version: 66.14
glider: 640
mission: 5
dive: 659
start: 2 24 119 9 39 18
data:
$ID,640
$MISSION,5
$DIVE,659
$N_DIVES,700
$STOP_T,2271912
$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,58
$R_STBD_OVSHOOT,27
$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
$GPS1,240219,093232,-6001.3389,-0.0573,16,0.9,29,-19.7,0.4,2.9,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.0
$GPS2,240219,093858,-6001.3242,-0.1809,9,0.9,15,-19.7,1.2,268.6,10,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,181.5,3108,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.64,-146.0,216,2070,1790,1836,0.0,0.0,0,104,0.00,0.00,-88.38,0.000,16386,0.000,0.000,216,2069,3228,3310,3146,0,0,0,0,0,0,14.58,28.83,14.58,6.17,51.41
$GC,107,-0.64,-146.0,217,2070,3311,3146,3.4,-7.7,18,124,6.22,2.65,-3.00,0.000,18948,0.342,2.188,2169,722,3318,3411,3225,0,0,0,0,0,0,13.83,12.87,14.26,6.28,50.03
$GC,220,-0.64,-146.0,2170,722,3415,3225,25.1,-16.3,41,224,0.10,2.38,0.00,0.000,3078,0.337,0.055,2191,2102,3319,3413,3225,0,0,0,0,0,0,13.96,14.26,14.25,6.30,48.81
$GC,347,-0.64,-146.0,2192,2103,3414,3226,46.4,-18.1,66,352,0.00,2.45,0.00,0.000,2308,0.000,0.083,2181,3501,3319,3414,3225,0,0,0,0,0,0,14.64,14.18,14.64,6.30,49.64
$GC,375,-0.64,-146.0,2181,3502,3410,3226,51.4,-17.6,72,378,0.00,2.30,0.00,0.000,3078,0.000,0.044,2181,2128,3319,3413,3225,0,0,0,0,0,0,14.45,14.32,14.47,6.31,50.00
$GC,502,-0.64,-146.0,2181,2128,3414,3226,71.5,-16.4,97,506,0.00,2.50,0.00,0.000,2564,0.000,0.063,2180,684,3319,3414,3225,0,0,0,0,0,0,14.67,14.27,14.68,6.30,49.84
$GC,566,-0.64,-146.0,2181,684,3415,3225,81.7,-14.2,110,570,0.08,2.42,0.00,0.000,3078,0.359,0.055,2193,2101,3319,3414,3225,0,0,0,0,0,0,14.00,14.30,14.28,6.30,49.68
$GC,694,-0.64,-146.0,2194,2101,3416,3225,99.4,-14.4,135,699,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3507,3319,3413,3225,0,0,0,0,0,0,14.69,14.23,14.69,6.30,48.85
$GC,721,-0.64,-146.0,2183,3508,3415,3225,102.3,-14.4,137,725,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2091,3319,3414,3225,0,0,0,0,0,0,14.48,14.35,14.50,6.30,49.09
$GC,1031,-0.64,-146.0,2182,2090,3415,3225,145.8,-13.5,153,1035,0.00,2.40,0.00,0.000,2564,0.000,0.062,2181,695,3319,3414,3225,0,0,0,0,0,0,14.76,14.31,14.73,6.28,49.40
$GC,1151,-0.64,-146.0,2181,695,3415,3227,160.4,-12.1,159,1155,0.08,2.40,0.00,0.000,3078,0.359,0.054,2194,2102,3319,3414,3225,0,0,0,0,0,0,14.02,14.33,14.31,6.29,49.44
$GC,1461,-0.64,-146.0,2195,2103,3415,3226,197.3,-11.6,175,1465,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3504,3320,3415,3226,0,0,0,0,0,0,14.78,14.28,14.78,6.29,50.27
$GC,1532,-0.64,-146.0,2185,3505,3415,3227,203.8,-11.7,178,1536,0.00,2.33,0.00,0.000,3078,0.000,0.042,2183,2094,3320,3414,3226,0,0,0,0,0,0,14.52,14.40,14.54,6.30,50.27
$GC,1836,-0.64,-146.0,2183,2093,3414,3226,242.1,-12.2,194,1840,0.00,2.40,0.00,0.000,2564,0.000,0.062,2182,695,3320,3414,3226,0,0,0,0,0,0,14.80,14.33,14.80,6.30,50.90
$GC,1916,-0.64,-146.0,2183,697,3415,3226,251.8,-12.2,198,1921,0.08,2.40,0.00,0.000,3078,0.361,0.054,2198,2101,3319,3414,3225,0,0,0,0,0,0,14.02,14.35,14.31,6.30,50.59
$GC,2236,-0.64,-146.0,2198,2102,3416,3225,288.0,-11.4,214,2240,0.00,2.47,0.00,0.000,260,0.000,0.083,2188,3504,3319,3414,3225,0,0,0,0,0,0,14.81,14.28,14.81,6.30,51.02
$GC,2281,-0.64,-146.0,2188,3509,3415,3220,292.0,-11.4,216,2285,0.00,2.33,0.00,0.000,3078,0.000,0.042,2187,2098,3319,3414,3225,0,0,0,0,0,0,14.54,14.40,14.56,6.31,51.37
$GC,2591,-0.64,-146.0,2188,2097,3415,3225,329.8,-12.1,232,2595,0.00,2.40,0.00,0.000,2564,0.000,0.063,2187,699,3319,3414,3225,0,0,0,0,0,0,14.81,14.33,14.81,6.31,50.74
$GC,2636,-0.64,-146.0,2188,699,3414,3226,334.1,-12.2,234,2640,0.05,2.38,0.00,0.000,3078,0.428,0.054,2192,2102,3320,3414,3226,0,0,0,0,0,0,14.07,14.35,14.33,6.31,50.74
$STATE,2778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2778,begin apogee
$GC,2786,-0.15,0.0,2192,2162,3415,3227,352.0,-11.6,241,2912,0.45,0.00,124.12,1.611,10246,0.251,0.000,2347,2161,2717,2776,2658,0,0,0,0,0,0,13.91,13.85,13.05,6.31,50.78
$STATE,2913,end apogee,CONTROL_FINISHED_OK
$STATE,2913,begin loiter
$GC,3201,-0.15,0.0,2348,2161,2772,2644,348.4,3.3,262,3202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2707,2771,2644,0,0,0,0,0,0,14.58,14.58,14.58,6.27,50.15
$GC,3501,-0.15,0.0,2348,2161,2772,2643,338.8,3.1,277,3502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2770,2643,0,0,0,0,0,0,14.74,14.74,14.74,6.27,50.70
$GC,3801,-0.15,0.0,2348,2161,2772,2642,329.0,3.3,292,3802,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2706,2771,2642,0,0,0,0,0,0,14.83,14.83,14.83,6.27,51.61
$GC,4101,-0.15,0.0,2348,2161,2771,2642,318.6,3.6,307,4102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2771,2641,0,0,0,0,0,0,14.88,14.88,14.88,6.27,50.90
$GC,4401,-0.15,0.0,2348,2162,2771,2642,307.6,3.6,322,4402,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2771,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.26,51.14
$GC,4701,-0.15,0.0,2348,2161,2771,2640,297.0,3.6,337,4702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.26
$GC,5002,-0.15,0.0,2348,2161,2772,2640,286.9,3.3,352,5002,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2770,2640,0,0,0,0,0,0,14.96,14.96,14.97,6.26,51.45
$GC,5302,-0.15,0.0,2348,2161,2772,2640,276.9,3.2,367,5302,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2770,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.27,51.22
$GC,5602,-0.15,0.0,2348,2162,2771,2640,267.5,3.2,382,5602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.49
$GC,5902,-0.15,0.0,2348,2161,2772,2640,258.8,2.9,397,5902,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.37
$GC,6202,-0.15,0.0,2348,2161,2771,2640,250.8,2.7,412,6202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2770,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.49
$STATE,6499,end loiter,LOITER_COMPLETE
$STATE,6499,begin climb
$GC,6502,0.64,146.0,2348,2162,2771,2641,242.8,0.0,427,6638,0.62,0.00,130.50,1.421,10758,0.162,0.000,2593,2161,2118,2138,2098,0,0,0,0,0,0,14.29,13.78,13.22,6.26,52.20
$GC,6936,0.64,146.0,2594,2162,2128,2085,207.5,9.7,448,6940,0.00,2.47,0.00,0.000,2308,0.000,0.082,2593,3550,2105,2126,2085,0,0,0,0,0,0,14.56,14.15,14.56,6.21,50.47
$GC,6981,0.64,146.0,2594,3551,2128,2085,203.8,10.1,450,6985,0.00,2.35,0.00,0.000,1030,0.000,0.043,2604,2150,2105,2126,2085,0,0,0,0,0,0,14.37,14.27,14.40,6.21,51.02
$GC,7292,0.64,146.0,2605,2150,2125,2082,171.0,10.4,466,7295,0.00,2.47,0.00,0.000,516,0.000,0.067,2615,736,2102,2123,2082,0,0,0,0,0,0,14.69,14.26,14.69,6.21,50.86
$GC,7346,0.64,146.0,2616,737,2122,2082,165.7,9.9,469,7350,0.00,2.40,0.00,0.000,5126,0.000,0.053,2615,2137,2101,2120,2082,0,0,0,0,0,0,14.47,14.32,14.50,6.20,50.94
$GC,7666,0.64,146.0,2615,2137,2121,2082,131.3,10.6,485,7670,0.00,2.50,0.00,0.000,4356,0.000,0.084,2615,3554,2100,2120,2081,0,0,0,0,0,0,14.76,14.28,14.76,6.20,50.86
$GC,7746,0.64,146.0,2615,3555,2121,2082,123.1,10.8,489,7750,0.08,2.35,0.00,0.000,5126,0.342,0.044,2601,2142,2100,2120,2081,0,0,0,0,0,0,14.09,14.40,14.38,6.21,51.41
$GC,8051,0.64,146.0,2601,2143,2121,2081,94.8,8.6,513,8055,0.00,2.45,0.00,0.000,516,0.000,0.066,2610,742,2099,2120,2079,0,0,0,0,0,0,14.78,14.33,14.78,6.19,50.66
$GC,8126,0.64,146.0,2611,742,2120,2078,88.6,8.4,528,8130,0.00,2.40,0.00,0.000,5126,0.000,0.052,2610,2158,2098,2118,2078,0,0,0,0,0,0,14.52,14.41,14.56,6.19,50.23
$GC,8254,0.64,146.0,2610,2158,2119,2079,77.3,8.9,553,8258,0.00,2.47,0.00,0.000,4356,0.000,0.085,2610,3561,2098,2118,2078,0,0,0,0,0,0,14.76,14.28,14.76,6.19,49.64
$GC,8283,0.64,146.0,2610,3561,2119,2080,74.3,9.5,559,8287,0.05,2.35,0.00,0.000,5126,0.402,0.045,2604,2144,2098,2118,2079,0,0,0,0,0,0,14.12,14.40,14.40,6.18,49.60
$GC,8408,0.66,161.1,2604,2145,2119,2079,64.1,7.8,584,8423,0.00,2.42,10.70,1.302,10756,0.000,0.064,2613,738,2057,2075,2040,0,0,0,0,0,0,14.75,14.18,13.55,6.18,49.56
$GC,8454,0.67,170.0,2613,738,2076,2039,60.6,8.0,593,8467,0.00,2.40,9.57,1.271,9222,0.000,0.052,2613,2154,2026,2042,2011,0,0,0,0,0,0,14.50,14.38,13.53,6.18,49.88
$GC,8588,0.67,170.0,2614,2154,2039,2003,48.2,9.3,620,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2153,2025,2047,2003,0,0,0,0,0,0,14.66,14.67,14.66,6.18,49.44
$GC,8713,0.67,170.0,2614,2154,2039,2003,36.6,9.5,645,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2153,2019,2037,2002,0,0,0,0,0,0,14.70,14.70,14.70,6.18,50.35
$GC,8839,0.67,170.0,2613,2154,2038,2003,24.9,9.1,670,8842,0.00,2.47,0.00,0.000,260,0.000,0.084,2613,3553,2019,2037,2002,0,0,0,0,0,0,14.70,14.20,14.71,6.18,50.74
$GC,8854,0.67,170.0,2614,3554,2038,2002,23.5,8.9,673,8858,0.00,2.35,0.00,0.000,5126,0.000,0.046,2624,2146,2019,2037,2002,0,0,0,0,0,0,14.50,14.38,14.52,6.18,51.37
$GC,8981,0.67,170.0,2624,2146,2037,2001,11.2,9.2,698,8986,0.00,2.42,0.00,0.000,4612,0.000,0.067,2635,749,2018,2036,2001,0,0,0,0,0,0,14.70,14.26,14.70,6.18,50.86
$GC,9028,0.67,170.0,2635,748,2037,2000,6.4,9.9,708,9032,0.08,2.40,0.00,0.000,5126,0.309,0.054,2608,2156,2017,2035,2000,0,0,0,0,0,0,14.07,14.26,14.32,6.17,51.10
$STATE,9065,end climb,SURFACE_DEPTH_REACHED
$STATE,9065,begin surface coast
$STATE,9096,end surface coast,CONTROL_FINISHED_OK
$STATE,9096,begin surface
$SM_CCo,9115,47.05,0.238,0,0,1823,220.03
$SM_GC,1.28,5.50,0.10,47.05,0.053,0.142,0.238,272,2063,1823,-6.46,0.79,220.03,0,0,0,0,0,0,14.52,14.40,14.05
$IRIDIUM_FIX,-6002.25,0.00,240219,065237
$TT8_MAMPS,0.039697,0.399217
$HUMID,50.63
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3592064
$24V_AH,12.87,125.286
$10V_AH,13.39,0.000
$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,13.375,82.350,274.900,47.050,0.000,27.802,16.789,133.988,0.000,0.000,17.148,0.000,7174.562,324.703,1733.186,312.915,0.000,1071.985,0.000,1198.618,0.000,0.540,0.000
$DEVICE_MAMPS,428.400,2187.900,1611.090,237.915,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5512.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.677,0.000,0.000,0.000
$MEM,344068
$DATA_FILE_SIZE,20765,722
$CAP_FILE_SIZE,97868,0
$CFSIZE,1023623168,954662912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.073,211.22,1
$GPS,240219,121305,-6002.057,-0.175,14,0.9,35,-19.7,0.6,239.3,9,9.4