,3453,3467,0,0,0,0,0,0
$GC,5008,-0.58,-146.0,608.5,-8.4,216,5013,0.00,2.17,0.00,0.000,6,0.000,0.044,2373,2051,3467,0,0,0,0,0,0
$GC,5339,-0.58,-146.0,640.6,-10.1,225,5343,0.00,2.20,0.00,0.000,4,0.000,0.054,2373,646,3464,0,0,0,0,0,0
$GC,5362,-0.58,-146.0,643.3,-11.2,225,5366,0.00,2.20,0.00,0.000,6,0.000,0.051,2373,2050,3465,0,0,0,0,0,0
$GC,5701,-0.58,-146.0,675.7,-9.2,234,5705,0.00,2.28,0.00,0.000,4,0.000,0.067,2374,3461,3463,0,0,0,0,0,0
$GC,5744,-0.58,-146.0,679.1,-7.7,235,5748,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,2045,3461,0,0,0,0,0,0
$GC,6071,-0.58,-146.0,702.2,-6.7,243,6075,0.00,2.20,0.00,0.000,4,0.000,0.054,2374,642,3459,0,0,0,0,0,0
$GC,6093,-0.58,-146.0,703.9,-6.8,243,6097,0.00,2.20,0.00,0.000,6,0.000,0.050,2374,2043,3462,0,0,0,0,0,0
$GC,6438,-0.58,-146.0,727.3,-7.1,252,6442,0.00,2.30,0.00,0.000,4,0.000,0.067,2370,3464,3457,0,0,0,0,0,0
$GC,6475,-0.58,-146.0,730.1,-8.2,252,6479,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,2042,3456,0,0,0,0,0,0
$GC,6809,-0.58,-146.0,755.9,-7.9,261,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2036,3454,0,0,0,0,0,0
$GC,7135,-0.58,-146.0,781.1,-7.7,269,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2037,3452,0,0,0,0,0,0
$GC,7459,-0.58,-146.0,804.3,-7.0,277,7463,0.00,2.33,0.00,0.000,4,0.000,0.068,2373,3462,3450,0,0,0,0,0,0
$GC,7487,-0.58,-146.0,806.3,-7.2,277,7491,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,2041,3449,0,0,0,0,0,0
$GC,7822,-0.58,-146.0,831.7,-7.8,286,7826,0.00,2.22,0.00,0.000,4,0.000,0.057,2374,645,3448,0,0,0,0,0,0
$GC,7855,-0.58,-146.0,834.5,-8.4,286,7859,0.00,2.25,0.00,0.000,6,0.000,0.051,2373,2056,3447,0,0,0,0,0,0
$GC,8186,-0.58,-146.0,859.9,-7.7,294,8190,0.00,2.30,0.00,0.000,4,0.000,0.069,2373,3458,3446,0,0,0,0,0,0
$GC,8218,-0.58,-146.0,862.5,-7.9,294,8222,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,2042,3446,0,0,0,0,0,0
$GC,8553,-0.58,-146.0,889.6,-8.3,303,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2037,3445,0,0,0,0,0,0
$GC,8878,-0.58,-146.0,917.8,-8.8,311,8882,0.00,2.33,0.00,0.000,4,0.000,0.069,2373,3459,3443,0,0,0,0,0,0
$GC,8920,-0.58,-146.0,921.4,-8.2,312,8924,0.00,2.20,0.00,0.000,6,0.000,0.045,2373,2049,3443,0,0,0,0,0,0
$GC,9247,-0.58,-146.0,947.5,-7.8,320,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2045,3443,0,0,0,0,0,0
$GC,9571,-0.58,-146.0,969.5,-6.7,328,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2045,3442,0,0,0,0,0,0
$STATE,9894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9895,begin apogee
$GC,9900,-0.28,0.0,990.1,6.2,336,10025,0.35,0.00,121.70,1.343,6,0.128,0.000,2484,2110,2891,0,0,0,0,0,0
$STATE,10026,end apogee,CONTROL_FINISHED_OK
$STATE,10026,begin climb
$GC,10029,0.58,146.0,993.3,0.0,339,10171,0.80,2.50,132.75,1.307,4,0.087,0.069,2761,3502,2294,0,0,0,0,0,0
$GC,10254,0.58,146.0,978.5,12.7,344,10258,0.00,2.25,0.00,0.000,6,0.000,0.048,2771,2106,2288,0,0,1,0,0,0
$GC,10567,0.58,146.0,942.7,11.2,352,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2099,2283,0,0,0,0,0,0
$GC,10893,0.58,146.0,905.5,11.5,360,10897,0.00,2.33,0.00,0.000,4,0.000,0.070,2772,3506,2279,0,0,0,0,0,0
$GC,10935,0.58,146.0,900.2,13.1,361,10939,0.00,2.22,0.00,0.000,6,0.000,0.051,2782,2095,2276,0,0,1,0,0,0
$GC,11262,0.58,146.0,864.3,10.5,369,11266,0.00,2.33,0.00,0.000,4,0.000,0.069,2782,3503,2276,0,0,0,0,0,0
$GC,11327,0.58,146.0,856.8,11.9,370,11331,0.00,2.20,0.00,0.000,6,0.000,0.049,2797,2100,2278,0,0,1,0,0,0
$GC,11671,0.58,146.0,819.0,11.3,379,11675,0.00,2.28,0.00,0.000,4,0.000,0.061,2803,684,2276,0,0,0,0,0,0
$GC,11754,0.58,146.0,809.3,11.9,380,11759,0.15,2.22,0.00,0.000,6,0.190,0.053,2767,2097,2275,0,0,1,0,0,0
$GC,12090,0.58,146.0,776.5,9.7,389,12094,0.00,2.33,0.00,0.000,4,0.000,0.071,2766,3511,2275,0,0,0,0,0,0
$GC,12168,0.58,146.0,767.9,10.5,390,12172,0.00,2.20,0.00,0.000,6,0.000,0.051,2776,2102,2275,0,0,1,0,0,0
$GC,12504,0.58,146.0,737.2,8.8,399,12508,0.00,2.25,0.00,0.000,4,0.000,0.062,2786,692,2274,0,0,0,0,0,0
$GC,12560,0.58,146.0,732.2,8.6,400,12565,0.00,2.25,0.00,0.000,6,0.000,0.054,2786,2101,2273,0,0,0,0,0,0
$GC,12873,0.58,146.0,702.6,9.6,408,12877,0.00,2.35,0.00,0.000,4,0.000,0.070,2786,3517,2276,0,0,0,0,0,0
$GC,12952,0.58,146.0,694.1,11.0,409,12957,0.12,2.25,0.00,0.000,6,0.204,0.051,2768,2096,2273,0,0,1,0,0,0
$GC,13283,0.58,146.0,664.0,9.0,417,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2090,2272,0,0,0,0,0,0
$GC,13608,0.58,146.0,635.7,8.6,425,13609,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2090,2272,0,0,0,0,0,0
$GC,13933,0.58,146.0,607.1,8.6,433,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2090,2272,0,0,0,0,0,0
$GC,14258,0.58,146.0,581.3,7.8,441,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2090,2271,0,0,0,0,0,0
$GC,14583,0.58,146.0,555.8,7.8,449,14587,0.00,2.28,0.00,0.000,4,0.000,0.063,2777,687,2272,0,0,0,0,0,0
$GC,14626,0.58,146.0,552.5,8.1,450,14630,0.00,2.30,0.00,0.000,6,0.000,0.054,2777,2113,2272,0,0,0,0,0,0
$GC,14952,0.58,146.0,524.7,8.4,458,14956,0.00,2.28,0.00,0.000,4,0.000,0.068,2777,3509,2271,0,0,0,0,0,0
$GC,14975,0.58,146.0,522.5,8.5,458,14979,0.00,2.22,0.00,0.000,6,0.000,0.050,2787,2100,2271,0,0,0,0,0,0
$GC,15320,0.58,146.0,494.0,8.1,467,15324,0.00,2.35,0.00,0.000,4,0.000,0.067,2788,3511,2271,0,0,0,0,0,0
$GC,15356,0.58,146.0,490.6,9.5,467,15362,0.12,2.25,0.00,0.000,6,0.199,0.049,2770,2098,2272,0,0,0,0,0,0
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$STATE,22360,end climb,SURFACE_DEPTH_REACHED
$STATE,22360,begin surface coast
$FINISH,1.1,1.013750
$STATE,22406,end surface coast,CONTROL_FINISHED_OK
$STATE,22406,begin surface
$SM_CCo,22423,133.73,0.542,0,0,500,586.75
$SM_GC,1.64,0.00,0.00,133.73,0.000,0.000,0.542,46,2032,500,-7.91,-0.54,586.75
$IRIDIUM_FIX,1819.13,12441.28,060812,090917
$TT8_MAMPS,0.056758
$HUMID,1078681926
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.40
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8432287744
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51908083712
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,75.701
$10V_AH,9.8,51.962
$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,19.800,207.100,416.000,133.725,0.000,139.667,198.482,810.395,0.250,0.000,15.197,1796.707,17813.035,659.499,3379.356,488.965,33.366,1954.382,0.000,2276.405,0.000,0.544,0.000
$DEVICE_MAMPS,243.139,111.982,1343.017,542.269,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,594.379,0.000,0.000,0.000,0.000,0.000,0.000,22259.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,6.182,0.000,0.000
$MEM,354812
$DATA_FILE_SIZE,30007,881
$CAP_FILE_SIZE,209108,0
$CFSIZE,260165632,225673216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,110211,214308,1828.307,12437.527,109,0.9,109,-2.1