version: 66.10
glider: 169
mission: 6
dive: 333
start: 6 29 112 15 36 47
data:
$ID,169
$MISSION,6
$DIVE,333
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,4
$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,250
$T_MISSION,290
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-12
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,165
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-15960.693
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,290612,152000,2400.158,12259.396,41,1.1,41,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-67.4
$GPS2,290612,153607,2400.307,12259.411,15,1.8,15,-3.4
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2349.876,12302.467
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,168.4,20000,-16.2,-13.200
$D_GRID,1411
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-292.0,0.0,0.0,0,114,0.00,0.00,-94.60,0.000,2,0.000,0.000,116,2437,3055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.76,-292.0,3.9,-9.5,17,148,7.38,0.00,-16.30,0.000,6,0.215,0.000,1995,2437,3963,0,0,0,0,0,0,25.04,28.83,26.57
$GC,333,-0.67,-292.0,81.4,-28.9,58,341,0.12,2.40,0.00,0.000,4,0.190,0.022,2041,1004,3963,0,0,0,0,0,0,26.00,26.25,28.83
$GC,434,-0.67,-292.0,101.0,-14.4,77,441,0.00,2.55,0.00,0.000,6,0.000,0.031,2028,2486,3963,0,0,0,0,0,0,28.83,26.23,28.83
$GC,627,-0.61,-292.0,140.6,-22.2,114,634,0.00,2.53,0.00,0.000,4,0.000,0.024,2040,998,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,677,-0.60,-292.0,149.7,-14.2,123,684,0.00,2.50,0.00,0.000,6,0.000,0.030,2028,2459,3963,0,0,0,0,0,0,28.83,26.29,28.83
$GC,867,-0.55,-292.0,186.2,-19.6,160,875,0.12,2.45,0.00,0.000,4,0.168,0.021,2077,995,3962,0,0,0,0,0,0,26.19,26.36,28.83
$GC,893,-0.53,-292.0,190.5,-16.8,164,900,0.00,2.42,0.00,0.000,6,0.000,0.029,2066,2424,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1085,-0.51,-292.0,217.2,-14.3,201,1092,0.00,2.12,0.00,0.000,4,0.000,0.038,2055,3837,3962,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1131,-0.51,-292.0,223.8,-13.0,209,1138,0.00,2.10,0.00,0.000,6,0.000,0.018,2055,2380,3962,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1444,-0.49,-292.0,270.0,-14.7,270,1451,0.12,2.25,0.00,0.000,4,0.142,0.021,2107,995,3961,0,0,0,0,0,0,26.29,26.39,28.83
$GC,1485,-0.53,-292.0,274.8,-8.3,277,1492,0.00,2.47,0.00,0.000,6,0.000,0.028,2104,2452,3961,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1797,-0.63,-292.0,298.7,-7.0,338,1804,0.15,2.42,0.00,0.000,4,0.097,0.022,2048,999,3959,0,0,0,0,0,0,26.44,26.39,28.83
$GC,1879,-0.69,-292.0,305.2,-7.9,353,1886,0.00,2.30,-0.05,0.000,6,0.000,0.025,2048,2401,3969,0,0,0,0,0,0,28.83,26.39,25.71
$GC,2194,-0.67,-292.0,345.5,-14.4,414,2201,0.00,2.22,0.00,0.000,4,0.000,0.041,2037,3844,3968,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2249,-0.68,-292.0,353.7,-12.3,424,2256,0.00,2.25,0.00,0.000,6,0.000,0.018,2037,2316,3967,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2563,-0.66,-292.0,399.6,-14.3,485,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2317,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2874,-0.64,-292.0,443.4,-14.3,546,2881,0.00,2.45,0.00,0.000,4,0.000,0.039,2025,3832,3963,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2905,-0.62,-292.0,447.6,-14.5,551,2912,0.00,2.22,0.00,0.000,6,0.000,0.018,2025,2329,3963,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3217,-0.59,-292.0,495.3,-15.5,612,3224,0.12,2.42,0.00,0.000,4,0.133,0.037,2057,3836,3961,0,0,0,0,0,0,26.33,26.27,28.83
$GC,3254,-0.60,-292.0,499.6,-11.3,618,3261,0.00,2.17,0.00,0.000,6,0.000,0.018,2057,2336,3960,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3559,-0.60,-292.0,530.3,-9.8,649,3567,0.00,2.35,0.00,0.000,4,0.000,0.040,2046,3823,3958,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3584,-0.60,-292.0,532.5,-9.9,651,3591,0.00,2.15,0.00,0.000,6,0.000,0.018,2046,2342,3957,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3891,-0.60,-292.0,566.7,-11.3,682,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2342,3955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,-0.60,-292.0,600.7,-11.5,712,4204,0.00,2.38,0.00,0.000,4,0.000,0.040,2035,3828,3952,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4249,-0.60,-292.0,607.1,-12.1,717,4256,0.00,2.17,0.00,0.000,6,0.000,0.019,2035,2349,3951,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4559,-0.59,-292.0,645.4,-11.8,748,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2349,3949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4868,-0.58,-292.0,684.5,-13.5,779,4877,0.00,2.38,0.00,0.000,4,0.000,0.041,2023,3834,3946,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4914,-0.58,-292.0,689.8,-12.6,783,4921,0.12,2.15,0.00,0.000,6,0.121,0.018,2063,2356,3945,0,0,0,0,0,0,26.19,26.45,28.83
$GC,5222,-0.59,-292.0,718.3,-8.5,814,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2355,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5532,-0.60,-292.0,743.1,-8.3,845,5541,0.00,2.40,0.00,0.000,4,0.000,0.043,2052,3830,3941,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5584,-0.63,-292.0,747.5,-8.3,850,5588,0.00,2.12,0.00,0.000,6,0.000,0.018,2052,2364,3941,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5896,-0.63,-292.0,776.6,-9.4,881,5905,0.00,2.33,0.00,0.000,4,0.000,0.042,2040,3819,3938,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5921,-0.64,-292.0,778.8,-9.4,883,5928,0.00,2.10,0.00,0.000,6,0.000,0.019,2041,2380,3937,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6228,-0.64,-292.0,812.8,-11.4,914,6237,0.00,2.30,0.00,0.000,4,0.000,0.043,2029,3830,3935,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6250,-0.64,-292.0,815.4,-11.5,916,6259,0.00,2.10,0.00,0.000,6,0.000,0.018,2030,2393,3934,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6561,-0.64,-292.0,854.7,-12.0,947,6569,0.00,2.28,0.00,0.000,4,0.000,0.026,2030,1003,3932,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6595,-0.64,-292.0,858.3,-11.4,950,6602,0.00,2.47,0.00,0.000,6,0.000,0.035,2030,2445,3932,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6903,-0.63,-292.0,894.1,-11.4,981,6911,0.00,2.10,0.00,0.000,4,0.000,0.044,2019,3828,3930,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6934,-0.63,-292.0,897.7,-11.2,984,6943,0.00,2.12,0.00,0.000,6,0.000,0.020,2019,2394,3929,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7245,-0.62,-292.0,932.6,-11.4,1015,7254,0.10,2.30,0.00,0.000,4,0.144,0.041,2039,3839,3927,0,0,0,0,0,0,26.39,26.10,28.83
$GC,7280,-0.62,-292.0,936.3,-11.2,1018,7287,0.00,2.08,0.00,0.000,6,0.000,0.020,2039,2409,3927,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7588,-0.62,-292.0,969.6,-11.8,1049,7596,0.00,2.30,0.00,0.000,4,0.000,0.026,2038,1003,3925,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7632,-0.64,-292.0,974.1,-10.9,1053,7639,0.00,2.53,0.00,0.000,6,0.000,0.034,2032,2472,3924,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,7757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7757,begin apogee
$GC,7764,-0.20,0.0,990.2,-12.8,1066,8009,0.43,0.00,237.60,1.071,4,0.098,0.000,2181,2471,2970,0,0,0,0,0,0,25.89,28.83,23.64
$STATE,8010,end apogee,CONTROL_FINISHED_OK
$STATE,8010,begin climb
$GC,8013,0.76,292.0,1008.8,0.0,1091,8362,0.82,2.55,332.23,1.003,4,0.050,0.027,2495,1021,1779,0,0,0,0,0,0,25.15,25.19,23.87
$GC,8426,0.76,292.0,959.0,15.0,1132,8435,0.00,2.60,0.00,0.000,6,0.000,0.033,2495,2487,1760,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8736,0.71,292.0,887.6,23.3,1163,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2485,1756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9039,0.66,292.0,820.8,21.1,1193,9048,0.12,2.05,0.00,0.000,4,0.176,0.041,2457,3834,1755,0,0,0,0,0,0,25.98,26.13,28.83
$GC,9146,0.63,292.0,800.4,18.6,1203,9153,0.00,1.98,0.00,0.000,6,0.000,0.021,2467,2480,1754,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9451,0.60,292.0,748.0,16.4,1234,9455,0.00,2.10,0.00,0.000,4,0.000,0.043,2467,3827,1753,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9483,0.57,292.0,742.5,17.0,1237,9487,0.15,1.95,0.00,0.000,6,0.163,0.023,2436,2493,1752,0,0,0,0,0,0,25.89,26.29,28.83
$GC,9795,0.56,292.0,700.4,13.3,1268,9804,0.00,2.08,0.00,0.000,4,0.000,0.041,2437,3836,1752,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9827,0.55,292.0,695.8,14.2,1271,9836,0.00,1.90,0.00,0.000,6,0.000,0.021,2447,2501,1752,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10137,0.54,292.0,650.7,14.5,1302,10146,0.00,2.53,0.00,0.000,4,0.000,0.030,2460,1020,1751,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10182,0.54,292.0,645.1,13.2,1306,10190,0.12,2.67,0.00,0.000,6,0.139,0.032,2424,2539,1751,0,0,0,0,0,0,25.97,26.19,28.83
$GC,10490,0.66,379.6,610.1,10.5,1337,10579,0.10,0.00,77.28,1.002,6,0.094,0.000,2485,2538,1430,0,0,0,0,1,0,26.49,28.83,23.69
$GC,10881,0.64,379.6,545.9,16.2,1376,10891,0.00,1.95,3.35,0.611,4,0.000,0.041,2485,3827,1427,0,0,0,0,0,0,28.83,25.94,23.90
$GC,10927,0.62,379.6,538.1,17.8,1380,10935,0.15,1.92,0.00,0.000,6,0.145,0.022,2452,2502,1430,0,0,0,0,0,0,25.75,26.08,28.83
$GC,11235,0.68,417.5,501.1,12.1,1411,11294,0.00,2.65,45.22,0.876,4,0.000,0.030,2465,1034,1288,0,0,0,0,1,0,28.83,25.60,23.95
$GC,11336,0.80,487.9,489.2,11.1,1428,11439,0.12,2.70,87.93,0.881,6,0.075,0.029,2541,2534,991,0,0,0,0,1,0,25.76,25.75,23.66
$GC,11744,0.77,487.9,400.3,21.0,1506,11753,0.12,2.03,2.45,0.362,4,0.171,0.041,2504,3838,985,0,0,0,0,0,0,25.83,25.95,23.81
$GC,11781,0.76,487.9,393.1,19.2,1512,11788,0.00,1.98,0.00,0.000,6,0.000,0.021,2513,2498,993,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12096,0.77,487.9,351.1,13.4,1573,12103,0.00,2.55,0.00,0.000,4,0.000,0.030,2526,1026,997,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12132,0.86,540.8,346.7,11.6,1579,12224,0.00,2.65,84.72,0.690,6,0.000,0.029,2526,2526,769,0,0,0,0,0,0,28.83,26.13,24.30
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$GC,12913,1.06,659.1,255.3,11.5,1728,12943,0.15,2.00,21.30,0.671,4,0.067,0.041,2620,3824,424,0,0,0,0,0,0,26.24,25.84,24.58
$GC,13019,1.07,659.1,233.7,18.1,1747,13027,0.12,1.98,0.00,0.000,6,0.155,0.021,2597,2484,405,0,0,0,0,0,0,25.73,26.03,28.83
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$GC,14043,1.13,659.1,55.3,14.9,1941,14049,0.00,1.95,0.00,0.000,6,0.000,0.020,2614,2471,400,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14234,1.27,756.5,29.5,10.2,1978,14242,0.12,2.45,0.00,0.000,4,0.076,0.026,2715,1024,400,0,0,0,0,0,0,26.51,26.26,28.83
$GC,14267,1.29,756.5,25.9,13.3,1983,14274,0.17,2.60,0.00,0.000,6,0.127,0.031,2660,2517,400,0,0,0,0,0,0,25.98,26.25,28.83
$STATE,14442,end climb,SURFACE_DEPTH_REACHED
$STATE,14442,begin surface coast
$FINISH,0.0,1.021690
$STATE,14463,end surface coast,CONTROL_FINISHED_OK
$STATE,14463,begin surface
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$IRIDIUM_FIX,2352.12,12257.58,290612,151544
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.02
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,10.0,43.695
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.350,155.375,960.750,0.000,0.000,89.515,108.978,427.282,0.000,0.000,17.286,4414.468,5629.864,1053.802,3876.382,507.955,0.000,2793.417,0.000,3088.025,0.000,0.544,0.000
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$SENSOR_SECS,1363.248,1658.488,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331148
$DATA_FILE_SIZE,126827,2021
$CAP_FILE_SIZE,203986,0
$CFSIZE,260165632,183590912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,290612,194006,2400.026,12300.264,31,0.9,31,-3.4