version: 66.13
glider: 137
mission: 5
dive: 593
start: 8 12 117 6 53 23
data:
$ID,137
$MISSION,5
$DIVE,593
$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,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,160
$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,0.0031300001
$HD_B,0.023700001
$HD_C,7.0400001e-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,450
$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,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,12
$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,1800
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2590
$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,2.0999999
$DBDW,1700
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,9
$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
$GPS1,120817,064733,915.5326,6657.3555,50,0.8,58,-1.9,0.4,159.2,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-68.4
$GPS2,120817,065244,915.5684,6657.3389,13,0.8,27,-1.9,0.0,299.6,9,9.2
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,142.9,326867,-23.2,-10.000,-29.57,2379
$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,8,-2.12,-155.7,86,1783,643,852,0.0,0.0,0,82,0.00,0.00,-72.05,0.000,16386,0.000,0.000,85,1782,2647,2562,2733,0,0,0,0,0,0,14.84,28.83,14.87
$GC,86,-2.12,-155.7,85,1781,2564,2733,4.2,-3.6,12,118,12.60,2.72,-11.88,0.000,18724,0.375,2.017,2627,3207,3226,3109,3343,0,0,0,0,0,0,13.95,13.12,14.37
$GC,232,-2.05,-155.7,2627,3207,3109,3344,35.8,-19.8,39,240,0.12,2.35,0.00,0.000,3206,0.268,0.034,2650,1788,3226,3109,3344,0,0,0,0,0,0,14.10,14.49,14.37
$GC,549,-1.99,-155.7,2650,1788,3110,3344,97.0,-18.2,77,550,0.00,0.00,0.00,0.000,134,0.000,0.000,2650,1788,3227,3110,3344,0,0,0,0,0,0,14.95,14.98,14.97
$GC,850,-1.95,-155.7,2650,1788,3113,3344,145.6,-14.4,107,859,0.12,2.35,0.00,0.000,2692,0.301,0.053,2680,398,3228,3113,3344,0,0,0,0,0,0,14.09,14.29,14.23
$GC,896,-1.95,-155.7,2680,398,3113,3344,152.8,-14.5,116,902,0.00,2.33,0.00,0.000,1030,0.000,0.028,2671,1815,3228,3113,3344,0,0,0,0,0,0,14.60,14.54,14.62
$GC,1202,-1.95,-155.7,2671,1816,3115,3344,195.8,-14.5,147,1210,0.00,2.30,0.00,0.000,260,0.000,0.048,2661,3200,3229,3115,3344,0,0,0,0,0,0,14.99,14.47,15.01
$GC,1310,-1.95,-155.7,2661,3199,3115,3345,210.3,-13.8,167,1315,0.00,2.33,0.00,0.000,1030,0.000,0.034,2661,1795,3230,3115,3345,0,0,0,0,0,0,14.58,14.50,14.60
$GC,1623,-1.95,-155.7,2661,1795,3116,3345,254.4,-14.1,197,1629,0.00,2.38,0.00,0.000,516,0.000,0.057,2661,399,3230,3116,3345,0,0,0,0,0,0,14.93,14.41,14.95
$GC,1679,-1.95,-155.7,2661,399,3116,3345,262.5,-15.3,207,1684,0.12,2.30,0.00,0.000,3078,0.266,0.031,2675,1804,3230,3116,3344,0,0,0,0,0,0,14.07,14.53,14.33
$GC,1994,-1.99,-155.7,2674,1804,3115,3344,302.1,-12.1,219,1999,0.00,2.33,0.00,0.000,388,0.000,0.050,2667,3193,3230,3116,3345,0,0,0,0,0,0,14.95,14.44,14.97
$GC,2061,-2.05,-155.7,2666,3193,3116,3344,310.1,-11.4,231,2066,0.00,2.35,0.00,0.000,1158,0.000,0.036,2666,1790,3230,3115,3345,0,0,0,0,0,0,14.57,14.48,14.59
$GC,2395,-2.10,-155.7,2666,1790,3113,3344,348.7,-11.4,247,2400,0.00,2.40,0.00,0.000,644,0.000,0.060,2666,391,3228,3113,3344,0,0,0,0,0,0,14.95,14.37,14.97
$GC,2434,-2.10,-155.7,2666,391,3113,3344,353.6,-11.8,254,2439,0.00,2.33,0.00,0.000,1030,0.000,0.031,2656,1795,3228,3113,3344,0,0,0,0,0,0,14.57,14.50,14.60
$GC,2764,-2.13,-155.7,2657,1795,3109,3344,394.5,-12.9,269,2770,0.00,2.45,0.00,0.000,644,0.000,0.057,2656,394,3226,3109,3344,0,0,0,0,0,0,14.95,14.37,14.97
$GC,2829,-2.13,-155.7,2656,394,3108,3344,403.9,-13.6,281,2835,0.00,2.35,0.00,0.000,1030,0.000,0.034,2646,1799,3226,3108,3344,0,0,0,0,0,0,14.55,14.47,14.57
$GC,3164,-2.13,-155.7,2646,1799,3106,3344,449.7,-14.1,297,3169,0.00,2.47,0.00,0.000,516,0.000,0.060,2646,392,3225,3106,3344,0,0,0,0,0,0,14.93,14.35,14.95
$GC,3208,-2.13,-155.7,2646,392,3105,3345,456.6,-14.5,305,3213,0.00,2.38,0.00,0.000,1030,0.000,0.035,2636,1806,3225,3106,3344,0,0,0,0,0,0,14.54,14.46,14.57
$GC,3533,-2.13,-155.7,2636,1806,3103,3344,503.6,-14.6,319,3538,0.00,2.47,0.00,0.000,516,0.000,0.063,2636,394,3223,3103,3344,0,0,0,0,0,0,14.95,14.31,14.97
$GC,3577,-2.10,-155.7,2636,394,3103,3344,510.5,-15.2,327,3582,0.00,2.38,0.00,0.000,1158,0.000,0.037,2626,1801,3223,3103,3344,0,0,0,0,0,0,14.52,14.45,14.55
$GC,3901,-2.10,-155.7,2625,1800,3100,3345,555.8,-13.6,341,3908,0.00,2.50,0.00,0.000,516,0.000,0.066,2626,387,3222,3101,3344,0,0,0,0,0,0,14.92,14.28,14.95
$GC,3957,-2.05,-155.7,2625,386,3099,3344,563.7,-14.8,351,3963,0.15,2.40,0.00,0.000,3206,0.263,0.038,2650,1808,3221,3099,3344,0,0,0,0,0,0,13.87,14.42,14.03
$GC,4271,-2.05,-155.7,2649,1808,3097,3342,601.7,-12.0,363,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1808,3219,3097,3342,0,0,0,0,0,0,14.92,14.95,14.95
$GC,4573,-2.08,-155.7,2649,1808,3096,3340,640.0,-13.0,373,4575,0.00,0.00,0.00,0.000,134,0.000,0.000,2649,1808,3217,3095,3340,0,0,0,0,0,0,14.92,14.95,14.95
$GC,4874,-2.12,-155.7,2649,1809,3094,3339,680.6,-13.7,383,4881,0.00,2.50,0.00,0.000,644,0.000,0.065,2650,403,3216,3094,3338,0,0,0,0,0,0,14.92,14.24,14.94
$GC,4934,-2.12,-155.7,2650,402,3093,3339,689.9,-14.2,394,4944,0.00,2.38,0.00,0.000,1030,0.000,0.037,2642,1794,3216,3093,3339,0,0,0,0,0,0,14.47,14.38,14.50
$GC,5240,-2.12,-155.7,2641,1794,3092,3337,731.4,-13.4,405,5246,0.00,2.45,0.00,0.000,260,0.000,0.060,2631,3208,3214,3092,3337,0,0,0,0,0,0,14.92,14.29,14.94
$GC,5276,-2.12,-155.7,2631,3208,3092,3337,736.0,-13.4,411,5281,0.00,2.42,0.00,0.000,1030,0.000,0.046,2631,1800,3214,3092,3336,0,0,0,0,0,0,14.45,14.35,14.49
$GC,5613,-2.12,-155.7,2631,1799,3090,3335,780.6,-13.1,427,5617,0.00,2.47,0.00,0.000,516,0.000,0.067,2632,398,3212,3090,3335,0,0,0,0,0,0,14.93,14.22,14.95
$GC,5648,-2.07,-155.7,2631,398,3090,3334,785.6,-14.1,433,5656,0.12,2.40,0.00,0.000,3206,0.282,0.040,2646,1804,3212,3090,3335,0,0,0,0,0,0,13.83,14.36,13.98
$GC,5986,-2.07,-155.7,2646,1804,3089,3334,827.0,-12.3,449,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1804,3211,3089,3334,0,0,0,0,0,0,14.90,14.92,14.92
$GC,6288,-2.11,-155.7,2646,1804,3088,3332,863.8,-12.3,459,6289,0.00,0.00,0.00,0.000,134,0.000,0.000,2646,1804,3210,3088,3332,0,0,0,0,0,0,14.92,14.95,14.95
$GC,6588,-2.14,-155.7,2646,1804,3088,3331,902.6,-13.4,469,6594,0.00,2.45,0.00,0.000,388,0.000,0.060,2638,3208,3209,3088,3330,0,0,0,0,0,0,14.90,14.25,14.93
$GC,6646,-2.18,-155.7,2637,3208,3088,3329,910.5,-13.4,479,6651,0.00,2.45,0.00,0.000,1158,0.000,0.048,2638,1800,3208,3088,3329,0,0,0,0,0,0,14.38,14.30,14.39
$GC,6961,-2.18,-155.7,2637,1801,3087,3329,953.7,-13.8,491,6966,0.00,2.50,0.00,0.000,516,0.000,0.067,2637,387,3207,3087,3328,0,0,0,0,0,0,14.92,14.18,14.95
$GC,7003,-2.18,-155.7,2637,387,3087,3328,960.5,-14.8,499,7008,0.00,2.40,0.00,0.000,1030,0.000,0.034,2628,1804,3207,3087,3328,0,0,0,0,0,0,14.44,14.36,14.47
$STATE,7235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7235,begin apogee
$GC,7241,-0.42,0.0,2627,1885,3086,3327,993.7,-14.2,510,7392,1.62,0.00,146.15,2.752,10246,0.275,0.000,3006,1889,2589,2466,2713,0,0,0,0,0,0,13.65,13.88,12.47
$STATE,7393,end apogee,CONTROL_FINISHED_OK
$STATE,7393,begin climb
$GC,7396,2.12,155.7,3006,1889,2461,2712,999.4,0.0,515,7554,1.95,2.62,147.25,2.749,10756,0.174,0.073,3571,468,1951,1818,2085,0,0,0,0,0,0,13.91,13.93,12.45
$GC,7586,1.89,155.7,3571,469,1810,2085,982.7,15.5,555,7596,0.22,2.40,0.00,0.000,5254,0.316,0.044,3517,1851,1947,1809,2085,0,0,0,0,0,0,13.86,14.29,14.26
$GC,7897,1.78,155.7,3517,1851,1801,2084,938.8,14.0,567,7899,0.15,0.00,0.00,0.000,4230,0.386,0.000,3492,1856,1942,1801,2084,0,0,0,0,0,0,13.92,14.47,14.37
$GC,8198,1.70,155.7,3492,1856,1799,2084,899.3,12.9,577,8203,0.00,2.50,0.00,0.000,644,0.000,0.071,3500,468,1941,1798,2085,0,0,0,0,0,0,14.93,14.38,14.96
$GC,8254,1.60,155.7,3500,468,1797,2084,891.5,13.3,588,8262,0.22,2.40,0.00,0.000,5254,0.346,0.044,3453,1874,1940,1796,2084,0,0,0,0,0,0,13.79,14.47,14.28
$GC,8561,1.60,155.7,3453,1874,1795,2085,855.9,11.6,599,8568,0.00,2.45,0.00,0.000,260,0.000,0.065,3452,3267,1939,1795,2084,0,0,0,0,0,0,14.97,14.38,14.99
$GC,8594,1.60,155.7,3451,3267,1795,2084,851.7,12.0,606,8599,0.00,2.42,0.00,0.000,1030,0.000,0.044,3460,1860,1939,1795,2084,0,0,0,0,0,0,14.55,14.47,14.59
$GC,8916,1.60,155.7,3460,1860,1793,2084,812.9,12.4,620,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1860,1938,1793,2084,0,0,0,0,0,0,14.97,15.00,15.00
$GC,9217,1.60,155.7,3460,1860,1792,2084,774.3,13.0,630,9223,0.00,2.50,0.00,0.000,260,0.000,0.063,3456,3262,1938,1793,2084,0,0,0,0,0,0,14.97,14.26,15.00
$GC,9256,1.56,155.7,3455,3262,1793,2084,769.1,13.4,638,9263,0.12,2.42,0.00,0.000,5254,0.293,0.047,3442,1865,1938,1792,2084,0,0,0,0,0,0,13.95,14.40,14.29
$GC,9576,1.56,155.7,3442,1865,1792,2084,730.9,11.6,652,9583,0.00,2.47,0.00,0.000,516,0.000,0.070,3451,470,1937,1791,2084,0,0,0,0,0,0,14.97,14.29,15.00
$GC,9630,1.56,155.7,3450,470,1790,2084,724.4,12.0,663,9636,0.00,2.42,0.00,0.000,1030,0.000,0.044,3442,1877,1937,1790,2084,0,0,0,0,0,0,14.47,14.38,14.53
$GC,9938,1.56,155.7,3442,1877,1790,2084,690.8,10.7,674,9944,0.00,2.45,0.00,0.000,260,0.000,0.069,3439,3261,1937,1790,2084,0,0,0,0,0,0,14.96,14.21,14.99
$GC,9977,1.56,155.7,3438,3261,1790,2084,686.4,10.9,682,9983,0.00,2.45,0.00,0.000,1030,0.000,0.052,3447,1868,1937,1790,2084,0,0,0,0,0,0,14.45,14.33,14.50
$GC,10298,1.56,155.7,3446,1868,1790,2084,652.5,10.7,696,10305,0.00,2.50,0.00,0.000,516,0.000,0.073,3456,466,1936,1789,2084,0,0,0,0,0,0,14.97,14.16,14.99
$GC,10341,1.56,155.7,3456,466,1789,2084,647.4,11.4,705,10346,0.00,2.42,0.00,0.000,1030,0.000,0.041,3456,1878,1936,1788,2084,0,0,0,0,0,0,14.47,14.37,14.51
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$GC,13431,1.63,155.7,3450,467,1787,2084,334.7,9.0,871,13437,0.00,2.45,0.00,0.000,1030,0.000,0.045,3441,1873,1935,1787,2084,0,0,0,0,0,0,14.37,14.26,14.42
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$STATE,17016,end climb,SURFACE_DEPTH_REACHED
$STATE,17016,begin surface coast
$FINISH,1.9,1.010221
$STATE,17042,end surface coast,CONTROL_FINISHED_OK
$STATE,17043,begin surface
$SM_CCo,17064,74.35,0.078,0,0,754,450.12
$SM_GC,2.71,10.60,0.10,74.35,0.088,0.137,0.078,86,1784,754,-13.78,0.88,450.12,0,0,0,0,0,0,14.35,14.57,14.38
$IRIDIUM_FIX,912.33,6654.40,120817,015641
$TT8_MAMPS,0.023968,0.158788
$HUMID,52.99
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.60
$XPDR_PINGS,7
$24V_AH,12.45,228.042
$10V_AH,12.47,0.000
$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,28.800,181.450,401.750,74.350,0.000,0.000,0.000,184.950,91.250,0.000,29.315,2717.591,11413.417,661.343,2296.111,366.503,0.000,1948.359,0.000,1825.823,0.000,605.396,0.000
$DEVICE_MAMPS,386.325,2016.540,2752.470,78.030,0.000,0.000,0.000,186.660,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225480
$DATA_FILE_SIZE,56691,1282
$CAP_FILE_SIZE,194902,0
$CFSIZE,260034560,206561280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,7509.56,0x233da8,1,24
$CURRENT,0.024,71.28,1
$GPS,120817,114030,914.315,6658.666,40,1.1,48,-1.9,1.2,81.7,7,9.8