version: 66.13
glider: 190
mission: 9
dive: 701
start: 3 17 117 18 9 23
data:
$ID,190
$MISSION,9
$DIVE,701
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,50
$D_BOOST,120
$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,450
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53220
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040899999
$HD_B,0.0102
$HD_C,4.5000002e-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,10000
$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
$PITCH_MIN,225
$PITCH_MAX,3920
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.1
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2740
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$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,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-163.98293
$PRESSURE_SLOPE,0.00010649362
$AD7714Ch0Gain,1
$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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,134
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043932092
$SEABIRD_T_H,0.00063312391
$SEABIRD_T_I,2.6030159e-05
$SEABIRD_T_J,3.2258831e-06
$SEABIRD_C_G,-9.8128548
$SEABIRD_C_H,1.1245126
$SEABIRD_C_I,-0.00070758193
$SEABIRD_C_J,0.00013654788
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,170317,180303,1043.9347,-12504.3848,30,0.8,31,9.3,0.5,136.5,11,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-67.1
$GPS2,170317,180858,1043.9149,-12504.4648,18,0.8,19,9.3,0.5,230.8,11,9.0
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,S
$TGT_LATLONG,900.000,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,156.1,192624,-15.8,-7.333,-19.03,2447
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,8,-0.68,-116.8,201,2234,742,665,0.0,0.0,0,98,0.00,0.00,-89.25,0.000,16386,0.000,0.000,200,2226,3045,3093,2997,0,0,0,0,0,0,14.54,28.83,14.57
$GC,103,-0.68,-116.8,201,2225,3095,2998,4.4,-6.0,3,128,8.77,2.58,-2.88,0.000,18948,0.392,2.050,1978,916,3221,3308,3135,0,0,0,0,0,0,13.85,12.65,14.11
$GC,199,-0.50,-116.8,1977,916,3315,3132,38.9,-23.7,17,205,0.25,2.47,0.00,0.000,3206,0.261,0.059,2030,2285,3222,3314,3131,0,0,0,0,0,0,13.80,14.17,14.12
$GC,526,-0.50,-116.8,2030,2286,3318,3130,79.5,-8.5,30,530,0.00,2.50,0.00,0.000,260,0.000,0.073,2019,3693,3223,3317,3130,0,0,0,0,0,0,14.73,14.07,14.75
$GC,652,-0.50,-116.8,2019,3694,3319,3130,90.9,-8.9,48,656,0.00,2.35,0.00,0.000,1030,0.000,0.037,2019,2294,3224,3318,3130,0,0,0,0,0,0,14.31,14.23,14.33
$GC,1006,-0.50,-116.8,2020,2295,3320,3130,119.3,-8.3,58,1011,0.00,2.50,0.00,0.000,516,0.000,0.050,2019,894,3224,3320,3129,0,0,0,0,0,0,14.78,13.96,14.79
$GC,1088,-0.50,-116.8,2020,894,3320,3130,126.7,-8.1,70,1093,0.00,2.53,0.00,0.000,1030,0.000,0.052,2015,2283,3224,3320,3129,0,0,0,0,0,0,14.15,14.04,14.19
$GC,1458,-0.50,-116.8,2016,2284,3321,3129,157.3,-8.8,80,1463,0.00,2.58,0.00,0.000,260,0.000,0.076,2012,3692,3224,3319,3129,0,0,0,0,0,0,14.79,13.98,14.81
$GC,1574,-0.50,-116.8,2012,3692,3320,3128,167.1,-8.2,96,1578,0.00,2.40,0.00,0.000,1030,0.000,0.038,2012,2283,3223,3319,3128,0,0,0,0,0,0,14.17,14.10,14.20
$GC,1912,-0.50,-116.8,2012,2284,3320,3125,196.6,-8.9,109,1918,0.00,2.55,0.00,0.000,516,0.000,0.051,2012,893,3221,3319,3124,0,0,0,0,0,0,14.81,13.91,14.83
$GC,1982,-0.50,-116.8,2012,893,3320,3124,203.6,-9.4,119,1987,0.00,2.55,0.00,0.000,1030,0.000,0.053,2012,2285,3221,3319,3124,0,0,0,0,0,0,14.13,14.01,14.17
$GC,2308,-0.50,-116.8,2012,2286,3320,3120,235.3,-10.0,130,2313,0.00,2.58,0.00,0.000,260,0.000,0.079,2011,3687,3219,3319,3119,0,0,0,0,0,0,14.81,13.97,14.83
$GC,2397,-0.50,-116.8,2011,3688,3320,3120,244.2,-9.3,143,2402,0.00,2.42,0.00,0.000,1030,0.000,0.039,2011,2283,3219,3319,3120,0,0,0,0,0,0,14.14,14.07,14.20
$GC,2761,-0.50,-116.8,2011,2284,3320,3115,276.9,-9.1,152,2766,0.00,2.55,0.00,0.000,516,0.000,0.051,2011,882,3216,3319,3114,0,0,0,0,0,0,14.80,13.91,14.81
$GC,2829,-0.50,-116.8,2012,882,3320,3114,283.5,-8.7,162,2834,0.00,2.58,0.00,0.000,1030,0.000,0.055,2011,2280,3216,3319,3114,0,0,0,0,0,0,14.14,14.02,14.19
$GC,3156,-0.50,-116.8,2012,2281,3320,3111,311.0,-8.6,173,3161,0.00,2.60,0.00,0.000,260,0.000,0.079,2010,3698,3215,3319,3111,0,0,0,0,0,0,14.83,13.97,14.82
$GC,3247,-0.50,-116.8,2011,3698,3321,3111,319.0,-8.4,186,3252,0.00,2.45,0.00,0.000,1030,0.000,0.038,2010,2276,3214,3319,3110,0,0,0,0,0,0,14.13,14.06,14.16
$GC,3608,-0.50,-116.8,2011,2276,3319,3108,349.0,-8.3,195,3613,0.00,2.53,0.00,0.000,516,0.000,0.050,2010,891,3213,3319,3107,0,0,0,0,0,0,14.81,13.91,14.82
$GC,3668,-0.50,-116.8,2010,892,3320,3107,354.1,-8.4,203,3673,0.00,2.58,0.00,0.000,1030,0.000,0.054,2010,2290,3212,3319,3106,0,0,0,0,0,0,14.13,14.01,14.18
$GC,4007,-0.50,-116.8,2011,2290,3317,3106,383.4,-8.8,216,4012,0.00,2.60,0.00,0.000,260,0.000,0.080,2001,3699,3210,3316,3105,0,0,0,0,0,0,14.81,13.97,14.83
$GC,4110,-0.50,-116.8,2002,3700,3316,3106,393.4,-9.2,231,4122,0.10,2.50,0.00,0.000,3078,0.186,0.039,2032,2278,3210,3315,3105,0,0,0,0,0,0,13.73,14.06,13.88
$GC,4460,-0.50,-116.8,2032,2279,3316,3102,421.8,-8.3,238,4465,0.00,2.53,0.00,0.000,516,0.000,0.050,2032,885,3208,3315,3101,0,0,0,0,0,0,14.80,13.95,14.81
$GC,4520,-0.55,-116.8,2033,886,3316,3101,426.9,-8.5,246,4524,0.00,2.58,0.00,0.000,1158,0.000,0.054,2029,2281,3207,3315,3100,0,0,0,0,0,0,14.13,14.00,14.17
$GC,4858,-0.55,-116.8,2029,2282,3314,3099,454.9,-8.3,259,4863,0.00,2.62,0.00,0.000,260,0.000,0.080,2024,3692,3206,3314,3099,0,0,0,0,0,0,14.81,13.97,14.83
$GC,4942,-0.61,-116.8,2025,3692,3312,3100,462.0,-8.1,271,4947,0.00,2.45,0.00,0.000,1158,0.000,0.041,2024,2279,3205,3312,3099,0,0,0,0,0,0,14.14,14.07,14.17
$GC,5310,-0.61,-116.8,2025,2279,3313,3097,492.7,-8.4,281,5316,0.00,2.53,0.00,0.000,516,0.000,0.051,2024,894,3204,3312,3096,0,0,0,0,0,0,14.81,13.90,14.82
$GC,5382,-0.66,-116.8,2025,894,3312,3097,499.1,-8.3,291,5387,0.12,2.58,0.00,0.000,5254,0.134,0.054,1972,2294,3203,3311,3096,0,0,0,0,0,0,13.99,14.00,14.14
$GC,5708,-0.66,-116.8,1973,2295,3309,3097,534.6,-11.3,302,5713,0.00,2.60,0.00,0.000,260,0.000,0.084,1970,3690,3202,3308,3096,0,0,0,0,0,0,14.81,13.97,14.83
$GC,5767,-0.66,-116.8,1971,3691,3308,3097,541.3,-11.3,310,5772,0.00,2.45,0.00,0.000,1030,0.000,0.042,1970,2291,3202,3308,3096,0,0,0,0,0,0,14.13,14.04,14.16
$GC,6107,-0.66,-116.8,1970,2292,3309,3095,580.0,-11.3,323,6112,0.00,2.58,0.00,0.000,516,0.000,0.056,1970,882,3201,3308,3094,0,0,0,0,0,0,14.79,13.93,14.81
$GC,6203,-0.66,-116.8,1971,882,3309,3094,591.0,-10.5,337,6209,0.00,2.60,0.00,0.000,1030,0.000,0.058,1968,2281,3200,3308,3093,0,0,0,0,0,0,14.14,14.02,14.19
$GC,6558,-0.66,-116.8,1969,2281,3307,3092,629.5,-11.0,345,6564,0.00,2.62,0.00,0.000,260,0.000,0.082,1959,3693,3199,3306,3092,0,0,0,0,0,0,14.80,13.95,14.82
$GC,6628,-0.66,-116.8,1959,3694,3306,3092,637.5,-10.8,355,6633,0.00,2.47,0.00,0.000,1030,0.000,0.042,1957,2278,3198,3305,3092,0,0,0,0,0,0,14.13,14.05,14.16
$GC,6955,-0.61,-116.8,1959,2279,3306,3090,674.8,-11.6,366,6960,0.15,2.55,0.00,0.000,2692,0.246,0.051,1997,887,3197,3305,3090,0,0,0,0,0,0,13.51,13.63,13.56
$GC,7037,-0.61,-116.8,1997,887,3305,3090,683.2,-8.7,378,7042,0.00,2.60,0.00,0.000,1030,0.000,0.057,1996,2283,3197,3305,3089,0,0,0,0,0,0,14.14,14.02,14.19
$GC,7407,-0.61,-116.8,1996,2284,3304,3088,718.4,-9.7,388,7413,0.00,2.65,0.00,0.000,260,0.000,0.084,1987,3695,3195,3303,3087,0,0,0,0,0,0,14.79,13.96,14.81
$GC,7489,-0.61,-116.8,1987,3696,3304,3088,726.8,-9.0,400,7495,0.00,2.50,0.00,0.000,1030,0.000,0.043,1987,2277,3195,3303,3088,0,0,0,0,0,0,14.15,14.07,14.18
$GC,7860,-0.61,-116.8,1988,2276,3303,3087,762.2,-9.5,410,7865,0.00,2.55,0.00,0.000,516,0.000,0.054,1986,888,3194,3302,3086,0,0,0,0,0,0,14.78,13.95,14.80
$GC,7907,-0.61,-116.8,1987,889,3304,3087,766.8,-9.3,417,7919,0.00,2.62,0.00,0.000,1030,0.000,0.057,1986,2277,3194,3303,3086,0,0,0,0,0,0,14.09,14.01,14.14
$GC,8255,-0.61,-116.8,1986,2277,3302,3085,798.4,-9.0,424,8260,0.00,2.65,0.00,0.000,260,0.000,0.086,1984,3694,3193,3301,3085,0,0,0,0,0,0,14.80,13.99,14.81
$GC,8344,-0.61,-116.8,1985,3693,3301,3085,805.8,-8.3,437,8351,0.00,2.50,0.00,0.000,1030,0.000,0.044,1984,2271,3192,3300,3084,0,0,0,0,0,0,14.14,14.06,14.16
$GC,8708,-0.61,-116.8,1985,2270,3301,3083,836.3,-8.4,446,8713,0.00,2.55,0.00,0.000,516,0.000,0.057,1984,894,3191,3300,3082,0,0,0,0,0,0,14.78,13.96,14.80
$GC,8776,-0.61,-116.8,1985,895,3300,3082,842.1,-8.5,456,8781,0.00,2.60,0.00,0.000,1030,0.000,0.058,1984,2289,3190,3299,3082,0,0,0,0,0,0,14.15,14.02,14.19
$GC,9105,-0.61,-116.8,1984,2290,3299,3081,871.0,-9.0,467,9110,0.00,2.65,0.00,0.000,260,0.000,0.090,1982,3699,3189,3298,3081,0,0,0,0,0,0,14.78,13.99,14.79
$GC,9201,-0.61,-116.8,1983,3699,3299,3081,879.7,-8.9,481,9207,0.00,2.50,0.00,0.000,1030,0.000,0.044,1983,2271,3189,3298,3081,0,0,0,0,0,0,14.15,14.07,14.17
$GC,9556,-0.61,-116.8,1983,2269,3299,3079,914.3,-9.8,489,9562,0.00,2.55,0.00,0.000,516,0.000,0.057,1983,891,3188,3298,3079,0,0,0,0,0,0,14.79,13.96,14.81
$GC,9605,-0.61,-116.8,1983,892,3298,3079,918.9,-9.9,496,9616,0.00,2.62,0.00,0.000,1030,0.000,0.060,1982,2279,3188,3297,3079,0,0,0,0,0,0,14.05,13.98,14.10
$GC,9952,-0.61,-116.8,1983,2279,3296,3078,952.6,-9.6,503,9957,0.00,2.62,0.00,0.000,260,0.000,0.086,1977,3691,3187,3297,3078,0,0,0,0,0,0,14.78,14.00,14.81
$GC,10027,-0.61,-116.8,1978,3691,3298,3079,959.4,-8.5,514,10032,0.00,2.53,0.00,0.000,1030,0.000,0.045,1977,2271,3187,3296,3078,0,0,0,0,0,0,14.12,14.01,14.15
$STATE,10343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10343,begin apogee
$GC,10354,-0.19,0.0,1978,2180,3298,3077,990.4,-9.5,524,10551,0.57,0.00,195.55,1.574,10244,0.195,0.000,2131,2179,2742,2868,2616,0,0,0,0,0,0,13.69,13.85,13.15
$STATE,10552,end apogee,CONTROL_FINISHED_OK
$STATE,10552,begin climb
$GC,10556,0.68,116.8,2132,2179,2859,2611,997.2,0.0,527,10723,0.98,2.58,151.95,1.717,10756,0.134,0.057,2418,812,2254,2378,2131,0,0,0,0,0,0,13.63,13.74,12.90
$GC,10751,0.68,116.8,2419,812,2353,2122,992.6,7.8,561,10757,0.00,2.65,0.00,0.000,1030,0.000,0.055,2418,2199,2236,2352,2120,0,0,0,0,0,0,13.72,13.61,13.77
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$STATE,23269,end climb,SURFACE_DEPTH_REACHED
$STATE,23269,begin surface coast
$FINISH,-0.1,1.022100
$STATE,23297,end surface coast,CONTROL_FINISHED_OK
$STATE,23297,begin surface
$SM_CCo,23319,51.92,0.133,0,0,698,500.17
$SM_GC,0.71,7.18,0.10,51.92,0.067,0.115,0.133,211,2320,698,-6.15,-1.05,500.17,0,0,0,0,0,0,14.09,14.37,14.11
$IRIDIUM_FIX,1042.10,-12502.40,170317,111127
$TT8_MAMPS,0.038948,0.295855
$HUMID,61.41
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.40
$XPDR_PINGS,22
$24V_AH,12.65,268.819
$10V_AH,11.91,0.000
$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,19.400,271.825,661.725,51.925,0.000,0.000,0.000,205.675,5.500,0.000,19.785,0.000,17258.986,919.880,4885.108,643.438,0.000,2308.594,0.000,4143.018,0.000,0.829,0.000
$DEVICE_MAMPS,392.445,2050.200,1717.425,133.110,0.000,0.000,0.000,167.535,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,2959.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,25.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334352
$DATA_FILE_SIZE,53374,1208
$CAP_FILE_SIZE,178357,0
$CFSIZE,260034560,173948928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,266.63,1
$GPS,180317,004003,1042.099,-12504.979,39,0.8,39,9.3,0.0,0.0,11,9.0