version: 66.13
glider: 137
mission: 5
dive: 72
start: 3 17 117 4 6 31
data:
$ID,137
$MISSION,5
$DIVE,72
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,450
$T_ABORT,720
$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,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,170317,035328,1407.2010,6052.0654,45,0.9,54,-0.6,0.2,81.5,8,9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-65.2
$GPS2,170317,040547,1407.2069,6052.0957,13,0.8,25,-0.6,0.0,193.5,9,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1409.555,6053.622
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,38.8,5140,-20.6,-10.000,-23.02,1455
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.49,-94.6,92,2078,327,569,0.0,0.0,0,110,0.00,0.00,-100.15,0.000,16386,0.000,0.000,93,2078,3125,3053,3198,0,0,0,0,0,0,14.90,28.83,14.92
$GC,113,-1.56,-146.0,93,2078,3054,3198,4.4,-5.9,17,139,14.05,2.50,-4.72,0.000,18724,0.440,2.110,2821,3439,3386,3289,3484,0,0,0,0,0,0,14.50,13.78,14.73
$GC,210,-1.56,-146.0,2820,3439,3290,3484,28.6,-18.5,35,217,0.00,2.33,0.00,0.000,1030,0.000,0.041,2821,2030,3387,3290,3484,0,0,0,0,0,0,14.77,14.71,14.78
$GC,523,-1.56,-146.0,2820,2028,3290,3484,87.3,-18.3,77,528,0.00,2.25,0.00,0.000,516,0.000,0.058,2820,653,3387,3291,3484,0,0,0,0,0,0,15.02,14.78,15.04
$GC,578,-1.52,-146.0,2820,653,3290,3484,97.7,-18.5,88,586,0.15,2.25,0.00,0.000,3206,0.262,0.040,2844,2040,3387,3290,3484,0,0,0,0,0,0,14.70,14.83,14.85
$GC,885,-1.60,-146.0,2844,2040,3291,3484,139.1,-12.0,119,894,0.00,2.33,0.00,0.000,388,0.000,0.063,2835,3447,3387,3290,3484,0,0,0,0,0,0,15.08,14.85,15.10
$GC,1007,-1.76,-146.0,2835,3447,3291,3484,156.2,-13.9,143,1017,0.15,2.28,0.00,0.000,5254,0.120,0.040,2784,2043,3387,3291,3484,0,0,0,0,0,0,14.87,14.88,14.93
$GC,1317,-1.76,-146.0,2784,2043,3291,3484,207.7,-14.5,175,1322,0.00,2.28,0.00,0.000,516,0.000,0.060,2784,654,3387,3291,3484,0,0,0,0,0,0,15.09,14.88,15.11
$GC,1384,-1.76,-146.0,2783,654,3291,3484,217.6,-14.4,187,1389,0.00,2.25,0.00,0.000,1030,0.000,0.040,2773,2053,3387,3291,3484,0,0,0,0,0,0,14.97,14.90,14.98
$GC,1707,-1.76,-146.0,2773,2053,3291,3483,262.6,-13.3,214,1713,0.00,2.35,0.00,0.000,516,0.000,0.060,2773,645,3387,3291,3484,0,0,0,0,0,0,15.11,14.90,15.13
$GC,1771,-1.76,-146.0,2772,644,3291,3484,271.8,-13.9,226,1779,0.10,2.28,0.00,0.000,3078,0.279,0.043,2789,2051,3387,3291,3484,0,0,0,0,0,0,14.76,14.91,14.88
$GC,2108,-1.82,-146.0,2788,2052,3290,3484,318.8,-14.2,242,2112,0.00,2.33,0.00,0.000,388,0.000,0.064,2780,3457,3387,3291,3484,0,0,0,0,0,0,15.13,14.91,15.15
$GC,2156,-1.89,-146.0,2780,3457,3290,3483,326.4,-15.8,251,2163,0.00,2.30,0.00,0.000,1158,0.000,0.043,2780,2045,3387,3290,3484,0,0,0,0,0,0,15.00,14.94,15.01
$GC,2477,-1.94,-146.0,2780,2045,3288,3484,374.9,-15.0,264,2482,0.12,2.35,0.00,0.000,4484,0.154,0.063,2717,3452,3385,3287,3484,0,0,0,0,0,0,14.93,14.92,14.97
$GC,2503,-1.94,-146.0,2717,3451,3287,3484,379.7,-16.6,269,2512,0.15,2.30,0.00,0.000,3078,0.275,0.043,2749,2040,3385,3287,3484,0,0,0,0,0,0,14.79,14.95,14.97
$GC,2811,-1.94,-146.0,2749,2040,3286,3484,425.9,-14.9,280,2816,0.00,2.30,0.00,0.000,516,0.000,0.063,2750,654,3385,3286,3484,0,0,0,0,0,0,15.14,14.92,15.16
$GC,2863,-1.94,-146.0,2749,654,3286,3484,434.3,-15.3,290,2870,0.00,2.28,0.00,0.000,1030,0.000,0.044,2742,2051,3384,3286,3483,0,0,0,0,0,0,15.01,14.95,15.02
$GC,3179,-1.94,-146.0,2741,2051,3284,3483,481.8,-15.3,302,3185,0.00,2.38,0.00,0.000,516,0.000,0.067,2742,643,3383,3284,3483,0,0,0,0,0,0,15.14,14.92,15.16
$GC,3237,-1.89,-146.0,2741,643,3284,3484,491.6,-16.0,313,3246,0.15,2.30,0.00,0.000,3206,0.298,0.047,2762,2052,3383,3283,3484,0,0,0,0,0,0,14.78,14.94,14.97
$GC,3544,-1.89,-146.0,2761,2051,3282,3484,535.1,-14.3,324,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2051,3382,3282,3483,0,0,0,0,0,0,15.15,15.17,15.17
$GC,3845,-1.93,-146.0,2761,2051,3278,3482,578.3,-14.3,334,3846,0.00,0.00,0.00,0.000,134,0.000,0.000,2762,2051,3380,3279,3482,0,0,0,0,0,0,15.15,15.18,15.17
$GC,4144,-1.96,-146.0,2761,2051,3277,3480,622.3,-14.7,344,4151,0.00,2.38,0.00,0.000,644,0.000,0.066,2762,643,3379,3278,3480,0,0,0,0,0,0,15.15,14.93,15.17
$GC,4198,-1.96,-146.0,2762,643,3278,3479,631.3,-17.0,354,4202,0.00,2.30,0.00,0.000,1030,0.000,0.047,2753,2046,3378,3277,3479,0,0,0,0,0,0,15.02,14.95,15.03
$GC,4510,-1.96,-146.0,2753,2046,3276,3478,679.8,-15.6,366,4515,0.00,2.35,0.00,0.000,260,0.000,0.071,2743,3450,3377,3276,3478,0,0,0,0,0,0,15.15,14.92,15.17
$GC,4553,-1.96,-146.0,2743,3450,3276,3477,687.0,-15.8,374,4558,0.00,2.30,0.00,0.000,1030,0.000,0.046,2743,2053,3376,3276,3477,0,0,0,0,0,0,15.02,14.95,15.03
$GC,4877,-1.96,-146.0,2743,2053,3274,3477,736.8,-15.2,388,4882,0.00,2.35,0.00,0.000,516,0.000,0.069,2743,644,3375,3274,3477,0,0,0,0,0,0,15.15,14.92,15.17
$GC,4929,-1.93,-146.0,2743,644,3274,3476,745.5,-17.1,398,4937,0.10,2.33,0.00,0.000,3206,0.310,0.047,2750,2061,3375,3274,3476,0,0,0,0,0,0,14.79,14.94,14.97
$GC,5245,-1.93,-146.0,2750,2061,3272,3474,791.0,-14.1,410,5251,0.00,2.33,0.00,0.000,260,0.000,0.071,2742,3447,3372,3272,3473,0,0,0,0,0,0,15.14,14.92,15.16
$GC,5288,-1.93,-146.0,2742,3447,3272,3473,797.3,-13.9,418,5293,0.00,2.33,0.00,0.000,1030,0.000,0.047,2742,2045,3372,3272,3473,0,0,0,0,0,0,15.01,14.94,15.02
$GC,5610,-1.93,-146.0,2742,2045,3271,3472,843.8,-14.3,432,5615,0.00,2.35,0.00,0.000,516,0.000,0.070,2742,641,3371,3271,3471,0,0,0,0,0,0,15.14,14.92,15.16
$GC,5708,-1.90,-146.0,2742,642,3271,3471,858.7,-15.2,450,5714,0.12,2.33,0.00,0.000,3206,0.298,0.049,2757,2057,3370,3270,3471,0,0,0,0,0,0,14.78,14.93,14.97
$GC,6044,-1.93,-146.0,2756,2057,3268,3470,904.3,-13.3,466,6048,0.00,2.35,0.00,0.000,388,0.000,0.073,2748,3450,3369,3269,3470,0,0,0,0,0,0,15.14,14.91,15.16
$GC,6106,-1.97,-146.0,2748,3450,3270,3469,913.1,-13.7,478,6111,0.00,2.33,0.00,0.000,1158,0.000,0.047,2748,2045,3369,3269,3469,0,0,0,0,0,0,15.00,14.93,15.02
$GC,6439,-1.97,-146.0,2748,2044,3267,3468,957.6,-13.2,494,6444,0.00,2.35,0.00,0.000,516,0.000,0.070,2748,644,3367,3267,3468,0,0,0,0,0,0,15.14,14.91,15.16
$GC,6507,-1.97,-146.0,2748,643,3267,3467,967.6,-14.7,507,6514,0.00,2.33,0.00,0.000,1030,0.000,0.050,2738,2047,3367,3267,3468,0,0,0,0,0,0,15.00,14.92,15.02
$STATE,6686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6686,begin apogee
$GC,6690,-0.33,0.0,2738,1792,3266,3467,991.2,-13.3,517,6821,1.40,0.00,126.75,2.664,10246,0.284,0.000,3101,1791,2789,2680,2898,0,0,0,0,0,0,14.73,14.08,13.14
$STATE,6822,end apogee,CONTROL_FINISHED_OK
$STATE,6822,begin climb
$GC,6823,1.56,146.0,3101,1791,2675,2895,992.5,0.0,521,6970,1.42,2.55,138.57,2.523,10756,0.167,0.078,3524,403,2189,2063,2315,0,0,0,0,0,0,14.04,13.85,13.12
$GC,7001,1.37,146.0,3523,403,2052,2315,973.6,18.1,545,7007,0.20,2.45,0.00,0.000,5254,0.350,0.050,3478,1800,2183,2052,2315,0,0,0,0,0,0,14.07,14.23,14.27
$GC,7314,1.29,146.0,3477,1801,2041,2315,924.3,15.7,557,7321,0.12,2.47,0.00,0.000,4740,0.396,0.079,3461,405,2178,2041,2315,0,0,0,0,0,0,14.46,14.62,14.63
$GC,7337,1.21,146.0,3460,405,2041,2315,920.5,14.8,562,7345,0.00,2.38,0.00,0.000,1158,0.000,0.050,3460,1807,2178,2041,2315,0,0,0,0,0,0,14.73,14.66,14.75
$GC,7644,1.16,146.0,3459,1806,2037,2315,877.3,13.8,573,7651,0.12,2.38,0.00,0.000,4484,0.381,0.068,3429,3207,2176,2037,2315,0,0,0,0,0,0,14.57,14.75,14.74
$GC,7676,1.16,146.0,3429,3207,2037,2315,872.9,13.0,580,7681,0.00,2.42,0.00,0.000,1030,0.000,0.061,3437,1813,2176,2037,2315,0,0,0,0,0,0,14.81,14.76,14.83
$GC,8004,1.16,146.0,3437,1813,2035,2315,831.4,12.6,595,8010,0.00,2.38,0.00,0.000,260,0.000,0.071,3437,3206,2175,2035,2315,0,0,0,0,0,0,15.04,14.81,15.07
$GC,8060,1.12,146.0,3437,3206,2035,2315,824.0,13.2,606,8068,0.15,2.40,0.00,0.000,5254,0.389,0.060,3420,1791,2175,2035,2315,0,0,0,0,0,0,14.64,14.83,14.88
$GC,8367,1.12,146.0,3420,1791,2034,2315,789.0,11.1,617,8371,0.00,2.42,0.00,0.000,516,0.000,0.083,3429,389,2174,2034,2315,0,0,0,0,0,0,15.08,14.83,15.10
$GC,8396,1.12,146.0,3429,389,2033,2315,785.3,12.0,623,8401,0.00,2.38,0.00,0.000,1030,0.000,0.050,3425,1810,2173,2032,2315,0,0,0,0,0,0,14.93,14.87,14.95
$GC,8718,1.12,146.0,3425,1810,2032,2315,747.1,11.7,637,8722,0.00,2.35,0.00,0.000,260,0.000,0.073,3425,3201,2173,2032,2314,0,0,0,0,0,0,15.10,14.86,15.13
$GC,8797,1.12,146.0,3425,3202,2032,2314,737.2,12.1,653,8804,0.00,2.38,0.00,0.000,1030,0.000,0.054,3428,1787,2173,2032,2315,0,0,0,0,0,0,14.95,14.89,14.97
$GC,9104,1.12,146.0,3427,1787,2030,2315,698.9,12.6,664,9108,0.00,2.40,0.00,0.000,516,0.000,0.076,3438,384,2172,2030,2314,0,0,0,0,0,0,15.11,14.88,15.14
$GC,9148,1.09,146.0,3438,384,2028,2315,693.0,12.7,673,9153,0.00,2.38,0.00,0.000,1158,0.000,0.050,3429,1805,2172,2029,2315,0,0,0,0,0,0,14.97,14.90,14.99
$GC,9455,1.09,146.0,3429,1806,2029,2314,654.8,12.4,684,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1806,2172,2029,2315,0,0,0,0,0,0,15.12,15.15,15.15
$GC,9755,1.09,146.0,3429,1806,2028,2315,618.0,12.1,694,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1805,2171,2028,2315,0,0,0,0,0,0,15.14,15.16,15.16
$GC,10055,1.09,146.0,3429,1806,2028,2315,582.4,11.6,704,10059,0.00,2.45,0.00,0.000,516,0.000,0.076,3438,386,2171,2028,2315,0,0,0,0,0,0,15.14,14.90,15.16
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$GC,12904,1.13,146.0,3422,1793,2025,2315,266.9,10.3,872,12910,0.00,2.40,0.00,0.000,260,0.000,0.067,3422,3204,2170,2025,2315,0,0,0,0,0,0,15.15,14.90,15.18
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$STATE,15449,end climb,SURFACE_DEPTH_REACHED
$STATE,15449,begin surface coast
$FINISH,1.3,1.009782
$STATE,15471,end surface coast,CONTROL_FINISHED_OK
$STATE,15471,begin surface
$SM_CCo,15488,138.80,0.080,0,0,449,573.99
$SM_GC,2.13,9.88,0.40,138.80,0.083,0.064,0.080,93,2064,449,-14.11,-1.07,573.99,0,0,0,0,0,0,14.81,14.87,14.76
$IRIDIUM_FIX,1400.84,6121.78,170317,035500
$TT8_MAMPS,0.023968,0.15729
$HUMID,45.66
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,6
$24V_AH,13.12,24.458
$10V_AH,13.71,0.000
$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,28.800,166.225,351.175,138.800,0.000,0.000,0.000,398.050,89.000,0.000,26.369,2533.573,10540.389,724.651,2432.737,149.543,0.000,2149.688,0.000,1750.905,0.000,590.148,0.000
$DEVICE_MAMPS,439.875,2109.870,2663.730,79.560,0.000,0.000,0.000,172.890,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225076
$DATA_FILE_SIZE,53326,1229
$CAP_FILE_SIZE,187762,0
$CFSIZE,260034560,253710336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,8004.20,0x233daa,1,24
$CURRENT,0.071,31.91,1
$GPS,170317,082827,1409.659,6053.818,46,0.8,53,-0.5,0.0,279.4,9,9.1