version: 66.13
glider: 124
mission: 26
dive: 143
start: 6 18 118 3 43 19
data:
$ID,124
$MISSION,26
$DIVE,143
$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,175
$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,2
$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,1700
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,41
$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,146.0
$CP_NDIVE,1.0
$GPS1,180618,033905,5836.1919,-2326.9412,12,1.3,12,-15.6,0.0,0.0,5,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-57.9
$GPS2,180618,034253,5836.2109,-2326.8689,14,1.2,14,-15.6,0.0,0.0,7,8.9
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,154.8,58939,-16.2,-10.000,-19.97,2570
$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,-0.64,-170.3,67,1703,661,426,0.0,0.0,0,146,0.00,0.00,-130.65,0.006,16390,0.000,0.000,56,1695,3377,3323,3431,0,0,0,0,0,0,14.90,13.52,14.90
$GC,149,-0.64,-170.3,56,1695,3323,3431,2.3,-1.3,6,164,8.93,0.88,0.00,0.000,2340,0.420,0.044,1983,2261,3377,3328,3427,0,0,0,0,0,0,14.40,14.73,14.69
$GC,271,-0.64,-170.3,1982,2267,3346,3407,26.8,-14.1,30,275,0.00,0.95,0.00,0.000,1030,0.000,0.057,1981,1692,3375,3345,3406,0,0,0,0,0,0,14.66,14.62,14.68
$GC,611,-0.64,-170.3,1981,1692,3348,3403,77.9,-14.6,50,615,0.00,0.93,0.00,0.000,516,0.000,0.058,1981,1161,3376,3348,3404,0,0,0,0,0,0,14.97,14.69,14.99
$GC,840,-0.64,-170.3,1981,1161,3349,3407,109.9,-14.0,96,845,0.00,0.93,0.00,0.000,1030,0.000,0.049,1979,1687,3376,3349,3403,0,0,0,0,0,0,14.75,14.71,14.77
$GC,1171,-0.64,-170.3,1979,1687,3349,3403,158.3,-14.7,106,1175,0.00,0.93,0.00,0.000,516,0.000,0.048,1979,1156,3375,3349,3402,0,0,0,0,0,0,15.03,14.76,15.04
$GC,1316,-0.64,-170.3,1979,1156,3350,3403,178.9,-13.8,135,1320,0.00,0.95,0.00,0.000,1030,0.000,0.050,1976,1703,3375,3349,3402,0,0,0,0,0,0,14.80,14.76,14.82
$GC,1651,-0.64,-170.3,1976,1703,3350,3402,227.1,-14.3,146,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1703,3375,3349,3402,0,0,0,0,0,0,15.04,15.07,15.06
$GC,1971,-0.64,-170.3,1976,1703,3350,3402,272.2,-14.1,154,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1703,3375,3350,3401,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2291,-0.64,-170.3,1976,1703,3350,3401,318.0,-14.3,162,2296,0.00,0.82,0.00,0.000,260,0.000,0.048,1972,2243,3374,3349,3400,0,0,0,0,0,0,15.09,14.88,15.09
$GC,2316,-0.64,-170.3,1971,2245,3352,3400,321.7,-14.0,167,2321,0.00,0.90,0.00,0.000,1030,0.000,0.051,1971,1688,3375,3351,3399,0,0,0,0,0,0,14.89,14.87,14.92
$GC,2651,-0.64,-170.3,1971,1688,3353,3399,370.1,-14.4,178,2656,0.00,0.90,0.00,0.000,516,0.000,0.058,1970,1161,3375,3351,3399,0,0,0,0,0,0,15.11,14.88,15.11
$GC,2882,-0.64,-170.3,1971,1160,3353,3399,401.3,-13.2,224,2886,0.00,0.88,0.00,0.000,1030,0.000,0.051,1968,1674,3375,3351,3399,0,0,0,0,0,0,14.92,14.88,14.97
$GC,3212,-0.64,-170.3,1968,1675,3351,3400,447.2,-14.0,234,3216,0.00,0.88,0.00,0.000,260,0.000,0.049,1964,2241,3374,3351,3398,0,0,0,0,0,0,15.11,14.89,15.13
$GC,3247,-0.64,-170.3,1963,2244,3352,3399,451.9,-13.5,241,3254,0.08,0.93,0.00,0.000,3078,0.226,0.056,1987,1676,3374,3351,3398,0,0,0,0,0,0,14.69,14.85,14.81
$GC,3572,-0.64,-170.3,1987,1676,3352,3398,490.5,-11.7,250,3576,0.00,0.88,0.00,0.000,516,0.000,0.060,1987,1163,3374,3351,3398,0,0,0,0,0,0,15.11,14.88,15.14
$GC,3801,-0.64,-170.3,1987,1163,3352,3397,517.1,-11.4,296,3806,0.00,0.88,0.00,0.000,1030,0.000,0.049,1984,1672,3374,3352,3397,0,0,0,0,0,0,14.93,14.90,14.95
$GC,4132,-0.64,-170.3,1985,1672,3353,3397,556.9,-12.2,306,4136,0.00,0.88,0.00,0.000,260,0.000,0.050,1980,2231,3373,3350,3396,0,0,0,0,0,0,15.12,14.85,15.14
$GC,4177,-0.64,-170.3,1979,2233,3352,3396,562.3,-11.8,315,4182,0.00,0.93,0.00,0.000,1030,0.000,0.058,1979,1674,3374,3352,3396,0,0,0,0,0,0,14.92,14.89,14.95
$GC,4532,-0.64,-170.3,1979,1673,3353,3395,607.7,-12.8,330,4537,0.00,0.88,0.00,0.000,516,0.000,0.060,1979,1160,3373,3352,3394,0,0,0,0,0,0,15.12,14.89,15.14
$GC,4762,-0.64,-170.3,1979,1160,3353,3394,635.6,-12.3,376,4767,0.00,0.88,0.00,0.000,1030,0.000,0.050,1976,1667,3373,3352,3394,0,0,0,0,0,0,14.94,14.91,14.96
$GC,5092,-0.64,-170.3,1976,1667,3353,3393,677.9,-12.9,386,5097,0.00,0.88,0.00,0.000,260,0.000,0.049,1972,2229,3372,3352,3392,0,0,0,0,0,0,15.12,14.90,15.14
$GC,5207,-0.64,-170.3,1970,2232,3352,3392,691.6,-11.4,409,5214,0.00,0.93,0.00,0.000,1030,0.000,0.056,1970,1669,3372,3352,3392,0,0,0,0,0,0,14.90,14.87,14.92
$GC,5532,-0.64,-170.3,1971,1669,3353,3392,733.4,-12.8,418,5537,0.00,0.85,0.00,0.000,516,0.000,0.059,1970,1165,3371,3351,3391,0,0,0,0,0,0,15.11,14.90,15.14
$GC,5762,-0.64,-170.3,1971,1167,3353,3391,761.6,-12.3,464,5767,0.05,0.85,0.00,0.000,3078,0.249,0.051,1986,1661,3371,3352,3391,0,0,0,0,0,0,14.69,14.90,14.83
$GC,6092,-0.64,-170.3,1986,1660,3353,3389,798.2,-11.1,474,6097,0.00,0.88,0.00,0.000,260,0.000,0.053,1981,2221,3371,3352,3390,0,0,0,0,0,0,15.12,14.89,15.14
$GC,6203,-0.64,-170.3,1981,2223,3353,3389,810.0,-10.4,496,6208,0.00,0.93,0.00,0.000,1030,0.000,0.058,1980,1666,3370,3352,3389,0,0,0,0,0,0,14.92,14.88,14.95
$GC,6533,-0.64,-170.3,1980,1666,3352,3389,846.4,-11.0,506,6538,0.00,0.85,0.00,0.000,516,0.000,0.061,1980,1166,3370,3352,3388,0,0,0,0,0,0,15.10,14.87,15.12
$GC,6764,-0.64,-170.3,1981,1165,3353,3388,870.6,-10.3,552,6768,0.00,0.82,0.00,0.000,1030,0.000,0.052,1978,1648,3370,3352,3388,0,0,0,0,0,0,14.91,14.89,14.94
$GC,7094,-0.64,-170.3,1978,1648,3352,3387,906.8,-11.1,562,7098,0.00,0.93,0.00,0.000,260,0.000,0.052,1973,2230,3369,3352,3387,0,0,0,0,0,0,15.11,14.87,15.13
$GC,7163,-0.64,-170.3,1973,2231,3353,3386,914.2,-10.3,576,7168,0.00,0.98,0.00,0.000,1030,0.000,0.057,1972,1651,3367,3349,3386,0,0,0,0,0,0,14.91,14.87,14.94
$GC,7494,-0.64,-170.3,1973,1651,3353,3386,952.0,-11.6,586,7499,0.00,0.82,0.00,0.000,516,0.000,0.062,1972,1166,3369,3352,3386,0,0,0,0,0,0,15.12,14.86,15.11
$GC,7699,-0.64,-170.3,1973,1165,3349,3386,975.5,-11.2,627,7704,0.00,0.82,0.00,0.000,1030,0.000,0.053,1970,1646,3368,3352,3385,0,0,0,0,0,0,14.95,14.92,14.94
$STATE,7852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7852,begin apogee
$GC,7858,-0.12,0.0,1970,1729,3353,3385,993.4,-11.7,637,8006,0.45,0.00,145.95,2.264,10244,0.214,0.000,2101,1728,2682,2850,2515,0,0,0,0,0,0,14.70,14.05,13.31
$STATE,8007,end apogee,CONTROL_FINISHED_OK
$STATE,8007,begin climb
$GC,8010,0.64,170.3,2102,1744,2850,2514,997.1,0.0,640,8171,0.52,1.05,154.15,2.206,10756,0.135,0.059,2274,1192,1984,2276,1693,0,0,0,0,0,0,14.03,14.08,13.06
$GC,8221,0.64,170.3,2275,1192,2270,1692,977.9,12.1,680,8226,0.00,0.98,0.00,0.000,1030,0.000,0.047,2274,1711,1980,2269,1692,0,0,0,0,0,0,14.06,14.02,14.06
$GC,8582,0.64,170.3,2275,1728,2257,1693,932.2,12.6,696,8587,0.00,0.98,0.00,0.000,516,0.000,0.063,2278,1188,1973,2255,1692,0,0,0,0,0,0,14.69,14.50,14.71
$GC,8677,0.64,170.3,2278,1185,2255,1693,920.0,12.7,715,8682,0.00,0.98,0.00,0.000,1030,0.000,0.047,2277,1737,1973,2254,1693,0,0,0,0,0,0,14.60,14.57,14.60
$GC,9022,0.64,170.3,2277,1755,2251,1693,875.4,12.8,728,9027,0.00,0.77,0.00,0.000,260,0.000,0.047,2277,2249,1971,2250,1692,0,0,0,0,0,0,14.84,14.67,14.85
$GC,9127,0.64,170.3,2277,2252,2250,1693,862.1,12.6,749,9133,0.00,0.88,0.00,0.000,1030,0.000,0.061,2281,1731,1970,2249,1691,0,0,0,0,0,0,14.72,14.68,14.74
$GC,9463,0.64,170.3,2281,1729,2249,1692,818.2,13.0,760,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,1729,1970,2248,1692,0,0,0,0,0,0,14.90,14.93,14.92
$GC,9783,0.64,170.3,2277,1730,2247,1693,777.3,12.8,768,9788,0.00,0.85,0.00,0.000,260,0.000,0.045,2280,2258,1969,2247,1692,0,0,0,0,0,0,14.92,14.76,14.95
$GC,9848,0.64,170.3,2281,2260,2251,1693,768.8,13.1,781,9854,0.00,0.88,0.00,0.000,1030,0.000,0.063,2284,1737,1966,2241,1692,0,0,0,0,0,0,14.78,14.73,14.79
$GC,10184,0.64,170.3,2284,1737,2245,1693,724.4,13.2,792,10189,0.00,0.82,0.00,0.000,260,0.000,0.044,2284,2257,1966,2240,1692,0,0,0,0,0,0,14.95,14.76,14.96
$GC,10229,0.64,170.3,2283,2260,2245,1693,718.4,13.2,801,10235,0.00,0.88,0.00,0.000,1030,0.000,0.063,2288,1733,1968,2244,1692,0,0,0,0,0,0,14.78,14.74,14.81
$GC,10585,0.64,170.3,2288,1732,2244,1693,670.9,13.3,816,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1733,1967,2243,1692,0,0,0,0,0,0,14.94,14.97,14.97
$GC,10905,0.64,170.3,2288,1732,2244,1692,627.6,13.5,824,10910,0.00,0.82,0.00,0.000,260,0.000,0.046,2283,2250,1965,2238,1692,0,0,0,0,0,0,14.94,14.79,14.97
$GC,11032,0.64,170.3,2288,2253,2243,1698,610.3,13.7,849,11037,0.00,0.82,0.00,0.000,1030,0.000,0.063,2290,1753,1967,2242,1692,0,0,0,0,0,0,14.78,14.75,14.81
$GC,11388,0.64,170.3,2291,1753,2242,1693,560.3,13.9,864,11392,0.00,0.80,0.00,0.000,260,0.000,0.044,2290,2255,1965,2242,1688,0,0,0,0,0,0,14.95,14.78,14.98
$GC,11433,0.64,170.3,2290,2253,2250,1693,554.1,13.9,873,11438,0.08,0.82,0.00,0.000,5126,0.239,0.063,2270,1753,1967,2242,1692,0,0,0,0,0,0,14.59,14.76,14.72
$GC,11789,0.64,170.3,2270,1753,2243,1692,513.3,11.3,888,11794,0.00,1.02,0.00,0.000,516,0.000,0.066,2275,1185,1965,2242,1689,0,0,0,0,0,0,14.96,14.74,14.97
$GC,11839,0.64,170.3,2273,1186,2243,1693,507.5,11.5,898,11844,0.00,1.00,0.00,0.000,1030,0.000,0.047,2274,1752,1966,2241,1692,0,0,0,0,0,0,14.80,14.77,14.82
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$STATE,16413,end climb,SURFACE_DEPTH_REACHED
$STATE,16413,begin surface coast
$FINISH,0.5,1.027031
$STATE,16453,end surface coast,CONTROL_FINISHED_OK
$STATE,16453,begin surface
$SM_CCo,16471,102.22,0.112,0,0,1253,350.04
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$IRIDIUM_FIX,5834.97,-2325.47,180618,033447
$TT8_MAMPS,0.038199,0.754243
$HUMID,39.13
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,18.90
$XPDR_PINGS,93
$SC_FREEKB,3937984
$CP_FREE,15874326528.000000
$24V_AH,13.06,0.000
$10V_AH,13.09,49.298
$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,16.375,58.050,300.100,102.225,0.000,0.000,0.000,0.000,23.250,0.000,18.970,0.000,13581.092,665.353,2195.604,207.677,0.000,1552.121,0.000,1633.750,0.000,0.538,0.000
$DEVICE_MAMPS,419.985,132.345,2264.400,112.455,0.000,0.000,0.000,0.000,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.518,0.000,25.000,0.000
$MEM,333800
$DATA_FILE_SIZE,40049,1146
$CAP_FILE_SIZE,159182,0
$CFSIZE,260165632,239325184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8128.83,0x235320,1,24
$CURRENT,0.156,7.99,1
$GPS,180618,082043,5836.548,-2323.772,31,1.6,40,-15.5,0.2,106.1,6,7.9