version: 66.13
glider: 137
mission: 5
dive: 28
start: 3 8 117 16 33 54
data:
$ID,137
$MISSION,5
$DIVE,28
$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,390
$T_MISSION,450
$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,125
$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,117
$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,313
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,50
$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
$GPS1,080317,162638,1349.1052,6116.0444,39,0.8,46,-0.6,0.3,284.4,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.6
$GPS2,080317,163319,1349.1193,6115.9810,8,0.8,22,-0.6,0.0,256.7,10,8.7
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,HEADING
$TGT_LATLONG,1344.217,6125.886
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,126.0,20000,-17.4,-8.462,-20.45,2200
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.31,-121.7,92,2070,1060,1249,0.0,0.0,0,89,0.00,0.00,-80.25,0.000,16390,0.000,0.000,92,2070,3287,3210,3365,0,0,0,0,0,0,14.89,13.87,14.90
$GC,91,-1.31,-121.7,92,2070,3210,3365,5.0,-10.4,14,111,15.70,0.00,0.00,0.000,2054,0.480,0.000,2884,2069,3289,3211,3367,0,0,0,0,0,0,14.45,14.74,14.70
$GC,413,-1.22,-121.7,2884,2070,3211,3370,67.4,-15.7,66,423,0.12,2.35,0.00,0.000,2692,0.321,0.061,2915,666,3290,3211,3370,0,0,0,0,0,0,14.66,14.78,14.78
$GC,468,-1.22,-121.7,2915,666,3211,3369,75.8,-14.1,77,475,0.00,2.28,0.00,0.000,1030,0.000,0.043,2906,2036,3290,3211,3370,0,0,0,0,0,0,14.84,14.81,14.87
$GC,775,-1.22,-121.7,2906,2036,3211,3370,113.3,-12.3,108,779,0.00,2.28,0.00,0.000,516,0.000,0.063,2906,673,3290,3211,3370,0,0,0,0,0,0,15.07,14.84,15.09
$GC,851,-1.22,-121.7,2906,673,3211,3371,122.9,-12.6,123,855,0.00,2.25,0.00,0.000,1030,0.000,0.044,2897,2050,3290,3211,3370,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1162,-1.22,-121.7,2897,2050,3211,3372,157.6,-12.1,155,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2050,3291,3211,3372,0,0,0,0,0,0,15.11,15.14,15.13
$GC,1463,-1.27,-121.7,2897,2050,3211,3373,188.7,-9.0,185,1471,0.00,2.28,0.00,0.000,644,0.000,0.063,2897,673,3292,3211,3373,0,0,0,0,0,0,15.13,14.90,15.15
$GC,1584,-1.32,-121.7,2897,673,3211,3373,199.5,-8.9,209,1590,0.00,2.25,0.00,0.000,1158,0.000,0.047,2889,2049,3292,3211,3373,0,0,0,0,0,0,15.00,14.93,15.00
$GC,1898,-1.38,-121.7,2889,2049,3211,3373,225.4,-8.1,241,1899,0.00,0.00,0.00,0.000,166,0.000,0.000,2889,2049,3292,3211,3373,0,0,0,0,0,0,15.14,15.17,15.16
$GC,2198,-1.46,-121.7,2889,2049,3211,3373,248.2,-7.4,271,2203,0.12,2.30,0.00,0.000,4772,0.138,0.065,2833,672,3292,3211,3373,0,0,0,0,0,0,14.95,14.93,14.99
$GC,2264,-1.40,-121.7,2833,672,3211,3373,255.0,-10.4,284,2269,0.20,2.28,0.00,0.000,3206,0.263,0.048,2870,2058,3292,3211,3373,0,0,0,0,0,0,14.83,14.95,14.99
$GC,2586,-1.45,-121.7,2870,2058,3209,3373,283.3,-9.3,298,2593,0.00,2.33,0.00,0.000,388,0.000,0.069,2862,3453,3290,3208,3373,0,0,0,0,0,0,15.17,14.95,15.19
$GC,2609,-1.51,-121.7,2861,3453,3208,3374,285.7,-9.3,303,2617,0.00,2.28,0.00,0.000,1158,0.000,0.045,2861,2066,3290,3208,3373,0,0,0,0,0,0,15.03,14.97,15.04
$GC,2916,-1.54,-121.7,2861,2066,3206,3373,313.7,-9.6,314,2920,0.00,2.35,0.00,0.000,644,0.000,0.068,2861,641,3289,3205,3373,0,0,0,0,0,0,15.18,14.95,15.20
$GC,2995,-1.54,-121.7,2861,640,3205,3373,321.6,-9.5,330,3002,0.00,2.33,0.00,0.000,1030,0.000,0.048,2853,2054,3289,3205,3373,0,0,0,0,0,0,15.04,14.97,15.05
$GC,3302,-1.54,-121.7,2853,2054,3202,3373,348.8,-8.8,341,3306,0.00,2.38,0.00,0.000,516,0.000,0.070,2853,640,3287,3202,3373,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3336,-1.54,-121.7,2853,640,3201,3373,352.3,-10.0,348,3341,0.00,2.35,0.00,0.000,1030,0.000,0.050,2844,2060,3287,3201,3373,0,0,0,0,0,0,15.04,14.97,15.06
$GC,3653,-1.54,-121.7,2844,2060,3198,3373,383.0,-10.2,361,3659,0.00,2.40,0.00,0.000,516,0.000,0.070,2844,647,3285,3198,3373,0,0,0,0,0,0,15.16,14.96,15.19
$GC,3686,-1.54,-121.7,2844,647,3198,3373,387.0,-11.4,368,3690,0.00,2.33,0.00,0.000,1030,0.000,0.051,2835,2051,3285,3198,3373,0,0,0,0,0,0,15.04,14.98,15.06
$GC,4014,-1.54,-121.7,2834,2051,3196,3373,421.4,-10.3,383,4018,0.00,2.35,0.00,0.000,516,0.000,0.070,2834,652,3284,3196,3373,0,0,0,0,0,0,15.16,14.96,15.19
$GC,4078,-1.54,-121.7,2834,652,3196,3373,428.7,-10.4,396,4082,0.00,2.33,0.00,0.000,1030,0.000,0.050,2825,2059,3284,3195,3373,0,0,0,0,0,0,15.04,14.98,15.06
$GC,4406,-1.54,-121.7,2824,2059,3194,3372,462.0,-10.3,411,4411,0.00,2.38,0.00,0.000,516,0.000,0.070,2825,652,3283,3194,3373,0,0,0,0,0,0,15.16,14.96,15.19
$GC,4468,-1.50,-121.7,2824,653,3193,3373,469.0,-11.1,423,4473,0.15,2.30,0.00,0.000,3206,0.280,0.051,2848,2061,3283,3193,3373,0,0,0,0,0,0,14.86,14.98,15.02
$GC,4799,-1.50,-121.7,2847,2061,3191,3372,499.1,-8.8,439,4804,0.00,2.38,0.00,0.000,516,0.000,0.071,2848,651,3282,3191,3373,0,0,0,0,0,0,15.19,14.96,15.21
$GC,4819,-1.50,-121.7,2848,651,3191,3373,501.2,-9.9,443,4824,0.00,2.33,0.00,0.000,1030,0.000,0.052,2839,2056,3281,3190,3373,0,0,0,0,0,0,15.05,14.99,15.07
$GC,5130,-1.50,-121.7,2839,2056,3190,3373,529.6,-9.4,455,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2055,3281,3190,3373,0,0,0,0,0,0,15.20,15.22,15.22
$GC,5431,-1.50,-121.7,2839,2056,3188,3373,558.9,-9.9,465,5435,0.00,2.38,0.00,0.000,516,0.000,0.071,2840,648,3280,3188,3373,0,0,0,0,0,0,15.20,14.97,15.22
$GC,5530,-1.50,-121.7,2839,648,3187,3373,569.8,-11.3,485,5534,0.00,2.33,0.00,0.000,1030,0.000,0.052,2830,2049,3280,3187,3373,0,0,0,0,0,0,15.05,14.99,15.07
$GC,5847,-1.50,-121.7,2830,2049,3186,3373,603.6,-10.7,498,5851,0.00,2.40,0.00,0.000,516,0.000,0.071,2830,640,3279,3186,3373,0,0,0,0,0,0,15.19,14.96,15.22
$GC,5911,-1.46,-121.7,2829,640,3186,3373,611.3,-11.8,511,5917,0.15,2.35,0.00,0.000,3206,0.278,0.052,2853,2061,3279,3186,3373,0,0,0,0,0,0,14.86,14.99,15.02
$GC,6234,-1.50,-121.7,2852,2061,3184,3372,643.6,-9.9,525,6238,0.00,2.40,0.00,0.000,644,0.000,0.072,2853,649,3278,3184,3372,0,0,0,0,0,0,15.19,14.96,15.21
$GC,6288,-1.50,-121.7,2853,649,3184,3372,649.7,-10.9,536,6295,0.00,2.33,0.00,0.000,1030,0.000,0.053,2845,2060,3277,3183,3372,0,0,0,0,0,0,15.05,14.99,15.07
$GC,6597,-1.50,-121.7,2845,2059,3182,3372,680.5,-9.9,547,6601,0.00,2.40,0.00,0.000,516,0.000,0.072,2845,652,3277,3182,3372,0,0,0,0,0,0,15.18,14.96,15.20
$GC,6688,-1.50,-121.7,2845,652,3182,3372,690.0,-9.6,565,6692,0.00,2.30,0.00,0.000,1030,0.000,0.051,2835,2056,3277,3182,3372,0,0,0,0,0,0,15.04,14.98,15.07
$GC,7015,-1.50,-121.7,2835,2056,3182,3371,720.4,-9.2,580,7019,0.00,2.38,0.00,0.000,516,0.000,0.072,2835,652,3276,3182,3371,0,0,0,0,0,0,15.17,14.96,15.19
$GC,7089,-1.50,-121.7,2835,652,3182,3371,727.7,-9.3,595,7095,0.10,2.33,0.00,0.000,3078,0.295,0.051,2843,2055,3276,3182,3371,0,0,0,0,0,0,14.85,14.98,15.02
$GC,7407,-1.50,-121.7,2844,2056,3181,3370,754.6,-8.8,608,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2056,3276,3181,3371,0,0,0,0,0,0,15.19,15.21,15.21
$GC,7708,-1.54,-121.7,2844,2056,3180,3370,782.5,-9.5,618,7709,0.00,0.00,0.00,0.000,134,0.000,0.000,2844,2056,3275,3180,3370,0,0,0,0,0,0,15.17,15.20,15.19
$GC,8007,-1.57,-121.7,2844,2055,3178,3370,811.1,-9.4,628,8013,0.00,2.38,0.00,0.000,644,0.000,0.073,2845,651,3273,3178,3369,0,0,0,0,0,0,15.19,14.96,15.21
$GC,8067,-1.57,-121.7,2844,651,3178,3369,817.1,-9.8,640,8073,0.00,2.33,0.00,0.000,1030,0.000,0.053,2836,2053,3273,3178,3369,0,0,0,0,0,0,15.05,14.98,15.07
$GC,8397,-1.57,-121.7,2836,2053,3177,3368,848.2,-9.4,656,8403,0.00,2.38,0.00,0.000,516,0.000,0.073,2836,650,3272,3177,3368,0,0,0,0,0,0,15.19,14.95,15.21
$GC,8439,-1.57,-121.7,2836,649,3177,3368,852.9,-10.4,665,8444,0.00,2.33,0.00,0.000,1030,0.000,0.054,2826,2058,3272,3177,3368,0,0,0,0,0,0,15.04,14.97,15.06
$GC,8756,-1.57,-121.7,2826,2058,3177,3368,884.0,-10.1,678,8760,0.00,2.40,0.00,0.000,516,0.000,0.073,2826,652,3272,3177,3367,0,0,0,0,0,0,15.19,14.95,15.21
$GC,8812,-1.57,-121.7,2826,652,3177,3367,890.2,-11.0,689,8816,0.00,2.35,0.00,0.000,1030,0.000,0.053,2817,2063,3271,3176,3367,0,0,0,0,0,0,15.04,14.97,15.06
$GC,9138,-1.57,-121.7,2816,2062,3176,3367,924.9,-10.6,704,9144,0.00,2.40,0.00,0.000,516,0.000,0.074,2817,650,3271,3176,3367,0,0,0,0,0,0,15.19,14.95,15.21
$GC,9201,-1.53,-121.7,2817,650,3175,3367,932.2,-10.9,717,9206,0.15,2.35,0.00,0.000,3206,0.278,0.054,2840,2049,3271,3175,3367,0,0,0,0,0,0,14.85,14.96,15.02
$GC,9529,-1.53,-121.7,2839,2049,3174,3366,961.9,-9.0,732,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2049,3270,3174,3366,0,0,0,0,0,0,15.16,15.19,15.19
$GC,9828,-1.53,-121.7,2839,2049,3174,3366,987.7,-8.5,742,9832,0.00,2.38,0.00,0.000,516,0.000,0.074,2841,650,3269,3173,3365,0,0,0,0,0,0,15.19,14.95,15.21
$STATE,9857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9857,begin apogee
$GC,9862,-0.33,0.0,2833,1799,3173,3365,990.6,-8.9,748,9973,1.02,0.00,107.28,2.653,10246,0.281,0.000,3101,1803,2788,2679,2898,0,0,0,0,0,0,14.81,14.06,13.09
$STATE,9974,end apogee,CONTROL_FINISHED_OK
$STATE,9975,begin climb
$GC,9976,1.31,121.7,3101,1803,2674,2895,992.1,0.0,751,10102,1.23,2.60,117.20,2.521,10500,0.176,0.076,3448,3202,2289,2162,2416,0,0,0,0,0,0,14.03,13.97,13.06
$GC,10123,1.13,121.7,3448,3202,2159,2411,981.9,11.4,785,10129,0.17,2.47,0.00,0.000,5254,0.379,0.060,3427,1803,2284,2158,2411,0,0,0,0,0,0,13.99,14.16,14.21
$GC,10429,1.05,121.7,3426,1802,2149,2411,947.7,11.1,796,10435,0.12,2.47,0.00,0.000,4740,0.393,0.084,3410,390,2279,2148,2411,0,0,0,0,0,0,14.46,14.61,14.62
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$GC,15730,0.96,161.0,3393,1794,1975,2269,422.2,10.0,1104,15735,0.00,2.40,0.00,0.000,260,0.000,0.072,3384,3209,2121,1974,2269,0,0,0,0,0,0,15.09,14.86,15.11
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$STATE,19986,end climb,SURFACE_DEPTH_REACHED
$STATE,19986,begin surface coast
$FINISH,1.0,1.008960
$STATE,20012,end surface coast,CONTROL_FINISHED_OK
$STATE,20012,begin surface
$SM_CCo,20028,36.65,0.077,0,0,1512,313.24
$SM_GC,2.71,9.88,0.45,36.65,0.097,0.058,0.077,97,2067,1512,-14.10,-0.99,313.24,0,0,0,0,0,0,14.83,14.90,14.84
$IRIDIUM_FIX,1345.29,6117.88,080317,105758
$TT8_MAMPS,0.023968,0.15729
$HUMID,46.57
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,24.30
$XPDR_PINGS,10
$24V_AH,13.06,11.167
$10V_AH,13.39,0.000
$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,29.825,199.625,310.850,36.650,0.000,0.000,0.000,244.000,12.500,0.000,23.266,3030.903,14218.686,558.524,2550.310,112.522,0.000,2057.740,0.000,2224.837,0.000,67.763,0.000
$DEVICE_MAMPS,480.420,154.530,2653.020,77.265,0.000,0.000,0.000,191.250,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,226016
$DATA_FILE_SIZE,66515,1562
$CAP_FILE_SIZE,188772,0
$CFSIZE,260034560,256999424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.071,321.76,1
$GPS,080317,220936,1348.597,6118.075,37,0.9,42,-0.6,0.0,0.0,9,9.8