version: 66.13
glider: 137
mission: 5
dive: 184
start: 4 10 117 6 39 31
data:
$ID,137
$MISSION,5
$DIVE,184
$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,34
$R_STBD_OVSHOOT,52
$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
$GPS1,100417,063107,1312.7780,6027.3735,42,0.8,48,-0.7,0.6,230.3,9,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-67.2
$GPS2,100417,063843,1312.7351,6027.2822,14,0.8,22,-0.7,0.0,210.0,10,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1312.649,6029.583
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,98.9,4151,-18.6,-10.000,-21.08,1794
$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,-1.38,-116.7,97,2072,343,578,0.0,0.0,0,103,0.00,0.00,-93.18,0.000,16386,0.000,0.000,97,2073,2937,2858,3017,0,0,0,0,0,0,14.86,28.83,14.88
$GC,106,-1.42,-146.0,97,2073,2859,3017,4.3,-5.2,16,137,13.50,2.72,-8.55,0.000,18980,0.402,2.076,2860,647,3388,3275,3501,0,0,0,0,0,0,14.32,13.37,14.53
$GC,179,-1.42,-146.0,2860,647,3276,3501,20.4,-15.7,29,187,0.00,2.33,0.00,0.000,1030,0.000,0.039,2851,2052,3388,3275,3501,0,0,0,0,0,0,14.67,14.60,14.69
$GC,489,-1.42,-146.0,2851,2052,3276,3502,65.6,-13.9,79,498,0.00,2.40,0.00,0.000,516,0.000,0.057,2851,635,3388,3276,3501,0,0,0,0,0,0,14.95,14.66,14.97
$GC,519,-1.42,-146.0,2851,635,3276,3502,69.9,-14.1,85,525,0.12,2.33,0.00,0.000,3078,0.259,0.038,2867,2054,3389,3276,3502,0,0,0,0,0,0,14.50,14.71,14.71
$GC,832,-1.47,-146.0,2867,2054,3277,3501,115.0,-15.2,117,837,0.00,2.33,0.00,0.000,388,0.000,0.059,2858,3450,3389,3277,3501,0,0,0,0,0,0,15.02,14.72,15.04
$GC,874,-1.59,-146.0,2858,3450,3277,3501,121.1,-14.4,125,880,0.12,2.30,0.00,0.000,5254,0.119,0.036,2806,2036,3389,3277,3501,0,0,0,0,0,0,14.76,14.77,14.83
$GC,1187,-1.59,-146.0,2807,2036,3277,3502,163.3,-11.8,157,1192,0.10,2.28,0.00,0.000,2564,0.274,0.051,2825,654,3390,3278,3502,0,0,0,0,0,0,14.60,14.76,14.76
$GC,1239,-1.59,-146.0,2825,653,3278,3501,169.1,-10.7,167,1243,0.00,2.28,0.00,0.000,1030,0.000,0.037,2817,2057,3389,3278,3501,0,0,0,0,0,0,14.86,14.79,14.88
$GC,1545,-1.59,-146.0,2816,2057,3278,3501,202.2,-11.6,198,1550,0.00,2.38,0.00,0.000,516,0.000,0.056,2816,655,3389,3278,3501,0,0,0,0,0,0,15.05,14.76,15.07
$GC,1640,-1.63,-146.0,2816,654,3278,3501,214.3,-12.3,215,1648,0.00,2.28,0.00,0.000,1158,0.000,0.039,2807,2050,3389,3277,3501,0,0,0,0,0,0,14.88,14.80,14.89
$GC,1947,-1.63,-146.0,2807,2051,3277,3501,248.3,-10.7,246,1952,0.00,2.35,0.00,0.000,516,0.000,0.057,2807,658,3390,3278,3502,0,0,0,0,0,0,15.05,14.76,15.07
$GC,1974,-1.63,-146.0,2807,658,3278,3501,251.5,-11.3,251,1984,0.10,2.30,0.00,0.000,3078,0.272,0.039,2816,2064,3390,3278,3502,0,0,0,0,0,0,14.57,14.81,14.79
$GC,2283,-1.69,-146.0,2816,2065,3277,3501,282.6,-10.4,262,2287,0.00,2.38,0.00,0.000,644,0.000,0.060,2817,658,3389,3277,3501,0,0,0,0,0,0,15.07,14.77,15.09
$GC,2320,-1.74,-146.0,2817,658,3277,3501,287.3,-11.7,269,2325,0.00,2.28,0.00,0.000,1158,0.000,0.040,2808,2050,3389,3277,3501,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2650,-1.79,-146.0,2808,2050,3278,3501,327.3,-12.0,284,2655,0.10,2.35,0.00,0.000,4484,0.168,0.060,2768,3455,3389,3278,3501,0,0,0,0,0,0,14.78,14.76,14.85
$GC,2671,-1.79,-146.0,2768,3455,3277,3501,330.3,-12.3,288,2676,0.00,2.33,0.00,0.000,1030,0.000,0.043,2768,2049,3389,3278,3501,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2984,-1.79,-146.0,2768,2049,3278,3501,367.3,-11.5,300,2989,0.00,2.40,0.00,0.000,260,0.000,0.065,2757,3451,3389,3278,3501,0,0,0,0,0,0,15.07,14.76,15.10
$GC,3019,-1.79,-146.0,2757,3451,3277,3500,370.8,-9.8,306,3024,0.12,2.33,0.00,0.000,3110,0.262,0.041,2782,2038,3388,3277,3500,0,0,0,0,0,0,14.54,14.81,14.78
$GC,3354,-1.79,-146.0,2782,2038,3276,3498,408.1,-11.9,322,3359,0.00,2.33,0.00,0.000,516,0.000,0.060,2783,646,3386,3275,3498,0,0,0,0,0,0,15.09,14.77,15.11
$GC,3441,-1.79,-146.0,2783,645,3275,3498,420.0,-13.7,339,3448,0.00,2.33,0.00,0.000,1030,0.000,0.042,2775,2054,3386,3274,3498,0,0,0,0,0,0,14.88,14.81,14.90
$GC,3749,-1.79,-146.0,2774,2054,3273,3495,458.5,-12.4,350,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2054,3383,3272,3495,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4048,-1.79,-146.0,2774,2054,3272,3493,492.2,-10.9,360,4053,0.00,2.35,0.00,0.000,260,0.000,0.063,2764,3453,3382,3272,3493,0,0,0,0,0,0,15.08,14.76,15.10
$GC,4074,-1.79,-146.0,2764,3452,3271,3492,495.5,-11.6,365,4085,0.10,2.33,0.00,0.000,3078,0.265,0.040,2781,2041,3382,3272,3492,0,0,0,0,0,0,14.55,14.81,14.78
$GC,4381,-1.79,-146.0,2781,2041,3270,3490,528.3,-11.0,376,4386,0.00,2.33,0.00,0.000,516,0.000,0.063,2783,657,3380,3270,3490,0,0,0,0,0,0,15.08,14.75,15.10
$GC,4436,-1.79,-146.0,2782,657,3269,3490,534.6,-11.6,386,4441,0.00,2.33,0.00,0.000,1030,0.000,0.043,2774,2061,3379,3269,3489,0,0,0,0,0,0,14.88,14.79,14.90
$GC,4750,-1.79,-146.0,2774,2061,3268,3487,569.4,-11.3,398,4755,0.00,2.35,0.00,0.000,260,0.000,0.066,2764,3450,3377,3267,3487,0,0,0,0,0,0,15.09,14.73,15.11
$GC,4783,-1.79,-146.0,2763,3450,3268,3487,573.5,-11.3,404,4790,0.10,2.33,0.00,0.000,3078,0.263,0.041,2782,2045,3377,3267,3487,0,0,0,0,0,0,14.54,14.79,14.77
$GC,5119,-1.79,-146.0,2781,2044,3267,3486,610.3,-11.0,420,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2044,3376,3266,3486,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5422,-1.79,-146.0,2781,2044,3266,3486,644.8,-11.7,430,5426,0.00,2.35,0.00,0.000,516,0.000,0.063,2783,652,3376,3266,3486,0,0,0,0,0,0,15.09,14.73,15.11
$GC,5458,-1.79,-146.0,2782,652,3266,3486,650.0,-12.3,437,5464,0.00,2.33,0.00,0.000,1030,0.000,0.046,2774,2050,3375,3265,3486,0,0,0,0,0,0,14.87,14.78,14.89
$GC,5786,-1.79,-146.0,2774,2050,3264,3483,691.5,-12.8,452,5793,0.00,2.40,0.00,0.000,516,0.000,0.063,2774,654,3373,3264,3483,0,0,0,0,0,0,15.07,14.72,15.09
$GC,5860,-1.79,-146.0,2774,653,3263,3483,701.6,-13.1,466,5866,0.10,2.33,0.00,0.000,3078,0.296,0.044,2781,2056,3373,3263,3483,0,0,0,0,0,0,14.47,14.77,14.73
$GC,6184,-1.79,-146.0,2781,2056,3262,3481,739.7,-11.6,480,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2056,3371,3262,3481,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6486,-1.79,-146.0,2781,2056,3261,3480,774.1,-11.3,490,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2055,3370,3261,3480,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6785,-1.82,-146.0,2781,2056,3260,3478,806.6,-10.6,500,6790,0.00,2.42,0.00,0.000,644,0.000,0.064,2782,647,3369,3260,3479,0,0,0,0,0,0,15.08,14.71,15.10
$GC,6843,-1.82,-146.0,2782,647,3260,3479,813.7,-11.9,511,6851,0.00,2.35,0.00,0.000,1030,0.000,0.046,2774,2052,3369,3260,3478,0,0,0,0,0,0,14.85,14.76,14.88
$GC,7153,-1.82,-146.0,2774,2053,3259,3478,848.0,-11.2,522,7157,0.00,2.38,0.00,0.000,260,0.000,0.066,2763,3450,3368,3259,3478,0,0,0,0,0,0,15.08,14.70,15.11
$GC,7190,-1.82,-146.0,2763,3450,3258,3477,852.7,-11.8,529,7196,0.00,2.35,0.00,0.000,1030,0.000,0.043,2763,2043,3368,3259,3477,0,0,0,0,0,0,14.85,14.76,14.87
$GC,7518,-1.82,-146.0,2763,2043,3258,3477,891.5,-11.8,544,7525,0.00,2.38,0.00,0.000,516,0.000,0.066,2766,646,3367,3257,3477,0,0,0,0,0,0,15.07,14.69,15.09
$GC,7577,-1.82,-146.0,2765,646,3257,3477,899.3,-12.9,555,7585,0.10,2.35,0.00,0.000,3078,0.311,0.046,2773,2054,3367,3257,3477,0,0,0,0,0,0,14.43,14.75,14.71
$GC,7885,-1.82,-146.0,2772,2054,3256,3476,933.1,-11.0,566,7890,0.00,2.42,0.00,0.000,516,0.000,0.064,2774,648,3365,3255,3476,0,0,0,0,0,0,15.07,14.69,15.09
$GC,7918,-1.82,-146.0,2773,648,3256,3477,937.1,-11.4,572,7925,0.00,2.35,0.00,0.000,1030,0.000,0.047,2766,2052,3366,3256,3476,0,0,0,0,0,0,14.83,14.75,14.86
$GC,8254,-1.82,-146.0,2765,2051,3255,3475,975.6,-11.3,588,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2052,3365,3255,3475,0,0,0,0,0,0,15.06,15.08,15.08
$STATE,8403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8403,begin apogee
$GC,8408,-0.33,0.0,2766,1785,3255,3475,992.7,-11.3,593,8547,1.30,0.00,135.00,2.625,10246,0.262,0.000,3099,1783,2789,2675,2903,0,0,0,0,0,0,14.40,14.02,13.09
$STATE,8548,end apogee,CONTROL_FINISHED_OK
$STATE,8548,begin climb
$GC,8550,1.42,146.0,3099,1783,2672,2901,994.7,0.0,597,8691,1.30,0.00,135.85,2.645,10502,0.157,0.000,3482,1783,2191,2064,2318,0,0,0,0,0,0,14.00,13.83,12.85
$GC,9004,1.24,146.0,3482,1783,2043,2316,942.8,14.0,623,9011,0.15,2.42,0.00,0.000,4740,0.332,0.072,3460,407,2179,2042,2316,0,0,0,0,0,0,14.21,14.48,14.42
$GC,9037,1.08,146.0,3460,406,2041,2316,938.3,13.6,630,9042,0.20,2.38,0.00,0.000,5254,0.329,0.044,3412,1803,2178,2041,2316,0,0,0,0,0,0,14.25,14.54,14.56
$GC,9365,1.01,146.0,3411,1803,2039,2316,900.7,11.3,645,9372,0.00,2.47,0.00,0.000,644,0.000,0.072,3421,405,2177,2038,2316,0,0,0,0,0,0,14.93,14.61,14.95
$GC,9408,0.93,146.0,3420,404,2037,2316,895.6,11.6,654,9413,0.17,2.35,0.00,0.000,5254,0.324,0.044,3377,1802,2176,2037,2316,0,0,0,0,0,0,14.34,14.66,14.66
$GC,9726,0.95,164.7,3377,1802,2036,2316,866.1,8.9,667,9744,0.00,0.00,15.60,2.368,8230,0.000,0.000,3377,1802,2116,1976,2257,0,0,0,0,0,0,14.99,14.61,13.64
$GC,10025,0.99,198.4,3378,1802,1966,2254,840.8,8.1,677,10063,0.00,2.47,31.02,2.407,8484,0.000,0.069,3371,3194,1975,1834,2117,0,0,0,0,0,0,14.93,14.37,13.45
$GC,10089,1.02,219.2,3371,3194,1834,2111,835.6,8.8,690,10117,0.00,2.42,19.45,2.332,9254,0.000,0.056,3380,1804,1891,1749,2033,0,0,0,0,0,0,14.50,14.42,13.35
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$GC,17196,1.26,298.8,3445,1791,1427,1745,22.2,9.7,1200,17204,0.00,2.47,1.80,0.148,8868,0.000,0.070,3455,388,1572,1411,1733,0,0,0,0,0,0,14.98,14.64,14.51
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$STATE,17404,end climb,SURFACE_DEPTH_REACHED
$STATE,17404,begin surface coast
$FINISH,1.4,1.019141
$STATE,17429,end surface coast,CONTROL_FINISHED_OK
$STATE,17429,begin surface
$SM_CCo,17447,113.40,0.080,0,0,449,573.99
$SM_GC,2.38,9.88,0.38,113.40,0.076,0.054,0.080,98,2085,449,-14.10,-1.16,573.99,0,0,0,0,0,0,14.62,14.75,14.62
$IRIDIUM_FIX,1305.38,6025.75,100417,012220
$TT8_MAMPS,0.024717,0.156541
$HUMID,48.62
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.10
$XPDR_PINGS,5
$24V_AH,12.85,64.880
$10V_AH,13.51,0.000
$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,28.475,167.225,410.650,113.400,0.000,0.000,0.000,232.200,100.500,0.000,23.803,2793.861,11963.566,758.639,2316.276,199.758,0.000,2042.712,0.000,1771.828,0.000,668.374,0.000
$DEVICE_MAMPS,402.390,2076.210,2644.605,80.325,0.000,0.000,0.000,185.130,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225044
$DATA_FILE_SIZE,53409,1244
$CAP_FILE_SIZE,198850,0
$CFSIZE,260034560,244068352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.062,270.83,1
$GPS,100417,113340,1312.417,6029.269,43,0.9,52,-0.7,0.3,250.0,9,8.8