version: 66.11
glider: 615
mission: 5
dive: 220
start: 10 17 115 12 44 44
data:
$ID,615
$MISSION,5
$DIVE,220
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19249.879
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,171015,123721,1801.752,8926.247,36,1.0,36,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.2
$GPS2,171015,124417,1801.779,8926.194,5,1.0,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,120.7,17625,-21.4,-9.167,-25.88,2022
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-126.5,180,2230,562,479,0.0,0.0,0,55,0.00,0.00,-37.88,0.000,16386,0.000,0.000,180,2230,1596,1597,1595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,180,2229,1597,1595,3.1,-7.1,6,117,10.80,2.42,-37.88,0.000,18948,0.351,0.086,2673,807,3391,3405,3377,0,0,0,0,0,0,14.18,14.37,14.75
$GC,172,-0.82,-126.5,2673,807,3405,3378,37.7,-32.4,25,178,0.00,2.20,0.00,0.000,1030,0.000,0.048,2665,2161,3391,3405,3377,0,0,0,0,0,0,28.83,14.53,28.83
$GC,362,-0.82,-126.5,1680,2160,3392,3376,88.4,-21.1,62,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2161,3391,3405,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,552,-0.82,-126.5,2665,2162,3405,3380,123.7,-16.1,99,560,0.08,2.38,0.00,0.000,2308,0.326,0.057,2668,3611,3392,3405,3380,0,0,0,0,0,0,14.48,14.59,28.83
$GC,611,-0.82,-126.5,2668,3611,3405,3380,133.1,-15.2,110,618,0.00,2.30,0.00,0.000,1030,0.000,0.035,2667,2186,3393,3406,3381,0,0,0,0,0,0,28.83,14.59,28.83
$GC,802,-0.82,-126.5,2667,2186,3405,3382,162.1,-15.4,147,810,0.00,2.22,0.00,0.000,516,0.000,0.055,2667,806,3394,3406,3382,0,0,0,0,0,0,28.83,14.61,28.83
$GC,928,-0.82,-126.5,2667,806,3406,3383,181.4,-14.8,171,936,0.10,2.22,0.00,0.000,3078,0.283,0.043,2678,2210,3394,3406,3383,0,0,0,0,0,0,14.42,14.65,28.83
$GC,1118,-0.82,-126.5,2678,2210,3406,3382,209.0,-14.1,202,1123,0.00,2.28,0.00,0.000,260,0.000,0.061,2669,3606,3394,3406,3383,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1148,-0.82,-126.5,2669,3607,3406,3383,213.5,-14.7,208,1156,0.00,2.25,0.00,0.000,1030,0.000,0.035,2669,2204,3394,3406,3383,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1456,-0.82,-126.5,2669,2204,3406,3381,257.8,-14.1,239,1466,0.00,2.25,0.00,0.000,516,0.000,0.057,2669,809,3393,3405,3381,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1580,-0.82,-126.5,2669,809,3405,3380,275.5,-13.8,263,1592,0.10,2.22,0.00,0.000,3078,0.276,0.045,2680,2205,3392,3405,3379,0,0,0,0,0,0,14.45,14.68,28.83
$GC,1890,-0.82,-126.5,2680,2205,3406,3376,318.1,-14.0,295,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2204,3391,3406,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-0.82,-126.5,2680,2205,3405,3372,361.4,-13.8,322,2206,0.00,2.28,0.00,0.000,516,0.000,0.060,2680,806,3388,3405,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2248,-0.82,-126.5,2680,805,3405,3372,368.6,-13.8,332,2252,0.00,2.22,0.00,0.000,1030,0.000,0.047,2672,2198,3388,3405,3372,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2560,-0.82,-126.5,2672,2198,3405,3369,411.2,-13.8,349,2567,0.00,2.25,0.00,0.000,516,0.000,0.059,2672,811,3387,3405,3369,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2588,-0.82,-126.5,2672,812,3405,3369,415.5,-14.2,355,2593,0.08,2.22,0.00,0.000,3078,0.301,0.047,2676,2199,3386,3405,3368,0,0,0,0,0,0,14.50,14.70,28.83
$GC,2901,-0.82,-126.5,2676,2200,3405,3364,457.3,-13.6,372,2908,0.00,2.25,0.00,0.000,516,0.000,0.060,2676,810,3384,3405,3364,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2933,-0.82,-126.5,2676,809,3405,3363,462.2,-13.8,379,2941,0.00,2.30,0.00,0.000,1030,0.000,0.048,2668,2198,3384,3405,3363,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3251,-0.82,-126.5,2668,2198,3404,3359,506.5,-14.3,395,3255,0.00,2.28,0.00,0.000,516,0.000,0.060,2668,807,3381,3404,3358,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3283,-0.82,-126.5,2668,807,3404,3358,511.0,-14.6,401,3290,0.10,2.25,0.00,0.000,3078,0.276,0.049,2679,2206,3381,3404,3358,0,0,0,0,0,0,14.47,14.70,28.83
$GC,3613,-0.82,-126.5,2679,2207,3404,3354,555.1,-13.2,417,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2207,3379,3404,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3913,-0.82,-126.5,2679,2207,3404,3352,594.4,-13.1,427,3919,0.00,2.30,0.00,0.000,516,0.000,0.066,2679,809,3378,3404,3352,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3956,-0.82,-126.5,2679,808,3403,3352,600.6,-13.0,436,3960,0.00,2.28,0.00,0.000,1030,0.000,0.054,2671,2205,3377,3403,3352,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4273,-0.82,-126.5,2671,2206,3402,3350,643.4,-13.6,449,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3376,3402,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4573,-0.82,-126.5,2671,2206,3401,3347,683.6,-13.4,459,4579,0.00,2.30,0.00,0.000,516,0.000,0.067,2671,810,3373,3401,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4616,-0.82,-126.5,2671,810,3400,3347,689.7,-13.3,468,4620,0.08,2.28,0.00,0.000,3078,0.304,0.054,2675,2204,3373,3400,3347,0,0,0,0,0,0,14.50,14.70,28.83
$GC,4933,-0.82,-126.5,2675,2204,3400,3345,729.8,-12.7,481,4939,0.00,2.30,0.00,0.000,516,0.000,0.066,2675,816,3372,3399,3345,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4956,-0.82,-126.5,2675,816,3399,3345,733.0,-12.9,486,4963,0.00,2.33,0.00,0.000,1030,0.000,0.055,2667,2198,3372,3399,3345,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5264,-0.82,-126.5,2668,2199,3398,3344,771.1,-12.4,497,5270,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,811,3371,3399,3344,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5295,-0.82,-126.5,2667,811,3397,3344,775.6,-12.7,504,5300,0.05,2.30,0.00,0.000,3078,0.249,0.054,2673,2196,3370,3397,3344,0,0,0,0,0,0,14.38,14.61,28.83
$GC,5624,-0.82,-126.5,2672,2197,3396,3343,814.9,-12.2,519,5630,0.00,2.35,0.00,0.000,260,0.000,0.076,2664,3604,3369,3396,3342,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5653,-0.82,-126.5,2664,3604,3396,3342,818.7,-12.8,525,5660,0.08,2.22,0.00,0.000,3078,0.276,0.042,2678,2207,3369,3396,3343,0,0,0,0,0,0,14.53,14.75,28.83
$GC,5984,-0.82,-126.5,2678,2207,3395,3341,858.7,-12.3,541,5988,0.00,2.35,0.00,0.000,516,0.000,0.072,2678,807,3367,3395,3340,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6063,-0.82,-126.5,2678,807,3395,3341,868.9,-12.3,557,6067,0.00,2.30,0.00,0.000,1030,0.000,0.057,2670,2207,3368,3395,3341,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6376,-0.82,-126.5,2670,2208,3394,3338,908.4,-12.6,569,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,3366,3394,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,-0.82,-126.5,2671,2208,3393,3337,945.8,-12.4,579,6682,0.00,2.33,0.00,0.000,516,0.000,0.070,2670,810,3365,3393,3337,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6724,-0.82,-126.5,2670,810,3393,3337,952.1,-12.1,589,6728,0.10,2.28,0.00,0.000,3078,0.291,0.056,2680,2201,3364,3392,3337,0,0,0,0,0,0,14.42,14.67,28.83
$GC,7036,-0.82,-126.5,2680,2201,3392,3336,987.8,-11.5,601,7042,0.00,2.38,0.00,0.000,260,0.000,0.083,2672,3601,3364,3392,3336,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,7052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7052,begin apogee
$GC,7059,-0.16,0.0,2671,2148,3391,3336,990.2,-11.8,605,7210,0.77,0.00,144.82,1.958,10246,0.227,0.000,2891,2147,2872,2922,2823,0,0,0,0,0,0,14.33,28.83,13.33
$STATE,7211,end apogee,CONTROL_FINISHED_OK
$STATE,7211,begin climb
$GC,7212,0.82,126.5,2891,2147,2917,2817,994.9,0.0,636,7333,1.00,2.50,109.47,2.191,10500,0.142,0.070,3203,3547,2347,2404,2290,0,0,0,0,0,0,14.01,13.85,13.05
$GC,7349,0.84,139.8,3203,3547,2402,2287,989.0,8.5,663,7367,0.00,2.40,12.40,2.001,9222,0.000,0.044,3213,2142,2301,2361,2242,0,0,0,0,0,0,28.83,14.00,13.14
$GC,7666,0.84,139.8,3213,2142,2349,2232,952.9,11.7,676,7672,0.00,2.42,0.00,0.000,516,0.000,0.080,3224,733,2290,2349,2231,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7744,0.84,139.8,3224,733,2348,2232,943.7,11.4,692,7748,0.00,2.35,0.00,0.000,1030,0.000,0.052,3224,2149,2290,2349,2232,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8057,0.84,139.8,3224,2149,2348,2231,908.2,11.3,704,8063,0.00,2.40,0.00,0.000,516,0.000,0.078,3234,740,2289,2348,2231,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8090,0.84,139.8,3235,740,2348,2231,904.2,12.0,711,8095,0.00,2.30,0.00,0.000,1030,0.000,0.051,3234,2140,2289,2347,2231,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8413,0.84,139.8,3234,2141,2346,2229,867.5,11.1,725,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2141,2288,2346,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,0.84,139.8,3234,2141,2345,2229,833.0,11.7,735,8718,0.00,2.38,0.00,0.000,516,0.000,0.077,3244,741,2287,2345,2229,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8785,0.84,139.8,3244,740,2345,2229,824.0,11.5,750,8789,0.00,2.30,0.00,0.000,1030,0.000,0.051,3244,2141,2287,2345,2229,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9103,0.84,139.8,3244,2142,2343,2228,786.6,11.9,763,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2141,2286,2343,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9403,0.84,139.8,3244,2142,2343,2227,751.6,11.5,773,9407,0.00,2.40,0.00,0.000,516,0.000,0.076,3254,730,2285,2343,2228,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9502,0.84,139.8,3254,731,2343,2228,739.4,11.2,793,9507,0.00,2.30,0.00,0.000,1030,0.000,0.053,3254,2139,2285,2343,2228,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9825,0.84,139.8,3255,2140,2342,2228,702.4,11.6,807,9831,0.00,2.38,0.00,0.000,260,0.000,0.075,3254,3549,2285,2342,2228,0,0,0,0,0,0,28.83,14.59,28.83
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$GC,13046,0.84,139.8,3256,732,2341,2228,358.2,9.7,1021,13051,0.00,2.33,0.00,0.000,1030,0.000,0.057,3255,2138,2284,2341,2228,0,0,0,0,0,0,28.83,14.60,28.83
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$GC,16428,1.22,445.6,2368,2143,1529,1446,43.5,3.8,1523,16499,0.12,2.40,62.25,0.270,10500,0.142,0.062,3357,3549,1058,1112,1004,0,0,0,0,0,0,14.52,14.51,14.27
$GC,16730,1.46,642.1,3358,3549,1115,1013,23.5,-0.8,1579,16819,0.15,2.28,76.75,0.207,11270,0.123,0.038,3432,2128,515,580,450,0,0,0,0,0,0,14.53,14.58,14.19
$STATE,16944,end climb,SURFACE_DEPTH_REACHED
$STATE,16944,begin surface coast
$FINISH,0.3,1.019234
$STATE,16962,end surface coast,CONTROL_FINISHED_OK
$STATE,16962,begin surface
$SM_CCo,16978,1.40,0.190,0,0,508,579.63
$SM_CCo,16982,0.00,0.000,0,0,511,579.63
$SM_CCo,16985,0.45,0.299,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8928.25,120808,212108
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.55
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.1,83.531
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.100,172.075,545.725,1.850,0.000,24.498,16.677,257.991,0.250,0.000,6.549,3325.876,10031.436,640.308,3209.004,184.782,0.000,2006.346,0.000,2380.132,0.000,0.553,0.000
$DEVICE_MAMPS,351.135,139.995,2190.960,299.115,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,130784,1621
$CAP_FILE_SIZE,174729,0
$CFSIZE,2097086464,2058354688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,306.8,1
$GPS,171015,172927,1801.248,8927.418,60,0.8,60,-0.9