version: 66.13
glider: 171
mission: 11
dive: 45
start: 8 3 119 3 27 41
data:
$ID,171
$MISSION,11
$DIVE,45
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$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,390
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281838
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,580.87036
$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,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,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$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_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,030819,031909,1411.7068,8707.7607,29,1.6,29,-0.8,1.9,191.0,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-55.4
$GPS2,030819,032654,1411.5911,8707.7178,2,0.6,2,-0.8,0.2,233.2,12,9.4
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,BD13
$TGT_LATLONG,1400.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,209.8,25557,-18.3,-10.000,-22.55,2234
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-146.0,51,2515,632,563,0.0,0.0,0,113,0.00,0.00,-92.88,0.005,16386,0.000,0.000,28,2515,2822,2810,2835,0,0,0,0,0,0,14.85,28.83,14.88
$GC,117,-0.68,-146.0,28,2515,2812,2835,4.9,-12.5,19,144,9.12,0.00,-13.70,0.012,18694,0.363,0.000,2099,2515,3566,3565,3568,0,0,0,0,0,0,14.50,13.83,14.65
$GC,327,-0.68,-146.0,2099,2515,3565,3568,83.0,-30.9,52,333,0.00,2.35,0.00,0.000,260,0.000,0.099,2090,3891,3566,3565,3568,0,0,0,0,0,0,14.92,14.71,14.95
$GC,484,-0.68,-146.0,2089,3891,3565,3568,121.5,-19.7,82,490,0.00,2.25,0.00,0.000,1030,0.000,0.051,2089,2510,3566,3565,3568,0,0,0,0,0,0,14.81,14.75,14.83
$GC,678,-0.68,-146.0,2089,2508,3567,3568,156.5,-15.2,102,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2509,3566,3565,3568,0,0,0,0,0,0,14.97,15.01,15.00
$GC,868,-0.68,-146.0,2089,2509,3565,3568,184.4,-13.3,121,875,0.00,2.30,0.00,0.000,516,0.000,0.062,2090,1091,3566,3565,3568,0,0,0,0,0,0,15.00,14.82,15.02
$GC,957,-0.68,-146.0,2089,1091,3565,3567,196.1,-13.3,138,964,0.00,2.40,0.00,0.000,1030,0.000,0.073,2080,2491,3566,3565,3568,0,0,0,0,0,0,14.84,14.79,14.87
$GC,1142,-0.68,-146.0,2079,2491,3565,3567,221.8,-14.3,157,1149,0.00,2.38,0.00,0.000,260,0.000,0.098,2068,3900,3567,3566,3568,0,0,0,0,0,0,15.02,14.81,15.05
$GC,1197,-0.68,-146.0,2068,3901,3565,3567,229.1,-13.3,167,1203,0.15,2.25,0.00,0.000,3078,0.230,0.047,2103,2477,3566,3565,3567,0,0,0,0,0,0,14.76,14.87,14.90
$GC,1402,-0.68,-146.0,2104,2475,3565,3564,253.6,-12.3,187,1407,0.00,2.42,0.00,0.000,260,0.000,0.099,2095,3895,3564,3565,3564,0,0,0,0,0,0,15.04,14.82,15.07
$GC,1453,-0.68,-146.0,2095,3896,3565,3564,260.2,-12.3,197,1460,0.00,2.20,0.00,0.000,1030,0.000,0.044,2096,2495,3564,3565,3563,0,0,0,0,0,0,14.95,14.89,14.96
$GC,1768,-0.68,-146.0,2095,2495,3565,3560,298.5,-12.3,214,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2494,3562,3565,3560,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2068,-0.68,-146.0,2095,2494,3564,3556,334.3,-11.5,229,2074,0.00,2.22,0.00,0.000,516,0.000,0.057,2095,1105,3560,3564,3556,0,0,0,0,0,0,15.09,14.91,15.11
$GC,2096,-0.68,-146.0,2097,1105,3564,3556,337.8,-12.3,234,2102,0.00,2.33,0.00,0.000,1030,0.000,0.070,2084,2504,3559,3563,3556,0,0,0,0,0,0,14.98,14.90,15.00
$GC,2414,-0.68,-146.0,2084,2505,3563,3552,376.0,-12.2,252,2420,0.00,2.33,0.00,0.000,260,0.000,0.096,2074,3890,3557,3562,3552,0,0,0,0,0,0,15.09,14.89,15.12
$GC,2467,-0.68,-146.0,2073,3890,3562,3552,382.7,-12.4,262,2474,0.12,2.17,0.00,0.000,3078,0.231,0.044,2101,2499,3557,3562,3552,0,0,0,0,0,0,14.84,14.94,14.97
$GC,2782,-0.68,-146.0,2102,2499,3560,3549,416.4,-10.7,279,2787,0.00,2.25,0.00,0.000,516,0.000,0.062,2103,1105,3554,3560,3548,0,0,0,0,0,0,15.10,14.92,15.13
$GC,2814,-0.68,-146.0,2102,1105,3559,3547,420.0,-11.0,285,2821,0.00,2.33,0.00,0.000,1030,0.000,0.069,2093,2504,3554,3560,3548,0,0,0,0,0,0,15.00,14.91,15.00
$GC,3129,-0.68,-146.0,2093,2504,3556,3547,455.1,-11.2,302,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2504,3551,3556,3546,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3428,-0.68,-146.0,2093,2504,3554,3543,487.5,-10.7,317,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2503,3548,3554,3543,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3729,-0.68,-146.0,2093,2504,3552,3540,520.7,-11.3,332,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2504,3546,3552,3541,0,0,0,0,0,0,15.10,15.14,15.14
$GC,4028,-0.68,-146.0,2093,2504,3551,3539,555.0,-11.4,347,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2504,3545,3551,3539,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4329,-0.68,-146.0,2093,2504,3548,3538,588.6,-11.0,362,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2504,3543,3548,3538,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4629,-0.68,-146.0,2093,2504,3546,3536,621.3,-10.8,377,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2505,3541,3546,3536,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4928,-0.68,-146.0,2093,2504,3544,3535,653.9,-11.0,392,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2504,3539,3544,3535,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5228,-0.68,-146.0,2093,2504,3543,3533,686.4,-10.5,407,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2504,3538,3543,3533,0,0,0,0,0,0,15.10,15.14,15.13
$GC,5529,-0.68,-146.0,2093,2504,3542,3532,717.9,-10.4,422,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2505,3536,3541,3532,0,0,0,0,0,0,15.10,15.14,15.13
$GC,5828,-0.68,-146.0,2093,2504,3540,3530,748.5,-10.2,437,5835,0.00,2.35,0.00,0.000,260,0.000,0.101,2083,3894,3534,3540,3529,0,0,0,0,0,0,15.09,14.88,15.12
$GC,5856,-0.68,-146.0,2082,3895,3540,3530,751.6,-10.8,442,5862,0.00,2.22,0.00,0.000,1030,0.000,0.049,2083,2497,3535,3540,3530,0,0,0,0,0,0,15.00,14.94,15.01
$GC,6174,-0.68,-146.0,2082,2496,3537,3529,785.7,-10.9,460,6180,0.00,2.28,0.00,0.000,516,0.000,0.065,2082,1099,3533,3538,3528,0,0,0,0,0,0,15.09,14.91,15.12
$GC,6218,-0.68,-146.0,2082,1099,3537,3528,790.5,-11.1,468,6228,0.15,2.35,0.00,0.000,3078,0.235,0.075,2108,2496,3532,3537,3528,0,0,0,0,0,0,14.82,14.90,14.97
$GC,6541,-0.68,-146.0,2107,2497,3537,3527,821.5,-9.5,487,6546,0.00,2.38,0.00,0.000,260,0.000,0.103,2099,3894,3532,3537,3527,0,0,0,0,0,0,15.09,14.87,15.11
$GC,6567,-0.68,-146.0,2099,3894,3537,3527,824.2,-10.5,492,6573,0.00,2.22,0.00,0.000,1030,0.000,0.047,2101,2495,3532,3537,3527,0,0,0,0,0,0,14.99,14.93,15.00
$GC,6886,-0.68,-146.0,2097,2494,3536,3526,855.9,-9.9,510,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3530,3536,3525,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7186,-0.68,-146.0,2098,2494,3534,3525,885.5,-10.0,525,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3530,3535,3525,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7486,-0.68,-146.0,2099,2494,3533,3524,915.0,-9.7,540,7492,0.00,2.28,0.00,0.000,516,0.000,0.062,2099,1093,3528,3533,3524,0,0,0,0,0,0,15.09,14.90,15.11
$GC,7529,-0.68,-146.0,2098,1093,3533,3524,919.4,-10.2,548,7535,0.00,2.38,0.00,0.000,1030,0.000,0.074,2088,2501,3528,3533,3524,0,0,0,0,0,0,14.97,14.88,14.99
$GC,7853,-0.68,-146.0,2087,2501,3532,3522,951.3,-9.7,567,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2501,3526,3532,3521,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8153,-0.68,-146.0,2087,2501,3531,3521,979.4,-9.3,582,8159,0.00,2.38,0.00,0.000,260,0.000,0.103,2077,3894,3526,3531,3521,0,0,0,0,0,0,15.08,14.85,15.11
$GC,8190,-0.68,-146.0,2077,3893,3531,3522,983.3,-10.3,589,8199,0.08,2.28,0.00,0.000,3078,0.203,0.049,2101,2499,3526,3531,3521,0,0,0,0,0,0,14.78,14.88,14.88
$STATE,8275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8275,begin apogee
$GC,8281,-0.15,0.0,2101,2439,3531,3521,990.9,-8.9,594,8416,0.60,0.00,127.38,2.044,10246,0.178,0.000,2280,2439,2966,2994,2939,0,0,0,0,0,0,14.82,13.95,13.28
$STATE,8419,end apogee,CONTROL_FINISHED_OK
$STATE,8419,begin climb
$GC,8421,0.68,146.0,2280,2440,2994,2938,993.6,0.0,601,8570,0.85,0.00,134.00,2.024,10502,0.106,0.000,2554,2439,2373,2412,2334,0,0,0,0,0,0,14.20,14.01,13.21
$GC,8857,0.68,146.0,2554,2439,2400,2326,943.8,13.7,629,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2439,2363,2400,2326,0,0,0,0,0,0,14.76,14.80,14.79
$GC,9157,0.68,146.0,2554,2439,2398,2325,903.2,13.5,644,9163,0.00,2.33,0.00,0.000,516,0.000,0.063,2564,1039,2361,2398,2325,0,0,0,0,0,0,14.89,14.71,14.92
$GC,9195,0.68,146.0,2565,1038,2397,2324,897.9,13.9,651,9202,0.00,2.42,0.00,0.000,1030,0.000,0.067,2565,2442,2360,2397,2324,0,0,0,0,0,0,14.73,14.69,14.76
$GC,9501,0.68,146.0,2564,2442,2397,2324,855.0,14.0,667,9507,0.00,2.35,0.00,0.000,516,0.000,0.063,2576,1031,2361,2397,2325,0,0,0,0,0,0,14.96,14.78,15.00
$GC,9525,0.68,146.0,2575,1031,2397,2323,851.7,14.1,671,9531,0.00,2.38,0.00,0.000,1030,0.000,0.068,2576,2439,2360,2397,2323,0,0,0,0,0,0,14.85,14.78,14.88
$GC,9849,0.68,146.0,2575,2439,2397,2323,804.6,14.6,690,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2439,2359,2396,2323,0,0,0,0,0,0,15.00,15.03,15.02
$GC,10149,0.68,146.0,2575,2439,2396,2323,761.1,14.5,705,10155,0.00,2.33,0.00,0.000,516,0.000,0.063,2587,1039,2359,2396,2323,0,0,0,0,0,0,15.02,14.84,15.04
$GC,10182,0.68,146.0,2586,1039,2395,2322,756.1,14.4,711,10191,0.15,2.35,0.00,0.000,5126,0.239,0.067,2553,2441,2358,2394,2322,0,0,0,0,0,0,14.75,14.83,14.90
$GC,10493,0.68,146.0,2552,2441,2395,2322,716.1,12.7,728,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2441,2358,2395,2322,0,0,0,0,0,0,15.02,15.06,15.05
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$STATE,17060,end climb,SURFACE_DEPTH_REACHED
$STATE,17060,begin surface coast
$STATE,17080,end surface coast,CONTROL_FINISHED_OK
$STATE,17080,begin surface
$SM_CCo,17106,139.88,0.642,1,0,599,580.87
$SM_GC,1.30,7.10,0.10,139.88,0.045,0.163,0.642,114,2509,599,-6.78,-0.85,580.87,0,0,0,0,1,0,14.76,14.69,14.05
$IRIDIUM_FIX,1410.85,8710.92,020819,222430
$TT8_MAMPS,0.018725,0.241178
$HUMID,39.13
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,25.50
$XPDR_PINGS,2
$SC_FREEKB,3889952
$PM_FREEKB_00,59880960
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.21,18.342
$10V_AH,13.62,0.000
$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,19.200,140.100,495.025,139.875,0.000,0.000,0.000,264.525,0.500,0.000,14.066,1247.824,11187.696,682.567,4181.430,428.316,0.000,2298.563,0.000,3632.717,0.000,0.542,0.000
$DEVICE_MAMPS,363.375,228.735,2044.080,641.835,0.000,0.000,0.000,179.775,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3409.356,0.000,0.000,0.000,0.000,0.000,17081.000,0.000,17099.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.586,0.000,3.751,0.000
$MEM,252052
$DATA_FILE_SIZE,60097,1339
$CAP_FILE_SIZE,243957,0
$CFSIZE,260034560,190717952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.102,214.81,1
$GPS,030819,081638,1408.932,8705.962,23,1.0,23,-0.8,0.9,219.9,7,7.7