version: 66.14
glider: 527
mission: 10
dive: 88
start: 10 18 120 21 2 27
data:
$ID,527
$MISSION,10
$DIVE,88
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,370
$T_MISSION,410
$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,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56352
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,180
$PITCH_MAX,3650
$C_PITCH,2220
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,43
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,2525
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2980
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,310
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-173.88152
$PRESSURE_SLOPE,0.00010843292
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.38999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044153966
$SEABIRD_T_H,0.00064440304
$SEABIRD_T_I,2.7248538e-05
$SEABIRD_T_J,3.4282193e-06
$SEABIRD_C_G,-10.077963
$SEABIRD_C_H,1.1533748
$SEABIRD_C_I,-0.0022050336
$SEABIRD_C_J,0.00023474717
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,181020,204805,5859.3516,-2113.0417,38,0.8,43,-12.3,0.2,260.7,11,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-68.3
$GPS2,181020,210143,5859.3467,-2112.8682,9,0.8,16,-12.3,1.2,41.0,11,9.3
$SPEED_LIMITS,0.154,0.252
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5859.131,-2107.220
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,106.5,5405,-17.1,-8.919,-20.12,2335
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.53,-135.7,0,2533,1278,1402,0.0,0.0,0,112,0.00,0.00,-96.72,0.008,16390,0.000,0.000,0,2535,3535,3476,3594,0,0,0,0,0,0,14.64,12.77,14.64
$GC,114,-0.54,-146.0,3,2536,3477,3595,3.5,-6.8,18,134,10.05,2.47,-0.95,0.093,18980,0.392,0.074,2034,1085,3580,3534,3627,1,0,0,0,0,0,13.89,13.00,14.40
$GC,316,-0.54,-146.0,2034,1085,3540,3627,35.0,-13.3,57,322,0.00,2.53,0.00,0.000,1030,0.000,0.067,2027,2518,3583,3540,3627,0,0,0,0,0,0,14.43,14.33,14.45
$GC,504,-0.54,-146.0,2027,2519,3540,3626,63.4,-14.5,94,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2519,3583,3540,3626,0,0,0,0,0,0,14.77,14.78,14.78
$GC,691,-0.54,-146.0,2027,2518,3540,3626,90.7,-15.2,131,697,0.00,2.47,0.00,0.000,516,0.000,0.065,2027,1096,3583,3540,3626,0,0,0,0,0,0,14.78,14.36,14.79
$GC,719,-0.54,-146.0,2026,1096,3540,3626,95.0,-16.3,136,726,0.00,2.50,0.00,0.000,1030,0.000,0.063,2019,2530,3583,3540,3626,0,0,0,0,0,0,14.57,14.47,14.60
$GC,908,-0.54,-146.0,2018,2531,3540,3626,121.3,-13.5,158,913,0.00,2.50,0.00,0.000,516,0.000,0.063,2018,1097,3583,3540,3626,0,0,0,0,0,0,14.83,14.46,14.85
$GC,934,-0.54,-146.0,2018,1097,3540,3626,124.8,-12.3,163,941,0.15,2.50,0.00,0.000,3078,0.245,0.063,2042,2536,3583,3540,3626,0,0,0,0,0,0,14.26,14.49,14.50
$GC,1240,-0.54,-146.0,2042,2536,3540,3626,155.6,-9.6,194,1245,0.00,2.47,0.00,0.000,516,0.000,0.068,2043,1106,3583,3541,3626,0,0,0,0,0,0,14.84,14.48,14.85
$GC,1272,-0.54,-146.0,2043,1106,3541,3626,158.8,-9.9,200,1278,0.00,2.47,0.00,0.000,1030,0.000,0.063,2036,2530,3583,3540,3626,0,0,0,0,0,0,14.62,14.52,14.65
$GC,1586,-0.54,-146.0,2036,2530,3540,3626,191.6,-10.6,232,1591,0.00,2.47,0.00,0.000,516,0.000,0.064,2036,1105,3583,3541,3626,0,0,0,0,0,0,14.82,14.40,14.83
$GC,1612,-0.54,-146.0,2036,1104,3541,3626,195.0,-13.3,237,1619,0.00,2.50,0.00,0.000,1030,0.000,0.063,2027,2534,3583,3541,3626,0,0,0,0,0,0,14.58,14.47,14.61
$GC,1918,-0.54,-146.0,2027,2535,3541,3626,230.1,-11.8,268,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2535,3583,3541,3626,0,0,0,0,0,0,14.88,14.89,14.89
$GC,2219,-0.54,-146.0,2026,2534,3541,3626,265.7,-12.1,298,2224,0.00,2.47,0.00,0.000,516,0.000,0.070,2027,1101,3583,3541,3626,0,0,0,0,0,0,14.88,14.54,14.90
$GC,2245,-0.54,-146.0,2027,1101,3540,3626,269.0,-13.0,303,2252,0.00,2.47,0.00,0.000,1030,0.000,0.063,2018,2525,3583,3541,3626,0,0,0,0,0,0,14.56,14.46,14.59
$GC,2551,-0.54,-146.0,2018,2525,3540,3626,307.5,-12.7,334,2556,0.00,2.30,0.00,0.000,260,0.000,0.083,2008,3851,3583,3541,3625,0,0,0,0,0,0,14.90,14.53,14.92
$GC,2577,-0.54,-146.0,2008,3851,3540,3624,310.7,-13.8,339,2584,0.15,2.30,0.00,0.000,3078,0.225,0.052,2043,2504,3582,3541,3624,0,0,0,0,0,0,14.36,14.59,14.57
$GC,2883,-0.54,-146.0,2043,2501,3541,3624,342.4,-10.2,370,2889,0.00,2.35,0.00,0.000,516,0.000,0.075,2044,1117,3582,3540,3624,0,0,0,0,0,0,14.92,14.54,14.94
$GC,2995,-0.54,-146.0,2044,1117,3541,3624,353.6,-10.0,392,3001,0.00,2.45,0.00,0.000,1030,0.000,0.064,2036,2528,3582,3541,3624,0,0,0,0,0,0,14.59,14.48,14.62
$GC,3308,-0.54,-146.0,2037,2527,3541,3624,384.9,-9.9,424,3313,0.00,2.47,0.00,0.000,516,0.000,0.067,2037,1107,3582,3541,3624,0,0,0,0,0,0,14.93,14.51,14.95
$GC,3350,-0.54,-146.0,2037,1107,3540,3624,389.2,-9.6,432,3355,0.00,2.45,0.00,0.000,1030,0.000,0.063,2028,2525,3582,3541,3624,0,0,0,0,0,0,14.61,14.50,14.64
$GC,3662,-0.54,-146.0,2028,2525,3541,3623,422.1,-10.9,464,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2525,3581,3540,3623,0,0,0,0,0,0,14.93,14.95,14.95
$GC,3963,-0.54,-146.0,2027,2525,3541,3622,455.6,-11.6,494,3968,0.00,2.42,0.00,0.000,516,0.000,0.065,2029,1118,3582,3541,3623,0,0,0,0,0,0,14.93,14.56,14.95
$GC,4009,-0.54,-146.0,2028,1119,3541,3622,461.1,-11.1,503,4015,0.00,2.45,0.00,0.000,1030,0.000,0.063,2021,2534,3582,3541,3623,0,0,0,0,0,0,14.68,14.57,14.71
$GC,4316,-0.54,-146.0,2019,2534,3542,3619,497.4,-12.0,534,4321,0.00,2.45,0.00,0.000,516,0.000,0.066,2019,1118,3580,3542,3619,0,0,0,0,0,0,14.92,14.56,14.94
$GC,4348,-0.54,-146.0,2019,1118,3543,3619,501.5,-12.3,540,4354,0.12,2.45,0.00,0.000,3078,0.251,0.064,2037,2531,3580,3542,3619,0,0,0,0,0,0,14.35,14.57,14.57
$GC,4661,-0.54,-146.0,2036,2532,3542,3619,535.0,-10.4,572,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2532,3580,3542,3618,0,0,0,0,0,0,14.92,14.95,14.94
$GC,4962,-0.54,-146.0,2037,2532,3542,3618,564.9,-9.4,602,4967,0.00,2.45,0.00,0.000,516,0.000,0.067,2038,1115,3580,3542,3618,0,0,0,0,0,0,14.92,14.56,14.94
$GC,5004,-0.54,-146.0,2037,1115,3542,3618,569.1,-9.5,610,5009,0.00,2.45,0.00,0.000,1030,0.000,0.063,2031,2524,3580,3542,3618,0,0,0,0,0,0,14.68,14.57,14.71
$GC,5316,-0.54,-146.0,2030,2525,3544,3618,600.4,-10.2,642,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2525,3580,3542,3618,0,0,0,0,0,0,14.95,14.97,14.97
$GC,5617,-0.54,-146.0,2030,2525,3542,3617,630.8,-9.8,672,5622,0.00,2.45,0.00,0.000,516,0.000,0.067,2031,1118,3579,3542,3617,0,0,0,0,0,0,14.95,14.52,14.97
$GC,5659,-0.54,-146.0,2030,1117,3542,3617,635.2,-9.5,680,5664,0.00,2.45,0.00,0.000,1030,0.000,0.063,2022,2530,3579,3542,3617,0,0,0,0,0,0,14.68,14.57,14.71
$GC,5971,-0.54,-146.0,2022,2530,3542,3616,666.9,-10.5,712,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2530,3579,3542,3616,0,0,0,0,0,0,14.94,14.96,14.96
$GC,6272,-0.54,-146.0,2022,2530,3542,3615,698.8,-11.2,742,6277,0.00,2.45,0.00,0.000,516,0.000,0.072,2022,1115,3578,3542,3615,0,0,0,0,0,0,14.94,14.56,14.96
$GC,6318,-0.54,-146.0,2022,1115,3543,3615,704.0,-10.6,751,6324,0.00,2.45,0.00,0.000,1030,0.000,0.064,2014,2524,3578,3542,3615,0,0,0,0,0,0,14.66,14.54,14.70
$GC,6624,-0.54,-146.0,2013,2525,3542,3613,738.6,-11.3,782,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2525,3577,3542,3613,0,0,0,0,0,0,14.94,14.96,14.95
$GC,6925,-0.54,-146.0,2014,2525,3542,3612,772.2,-11.1,812,6930,0.00,2.45,0.00,0.000,516,0.000,0.067,2014,1114,3577,3542,3612,0,0,0,0,0,0,14.93,14.51,14.95
$GC,6981,-0.54,-146.0,2013,1113,3542,3613,778.7,-11.3,823,6988,0.15,2.47,0.00,0.000,3078,0.236,0.065,2038,2532,3577,3542,3612,0,0,0,0,0,0,14.26,14.50,14.50
$GC,7288,-0.54,-146.0,2038,2532,3542,3611,807.6,-9.3,854,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2532,3576,3542,3611,0,0,0,0,0,0,14.92,14.93,14.93
$GC,7588,-0.54,-146.0,2038,2532,3542,3611,835.9,-9.4,884,7593,0.00,2.47,0.00,0.000,516,0.000,0.073,2039,1108,3576,3542,3611,0,0,0,0,0,0,14.92,14.54,14.94
$GC,7630,-0.54,-146.0,2039,1108,3542,3611,840.1,-9.7,892,7636,0.00,2.47,0.00,0.000,1030,0.000,0.063,2032,2531,3576,3542,3611,0,0,0,0,0,0,14.66,14.55,14.70
$GC,7943,-0.54,-146.0,2031,2531,3542,3609,871.8,-10.5,924,7948,0.00,2.47,0.00,0.000,516,0.000,0.072,2032,1115,3576,3542,3610,0,0,0,0,0,0,14.95,14.50,14.97
$GC,7979,-0.54,-146.0,2031,1115,3542,3610,875.9,-10.8,931,7985,0.00,2.47,0.00,0.000,1030,0.000,0.064,2023,2534,3576,3542,3610,0,0,0,0,0,0,14.66,14.55,14.70
$GC,8285,-0.54,-146.0,2023,2534,3542,3609,909.1,-10.8,962,8290,0.00,2.47,0.00,0.000,516,0.000,0.071,2024,1111,3575,3542,3609,0,0,0,0,0,0,14.95,14.45,14.96
$GC,8307,-0.54,-146.0,2022,1109,3542,3609,911.5,-11.3,966,8312,0.00,2.47,0.00,0.000,1030,0.000,0.063,2014,2529,3575,3542,3609,0,0,0,0,0,0,14.66,14.54,14.69
$GC,8619,-0.54,-146.0,2015,2530,3542,3609,945.2,-10.7,998,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2529,3575,3542,3608,0,0,0,0,0,0,14.93,14.95,14.95
$GC,8920,-0.54,-146.0,2014,2529,3542,3607,975.7,-10.7,1028,8925,0.00,2.45,0.00,0.000,516,0.000,0.067,2015,1120,3574,3542,3607,0,0,0,0,0,0,14.92,14.54,14.94
$GC,8962,-0.54,-146.0,2014,1119,3542,3607,980.1,-10.2,1036,8968,0.15,2.47,0.00,0.000,3078,0.233,0.064,2040,2530,3574,3542,3607,0,0,0,0,0,0,14.27,14.50,14.50
$STATE,9084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9084,begin apogee
$GC,9089,-0.12,0.0,2040,1839,3542,3606,990.5,-8.1,1049,9245,0.45,0.00,146.48,2.345,10246,0.177,0.000,2175,1839,2977,2960,2994,0,0,0,0,0,0,14.35,13.77,12.64
$STATE,9246,end apogee,CONTROL_FINISHED_OK
$STATE,9247,begin climb
$GC,9248,0.54,146.0,2175,1839,2960,2992,994.6,0.0,1065,9408,0.73,2.65,150.35,2.305,10756,0.105,0.099,2412,452,2383,2365,2402,0,0,0,0,0,0,13.88,13.59,12.45
$GC,9490,0.54,146.0,2412,452,2353,2398,976.3,11.1,1113,9495,0.00,2.55,0.00,0.000,1030,0.000,0.061,2412,1852,2375,2353,2397,0,0,0,0,0,0,14.07,13.98,14.09
$GC,9802,0.54,146.0,2411,1852,2353,2392,940.9,11.4,1145,9807,0.00,2.47,0.00,0.000,260,0.000,0.080,2412,3257,2371,2352,2391,0,0,0,0,0,0,14.66,14.35,14.68
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$STATE,18924,end climb,SURFACE_DEPTH_REACHED
$STATE,18924,begin surface coast
$FINISH,0.0,1.005679
$STATE,18959,end surface coast,CONTROL_FINISHED_OK
$STATE,18960,begin surface
$WARN,HTMICL missed fuel gauge read
$SM_CCo,18978,205.43,0.950,1,0,1348,400.08
$SM_GC,0.65,6.53,1.12,205.43,0.066,0.057,0.950,166,2530,1348,-6.34,-1.10,400.08,0,0,0,0,1,0,14.57,14.50,13.41
$IRIDIUM_FIX,5855.50,-2120.21,181020,152006
$TT8_MAMPS,0.023219,0.778211
$HUMID,42.95
$INTERNAL_PRESSURE,7.87076
$TCM_TEMP,19.00
$XPDR_PINGS,25
$SC_FREEKB,3836576
$TM_FREEKB,7056576
$24V_AH,12.45,0.000
$10V_AH,12.74,66.018
$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,19.375,200.300,323.725,205.425,0.000,0.000,0.000,601.100,6.250,0.000,27.349,4906.319,9663.618,796.877,4371.185,262.582,0.000,3110.684,0.000,3592.506,0.000,0.539,0.000
$DEVICE_MAMPS,391.680,98.685,2344.725,950.130,0.000,0.000,0.000,218.790,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18998.000,2510.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.511,14.928,0.000,0.000
$MEM,324020
$DATA_FILE_SIZE,79718,2286
$CAP_FILE_SIZE,219891,0
$CFSIZE,2097872896,2072641536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,2,0
$GPS,191020,022335,5859.924,-2105.558,30,0.8,35,-12.2,1.1,162.1,9,9.1