version: 66.14
glider: 640
mission: 5
dive: 538
start: 2 11 119 0 30 35
data:
$ID,640
$MISSION,5
$DIVE,538
$N_DIVES,600
$STOP_T,2121912
$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,69
$R_STBD_OVSHOOT,68
$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
$GPS1,110219,002355,-6009.6177,1.4219,19,0.7,41,-19.7,0.6,180.3,12,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.6
$GPS2,110219,003014,-6009.6538,1.4293,8,0.7,12,-19.7,0.0,156.2,12,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.9,19206,-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,-146.0,232,2146,1796,1833,0.0,0.0,0,102,0.00,0.00,-87.15,0.000,16386,0.000,0.000,232,2146,3209,3293,3126,0,0,0,0,0,0,14.55,28.83,14.55,6.19,51.41
$GC,105,-0.64,-146.0,232,2147,3294,3129,3.4,-7.3,18,122,6.18,2.75,-3.83,0.000,18948,0.346,2.202,2195,731,3317,3411,3223,0,0,0,0,0,0,13.89,13.18,14.23,6.30,50.23
$GC,228,-0.64,-146.0,2195,732,3413,3225,24.2,-14.8,43,232,0.00,2.30,0.00,0.000,3078,0.000,0.057,2186,2056,3318,3413,3224,0,0,0,0,0,0,14.33,14.20,14.35,6.31,49.76
$GC,353,-0.64,-146.0,2184,2061,3414,3224,43.2,-14.9,68,357,0.00,2.58,0.00,0.000,2308,0.000,0.083,2174,3517,3318,3413,3224,0,0,0,0,0,0,14.64,14.16,14.64,6.32,49.68
$GC,408,-0.64,-146.0,2175,3518,3414,3223,51.1,-13.8,79,413,0.05,2.33,0.00,0.000,3078,0.426,0.044,2190,2133,3318,3413,3224,0,0,0,0,0,0,13.97,14.26,14.23,6.33,49.84
$GC,535,-0.64,-146.0,2190,2133,3413,3225,68.1,-12.0,104,541,0.00,2.53,0.00,0.000,2564,0.000,0.064,2189,685,3318,3413,3224,0,0,0,0,0,0,14.66,14.29,14.66,6.33,50.39
$GC,643,-0.64,-146.0,2190,685,3413,3225,81.0,-11.5,126,647,0.00,2.45,0.00,0.000,3078,0.000,0.056,2179,2113,3318,3413,3224,0,0,0,0,0,0,14.39,14.25,14.41,6.32,49.37
$GC,770,-0.64,-146.0,2180,2114,3414,3224,97.6,-13.9,151,774,0.00,2.45,0.00,0.000,2308,0.000,0.081,2169,3504,3318,3413,3224,0,0,0,0,0,0,14.69,14.28,14.69,6.32,48.22
$GC,809,-0.64,-146.0,2169,3504,3414,3224,103.6,-14.8,156,813,0.08,2.35,0.00,0.000,3078,0.354,0.044,2193,2095,3318,3413,3224,0,0,0,0,0,0,14.06,14.37,14.33,6.32,48.50
$GC,1129,-0.64,-146.0,2194,2095,3414,3225,146.5,-12.9,172,1133,0.00,2.42,0.00,0.000,2564,0.000,0.064,2193,696,3318,3413,3224,0,0,0,0,0,0,14.76,14.34,14.76,6.30,49.72
$GC,1219,-0.64,-146.0,2194,696,3415,3224,156.2,-13.0,176,1223,0.00,2.42,0.00,0.000,3078,0.000,0.054,2180,2109,3318,3413,3224,0,0,0,0,0,0,14.52,14.38,14.54,6.30,49.96
$GC,1525,-0.64,-146.0,2184,2110,3414,3224,196.1,-12.5,192,1528,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3509,3318,3413,3223,0,0,0,0,0,0,14.78,14.32,14.78,6.32,50.51
$GC,1564,-0.64,-146.0,2172,3510,3414,3224,200.5,-12.5,194,1568,0.08,2.35,0.00,0.000,3078,0.346,0.044,2198,2097,3318,3413,3224,0,0,0,0,0,0,14.09,14.42,14.37,6.32,50.55
$GC,1874,-0.64,-146.0,2199,2097,3414,3225,235.8,-11.1,210,1878,0.00,2.45,0.00,0.000,516,0.000,0.066,2198,690,3318,3413,3224,0,0,0,0,0,0,14.81,14.36,14.81,6.33,51.22
$GC,1954,-0.64,-146.0,2198,691,3424,3225,244.1,-11.0,214,1958,0.00,2.42,0.00,0.000,3078,0.000,0.054,2188,2107,3318,3413,3224,0,0,0,0,0,0,14.54,14.39,14.57,6.33,50.94
$GC,2264,-0.64,-146.0,2188,2107,3415,3224,280.2,-11.7,230,2268,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3505,3318,3413,3224,0,0,0,0,0,0,14.81,14.33,14.82,6.33,51.02
$GC,2299,-0.64,-146.0,2177,3505,3414,3225,284.4,-11.9,232,2303,0.05,2.33,0.00,0.000,3078,0.424,0.043,2193,2100,3318,3413,3224,0,0,0,0,0,0,14.13,14.44,14.38,6.33,51.02
$GC,2614,-0.64,-146.0,2193,2099,3414,3225,321.0,-11.7,248,2618,0.00,2.42,0.00,0.000,2564,0.000,0.064,2192,697,3318,3413,3223,0,0,0,0,0,0,14.82,14.37,14.82,6.33,51.37
$GC,2699,-0.64,-146.0,2189,698,3415,3224,330.2,-11.5,252,2703,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2106,3318,3413,3224,0,0,0,0,0,0,14.55,14.40,14.58,6.34,50.98
$STATE,2867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2867,begin apogee
$GC,2873,-0.15,0.0,2183,2164,3414,3224,350.6,-12.0,261,3001,0.47,0.00,125.18,1.597,10246,0.252,0.000,2348,2163,2717,2777,2658,0,0,0,0,0,0,14.06,13.89,13.15,6.34,51.29
$STATE,3002,end apogee,CONTROL_FINISHED_OK
$STATE,3002,begin loiter
$GC,3289,-0.15,0.0,2349,2163,2772,2643,346.9,3.3,282,3290,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,51.26
$GC,3589,-0.15,0.0,2349,2163,2772,2640,337.4,3.1,297,3590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2706,2771,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.28,51.14
$GC,3889,-0.15,0.0,2349,2164,2772,2641,328.6,2.9,312,3890,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.02
$GC,4189,-0.15,0.0,2349,2164,2771,2641,319.8,2.9,327,4190,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2705,2771,2639,0,0,0,0,0,0,14.86,14.87,14.87,6.27,52.00
$GC,4489,-0.15,0.0,2350,2163,2772,2638,310.8,2.9,342,4490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.73
$GC,4789,-0.15,0.0,2348,2164,2772,2638,302.4,2.8,357,4790,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.41
$GC,5089,-0.15,0.0,2350,2164,2771,2639,294.8,2.4,372,5090,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.45
$GC,5389,-0.15,0.0,2349,2164,2772,2639,287.8,2.3,387,5390,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2703,2770,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.49
$GC,5689,-0.15,0.0,2349,2163,2771,2637,280.0,2.7,402,5690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.49
$GC,5989,-0.15,0.0,2349,2163,2772,2637,271.4,2.9,417,5990,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,52.04
$GC,6289,-0.15,0.0,2349,2164,2770,2639,262.8,2.9,432,6290,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2703,2770,2637,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.69
$GC,6589,-0.15,0.0,2349,2164,2772,2639,254.7,2.6,447,6590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2703,2770,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.53
$STATE,6607,end loiter,LOITER_COMPLETE
$STATE,6607,begin climb
$GC,6609,0.64,146.0,2349,2164,2770,2638,254.2,0.0,448,6750,0.62,2.55,129.80,1.445,11012,0.170,0.081,2594,3541,2118,2139,2098,0,0,0,0,0,0,14.32,13.95,13.30,6.29,51.57
$GC,6795,0.64,146.0,2601,3541,2139,2092,242.0,9.0,457,6798,0.00,2.38,0.00,0.000,1030,0.000,0.043,2604,2151,2114,2138,2091,0,0,0,0,0,0,14.15,14.07,14.17,6.24,49.01
$GC,7105,0.64,146.0,2604,2150,2130,2083,206.5,11.6,473,7109,0.00,2.50,0.00,0.000,516,0.000,0.069,2615,742,2106,2129,2083,0,0,0,0,0,0,14.57,14.19,14.57,6.24,50.74
$GC,7160,0.64,146.0,2615,743,2126,2083,202.0,11.3,475,7163,0.00,2.42,0.00,0.000,5126,0.000,0.053,2616,2144,2104,2125,2083,0,0,0,0,0,0,14.39,14.25,14.41,6.24,50.51
$GC,7465,0.64,146.0,2616,2144,2125,2081,165.0,11.7,491,7469,0.00,2.53,0.00,0.000,4356,0.000,0.086,2616,3561,2102,2124,2080,0,0,0,0,0,0,14.69,14.25,14.69,6.24,51.18
$GC,7545,0.64,146.0,2616,3561,2125,2081,155.9,12.0,495,7549,0.08,2.38,0.00,0.000,5126,0.343,0.044,2599,2152,2102,2124,2080,0,0,0,0,0,0,14.07,14.36,14.36,6.24,51.10
$GC,7855,0.64,146.0,2601,2153,2124,2079,122.5,10.4,511,7858,0.00,2.47,0.00,0.000,516,0.000,0.069,2610,741,2100,2123,2078,0,0,0,0,0,0,14.75,14.34,14.76,6.22,51.33
$GC,7910,0.64,146.0,2611,741,2122,2078,118.6,10.2,513,7913,0.00,2.42,0.00,0.000,5126,0.000,0.053,2610,2159,2099,2120,2078,0,0,0,0,0,0,14.52,14.36,14.54,6.23,51.53
$GC,8215,0.64,146.0,2611,2160,2122,2077,88.8,9.1,545,8218,0.00,2.47,0.00,0.000,4356,0.000,0.085,2610,3556,2095,2120,2071,0,0,0,0,0,0,14.78,14.31,14.78,6.22,51.06
$GC,8295,0.64,146.0,2611,3557,2121,2077,81.2,9.4,561,8299,0.05,2.35,0.00,0.000,5126,0.409,0.044,2604,2148,2098,2120,2077,0,0,0,0,0,0,14.14,14.42,14.41,6.21,50.00
$GC,8420,0.64,146.0,2605,2149,2121,2077,70.5,8.5,586,8423,0.00,2.47,0.00,0.000,516,0.000,0.069,2614,739,2098,2120,2076,0,0,0,0,0,0,14.77,14.34,14.77,6.21,49.80
$GC,8485,0.65,159.1,2613,739,2121,2076,65.4,7.8,599,8498,0.00,2.40,8.23,1.324,13318,0.000,0.052,2614,2150,2070,2090,2051,0,0,0,0,0,0,14.54,14.38,13.62,6.20,49.68
$GC,8620,0.69,189.2,2611,2151,2088,2048,54.8,7.2,626,8657,0.00,2.58,31.23,1.255,10500,0.000,0.086,2614,3558,1943,1957,1929,0,0,0,0,0,0,14.73,14.29,13.64,6.19,49.84
$GC,8717,0.70,196.2,2614,3558,1958,1926,47.5,8.1,645,8728,0.00,2.38,6.70,1.235,9222,0.000,0.044,2625,2151,1919,1933,1906,0,0,0,0,0,0,14.40,14.31,13.48,6.19,49.40
$GC,8850,0.70,196.2,2625,2152,1933,1901,34.8,10.7,672,8854,0.00,2.47,0.00,0.000,516,0.000,0.067,2635,744,1916,1932,1900,0,0,0,0,0,0,14.59,14.24,14.60,6.19,50.31
$GC,8880,0.70,196.2,2636,745,1930,1900,31.5,10.7,678,8883,0.00,2.42,0.00,0.000,5126,0.000,0.054,2636,2147,1914,1929,1899,0,0,0,0,0,0,14.42,14.28,14.44,6.19,50.07
$GC,9007,0.70,196.2,2636,2149,1930,1898,17.3,11.9,703,9013,0.00,2.50,0.00,0.000,4356,0.000,0.085,2635,3556,1913,1928,1898,0,0,0,0,0,0,14.63,14.24,14.63,6.19,50.47
$GC,9060,0.70,196.2,2636,3557,1930,1898,10.5,11.8,714,9064,0.08,2.38,0.00,0.000,5126,0.347,0.045,2621,2145,1914,1929,1899,0,0,0,0,0,0,14.06,14.33,14.33,6.20,50.82
$STATE,9127,end climb,SURFACE_DEPTH_REACHED
$STATE,9127,begin surface coast
$STATE,9152,end surface coast,CONTROL_FINISHED_OK
$STATE,9152,begin surface
$SM_CCo,9168,21.25,0.249,0,0,1821,220.03
$SM_GC,1.29,5.53,0.00,21.25,0.059,0.000,0.249,272,2140,1821,-6.46,1.16,220.03,0,0,0,0,0,0,14.47,14.66,14.07
$IRIDIUM_FIX,-6007.06,0.00,100219,214755
$TT8_MAMPS,0.03745,0.330309
$HUMID,51.61
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3645760
$24V_AH,13.15,103.206
$10V_AH,13.01,0.000
$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,13.250,88.075,301.125,21.250,0.000,26.566,16.212,152.307,0.000,0.000,13.357,0.000,7209.668,401.778,1688.441,268.259,0.000,1080.351,0.000,1214.979,0.000,0.539,0.000
$DEVICE_MAMPS,426.105,2201.670,1596.555,249.390,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5559.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.552,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20811,733
$CAP_FILE_SIZE,98588,0
$CFSIZE,1023623168,966557696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,164.07,1
$GPS,110219,030452,-6010.270,1.731,14,0.8,40,-19.7,0.9,132.1,10,8.7