version: 66.13
glider: 124
mission: 26
dive: 133
start: 6 16 118 2 2 48
data:
$ID,124
$MISSION,26
$DIVE,133
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,2.5
$T_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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55793
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2681
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.43451
$PRESSURE_SLOPE,0.00010836
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,71
$LOGGERDEVICE3,134
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043545738
$SEABIRD_T_H,0.00062548259
$SEABIRD_T_I,2.3693661e-05
$SEABIRD_T_J,2.5207949e-06
$SEABIRD_C_G,-9.9945526
$SEABIRD_C_H,1.1183146
$SEABIRD_C_I,-0.0026370776
$SEABIRD_C_J,0.00028069684
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,136.0
$CP_NDIVE,1.0
$GPS1,160618,015134,5830.0889,-2359.6130,34,1.3,34,-15.8,0.0,0.0,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.9
$GPS2,160618,020221,5830.1255,-2359.4260,12,1.6,46,-15.8,0.6,83.4,8,6.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.7,87258,-17.6,-10.000,-21.24,2209
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.65,-146.0,26,1740,1738,1373,0.0,0.0,0,100,0.00,0.00,-84.78,0.006,16390,0.000,0.000,25,1739,3277,3236,3319,0,0,0,0,0,0,14.76,13.48,14.77
$GC,103,-0.65,-146.0,25,1739,3237,3319,2.9,-2.6,4,117,9.02,0.95,0.00,0.000,2564,0.416,0.041,1985,1194,3278,3242,3314,0,0,0,0,0,0,14.28,14.57,14.48
$GC,342,-0.65,-146.0,1985,1194,3261,3293,40.3,-13.6,52,347,0.00,1.00,0.00,0.000,1030,0.000,0.047,1982,1758,3276,3260,3293,0,0,0,0,0,0,14.69,14.65,14.71
$GC,682,-0.65,-146.0,1980,1774,3270,3285,85.4,-13.6,72,687,0.00,1.00,0.00,0.000,516,0.000,0.055,1980,1202,3278,3269,3287,0,0,0,0,0,0,14.90,14.71,14.92
$GC,912,-0.65,-146.0,1981,1202,3269,3285,116.6,-13.7,118,917,0.00,0.95,0.00,0.000,1030,0.000,0.047,1977,1734,3277,3269,3285,0,0,0,0,0,0,14.78,14.74,14.80
$GC,1243,-0.65,-146.0,1977,1734,3274,3283,165.2,-14.8,128,1247,0.00,0.95,0.00,0.000,516,0.000,0.054,1977,1200,3277,3273,3282,0,0,0,0,0,0,14.97,14.77,14.99
$GC,1472,-0.65,-146.0,1977,1202,3274,3282,197.2,-13.5,174,1477,0.00,0.95,0.00,0.000,1030,0.000,0.049,1974,1742,3277,3273,3282,0,0,0,0,0,0,14.81,14.78,14.84
$GC,1803,-0.65,-146.0,1973,1761,3275,3282,244.9,-14.3,184,1808,0.00,0.95,0.00,0.000,516,0.000,0.055,1972,1211,3277,3274,3281,0,0,0,0,0,0,15.02,14.81,15.03
$GC,2033,-0.65,-146.0,1973,1211,3275,3281,278.1,-14.2,230,2038,0.00,0.88,0.00,0.000,1030,0.000,0.048,1970,1710,3277,3274,3281,0,0,0,0,0,0,14.87,14.83,14.88
$GC,2364,-0.65,-146.0,1971,1711,3275,3281,325.8,-14.2,240,2368,0.10,0.90,0.00,0.000,2564,0.298,0.048,1991,1201,3278,3275,3281,0,0,0,0,0,0,14.69,14.84,14.85
$GC,2593,-0.65,-146.0,1992,1201,3275,3281,352.5,-11.4,286,2598,0.00,0.90,0.00,0.000,1030,0.000,0.050,1989,1713,3277,3274,3280,0,0,0,0,0,0,14.90,14.85,14.90
$GC,2924,-0.65,-146.0,1989,1713,3276,3280,394.5,-12.8,296,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1713,3277,3275,3279,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3244,-0.65,-146.0,1988,1713,3277,3279,433.6,-12.1,304,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1712,3277,3276,3279,0,0,0,0,0,0,15.09,15.11,15.13
$GC,3564,-0.65,-146.0,1989,1712,3277,3278,471.6,-11.7,312,3568,0.00,0.90,0.00,0.000,516,0.000,0.056,1988,1206,3277,3276,3278,0,0,0,0,0,0,15.10,14.88,15.11
$GC,3738,-0.65,-146.0,1988,1206,3277,3278,491.2,-10.4,347,3744,0.00,0.88,0.00,0.000,1030,0.000,0.050,1985,1710,3276,3276,3277,0,0,0,0,0,0,14.92,14.89,14.94
$GC,4085,-0.65,-146.0,1984,1710,3277,3278,529.1,-11.0,360,4090,0.00,0.88,0.00,0.000,516,0.000,0.055,1984,1213,3276,3276,3277,0,0,0,0,0,0,15.09,14.90,15.10
$GC,4221,-0.65,-146.0,1984,1214,3280,3277,543.7,-10.9,387,4227,0.00,0.88,0.00,0.000,1030,0.000,0.049,1982,1713,3276,3276,3277,0,0,0,0,0,0,14.92,14.88,14.94
$GC,4567,-0.65,-146.0,1981,1715,3277,3277,585.8,-12.6,400,4572,0.00,0.90,0.00,0.000,516,0.000,0.055,1980,1208,3276,3277,3276,0,0,0,0,0,0,15.09,14.88,15.11
$GC,4704,-0.65,-146.0,1981,1208,3278,3277,602.1,-11.7,427,4709,0.00,0.85,0.00,0.000,1030,0.000,0.049,1978,1702,3276,3277,3276,0,0,0,0,0,0,14.93,14.90,14.95
$GC,5050,-0.65,-146.0,1977,1717,3275,3276,643.0,-11.4,440,5054,0.00,0.88,0.00,0.000,516,0.000,0.057,1976,1209,3276,3277,3275,0,0,0,0,0,0,15.11,14.87,15.14
$GC,5196,-0.65,-146.0,1976,1210,3277,3276,658.9,-10.9,469,5201,0.00,0.85,0.00,0.000,1030,0.000,0.050,1974,1696,3276,3277,3275,0,0,0,0,0,0,14.93,14.90,14.95
$GC,5531,-0.65,-146.0,1973,1713,3277,3274,698.8,-12.1,480,5536,0.00,0.85,0.00,0.000,516,0.000,0.057,1973,1215,3275,3277,3273,0,0,0,0,0,0,15.11,14.89,15.11
$GC,5706,-0.65,-146.0,1973,1214,3277,3275,720.1,-11.5,515,5712,0.00,0.82,0.00,0.000,1030,0.000,0.050,1970,1692,3275,3277,3273,0,0,0,0,0,0,14.94,14.90,14.96
$GC,6052,-0.65,-146.0,1969,1692,3277,3273,762.5,-12.3,528,6057,0.00,0.93,0.00,0.000,260,0.000,0.051,1966,2282,3275,3277,3273,0,0,0,0,0,0,15.11,14.87,15.13
$GC,6132,-0.65,-146.0,1965,2285,3278,3272,771.4,-10.8,544,6137,0.08,1.00,0.00,0.000,3078,0.225,0.057,1989,1679,3274,3277,3272,0,0,0,0,0,0,14.71,14.88,14.85
$GC,6492,-0.65,-146.0,1990,1679,3278,3272,807.8,-10.1,560,6497,0.00,0.80,0.00,0.000,516,0.000,0.061,1990,1212,3274,3277,3271,0,0,0,0,0,0,15.11,14.88,15.13
$GC,6722,-0.65,-146.0,1990,1212,3279,3271,830.7,-9.8,606,6727,0.00,0.82,0.00,0.000,1030,0.000,0.050,1987,1688,3274,3277,3271,0,0,0,0,0,0,14.94,14.92,14.96
$GC,7053,-0.65,-146.0,1985,1688,3278,3270,866.6,-11.1,616,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1687,3274,3277,3271,0,0,0,0,0,0,15.12,15.12,15.14
$GC,7373,-0.65,-146.0,1987,1688,3278,3270,899.7,-10.2,624,7378,0.00,0.93,0.00,0.000,260,0.000,0.053,1982,2277,3273,3277,3270,0,0,0,0,0,0,15.13,14.89,15.14
$GC,7413,-0.65,-146.0,1981,2280,3278,3270,903.5,-9.3,632,7418,0.00,1.00,0.00,0.000,1030,0.000,0.058,1981,1677,3273,3277,3270,0,0,0,0,0,0,14.92,14.90,14.95
$GC,7773,-0.65,-146.0,1982,1677,3278,3269,939.3,-9.9,648,7778,0.00,0.80,0.00,0.000,516,0.000,0.061,1981,1211,3273,3278,3269,0,0,0,0,0,0,15.13,14.88,15.14
$GC,8003,-0.65,-146.0,1981,1211,3278,3269,961.7,-9.3,694,8008,0.00,0.82,0.00,0.000,1030,0.000,0.052,1978,1689,3273,3277,3269,0,0,0,0,0,0,14.93,14.91,14.95
$STATE,8291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8291,begin apogee
$GC,8296,-0.12,0.0,1978,1690,3279,3268,990.8,-9.9,703,8425,0.43,0.00,126.88,2.304,10244,0.221,0.000,2103,1705,2683,2856,2510,0,0,0,0,0,0,14.73,14.07,13.31
$STATE,8426,end apogee,CONTROL_FINISHED_OK
$STATE,8426,begin climb
$GC,8429,0.65,146.0,2103,1705,2854,2509,993.3,0.0,706,8573,0.52,0.95,134.55,2.218,10500,0.132,0.045,2273,2264,2083,2313,1854,0,0,0,0,0,0,14.04,14.11,13.07
$GC,8763,0.65,146.0,2274,2265,2301,1854,955.5,13.4,771,8769,0.00,0.95,0.00,0.000,1030,0.000,0.063,2277,1717,2076,2299,1853,0,0,0,0,0,0,14.32,14.31,14.38
$GC,9119,0.65,146.0,2278,1716,2300,1846,908.4,12.9,786,9123,0.00,0.98,0.00,0.000,516,0.000,0.065,2281,1180,2072,2298,1846,0,0,0,0,0,0,14.78,14.57,14.81
$GC,9309,0.65,146.0,2283,1179,2299,1841,884.1,12.7,824,9313,0.00,0.95,0.00,0.000,1030,0.000,0.047,2281,1724,2069,2298,1840,0,0,0,0,0,0,14.69,14.68,14.76
$GC,9639,0.65,146.0,2281,1739,2299,1840,841.1,12.9,834,9643,0.00,0.80,0.00,0.000,260,0.000,0.046,2281,2247,2069,2298,1840,0,0,0,0,0,0,14.92,14.75,14.94
$GC,9754,0.65,146.0,2281,2250,2298,1840,825.8,13.1,857,9760,0.00,0.88,0.00,0.000,1030,0.000,0.064,2285,1725,2068,2297,1840,0,0,0,0,0,0,14.70,14.67,14.73
$GC,10079,0.65,146.0,2285,1725,2298,1840,784.7,12.5,866,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1725,2068,2297,1839,0,0,0,0,0,0,14.97,14.99,14.99
$GC,10399,0.65,146.0,2285,1726,2297,1840,743.6,12.9,874,10404,0.00,0.85,0.00,0.000,260,0.000,0.047,2284,2252,2067,2296,1839,0,0,0,0,0,0,14.99,14.78,15.01
$GC,10454,0.65,146.0,2285,2258,2297,1840,736.4,12.9,885,10459,0.00,0.88,0.00,0.000,1030,0.000,0.064,2288,1735,2067,2296,1839,0,0,0,0,0,0,14.79,14.76,14.83
$GC,10799,0.65,146.0,2288,1735,2296,1840,690.4,13.4,898,10804,0.00,0.82,0.00,0.000,260,0.000,0.044,2287,2252,2067,2295,1839,0,0,0,0,0,0,15.00,14.78,15.02
$GC,10840,0.65,146.0,2288,2255,2296,1842,685.2,13.0,906,10844,0.00,0.88,0.00,0.000,1030,0.000,0.063,2291,1733,2067,2295,1839,0,0,0,0,0,0,14.83,14.80,14.85
$GC,11199,0.65,146.0,2291,1732,2295,1840,636.1,13.6,922,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1732,2067,2295,1839,0,0,0,0,0,0,15.01,15.02,15.02
$GC,11520,0.65,146.0,2291,1732,2295,1839,591.7,13.5,930,11524,0.00,0.82,0.00,0.000,260,0.000,0.045,2291,2250,2066,2294,1838,0,0,0,0,0,0,15.00,14.80,15.02
$GC,11625,0.65,146.0,2291,2252,2295,1840,578.0,12.5,951,11631,0.08,0.85,0.00,0.000,5126,0.242,0.065,2269,1739,2067,2294,1840,0,0,0,0,0,0,14.64,14.80,14.78
$GC,11961,0.65,146.0,2270,1738,2294,1840,543.7,10.0,962,11965,0.00,0.82,0.00,0.000,260,0.000,0.045,2270,2252,2066,2294,1839,0,0,0,0,0,0,15.00,14.81,15.01
$GC,12016,0.65,146.0,2271,2255,2293,1840,537.9,10.8,973,12021,0.00,0.85,0.00,0.000,1030,0.000,0.065,2273,1744,2065,2291,1839,0,0,0,0,0,0,14.82,14.78,14.84
$GC,12361,0.65,146.0,2274,1744,2294,1840,500.1,11.4,986,12365,0.00,1.00,0.00,0.000,516,0.000,0.067,2278,1189,2065,2293,1838,0,0,0,0,0,0,15.01,14.77,15.03
$GC,12391,0.65,146.0,2278,1190,2294,1845,496.6,11.6,992,12395,0.00,0.98,0.00,0.000,1030,0.000,0.047,2277,1746,2065,2293,1838,0,0,0,0,0,0,14.83,14.81,14.85
$GC,12721,0.65,146.0,2278,1766,2294,1839,460.6,10.5,1002,12726,0.00,0.75,0.00,0.000,260,0.000,0.047,2277,2248,2065,2293,1838,0,0,0,0,0,0,15.01,14.80,15.02
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$STATE,16765,end climb,SURFACE_DEPTH_REACHED
$STATE,16765,begin surface coast
$FINISH,0.3,1.021733
$STATE,16785,end surface coast,CONTROL_FINISHED_OK
$STATE,16785,begin surface
$SM_CCo,16802,127.62,0.113,0,0,1253,350.04
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$IRIDIUM_FIX,5830.55,-2402.77,150618,203258
$TT8_MAMPS,0.038948,0.764729
$HUMID,38.77
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,17.30
$XPDR_PINGS,19
$SC_FREEKB,3943776
$CP_FREE,15877636096.000000
$24V_AH,13.07,0.000
$10V_AH,13.06,46.304
$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,16.475,57.050,261.425,127.625,0.000,0.000,0.000,404.250,4.750,0.000,49.450,0.000,13833.053,613.525,2775.665,352.558,0.000,1951.085,0.000,1764.045,0.000,0.537,0.000
$DEVICE_MAMPS,416.160,66.555,2304.180,113.220,0.000,0.000,0.000,172.890,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16820.000,0.000,8365.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.148,0.000,25.000,0.000
$MEM,333832
$DATA_FILE_SIZE,43233,1235
$CAP_FILE_SIZE,141905,0
$CFSIZE,260165632,240668672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165,44.64,1
$GPS,160618,064604,5831.499,-2354.534,33,0.9,33,-15.8,0.0,0.0,9,6.8