version: 66.13
glider: 171
mission: 11
dive: 240
start: 9 17 119 7 17 33
data:
$ID,171
$MISSION,11
$DIVE,240
$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,390
$T_MISSION,440
$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,120
$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,0.0019952599
$HD_B,0.0163117
$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,500
$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,53
$R_STBD_OVSHOOT,29
$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
$GPS1,170919,070739,1322.4476,8702.5293,21,1.3,21,-0.9,2.0,181.8,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.2
$GPS2,170919,071646,1322.2419,8702.5488,2,0.6,3,-0.9,1.0,150.6,12,6.5
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,335.2,44699,-17.3,-8.462,-25.76,2103
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-116.8,64,2501,968,881,0.0,0.0,0,99,0.00,0.00,-73.55,0.005,16386,0.000,0.000,55,2501,2689,2687,2691,0,0,0,0,0,0,14.81,28.83,14.83
$GC,102,-0.62,-116.8,54,2501,2688,2692,4.7,-12.1,15,133,9.25,2.35,-13.35,0.011,18948,0.353,0.064,2127,1093,3448,3454,3442,0,0,0,0,0,0,14.24,13.23,14.46
$GC,186,-0.62,-116.8,2127,1093,3456,3442,36.6,-29.5,32,193,0.00,2.45,0.00,0.000,1030,0.000,0.062,2119,2499,3448,3454,3442,0,0,0,0,0,0,14.54,14.48,14.58
$GC,382,-0.62,-116.8,2118,2499,3454,3442,92.0,-22.8,55,391,0.00,2.38,0.00,0.000,260,0.000,0.077,2109,3907,3448,3455,3442,0,0,0,0,0,0,14.89,14.59,14.92
$GC,468,-0.62,-116.8,2108,3908,3454,3442,109.5,-19.4,72,475,0.00,2.30,0.00,0.000,1030,0.000,0.035,2108,2500,3448,3454,3442,0,0,0,0,0,0,14.65,14.62,14.67
$GC,655,-0.62,-116.8,2108,2498,3454,3442,142.3,-16.8,91,661,0.00,2.28,0.00,0.000,516,0.000,0.047,2108,1094,3448,3454,3442,0,0,0,0,0,0,14.92,14.60,14.95
$GC,688,-0.62,-116.8,2108,1094,3454,3442,147.6,-15.5,97,699,0.12,2.38,0.00,0.000,3078,0.238,0.056,2125,2514,3447,3453,3442,0,0,0,0,0,0,14.51,14.66,14.70
$GC,879,-0.62,-116.8,2125,2514,3455,3442,175.2,-14.2,117,884,0.00,2.33,0.00,0.000,260,0.000,0.083,2115,3890,3448,3454,3442,0,0,0,0,0,0,14.94,14.63,14.97
$GC,953,-0.62,-116.8,2116,3890,3454,3442,185.8,-14.3,131,959,0.00,2.20,0.00,0.000,1030,0.000,0.033,2116,2491,3448,3454,3442,0,0,0,0,0,0,14.81,14.75,14.82
$GC,1148,-0.62,-116.8,2116,2490,3454,3442,212.3,-12.6,151,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2490,3448,3454,3442,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1337,-0.62,-116.8,2116,2490,3453,3442,234.7,-10.9,170,1344,0.00,2.22,0.00,0.000,516,0.000,0.046,2116,1105,3448,3454,3442,0,0,0,0,0,0,14.98,14.73,15.01
$GC,1372,-0.62,-116.8,2116,1105,3452,3442,238.5,-11.3,176,1378,0.00,2.35,0.00,0.000,1030,0.000,0.058,2105,2506,3447,3452,3442,0,0,0,0,0,0,14.79,14.69,14.82
$GC,1575,-0.62,-116.8,2105,2505,3450,3442,263.9,-12.9,192,1583,0.00,2.35,0.00,0.000,260,0.000,0.083,2094,3893,3446,3451,3442,0,0,0,0,0,0,15.00,14.67,15.02
$GC,1651,-0.62,-116.8,2094,3893,3450,3442,274.0,-13.3,207,1658,0.10,2.25,0.00,0.000,3078,0.180,0.033,2126,2490,3446,3450,3442,0,0,0,0,0,0,14.48,14.69,14.59
$GC,1957,-0.62,-116.8,2125,2488,3446,3442,311.6,-12.5,223,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2489,3443,3446,3441,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2256,-0.62,-116.8,2125,2488,3444,3437,349.2,-12.3,238,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2489,3440,3444,3437,0,0,0,0,0,0,15.02,15.05,15.04
$GC,2556,-0.62,-116.8,2125,2488,3443,3434,384.8,-11.7,253,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2489,3439,3444,3434,0,0,0,0,0,0,15.02,15.06,15.05
$GC,2857,-0.62,-116.8,2125,2488,3440,3431,418.0,-10.7,268,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2488,3435,3440,3431,0,0,0,0,0,0,15.03,15.06,15.04
$GC,3157,-0.62,-116.8,2125,2488,3438,3429,449.1,-10.3,283,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2488,3434,3438,3430,0,0,0,0,0,0,15.03,15.06,15.06
$GC,3456,-0.62,-116.8,2125,2488,3435,3427,479.4,-10.1,298,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2488,3430,3435,3425,0,0,0,0,0,0,15.02,15.06,15.05
$GC,3756,-0.62,-116.8,2125,2488,3432,3424,508.8,-9.7,313,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2488,3428,3433,3424,0,0,0,0,0,0,15.02,15.06,15.04
$GC,4056,-0.62,-116.8,2125,2488,3431,3422,537.4,-9.4,328,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2488,3426,3431,3422,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4357,-0.62,-116.8,2125,2488,3430,3421,565.0,-9.2,343,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2488,3425,3429,3421,0,0,0,0,0,0,15.02,15.06,15.04
$GC,4656,-0.62,-116.8,2125,2488,3428,3420,593.2,-9.5,358,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2488,3424,3428,3421,0,0,0,0,0,0,15.02,15.04,15.04
$GC,4956,-0.62,-116.8,2125,2488,3426,3419,622.3,-9.8,373,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2488,3422,3426,3419,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5256,-0.62,-116.8,2125,2489,3424,3417,652.0,-9.8,388,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2489,3421,3424,3418,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5557,-0.62,-116.8,2125,2488,3423,3415,682.4,-10.2,403,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2488,3419,3423,3415,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5856,-0.62,-116.8,2125,2488,3422,3414,712.9,-10.0,418,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2488,3418,3422,3414,0,0,0,0,0,0,15.00,15.04,15.03
$GC,6157,-0.62,-116.8,2126,2488,3421,3413,742.5,-9.7,433,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2488,3417,3421,3413,0,0,0,0,0,0,15.01,15.03,15.02
$GC,6456,-0.62,-116.8,2125,2488,3420,3412,769.2,-8.5,448,6462,0.00,2.28,0.00,0.000,516,0.000,0.051,2126,1110,3416,3420,3412,0,0,0,0,0,0,15.00,14.67,15.02
$GC,6495,-0.62,-116.8,2126,1109,3420,3411,772.5,-8.4,455,6502,0.00,2.42,0.00,0.000,1030,0.000,0.060,2117,2495,3415,3419,3411,0,0,0,0,0,0,14.58,14.52,14.63
$GC,6800,-0.62,-116.8,2116,2495,3418,3411,799.0,-8.6,471,6809,0.00,2.42,0.00,0.000,260,0.000,0.089,2106,3893,3414,3418,3411,0,0,0,0,0,0,15.00,14.57,15.02
$GC,6830,-0.62,-116.8,2106,3893,3418,3410,801.8,-9.7,477,6836,0.00,2.22,0.00,0.000,1030,0.000,0.038,2106,2515,3413,3417,3410,0,0,0,0,0,0,14.78,14.71,14.81
$GC,7144,-0.62,-116.8,2106,2515,3417,3410,831.3,-9.5,494,7151,0.00,2.35,0.00,0.000,516,0.000,0.052,2106,1103,3413,3417,3409,0,0,0,0,0,0,14.99,14.64,15.02
$GC,7193,-0.62,-116.8,2106,1103,3418,3409,836.0,-9.5,503,7202,0.12,2.40,0.00,0.000,3078,0.218,0.065,2125,2499,3413,3418,3409,0,0,0,0,0,0,14.47,14.62,14.67
$GC,7510,-0.62,-116.8,2124,2498,3416,3408,862.8,-8.4,521,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2498,3412,3416,3408,0,0,0,0,0,0,14.99,15.02,15.02
$GC,7810,-0.62,-116.8,2124,2498,3414,3408,887.3,-8.1,536,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2499,3411,3415,3408,0,0,0,0,0,0,14.99,15.02,15.01
$GC,8110,-0.62,-116.8,2124,2498,3415,3408,911.3,-8.0,551,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2498,3410,3413,3407,0,0,0,0,0,0,14.99,15.02,15.01
$GC,8410,-0.62,-116.8,2124,2499,3413,3406,935.3,-8.2,566,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2498,3409,3413,3406,0,0,0,0,0,0,14.98,15.01,15.01
$GC,8710,-0.62,-116.8,2124,2499,3412,3406,959.8,-8.5,581,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2498,3409,3413,3406,0,0,0,0,0,0,14.97,15.01,15.00
$GC,9011,-0.62,-116.8,2124,2498,3412,3405,984.7,-8.4,596,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2498,3409,3413,3405,0,0,0,0,0,0,14.97,15.00,15.00
$STATE,9087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9088,begin apogee
$GC,9093,-0.15,0.0,2125,2498,3412,3405,991.4,-8.3,600,9204,0.52,0.00,105.38,2.022,10246,0.169,0.000,2277,2499,2968,2994,2943,0,0,0,0,0,0,14.45,14.13,13.20
$STATE,9206,end apogee,CONTROL_FINISHED_OK
$STATE,9206,begin climb
$GC,9209,0.62,116.8,2277,2499,2992,2943,994.1,0.0,605,9335,0.80,0.00,114.43,2.014,10246,0.098,0.000,2538,2499,2490,2522,2459,0,0,0,0,0,0,14.19,13.97,13.06
$GC,9632,0.62,116.8,2538,2499,2511,2453,964.7,10.1,627,9640,0.00,2.50,0.00,0.000,516,0.000,0.054,2550,1028,2482,2511,2454,0,0,0,0,0,0,14.73,14.48,14.76
$GC,9696,0.62,116.8,2549,1028,2510,2453,958.0,10.0,640,9704,0.00,2.45,0.00,0.000,1030,0.000,0.057,2550,2449,2481,2510,2453,0,0,0,0,0,0,14.61,14.51,14.64
$GC,10013,0.62,116.8,2549,2449,2509,2452,926.2,9.9,658,10020,0.00,2.40,0.00,0.000,516,0.000,0.051,2559,1041,2481,2511,2452,0,0,0,0,0,0,14.86,14.60,14.89
$GC,10058,0.62,116.8,2560,1040,2507,2451,921.6,10.3,666,10065,0.00,2.40,0.00,0.000,1030,0.000,0.054,2560,2449,2479,2508,2451,0,0,0,0,0,0,14.69,14.59,14.72
$GC,10384,0.62,116.8,2560,2448,2507,2451,887.5,10.5,685,10390,0.00,2.40,0.00,0.000,516,0.000,0.050,2572,1038,2479,2507,2451,0,0,0,0,0,0,14.90,14.63,14.94
$GC,10408,0.62,116.8,2572,1037,2506,2451,884.9,10.6,689,10417,0.17,2.40,0.00,0.000,5126,0.233,0.054,2532,2447,2478,2506,2451,0,0,0,0,0,0,14.39,14.62,14.59
$GC,10731,0.62,116.8,2532,2447,2506,2450,853.5,9.6,708,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2447,2478,2506,2450,0,0,0,0,0,0,14.92,14.96,14.96
$GC,11032,0.62,116.8,2532,2447,2506,2449,825.2,9.4,723,11040,0.00,2.38,0.00,0.000,516,0.000,0.054,2542,1044,2477,2506,2449,0,0,0,0,0,0,14.94,14.64,14.97
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$STATE,20737,end climb,SURFACE_DEPTH_REACHED
$STATE,20737,begin surface coast
$STATE,20772,end surface coast,CONTROL_FINISHED_OK
$STATE,20772,begin surface
$SM_CCo,20798,120.18,0.627,1,0,928,500.17
$SM_GC,1.24,7.15,0.10,120.18,0.044,0.155,0.627,124,2503,928,-6.78,-1.02,500.17,0,0,0,0,1,0,14.66,14.59,13.96
$IRIDIUM_FIX,1323.94,8704.82,170919,011034
$TT8_MAMPS,0.018725,0.211218
$HUMID,41.80
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.60
$XPDR_PINGS,2
$SC_FREEKB,3802592
$PM_FREEKB_00,47978368
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.06,92.899
$10V_AH,13.13,0.000
$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,18.975,151.800,449.075,120.175,0.000,0.000,0.000,302.475,0.500,0.000,16.400,1468.204,13801.702,638.057,4983.256,583.387,0.000,2482.093,0.000,4343.511,0.000,0.541,0.000
$DEVICE_MAMPS,352.665,155.295,2021.895,626.535,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4134.170,0.000,0.000,0.000,0.000,0.000,20783.000,0.000,20794.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.211,0.000,3.425,0.000
$MEM,251832
$DATA_FILE_SIZE,69945,1584
$CAP_FILE_SIZE,283833,0
$CFSIZE,260034560,167505920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.099,128.06,1
$GPS,170919,130738,1323.215,8702.646,16,1.0,16,-0.9,0.2,140.6,7,6.4