version: 66.12
glider: 141
mission: 23
dive: 246
start: 10 12 115 1 50 37
data:
$ID,141
$MISSION,23
$DIVE,246
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$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,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$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,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,121015,014414,752.8983,8416.6543,150,1.8,190,-2.0,0.3,217.0,4,14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-73.3
$GPS2,121015,015003,752.8921,8416.6211,13,1.8,34,-2.0,0.4,353.1,6,10.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,292.5,281220,-14.9,-10.000,-18.74,2959
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.62,-194.6,31,2661,808,935,0.0,0.0,0,127,0.00,0.00,-96.05,0.000,16386,0.000,0.000,29,2661,3590,3664,3517,0,0,0,0,0,0,14.88,28.83,14.92
$GC,133,-0.62,-194.6,29,2661,3664,3519,7.2,-8.4,10,155,11.70,2.35,-4.03,0.000,18948,0.400,0.073,2507,1232,3925,4002,3848,0,0,0,0,0,0,14.27,13.38,14.52
$GC,216,-0.62,-194.6,2506,1232,4001,3852,45.2,-27.7,27,220,0.00,2.35,0.00,0.000,1030,0.000,0.055,2498,2670,3926,4001,3852,0,0,0,0,0,0,14.73,14.62,14.76
$GC,521,-0.62,-194.6,2498,2670,4001,3853,129.2,-23.7,44,526,0.00,2.25,0.00,0.000,260,0.000,0.077,2488,4037,3927,4001,3853,0,0,0,0,0,0,15.04,14.64,15.07
$GC,679,-0.62,-194.6,2487,4037,4001,3856,161.3,-19.0,75,683,0.00,2.22,0.00,0.000,1030,0.000,0.034,2488,2638,3928,4001,3856,0,0,0,0,0,0,14.74,14.71,14.77
$GC,982,-0.62,-194.6,2487,2637,4001,3859,206.9,-13.5,91,987,0.00,2.33,0.00,0.000,260,0.000,0.078,2477,4033,3930,4001,3859,0,0,0,0,0,0,15.09,14.66,15.13
$GC,1042,-0.62,-194.6,2477,4033,4001,3859,215.2,-14.0,103,1048,0.10,2.17,0.00,0.000,3078,0.216,0.031,2506,2620,3929,4001,3858,0,0,0,0,0,0,14.50,14.81,14.64
$GC,1383,-0.62,-194.6,2507,2620,4000,3858,257.8,-12.2,121,1389,0.00,2.15,0.00,0.000,516,0.000,0.050,2507,1254,3929,3999,3859,0,0,0,0,0,0,15.11,14.73,15.15
$GC,1433,-0.62,-194.6,2506,1254,3998,3859,263.6,-10.6,131,1439,0.00,2.25,0.00,0.000,1030,0.000,0.052,2501,2658,3928,3999,3858,0,0,0,0,0,0,14.87,14.77,14.90
$GC,1747,-0.62,-194.6,2501,2658,3993,3859,293.8,-9.5,138,1753,0.00,2.28,0.00,0.000,260,0.000,0.081,2491,4033,3926,3993,3859,0,0,0,0,0,0,15.11,14.67,15.15
$GC,1782,-0.62,-194.6,2491,4034,3993,3858,297.8,-10.5,144,1787,0.00,2.12,0.00,0.000,1030,0.000,0.031,2492,2650,3925,3993,3858,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2113,-0.62,-194.6,2491,2649,3988,3858,332.5,-10.4,155,2118,0.00,2.20,0.00,0.000,516,0.000,0.051,2491,1260,3923,3988,3859,0,0,0,0,0,0,15.14,14.73,15.18
$GC,2161,-0.62,-194.6,2491,1260,3987,3859,337.6,-10.1,165,2169,0.12,2.25,0.00,0.000,3078,0.242,0.054,2512,2658,3922,3987,3858,0,0,0,0,0,0,14.56,14.77,14.78
$GC,2476,-0.62,-194.6,2511,2658,3981,3859,366.9,-9.5,172,2482,0.00,2.30,0.00,0.000,260,0.000,0.082,2503,4029,3919,3980,3859,0,0,0,0,0,0,15.13,14.66,15.16
$GC,2505,-0.62,-194.6,2503,4029,3980,3859,370.4,-10.8,178,2509,0.00,2.12,0.00,0.000,1030,0.000,0.032,2504,2651,3919,3980,3858,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2839,-0.62,-194.6,2503,2651,3974,3859,405.0,-10.4,189,2845,0.00,2.20,0.00,0.000,516,0.000,0.053,2503,1261,3916,3974,3859,0,0,0,0,0,0,15.15,14.71,15.19
$GC,2878,-0.62,-194.6,2503,1261,3974,3859,409.2,-10.4,197,2885,0.00,2.25,0.00,0.000,1030,0.000,0.054,2496,2654,3916,3974,3858,0,0,0,0,0,0,14.87,14.76,14.90
$GC,3199,-0.62,-194.6,2496,2654,3969,3856,444.5,-11.2,206,3204,0.00,2.33,0.00,0.000,260,0.000,0.082,2486,4039,3912,3968,3856,0,0,0,0,0,0,15.16,14.68,15.19
$GC,3222,-0.62,-194.6,2485,4039,3969,3855,447.2,-11.3,210,3227,0.12,2.15,0.00,0.000,3078,0.234,0.033,2515,2651,3911,3968,3854,0,0,0,0,0,0,14.55,14.84,14.77
$GC,3571,-0.62,-194.6,2514,2651,3964,3853,479.2,-9.0,223,3576,0.00,2.22,0.00,0.000,516,0.000,0.054,2515,1256,3908,3963,3853,0,0,0,0,0,0,15.13,14.69,15.16
$GC,3605,-0.62,-194.6,2514,1256,3964,3853,482.6,-9.0,230,3610,0.00,2.28,0.00,0.000,1030,0.000,0.055,2512,2659,3908,3963,3853,0,0,0,0,0,0,14.85,14.74,14.90
$GC,3935,-0.62,-194.6,2511,2659,3960,3852,506.8,-7.1,240,3940,0.00,2.30,0.00,0.000,260,0.000,0.084,2501,4029,3905,3960,3851,0,0,0,0,0,0,15.15,14.61,15.18
$GC,3964,-0.62,-194.6,2501,4029,3960,3850,509.0,-7.3,246,3968,0.00,2.17,0.00,0.000,1030,0.000,0.033,2501,2645,3905,3960,3850,0,0,0,0,0,0,14.89,14.82,14.92
$GC,4301,-0.62,-194.6,2501,2645,3958,3849,532.9,-7.4,257,4308,0.00,2.35,0.00,0.000,260,0.000,0.085,2490,4032,3902,3957,3848,0,0,0,0,0,0,15.13,14.59,15.16
$GC,4327,-0.62,-194.6,2491,4032,3957,3848,535.3,-8.1,262,4331,0.00,2.17,0.00,0.000,1030,0.000,0.035,2491,2642,3903,3958,3848,0,0,0,0,0,0,14.88,14.81,14.91
$GC,4669,-0.62,-194.6,2490,2642,3953,3847,563.5,-8.4,274,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2642,3900,3954,3847,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4967,-0.62,-194.6,2491,2642,3951,3845,589.5,-8.7,279,4972,0.00,2.22,0.00,0.000,516,0.000,0.057,2491,1260,3898,3951,3845,0,0,0,0,0,0,15.14,14.64,15.18
$GC,5015,-0.62,-194.6,2491,1261,3951,3845,594.2,-8.8,289,5021,0.10,2.25,0.00,0.000,3078,0.195,0.058,2513,2643,3897,3950,3845,0,0,0,0,0,0,14.45,14.66,14.58
$GC,5336,-0.62,-194.6,2513,2643,3948,3845,619.3,-8.0,296,5341,0.00,2.35,0.00,0.000,260,0.000,0.089,2504,4033,3895,3947,3844,0,0,0,0,0,0,15.13,14.56,15.16
$GC,5360,-0.62,-194.6,2504,4033,3948,3844,621.9,-9.2,301,5367,0.00,2.17,0.00,0.000,1030,0.000,0.036,2505,2649,3896,3948,3844,0,0,0,0,0,0,14.87,14.79,14.90
$GC,5696,-0.62,-194.6,2504,2649,3945,3843,653.6,-9.6,313,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2649,3894,3945,3843,0,0,0,0,0,0,15.15,15.19,15.17
$GC,5997,-0.62,-194.6,2504,2649,3943,3841,682.6,-9.7,318,6001,0.00,2.28,0.00,0.000,516,0.000,0.059,2505,1251,3891,3942,3841,0,0,0,0,0,0,15.14,14.67,15.17
$GC,6025,-0.62,-194.6,2504,1252,3943,3841,685.6,-10.1,323,6031,0.00,2.30,0.00,0.000,1030,0.000,0.061,2499,2647,3891,3942,3841,0,0,0,0,0,0,14.81,14.68,14.85
$GC,6421,-0.62,-194.6,2499,2647,3941,3839,722.9,-9.5,334,6425,0.00,2.40,0.00,0.000,260,0.000,0.092,2488,4039,3889,3940,3839,0,0,0,0,0,0,15.14,14.57,15.18
$GC,6459,-0.62,-194.6,2488,4039,3940,3838,726.7,-10.0,341,6466,0.00,2.20,0.00,0.000,1030,0.000,0.038,2489,2649,3889,3940,3838,0,0,0,0,0,0,14.84,14.77,14.87
$GC,7149,-0.62,-194.6,2488,2649,3937,3836,789.2,-8.9,363,7155,0.00,2.30,0.00,0.000,516,0.000,0.062,2488,1252,3886,3937,3836,0,0,0,0,0,0,15.11,14.61,15.15
$GC,7178,-0.62,-194.6,2488,1252,3937,3836,792.2,-9.3,369,7186,0.15,2.33,0.00,0.000,3078,0.226,0.063,2516,2653,3886,3937,3836,0,0,0,0,0,0,14.45,14.66,14.69
$GC,7876,-0.62,-194.6,2516,2653,3934,3834,838.7,-6.6,392,7881,0.00,2.38,0.00,0.000,260,0.000,0.094,2508,4030,3883,3933,3834,0,0,0,0,0,0,15.12,14.46,15.15
$GC,7916,-0.62,-194.6,2507,4030,3933,3833,841.9,-7.0,400,7921,0.00,2.17,0.00,0.000,1030,0.000,0.039,2508,2657,3883,3933,3833,0,0,0,0,0,0,14.71,14.66,14.74
$GC,8600,-0.62,-194.6,2508,2657,3931,3831,891.9,-7.5,421,8606,0.00,2.33,0.00,0.000,516,0.000,0.064,2508,1246,3881,3931,3831,0,0,0,0,0,0,15.11,14.52,15.14
$GC,8650,-0.62,-194.6,2507,1246,3931,3830,896.3,-8.6,431,8655,0.00,2.33,0.00,0.000,1030,0.000,0.067,2501,2642,3880,3930,3831,0,0,0,0,0,0,14.62,14.54,14.68
$GC,9324,-0.62,-194.6,2500,2642,3928,3829,949.6,-7.9,450,9328,0.00,2.47,0.00,0.000,260,0.000,0.099,2490,4045,3878,3927,3830,0,0,0,0,0,0,15.11,14.47,15.14
$GC,9373,-0.62,-194.6,2490,4045,3928,3829,954.0,-8.7,459,9378,0.00,2.22,0.00,0.000,1030,0.000,0.043,2490,2653,3878,3928,3829,0,0,0,0,0,0,14.66,14.62,14.71
$STATE,9803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9803,begin apogee
$GC,9813,-0.20,0.0,2490,2465,3925,3829,990.3,-8.3,477,9969,0.55,0.00,152.65,2.131,10246,0.183,0.000,2647,2465,3126,3057,3195,0,0,0,0,0,0,14.42,14.07,13.21
$STATE,9971,end apogee,CONTROL_FINISHED_OK
$STATE,9971,begin climb
$GC,9975,0.62,194.6,2647,2465,3056,3191,994.6,0.0,478,10144,0.80,2.53,159.80,2.084,10756,0.116,0.078,2917,1060,2329,2236,2422,0,0,0,0,0,0,14.07,13.81,13.00
$GC,10178,0.62,194.6,2916,1060,2242,2412,979.8,12.7,528,10184,0.00,2.50,0.00,0.000,1030,0.000,0.066,2917,2480,2326,2241,2412,0,0,0,0,0,0,14.04,13.98,14.07
$GC,10888,0.62,194.6,2916,2480,2249,2398,884.5,13.6,555,10893,0.00,2.45,0.00,0.000,260,0.000,0.096,2917,3886,2324,2250,2398,0,0,0,0,0,0,14.92,14.50,14.96
$GC,10966,0.62,194.6,2916,3886,2257,2389,872.2,16.2,570,10973,0.00,2.30,0.00,0.000,1030,0.000,0.054,2927,2494,2323,2258,2389,0,0,0,0,0,0,14.71,14.62,14.74
$GC,11613,0.62,194.6,2926,2494,2256,2389,776.2,14.8,584,11618,0.00,2.40,0.00,0.000,516,0.000,0.080,2937,1068,2323,2257,2389,0,0,0,0,0,0,15.03,14.52,15.06
$GC,11648,0.62,194.6,2937,1068,2258,2387,771.2,14.2,591,11652,0.00,2.38,0.00,0.000,1030,0.000,0.067,2937,2477,2322,2258,2387,0,0,0,0,0,0,14.73,14.62,14.78
$GC,12277,0.62,194.6,2936,2477,2258,2385,679.9,14.3,613,12282,0.00,2.42,0.00,0.000,260,0.000,0.097,2937,3878,2322,2258,2386,0,0,0,0,0,0,15.07,14.48,15.10
$GC,12371,0.62,194.6,2937,3878,2262,2379,665.6,15.0,632,12378,0.15,2.33,0.00,0.000,5126,0.295,0.055,2917,2473,2320,2262,2379,0,0,0,0,0,0,14.28,14.67,14.64
$GC,12702,0.62,194.6,2917,2473,2262,2379,626.1,12.0,642,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2473,2320,2262,2379,0,0,0,0,0,0,15.06,15.09,15.09
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$GC,15646,0.62,194.6,2921,2462,2270,2376,251.3,11.9,735,15650,0.00,2.35,0.00,0.000,516,0.000,0.074,2931,1069,2322,2270,2375,0,0,0,0,0,0,15.11,14.56,15.15
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$STATE,18324,end climb,SURFACE_DEPTH_REACHED
$STATE,18324,begin surface coast
$STATE,18349,end surface coast,CONTROL_FINISHED_OK
$STATE,18349,begin surface
$SM_CCo,18432,0.00,0.000,0,0,1056,508.26
$SM_GC,3.53,8.02,0.28,0.00,0.054,0.090,0.000,38,2661,1056,-8.30,-0.90,508.26,0,0,0,0,0,0,14.68,14.73,14.78
$IRIDIUM_FIX,749.46,8421.92,111015,202550
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.51
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,13.00,78.654
$10V_AH,12.50,0.000
$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,22.125,157.425,531.425,0.000,0.000,0.000,0.000,200.550,0.500,0.000,37.191,660.498,14905.714,576.281,2054.411,579.141,0.000,1746.180,0.000,1433.283,0.000,0.543,0.000
$DEVICE_MAMPS,400.095,99.450,2130.525,0.000,0.000,0.000,0.000,238.680,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260252
$DATA_FILE_SIZE,43357,1001
$CAP_FILE_SIZE,157442,0
$CFSIZE,260034560,232235008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9998.65,0x23402a,1,24
$CURRENT,0.187,151.20,1
$GPS,121015,070058,752.499,8414.832,110,1.3,145,-2.1,0.5,302.8,6,9.2