version: 66.14
glider: 640
mission: 9
dive: 46
start: 1 17 122 1 21 43
data:
$ID,640
$MISSION,9
$DIVE,46
$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,190
$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,35
$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,24
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2945
$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
$GPS1,170122,011544,-6359.4385,223.9418,60,1.3,101,-21.1,0.0,183.4,5,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.1
$GPS2,170122,012113,-6359.4160,223.9644,9,1.3,49,-21.1,0.9,125.3,5,4.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.7,56693,-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,-0.70,-146.0,232,1868,2152,2180,0.0,0.0,0,83,0.00,0.00,-73.35,0.000,16386,0.000,0.000,233,1869,3278,3245,3311,0,0,0,0,0,0,14.73,28.83,14.74,8.51,59.05
$GC,85,-0.70,-146.0,233,1869,3246,3311,3.8,-7.9,11,108,6.00,2.60,-7.95,0.000,18692,0.369,2.284,2180,3280,3543,3526,3561,0,0,0,0,0,0,14.38,13.74,14.59,8.62,58.62
$GC,145,-0.70,-146.0,2179,3281,3527,3564,18.2,-16.0,21,153,0.00,2.47,0.00,0.000,5126,0.000,0.063,2180,1847,3545,3527,3564,0,0,0,0,0,0,14.58,14.47,14.59,8.65,57.16
$GC,194,-0.70,-146.0,2180,1846,3527,3564,27.2,-18.9,30,202,0.00,2.53,0.00,0.000,4612,0.000,0.082,2180,434,3545,3527,3564,0,0,0,0,0,0,14.71,14.48,14.71,8.65,56.65
$GC,224,-0.70,-146.0,2179,434,3527,3564,33.0,-19.2,35,232,0.00,2.42,0.00,0.000,5126,0.000,0.053,2170,1820,3545,3527,3564,0,0,0,0,0,0,14.55,14.49,14.56,8.65,56.97
$GC,354,-0.70,-146.0,2170,1822,3527,3564,57.2,-17.5,60,362,0.00,2.53,0.00,0.000,4356,0.000,0.086,2159,3263,3545,3527,3564,0,0,0,0,0,0,14.74,14.51,14.74,8.65,57.60
$GC,434,-0.70,-146.0,2158,3263,3527,3565,69.8,-14.7,75,441,0.00,2.42,0.00,0.000,3078,0.000,0.065,2158,1850,3546,3527,3565,0,0,0,0,0,0,14.64,14.53,14.66,8.66,57.16
$GC,744,-0.70,-146.0,2158,1850,3527,3565,124.1,-17.9,100,750,0.00,2.50,0.00,0.000,2564,0.000,0.086,2158,437,3546,3528,3565,0,0,0,0,0,0,14.83,14.62,14.84,8.64,57.08
$GC,831,-0.70,-146.0,2157,437,3528,3565,137.0,-16.0,104,836,0.00,2.40,0.00,0.000,3078,0.000,0.050,2147,1866,3546,3528,3564,0,0,0,0,0,0,14.74,14.64,14.75,8.63,56.73
$GC,1144,-0.70,-146.0,2147,1865,3527,3565,194.2,-18.5,120,1151,0.05,2.40,0.00,0.000,2308,0.456,0.080,2150,3260,3546,3528,3565,0,0,0,0,0,0,14.59,14.67,14.77,8.64,57.75
$GC,1206,-0.70,-146.0,2149,3260,3527,3565,204.1,-17.1,123,1211,0.00,2.40,0.00,0.000,3078,0.000,0.063,2150,1854,3546,3527,3565,0,0,0,0,0,0,14.72,14.69,14.76,8.64,58.11
$GC,1525,-0.70,-146.0,2149,1854,3527,3565,260.8,-18.0,139,1531,0.00,2.47,0.00,0.000,2564,0.000,0.085,2149,437,3546,3527,3565,0,0,0,0,0,0,14.95,14.72,14.95,8.65,58.74
$GC,1592,-0.70,-146.0,2149,437,3527,3565,271.2,-17.6,142,1597,0.08,2.38,0.00,0.000,3078,0.376,0.050,2163,1857,3546,3527,3565,0,0,0,0,0,0,14.64,14.74,14.80,8.66,58.62
$GC,1905,-0.70,-146.0,2162,1857,3527,3565,324.6,-16.9,158,1911,0.00,2.40,0.00,0.000,260,0.000,0.083,2153,3254,3546,3527,3565,0,0,0,0,0,0,14.97,14.74,14.97,8.66,59.17
$GC,1957,-0.70,-146.0,2153,3253,3527,3564,331.1,-16.7,160,1965,0.00,2.40,0.00,0.000,3078,0.000,0.063,2153,1845,3546,3527,3565,0,0,0,0,0,0,14.78,14.73,14.80,8.66,59.37
$GC,2265,-0.70,-146.0,2152,1845,3527,3565,385.9,-17.2,176,2271,0.00,2.45,0.00,0.000,2564,0.000,0.087,2153,440,3546,3527,3565,0,0,0,0,0,0,14.99,14.76,15.00,8.66,59.01
$GC,2318,-0.70,-146.0,2152,440,3527,3564,392.8,-17.1,178,2326,0.05,2.40,0.00,0.000,3078,0.347,0.051,2159,1850,3546,3527,3565,0,0,0,0,0,0,14.65,14.76,14.76,8.67,59.05
$GC,2625,-0.70,-146.0,2158,1850,3527,3564,444.4,-16.2,194,2631,0.00,2.40,0.00,0.000,2308,0.000,0.083,2149,3260,3546,3527,3565,0,0,0,0,0,0,15.00,14.77,15.01,8.67,58.89
$GC,2678,-0.70,-146.0,2149,3260,3527,3564,450.7,-16.1,196,2686,0.00,2.40,0.00,0.000,3078,0.000,0.064,2148,1848,3546,3527,3565,0,0,0,0,0,0,14.81,14.76,14.83,8.68,59.25
$GC,2987,-0.70,-146.0,2148,1849,3527,3565,503.4,-16.7,212,2993,0.00,2.45,0.00,0.000,2564,0.000,0.090,2148,436,3545,3527,3564,0,0,0,0,0,0,15.02,14.81,15.02,8.68,59.21
$GC,3046,-0.70,-146.0,2148,436,3527,3564,513.2,-16.4,215,3053,0.08,2.38,0.00,0.000,3078,0.371,0.050,2162,1862,3546,3527,3565,0,0,0,0,0,0,14.71,14.80,14.86,8.67,59.01
$GC,3366,-0.70,-146.0,2161,1863,3527,3565,562.5,-15.6,231,3372,0.00,2.35,0.00,0.000,2308,0.000,0.081,2152,3254,3546,3527,3565,0,0,0,0,0,0,15.02,14.78,15.02,8.68,59.49
$GC,3426,-0.70,-146.0,2152,3254,3527,3565,571.4,-15.2,234,3433,0.00,2.35,0.00,0.000,3078,0.000,0.063,2152,1843,3546,3527,3565,0,0,0,0,0,0,14.90,14.80,14.92,8.68,59.41
$GC,3746,-0.70,-146.0,2152,1844,3527,3565,624.2,-16.7,250,3752,0.00,2.45,0.00,0.000,2564,0.000,0.089,2152,437,3546,3527,3565,0,0,0,0,0,0,15.03,14.80,15.03,8.69,59.88
$GC,3806,-0.70,-146.0,2151,437,3528,3565,633.9,-16.3,253,3813,0.08,2.35,0.00,0.000,3078,0.363,0.050,2166,1850,3546,3527,3565,0,0,0,0,0,0,14.72,14.82,14.88,8.69,59.17
$GC,4126,-0.70,-146.0,2166,1851,3527,3565,682.8,-15.6,269,4132,0.00,2.40,0.00,0.000,260,0.000,0.083,2156,3257,3546,3527,3565,0,0,0,0,0,0,15.03,14.80,15.04,8.69,59.33
$GC,4199,-0.70,-146.0,2157,3257,3528,3565,691.6,-15.0,272,4207,0.00,2.40,0.00,0.000,3078,0.000,0.065,2156,1847,3546,3527,3565,0,0,0,0,0,0,14.84,14.79,14.86,8.69,59.29
$GC,4508,-0.70,-146.0,2156,1846,3527,3565,741.9,-16.1,288,4513,0.00,2.42,0.00,0.000,2564,0.000,0.091,2157,447,3546,3527,3565,0,0,0,0,0,0,15.04,14.81,15.04,8.70,59.17
$GC,4574,-0.70,-146.0,2156,447,3528,3565,751.3,-15.9,291,4579,0.05,2.35,0.00,0.000,3078,0.428,0.050,2162,1868,3546,3528,3565,0,0,0,0,0,0,14.72,14.83,14.89,8.70,59.60
$GC,4886,-0.70,-146.0,2163,1868,3528,3565,799.8,-15.3,307,4890,0.00,2.35,0.00,0.000,2308,0.000,0.082,2153,3254,3546,3528,3565,0,0,0,0,0,0,15.06,14.82,15.06,8.70,59.37
$GC,4945,-0.70,-146.0,2153,3254,3528,3565,807.9,-14.7,310,4949,0.00,2.38,0.00,0.000,3078,0.000,0.064,2153,1850,3546,3527,3566,0,0,0,0,0,0,14.88,14.83,14.90,8.70,59.52
$GC,5262,-0.70,-146.0,2152,1851,3528,3565,858.3,-16.0,326,5268,0.00,2.45,0.00,0.000,2564,0.000,0.090,2153,438,3546,3528,3565,0,0,0,0,0,0,15.07,14.83,15.07,8.71,59.01
$GC,5330,-0.70,-146.0,2152,437,3528,3565,867.6,-15.7,329,5335,0.05,2.38,0.00,0.000,3078,0.343,0.050,2160,1848,3547,3528,3566,0,0,0,0,0,0,14.74,14.85,14.86,8.71,59.37
$GC,5642,-0.70,-146.0,2159,1848,3528,3565,914.7,-14.8,345,5646,0.00,2.40,0.00,0.000,2308,0.000,0.082,2150,3267,3547,3528,3566,0,0,0,0,0,0,15.08,14.84,15.08,8.71,59.84
$GC,5706,-0.70,-146.0,2149,3266,3528,3566,922.6,-14.1,348,5711,0.00,2.38,0.00,0.000,3078,0.000,0.067,2149,1838,3547,3528,3566,0,0,0,0,0,0,14.96,14.85,14.97,8.71,59.64
$GC,6018,-0.70,-146.0,2149,1839,3528,3566,971.2,-15.4,364,6022,0.00,2.42,0.00,0.000,2564,0.000,0.091,2150,443,3546,3529,3564,0,0,0,0,0,0,15.08,14.85,15.08,8.71,58.97
$GC,6082,-0.70,-146.0,2149,443,3528,3566,979.5,-15.1,367,6087,0.08,2.35,0.00,0.000,3078,0.372,0.050,2164,1864,3547,3528,3566,0,0,0,0,0,0,14.77,14.87,14.92,8.71,59.41
$STATE,6153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6153,begin apogee
$GC,6157,-0.14,0.0,2164,1744,3528,3566,990.2,-13.4,371,6280,0.47,0.00,119.68,2.664,10246,0.242,0.000,2340,1744,2944,2942,2946,0,0,0,0,0,0,14.77,13.83,13.01,8.71,59.17
$STATE,6281,end apogee,CONTROL_FINISHED_OK
$STATE,6281,begin climb
$GC,6283,0.70,146.0,2340,1744,2941,2946,995.6,0.0,377,6416,0.75,2.67,120.30,2.535,10756,0.163,0.086,2630,383,2346,2346,2346,0,0,0,0,0,0,13.81,13.54,12.76,8.68,58.26
$GC,6471,0.70,146.0,2629,382,2351,2346,980.1,12.8,386,6478,0.00,2.45,0.00,0.000,5126,0.000,0.042,2630,1771,2348,2351,2346,0,0,0,0,0,0,13.95,13.85,13.97,8.63,56.41
$GC,6778,0.70,146.0,2629,1771,2352,2346,930.1,16.0,402,6784,0.00,2.47,0.00,0.000,4356,0.000,0.075,2630,3173,2349,2352,2346,0,0,0,0,0,0,14.50,14.27,14.50,8.62,57.48
$GC,6846,0.70,146.0,2629,3173,2352,2346,920.7,15.8,405,6851,0.08,2.40,0.00,0.000,5126,0.387,0.067,2618,1791,2348,2351,2346,0,0,0,0,0,0,14.23,14.33,14.39,8.61,57.75
$GC,7158,0.70,146.0,2617,1792,2352,2346,874.0,14.4,421,7164,0.00,2.55,0.00,0.000,4612,0.000,0.083,2628,359,2349,2352,2346,0,0,0,0,0,0,14.71,14.49,14.71,8.60,57.87
$GC,7238,0.70,146.0,2628,360,2352,2346,862.3,14.7,425,7242,0.00,2.38,0.00,0.000,5126,0.000,0.041,2628,1777,2349,2352,2346,0,0,0,0,0,0,14.62,14.53,14.63,8.61,57.83
$GC,7554,0.70,146.0,2628,1778,2352,2346,814.6,15.0,441,7558,0.00,2.38,0.00,0.000,4356,0.000,0.071,2628,3171,2348,2351,2346,0,0,0,0,0,0,14.83,14.60,14.83,8.60,58.82
$GC,7638,0.70,146.0,2628,3171,2352,2346,803.1,15.1,445,7643,0.08,2.38,0.00,0.000,5126,0.375,0.066,2615,1770,2349,2352,2346,0,0,0,0,0,0,14.53,14.63,14.69,8.60,58.23
$GC,7950,0.70,146.0,2615,1770,2352,2346,758.0,14.2,461,7954,0.00,2.50,0.00,0.000,516,0.000,0.083,2625,353,2349,2352,2346,0,0,0,0,0,0,14.90,14.68,14.90,8.59,58.38
$GC,8014,0.70,146.0,2625,353,2352,2346,750.0,14.3,464,8018,0.00,2.35,0.00,0.000,5126,0.000,0.041,2625,1778,2349,2352,2346,0,0,0,0,0,0,14.80,14.69,14.81,8.60,58.66
$GC,8326,0.70,146.0,2625,1779,2352,2346,704.1,14.5,480,8330,0.00,2.35,0.00,0.000,4356,0.000,0.070,2626,3168,2349,2352,2346,0,0,0,0,0,0,14.95,14.73,14.95,8.59,59.33
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$GC,11806,0.70,146.0,2620,1767,2353,2345,245.5,12.1,654,11812,0.00,2.42,0.00,0.000,4612,0.000,0.081,2629,361,2349,2353,2346,0,0,0,0,0,0,15.04,14.83,15.04,8.56,59.45
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$STATE,13888,end climb,SURFACE_DEPTH_REACHED
$STATE,13888,begin surface coast
$FINISH,-0.2,1.008859
$STATE,13914,end surface coast,CONTROL_FINISHED_OK
$STATE,13915,begin surface
$SM_CCo,13989,0.00,0.000,0,0,2106,205.56
$SM_GC,1.29,5.72,2.35,0.00,0.077,0.069,0.000,225,1856,2106,-6.45,0.79,205.56,0,0,0,0,0,0,14.57,14.47,14.59
$IRIDIUM_FIX,-6357.37,217.24,160122,211556
$TT8_MAMPS,0.019474,0.328811
$HUMID,58.50
$INTERNAL_PRESSURE,8.47224
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.76,160.438
$10V_AH,13.04,0.000
$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,14.000,183.250,280.925,0.000,0.000,24.157,22.898,150.493,0.000,0.000,51.055,2343.484,8851.862,449.387,2592.391,85.715,0.000,1531.233,0.000,1867.396,0.000,0.536,0.000
$DEVICE_MAMPS,455.940,2283.525,2663.730,0.000,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.728,1411.069,232.506,1135.895,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342976
$DATA_FILE_SIZE,66281,864
$CAP_FILE_SIZE,147254,0
$CFSIZE,1023623168,1016315904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170122,051605,-6359.838,223.898,39,0.9,43,-21.1,0.6,200.5,8,9.9