version: 66.12
glider: 178
mission: 20
dive: 229
start: 4 17 115 15 18 40
data:
$ID,178
$MISSION,20
$DIVE,229
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$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,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$PRESSURE_SLOPE,0.0001161899
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,170415,151322,1323.6609,14434.7686,26,1.7,42,1.5,0.5,220.7,7,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-73.8
$GPS2,170415,151828,1323.6094,14434.7578,13,1.9,40,1.5,0.3,199.4,7,7.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,321.2,2450,-24.5,-10.000,-30.00,1474
$D_GRID,1794
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-95.8,147,2475,1241,1226,0.0,0.0,0,98,0.00,0.00,-82.80,0.000,16386,0.000,0.000,143,2475,3312,3356,3269,0,0,0,0,0,0,27.02,28.83,27.09
$GC,101,-0.72,-95.8,143,2476,3359,3270,4.0,-15.4,15,124,10.52,2.03,-5.88,0.000,18692,0.240,0.057,2532,3775,3673,3733,3613,0,0,0,0,0,0,25.58,24.63,26.05
$GC,249,-0.72,-95.8,2533,3775,3739,3615,64.8,-33.4,39,255,0.00,2.00,0.00,0.000,1030,0.000,0.022,2533,2426,3676,3739,3614,0,0,0,0,0,0,26.85,26.83,26.86
$GC,554,-0.72,-95.8,2533,2423,3743,3614,158.5,-20.1,70,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2423,3678,3743,3614,0,0,0,0,0,0,27.25,27.32,27.32
$GC,874,-0.72,-95.8,2533,2423,3750,3615,214.6,-15.9,96,877,0.00,2.03,0.00,0.000,516,0.000,0.028,2534,1070,3682,3750,3614,0,0,0,0,0,0,27.31,26.86,27.36
$GC,929,-0.72,-95.8,2533,1071,3752,3616,218.7,-15.2,97,935,0.00,2.10,0.00,0.000,1030,0.000,0.029,2527,2442,3683,3751,3615,0,0,0,0,0,0,26.82,26.79,26.86
$GC,1234,-0.72,-95.8,2527,2443,3754,3616,260.0,-11.9,108,1237,0.00,2.03,0.00,0.000,260,0.000,0.044,2517,3766,3685,3754,3616,0,0,0,0,0,0,27.34,26.72,27.40
$GC,1324,-0.72,-95.8,2518,3767,3754,3616,272.0,-13.2,111,1328,0.08,1.92,0.00,0.000,3078,0.133,0.023,2541,2443,3685,3754,3616,0,0,0,0,0,0,26.69,27.07,26.74
$GC,1654,-0.72,-95.8,2543,2444,3756,3617,310.0,-10.4,122,1657,0.00,2.05,0.00,0.000,516,0.000,0.030,2542,1069,3685,3755,3616,0,0,0,0,0,0,27.35,26.87,27.42
$GC,1719,-0.72,-95.8,2543,1069,3755,3616,316.1,-10.3,124,1723,0.00,2.10,0.00,0.000,1030,0.000,0.030,2537,2442,3685,3755,3616,0,0,0,0,0,0,26.93,26.88,26.95
$GC,2044,-0.72,-95.8,2537,2443,3752,3616,352.4,-11.6,135,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2442,3684,3752,3616,0,0,0,0,0,0,27.36,27.43,27.43
$GC,2345,-0.73,-103.6,2536,2443,3750,3617,384.1,-9.5,145,2348,0.00,2.03,0.00,0.000,516,0.000,0.030,2536,1087,3681,3748,3615,0,0,0,0,0,0,27.36,26.86,27.43
$GC,2399,-0.75,-114.1,2536,1087,3749,3617,389.3,-9.3,147,2403,0.00,2.10,0.00,0.000,1030,0.000,0.031,2527,2447,3681,3747,3616,0,0,0,0,0,0,26.90,26.86,26.93
$GC,2729,-0.75,-114.1,2527,2448,3743,3616,422.8,-10.5,158,2733,0.00,2.05,0.00,0.000,516,0.000,0.030,2527,1089,3678,3741,3616,0,0,0,0,0,0,27.36,26.86,27.43
$GC,2744,-0.75,-114.1,2528,1089,3741,3617,422.8,-10.5,158,2747,0.00,2.10,0.00,0.000,1030,0.000,0.033,2519,2442,3678,3741,3616,0,0,0,0,0,0,26.87,26.84,26.91
$GC,3059,-0.75,-114.1,2520,2443,3738,3613,461.1,-11.5,169,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2443,3675,3739,3612,0,0,0,0,0,0,27.36,27.44,27.43
$GC,3359,-0.75,-114.1,2518,2444,3737,3610,496.4,-11.9,179,3362,0.00,2.08,0.00,0.000,516,0.000,0.031,2519,1090,3672,3735,3610,0,0,0,0,0,0,27.36,26.85,27.43
$GC,3389,-0.75,-114.1,2521,1090,3735,3610,499.8,-11.8,180,3394,0.00,2.12,0.00,0.000,1030,0.000,0.034,2512,2456,3672,3735,3609,0,0,0,0,0,0,26.86,26.82,26.90
$GC,3719,-0.75,-114.4,2512,2457,3732,3607,534.3,-10.0,191,3723,0.00,2.10,0.00,0.000,260,0.000,0.049,2502,3770,3668,3731,3606,0,0,0,0,0,0,27.37,26.64,27.43
$GC,3744,-0.75,-114.6,2501,3771,3732,3607,534.3,-10.0,191,3751,0.10,1.92,0.00,0.000,3078,0.142,0.024,2533,2461,3668,3730,3606,0,0,0,0,0,0,26.59,27.05,26.64
$GC,4049,-0.79,-137.0,2534,2462,3728,3604,562.6,-8.4,202,4053,0.00,2.08,0.00,0.000,516,0.000,0.031,2533,1081,3666,3728,3605,0,0,0,0,0,0,27.36,26.83,27.43
$GC,4099,-0.83,-156.1,2534,1082,3726,3605,565.2,-8.7,203,4102,0.00,2.12,0.00,0.000,1030,0.000,0.031,2530,2450,3665,3727,3604,0,0,0,0,0,0,26.86,26.82,26.89
$GC,4409,-0.85,-170.2,2530,2451,3724,3602,594.6,-9.0,214,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2450,3663,3725,3601,0,0,0,0,0,0,27.36,27.43,27.43
$GC,4709,-0.86,-175.2,2530,2451,3722,3599,620.5,-8.5,224,4713,0.00,2.08,0.00,0.000,516,0.000,0.031,2530,1084,3661,3723,3599,0,0,0,0,0,0,27.36,26.81,27.43
$GC,4759,-0.86,-175.2,2529,1085,3724,3600,623.2,-8.6,225,4763,0.00,2.12,0.00,0.000,1030,0.000,0.033,2521,2448,3660,3721,3599,0,0,0,0,0,0,26.83,26.79,26.86
$GC,5069,-0.86,-175.2,2522,2449,3720,3597,653.3,-9.2,236,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2448,3658,3720,3596,0,0,0,0,0,0,27.36,27.43,27.43
$GC,5369,-0.86,-175.2,2522,2449,3717,3596,679.7,-8.7,246,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2448,3656,3717,3595,0,0,0,0,0,0,27.36,27.44,27.43
$GC,5669,-0.86,-175.2,2522,2449,3714,3593,707.1,-9.3,256,5672,0.00,2.10,0.00,0.000,516,0.000,0.031,2521,1085,3654,3715,3593,0,0,0,0,0,0,27.36,26.79,27.42
$GC,5694,-0.86,-175.2,2521,1086,3715,3594,707.1,-9.3,256,5700,0.00,2.12,0.00,0.000,1030,0.000,0.034,2513,2449,3654,3715,3593,0,0,0,0,0,0,26.79,26.75,26.84
$GC,5999,-0.86,-175.2,2511,2449,3713,3592,741.5,-10.8,267,6003,0.00,2.10,0.00,0.000,516,0.000,0.031,2513,1082,3652,3714,3591,0,0,0,0,0,0,27.36,26.80,27.42
$GC,6059,-0.86,-175.2,2513,1083,3714,3592,748.3,-11.1,269,6062,0.00,2.12,0.00,0.000,1030,0.000,0.034,2505,2445,3651,3712,3591,0,0,0,0,0,0,26.79,26.74,26.82
$GC,6389,-0.86,-175.2,2504,2446,3712,3591,788.7,-12.5,280,6392,0.00,2.08,0.00,0.000,516,0.000,0.030,2505,1084,3650,3710,3591,0,0,0,0,0,0,27.36,26.77,27.42
$GC,6414,-0.86,-175.2,2505,1084,3710,3591,788.7,-12.5,280,6420,0.00,2.15,0.00,0.000,1030,0.000,0.034,2495,2456,3650,3710,3591,0,0,0,0,0,0,26.77,26.72,26.80
$GC,6719,-0.86,-175.2,2496,2456,3708,3590,827.7,-11.8,291,6723,0.00,2.12,0.00,0.000,516,0.000,0.031,2495,1079,3648,3708,3589,0,0,0,0,0,0,27.36,26.76,27.42
$GC,6749,-0.86,-175.2,2495,1079,3710,3590,831.4,-11.9,292,6753,0.00,2.12,0.00,0.000,1030,0.000,0.034,2488,2453,3649,3708,3590,0,0,0,0,0,0,26.79,26.71,26.84
$GC,7079,-0.86,-175.2,2486,2454,3707,3589,872.7,-12.5,303,7083,0.00,2.10,0.00,0.000,516,0.000,0.031,2487,1078,3647,3707,3588,0,0,0,0,0,0,27.36,26.75,27.42
$GC,7104,-0.86,-175.2,2488,1079,3706,3589,872.7,-12.5,303,7110,0.00,2.15,0.00,0.000,1030,0.000,0.034,2478,2446,3647,3706,3588,0,0,0,0,0,0,26.75,26.71,26.79
$GC,7409,-0.86,-175.2,2479,2448,3704,3588,914.4,-12.6,314,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2448,3646,3704,3588,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7709,-0.86,-175.2,2477,2448,3706,3587,949.6,-11.2,324,7712,0.00,2.08,0.00,0.000,516,0.000,0.030,2477,1086,3644,3703,3586,0,0,0,0,0,0,27.36,26.74,27.42
$GC,7739,-0.86,-175.2,2480,1086,3704,3587,953.1,-11.1,325,7744,0.10,2.15,0.00,0.000,3078,0.156,0.034,2500,2453,3644,3703,3586,0,0,0,0,0,0,26.24,26.69,26.31
$GC,8070,-0.86,-175.2,2499,2454,3703,3586,985.2,-10.0,336,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2453,3643,3702,3585,0,0,0,0,0,0,27.36,27.43,27.42
$STATE,8127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8127,begin apogee
$GC,8132,-0.11,0.0,2501,2112,3702,3587,991.2,-10.0,338,8215,0.77,0.00,80.93,1.294,10246,0.132,0.000,2737,2107,3279,3328,3230,0,0,0,0,0,0,25.79,25.05,23.79
$STATE,8215,end apogee,CONTROL_FINISHED_OK
$STATE,8215,begin climb
$GC,8217,0.86,175.2,2737,2108,3329,3231,993.0,0.0,340,8388,0.88,2.35,163.98,1.284,10756,0.045,0.033,3080,733,2562,2608,2517,0,0,0,0,0,0,25.58,24.21,22.99
$GC,8609,0.86,175.2,3082,733,2597,2508,964.2,15.7,354,8613,0.00,2.15,0.00,0.000,1030,0.000,0.027,3081,2102,2552,2598,2507,0,0,0,0,0,0,26.40,26.37,26.43
$GC,8940,0.86,175.2,3082,2102,2596,2506,912.9,15.3,365,8943,0.00,2.15,0.00,0.000,516,0.000,0.034,3091,715,2550,2596,2505,0,0,0,0,0,0,27.07,26.63,27.13
$GC,9009,0.86,175.2,3090,715,2597,2505,903.7,15.2,367,9013,0.10,2.15,0.00,0.000,5126,0.179,0.028,3064,2101,2549,2595,2504,0,0,0,0,0,0,26.22,26.68,26.32
$GC,9329,0.86,175.2,3065,2102,2594,2503,858.4,13.6,378,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2101,2548,2594,2503,0,0,0,0,0,0,27.20,27.27,27.27
$GC,9629,0.86,175.2,3063,2102,2594,2503,818.6,13.2,388,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2101,2547,2592,2502,0,0,0,0,0,0,27.24,27.32,27.32
$GC,9929,0.86,175.2,3063,2102,2593,2502,781.8,12.0,398,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2101,2547,2593,2502,0,0,0,0,0,0,27.27,27.35,27.34
$GC,10229,0.86,175.2,3065,2101,2590,2502,745.7,12.0,408,10232,0.00,2.12,0.00,0.000,516,0.000,0.034,3072,716,2545,2590,2501,0,0,0,0,0,0,27.29,26.74,27.36
$GC,10264,0.86,175.2,3073,717,2590,2501,742.2,11.8,409,10268,0.00,2.15,0.00,0.000,1030,0.000,0.028,3073,2103,2545,2590,2501,0,0,0,0,0,0,26.83,26.79,26.87
$GC,10589,0.86,175.2,3071,2104,2592,2502,703.2,12.1,420,10593,0.00,2.17,0.00,0.000,516,0.000,0.035,3082,718,2545,2589,2501,0,0,0,0,0,0,27.31,26.72,27.38
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$GC,12990,0.90,195.7,3058,2096,2588,2501,406.4,8.6,500,13007,0.00,0.00,16.00,0.875,8198,0.000,0.000,3059,2095,2481,2524,2438,0,0,0,0,0,0,27.34,25.75,24.65
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$STATE,16911,end climb,SURFACE_DEPTH_REACHED
$STATE,16911,begin surface coast
$FINISH,-0.6,1.015129
$STATE,16941,end surface coast,CONTROL_FINISHED_OK
$STATE,16941,begin surface
$SM_CCo,16956,62.28,0.060,0,0,1239,500.17
$SM_GC,0.27,7.78,0.50,62.28,0.033,0.051,0.060,154,2447,1239,-8.14,-1.27,500.17,0,0,0,0,0,0,26.55,26.63,26.38
$IRIDIUM_FIX,1318.67,14433.41,110208,233851
$TT8_MAMPS,0.051681,0.051681
$HUMID,44.88
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,22.99,73.865
$10V_AH,10.22,35.321
$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,20.525,140.900,399.150,62.275,0.000,0.000,0.000,201.025,0.500,0.000,42.808,0.000,14031.723,612.692,2465.795,202.824,0.000,1772.417,0.000,1754.700,0.000,0.550,0.000
$DEVICE_MAMPS,240.210,57.375,1294.380,60.435,0.000,0.000,0.000,90.270,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,555.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229864
$DATA_FILE_SIZE,36706,818
$CAP_FILE_SIZE,147192,0
$CFSIZE,260034560,239808512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18157.92,0x236db2,7,5
$CURRENT,0.072,337.33,1
$GPS,170415,200305,1325.751,14433.414,25,1.2,25,1.4,0.2,300.5,7,9.3