version: 66.14
glider: 640
mission: 9
dive: 41
start: 1 16 122 5 31 10
data:
$ID,640
$MISSION,9
$DIVE,41
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,500
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$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,54330
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,180
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$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,1
$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,2390
$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,1850
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,2930
$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,-154.12344
$PRESSURE_SLOPE,0.00014097099
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.2613181e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$GPS1,160122,052619,-6356.1670,220.3595,34,0.8,51,-21.1,0.5,217.4,9,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.8
$GPS2,160122,053040,-6356.1641,220.3900,7,0.8,13,-21.1,0.7,317.9,9,8.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,196.3,62885,-18.3,-10.000,-21.04,2236
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.72,-146.0,231,1837,1999,2014,0.0,0.0,0,88,0.00,0.00,-79.12,0.000,16386,0.000,0.000,232,1837,3195,3162,3229,0,0,0,0,0,0,14.69,28.83,14.69,8.49,58.74
$GC,91,-0.72,-146.0,231,1835,3162,3229,3.4,-6.5,12,114,6.00,2.72,-10.30,0.000,18692,0.372,2.279,2163,3304,3528,3515,3542,0,0,0,0,0,0,14.33,13.71,14.55,8.61,57.36
$GC,181,-0.72,-146.0,2163,3304,3517,3544,22.3,-16.5,28,189,0.00,2.53,0.00,0.000,5126,0.000,0.066,2163,1843,3530,3516,3544,0,0,0,0,0,0,14.58,14.47,14.59,8.65,57.40
$GC,311,-0.72,-146.0,2163,1843,3517,3545,48.0,-19.6,53,318,0.00,2.53,0.00,0.000,516,0.000,0.086,2163,437,3531,3517,3545,0,0,0,0,0,0,14.71,14.49,14.71,8.66,57.87
$GC,360,-0.72,-146.0,2162,437,3517,3545,56.8,-15.1,62,367,0.00,2.42,0.00,0.000,3078,0.000,0.050,2153,1854,3531,3517,3545,0,0,0,0,0,0,14.62,14.53,14.64,8.65,57.48
$GC,680,-0.72,-146.0,2153,1855,3517,3545,114.8,-18.8,98,686,0.00,2.42,0.00,0.000,2308,0.000,0.081,2143,3259,3531,3517,3545,0,0,0,0,0,0,14.81,14.59,14.81,8.64,57.28
$GC,783,-0.72,-146.0,2142,3258,3517,3545,131.0,-15.4,103,787,0.00,2.42,0.00,0.000,3078,0.000,0.064,2142,1855,3531,3517,3546,0,0,0,0,0,0,14.66,14.61,14.68,8.64,57.20
$GC,1101,-0.72,-146.0,2141,1855,3517,3545,189.9,-18.5,119,1108,0.03,2.50,0.00,0.000,2564,0.642,0.083,2153,433,3531,3517,3545,0,0,0,0,0,0,14.57,14.67,14.75,8.64,58.03
$GC,1153,-0.72,-146.0,2153,433,3517,3545,197.0,-18.3,121,1162,0.00,2.42,0.00,0.000,3078,0.000,0.050,2144,1849,3531,3517,3545,0,0,0,0,0,0,14.71,14.66,14.72,8.64,58.26
$GC,1461,-0.72,-146.0,2143,1850,3517,3545,254.7,-18.5,137,1467,0.00,2.40,0.00,0.000,2308,0.000,0.083,2133,3256,3531,3517,3545,0,0,0,0,0,0,14.93,14.71,14.93,8.66,58.46
$GC,1523,-0.72,-146.0,2133,3256,3517,3545,265.2,-17.7,140,1529,0.08,2.42,0.00,0.000,3078,0.288,0.066,2160,1845,3531,3517,3545,0,0,0,0,0,0,14.64,14.71,14.73,8.66,58.54
$GC,1842,-0.72,-146.0,2159,1844,3516,3545,320.0,-17.4,156,1848,0.00,2.47,0.00,0.000,516,0.000,0.087,2159,435,3531,3517,3545,0,0,0,0,0,0,14.95,14.74,14.96,8.67,59.05
$GC,1889,-0.72,-146.0,2159,436,3517,3545,326.9,-17.3,158,1893,0.00,2.38,0.00,0.000,3078,0.000,0.050,2149,1858,3531,3517,3545,0,0,0,0,0,0,14.85,14.76,14.86,8.67,58.82
$GC,2202,-0.72,-146.0,2148,1857,3517,3545,383.8,-18.1,174,2208,0.00,2.40,0.00,0.000,2308,0.000,0.083,2138,3261,3531,3517,3545,0,0,0,0,0,0,14.98,14.75,14.98,8.67,58.66
$GC,2254,-0.72,-146.0,2138,3261,3517,3545,390.6,-17.6,176,2263,0.05,2.42,0.00,0.000,3078,0.327,0.066,2156,1846,3531,3517,3545,0,0,0,0,0,0,14.65,14.74,14.76,8.67,58.86
$GC,2562,-0.72,-146.0,2156,1845,3517,3545,444.0,-17.0,192,2568,0.00,2.45,0.00,0.000,2564,0.000,0.090,2156,439,3530,3516,3545,0,0,0,0,0,0,14.99,14.77,15.00,8.68,59.05
$GC,2635,-0.72,-146.0,2155,439,3515,3545,453.8,-16.6,195,2643,0.00,2.40,0.00,0.000,3078,0.000,0.051,2146,1855,3531,3517,3545,0,0,0,0,0,0,14.81,14.76,14.83,8.68,59.09
$GC,2943,-0.72,-146.0,2145,1855,3516,3545,508.5,-17.4,211,2949,0.00,2.40,0.00,0.000,2308,0.000,0.083,2135,3261,3531,3517,3545,0,0,0,0,0,0,15.00,14.78,15.01,8.68,59.21
$GC,3003,-0.72,-146.0,2135,3261,3516,3545,518.2,-16.5,214,3010,0.08,2.38,0.00,0.000,3078,0.353,0.067,2160,1848,3531,3517,3545,0,0,0,0,0,0,14.71,14.79,14.86,8.68,59.13
$GC,3323,-0.72,-146.0,2160,1848,3517,3545,570.2,-16.6,230,3329,0.00,2.47,0.00,0.000,516,0.000,0.092,2160,439,3531,3517,3545,0,0,0,0,0,0,15.01,14.79,15.01,8.69,58.97
$GC,3403,-0.72,-146.0,2160,439,3516,3545,582.8,-15.8,234,3409,0.00,2.35,0.00,0.000,3078,0.000,0.050,2151,1856,3530,3516,3545,0,0,0,0,0,0,14.90,14.81,14.92,8.69,59.09
$GC,3723,-0.72,-146.0,2150,1855,3517,3545,637.5,-17.6,250,3729,0.00,2.38,0.00,0.000,2308,0.000,0.083,2140,3254,3531,3517,3545,0,0,0,0,0,0,15.02,14.79,15.02,8.69,59.41
$GC,3790,-0.72,-146.0,2140,3254,3516,3545,647.3,-16.6,253,3796,0.05,2.38,0.00,0.000,3078,0.415,0.068,2157,1837,3531,3517,3545,0,0,0,0,0,0,14.71,14.80,14.88,8.70,58.74
$GC,4103,-0.72,-146.0,2156,1837,3516,3545,699.5,-16.5,269,4109,0.00,2.42,0.00,0.000,2564,0.000,0.091,2156,443,3531,3517,3545,0,0,0,0,0,0,15.02,14.80,15.03,8.69,59.45
$GC,4171,-0.72,-146.0,2156,442,3516,3545,709.0,-15.8,272,4175,0.00,2.38,0.00,0.000,3078,0.000,0.050,2146,1876,3531,3517,3545,0,0,0,0,0,0,14.92,14.82,14.92,8.69,59.49
$GC,4483,-0.72,-146.0,2146,1876,3517,3545,761.2,-16.5,288,4487,0.00,2.33,0.00,0.000,2308,0.000,0.083,2136,3255,3531,3517,3545,0,0,0,0,0,0,15.04,14.81,15.04,8.71,59.09
$GC,4541,-0.72,-146.0,2136,3254,3517,3546,769.9,-15.8,291,4547,0.05,2.40,0.00,0.000,3078,0.327,0.069,2154,1853,3531,3517,3546,0,0,0,0,0,0,14.73,14.81,14.84,8.70,59.21
$GC,4859,-0.72,-146.0,2154,1851,3517,3546,819.9,-15.9,307,4865,0.00,2.47,0.00,0.000,2564,0.000,0.096,2155,435,3531,3517,3546,0,0,0,0,0,0,15.05,14.83,15.05,8.70,58.89
$GC,4939,-0.72,-146.0,2154,435,3517,3546,831.9,-15.0,311,4943,0.00,2.35,0.00,0.000,3078,0.000,0.050,2146,1857,3531,3517,3546,0,0,0,0,0,0,14.95,14.85,14.95,8.71,58.82
$GC,5255,-0.72,-146.0,2145,1856,3517,3546,882.8,-16.3,327,5259,0.00,2.38,0.00,0.000,2308,0.000,0.083,2133,3256,3531,3517,3546,0,0,0,0,0,0,15.07,14.83,15.07,8.71,59.13
$GC,5324,-0.72,-146.0,2135,3256,3517,3546,891.2,-15.5,330,5332,0.05,2.40,0.00,0.000,3078,0.309,0.068,2155,1850,3531,3517,3546,0,0,0,0,0,0,14.76,14.83,14.86,8.71,59.25
$GC,5631,-0.72,-146.0,2154,1849,3517,3546,938.2,-14.7,346,5637,0.00,2.45,0.00,0.000,2564,0.000,0.094,2154,441,3531,3517,3546,0,0,0,0,0,0,15.07,14.84,15.07,8.71,59.49
$GC,5694,-0.72,-146.0,2155,441,3518,3546,946.7,-14.4,349,5698,0.00,2.38,0.00,0.000,3078,0.000,0.050,2146,1848,3531,3517,3546,0,0,0,0,0,0,14.97,14.86,14.97,8.71,59.13
$STATE,5990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5990,begin apogee
$GC,5994,-0.15,0.0,2146,1750,3517,3546,991.6,-15.4,364,6117,0.52,0.00,119.50,2.659,10246,0.251,0.000,2336,1749,2928,2929,2928,0,0,0,0,0,0,14.77,13.83,13.00,8.72,59.17
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6118,begin climb
$GC,6119,0.72,146.0,2337,1749,2928,2927,997.3,0.0,370,6253,0.77,2.70,120.18,2.561,10756,0.168,0.090,2638,379,2331,2332,2331,0,0,0,0,0,0,13.81,13.55,12.77,8.68,58.11
$GC,6334,0.72,146.0,2638,379,2337,2330,974.4,15.1,381,6340,0.08,2.45,0.00,0.000,5126,0.366,0.042,2617,1777,2334,2337,2331,0,0,0,0,0,0,13.85,13.95,14.00,8.63,56.85
$GC,6652,0.72,146.0,2616,1777,2339,2331,925.5,15.4,397,6658,0.00,2.45,0.00,0.000,260,0.000,0.073,2617,3170,2335,2339,2331,0,0,0,0,0,0,14.52,14.31,14.52,8.62,57.44
$GC,6734,0.72,146.0,2617,3171,2339,2331,913.4,15.2,401,6739,0.00,2.40,0.00,0.000,5126,0.000,0.069,2627,1789,2335,2339,2331,0,0,0,0,0,0,14.47,14.37,14.48,8.62,57.36
$GC,7053,0.72,146.0,2627,1789,2339,2331,862.9,15.9,417,7059,0.00,2.53,0.00,0.000,4612,0.000,0.088,2639,365,2335,2339,2331,0,0,0,0,0,0,14.73,14.50,14.73,8.61,58.07
$GC,7131,0.72,146.0,2638,365,2339,2331,850.4,15.7,421,7137,0.05,2.38,0.00,0.000,5126,0.429,0.041,2623,1784,2335,2339,2331,0,0,0,0,0,0,14.44,14.57,14.62,8.61,58.46
$GC,7449,0.72,146.0,2623,1784,2339,2331,802.6,15.0,437,7455,0.00,2.35,0.00,0.000,4356,0.000,0.071,2623,3168,2335,2339,2331,0,0,0,0,0,0,14.83,14.62,14.84,8.60,58.70
$GC,7521,0.72,146.0,2623,3168,2339,2331,793.7,14.9,440,7529,0.00,2.40,0.00,0.000,5126,0.000,0.069,2632,1765,2334,2339,2330,0,0,0,0,0,0,14.74,14.64,14.75,8.60,58.46
$GC,7828,0.72,146.0,2632,1765,2340,2331,745.1,15.4,456,7833,0.00,2.47,0.00,0.000,4612,0.000,0.089,2644,357,2335,2340,2331,0,0,0,0,0,0,14.90,14.69,14.91,8.60,59.13
$GC,7884,0.72,146.0,2643,358,2340,2331,736.5,15.5,459,7889,0.08,2.33,0.00,0.000,5126,0.362,0.041,2619,1771,2335,2340,2331,0,0,0,0,0,0,14.62,14.73,14.76,8.60,58.93
$GC,8202,0.72,146.0,2619,1770,2340,2331,690.7,14.3,475,8208,0.00,2.38,0.00,0.000,260,0.000,0.071,2619,3168,2335,2340,2330,0,0,0,0,0,0,14.94,14.73,14.95,8.59,58.74
$GC,8284,0.72,146.0,2618,3166,2340,2331,679.7,13.8,479,8289,0.00,2.40,0.00,0.000,5126,0.000,0.068,2628,1777,2336,2341,2331,0,0,0,0,0,0,14.79,14.73,14.81,8.60,59.09
$GC,8602,0.72,146.0,2627,1777,2341,2331,633.4,14.7,495,8608,0.00,2.47,0.00,0.000,4612,0.000,0.087,2639,359,2335,2341,2330,0,0,0,0,0,0,14.97,14.76,14.97,8.59,59.33
$GC,8655,0.72,146.0,2639,358,2341,2331,627.4,14.7,497,8664,0.05,2.35,0.00,0.000,5126,0.330,0.041,2622,1770,2336,2341,2331,0,0,0,0,0,0,14.64,14.74,14.76,8.59,59.01
$GC,8964,0.72,146.0,2621,1770,2341,2331,582.0,14.2,513,8970,0.00,2.35,0.00,0.000,260,0.000,0.071,2622,3165,2336,2341,2331,0,0,0,0,0,0,14.98,14.76,14.99,8.59,58.86
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$GC,10839,0.72,146.0,2626,1779,2342,2331,324.6,13.6,606,10845,0.00,2.45,0.00,0.000,4612,0.000,0.084,2637,359,2336,2342,2331,0,0,0,0,0,0,15.03,14.82,15.03,8.57,58.89
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$STATE,13478,end climb,SURFACE_DEPTH_REACHED
$STATE,13478,begin surface coast
$FINISH,-0.2,1.027114
$STATE,13505,end surface coast,CONTROL_FINISHED_OK
$STATE,13505,begin surface
$SM_CCo,13518,0.90,0.348,0,0,2195,180.05
$SM_GC,1.74,5.62,0.15,0.90,0.066,0.101,0.348,220,1886,2195,-6.41,-0.71,180.05,0,0,0,0,0,0,14.57,14.53,14.41
$IRIDIUM_FIX,-6355.27,226.82,160122,013255
$TT8_MAMPS,0.020223,0.328062
$HUMID,57.52
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.77,158.937
$10V_AH,13.02,0.000
$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,13.900,174.250,267.875,0.900,0.000,25.074,14.825,131.858,0.000,0.000,14.532,2290.523,8475.880,447.310,2490.683,83.353,0.000,1506.986,0.000,1840.236,0.000,0.535,0.000
$DEVICE_MAMPS,641.835,2278.935,2659.140,348.075,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.079,1383.018,232.093,1112.180,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342936
$DATA_FILE_SIZE,66150,846
$CAP_FILE_SIZE,143378,0
$CFSIZE,1023623168,1016807424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160122,091847,-6357.190,221.656,65,1.0,106,-21.1,0.4,59.7,7,5.1