version: 66.13
glider: 171
mission: 11
dive: 204
start: 9 8 119 14 34 36
data:
$ID,171
$MISSION,11
$DIVE,204
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,440
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0163117
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,080919,142349,1330.0192,8701.2744,21,0.9,32,-0.9,0.5,240.5,12,3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.4
$GPS2,080919,143351,1329.9443,8701.1963,2,0.5,2,-0.9,1.2,348.0,12,9.4
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,346.6,30275,-17.3,-8.462,-25.76,2103
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.62,-116.8,24,2523,968,879,0.0,0.0,0,102,0.00,0.00,-77.20,0.005,16386,0.000,0.000,4,2523,2764,2765,2764,0,0,0,0,0,0,14.83,28.83,14.86
$GC,105,-0.62,-116.8,3,2523,2766,2764,5.0,-14.0,16,137,9.23,2.33,-11.75,0.013,18948,0.350,0.065,2125,1102,3447,3452,3442,0,0,0,0,0,0,14.31,13.83,14.52
$GC,147,-0.62,-116.8,2125,1101,3452,3442,23.8,-41.4,24,153,0.00,2.38,0.00,0.000,1030,0.000,0.054,2116,2486,3447,3452,3442,0,0,0,0,0,0,14.63,14.58,14.66
$GC,342,-0.62,-116.8,2116,2486,3452,3442,84.2,-25.1,50,349,0.00,2.40,0.00,0.000,260,0.000,0.085,2106,3897,3447,3452,3442,0,0,0,0,0,0,14.90,14.63,14.92
$GC,447,-0.62,-116.8,2105,3897,3454,3442,104.5,-16.7,70,454,0.00,2.17,0.00,0.000,1030,0.000,0.034,2104,2509,3446,3452,3440,0,0,0,0,0,0,14.75,14.73,14.78
$GC,642,-0.62,-116.8,2105,2508,3452,3442,139.5,-18.9,90,649,0.00,2.35,0.00,0.000,260,0.000,0.080,2094,3893,3447,3452,3442,0,0,0,0,0,0,14.95,14.68,14.97
$GC,697,-0.62,-116.8,2094,3893,3452,3442,149.5,-17.6,100,704,0.12,2.20,0.00,0.000,3078,0.230,0.031,2123,2480,3446,3452,3441,0,0,0,0,0,0,14.57,14.78,14.75
$GC,891,-0.62,-116.8,2123,2478,3453,3442,176.5,-13.3,120,897,0.00,2.42,0.00,0.000,260,0.000,0.082,2114,3897,3447,3452,3442,0,0,0,0,0,0,14.96,14.69,14.99
$GC,936,-0.62,-116.8,2114,3897,3452,3442,182.7,-14.0,128,941,0.00,2.17,0.00,0.000,1030,0.000,0.032,2114,2509,3447,3452,3442,0,0,0,0,0,0,14.76,14.71,14.78
$GC,1130,-0.62,-116.8,2114,2508,3452,3442,209.4,-13.1,148,1136,0.00,2.25,0.00,0.000,516,0.000,0.046,2114,1106,3447,3452,3442,0,0,0,0,0,0,14.99,14.76,15.01
$GC,1173,-0.62,-116.8,2114,1106,3451,3441,215.1,-12.2,156,1179,0.00,2.33,0.00,0.000,1030,0.000,0.057,2103,2502,3446,3451,3442,0,0,0,0,0,0,14.83,14.74,14.85
$GC,1367,-0.62,-116.8,2103,2502,3451,3441,240.0,-12.9,176,1376,0.00,2.35,0.00,0.000,260,0.000,0.083,2092,3894,3446,3451,3442,0,0,0,0,0,0,15.00,14.69,15.02
$GC,1428,-0.62,-116.8,2092,3894,3450,3442,247.7,-12.4,188,1435,0.12,2.17,0.00,0.000,3078,0.219,0.033,2123,2494,3446,3450,3443,0,0,0,0,0,0,14.63,14.82,14.80
$GC,1633,-0.62,-116.8,2122,2493,3448,3442,270.8,-11.4,200,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2493,3444,3447,3441,0,0,0,0,0,0,15.02,15.05,15.05
$GC,1934,-0.62,-116.8,2122,2493,3448,3438,304.8,-11.6,215,1942,0.00,2.40,0.00,0.000,260,0.000,0.083,2114,3900,3441,3445,3438,0,0,0,0,0,0,15.04,14.73,15.07
$GC,1975,-0.62,-116.8,2114,3900,3445,3438,309.9,-12.2,223,1981,0.00,2.20,0.00,0.000,1030,0.000,0.034,2114,2500,3441,3445,3438,0,0,0,0,0,0,14.90,14.84,14.91
$GC,2300,-0.62,-116.8,2113,2498,3443,3434,349.6,-12.1,242,2306,0.00,2.25,0.00,0.000,516,0.000,0.048,2114,1107,3438,3443,3434,0,0,0,0,0,0,15.04,14.79,15.07
$GC,2344,-0.62,-116.8,2115,1108,3442,3434,355.0,-11.7,250,2351,0.00,2.33,0.00,0.000,1030,0.000,0.059,2103,2500,3438,3443,3434,0,0,0,0,0,0,14.87,14.77,14.90
$GC,2669,-0.62,-116.8,2103,2500,3440,3430,394.7,-12.2,269,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3435,3440,3430,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2969,-0.62,-116.8,2103,2500,3438,3428,430.4,-11.7,284,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3433,3438,3428,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3269,-0.62,-116.8,2102,2500,3436,3425,466.4,-12.3,299,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3429,3435,3424,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3568,-0.62,-116.8,2103,2500,3433,3423,503.2,-12.2,314,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2500,3428,3433,3423,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3868,-0.62,-116.8,2103,2500,3431,3421,539.5,-11.8,329,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3426,3431,3421,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4168,-0.62,-116.8,2102,2500,3430,3420,573.3,-10.9,344,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3425,3430,3420,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4469,-0.62,-116.8,2103,2500,3429,3419,606.2,-10.9,359,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3424,3429,3419,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4768,-0.62,-116.8,2103,2500,3427,3417,639.1,-10.9,374,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2500,3422,3427,3417,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5068,-0.62,-116.8,2103,2500,3427,3415,671.1,-10.6,389,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3420,3426,3415,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5369,-0.62,-116.8,2103,2500,3423,3414,702.7,-10.7,404,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3418,3423,3414,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5669,-0.62,-116.8,2103,2500,3422,3412,736.1,-11.4,419,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3417,3422,3413,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5968,-0.62,-116.8,2103,2500,3421,3411,772.0,-12.3,434,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3416,3421,3411,0,0,0,0,0,0,15.03,15.06,15.05
$GC,6268,-0.62,-116.8,2103,2500,3420,3410,808.7,-12.0,449,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3415,3420,3410,0,0,0,0,0,0,15.02,15.06,15.05
$GC,6568,-0.62,-116.8,2103,2500,3419,3410,842.9,-11.0,464,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3414,3419,3409,0,0,0,0,0,0,15.02,15.05,15.05
$GC,6869,-0.62,-116.8,2103,2500,3417,3408,874.1,-10.2,479,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3412,3417,3408,0,0,0,0,0,0,15.02,15.06,15.05
$GC,7168,-0.62,-116.8,2103,2500,3416,3408,902.9,-9.5,494,7175,0.00,2.30,0.00,0.000,516,0.000,0.052,2104,1113,3412,3416,3408,0,0,0,0,0,0,15.02,14.72,15.04
$GC,7193,-0.62,-116.8,2103,1112,3416,3407,905.2,-9.1,498,7201,0.12,2.38,0.00,0.000,3078,0.222,0.063,2123,2507,3412,3416,3408,0,0,0,0,0,0,14.56,14.71,14.75
$GC,7519,-0.62,-116.8,2123,2507,3415,3406,931.6,-8.2,517,7528,0.00,2.40,0.00,0.000,260,0.000,0.091,2114,3895,3411,3415,3407,0,0,0,0,0,0,15.02,14.64,15.04
$GC,7561,-0.62,-116.8,2114,3895,3415,3406,935.3,-9.2,525,7567,0.00,2.22,0.00,0.000,1030,0.000,0.037,2114,2506,3410,3415,3406,0,0,0,0,0,0,14.84,14.77,14.85
$GC,7886,-0.62,-116.8,2114,2504,3414,3405,966.0,-9.7,544,7891,0.00,2.30,0.00,0.000,516,0.000,0.050,2112,1106,3410,3415,3405,0,0,0,0,0,0,15.00,14.71,15.03
$GC,7917,-0.62,-116.8,2114,1106,3413,3404,969.4,-10.2,550,7924,0.00,2.38,0.00,0.000,1030,0.000,0.060,2103,2500,3409,3414,3404,0,0,0,0,0,0,14.80,14.69,14.83
$STATE,8131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8131,begin apogee
$GC,8137,-0.15,0.0,2104,2500,3413,3404,991.4,-10.4,562,8247,0.60,0.00,103.90,2.026,10246,0.174,0.000,2278,2501,2968,2997,2940,0,0,0,0,0,0,14.54,14.17,13.27
$STATE,8249,end apogee,CONTROL_FINISHED_OK
$STATE,8249,begin climb
$GC,8252,0.62,116.8,2277,2500,2995,2940,995.0,0.0,567,8378,0.77,0.00,114.22,2.022,10246,0.101,0.000,2530,2501,2491,2525,2457,0,0,0,0,0,0,14.22,14.02,13.17
$GC,8674,0.62,116.8,2530,2501,2513,2452,966.4,9.7,589,8683,0.00,2.47,0.00,0.000,516,0.000,0.054,2541,1047,2482,2513,2452,0,0,0,0,0,0,14.76,14.54,14.78
$GC,8750,0.62,116.8,2541,1046,2511,2451,958.5,10.2,604,8757,0.00,2.45,0.00,0.000,1030,0.000,0.056,2542,2445,2481,2512,2451,0,0,0,0,0,0,14.55,14.50,14.59
$GC,9057,0.62,116.8,2541,2445,2511,2449,926.4,10.6,620,9062,0.00,2.42,0.00,0.000,260,0.000,0.084,2541,3846,2480,2511,2450,0,0,0,0,0,0,14.89,14.61,14.92
$GC,9088,0.62,116.8,2541,3847,2510,2450,922.5,12.1,626,9095,0.00,2.28,0.00,0.000,1030,0.000,0.038,2553,2439,2480,2510,2450,0,0,0,0,0,0,14.76,14.71,14.78
$GC,9403,0.62,116.8,2552,2439,2509,2449,887.9,10.8,643,9409,0.00,2.33,0.00,0.000,516,0.000,0.052,2564,1042,2479,2509,2449,0,0,0,0,0,0,14.94,14.69,14.97
$GC,9435,0.62,116.8,2563,1042,2508,2448,884.3,10.7,649,9446,0.12,2.38,0.00,0.000,5126,0.245,0.054,2537,2446,2478,2508,2448,0,0,0,0,0,0,14.50,14.69,14.73
$GC,9747,0.62,116.8,2536,2446,2507,2448,854.0,9.4,666,9753,0.00,2.35,0.00,0.000,516,0.000,0.051,2547,1044,2478,2508,2448,0,0,0,0,0,0,14.96,14.71,14.99
$GC,9771,0.62,116.8,2546,1044,2507,2447,851.8,8.9,670,9778,0.00,2.35,0.00,0.000,1030,0.000,0.054,2547,2439,2477,2507,2447,0,0,0,0,0,0,14.78,14.69,14.82
$GC,10096,0.62,116.8,2547,2439,2507,2447,821.1,9.1,689,10101,0.00,2.33,0.00,0.000,516,0.000,0.051,2557,1049,2476,2507,2446,0,0,0,0,0,0,14.97,14.71,15.00
$GC,10133,0.62,116.8,2557,1047,2506,2446,817.6,9.2,696,10139,0.00,2.40,0.00,0.000,1030,0.000,0.053,2557,2434,2476,2506,2446,0,0,0,0,0,0,14.66,14.61,14.70
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$STATE,19593,end climb,SURFACE_DEPTH_REACHED
$STATE,19593,begin surface coast
$STATE,19617,end surface coast,CONTROL_FINISHED_OK
$STATE,19619,begin surface
$SM_CCo,19644,121.57,0.627,1,0,929,500.17
$SM_GC,1.34,7.15,0.10,121.57,0.049,0.135,0.627,130,2557,929,-6.76,-1.02,500.17,0,0,0,0,1,0,14.71,14.69,14.02
$IRIDIUM_FIX,1326.50,8700.28,080919,084354
$TT8_MAMPS,0.018725,0.230692
$HUMID,42.08
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.70
$XPDR_PINGS,2
$SC_FREEKB,3818720
$PM_FREEKB_00,50024064
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.17,79.101
$10V_AH,13.48,0.000
$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,19.100,173.275,441.175,121.575,0.000,0.000,0.000,310.275,0.500,0.000,13.710,1425.185,12907.544,644.053,4826.444,573.495,0.000,2475.499,0.000,4201.909,0.000,0.542,0.000
$DEVICE_MAMPS,350.370,134.640,2026.485,627.300,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3907.280,0.000,0.000,0.000,0.000,0.000,19626.000,0.000,19637.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.233,0.000,3.387,0.000
$MEM,251916
$DATA_FILE_SIZE,66640,1560
$CAP_FILE_SIZE,277968,0
$CFSIZE,260034560,171884544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.022,38.82,1
$GPS,080919,200539,1331.898,8701.020,27,1.3,27,-0.9,0.4,147.6,7,6.1