version: 66.13
glider: 137
mission: 5
dive: 8
start: 3 4 117 19 29 38
data:
$ID,137
$MISSION,5
$DIVE,8
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,360
$T_ABORT,720
$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,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2140
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$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,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,040317,192506,1339.5070,6123.4858,25,0.9,31,-0.7,0.5,314.6,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.3
$GPS2,040317,192904,1339.5280,6123.4668,6,0.9,17,-0.7,0.0,352.7,9,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,1350.327,6123.467
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,13.7,20000,-18.2,-10.000,-21.02,2236
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.40,-146.0,96,2150,374,603,0.0,0.0,0,113,0.00,0.00,-103.78,0.000,16386,0.000,0.000,97,2153,3248,3176,3320,0,0,0,0,0,0,14.95,28.83,14.97
$GC,115,-1.40,-146.0,96,2153,3176,3320,4.4,-8.3,18,142,15.65,2.58,-2.38,0.000,18724,0.486,2.169,2856,3541,3388,3299,3478,0,0,0,0,0,0,14.52,13.88,14.77
$GC,189,-1.25,-146.0,2856,3542,3298,3479,27.7,-21.7,31,196,0.20,2.33,0.00,0.000,3206,0.302,0.050,2898,2132,3388,3298,3478,0,0,0,0,0,0,14.56,14.71,14.74
$GC,498,-1.22,-146.0,2898,2132,3298,3478,79.2,-15.0,74,502,0.00,2.33,0.00,0.000,644,0.000,0.071,2899,731,3388,3299,3478,0,0,0,0,0,0,15.04,14.81,15.06
$GC,604,-1.22,-146.0,2899,731,3298,3479,94.1,-13.9,95,608,0.00,2.35,0.00,0.000,1030,0.000,0.054,2891,2141,3388,3298,3478,0,0,0,0,0,0,14.91,14.84,14.92
$GC,909,-1.22,-146.0,2890,2141,3299,3478,136.3,-12.4,126,913,0.00,2.38,0.00,0.000,260,0.000,0.076,2881,3557,3388,3298,3479,0,0,0,0,0,0,15.11,14.87,15.13
$GC,994,-1.22,-146.0,2880,3557,3298,3478,146.5,-12.5,143,999,0.12,2.30,0.00,0.000,3078,0.261,0.049,2907,2139,3388,3298,3478,0,0,0,0,0,0,14.79,14.90,14.94
$GC,1300,-1.31,-146.0,2906,2138,3299,3478,177.4,-8.1,174,1309,0.00,2.35,0.00,0.000,676,0.000,0.069,2908,723,3389,3299,3479,0,0,0,0,0,0,15.14,14.91,15.16
$GC,1421,-1.43,-146.0,2907,723,3299,3479,189.5,-10.4,198,1431,0.15,2.33,0.00,0.000,5254,0.146,0.054,2850,2144,3389,3299,3479,0,0,0,0,0,0,14.91,14.92,14.99
$GC,1731,-1.43,-146.0,2850,2144,3299,3479,230.4,-13.6,230,1735,0.00,2.38,0.00,0.000,516,0.000,0.076,2850,734,3389,3299,3479,0,0,0,0,0,0,15.16,14.92,15.19
$GC,1790,-1.43,-146.0,2850,734,3299,3479,239.0,-14.7,242,1798,0.12,2.33,0.00,0.000,3078,0.297,0.055,2865,2145,3389,3299,3479,0,0,0,0,0,0,14.83,14.94,14.99
$GC,2097,-1.49,-146.0,2865,2146,3299,3479,273.8,-10.6,259,2104,0.00,2.38,0.00,0.000,644,0.000,0.070,2866,723,3388,3298,3479,0,0,0,0,0,0,15.18,14.95,15.20
$GC,2145,-1.54,-146.0,2865,724,3299,3479,279.0,-10.5,269,2150,0.00,2.35,0.00,0.000,1158,0.000,0.057,2858,2151,3389,3299,3479,0,0,0,0,0,0,15.03,14.96,15.04
$GC,2452,-1.60,-146.0,2857,2151,3299,3479,302.9,-7.2,280,2457,0.12,2.40,0.00,0.000,4772,0.145,0.071,2811,720,3388,3298,3478,0,0,0,0,0,0,14.96,14.95,15.01
$GC,2508,-1.55,-146.0,2810,720,3298,3479,308.7,-11.1,291,2515,0.17,2.35,0.00,0.000,3206,0.288,0.057,2839,2145,3388,3298,3479,0,0,0,0,0,0,14.85,14.97,15.02
$GC,2815,-1.58,-146.0,2838,2146,3296,3479,337.4,-9.7,302,2821,0.00,2.38,0.00,0.000,676,0.000,0.071,2840,724,3388,3297,3479,0,0,0,0,0,0,15.19,14.97,15.22
$GC,2883,-1.58,-146.0,2839,724,3295,3479,344.7,-9.8,316,2887,0.00,2.35,0.00,0.000,1062,0.000,0.058,2832,2148,3387,3296,3479,0,0,0,0,0,0,15.04,14.97,15.07
$GC,3205,-1.58,-146.0,2831,2147,3295,3479,372.4,-8.6,330,3211,0.00,2.40,0.00,0.000,548,0.000,0.076,2832,721,3386,3294,3479,0,0,0,0,0,0,15.20,14.97,15.23
$GC,3258,-1.58,-146.0,2831,722,3294,3478,378.1,-10.6,341,3265,0.00,2.35,0.00,0.000,1030,0.000,0.060,2822,2140,3386,3294,3479,0,0,0,0,0,0,15.05,14.97,15.07
$GC,3564,-1.58,-146.0,2821,2140,3293,3479,411.9,-11.5,352,3569,0.00,2.38,0.00,0.000,516,0.000,0.076,2822,729,3386,3293,3479,0,0,0,0,0,0,15.21,14.96,15.23
$GC,3639,-1.58,-146.0,2822,728,3292,3479,421.6,-12.8,367,3643,0.00,2.35,0.00,0.000,1030,0.000,0.061,2812,2150,3385,3292,3479,0,0,0,0,0,0,15.05,14.98,15.07
$GC,3956,-1.58,-146.0,2812,2149,3291,3479,460.3,-12.4,380,3961,0.00,2.40,0.00,0.000,516,0.000,0.076,2812,724,3385,3291,3479,0,0,0,0,0,0,15.18,14.97,15.21
$GC,3991,-1.58,-146.0,2812,724,3291,3479,465.2,-12.6,387,3996,0.12,2.35,0.00,0.000,3078,0.306,0.061,2827,2143,3385,3291,3479,0,0,0,0,0,0,14.86,14.98,15.03
$GC,4318,-1.58,-146.0,2827,2144,3289,3479,503.9,-11.9,402,4322,0.00,2.38,0.00,0.000,516,0.000,0.076,2828,734,3384,3289,3479,0,0,0,0,0,0,15.21,14.97,15.23
$GC,4367,-1.58,-146.0,2828,734,3289,3479,510.4,-12.1,412,4375,0.00,2.33,0.00,0.000,1030,0.000,0.061,2819,2139,3384,3289,3479,0,0,0,0,0,0,15.06,14.98,15.07
$GC,4674,-1.58,-146.0,2819,2139,3288,3478,546.4,-11.3,423,4678,0.00,2.40,0.00,0.000,516,0.000,0.077,2819,730,3383,3288,3478,0,0,0,0,0,0,15.21,14.97,15.23
$GC,4759,-1.58,-146.0,2820,730,3286,3477,556.5,-11.1,440,4764,0.00,2.35,0.00,0.000,1030,0.000,0.062,2810,2147,3381,3286,3477,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5090,-1.58,-146.0,2809,2147,3286,3476,592.6,-10.8,456,5095,0.00,2.40,0.00,0.000,516,0.000,0.078,2810,729,3381,3286,3476,0,0,0,0,0,0,15.21,14.97,15.23
$GC,5152,-1.58,-146.0,2810,729,3285,3476,599.8,-11.2,468,5158,0.12,2.35,0.00,0.000,3078,0.299,0.063,2826,2147,3380,3285,3476,0,0,0,0,0,0,14.86,14.98,15.01
$GC,5485,-1.61,-146.0,2826,2147,3284,3474,633.8,-10.1,484,5490,0.00,2.40,0.00,0.000,644,0.000,0.076,2827,728,3379,3284,3474,0,0,0,0,0,0,15.21,14.97,15.23
$GC,5540,-1.61,-146.0,2827,728,3284,3474,640.0,-11.2,495,5548,0.00,2.35,0.00,0.000,1030,0.000,0.063,2819,2144,3378,3283,3474,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5847,-1.61,-146.0,2819,2144,3283,3472,672.5,-11.1,506,5851,0.00,2.40,0.00,0.000,516,0.000,0.077,2819,724,3377,3283,3472,0,0,0,0,0,0,15.21,14.97,15.23
$GC,5905,-1.61,-146.0,2819,724,3282,3472,679.9,-12.4,518,5911,0.00,2.40,0.00,0.000,1030,0.000,0.062,2810,2138,3377,3283,3472,0,0,0,0,0,0,15.02,14.97,15.04
$GC,6233,-1.61,-146.0,2809,2139,3281,3471,718.6,-11.8,533,6240,0.00,2.40,0.00,0.000,516,0.000,0.078,2810,720,3376,3281,3471,0,0,0,0,0,0,15.20,14.96,15.23
$GC,6256,-1.61,-146.0,2810,720,3281,3471,721.9,-13.1,538,6264,0.10,2.38,0.00,0.000,3078,0.313,0.063,2819,2148,3375,3280,3471,0,0,0,0,0,0,14.85,14.98,15.02
$GC,6563,-1.61,-146.0,2819,2147,3279,3470,756.2,-11.1,549,6569,0.00,2.42,0.00,0.000,516,0.000,0.078,2820,727,3374,3279,3470,0,0,0,0,0,0,15.20,14.96,15.23
$GC,6671,-1.61,-146.0,2819,727,3278,3470,769.3,-11.9,571,6675,0.00,2.35,0.00,0.000,1030,0.000,0.062,2811,2143,3374,3278,3470,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6983,-1.61,-146.0,2811,2143,3278,3470,803.6,-10.9,583,6987,0.00,2.42,0.00,0.000,516,0.000,0.078,2811,722,3373,3278,3469,0,0,0,0,0,0,15.20,14.95,15.23
$GC,7062,-1.61,-146.0,2811,723,3278,3470,812.8,-11.5,599,7070,0.10,2.38,0.00,0.000,3078,0.311,0.061,2819,2150,3373,3277,3470,0,0,0,0,0,0,14.85,14.97,15.02
$GC,7369,-1.61,-146.0,2819,2150,3277,3469,843.9,-10.2,610,7373,0.00,2.40,0.00,0.000,516,0.000,0.077,2820,731,3373,3277,3469,0,0,0,0,0,0,15.20,14.96,15.22
$GC,7443,-1.61,-146.0,2820,731,3276,3469,852.4,-11.5,625,7447,0.00,2.35,0.00,0.000,1030,0.000,0.063,2812,2140,3372,3276,3469,0,0,0,0,0,0,15.04,14.97,15.07
$GC,7749,-1.61,-146.0,2811,2141,3275,3468,886.7,-11.3,636,7754,0.00,2.42,0.00,0.000,516,0.000,0.079,2812,723,3372,3276,3468,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7829,-1.61,-146.0,2811,723,3275,3468,896.5,-12.3,652,7835,0.10,2.40,0.00,0.000,3078,0.312,0.063,2819,2138,3371,3274,3468,0,0,0,0,0,0,14.84,14.96,15.02
$GC,8142,-1.64,-146.0,2818,2138,3274,3467,931.5,-11.4,664,8146,0.00,2.40,0.00,0.000,644,0.000,0.079,2820,735,3370,3274,3467,0,0,0,0,0,0,15.20,14.95,15.22
$GC,8227,-1.64,-146.0,2820,735,3273,3468,942.0,-12.0,681,8233,0.00,2.35,0.00,0.000,1030,0.000,0.063,2812,2144,3370,3273,3467,0,0,0,0,0,0,15.04,14.97,15.06
$GC,8533,-1.64,-146.0,2811,2144,3273,3466,978.6,-12.1,692,8538,0.00,2.42,0.00,0.000,516,0.000,0.079,2812,728,3369,3272,3466,0,0,0,0,0,0,15.19,14.95,15.22
$GC,8594,-1.64,-146.0,2811,729,3272,3466,986.6,-12.5,704,8599,0.00,2.35,0.00,0.000,1030,0.000,0.063,2802,2141,3369,3272,3466,0,0,0,0,0,0,15.04,14.96,15.06
$STATE,8618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8618,begin apogee
$GC,8622,-0.33,0.0,2802,1794,3272,3466,990.0,-13.2,709,8770,1.15,0.00,139.95,2.567,10246,0.287,0.000,3100,1794,2782,2670,2895,0,0,0,0,0,0,14.80,14.02,13.18
$STATE,8771,end apogee,CONTROL_FINISHED_OK
$STATE,8771,begin climb
$GC,8772,1.40,146.0,3101,1794,2668,2895,994.9,0.0,714,8937,1.33,0.00,159.62,2.368,10758,0.197,0.000,3475,1793,2193,2059,2328,0,0,0,0,0,0,14.02,14.00,13.30
$GC,9221,1.29,146.0,3475,1793,2035,2322,950.4,12.6,744,9225,0.00,2.47,0.00,0.000,644,0.000,0.091,3486,389,2179,2036,2322,0,0,0,0,0,0,14.83,14.59,14.85
$GC,9255,1.15,146.0,3485,389,2036,2322,945.6,13.6,751,9261,0.28,2.45,0.00,0.000,5254,0.353,0.066,3429,1810,2178,2035,2322,0,0,0,0,0,0,14.48,14.64,14.69
$GC,9578,1.15,146.0,3428,1810,2033,2322,909.4,11.7,765,9584,0.00,2.40,0.00,0.000,260,0.000,0.083,3428,3212,2177,2033,2322,0,0,0,0,0,0,14.98,14.75,15.01
$GC,9611,1.09,146.0,3427,3212,2033,2322,905.2,12.9,772,9617,0.12,2.40,0.00,0.000,5254,0.392,0.073,3415,1806,2177,2033,2322,0,0,0,0,0,0,14.62,14.77,14.83
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$GC,11954,1.12,194.4,3398,3211,1897,2189,628.8,9.3,890,11976,0.00,2.42,13.88,2.064,9382,0.000,0.068,3407,1800,1989,1841,2137,0,0,0,0,0,0,14.70,14.62,13.74
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$STATE,17225,end climb,SURFACE_DEPTH_REACHED
$STATE,17225,begin surface coast
$FINISH,1.1,1.024022
$STATE,17237,end surface coast,CONTROL_FINISHED_OK
$STATE,17237,begin surface
$SM_CCo,17254,138.77,0.082,0,0,489,564.18
$SM_GC,1.76,9.70,1.83,138.77,0.076,0.053,0.082,96,2133,489,-14.10,0.76,564.18,0,0,0,0,0,0,14.81,14.85,14.77
$IRIDIUM_FIX,1329.75,6123.02,040317,161752
$TT8_MAMPS,0.024717,0.158039
$HUMID,46.10
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.20
$XPDR_PINGS,10
$24V_AH,13.18,5.343
$10V_AH,13.31,0.000
$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,30.350,181.675,400.925,138.775,0.000,0.000,0.000,161.725,12.500,0.000,18.809,2594.699,12042.973,768.867,2142.708,100.073,0.000,2023.451,0.000,1911.894,0.000,67.736,0.000
$DEVICE_MAMPS,485.775,2168.775,2566.575,81.855,0.000,0.000,0.000,175.950,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,224332
$DATA_FILE_SIZE,56634,1341
$CAP_FILE_SIZE,166355,0
$CFSIZE,260034560,258560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,310.09,1
$GPS,050317,002050,1342.635,6122.852,24,1.1,43,-0.7,0.5,18.4,9,9.8