version: 66.12
glider: 178
mission: 20
dive: 233
start: 4 18 115 10 42 4
data:
$ID,178
$MISSION,20
$DIVE,233
$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,58
$R_STBD_OVSHOOT,45
$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
$GPS1,180415,103705,1324.9242,14435.2168,30,1.1,30,1.5,0.6,223.6,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-74.7
$GPS2,180415,104153,1324.8505,14435.1865,10,1.5,14,1.5,0.7,208.6,7,9.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,256.3,2117,-24.5,-10.000,-30.00,1474
$D_GRID,1586
$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,-95.8,141,2466,1241,1227,0.0,0.0,0,98,0.00,0.00,-81.40,0.000,16386,0.000,0.000,139,2466,3315,3360,3270,0,0,0,0,0,0,26.98,28.83,27.05
$GC,100,-0.72,-95.8,140,2466,3361,3271,4.3,-15.3,14,124,10.70,2.05,-5.75,0.000,18692,0.245,0.051,2531,3782,3674,3733,3615,0,0,0,0,0,0,25.58,25.27,26.06
$GC,248,-0.72,-95.8,2530,3782,3740,3616,66.8,-34.4,38,255,0.00,2.03,0.00,0.000,1030,0.000,0.026,2534,2439,3677,3739,3615,0,0,0,0,0,0,26.79,26.77,26.82
$GC,553,-0.72,-95.8,2533,2437,3746,3616,147.9,-20.8,69,557,0.00,2.08,0.00,0.000,516,0.000,0.028,2539,1061,3680,3744,3616,0,0,0,0,0,0,27.25,26.81,27.32
$GC,568,-0.72,-95.8,2539,1061,3746,3616,150.3,-21.6,70,576,0.00,2.12,0.00,0.000,1030,0.000,0.031,2531,2440,3680,3745,3615,0,0,0,0,0,0,26.80,26.77,26.84
$GC,874,-0.72,-95.8,2530,2441,3752,3616,205.0,-14.3,99,877,0.00,2.08,0.00,0.000,260,0.000,0.045,2521,3775,3683,3751,3615,0,0,0,0,0,0,27.31,26.69,27.37
$GC,973,-0.72,-95.8,2522,3776,3752,3616,217.0,-14.1,102,977,0.00,1.98,0.00,0.000,1030,0.000,0.023,2521,2430,3684,3752,3616,0,0,0,0,0,0,27.05,27.03,27.07
$GC,1288,-0.72,-95.8,2522,2427,3754,3616,259.7,-13.2,113,1292,0.00,2.05,0.00,0.000,516,0.000,0.030,2521,1063,3685,3754,3616,0,0,0,0,0,0,27.35,26.87,27.41
$GC,1313,-0.72,-95.8,2520,1064,3756,3617,259.7,-13.2,113,1320,0.10,2.12,0.00,0.000,3078,0.129,0.031,2544,2448,3685,3754,3616,0,0,0,0,0,0,26.53,26.87,26.60
$GC,1619,-0.73,-101.5,2544,2448,3754,3616,297.2,-9.6,124,1622,0.00,2.05,0.00,0.000,260,0.000,0.047,2537,3777,3685,3754,3616,0,0,0,0,0,0,27.36,26.71,27.42
$GC,1648,-0.74,-109.5,2538,3777,3754,3617,299.5,-9.4,125,1653,0.00,1.95,0.00,0.000,1030,0.000,0.024,2537,2455,3685,3754,3616,0,0,0,0,0,0,27.08,27.06,27.09
$GC,1974,-0.74,-109.5,2537,2453,3751,3616,337.3,-12.2,136,1977,0.00,2.05,0.00,0.000,516,0.000,0.031,2537,1065,3683,3751,3616,0,0,0,0,0,0,27.36,26.86,27.43
$GC,2068,-0.74,-109.5,2536,1066,3752,3617,349.3,-13.1,139,2072,0.00,2.12,0.00,0.000,1030,0.000,0.032,2528,2442,3683,3750,3616,0,0,0,0,0,0,26.90,26.85,26.93
$GC,2394,-0.76,-121.3,2529,2443,3746,3616,387.0,-9.2,150,2397,0.00,2.08,0.00,0.000,516,0.000,0.031,2527,1068,3681,3746,3616,0,0,0,0,0,0,27.36,26.86,27.43
$GC,2458,-0.79,-137.4,2528,1065,3745,3616,392.4,-8.9,152,2462,0.00,2.15,0.00,0.000,1030,0.000,0.033,2519,2452,3680,3745,3616,0,0,0,0,0,0,26.89,26.87,26.92
$GC,2783,-0.79,-137.4,2520,2453,3739,3615,428.9,-12.4,163,2787,0.00,2.12,0.00,0.000,516,0.000,0.031,2519,1068,3677,3741,3614,0,0,0,0,0,0,27.36,26.89,27.43
$GC,2833,-0.79,-137.4,2520,1068,3740,3614,432.7,-12.5,164,2837,0.00,2.15,0.00,0.000,1030,0.000,0.033,2511,2451,3677,3740,3614,0,0,0,0,0,0,26.88,26.84,26.91
$GC,3144,-0.79,-137.4,2512,2452,3737,3611,469.9,-10.6,175,3147,0.00,2.08,0.00,0.000,260,0.000,0.049,2500,3769,3674,3737,3611,0,0,0,0,0,0,27.37,26.66,27.43
$GC,3183,-0.79,-137.4,2502,3769,3735,3611,473.4,-11.1,176,3187,0.00,1.98,0.00,0.000,1030,0.000,0.024,2501,2443,3673,3736,3611,0,0,0,0,0,0,27.08,27.06,27.10
$GC,3503,-0.79,-137.4,2501,2442,3733,3609,515.5,-13.7,187,3507,0.00,2.10,0.00,0.000,516,0.000,0.031,2501,1060,3670,3733,3607,0,0,0,0,0,0,27.36,26.85,27.43
$GC,3538,-0.79,-137.4,2501,1061,3734,3608,520.0,-14.1,188,3543,0.10,2.17,0.00,0.000,3078,0.142,0.034,2530,2453,3669,3732,3607,0,0,0,0,0,0,26.38,26.81,26.53
$GC,3863,-0.79,-137.4,2529,2454,3732,3606,560.5,-11.9,199,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2453,3667,3729,3605,0,0,0,0,0,0,27.37,27.44,27.43
$GC,4164,-0.79,-137.4,2529,2454,3729,3603,595.3,-11.1,209,4167,0.00,2.12,0.00,0.000,516,0.000,0.031,2530,1059,3664,3726,3602,0,0,0,0,0,0,27.36,26.82,27.43
$GC,4198,-0.79,-137.4,2529,1060,3725,3603,598.8,-11.0,210,4203,0.00,2.17,0.00,0.000,1030,0.000,0.033,2523,2454,3664,3726,3602,0,0,0,0,0,0,26.84,26.81,26.89
$GC,4523,-0.80,-141.8,2522,2454,3725,3600,632.5,-9.7,221,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2454,3661,3723,3599,0,0,0,0,0,0,27.37,27.44,27.43
$GC,4824,-0.82,-150.4,2524,2454,3719,3597,660.6,-9.4,231,4827,0.00,2.10,0.00,0.000,516,0.000,0.031,2523,1066,3658,3720,3597,0,0,0,0,0,0,27.36,26.80,27.43
$GC,4868,-0.83,-159.6,2522,1067,3722,3598,662.9,-9.4,232,4872,0.00,2.17,0.00,0.000,1030,0.000,0.034,2515,2456,3658,3720,3597,0,0,0,0,0,0,26.82,26.77,26.86
$GC,5179,-0.86,-175.2,2514,2457,3720,3596,692.2,-8.3,243,5182,0.00,2.12,0.00,0.000,516,0.000,0.031,2515,1058,3656,3718,3595,0,0,0,0,0,0,27.36,26.80,27.43
$GC,5214,-0.86,-175.2,2516,1058,3718,3595,694.9,-8.3,244,5217,0.00,2.17,0.00,0.000,1030,0.000,0.033,2506,2449,3656,3718,3594,0,0,0,0,0,0,26.82,26.78,26.85
$GC,5539,-0.86,-175.2,2506,2449,3715,3593,722.8,-8.9,255,5543,0.00,2.10,0.00,0.000,516,0.000,0.031,2506,1066,3653,3715,3592,0,0,0,0,0,0,27.36,26.80,27.43
$GC,5598,-0.86,-175.2,2504,1067,3717,3593,728.6,-9.5,257,5603,0.00,2.17,0.00,0.000,1030,0.000,0.034,2497,2453,3653,3715,3592,0,0,0,0,0,0,26.79,26.74,26.82
$GC,5929,-0.86,-175.2,2498,2453,3712,3591,765.7,-11.9,268,5933,0.00,2.08,0.00,0.000,516,0.000,0.031,2497,1065,3651,3712,3591,0,0,0,0,0,0,27.36,26.79,27.43
$GC,5978,-0.86,-175.2,2497,1066,3711,3591,769.4,-12.0,269,5982,0.00,2.17,0.00,0.000,1030,0.000,0.034,2489,2453,3651,3711,3591,0,0,0,0,0,0,26.79,26.74,26.83
$GC,6289,-0.86,-175.2,2489,2454,3710,3591,812.2,-13.3,280,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2452,3650,3710,3590,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6588,-0.86,-175.2,2490,2453,3708,3590,851.3,-12.6,290,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2453,3648,3708,3588,0,0,0,0,0,0,27.36,27.43,27.43
$GC,6888,-0.86,-175.2,2488,2454,3708,3589,886.5,-11.2,300,6892,0.00,2.15,0.00,0.000,516,0.000,0.031,2489,1064,3647,3706,3588,0,0,0,0,0,0,27.36,26.76,27.43
$GC,6938,-0.86,-175.2,2488,1064,3707,3589,890.1,-11.2,301,6943,0.00,2.17,0.00,0.000,1030,0.000,0.034,2479,2453,3646,3705,3587,0,0,0,0,0,0,26.77,26.72,26.80
$GC,7249,-0.86,-175.2,2480,2455,3704,3587,928.8,-11.5,312,7253,0.00,2.12,0.00,0.000,516,0.000,0.031,2479,1072,3645,3704,3586,0,0,0,0,0,0,27.36,26.77,27.42
$GC,7273,-0.86,-175.2,2478,1073,3705,3588,928.8,-11.5,312,7280,0.08,2.17,0.00,0.000,3078,0.161,0.034,2493,2454,3645,3704,3586,0,0,0,0,0,0,26.33,26.69,26.39
$GC,7579,-0.86,-175.2,2493,2454,3705,3586,959.5,-8.6,323,7583,0.00,2.12,0.00,0.000,516,0.000,0.031,2493,1063,3644,3703,3585,0,0,0,0,0,0,27.36,26.74,27.42
$GC,7604,-0.86,-175.2,2494,1064,3703,3586,959.5,-8.6,323,7610,0.00,2.17,0.00,0.000,1030,0.000,0.034,2488,2461,3644,3703,3585,0,0,0,0,0,0,26.77,26.69,26.82
$STATE,7907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7907,begin apogee
$GC,7911,-0.11,0.0,2487,2089,3702,3586,991.4,-9.5,334,7994,0.85,0.00,80.43,1.287,10246,0.135,0.000,2742,2084,3280,3330,3230,0,0,0,0,0,0,25.74,25.05,23.77
$STATE,7995,end apogee,CONTROL_FINISHED_OK
$STATE,7995,begin climb
$GC,7997,0.86,175.2,2743,2085,3329,3230,992.3,0.0,336,8168,0.88,2.47,163.07,1.278,11012,0.048,0.041,3070,3494,2562,2607,2517,0,0,0,0,0,0,25.59,24.24,23.02
$GC,8393,0.86,175.2,3071,3495,2594,2514,957.9,16.0,350,8397,0.00,2.12,0.00,0.000,1030,0.000,0.023,3080,2117,2554,2594,2514,0,0,0,0,0,0,26.49,26.46,26.51
$GC,8719,0.86,175.2,3080,2118,2594,2510,913.0,12.9,361,8723,0.00,2.17,0.00,0.000,516,0.000,0.034,3092,698,2550,2592,2509,0,0,0,0,0,0,27.08,26.63,27.14
$GC,8764,0.86,175.2,3090,698,2593,2509,908.9,12.9,362,8768,0.15,2.17,0.00,0.000,5126,0.195,0.025,3058,2119,2549,2591,2507,0,0,0,0,0,0,26.21,26.71,26.44
$GC,9073,0.86,175.2,3059,2119,2591,2507,867.5,13.2,373,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2119,2549,2591,2508,0,0,0,0,0,0,27.20,27.27,27.26
$GC,9373,0.86,175.2,3059,2120,2589,2507,825.8,13.5,383,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2119,2548,2590,2506,0,0,0,0,0,0,27.24,27.32,27.32
$GC,9674,0.86,175.2,3059,2120,2588,2507,784.9,13.5,393,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2120,2547,2589,2506,0,0,0,0,0,0,27.28,27.35,27.34
$GC,9973,0.86,175.2,3058,2120,2589,2506,747.7,12.0,403,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2119,2547,2588,2506,0,0,0,0,0,0,27.30,27.37,27.36
$GC,10273,0.86,175.2,3059,2120,2587,2506,714.9,10.4,413,10277,0.00,2.22,0.00,0.000,516,0.000,0.035,3067,701,2545,2586,2505,0,0,0,0,0,0,27.31,26.72,27.38
$GC,10383,0.86,175.2,3066,702,2587,2502,705.2,10.7,416,10387,0.00,2.15,0.00,0.000,1030,0.000,0.028,3067,2091,2544,2586,2502,0,0,0,0,0,0,26.84,26.81,26.89
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$GC,16039,1.18,352.8,3152,2103,2093,2006,101.4,6.3,672,16091,0.00,2.22,44.33,0.674,8708,0.000,0.034,3164,707,1839,1884,1794,0,0,0,0,0,0,27.13,25.84,24.95
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$STATE,16811,end climb,SURFACE_DEPTH_REACHED
$STATE,16811,begin surface coast
$FINISH,-0.7,1.022070
$STATE,16836,end surface coast,CONTROL_FINISHED_OK
$STATE,16836,begin surface
$SM_CCo,16851,63.65,0.062,0,0,1240,500.17
$SM_GC,-0.13,7.82,0.55,63.65,0.034,0.041,0.062,162,2465,1240,-8.13,-1.50,500.17,0,0,0,0,0,0,26.63,26.84,26.41
$IRIDIUM_FIX,1318.67,14444.49,120208,191708
$TT8_MAMPS,0.048685,0.048685
$HUMID,46.77
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,23.02,74.370
$10V_AH,10.26,35.567
$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,21.100,150.575,397.325,63.650,0.000,0.000,0.000,206.275,0.500,0.000,17.534,0.000,13845.847,603.301,2539.099,200.566,0.000,1820.977,0.000,1839.140,0.000,0.551,0.000
$DEVICE_MAMPS,244.800,51.255,1287.495,61.965,0.000,0.000,0.000,91.800,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,535.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33465,788
$CAP_FILE_SIZE,150332,0
$CFSIZE,260034560,239546368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17267.12,0x236db2,7,5
$CURRENT,0.051,242.97,1
$GPS,180415,152506,1324.158,14432.964,45,1.0,45,1.4,0.6,110.8,9,7.6