version: 66.08
glider: 502
mission: 3
dive: 254
start: 12 17 110 22 9 4
data:
$ID,502
$MISSION,3
$DIVE,254
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$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,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30458.057
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,171210,220202,-7642.479,17113.471,25,1.6,25,131.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.7
$GPS2,171210,220837,-7642.520,17113.430,29,1.1,29,131.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7630.000,18000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,299.3,228835,-17.5,-10.000
$D_GRID,740
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,90,-0.76,-146.0,3.2,-2.3,10,133,8.98,2.33,-23.95,0.000,4,0.204,0.064,2805,1246,3560,0,0,0,0,0,0
$GC,302,-0.76,-146.0,30.5,-15.7,46,311,0.00,2.33,0.00,0.000,6,0.000,0.057,2797,2645,3562,0,0,0,0,0,0
$GC,446,-0.76,-146.0,54.2,-17.7,71,453,0.00,1.80,0.00,0.000,4,0.000,0.063,2788,3763,3562,0,0,0,0,0,0
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$GC,622,-0.76,-146.0,85.5,-17.9,101,629,0.10,1.85,0.00,0.000,4,0.182,0.065,2806,3766,3562,0,0,0,0,0,0
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$GC,793,-0.76,-146.0,114.4,-16.2,123,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2654,3561,0,0,0,0,0,0
$GC,919,-0.76,-146.0,134.5,-15.9,135,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2654,3562,0,0,0,0,0,0
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$GC,1093,-0.76,-146.0,162.3,-16.4,151,1097,0.00,1.70,0.00,0.000,6,0.000,0.043,2798,2666,3562,0,0,0,0,0,0
$GC,1235,-0.76,-146.0,185.4,-16.7,164,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2663,3562,0,0,0,0,0,0
$GC,1370,-0.76,-146.0,208.0,-16.3,177,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2663,3562,0,0,0,0,0,0
$GC,1498,-0.76,-146.0,229.1,-16.7,189,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2663,3562,0,0,0,0,0,0
$GC,1625,-0.76,-146.0,249.4,-16.1,201,1632,0.00,1.77,0.00,0.000,4,0.000,0.063,2790,3763,3562,0,0,0,0,0,0
$GC,1651,-0.76,-146.0,253.7,-16.4,203,1654,0.00,1.73,0.00,0.000,6,0.000,0.043,2790,2663,3562,0,0,0,0,0,0
$GC,1854,-0.76,-146.0,287.6,-16.4,222,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2662,3562,0,0,0,0,0,0
$GC,2046,-0.76,-146.0,319.8,-16.8,240,2050,0.00,1.80,0.00,0.000,4,0.000,0.064,2782,3766,3562,0,0,0,0,0,0
$GC,2106,-0.76,-146.0,331.2,-17.5,245,2114,0.10,1.73,0.00,0.000,6,0.142,0.043,2815,2676,3562,0,0,0,0,0,0
$GC,2306,-0.76,-146.0,360.3,-14.2,264,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2676,3562,0,0,0,0,0,0
$GC,2496,-0.76,-146.0,386.9,-13.8,282,2499,0.00,1.77,0.00,0.000,4,0.000,0.065,2808,3766,3562,0,0,0,0,0,0
$GC,2541,-0.76,-146.0,393.4,-14.4,286,2545,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2672,3562,0,0,0,0,0,0
$GC,2744,-0.76,-146.0,421.0,-13.7,305,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2670,3562,0,0,0,0,0,0
$GC,2936,-0.76,-146.0,448.0,-14.7,323,2939,0.00,1.77,0.00,0.000,4,0.000,0.063,2800,3764,3562,0,0,0,0,0,0
$GC,3004,-0.76,-146.0,458.4,-15.0,329,3007,0.00,1.67,0.00,0.000,6,0.000,0.044,2800,2685,3562,0,0,0,0,0,0
$GC,3207,-0.76,-146.0,487.9,-14.3,348,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2683,3562,0,0,0,0,0,0
$GC,3415,-0.76,-146.0,517.4,-13.9,360,3418,0.00,1.75,0.00,0.000,4,0.000,0.064,2792,3764,3562,0,0,0,0,0,0
$GC,3482,-0.76,-146.0,527.5,-15.4,362,3486,0.00,1.67,0.00,0.000,6,0.000,0.044,2792,2682,3562,0,0,0,0,0,0
$GC,3701,-0.76,-146.0,558.7,-14.4,369,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2680,3562,0,0,0,0,0,0
$GC,3884,-0.76,-146.0,585.6,-14.6,375,3888,0.00,1.77,0.00,0.000,4,0.000,0.064,2784,3770,3562,0,0,0,0,0,0
$GC,3922,-0.76,-146.0,591.8,-16.2,376,3927,0.08,1.70,0.00,0.000,6,0.142,0.043,2810,2697,3562,0,0,0,0,0,0
$GC,4135,-0.76,-146.0,619.7,-12.9,383,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2696,3562,0,0,0,0,0,0
$GC,4319,-0.76,-146.0,643.0,-12.5,389,4322,0.00,1.75,0.00,0.000,4,0.000,0.064,2802,3770,3562,0,0,0,0,0,0
$GC,4372,-0.76,-146.0,650.1,-13.9,390,4376,0.00,1.65,0.00,0.000,6,0.000,0.044,2802,2703,3562,0,0,0,0,0,0
$GC,4574,-0.76,-146.0,677.3,-13.3,397,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2702,3562,0,0,0,0,0,0
$STATE,4633,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4633,begin apogee
$GC,4638,-0.17,0.0,685.5,13.3,399,4782,0.62,0.00,137.88,1.214,4,0.128,0.000,3005,2490,2960,0,0,0,0,0,0
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4784,0.76,146.0,690.4,0.0,403,4956,0.98,2.55,153.52,1.126,4,0.071,0.049,3311,1106,2364,0,0,0,0,1,0
$GC,5058,0.76,146.0,665.2,11.8,412,5062,0.00,2.47,0.00,0.000,6,0.000,0.053,3311,2503,2355,0,0,0,0,0,0
$GC,5270,0.76,146.0,637.2,13.4,419,5274,0.00,2.28,0.00,0.000,4,0.000,0.050,3320,1104,2351,0,0,0,0,0,0
$GC,5370,0.76,146.0,624.0,13.2,422,5374,0.00,2.35,0.00,0.000,6,0.000,0.054,3321,2514,2349,0,0,0,0,0,0
$GC,5584,0.76,146.0,594.2,14.4,429,5588,0.00,2.00,0.00,0.000,4,0.000,0.061,3321,3763,2348,0,0,0,0,0,0
$GC,5689,0.76,146.0,576.8,16.1,432,5694,0.00,1.95,0.00,0.000,6,0.000,0.043,3330,2543,2348,0,0,0,0,0,0
$GC,5901,0.76,146.0,544.1,15.4,439,5905,0.00,1.98,0.00,0.000,4,0.000,0.061,3329,3764,2347,0,0,0,0,0,0
$GC,5956,0.76,146.0,534.5,17.8,440,5961,0.00,1.95,0.00,0.000,6,0.000,0.043,3339,2542,2346,0,0,0,0,0,0
$GC,6153,0.76,146.0,503.9,15.6,447,6156,0.00,1.98,0.00,0.000,4,0.000,0.060,3339,3764,2346,0,0,0,0,0,0
$GC,6201,0.76,146.0,495.1,18.2,449,6209,0.10,1.92,0.00,0.000,6,0.147,0.042,3316,2556,2346,0,0,0,0,0,0
$GC,6401,0.76,146.0,467.8,13.2,468,6405,0.00,1.95,0.00,0.000,4,0.000,0.060,3316,3764,2346,0,0,0,0,0,0
$GC,6461,0.76,146.0,458.4,15.4,473,6468,0.00,1.90,0.00,0.000,6,0.000,0.043,3324,2566,2346,0,0,0,0,0,0
$GC,6659,0.76,146.0,432.5,12.6,492,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2564,2346,0,0,0,0,0,0
$GC,6850,0.76,146.0,408.2,13.2,510,6854,0.00,1.95,0.00,0.000,4,0.000,0.061,3324,3771,2345,0,0,0,0,0,0
$GC,6911,0.76,146.0,399.1,15.5,515,6918,0.00,1.90,0.00,0.000,6,0.000,0.044,3333,2570,2345,0,0,0,0,0,0
$GC,7109,0.76,146.0,371.9,13.6,534,7113,0.00,1.95,0.00,0.000,4,0.000,0.062,3333,3774,2345,0,0,0,0,0,0
$GC,7146,0.76,146.0,366.0,16.5,537,7154,0.08,1.90,0.00,0.000,6,0.146,0.043,3317,2584,2345,0,0,0,0,0,0
$GC,7346,0.76,146.0,340.7,12.3,556,7349,0.00,1.92,0.00,0.000,4,0.000,0.062,3317,3773,2344,0,0,0,0,0,0
$GC,7380,0.76,146.0,335.7,14.0,559,7384,0.00,1.85,0.00,0.000,6,0.000,0.044,3325,2582,2344,0,0,0,0,0,0
$GC,7583,0.76,146.0,309.0,12.9,578,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2579,2344,0,0,0,0,0,0
$GC,7775,0.76,146.0,284.6,12.7,596,7778,0.00,1.92,0.00,0.000,4,0.000,0.061,3324,3773,2344,0,0,0,0,0,0
$GC,7832,0.76,146.0,276.2,15.1,601,7836,0.00,1.83,0.00,0.000,6,0.000,0.043,3333,2598,2344,0,0,0,0,0,0
$GC,8038,0.76,146.0,247.5,14.4,620,8041,0.00,1.90,0.00,0.000,4,0.000,0.062,3333,3771,2344,0,0,0,0,0,0
$GC,8084,0.76,146.0,240.2,16.3,624,8088,0.12,1.83,0.00,0.000,6,0.166,0.044,3310,2600,2344,0,0,0,0,0,0
$GC,8224,0.76,146.0,222.1,12.2,637,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2597,2344,0,0,0,0,0,0
$GC,8352,0.76,146.0,206.8,11.7,649,8356,0.00,2.38,0.00,0.000,4,0.000,0.050,3319,1085,2344,0,0,0,0,0,0
$GC,8381,0.76,146.0,203.3,12.4,651,8385,0.00,2.45,0.00,0.000,6,0.000,0.054,3319,2606,2343,0,0,0,0,0,0
$GC,8516,0.76,146.0,186.5,12.4,663,8519,0.00,1.85,0.00,0.000,4,0.000,0.061,3319,3768,2343,0,0,0,0,0,0
$GC,8551,0.76,146.0,181.4,15.0,666,8555,0.00,1.80,0.00,0.000,6,0.000,0.042,3328,2605,2343,0,0,0,0,0,0
$GC,8694,0.76,146.0,162.1,13.7,679,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2603,2343,0,0,0,0,0,0
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$GC,8956,0.76,146.0,126.5,13.6,704,8960,0.00,2.40,0.00,0.000,4,0.000,0.052,3339,1080,2342,0,0,0,0,0,0
$GC,8977,0.76,146.0,123.5,12.6,705,8987,0.00,2.50,0.00,0.000,6,0.000,0.054,3339,2599,2342,0,0,0,0,0,0
$GC,9113,0.76,146.0,106.0,13.0,718,9117,0.00,1.88,0.00,0.000,4,0.000,0.063,3339,3769,2342,0,0,0,0,0,0
$GC,9150,0.76,146.0,100.9,14.4,721,9154,0.12,1.83,0.00,0.000,6,0.168,0.043,3315,2592,2342,0,0,0,0,0,0
$GC,9292,0.76,146.0,84.3,11.3,745,9299,0.00,1.95,0.00,0.000,4,0.000,0.063,3315,3762,2343,0,0,0,0,0,0
$GC,9344,0.76,146.0,77.2,13.7,754,9352,0.00,1.85,0.00,0.000,6,0.000,0.043,3322,2599,2342,0,0,0,0,0,0
$GC,9490,0.76,146.0,60.2,12.2,779,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2598,2342,0,0,0,0,0,0
$GC,9630,0.76,146.0,42.4,13.1,804,9639,0.00,1.92,0.00,0.000,4,0.000,0.061,3322,3763,2342,0,0,0,0,0,0
$GC,9646,0.76,146.0,40.5,13.2,806,9654,0.00,1.83,0.00,0.000,6,0.000,0.043,3331,2611,2342,0,0,0,0,0,0
$GC,9791,0.76,146.0,21.4,14.0,831,9798,0.00,1.90,0.00,0.000,4,0.000,0.063,3331,3774,2342,0,0,0,0,0,0
$GC,9840,0.76,146.0,14.0,16.0,839,9847,0.00,1.80,0.00,0.000,6,0.000,0.042,3340,2618,2342,0,0,0,0,0,0
$FREEZE,8.32,-1.454,-1.898,2,1,0
$FREEZE,7.25,-1.425,-1.896,2,1,0
$FREEZE,6.53,-1.428,-1.896,2,1,0
$FREEZE,5.30,-1.421,-1.895,2,1,0
$FREEZE,4.46,-1.426,-1.894,2,1,0
$FREEZE,3.48,-1.432,-1.893,2,1,0
$FREEZE,2.51,-1.379,-1.891,2,1,0
$STATE,9912,end climb,SURFACE_DEPTH_REACHED
$STATE,9912,begin surface coast
$FREEZE,1.80,-1.357,-1.892,2,1,0
$FREEZE,1.47,-1.354,-1.891,2,1,0
$FREEZE,1.37,-1.313,-1.341,2,1,0
$FINISH,1.4,1.019794
$STATE,9932,end surface coast,CONTROL_FINISHED_OK
$STATE,9932,begin surface
$SM_CCo,9947,81.28,0.730,1,0,1737,300.24
$SM_GC,2.22,0.00,0.00,81.28,0.000,0.000,0.730,411,2655,1737,-8.29,0.14,300.24
$IRIDIUM_FIX,-7603.11,17132.32,171210,191952
$TT8_MAMPS,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,17.4
$ALTIM_BOTTOM_PING,650.1,48.1
$24V_AH,20.3,49.014
$10V_AH,9.9,30.960
$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,18.825,112.525,291.400,81.275,0.000,25.347,38.911,204.215,3.250,0.000,30.432,2297.998,5043.056,518.343,2357.657,214.126,0.000,1451.623,0.000,1553.794,0.000,22.092,0.000
$DEVICE_MAMPS,204.255,126.225,1214.055,729.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.075,1055.802,881.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258308
$DATA_FILE_SIZE,57159,854
$CAP_FILE_SIZE,133930,0
$CFSIZE,260165632,237555712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.097,217.6,1
$GPS,181210,005714,-7642.517,17117.666,18,1.9,19,131.7