version: 66.12
glider: 199
mission: 5
dive: 43
start: 7 31 114 15 45 6
data:
$ID,199
$MISSION,5
$DIVE,43
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$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,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-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,688.85968
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21675.232
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2446
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,37
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3349
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-64.963387
$PRESSURE_SLOPE,0.0001159754
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.6
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,310714,153118,7114.411,-14454.887,39,0.8,59,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-72.6
$GPS2,310714,154448,7114.370,-14454.795,5,0.8,25,22.3
$SPEED_LIMITS,0.139,0.252
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,292.2,51441,-21.5,-11.628,-24.76,1932
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.76,-145.9,192,2396,544,466,0.0,0.0,0,75,0.00,0.00,-53.42,0.000,16386,0.000,0.000,191,2396,1897,1901,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.76,-145.9,193,2396,1900,1895,3.5,-3.7,5,139,11.23,2.58,-40.03,0.000,19204,0.480,0.151,2183,3767,3946,4001,3892,0,0,0,0,0,0,14.01,14.21,14.45
$GC,363,-0.76,-145.9,2182,3768,4003,3898,74.6,-22.9,59,371,0.00,2.38,0.00,0.000,1030,0.000,0.086,2183,2390,3949,4001,3897,0,0,0,0,0,0,28.83,14.33,28.83
$GC,675,-0.76,-145.9,2182,2391,4002,3898,135.7,-18.2,91,683,0.00,2.47,0.00,0.000,260,0.000,0.128,2172,3770,3950,4003,3897,0,0,0,0,0,0,28.83,14.35,28.83
$GC,916,-0.76,-145.9,2173,3768,3997,3898,180.7,-18.0,137,924,0.00,2.35,0.00,0.000,1030,0.000,0.086,2172,2392,3949,4001,3897,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1228,-0.76,-145.9,2172,2392,4003,3898,228.0,-14.4,169,1236,0.00,2.50,0.00,0.000,260,0.000,0.129,2162,3771,3949,4001,3897,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1400,-0.76,-145.9,2163,3772,4001,3897,255.3,-15.7,203,1409,0.17,2.35,0.00,0.000,3078,0.316,0.086,2197,2401,3948,4000,3896,0,0,0,0,0,0,14.25,14.40,28.83
$GC,1714,-0.76,-145.9,2196,2402,4002,3892,293.3,-11.9,215,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2398,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2013,-0.76,-145.9,2197,2402,4002,3895,327.7,-11.5,225,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2401,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,-0.76,-145.9,2198,2398,4000,3894,362.0,-11.3,235,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2401,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140731160426.877429,3,1870,32,0403,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,21.5,0.7,-100,2.3,-01,0.9,23,900,0025*12
$MODEM_MSG,CACST,6,1,20140731161628.878993,3,2518,27,0125,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,15.9,1.8,-100,1.2,-01,0.3,32,900,0025*1E
$GC,2613,-0.76,-145.9,2198,2401,4001,3893,396.2,-11.4,245,2621,0.00,2.45,0.00,0.000,260,0.000,0.131,2188,3768,3946,4001,3892,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2640,-0.76,-145.9,2190,3768,4000,3893,399.5,-13.0,250,2651,0.00,2.33,0.00,0.000,1030,0.000,0.086,2188,2400,3947,4003,3892,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2945,-0.76,-145.9,2188,2401,4002,3893,436.2,-11.9,261,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3946,4001,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3246,-0.76,-145.9,2186,2402,4000,3892,471.3,-11.5,271,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3946,4001,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3545,-0.76,-145.9,2190,2402,4000,3892,505.8,-11.6,281,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3946,4001,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3846,-0.76,-145.9,2189,2401,4000,3889,540.7,-11.6,291,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3946,4001,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-0.76,-145.9,2188,2402,4002,3891,575.6,-11.7,301,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3942,3995,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4446,-0.76,-145.9,2188,2402,4002,3890,610.4,-11.6,311,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3945,4001,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4745,-0.76,-145.9,2189,2401,4000,3890,645.1,-11.6,321,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5046,-0.76,-145.9,2188,2401,4002,3890,679.9,-11.6,331,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3944,4000,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5345,-0.76,-145.9,2188,2402,3997,3890,713.4,-11.1,341,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2401,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5646,-0.76,-145.9,2190,2402,4000,3890,746.7,-11.1,351,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2401,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5704,begin apogee
$GC,5707,-0.14,0.0,2187,2708,4000,3889,753.1,-10.9,353,5899,0.82,0.00,186.25,1.617,10246,0.285,0.000,2398,2707,3346,3399,3294,0,0,0,0,0,0,14.50,28.83,13.14
$STATE,5901,end apogee,CONTROL_FINISHED_OK
$STATE,5901,begin climb
$GC,5902,0.76,145.9,2397,2707,3395,3289,758.6,0.0,359,6044,0.98,2.10,128.20,1.940,10500,0.164,0.128,2681,3764,2744,2792,2697,0,0,0,0,0,0,13.76,13.47,12.76
$GC,6243,0.76,145.9,2678,3765,2781,2682,720.2,15.6,420,6251,0.00,1.92,0.00,0.000,1030,0.000,0.083,2688,2694,2730,2779,2681,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6571,0.76,145.9,2689,2695,2781,2681,675.7,13.6,435,6578,0.00,2.45,0.00,0.000,516,0.000,0.097,2698,1297,2728,2779,2678,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6602,0.76,145.9,2699,1298,2781,2679,671.5,12.2,441,6610,0.00,2.53,0.00,0.000,1030,0.000,0.106,2699,2698,2729,2779,2679,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6934,0.76,145.9,2700,2699,2779,2679,624.3,14.2,457,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2698,2728,2779,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7234,0.76,145.9,2699,2699,2777,2679,582.7,14.0,467,7242,0.00,2.45,0.00,0.000,516,0.000,0.096,2709,1297,2728,2779,2678,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7281,0.76,145.9,2709,1290,2781,2679,576.3,13.0,476,7289,0.00,2.50,0.00,0.000,1030,0.000,0.106,2709,2702,2729,2781,2678,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7599,0.76,145.9,2709,2703,2781,2679,531.2,14.3,489,7606,0.00,2.45,0.00,0.000,516,0.000,0.096,2719,1291,2728,2779,2678,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7640,0.76,145.9,2719,1291,2781,2678,525.4,13.9,497,7648,0.00,2.50,0.00,0.000,1030,0.000,0.106,2720,2703,2728,2779,2678,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7962,0.76,145.9,2721,2704,2779,2678,477.7,14.9,511,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2703,2728,2779,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8262,0.76,145.9,2721,2704,2779,2678,432.1,15.2,521,8270,0.00,2.45,0.00,0.000,516,0.000,0.096,2730,1287,2728,2779,2678,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8309,0.76,145.9,2730,1287,2779,2677,425.3,14.6,530,8319,0.17,2.50,0.00,0.000,5126,0.309,0.106,2693,2708,2728,2779,2677,0,0,0,0,0,0,14.40,14.50,28.83
$GC,8629,0.76,145.9,2693,2709,2781,2678,382.0,13.5,543,8637,0.00,2.45,0.00,0.000,516,0.000,0.096,2702,1287,2728,2779,2677,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8675,0.76,145.9,2703,1288,2779,2678,375.9,12.8,552,8684,0.00,2.47,0.00,0.000,1030,0.000,0.106,2699,2699,2728,2779,2677,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8993,0.76,145.9,2703,2701,2779,2676,332.3,13.7,565,9001,0.00,2.42,0.00,0.000,516,0.000,0.096,2712,1293,2728,2779,2677,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9035,0.76,145.9,2713,1293,2781,2678,326.7,13.0,573,9043,0.00,2.47,0.00,0.000,1030,0.000,0.106,2712,2705,2731,2786,2677,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9357,0.76,145.9,2711,2706,2781,2678,281.4,14.1,587,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2705,2728,2779,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9657,0.76,145.9,2710,2706,2779,2677,240.2,13.4,601,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2706,2728,2779,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9957,0.78,145.9,2711,2707,2781,2677,202.6,11.1,631,9965,0.00,2.42,0.00,0.000,516,0.000,0.095,2721,1298,2728,2779,2677,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10009,0.81,145.9,2723,1298,2780,2677,196.7,10.9,641,10017,0.00,2.47,0.00,0.000,1030,0.000,0.106,2722,2706,2728,2779,2677,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10321,0.88,199.0,2720,2707,2781,2678,164.7,8.8,673,10372,0.00,0.00,44.83,1.341,8710,0.000,0.000,2722,2706,2534,2595,2473,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10666,0.95,199.0,2723,2706,2574,2450,128.5,9.7,710,10675,0.00,2.47,0.00,0.000,516,0.000,0.095,2732,1289,2512,2575,2449,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10689,1.01,245.9,2732,1290,2576,2449,126.3,9.1,714,10739,0.12,2.53,39.97,1.309,11270,0.168,0.106,2771,2705,2339,2402,2276,0,0,0,0,0,0,14.38,14.36,13.60
$GC,11043,1.01,245.9,2772,2706,2390,2253,80.0,11.9,752,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2706,2320,2388,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11343,1.08,299.3,2773,2706,2388,2250,46.9,8.8,782,11373,0.00,2.55,23.30,0.304,8708,0.000,0.097,2782,1292,2128,2203,2053,0,0,0,0,0,0,28.83,14.34,14.24
$GC,11418,1.14,353.2,2784,1293,2221,2064,40.7,8.8,795,11454,0.00,2.53,28.52,0.288,9222,0.000,0.107,2782,2708,1907,1992,1823,0,0,0,0,0,0,28.83,14.32,14.23
$GC,11748,1.36,532.3,2784,2708,2009,1842,13.0,2.1,830,11847,0.32,2.50,89.18,0.210,10756,0.123,0.094,2901,1297,1176,1268,1084,0,0,0,0,0,0,14.41,14.26,14.23
$GC,12072,1.61,737.1,2901,1298,1279,1094,8.9,0.7,889,12168,0.20,2.50,85.65,0.201,11270,0.140,0.106,2966,2704,496,546,447,0,0,0,0,0,0,14.38,14.36,14.19
$STATE,12221,end climb,SURFACE_DEPTH_REACHED
$STATE,12222,begin surface coast
$FINISH,1.0,1.018338
$STATE,12242,end surface coast,CONTROL_FINISHED_OK
$STATE,12242,begin surface
$SM_CCo,12323,0.00,0.000,0,0,501,698.61
$SM_GC,2.18,8.57,0.55,0.00,0.111,0.097,0.000,202,2396,501,-6.97,0.82,698.61,0,0,0,0,0,0,14.33,14.36,28.83
$RAFOS_CLK,494
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7039.27,-14513.64,310714,115403
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.48
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,4012204
$TM_FREEKB,7408704
$24V_AH,12.76,65.683
$10V_AH,12.70,0.000
$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,22.600,74.175,625.900,0.000,0.000,0.000,0.000,562.975,0.000,0.000,26.612,0.000,9564.740,746.956,2704.453,114.211,0.000,2138.552,0.000,1351.880,1499.000,0.538,0.000
$DEVICE_MAMPS,480.420,150.705,1940.040,0.000,0.000,0.000,0.000,200.430,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12267.000,12319.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.275,12.690,0.000,0.000
$MEM,293556
$DATA_FILE_SIZE,30013,911
$CAP_FILE_SIZE,149169,0
$CFSIZE,2097872896,2083291136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13461.01,0x2378b6,7,5
$SOUNDSPEED,1451.6
$EKF,12411,4275.491211,-8697.404297,0.998886,0.111280,-0.054036,0.001939,0.000275,0.002658,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.077,119.24,1
$GPS,310714,191154,7115.249,-14456.013,31,0.8,51,22.3