version: 66.13
glider: 124
mission: 26
dive: 135
start: 6 16 118 11 57 43
data:
$ID,124
$MISSION,26
$DIVE,135
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,2.5
$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,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55793
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2681
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.43451
$PRESSURE_SLOPE,0.00010836
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,71
$LOGGERDEVICE3,134
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043545738
$SEABIRD_T_H,0.00062548259
$SEABIRD_T_I,2.3693661e-05
$SEABIRD_T_J,2.5207949e-06
$SEABIRD_C_G,-9.9945526
$SEABIRD_C_H,1.1183146
$SEABIRD_C_I,-0.0026370776
$SEABIRD_C_J,0.00028069684
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,138.0
$CP_NDIVE,1.0
$GPS1,160618,114526,5832.7705,-2350.5605,40,2.0,44,-15.7,0.5,3.0,8,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.6
$GPS2,160618,115715,5832.8535,-2350.4407,11,1.4,15,-15.7,0.2,342.9,8,5.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.3,79368,-17.6,-10.000,-21.24,2209
$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
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.65,-146.0,18,1753,1379,1103,0.0,0.0,0,115,0.00,0.00,-98.28,0.006,16390,0.000,0.000,18,1753,3276,3244,3309,0,0,0,0,0,0,14.76,13.47,14.76
$GC,118,-0.65,-146.0,19,1753,3246,3310,3.4,-2.4,5,133,9.10,0.95,0.00,0.000,2596,0.416,0.044,1984,1191,3276,3252,3301,0,0,0,0,0,0,14.28,14.62,14.57
$GC,358,-0.65,-146.0,1984,1191,3268,3284,42.1,-13.7,53,364,0.00,1.00,0.00,0.000,1030,0.000,0.048,1981,1756,3275,3268,3283,0,0,0,0,0,0,14.67,14.63,14.69
$GC,699,-0.65,-146.0,1982,1755,3275,3278,89.7,-14.0,73,705,0.00,0.98,0.00,0.000,516,0.000,0.049,1981,1208,3275,3274,3277,0,0,0,0,0,0,14.91,14.66,14.93
$GC,865,-0.65,-146.0,1982,1208,3274,3278,112.3,-13.2,106,870,0.00,0.95,0.00,0.000,1030,0.000,0.049,1978,1742,3276,3274,3278,0,0,0,0,0,0,14.74,14.71,14.76
$GC,1221,-0.65,-146.0,1978,1742,3277,3277,160.5,-13.6,121,1226,0.00,0.95,0.00,0.000,516,0.000,0.053,1978,1211,3276,3276,3276,0,0,0,0,0,0,15.00,14.72,15.02
$GC,1406,-0.65,-146.0,1978,1211,3277,3277,184.4,-12.5,158,1411,0.00,0.93,0.00,0.000,1030,0.000,0.048,1975,1739,3276,3277,3276,0,0,0,0,0,0,14.81,14.77,14.83
$GC,1742,-0.65,-146.0,1974,1738,3278,3276,228.3,-13.2,169,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1738,3276,3277,3275,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2062,-0.65,-146.0,1975,1738,3278,3275,272.1,-13.7,177,2067,0.00,0.95,0.00,0.000,516,0.000,0.050,1975,1199,3276,3277,3275,0,0,0,0,0,0,15.05,14.82,15.07
$GC,2132,-0.65,-146.0,1976,1198,3279,3275,281.6,-13.0,191,2137,0.00,0.95,0.00,0.000,1030,0.000,0.048,1972,1743,3276,3277,3275,0,0,0,0,0,0,14.87,14.84,14.90
$GC,2463,-0.65,-146.0,1972,1742,3279,3274,326.7,-13.8,201,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1742,3276,3278,3274,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2782,-0.65,-146.0,1972,1742,3279,3273,369.7,-13.8,209,2788,0.00,0.95,0.00,0.000,516,0.000,0.054,1971,1208,3276,3279,3273,0,0,0,0,0,0,15.09,14.87,15.11
$GC,2868,-0.65,-146.0,1972,1208,3280,3273,381.5,-13.4,226,2873,0.00,0.93,0.00,0.000,1030,0.000,0.049,1968,1737,3276,3279,3273,0,0,0,0,0,0,14.92,14.88,14.94
$GC,3223,-0.65,-146.0,1966,1754,3280,3273,430.6,-13.7,241,3229,0.10,0.95,0.00,0.000,2564,0.301,0.052,1990,1207,3275,3279,3272,0,0,0,0,0,0,14.72,14.86,14.89
$GC,3424,-0.65,-146.0,1990,1206,3280,3273,455.2,-11.2,281,3430,0.00,0.93,0.00,0.000,1030,0.000,0.048,1987,1731,3275,3279,3272,0,0,0,0,0,0,14.92,14.90,14.97
$GC,3785,-0.65,-146.0,1987,1731,3281,3272,497.3,-11.4,297,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1730,3275,3280,3271,0,0,0,0,0,0,15.09,15.11,15.10
$GC,4105,-0.65,-146.0,1987,1731,3280,3272,531.2,-10.3,305,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1730,3275,3280,3271,0,0,0,0,0,0,15.10,15.12,15.11
$GC,4425,-0.65,-146.0,1987,1731,3280,3271,566.7,-11.3,313,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1730,3275,3280,3270,0,0,0,0,0,0,15.11,15.13,15.12
$GC,4745,-0.65,-146.0,1986,1731,3281,3271,605.2,-12.3,321,4751,0.00,0.93,0.00,0.000,516,0.000,0.055,1987,1208,3275,3280,3270,0,0,0,0,0,0,15.11,14.89,15.13
$GC,4836,-0.65,-146.0,1987,1209,3281,3270,616.2,-11.7,339,4841,0.00,0.90,0.00,0.000,1030,0.000,0.050,1983,1720,3275,3280,3270,0,0,0,0,0,0,14.95,14.91,14.96
$GC,5186,-0.65,-146.0,1984,1719,3279,3270,655.9,-11.3,353,5192,0.00,0.88,0.00,0.000,260,0.000,0.051,1980,2286,3274,3280,3269,0,0,0,0,0,0,15.12,14.90,15.14
$GC,5212,-0.65,-146.0,1979,2287,3281,3270,658.8,-11.0,358,5217,0.00,0.93,0.00,0.000,1030,0.000,0.054,1979,1716,3275,3280,3270,0,0,0,0,0,0,14.93,14.90,14.95
$GC,5547,-0.65,-146.0,1979,1716,3280,3269,696.3,-11.1,369,5552,0.00,0.85,0.00,0.000,516,0.000,0.060,1979,1224,3274,3280,3268,0,0,0,0,0,0,15.11,14.88,15.13
$GC,5777,-0.65,-146.0,1979,1224,3282,3268,721.3,-10.5,415,5782,0.00,0.88,0.00,0.000,1030,0.000,0.049,1976,1722,3274,3281,3268,0,0,0,0,0,0,14.93,14.90,14.95
$GC,6107,-0.65,-146.0,1976,1721,3279,3267,758.4,-11.4,425,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1721,3273,3280,3267,0,0,0,0,0,0,15.11,15.13,15.12
$GC,6428,-0.65,-146.0,1976,1721,3282,3266,794.1,-10.9,433,6433,0.00,0.90,0.00,0.000,516,0.000,0.055,1975,1215,3273,3280,3266,0,0,0,0,0,0,15.11,14.89,15.14
$GC,6504,-0.65,-146.0,1975,1215,3281,3266,802.8,-11.4,448,6510,0.00,0.90,0.00,0.000,1030,0.000,0.050,1971,1727,3273,3280,3266,0,0,0,0,0,0,14.93,14.90,14.95
$GC,6829,-0.65,-146.0,1972,1727,3281,3265,841.2,-11.9,457,6835,0.00,0.85,0.00,0.000,260,0.000,0.052,1968,2279,3272,3281,3264,0,0,0,0,0,0,15.11,14.89,15.13
$GC,6870,-0.65,-146.0,1968,2282,3283,3264,845.8,-11.2,465,6876,0.05,0.93,0.00,0.000,3078,0.236,0.057,1985,1716,3272,3280,3264,0,0,0,0,0,0,14.71,14.88,14.84
$GC,7231,-0.65,-146.0,1983,1716,3281,3264,883.4,-10.2,481,7237,0.00,0.85,0.00,0.000,516,0.000,0.061,1985,1224,3272,3281,3264,0,0,0,0,0,0,15.14,14.88,15.15
$GC,7462,-0.65,-146.0,1985,1224,3282,3264,907.3,-10.5,527,7467,0.00,0.85,0.00,0.000,1030,0.000,0.050,1982,1712,3272,3281,3264,0,0,0,0,0,0,14.91,14.88,14.94
$GC,7792,-0.65,-146.0,1982,1712,3279,3264,943.1,-10.8,537,7798,0.00,0.88,0.00,0.000,516,0.000,0.052,1982,1216,3272,3280,3264,0,0,0,0,0,0,15.10,14.89,15.14
$GC,7843,-0.65,-146.0,1981,1216,3281,3264,948.5,-10.5,547,7848,0.00,0.88,0.00,0.000,1030,0.000,0.049,1980,1717,3271,3280,3262,0,0,0,0,0,0,14.94,14.91,14.95
$GC,8193,-0.65,-146.0,1978,1734,3281,3263,986.1,-10.7,561,8199,0.00,0.88,0.00,0.000,516,0.000,0.057,1978,1226,3272,3281,3263,0,0,0,0,0,0,15.13,14.89,15.14
$STATE,8227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8227,begin apogee
$GC,8234,-0.12,0.0,1976,1733,3281,3263,990.1,-10.8,568,8362,0.43,0.00,126.35,2.261,10244,0.222,0.000,2100,1750,2682,2845,2519,0,0,0,0,0,0,14.72,14.08,13.30
$STATE,8363,end apogee,CONTROL_FINISHED_OK
$STATE,8363,begin climb
$GC,8365,0.65,146.0,2100,1750,2844,2519,993.9,0.0,571,8510,0.52,0.85,134.00,2.199,10500,0.135,0.044,2269,2260,2085,2305,1866,0,0,0,0,0,0,14.05,14.12,13.11
$GC,8670,0.65,146.0,2270,2261,2292,1866,962.7,13.0,630,8675,0.00,0.93,0.00,0.000,1030,0.000,0.063,2273,1725,2078,2291,1866,0,0,0,0,0,0,14.35,14.30,14.35
$GC,9015,0.65,146.0,2274,1725,2292,1858,917.4,13.1,643,9020,0.00,0.98,0.00,0.000,516,0.000,0.067,2277,1190,2073,2290,1857,0,0,0,0,0,0,14.81,14.58,14.81
$GC,9190,0.65,146.0,2278,1190,2291,1851,894.2,13.0,678,9194,0.00,0.95,0.00,0.000,1030,0.000,0.049,2276,1723,2070,2290,1850,0,0,0,0,0,0,14.66,14.64,14.71
$GC,9535,0.65,146.0,2277,1739,2291,1850,848.3,13.2,691,9540,0.00,0.82,0.00,0.000,260,0.000,0.044,2277,2255,2070,2290,1850,0,0,0,0,0,0,14.92,14.72,14.95
$GC,9645,0.65,146.0,2277,2259,2291,1849,833.7,13.2,713,9651,0.00,0.90,0.00,0.000,1030,0.000,0.064,2281,1718,2070,2290,1850,0,0,0,0,0,0,14.79,14.73,14.80
$GC,9976,0.65,146.0,2281,1717,2291,1849,791.3,12.5,723,9981,0.00,0.85,0.00,0.000,260,0.000,0.045,2280,2261,2069,2290,1849,0,0,0,0,0,0,14.96,14.76,14.97
$GC,10051,0.65,146.0,2280,2260,2291,1850,781.7,12.9,738,10057,0.00,0.88,0.00,0.000,1030,0.000,0.064,2283,1735,2069,2290,1849,0,0,0,0,0,0,14.76,14.72,14.78
$GC,10376,0.65,146.0,2284,1734,2291,1849,739.8,12.9,747,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1734,2069,2290,1849,0,0,0,0,0,0,15.00,15.00,15.00
$GC,10696,0.65,146.0,2284,1734,2291,1848,697.2,13.5,755,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1734,2069,2290,1848,0,0,0,0,0,0,15.03,15.02,15.01
$GC,11016,0.65,146.0,2284,1734,2292,1849,655.0,13.0,763,11021,0.00,0.82,0.00,0.000,260,0.000,0.046,2283,2259,2069,2290,1848,0,0,0,0,0,0,14.95,14.78,14.97
$GC,11082,0.65,146.0,2284,2262,2291,1848,646.5,12.4,776,11086,0.00,0.88,0.00,0.000,1030,0.000,0.065,2287,1734,2069,2290,1848,0,0,0,0,0,0,14.80,14.76,14.82
$GC,11416,0.65,146.0,2288,1735,2290,1849,605.4,12.1,787,11421,0.00,0.82,0.00,0.000,260,0.000,0.047,2287,2252,2068,2289,1848,0,0,0,0,0,0,14.95,14.76,14.95
$GC,11512,0.65,146.0,2287,2257,2290,1848,592.6,13.9,806,11517,0.00,0.85,0.00,0.000,1030,0.000,0.064,2290,1742,2068,2289,1848,0,0,0,0,0,0,14.80,14.76,14.82
$GC,11857,0.65,146.0,2291,1744,2290,1850,546.7,13.2,819,11858,0.10,0.00,0.00,0.000,4102,0.280,0.000,2268,1744,2068,2288,1848,0,0,0,0,0,0,14.63,14.83,14.81
$GC,12177,0.65,146.0,2268,1744,2290,1848,512.6,10.6,827,12182,0.00,0.82,0.00,0.000,260,0.000,0.045,2267,2260,2068,2288,1848,0,0,0,0,0,0,14.95,14.77,14.97
$GC,12207,0.65,146.0,2267,2258,2289,1848,509.3,11.0,833,12213,0.00,0.85,0.00,0.000,1030,0.000,0.064,2270,1752,2067,2288,1847,0,0,0,0,0,0,14.78,14.73,14.81
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$STATE,16801,end climb,SURFACE_DEPTH_REACHED
$STATE,16801,begin surface coast
$FINISH,0.2,1.013698
$STATE,16822,end surface coast,CONTROL_FINISHED_OK
$STATE,16822,begin surface
$SM_CCo,16838,122.50,0.112,0,0,1254,350.53
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$IRIDIUM_FIX,5831.11,-2349.80,160618,064946
$TT8_MAMPS,0.03745,0.757988
$HUMID,38.54
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,18.70
$XPDR_PINGS,21
$SC_FREEKB,3942624
$CP_FREE,15876980736.000000
$24V_AH,13.11,0.000
$10V_AH,13.12,46.879
$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,16.500,50.350,260.350,122.500,0.000,0.000,0.000,471.800,5.250,0.000,18.658,0.000,14202.708,614.482,2497.221,355.996,0.000,1895.949,0.000,1490.171,0.000,0.538,0.000
$DEVICE_MAMPS,416.160,67.320,2261.340,112.455,0.000,0.000,0.000,179.775,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16858.000,0.000,8481.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.414,0.000,25.000,0.000
$MEM,333756
$DATA_FILE_SIZE,36686,1042
$CAP_FILE_SIZE,132288,0
$CFSIZE,260165632,240398336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,15.29,1
$GPS,160618,164133,5833.304,-2346.652,38,0.9,38,-15.7,0.0,0.0,9,6.5