version: 66.12
glider: 178
mission: 20
dive: 240
start: 4 19 115 20 22 5
data:
$ID,178
$MISSION,20
$DIVE,240
$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,63
$R_STBD_OVSHOOT,50
$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
$GPS1,190415,201706,1325.4218,14433.4424,30,1.2,30,1.4,0.1,259.2,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-73.6
$GPS2,190415,202153,1325.4417,14433.4209,9,1.9,13,1.4,0.6,209.8,7,7.9
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,151.9,1716,-24.5,-10.000,-30.00,1474
$D_GRID,2092
$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,-95.8,139,2460,1244,1223,0.0,0.0,0,95,0.00,0.00,-79.12,0.000,16386,0.000,0.000,136,2461,3201,3242,3161,0,0,0,0,0,0,27.01,28.83,27.08
$GC,97,-0.72,-95.8,137,2461,3243,3162,3.3,-10.9,14,121,10.62,2.15,-8.00,0.000,18948,0.241,0.044,2550,1048,3672,3737,3607,0,0,0,0,0,0,25.56,26.06,26.01
$GC,235,-0.72,-95.8,2551,1049,3743,3609,53.5,-29.4,39,242,0.00,2.17,0.00,0.000,1030,0.000,0.034,2543,2444,3676,3744,3609,0,0,0,0,0,0,26.67,26.65,26.70
$GC,540,-0.72,-95.8,2542,2445,3749,3610,132.1,-18.7,70,545,0.00,2.10,0.00,0.000,516,0.000,0.028,2543,1061,3678,3747,3609,0,0,0,0,0,0,27.25,26.78,27.32
$GC,621,-0.72,-95.8,2542,1062,3751,3610,144.7,-14.4,78,625,0.00,2.15,0.00,0.000,1030,0.000,0.031,2534,2487,3679,3749,3609,0,0,0,0,0,0,26.85,26.77,26.89
$GC,930,-0.72,-95.8,2533,2488,3754,3611,193.0,-17.9,109,935,0.00,2.03,0.00,0.000,260,0.000,0.046,2525,3769,3682,3753,3611,0,0,0,0,0,0,27.32,26.69,27.39
$GC,991,-0.72,-95.8,2524,3770,3755,3611,203.7,-17.9,114,995,0.00,1.95,0.00,0.000,1030,0.000,0.023,2525,2438,3682,3753,3611,0,0,0,0,0,0,27.03,27.01,27.05
$GC,1320,-0.72,-95.8,2524,2436,3756,3612,252.8,-12.6,125,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2436,3683,3755,3611,0,0,0,0,0,0,27.35,27.42,27.41
$GC,1621,-0.72,-95.8,2524,2437,3757,3612,296.3,-13.9,135,1624,0.00,2.12,0.00,0.000,260,0.000,0.046,2515,3772,3683,3755,3611,0,0,0,0,0,0,27.36,26.72,27.42
$GC,1671,-0.72,-95.8,2515,3773,3755,3611,300.3,-13.4,136,1675,0.10,1.95,0.00,0.000,3078,0.132,0.023,2546,2440,3683,3755,3611,0,0,0,0,0,0,26.64,27.07,26.69
$GC,1981,-0.72,-100.1,2546,2441,3755,3612,336.8,-9.7,147,1985,0.00,2.03,0.00,0.000,516,0.000,0.030,2549,1077,3682,3754,3611,0,0,0,0,0,0,27.36,26.89,27.43
$GC,2056,-0.72,-100.1,2548,1077,3756,3612,342.8,-10.2,149,2059,0.00,2.10,0.00,0.000,1030,0.000,0.030,2542,2450,3682,3754,3611,0,0,0,0,0,0,26.91,26.89,26.96
$GC,2370,-0.72,-100.1,2541,2451,3751,3611,377.0,-10.3,160,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2451,3680,3749,3611,0,0,0,0,0,0,27.37,27.44,27.43
$GC,2671,-0.72,-100.1,2542,2451,3746,3611,408.9,-10.5,170,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3678,3746,3611,0,0,0,0,0,0,27.37,27.44,27.43
$GC,2971,-0.78,-131.2,2541,2451,3743,3612,434.1,-7.8,180,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3676,3741,3611,0,0,0,0,0,0,27.37,27.44,27.43
$GC,3270,-0.78,-131.2,2542,2451,3737,3610,462.5,-10.8,190,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3673,3737,3609,0,0,0,0,0,0,27.36,27.44,27.43
$GC,3571,-0.85,-171.1,2540,2452,3736,3607,488.6,-7.2,200,3575,0.12,2.10,0.00,0.000,4612,0.099,0.031,2484,1066,3669,3734,3605,0,0,0,0,0,0,27.13,26.84,27.15
$GC,3646,-0.86,-175.2,2483,1067,3734,3606,494.3,-8.2,202,3649,0.00,2.12,0.00,0.000,1030,0.000,0.034,2474,2445,3669,3732,3606,0,0,0,0,0,0,26.89,26.80,26.93
$GC,3961,-0.86,-175.2,2473,2446,3731,3605,532.4,-12.2,213,3965,0.00,2.10,0.00,0.000,516,0.000,0.031,2474,1080,3666,3729,3603,0,0,0,0,0,0,27.36,26.84,27.43
$GC,4025,-0.86,-175.2,2473,1081,3730,3604,541.0,-13.6,215,4030,0.10,2.15,0.00,0.000,3078,0.158,0.034,2494,2451,3665,3728,3603,0,0,0,0,0,0,26.38,26.81,26.46
$GC,4351,-0.86,-175.2,2494,2451,3727,3601,587.5,-14.3,226,4355,0.00,2.10,0.00,0.000,516,0.000,0.031,2494,1068,3662,3726,3599,0,0,0,0,0,0,27.36,26.84,27.43
$GC,4380,-0.86,-175.2,2495,1069,3726,3600,591.8,-14.3,227,4384,0.00,2.17,0.00,0.000,1030,0.000,0.035,2488,2454,3662,3724,3600,0,0,0,0,0,0,26.82,26.77,26.85
$GC,4711,-0.86,-175.2,2489,2455,3722,3598,636.7,-13.1,238,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2454,3659,3722,3597,0,0,0,0,0,0,27.36,27.44,27.43
$GC,5011,-0.86,-175.2,2490,2454,3719,3596,671.5,-11.1,248,5015,0.00,2.10,0.00,0.000,516,0.000,0.031,2488,1084,3657,3719,3595,0,0,0,0,0,0,27.37,26.82,27.43
$GC,5065,-0.86,-175.2,2488,1085,3718,3596,674.7,-10.8,249,5072,0.00,2.12,0.00,0.000,1030,0.000,0.034,2479,2446,3656,3718,3595,0,0,0,0,0,0,26.82,26.78,26.86
$GC,5371,-0.86,-175.2,2478,2447,3718,3593,709.4,-10.5,260,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2447,3654,3717,3592,0,0,0,0,0,0,27.36,27.43,27.43
$GC,5671,-0.86,-175.2,2480,2447,3714,3591,739.0,-9.6,270,5675,0.00,2.08,0.00,0.000,516,0.000,0.031,2479,1079,3652,3714,3591,0,0,0,0,0,0,27.36,26.80,27.43
$GC,5720,-0.86,-175.2,2478,1079,3715,3592,742.3,-10.0,271,5724,0.10,2.15,0.00,0.000,3078,0.152,0.034,2500,2450,3652,3713,3591,0,0,0,0,0,0,26.34,26.76,26.42
$GC,6031,-0.86,-175.2,2499,2450,3713,3591,777.4,-11.3,282,6034,0.00,2.10,0.00,0.000,516,0.000,0.032,2500,1068,3650,3711,3590,0,0,0,0,0,0,27.36,26.78,27.43
$GC,6055,-0.86,-175.2,2499,1069,3713,3590,777.4,-11.3,282,6062,0.00,2.17,0.00,0.000,1030,0.000,0.035,2493,2453,3650,3711,3590,0,0,0,0,0,0,26.78,26.72,26.81
$GC,6360,-0.86,-175.2,2492,2454,3711,3589,821.1,-13.5,293,6364,0.00,2.12,0.00,0.000,516,0.000,0.031,2493,1069,3649,3709,3589,0,0,0,0,0,0,27.36,26.79,27.43
$GC,6386,-0.86,-175.2,2492,1070,3711,3589,821.1,-13.5,293,6392,0.00,2.15,0.00,0.000,1030,0.000,0.035,2485,2454,3649,3710,3588,0,0,0,0,0,0,26.81,26.72,26.84
$GC,6691,-0.86,-175.2,2486,2454,3707,3587,865.6,-12.5,304,6694,0.00,2.12,0.00,0.000,516,0.000,0.031,2485,1064,3646,3706,3587,0,0,0,0,0,0,27.36,26.77,27.43
$GC,6745,-0.86,-175.2,2484,1065,3709,3587,869.3,-12.5,305,6752,0.00,2.17,0.00,0.000,1030,0.000,0.034,2476,2454,3646,3706,3586,0,0,0,0,0,0,26.76,26.72,26.80
$GC,7051,-0.86,-175.2,2476,2454,3705,3586,905.2,-10.4,316,7055,0.00,2.10,0.00,0.000,516,0.000,0.031,2476,1072,3644,3704,3585,0,0,0,0,0,0,27.36,26.77,27.43
$GC,7100,-0.86,-175.2,2475,1073,3706,3586,908.1,-10.2,317,7104,0.10,2.15,0.00,0.000,3078,0.153,0.035,2496,2444,3644,3704,3585,0,0,0,0,0,0,26.29,26.71,26.36
$GC,7411,-0.86,-175.2,2495,2446,3705,3583,932.3,-6.1,328,7414,0.00,2.15,0.00,0.000,260,0.000,0.050,2488,3805,3644,3704,3584,0,0,0,0,0,0,27.36,26.49,27.42
$GC,7446,-0.86,-175.2,2487,3806,3705,3584,934.3,-6.2,329,7449,0.00,2.00,0.00,0.000,1030,0.000,0.025,2488,2453,3643,3703,3583,0,0,0,0,0,0,27.03,26.99,27.05
$GC,7770,-0.86,-175.2,2487,2450,3703,3583,964.0,-10.5,340,7775,0.00,2.12,0.00,0.000,516,0.000,0.031,2488,1066,3642,3701,3583,0,0,0,0,0,0,27.36,26.74,27.42
$GC,7815,-0.86,-175.2,2487,1067,3702,3583,967.2,-10.9,341,7819,0.00,2.17,0.00,0.000,1030,0.000,0.033,2478,2453,3641,3700,3583,0,0,0,0,0,0,26.74,26.71,26.82
$STATE,8009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8009,begin apogee
$GC,8014,-0.11,0.0,2480,2090,3699,3581,992.5,-12.2,348,8096,0.88,0.00,80.47,1.292,10246,0.135,0.000,2740,2085,3279,3329,3230,0,0,0,0,0,0,25.74,25.03,23.74
$STATE,8097,end apogee,CONTROL_FINISHED_OK
$STATE,8097,begin climb
$GC,8099,0.86,175.2,2741,2086,3328,3229,994.3,0.0,350,8272,0.88,2.50,162.48,1.287,11012,0.047,0.041,3071,3506,2562,2608,2517,0,0,0,0,0,0,25.58,24.23,23.00
$GC,8496,0.86,175.2,3071,3507,2596,2515,965.5,15.2,364,8500,0.00,2.15,0.00,0.000,1030,0.000,0.023,3082,2117,2554,2595,2514,0,0,0,0,0,0,26.50,26.48,26.52
$GC,8822,0.86,175.2,3083,2118,2592,2510,916.0,14.9,375,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2117,2550,2592,2509,0,0,0,0,0,0,27.08,27.16,27.15
$GC,9121,0.86,175.2,3081,2118,2593,2509,868.6,16.2,385,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2117,2550,2591,2509,0,0,0,0,0,0,27.18,27.26,27.25
$GC,9421,0.86,175.2,3083,2117,2589,2509,821.4,15.1,395,9425,0.00,2.20,0.00,0.000,516,0.000,0.036,3092,704,2548,2589,2508,0,0,0,0,0,0,27.24,26.72,27.31
$GC,9557,0.86,175.2,3093,704,2589,2506,803.4,15.0,399,9561,0.15,2.15,0.00,0.000,5126,0.195,0.026,3059,2116,2547,2589,2505,0,0,0,0,0,0,26.27,26.80,26.48
$GC,9871,0.86,175.2,3059,2117,2591,2507,757.3,14.0,410,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2116,2547,2589,2505,0,0,0,0,0,0,27.29,27.36,27.35
$GC,10172,0.86,175.2,3060,2116,2588,2506,714.1,14.7,420,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2116,2546,2588,2505,0,0,0,0,0,0,27.30,27.37,27.37
$GC,10471,0.86,175.2,3058,2117,2588,2505,671.4,13.6,430,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2116,2545,2586,2505,0,0,0,0,0,0,27.32,27.39,27.38
$GC,10771,0.86,175.2,3060,2117,2585,2506,635.3,11.4,440,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2116,2545,2586,2504,0,0,0,0,0,0,27.32,27.40,27.39
$GC,11072,0.86,175.2,3058,2116,2587,2505,602.4,10.9,450,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2116,2544,2585,2504,0,0,0,0,0,0,27.33,27.41,27.40
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$GC,13616,0.89,193.6,3081,2087,2582,2502,317.2,8.7,535,13635,0.00,2.17,13.88,0.812,8708,0.000,0.034,3091,708,2488,2530,2447,0,0,0,0,0,0,27.34,25.85,24.65
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$STATE,16852,end climb,SURFACE_DEPTH_REACHED
$STATE,16853,begin surface coast
$FINISH,-0.1,1.022046
$STATE,16878,end surface coast,CONTROL_FINISHED_OK
$STATE,16878,begin surface
$SM_CCo,16892,68.47,0.063,0,0,1240,500.17
$SM_GC,-0.02,7.90,0.52,68.47,0.042,0.042,0.063,162,2462,1240,-8.14,-1.22,500.17,0,0,0,0,0,0,26.58,26.81,26.40
$IRIDIUM_FIX,1318.67,14444.49,140208,044856
$TT8_MAMPS,0.050183,0.050183
$HUMID,46.25
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,23.00,75.261
$10V_AH,10.24,35.994
$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,21.050,125.275,390.025,68.475,0.000,0.000,0.000,205.950,0.500,0.000,16.697,0.000,13900.627,576.588,2566.584,191.324,0.000,1799.352,0.000,1869.944,0.000,0.551,0.000
$DEVICE_MAMPS,240.975,50.490,1292.085,62.730,0.000,0.000,0.000,91.035,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,559.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229940
$DATA_FILE_SIZE,36715,823
$CAP_FILE_SIZE,144168,0
$CFSIZE,260034560,239099904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17752.08,0x236db2,7,5
$CURRENT,0.062,19.51,1
$GPS,200415,010536,1324.536,14434.561,27,1.5,27,1.5,0.4,140.5,7,8.4