version: 66.12
glider: 37
mission: 17
dive: 31
start: 4 13 117 15 57 25
data:
$ID,37
$MISSION,17
$DIVE,31
$N_DIVES,0
$STOP_T,4171719
$D_SURF,5
$D_FLARE,3
$D_TGT,1080
$D_ABORT,6000
$D_NO_BLEED,50
$D_BOOST,0
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,135
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2645
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,21
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,1614
$C_ROLL_CLIMB,1625
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,130417,155135,2810.0520,-7715.5869,27,0.8,30,-8.5,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-47.9
$GPS2,130417,155653,2809.9790,-7715.5942,5,0.8,16,-8.5,0.0,0.0,10,4.6
$SPEED_LIMITS,0.100,0.370
$TGT_NAME,HEADING
$TGT_LATLONG,2724.162,-7623.987
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,99.2,120000,-11.6,-10.000,-15.12,6583
$D_GRID,1080
$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,int_press,humidity
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-438.0,108,1658,221,428,0.0,0.0,0,201,0.00,0.00,-183.25,0.102,16386,0.000,0.000,108,1658,2494,2421,2568,0,0,0,0,0,0,26.96,28.83,26.98,8.87,12.35
$GC,204,-0.69,-438.0,108,1658,2422,2568,3.3,-2.0,18,282,8.90,2.25,-62.33,0.104,18948,0.271,0.065,2411,185,3849,3789,3909,0,0,0,0,0,0,26.25,26.48,26.41,9.09,11.56
$GC,319,-0.69,-438.0,2410,186,3790,3909,14.2,-9.1,29,327,0.00,2.03,0.00,0.000,1030,0.000,0.052,2403,1622,3850,3790,3910,0,0,0,0,0,0,26.63,26.58,26.65,9.24,11.80
$GC,625,-0.69,-438.0,2402,1622,3790,3909,44.5,-10.2,60,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1622,3849,3790,3909,0,0,0,0,0,0,26.99,27.00,27.00,9.25,11.56
$GC,927,-0.69,-438.0,2402,1622,3790,3908,74.1,-8.9,90,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1622,3848,3789,3908,0,0,0,0,0,0,27.08,27.10,27.09,9.25,11.96
$GC,1226,-0.69,-438.0,2402,1622,3790,3908,100.6,-8.3,120,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1622,3848,3789,3907,0,0,0,0,0,0,27.13,27.15,27.15,9.26,12.00
$GC,1527,-0.69,-438.0,2402,1622,3790,3907,127.6,-8.7,150,1536,0.00,2.12,0.00,0.000,516,0.000,0.067,2403,194,3848,3790,3906,0,0,0,0,0,0,27.17,26.89,27.18,9.26,11.96
$GC,1561,-0.69,-438.0,2402,194,3790,3906,130.9,-9.7,153,1570,0.10,1.98,0.00,0.000,3078,0.179,0.052,2429,1620,3848,3790,3906,0,0,0,0,0,0,26.79,26.94,26.91,9.26,12.39
$GC,1869,-0.78,-438.0,2428,1620,3789,3906,155.0,-7.5,181,1871,0.08,0.00,0.00,0.000,4102,0.159,0.000,2382,1621,3848,3790,3906,0,0,0,0,0,0,26.94,27.01,26.98,9.26,12.27
$GC,2168,-0.78,-438.0,2382,1621,3790,3906,180.4,-8.5,196,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1621,3848,3790,3906,0,0,0,0,0,0,27.21,27.22,27.22,9.26,11.96
$GC,2468,-0.78,-438.0,2381,1621,3790,3906,210.7,-9.8,211,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1621,3848,3790,3906,0,0,0,0,0,0,27.22,27.23,27.23,9.26,12.94
$GC,2769,-0.78,-438.0,2382,1621,3789,3906,241.6,-8.8,226,2775,0.00,2.12,0.00,0.000,516,0.000,0.067,2382,185,3848,3790,3906,0,0,0,0,0,0,27.22,26.94,27.24,9.26,12.43
$GC,2796,-0.78,-438.0,2381,186,3790,3906,243.1,-8.3,227,2800,0.00,1.98,0.00,0.000,1030,0.000,0.052,2374,1616,3847,3789,3906,0,0,0,0,0,0,27.05,27.00,27.06,9.26,12.63
$GC,3108,-0.78,-438.0,2373,1616,3789,3906,270.8,-9.6,243,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1616,3848,3790,3906,0,0,0,0,0,0,27.23,27.24,27.24,9.25,12.74
$GC,3408,-0.78,-438.0,2373,1616,3790,3906,297.3,-8.4,258,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1617,3848,3790,3906,0,0,0,0,0,0,27.24,27.25,27.24,9.24,12.35
$GC,3718,-0.78,-438.0,2374,1616,3789,3906,322.8,-8.4,269,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1616,3848,3790,3906,0,0,0,0,0,0,27.24,27.25,27.24,9.23,12.86
$GC,4018,-0.78,-438.0,2373,1617,3789,3906,349.0,-8.7,279,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1616,3847,3789,3906,0,0,0,0,0,0,27.24,27.26,27.25,9.23,12.27
$GC,4319,-0.84,-438.0,2373,1616,3789,3905,373.4,-8.1,289,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1616,3847,3789,3905,0,0,0,0,0,0,27.24,27.26,27.26,9.23,12.51
$GC,4619,-0.90,-438.0,2373,1616,3790,3905,399.5,-9.4,299,4623,0.00,2.12,0.00,0.000,516,0.000,0.067,2373,187,3847,3790,3905,0,0,0,0,0,0,27.24,26.96,27.26,9.22,12.51
$GC,4659,-0.96,-438.0,2373,187,3790,3904,402.6,-9.5,300,4663,0.00,2.00,0.00,0.000,1030,0.000,0.052,2366,1623,3847,3790,3905,0,0,0,0,0,0,27.06,27.01,27.08,9.22,12.70
$GC,4981,-1.01,-438.0,2365,1624,3789,3904,432.7,-8.8,311,4983,0.10,0.00,0.00,0.000,4102,0.149,0.000,2316,1624,3847,3789,3905,0,0,0,0,0,0,26.94,27.04,27.01,9.21,12.39
$GC,5281,-1.01,-438.0,2315,1624,3789,3904,467.9,-11.5,321,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1624,3847,3790,3904,0,0,0,0,0,0,27.24,27.26,27.25,9.20,13.30
$GC,5581,-1.01,-438.0,2316,1624,3789,3903,503.4,-12.0,331,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1624,3846,3789,3903,0,0,0,0,0,0,27.24,27.27,27.26,9.19,12.67
$GC,5881,-1.01,-438.0,2315,1624,3789,3903,539.9,-12.4,341,5885,0.00,2.15,0.00,0.000,516,0.000,0.065,2316,187,3845,3789,3902,0,0,0,0,0,0,27.24,26.96,27.26,9.19,12.70
$GC,5931,-1.01,-438.0,2315,188,3789,3901,544.0,-12.7,342,5935,0.00,2.00,0.00,0.000,1030,0.000,0.050,2306,1619,3845,3789,3901,0,0,0,0,0,0,27.07,27.02,27.08,9.19,12.90
$GC,6244,-1.01,-438.0,2305,1620,3789,3901,589.0,-13.4,353,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1619,3845,3789,3901,0,0,0,0,0,0,27.24,27.27,27.26,9.18,12.47
$GC,6543,-1.01,-438.0,2305,1620,3788,3901,627.1,-12.4,363,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1620,3844,3788,3901,0,0,0,0,0,0,27.24,27.26,27.26,9.18,13.22
$GC,6843,-1.01,-438.0,2305,1620,3788,3901,664.0,-12.3,373,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1619,3844,3788,3901,0,0,0,0,0,0,27.24,27.26,27.26,9.17,13.06
$GC,7143,-1.01,-438.0,2306,1620,3788,3900,700.4,-12.0,383,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1619,3843,3787,3900,0,0,0,0,0,0,27.24,27.27,27.26,9.16,12.94
$GC,7443,-1.01,-438.0,2305,1620,3788,3900,733.4,-10.7,393,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1619,3843,3787,3900,0,0,0,0,0,0,27.24,27.27,27.26,9.14,12.90
$GC,7743,-1.01,-438.0,2305,1620,3787,3899,764.0,-10.5,403,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1620,3842,3787,3898,0,0,0,0,0,0,27.24,27.27,27.26,9.13,13.57
$GC,8043,-1.01,-438.0,2306,1620,3785,3899,796.5,-10.6,413,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1620,3842,3786,3898,0,0,0,0,0,0,27.24,27.27,27.26,9.12,13.22
$GC,8343,-1.01,-438.0,2306,1620,3785,3898,827.4,-10.3,423,8347,0.00,2.15,0.00,0.000,516,0.000,0.067,2306,196,3841,3785,3898,0,0,0,0,0,0,27.24,26.95,27.26,9.10,13.06
$GC,8378,-1.01,-438.0,2306,196,3785,3897,830.9,-10.5,424,8382,0.00,2.03,0.00,0.000,1030,0.000,0.050,2297,1616,3841,3785,3897,0,0,0,0,0,0,27.04,27.02,27.05,9.10,13.33
$GC,8708,-1.01,-438.0,2296,1616,3784,3896,870.1,-11.9,435,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,1616,3840,3784,3896,0,0,0,0,0,0,27.22,27.24,27.24,9.09,13.14
$GC,9005,-1.01,-438.0,2296,1616,3784,3894,905.8,-11.6,445,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,1616,3839,3784,3894,0,0,0,0,0,0,27.24,27.26,27.26,9.07,13.30
$GC,9306,-1.01,-438.0,2296,1616,3783,3893,940.8,-12.5,455,9312,0.00,2.33,0.00,0.000,260,0.000,0.065,2286,3167,3838,3783,3893,0,0,0,0,0,0,27.22,26.96,27.23,9.05,12.43
$GC,9338,-1.01,-438.0,2285,3167,3782,3894,944.5,-12.6,456,9343,0.10,2.25,0.00,0.000,3078,0.199,0.052,2317,1614,3838,3782,3894,0,0,0,0,0,0,26.81,26.99,26.96,9.06,12.59
$GC,9661,-1.01,-438.0,2317,1613,3781,3892,975.5,-8.6,467,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1613,3836,3781,3892,0,0,0,0,0,0,27.24,27.26,27.26,9.02,13.73
$GC,9991,-1.01,-438.0,2317,1614,3780,3890,1006.6,-9.7,477,9997,0.00,2.12,0.00,0.000,516,0.000,0.070,2318,193,3835,3780,3890,0,0,0,0,0,0,27.24,26.94,27.26,9.00,12.94
$GC,10023,-1.01,-438.0,2317,193,3780,3890,1006.6,-9.7,477,10028,0.00,2.03,0.00,0.000,1030,0.000,0.052,2310,1633,3835,3780,3890,0,0,0,0,0,0,27.06,27.01,27.08,9.00,13.53
$GC,10353,-1.01,-438.0,2309,1633,3778,3889,1042.0,-9.8,483,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1633,3834,3779,3889,0,0,0,0,0,0,27.22,27.24,27.23,8.97,13.69
$STATE,10653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10653,begin apogee
$GC,10658,-0.24,0.0,2310,1633,3777,3887,1070.8,-9.4,488,10989,0.75,0.00,327.42,1.435,10246,0.151,0.000,2571,1633,2340,2263,2417,0,0,0,0,0,0,26.82,24.95,24.24,8.95,13.57
$STATE,10990,end apogee,CONTROL_FINISHED_OK
$STATE,10990,begin climb
$GC,10992,0.69,438.0,2571,1633,2264,2417,1096.1,0.0,493,11339,0.80,2.35,338.15,1.405,11012,0.137,0.079,2862,202,832,733,931,0,0,0,0,0,0,25.08,24.73,24.02,8.79,12.27
$GC,11406,0.63,595.4,2861,202,733,930,1077.6,7.5,500,11554,0.00,2.17,139.02,1.373,9222,0.000,0.055,2862,1613,289,180,399,0,0,0,0,0,0,25.67,25.61,24.10,8.63,12.04
$GC,11852,0.56,595.4,2861,1614,180,399,1013.4,13.6,508,11858,0.10,2.22,0.00,0.000,4612,0.228,0.072,2841,192,289,179,399,0,0,0,0,0,0,26.13,26.25,26.22,8.56,12.43
$GC,11915,0.50,595.4,2841,192,180,399,1005.4,13.4,509,11921,0.12,2.15,0.00,0.000,5126,0.206,0.057,2804,1640,289,179,399,0,0,0,0,0,0,26.22,26.38,26.36,8.56,12.78
$GC,12250,0.50,595.4,2804,1640,179,399,971.5,9.6,519,12255,0.00,2.35,0.00,0.000,260,0.000,0.067,2804,3190,289,179,399,0,0,0,0,0,0,26.86,26.59,26.88,8.55,13.02
$GC,12287,0.50,595.4,2803,3190,179,399,968.6,9.5,520,12291,0.00,2.35,0.00,0.000,1030,0.000,0.057,2813,1631,288,178,399,0,0,0,0,0,0,26.70,26.63,26.71,8.56,13.26
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$STATE,20947,end climb,SURFACE_DEPTH_REACHED
$STATE,20947,begin surface coast
$FINISH,1.1,1.025417
$STATE,20988,end surface coast,CONTROL_FINISHED_OK
$STATE,20988,begin surface
$SM_CCo,21063,0.00,0.000,0,0,296,593.76
$SM_GC,1.84,6.85,0.00,0.00,0.077,0.000,0.000,110,1618,296,-7.81,0.11,593.76,0,0,0,0,0,0,26.96,27.24,27.01
$IRIDIUM_FIX,2759.18,-7720.85,130417,094509
$TT8_MAMPS,0.020972,0.178262
$HUMID,12.27
$INTERNAL_PRESSURE,8.81748
$TCM_TEMP,24.60
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.4,18.3
$ALTIM_BOTTOM_PING,1070.8,25.8
$24V_AH,24.02,15.340
$10V_AH,10.68,3.778
$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,18.200,87.900,804.600,0.000,245.575,24.647,15.059,164.129,11.500,0.000,17.484,2736.225,15478.443,992.690,2019.086,158.047,0.000,2014.676,0.000,1750.315,0.000,57.751,0.000
$DEVICE_MAMPS,270.647,79.456,1435.174,0.000,104.286,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.038,1227.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284244
$DATA_FILE_SIZE,62577,929
$CAP_FILE_SIZE,147511,0
$CFSIZE,2047311872,2039087104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,22032.03,0x213daa,7,24
$CURRENT,0.380,172.30,1
$GPS,130417,214936,2805.675,-7709.910,29,0.8,32,-8.5,1.0,167.4,10,4.9