version: 66.13
glider: 137
mission: 5
dive: 116
start: 3 26 117 9 39 44
data:
$ID,137
$MISSION,5
$DIVE,116
$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,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,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,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$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,573.99261
$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,8
$CALL_WAIT,120
$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,35
$R_STBD_OVSHOOT,39
$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,0
$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
$GPS1,260317,092209,1350.6187,6104.1133,32,0.9,41,-0.6,0.0,171.6,8,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.9
$GPS2,260317,093909,1350.4255,6104.1509,13,0.8,26,-0.6,0.4,162.6,9,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1347.184,6102.737
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,210.9,6520,-16.6,-10.000,-19.21,2243
$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,5,begin dive
$GC,7,-1.28,-146.0,94,2031,333,565,0.0,0.0,0,108,0.00,0.00,-98.43,0.000,16386,0.000,0.000,94,2031,3125,3045,3205,0,0,0,0,0,0,14.89,28.83,14.92
$GC,110,-1.28,-146.0,94,2031,3045,3204,4.7,-6.7,17,136,13.88,2.55,-4.60,0.000,19236,0.417,2.085,2895,643,3385,3285,3486,0,0,0,0,0,0,14.39,13.74,14.60
$GC,154,-0.93,-146.0,2894,641,3286,3486,17.9,-21.8,24,161,0.32,2.33,0.00,0.000,3206,0.241,0.042,2967,2049,3386,3286,3486,0,0,0,0,0,0,14.51,14.66,14.68
$GC,463,-1.07,-146.0,2967,2050,3286,3486,45.6,-8.0,85,471,0.12,2.38,0.00,0.000,4772,0.122,0.060,2905,647,3386,3286,3486,0,0,0,0,0,0,14.78,14.74,14.80
$GC,592,-1.13,-146.0,2905,647,3286,3486,60.1,-10.3,110,600,0.15,2.30,0.00,0.000,3206,0.243,0.043,2930,2057,3386,3286,3487,0,0,0,0,0,0,14.66,14.80,14.83
$GC,899,-1.21,-146.0,2930,2057,3286,3486,95.3,-11.9,141,903,0.00,2.30,0.00,0.000,388,0.000,0.062,2921,3451,3386,3286,3486,0,0,0,0,0,0,15.07,14.81,15.09
$GC,964,-1.33,-146.0,2921,3451,3286,3486,102.8,-10.3,154,971,0.15,2.30,0.00,0.000,5254,0.113,0.039,2862,2035,3386,3286,3486,0,0,0,0,0,0,14.85,14.85,14.91
$GC,1270,-1.33,-146.0,2862,2034,3286,3486,139.4,-12.2,185,1275,0.10,2.28,0.00,0.000,2564,0.264,0.056,2881,648,3386,3286,3487,0,0,0,0,0,0,14.72,14.85,14.88
$GC,1416,-1.37,-146.0,2881,647,3286,3486,156.1,-10.5,214,1423,0.00,2.28,0.00,0.000,1158,0.000,0.039,2872,2057,3386,3286,3487,0,0,0,0,0,0,14.94,14.88,14.96
$GC,1722,-1.42,-146.0,2872,2057,3286,3486,189.5,-11.2,245,1727,0.00,2.35,0.00,0.000,644,0.000,0.061,2872,653,3386,3286,3486,0,0,0,0,0,0,15.11,14.86,15.14
$GC,1744,-1.46,-146.0,2872,652,3286,3486,192.0,-11.5,249,1749,0.00,2.28,0.00,0.000,1158,0.000,0.043,2863,2057,3386,3286,3486,0,0,0,0,0,0,14.95,14.89,14.97
$GC,2057,-1.51,-146.0,2863,2057,3286,3486,226.7,-11.6,281,2064,0.00,2.30,0.00,0.000,388,0.000,0.063,2853,3457,3386,3286,3486,0,0,0,0,0,0,15.10,14.87,15.12
$GC,2119,-1.58,-146.0,2853,3457,3286,3486,233.8,-10.7,292,2129,0.00,2.28,0.00,0.000,1158,0.000,0.039,2853,2052,3386,3286,3486,0,0,0,0,0,0,14.96,14.90,14.97
$GC,2429,-1.62,-146.0,2853,2052,3284,3486,261.5,-9.3,315,2431,0.12,0.00,0.00,0.000,4262,0.134,0.000,2807,2051,3385,3284,3486,0,0,0,0,0,0,14.90,14.98,14.96
$GC,2727,-1.58,-146.0,2807,2051,3283,3486,299.6,-13.0,325,2733,0.12,2.35,0.00,0.000,2436,0.252,0.062,2828,3454,3384,3282,3486,0,0,0,0,0,0,14.74,14.87,14.86
$GC,2754,-1.58,-146.0,2828,3454,3282,3486,303.1,-11.2,330,2764,0.00,2.30,0.00,0.000,1030,0.000,0.041,2828,2045,3384,3282,3487,0,0,0,0,0,0,14.97,14.91,14.99
$GC,3060,-1.58,-146.0,2828,2045,3281,3486,335.7,-10.6,341,3066,0.00,2.38,0.00,0.000,260,0.000,0.066,2819,3447,3383,3280,3486,0,0,0,0,0,0,15.12,14.88,15.14
$GC,3118,-1.58,-146.0,2818,3447,3281,3486,342.3,-11.2,352,3126,0.00,2.30,0.00,0.000,1030,0.000,0.042,2819,2043,3383,3281,3486,0,0,0,0,0,0,14.97,14.90,14.99
$GC,3427,-1.58,-146.0,2819,2043,3278,3486,376.8,-11.3,363,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2043,3382,3278,3486,0,0,0,0,0,0,15.13,15.16,15.15
$GC,3726,-1.58,-146.0,2818,2043,3276,3486,408.8,-10.3,373,3731,0.00,2.40,0.00,0.000,260,0.000,0.068,2809,3453,3381,3276,3486,0,0,0,0,0,0,15.12,14.87,15.14
$GC,3800,-1.58,-146.0,2808,3453,3276,3485,416.7,-10.7,387,3806,0.10,2.33,0.00,0.000,3078,0.253,0.047,2829,2044,3380,3276,3485,0,0,0,0,0,0,14.74,14.90,14.92
$GC,4124,-1.58,-146.0,2828,2043,3273,3482,448.3,-10.0,401,4129,0.00,2.35,0.00,0.000,516,0.000,0.069,2829,641,3377,3273,3482,0,0,0,0,0,0,15.12,14.87,15.14
$GC,4181,-1.58,-146.0,2829,641,3272,3482,454.4,-10.5,412,4189,0.00,2.33,0.00,0.000,1030,0.000,0.047,2821,2053,3377,3273,3481,0,0,0,0,0,0,14.97,14.90,14.98
$GC,4490,-1.58,-146.0,2820,2053,3271,3479,487.8,-11.5,423,4494,0.00,2.40,0.00,0.000,516,0.000,0.067,2820,641,3375,3271,3480,0,0,0,0,0,0,15.13,14.86,15.16
$GC,4522,-1.58,-146.0,2820,642,3271,3480,491.8,-12.5,429,4530,0.00,2.33,0.00,0.000,1030,0.000,0.047,2810,2057,3374,3270,3479,0,0,0,0,0,0,14.97,14.90,14.99
$GC,4857,-1.58,-146.0,2810,2057,3268,3478,532.9,-12.3,445,4863,0.00,2.35,0.00,0.000,260,0.000,0.070,2800,3455,3372,3268,3477,0,0,0,0,0,0,15.11,14.85,15.14
$GC,4884,-1.58,-146.0,2799,3457,3268,3477,536.6,-12.3,450,4895,0.12,2.35,0.00,0.000,3078,0.246,0.051,2827,2045,3373,3269,3477,0,0,0,0,0,0,14.72,14.89,14.91
$GC,5191,-1.58,-146.0,2826,2045,3266,3477,570.9,-11.4,461,5196,0.00,2.35,0.00,0.000,516,0.000,0.071,2827,650,3371,3266,3477,0,0,0,0,0,0,15.11,14.85,15.14
$GC,5228,-1.58,-146.0,2827,649,3267,3477,575.8,-11.9,468,5233,0.00,2.33,0.00,0.000,1030,0.000,0.047,2819,2054,3372,3267,3477,0,0,0,0,0,0,14.96,14.89,14.98
$GC,5557,-1.58,-146.0,2818,2054,3266,3474,613.7,-11.6,483,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,3370,3266,3475,0,0,0,0,0,0,15.13,15.15,15.14
$GC,5856,-1.58,-146.0,2818,2054,3265,3473,646.3,-10.7,493,5862,0.00,2.40,0.00,0.000,516,0.000,0.066,2819,644,3368,3264,3473,0,0,0,0,0,0,15.12,14.85,15.14
$GC,5921,-1.58,-146.0,2818,643,3264,3472,653.8,-11.1,505,5928,0.10,2.33,0.00,0.000,3078,0.278,0.049,2827,2048,3367,3263,3472,0,0,0,0,0,0,14.69,14.88,14.90
$GC,6255,-1.58,-146.0,2826,2049,3262,3470,688.8,-10.6,521,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2049,3366,3262,3471,0,0,0,0,0,0,15.12,15.14,15.14
$GC,6556,-1.61,-146.0,2827,2049,3261,3470,721.2,-10.8,531,6557,0.00,0.00,0.00,0.000,134,0.000,0.000,2827,2049,3365,3261,3470,0,0,0,0,0,0,15.12,15.15,15.14
$GC,6858,-1.64,-146.0,2827,2049,3260,3469,753.2,-10.5,541,6863,0.00,2.40,0.00,0.000,644,0.000,0.072,2827,652,3364,3260,3469,0,0,0,0,0,0,15.13,14.84,15.15
$GC,6891,-1.64,-146.0,2827,652,3260,3468,757.1,-11.2,547,6898,0.00,2.35,0.00,0.000,1030,0.000,0.053,2819,2058,3364,3260,3468,0,0,0,0,0,0,14.95,14.86,14.97
$GC,7225,-1.64,-146.0,2818,2058,3259,3467,791.6,-10.2,563,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2058,3363,3259,3467,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7526,-1.64,-146.0,2818,2059,3259,3465,820.8,-9.7,573,7534,0.00,2.42,0.00,0.000,548,0.000,0.073,2819,650,3362,3260,3465,0,0,0,0,0,0,15.12,14.83,15.14
$GC,7565,-1.64,-146.0,2818,650,3259,3465,825.3,-11.1,580,7571,0.00,2.38,0.00,0.000,1030,0.000,0.055,2808,2059,3362,3259,3465,0,0,0,0,0,0,14.94,14.85,14.96
$GC,7894,-1.64,-146.0,2808,2060,3258,3464,860.4,-10.7,595,7899,0.00,2.45,0.00,0.000,516,0.000,0.076,2809,646,3360,3257,3464,0,0,0,0,0,0,15.11,14.81,15.13
$GC,7931,-1.64,-146.0,2808,645,3257,3464,865.0,-11.7,602,7936,0.00,2.38,0.00,0.000,1030,0.000,0.054,2799,2062,3361,3258,3464,0,0,0,0,0,0,14.93,14.85,14.96
$GC,8260,-1.64,-146.0,2798,2062,3256,3464,904.1,-12.0,617,8266,0.00,2.45,0.00,0.000,516,0.000,0.076,2799,651,3359,3256,3463,0,0,0,0,0,0,15.12,14.81,15.14
$GC,8294,-1.61,-146.0,2798,651,3256,3463,908.4,-12.7,623,8301,0.15,2.35,0.00,0.000,3206,0.278,0.053,2825,2060,3359,3256,3463,0,0,0,0,0,0,14.60,14.85,14.76
$GC,8629,-1.64,-146.0,2825,2060,3255,3463,944.3,-10.6,639,8630,0.00,0.00,0.00,0.000,134,0.000,0.000,2826,2060,3358,3255,3462,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8932,-1.68,-146.0,2825,2060,3254,3461,974.5,-9.8,649,8933,0.00,0.00,0.00,0.000,166,0.000,0.000,2825,2060,3357,3254,3461,0,0,0,0,0,0,15.11,15.15,15.14
$STATE,9109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9109,begin apogee
$GC,9113,-0.33,0.0,2826,1801,3252,3461,991.8,-9.7,655,9243,1.02,0.00,125.88,2.664,10246,0.256,0.000,3097,1800,2789,2678,2900,0,0,0,0,0,0,14.59,14.06,13.12
$STATE,9244,end apogee,CONTROL_FINISHED_OK
$STATE,9244,begin climb
$GC,9245,1.28,146.0,3096,1800,2673,2896,993.7,0.0,659,9390,1.23,0.00,140.52,2.508,10246,0.151,0.000,3456,1800,2193,2066,2321,0,0,0,0,0,0,14.05,13.95,13.08
$GC,9679,1.09,146.0,3455,1800,2043,2317,947.1,13.1,674,9686,0.17,2.45,0.00,0.000,4740,0.336,0.070,3429,390,2179,2042,2317,0,0,0,0,0,0,14.34,14.53,14.52
$GC,9727,0.93,146.0,3428,390,2038,2317,941.0,12.0,684,9732,0.22,2.40,0.00,0.000,5254,0.324,0.045,3382,1813,2177,2038,2317,0,0,0,0,0,0,14.39,14.60,14.63
$GC,10034,0.88,160.3,3382,1812,2037,2317,911.6,9.3,695,10051,0.00,2.40,12.00,2.344,8612,0.000,0.072,3381,3201,2132,1991,2274,0,0,0,0,0,0,14.95,14.59,13.64
$GC,10102,0.82,169.4,3381,3201,1991,2270,904.8,9.6,709,10118,0.17,2.40,9.65,2.273,13478,0.341,0.057,3356,1804,2098,1957,2240,0,0,0,0,0,0,14.45,14.62,13.58
$GC,10420,0.83,184.2,3355,1803,1945,2237,876.4,9.3,722,10441,0.00,2.55,14.40,2.358,8740,0.000,0.084,3365,397,2033,1888,2179,0,0,0,0,0,0,14.92,14.53,13.62
$GC,10466,0.83,184.2,3364,397,1882,2180,871.5,10.1,732,10471,0.00,2.40,0.00,0.000,1030,0.000,0.049,3365,1802,2031,1882,2180,0,0,0,0,0,0,14.64,14.58,14.66
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$GC,15279,0.91,269.0,3372,1800,1659,1974,339.2,8.6,991,15313,0.00,2.55,27.52,1.740,8740,0.000,0.083,3380,372,1685,1530,1841,0,0,0,0,0,0,15.11,14.64,13.96
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$STATE,18383,end climb,SURFACE_DEPTH_REACHED
$STATE,18384,begin surface coast
$FINISH,1.4,0.999908
$STATE,18409,end surface coast,CONTROL_FINISHED_OK
$STATE,18409,begin surface
$SM_CCo,18426,85.55,0.080,0,0,449,573.99
$SM_GC,2.25,9.88,0.40,85.55,0.085,0.063,0.080,91,2073,449,-14.13,-0.93,573.99,0,0,0,0,0,0,14.64,14.81,14.71
$IRIDIUM_FIX,1343.07,6104.06,260317,093246
$TT8_MAMPS,0.023968,0.158788
$HUMID,47.95
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.30
$XPDR_PINGS,15
$24V_AH,13.08,39.141
$10V_AH,13.67,0.000
$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,29.050,192.550,464.775,85.550,0.000,0.000,0.000,434.325,103.250,0.000,27.693,2969.644,12900.958,791.474,2695.414,179.418,0.000,2369.658,0.000,1939.890,0.000,667.955,0.000
$DEVICE_MAMPS,416.925,2084.625,2663.730,80.325,0.000,0.000,0.000,179.775,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225120
$DATA_FILE_SIZE,60055,1363
$CAP_FILE_SIZE,217831,0
$CFSIZE,260034560,249966592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.037,129.73,1
$GPS,260317,144936,1347.952,6102.833,39,0.9,44,-0.6,0.3,0.0,9,9.6