version: 66.14
glider: 640
mission: 5
dive: 442
start: 1 31 119 13 22 16
data:
$ID,640
$MISSION,5
$DIVE,442
$N_DIVES,600
$STOP_T,2051912
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,420
$D_NO_BLEED,29
$D_BOOST,20
$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,140
$T_MISSION,220
$T_ABORT,250
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$T_SLOITER,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54260
$MASS_COMP,0
$NAV_MODE,2
$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,-5400
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2400
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2720
$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,4
$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,-153.19165
$PRESSURE_SLOPE,0.000109596
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$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,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,0.0044042631
$SEABIRD_T_H,0.0006412621
$SEABIRD_T_I,2.6024412e-05
$SEABIRD_T_J,3.2462635e-06
$SEABIRD_C_G,-10.007382
$SEABIRD_C_H,1.1528281
$SEABIRD_C_I,-0.0017483447
$SEABIRD_C_J,0.0001971516
$SEABIRD_C_Z,2950.7202
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,310119,131527,-5956.4028,-3.1893,39,0.8,42,-19.7,0.0,191.2,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.5
$GPS2,310119,132157,-5956.4302,-3.2146,9,0.8,13,-19.7,0.0,174.0,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.5,30577,-15.5,-8.333,-18.82,2677
$D_GRID,350
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,229,2078,1792,1829,0.0,0.0,0,102,0.00,0.00,-87.45,0.000,16386,0.000,0.000,228,2078,3187,3269,3106,0,0,0,0,0,0,14.55,28.83,14.55,6.17,51.57
$GC,104,-0.64,-146.0,228,2078,3270,3106,3.3,-7.2,18,122,6.18,2.67,-4.70,0.000,18948,0.350,2.212,2182,718,3318,3412,3224,0,0,0,0,0,0,13.90,13.01,14.24,6.29,50.47
$GC,143,-0.64,-146.0,2182,718,3413,3227,10.8,-16.6,26,147,0.08,2.40,0.00,0.000,3078,0.371,0.057,2196,2106,3318,3413,3224,0,0,0,0,0,0,14.02,14.28,14.26,6.31,49.21
$GC,270,-0.64,-146.0,2195,2106,3414,3225,32.0,-17.3,51,273,0.00,2.50,0.00,0.000,260,0.000,0.083,2186,3503,3319,3414,3224,0,0,0,0,0,0,14.57,14.18,14.57,6.31,49.40
$GC,283,-0.64,-146.0,2186,3503,3415,3224,34.6,-17.2,54,286,0.00,2.33,0.00,0.000,3078,0.000,0.044,2185,2123,3318,3413,3224,0,0,0,0,0,0,14.41,14.32,14.41,6.31,49.60
$GC,408,-0.64,-146.0,2185,2123,3414,3225,55.5,-14.9,79,412,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3512,3319,3414,3224,0,0,0,0,0,0,14.61,14.19,14.61,6.31,50.15
$GC,463,-0.64,-146.0,2175,3513,3414,3225,63.3,-13.6,90,467,0.05,2.40,0.00,0.000,3078,0.427,0.042,2190,2088,3318,3413,3224,0,0,0,0,0,0,13.99,14.27,14.26,6.31,49.84
$GC,590,-0.64,-146.0,2191,2087,3415,3224,79.8,-13.4,115,593,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,696,3318,3413,3224,0,0,0,0,0,0,14.63,14.26,14.63,6.31,49.37
$GC,618,-0.64,-146.0,2190,697,3414,3223,84.0,-14.3,121,622,0.00,2.42,0.00,0.000,3078,0.000,0.056,2180,2105,3318,3413,3224,0,0,0,0,0,0,14.39,14.25,14.41,6.30,48.93
$GC,748,-0.64,-146.0,2181,2107,3415,3224,103.5,-15.8,144,749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2105,3318,3413,3224,0,0,0,0,0,0,14.66,14.67,14.67,6.30,48.54
$GC,1048,-0.64,-146.0,2181,2106,3414,3225,153.1,-16.0,159,1052,0.00,2.45,0.00,0.000,2564,0.000,0.062,2180,696,3317,3410,3224,0,0,0,0,0,0,14.70,14.24,14.70,6.30,49.29
$GC,1083,-0.64,-146.0,2180,697,3414,3225,156.1,-15.6,160,1087,0.08,2.42,0.00,0.000,3078,0.369,0.056,2192,2108,3319,3414,3224,0,0,0,0,0,0,13.99,14.29,14.26,6.30,49.60
$GC,1403,-0.64,-146.0,2193,2108,3414,3224,199.5,-12.5,177,1404,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2108,3318,3413,3224,0,0,0,0,0,0,14.73,14.73,14.73,6.31,51.10
$GC,1703,-0.64,-146.0,2193,2109,3415,3226,235.7,-12.3,192,1707,0.00,2.47,0.00,0.000,2308,0.000,0.082,2183,3509,3318,3413,3223,0,0,0,0,0,0,14.74,14.22,14.74,6.32,51.18
$GC,1758,-0.64,-146.0,2182,3509,3414,3224,242.7,-12.7,195,1762,0.00,2.35,0.00,0.000,3078,0.000,0.041,2181,2096,3318,3413,3224,0,0,0,0,0,0,14.45,14.34,14.47,6.32,50.90
$GC,2078,-0.64,-146.0,2181,2096,3414,3219,283.5,-12.6,211,2082,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,700,3318,3413,3224,0,0,0,0,0,0,14.75,14.26,14.74,6.32,51.22
$GC,2133,-0.64,-146.0,2181,701,3414,3226,290.5,-12.8,214,2137,0.08,2.40,0.00,0.000,3078,0.362,0.055,2194,2099,3319,3413,3225,0,0,0,0,0,0,14.00,14.31,14.28,6.32,51.77
$GC,2448,-0.64,-146.0,2194,2104,3414,3226,328.6,-12.3,230,2452,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3507,3319,3414,3224,0,0,0,0,0,0,14.75,14.21,14.75,6.33,51.14
$GC,2483,-0.64,-146.0,2184,3508,3414,3226,331.1,-12.3,231,2487,0.00,2.35,0.00,0.000,3078,0.000,0.042,2183,2093,3318,3413,3224,0,0,0,0,0,0,14.47,14.34,14.47,6.31,51.22
$STATE,2626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2626,begin apogee
$GC,2631,-0.15,0.0,2184,2166,3414,3225,351.3,-12.7,239,2760,0.47,0.00,125.55,1.593,10246,0.254,0.000,2349,2167,2717,2777,2657,0,0,0,0,0,0,14.06,13.88,13.20,6.32,51.33
$STATE,2761,end apogee,CONTROL_FINISHED_OK
$STATE,2761,begin loiter
$GC,3048,-0.15,0.0,2349,2166,2772,2644,348.1,3.4,260,3049,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2707,2772,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.63
$GC,3348,-0.15,0.0,2349,2166,2772,2642,338.0,3.6,275,3349,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2706,2772,2641,0,0,0,0,0,0,14.70,14.71,14.70,6.28,51.22
$GC,3648,-0.15,0.0,2349,2166,2772,2641,326.8,3.7,290,3649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2706,2772,2641,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.92
$GC,3948,-0.15,0.0,2348,2165,2772,2641,315.0,4.0,305,3949,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.29
$GC,4248,-0.15,0.0,2349,2165,2772,2639,303.4,3.8,320,4249,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2705,2771,2639,0,0,0,0,0,0,14.89,14.89,14.89,6.27,51.65
$GC,4548,-0.15,0.0,2349,2165,2773,2639,292.1,3.6,335,4549,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2705,2771,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.37
$GC,4848,-0.15,0.0,2349,2165,2773,2639,281.4,3.6,350,4849,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.49
$GC,5148,-0.15,0.0,2349,2165,2773,2639,271.7,3.1,365,5149,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2639,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.29
$GC,5448,-0.15,0.0,2349,2165,2772,2640,263.3,2.6,380,5449,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2705,2772,2638,0,0,0,0,0,0,14.98,14.98,14.99,6.28,51.26
$GC,5748,-0.15,0.0,2349,2165,2773,2638,256.2,2.2,395,5749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.27,52.24
$GC,6048,-0.15,0.0,2349,2166,2772,2639,250.3,1.8,410,6049,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.61
$STATE,6346,end loiter,LOITER_COMPLETE
$STATE,6346,begin climb
$GC,6348,0.64,146.0,2349,2166,2772,2639,244.6,0.0,425,6489,0.62,2.55,129.60,1.414,10500,0.172,0.080,2594,3543,2119,2141,2097,0,0,0,0,0,0,14.39,13.97,13.37,6.27,51.49
$GC,6569,0.64,146.0,2594,3543,2139,2090,229.7,9.7,436,6572,0.00,2.38,0.00,0.000,1030,0.000,0.041,2604,2152,2113,2138,2088,0,0,0,0,0,0,14.21,14.13,14.23,6.23,49.21
$GC,6884,0.64,146.0,2605,2151,2133,2081,195.7,11.1,452,6887,0.00,2.50,0.00,0.000,516,0.000,0.067,2615,740,2105,2131,2080,0,0,0,0,0,0,14.58,14.23,14.58,6.23,50.59
$GC,6928,0.64,146.0,2616,740,2129,2080,191.8,11.1,454,6933,0.00,2.40,0.00,0.000,5126,0.000,0.054,2616,2136,2104,2128,2081,0,0,0,0,0,0,14.41,14.28,14.43,6.23,50.74
$GC,7239,0.64,146.0,2616,2136,2128,2077,154.5,11.8,470,7242,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,747,2100,2123,2078,0,0,0,0,0,0,14.69,14.32,14.69,6.23,50.98
$GC,7370,0.64,146.0,2626,747,2126,2078,141.9,10.9,476,7377,0.08,2.40,0.00,0.000,5126,0.315,0.054,2600,2153,2101,2125,2077,0,0,0,0,0,0,14.14,14.36,14.41,6.22,50.70
$GC,7695,0.64,146.0,2600,2154,2126,2076,106.2,10.1,493,7699,0.00,2.47,0.00,0.000,2308,0.000,0.083,2600,3554,2100,2125,2076,0,0,0,0,0,0,14.74,14.33,14.74,6.22,50.59
$GC,7774,0.64,146.0,2601,3554,2126,2076,98.2,9.7,498,7777,0.00,2.35,0.00,0.000,5126,0.000,0.042,2609,2144,2100,2125,2076,0,0,0,0,0,0,14.56,14.45,14.58,6.22,50.15
$GC,7899,0.64,146.0,2609,2143,2126,2077,86.4,9.0,523,7903,0.00,2.45,0.00,0.000,4612,0.000,0.066,2620,742,2100,2125,2076,0,0,0,0,0,0,14.76,14.38,14.76,6.21,49.76
$GC,7939,0.64,146.0,2620,743,2124,2077,82.8,8.7,531,7943,0.03,2.40,0.00,0.000,5126,0.574,0.053,2606,2150,2096,2116,2076,0,0,0,0,0,0,14.21,14.41,14.45,6.21,50.15
$GC,8065,0.64,146.0,2606,2152,2124,2077,71.7,9.3,556,8071,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3553,2099,2123,2076,0,0,0,0,0,0,14.74,14.34,14.75,6.20,49.44
$GC,8109,0.64,146.0,2607,3553,2124,2075,67.0,9.9,565,8112,0.00,2.35,0.00,0.000,5126,0.000,0.043,2615,2147,2099,2123,2076,0,0,0,0,0,0,14.56,14.45,14.58,6.20,49.33
$GC,8234,0.64,146.0,2615,2147,2124,2077,53.7,11.1,590,8237,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,741,2099,2123,2076,0,0,0,0,0,0,14.76,14.37,14.76,6.20,49.88
$GC,8289,0.64,146.0,2626,741,2123,2077,48.1,9.3,601,8293,0.08,2.42,0.00,0.000,5126,0.311,0.054,2599,2154,2099,2122,2076,0,0,0,0,0,0,14.19,14.41,14.50,6.20,49.92
$GC,8415,0.67,170.2,2600,2155,2123,2075,38.3,7.4,626,8439,0.00,2.47,19.48,1.271,10500,0.000,0.082,2599,3559,2021,2040,2003,0,0,0,0,0,0,14.75,14.27,13.74,6.20,49.88
$GC,8499,0.67,170.2,2599,3559,2041,2002,31.3,8.3,643,8503,0.00,2.35,0.00,0.000,3078,0.000,0.043,2608,2149,2021,2040,2002,0,0,0,0,0,0,14.50,14.40,14.52,6.19,50.07
$GC,8624,0.67,170.2,2609,2149,2041,1998,20.7,9.0,668,8627,0.00,2.45,0.00,0.000,2564,0.000,0.067,2619,745,2018,2039,1998,0,0,0,0,0,0,14.68,14.33,14.68,6.20,50.23
$GC,8679,0.67,170.2,2620,746,2038,1998,15.6,8.8,679,8683,0.00,2.40,0.00,0.000,5126,0.000,0.052,2619,2152,2017,2038,1997,0,0,0,0,0,0,14.50,14.36,14.52,6.19,50.11
$GC,8804,0.67,170.2,2620,2153,2039,1997,3.6,10.4,704,8807,0.00,0.00,0.00,0.000,4102,0.000,0.000,2619,2152,2017,2038,1997,0,0,0,0,0,0,14.70,14.70,14.70,6.19,50.63
$STATE,8811,end climb,SURFACE_DEPTH_REACHED
$STATE,8811,begin surface coast
$STATE,8836,end surface coast,CONTROL_FINISHED_OK
$STATE,8837,begin surface
$SM_CCo,8851,46.78,0.240,0,0,1821,220.03
$SM_GC,1.01,5.43,0.08,46.78,0.036,0.162,0.240,261,2076,1821,-6.44,1.07,220.03,0,0,0,0,0,0,14.52,14.42,14.12
$IRIDIUM_FIX,-5957.44,0.00,310119,103837
$TT8_MAMPS,0.039697,0.401464
$HUMID,51.10
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3694560
$24V_AH,13.01,85.742
$10V_AH,13.51,0.000
$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,13.150,82.875,274.625,46.775,0.000,24.420,48.123,145.817,0.000,0.000,14.328,0.000,6991.945,407.915,1664.665,223.856,0.000,1061.026,0.000,1173.142,0.000,0.540,0.000
$DEVICE_MAMPS,573.750,2211.615,1592.730,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5263.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.990,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17335,711
$CAP_FILE_SIZE,95864,0
$CFSIZE,1023623168,976011264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.073,180.73,1
$GPS,310119,155133,-5956.205,-3.115,30,0.8,33,-19.7,0.5,142.5,10,9.6