version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 393
start: 1 1 120 11 9 26
data:
$ID,574
$MISSION,7
$DIVE,393
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,995
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,20
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,338
$T_MISSION,348
$T_ABORT,363
$T_TURN,500
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,5
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52719
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,291
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2910
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2061
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.55536
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010120,105523,-5405.0220,3.3062,91,0.9,95,-20.5,0.5,65.5,11,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-74.9
$GPS2,010120,110913,-5404.9492,3.3917,6,0.9,14,-20.5,0.6,292.2,10,9.0
$SPEED_LIMITS,0.170,0.180
$TGT_NAME,WPSE
$TGT_LATLONG,-5406.000,6.000
$TGT_RADIUS,3000.000
$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,145.0,3437,-27.8,-9.813,-30.00,962
$D_GRID,995
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.93,-4.9,97,2068,1162,1154,0.0,0.0,0,81,0.00,0.00,-58.70,0.000,16390,0.000,0.000,92,2068,2082,2055,2109,0,0,0,0,0,0,14.71,12.90,14.64
$GC,84,-0.93,-4.9,93,2069,2057,2110,3.0,-5.7,11,107,16.52,2.60,0.00,0.000,2564,0.366,0.065,2600,628,2087,2065,2110,0,0,0,0,0,0,14.04,14.45,14.37
$GC,362,-0.93,-4.9,2601,628,2077,2103,54.7,-16.8,63,369,0.00,2.50,0.00,0.000,3078,0.000,0.041,2600,2048,2088,2076,2101,0,0,0,0,0,0,14.45,14.33,14.47
$GC,667,-0.93,-4.9,2600,2049,2077,2099,101.7,-14.9,94,672,0.00,2.55,0.00,0.000,2308,0.000,0.068,2600,3462,2087,2076,2099,0,0,0,0,0,0,14.78,14.31,14.79
$GC,892,-0.93,-4.9,2600,3463,2076,2098,133.2,-13.8,116,899,0.00,2.53,0.00,0.000,3078,0.000,0.047,2600,2036,2086,2075,2098,0,0,0,0,0,0,14.46,14.33,14.47
$GC,1197,-0.93,-4.9,2600,2038,2077,2098,178.1,-14.2,147,1202,0.00,2.58,0.00,0.000,2308,0.000,0.064,2599,3455,2086,2076,2097,0,0,0,0,0,0,14.77,14.29,14.78
$GC,1537,-0.93,-4.9,2593,3455,2076,2097,227.7,-14.8,181,1542,0.00,2.50,0.00,0.000,3078,0.000,0.048,2599,2048,2086,2076,2096,0,0,0,0,0,0,14.45,14.32,14.47
$GC,1847,-0.93,-4.9,2599,2049,2077,2096,272.5,-14.6,212,1852,0.00,2.58,0.00,0.000,2308,0.000,0.063,2598,3462,2085,2075,2095,0,0,0,0,0,0,14.77,14.28,14.77
$GC,2032,-0.93,-4.9,2598,3462,2077,2096,297.9,-13.6,230,2038,0.00,2.53,0.00,0.000,3078,0.000,0.047,2598,2043,2085,2075,2095,0,0,0,0,0,0,14.42,14.28,14.43
$GC,2337,-0.93,-4.9,2600,2044,2077,2095,341.3,-13.3,261,2342,0.00,2.58,0.00,0.000,2308,0.000,0.062,2598,3460,2085,2076,2095,0,0,0,0,0,0,14.78,14.23,14.78
$GC,2512,-0.93,-4.9,2598,3460,2077,2095,362.9,-12.5,278,2519,0.00,2.53,0.00,0.000,3078,0.000,0.047,2597,2044,2085,2076,2094,0,0,0,0,0,0,14.41,14.28,14.42
$GC,2817,-0.93,-4.9,2598,2045,2077,2094,399.8,-11.8,309,2822,0.00,2.58,0.00,0.000,2308,0.000,0.060,2597,3463,2084,2075,2094,0,0,0,0,0,0,14.76,14.22,14.77
$GC,2937,-0.93,-4.9,2598,3462,2076,2095,413.6,-11.4,321,2942,0.00,2.53,0.00,0.000,3078,0.000,0.047,2597,2043,2085,2076,2094,0,0,0,0,0,0,14.50,14.37,14.52
$GC,3247,-0.93,-4.9,2598,2043,2076,2095,449.1,-11.4,352,3252,0.00,2.55,0.00,0.000,2308,0.000,0.060,2596,3458,2085,2076,2094,0,0,0,0,0,0,14.74,14.34,14.74
$GC,3432,-0.93,-4.9,2597,3459,2077,2093,468.9,-10.7,370,3438,0.00,2.50,0.00,0.000,3078,0.000,0.047,2597,2050,2085,2076,2094,0,0,0,0,0,0,14.51,14.37,14.53
$GC,3738,-0.93,-4.9,2597,2050,2076,2096,502.0,-10.7,401,3742,0.00,2.55,0.00,0.000,2308,0.000,0.059,2597,3464,2084,2075,2093,0,0,0,0,0,0,14.72,14.33,14.73
$GC,3862,-0.93,-4.9,2597,3465,2077,2094,515.0,-11.0,413,3868,0.00,2.53,0.00,0.000,3078,0.000,0.045,2596,2045,2085,2076,2094,0,0,0,0,0,0,14.43,14.28,14.47
$GC,4167,-0.93,-4.9,2597,2046,2078,2094,548.5,-10.8,444,4172,0.00,2.55,0.00,0.000,2308,0.000,0.059,2596,3456,2085,2076,2094,0,0,0,0,0,0,14.73,14.34,14.73
$GC,4277,-0.93,-4.9,2597,3457,2077,2094,560.4,-10.8,455,4282,0.00,2.50,0.00,0.000,3078,0.000,0.046,2596,2048,2085,2076,2094,0,0,0,0,0,0,14.52,14.38,14.54
$GC,4587,-0.93,-4.9,2596,2048,2078,2094,594.1,-10.8,486,4592,0.00,2.53,0.00,0.000,2308,0.000,0.059,2596,3455,2085,2076,2094,0,0,0,0,0,0,14.73,14.33,14.73
$GC,4802,-0.93,-4.9,2596,3456,2078,2094,616.8,-11.1,507,4808,0.00,2.50,0.00,0.000,3078,0.000,0.047,2596,2045,2085,2076,2094,0,0,0,0,0,0,14.46,14.28,14.50
$GC,5107,-0.93,-4.9,2594,2046,2077,2095,653.0,-12.2,538,5112,0.00,2.55,0.00,0.000,2308,0.000,0.060,2596,3462,2085,2076,2094,0,0,0,0,0,0,14.73,14.33,14.73
$GC,5227,-0.93,-4.9,2596,3462,2075,2095,667.5,-11.9,550,5232,0.00,2.53,0.00,0.000,3078,0.000,0.045,2596,2047,2084,2076,2093,0,0,0,0,0,0,14.50,14.37,14.52
$GC,5537,-0.93,-4.9,2596,2048,2078,2093,705.0,-12.2,581,5542,0.00,2.55,0.00,0.000,2308,0.000,0.060,2595,3460,2085,2077,2094,0,0,0,0,0,0,14.73,14.33,14.73
$GC,5647,-0.93,-4.9,2596,3460,2077,2095,718.5,-12.2,592,5652,0.00,2.53,0.00,0.000,3078,0.000,0.047,2596,2047,2085,2077,2093,0,0,0,0,0,0,14.50,14.35,14.52
$GC,5957,-0.93,-4.9,2596,2048,2078,2093,755.8,-12.1,623,5959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2595,2047,2085,2077,2094,0,0,0,0,0,0,14.73,14.73,14.73
$GC,6257,-0.93,-4.9,2597,2054,2078,2095,791.7,-11.7,653,6262,0.00,2.55,0.00,0.000,2308,0.000,0.060,2595,3459,2085,2077,2094,0,0,0,0,0,0,14.72,14.33,14.73
$GC,6337,-0.93,-4.9,2595,3459,2078,2094,800.9,-11.5,661,6342,0.00,2.50,0.00,0.000,3078,0.000,0.046,2595,2049,2085,2077,2093,0,0,0,0,0,0,14.50,14.37,14.52
$GC,6647,-0.93,-4.9,2595,2049,2079,2093,835.5,-10.9,692,6652,0.00,2.55,0.00,0.000,2308,0.000,0.060,2594,3455,2085,2077,2093,0,0,0,0,0,0,14.73,14.32,14.72
$GC,6734,-0.93,-4.9,2595,3456,2078,2093,844.0,-10.6,700,6739,0.00,2.50,0.00,0.000,3078,0.000,0.046,2594,2045,2085,2077,2093,0,0,0,0,0,0,14.50,14.37,14.52
$GC,7038,-0.93,-4.9,2595,2044,2078,2094,874.6,-9.5,731,7042,0.00,2.55,0.00,0.000,2308,0.000,0.060,2594,3456,2085,2077,2093,0,0,0,0,0,0,14.71,14.32,14.72
$GC,7107,-0.93,-4.9,2594,3457,2079,2093,881.5,-9.8,738,7112,0.05,2.50,0.00,0.000,3078,0.343,0.045,2602,2047,2085,2077,2093,0,0,0,0,0,0,14.12,14.36,14.34
$GC,7419,-0.93,-4.9,2602,2047,2079,2094,910.7,-9.5,769,7421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2602,2047,2085,2078,2093,0,0,0,0,0,0,14.71,14.71,14.71
$GC,7717,-0.93,-4.9,2603,2048,2079,2094,939.1,-9.5,799,7722,0.00,2.55,0.00,0.000,2308,0.000,0.060,2601,3456,2085,2078,2093,0,0,0,0,0,0,14.72,14.33,14.73
$GC,7777,-0.93,-4.9,2602,3456,2079,2094,945.5,-9.6,805,7782,0.00,2.50,0.00,0.000,3078,0.000,0.045,2601,2047,2085,2078,2093,0,0,0,0,0,0,14.50,14.37,14.52
$GC,8088,-0.93,-4.9,2603,2048,2079,2099,974.2,-9.5,836,8092,0.00,2.55,0.00,0.000,2308,0.000,0.059,2602,3463,2085,2078,2093,0,0,0,0,0,0,14.72,14.33,14.72
$GC,8157,-0.93,-4.9,2602,3464,2079,2093,981.7,-9.6,843,8162,0.00,2.50,0.00,0.000,3078,0.000,0.044,2602,2048,2085,2078,2093,0,0,0,0,0,0,14.51,14.37,14.53
$STATE,8315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8315,begin apogee
$GC,8320,-0.17,0.0,2603,1599,2079,2094,995.7,-9.1,859,8337,1.45,0.00,8.73,1.870,10246,0.237,0.000,2848,1598,2061,2061,2061,0,0,0,0,0,0,14.01,14.52,13.42
$STATE,8339,end apogee,CONTROL_FINISHED_OK
$STATE,8339,begin climb
$GC,8341,0.93,4.9,2848,1599,2062,2061,997.6,0.0,861,8356,1.77,0.00,6.72,1.675,10246,0.141,0.000,3188,1598,2043,2043,2043,0,0,0,0,0,0,14.44,14.24,13.41
$GC,8652,1.13,163.9,3189,1598,2043,2044,1012.7,-7.2,892,8826,0.32,0.00,170.60,2.160,10246,0.141,0.000,3256,1598,1390,1422,1359,0,0,0,0,0,0,14.32,13.63,12.71
$GC,9121,1.13,163.9,3256,1598,1421,1357,957.9,17.1,939,9123,0.00,0.00,0.00,0.000,2054,0.000,0.000,3256,1598,1388,1420,1357,0,0,0,0,0,0,14.67,14.68,14.68
$GC,9421,1.13,163.9,3256,1599,1420,1358,906.8,17.0,969,9426,0.00,2.35,0.00,0.000,2564,0.000,0.084,3256,307,1388,1420,1357,0,0,0,0,0,0,14.87,14.45,14.87
$GC,9501,1.13,163.9,3256,308,1420,1357,893.1,18.0,977,9506,0.00,2.22,0.00,0.000,3078,0.000,0.029,3256,1625,1388,1419,1357,0,0,0,0,0,0,14.71,14.64,14.73
$GC,9811,1.13,163.9,3257,1632,1420,1355,839.1,17.0,1008,9816,0.00,2.42,0.00,0.000,2564,0.000,0.086,3256,307,1387,1419,1356,0,0,0,0,0,0,14.95,14.50,14.95
$GC,9866,1.13,163.9,3257,308,1420,1355,830.3,18.0,1013,9872,0.00,2.17,0.00,0.000,3078,0.000,0.031,3256,1599,1387,1419,1355,0,0,0,0,0,0,14.76,14.67,14.78
$GC,10171,1.13,163.9,3256,1607,1420,1354,777.4,17.2,1044,10176,0.00,2.35,0.00,0.000,2564,0.000,0.085,3256,314,1387,1419,1355,0,0,0,0,0,0,14.98,14.52,14.98
$GC,10226,1.13,163.9,3255,315,1420,1355,768.4,18.3,1049,10232,0.00,2.17,0.00,0.000,3078,0.000,0.032,3256,1602,1386,1418,1354,0,0,0,0,0,0,14.78,14.69,14.80
$GC,10531,1.13,163.9,3257,1609,1420,1353,715.5,17.0,1080,10536,0.00,2.38,0.00,0.000,2564,0.000,0.085,3256,307,1386,1419,1354,0,0,0,0,0,0,15.00,14.52,15.00
$GC,10606,1.13,163.9,3257,307,1419,1355,702.9,18.3,1087,10612,0.00,2.20,0.00,0.000,3078,0.000,0.034,3256,1603,1389,1418,1361,0,0,0,0,0,0,14.78,14.69,14.81
$GC,10911,1.13,163.9,3257,1609,1419,1355,650.0,17.1,1118,10913,0.00,0.00,0.00,0.000,2054,0.000,0.000,3256,1609,1386,1419,1354,0,0,0,0,0,0,15.00,15.01,15.00
$GC,11211,1.13,163.9,3257,1610,1420,1353,599.3,16.9,1148,11216,0.00,2.38,0.00,0.000,2564,0.000,0.086,3256,313,1385,1418,1353,0,0,0,0,0,0,15.01,14.51,15.02
$GC,11266,1.13,163.9,3257,313,1419,1352,590.5,17.8,1153,11272,0.00,2.22,0.00,0.000,3078,0.000,0.037,3257,1593,1385,1418,1353,0,0,0,0,0,0,14.66,14.64,14.76
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$GC,13381,1.13,163.9,3257,307,1420,1354,252.8,15.3,1365,13386,0.00,2.25,0.00,0.000,3078,0.000,0.036,3256,1612,1385,1418,1353,0,0,0,0,0,0,14.58,14.48,14.59
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$STATE,15380,end climb,SURFACE_DEPTH_REACHED
$STATE,15380,begin surface coast
$FINISH,0.4,1.021016
$STATE,15406,end surface coast,CONTROL_FINISHED_OK
$STATE,15406,begin surface
$SM_CCo,15431,49.35,0.163,0,0,1162,220.03
$SM_GC,1.29,15.62,0.73,49.35,0.073,0.044,0.163,128,2057,1162,-8.64,-1.47,220.03,0,0,0,0,0,0,14.49,14.60,14.31
$IRIDIUM_FIX,-5343.28,-14.69,010120,062407
$TT8_MAMPS,0.040446,0.578977
$HUMID,55.51
$INTERNAL_PRESSURE,9.22444
$TCM_TEMP,13.10
$XPDR_PINGS,0
$SC_FREEKB,3587680
$24V_AH,12.71,167.292
$10V_AH,12.49,0.000
$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
$DEVICE_SECS,35.750,138.300,186.050,49.350,0.000,23.734,48.138,445.031,0.000,0.000,15.376,0.000,11139.807,485.894,4256.215,404.223,0.000,1834.950,0.000,2899.104,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,45.781,0.000,0.000,0.000
$MEM,340020
$DATA_FILE_SIZE,56543,1610
$CAP_FILE_SIZE,259672,0
$CFSIZE,2097086464,2010644480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,8706.51,0x213438,1,24
$GPS,010120,152838,-5406.258,5.003,39,0.8,46,-20.5,0.5,329.0,9,9.5