version: 66.06
glider: 148
mission: 10
dive: 703
start: 10 20 111 3 11 58
data:
$ID,148
$MISSION,10
$DIVE,703
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_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,300
$T_MISSION,660
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-891958
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,030336,2153.020,-15814.220,35,1.2,35,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.2
$GPS2,031102,2153.037,-15814.271,11,1.3,11,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.042,-0.168
$KALMAN_X,-158974.1,501.6,-48.2,77473.1,-114.0
$KALMAN_Y,-141240.3,0.9,216.1,2230.9,-807.0
$MHEAD_RNG_PITCHd_Wd,184.3,1961,-27.2,-10.000
$D_GRID,900
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.78,-63.0,0.0,0.0,0,90,0.00,0.00,-69.82,0.000,2,0.000,0.000,409,1677,3155,0,0,0,0,0,0
$GC,94,-1.81,-84.0,3.8,-7.8,13,117,11.43,2.50,-2.75,0.000,4,0.151,0.046,2582,169,3299,0,0,0,0,0,0
$GC,232,-1.63,-84.0,37.2,-20.7,38,239,0.15,2.42,0.00,0.000,6,0.097,0.017,2617,1721,3301,0,0,0,0,0,0
$GC,497,-1.54,-84.0,85.2,-18.6,63,503,0.12,2.60,0.00,0.000,4,0.123,0.038,2642,166,3302,0,0,0,0,0,0
$GC,511,-1.48,-84.0,87.9,-16.1,64,515,0.00,2.40,0.00,0.000,6,0.000,0.017,2642,1742,3302,0,0,0,0,0,0
$GC,775,-1.62,-84.0,119.7,-11.9,88,780,0.00,2.58,0.00,0.000,4,0.000,0.039,2642,166,3303,0,0,0,0,0,0
$GC,794,-1.73,-84.0,122.6,-12.9,89,800,0.17,2.35,0.00,0.000,6,0.050,0.017,2577,1719,3303,0,0,0,0,0,0
$GC,1058,-1.73,-84.0,157.4,-13.4,114,1063,0.12,2.58,0.00,0.000,4,0.114,0.039,2603,160,3303,0,0,0,0,0,0
$GC,1124,-1.80,-84.0,166.0,-12.4,120,1130,0.00,2.38,0.00,0.000,6,0.000,0.017,2603,1700,3304,0,0,0,0,0,0
$GC,1392,-1.87,-84.0,193.9,-10.8,145,1397,0.12,2.55,0.00,0.000,4,0.067,0.040,2551,159,3305,0,0,0,0,0,0
$GC,1450,-1.87,-84.0,202.4,-13.4,149,1455,0.10,2.30,0.00,0.000,6,0.127,0.017,2571,1685,3304,0,0,0,0,0,0
$GC,1726,-1.87,-84.0,234.7,-12.1,156,1730,0.00,2.50,0.00,0.000,4,0.000,0.041,2572,160,3305,0,0,0,0,0,0
$GC,1786,-1.87,-84.0,243.9,-14.0,157,1790,0.00,2.33,0.00,0.000,6,0.000,0.018,2571,1679,3305,0,0,0,0,0,0
$GC,2054,-1.87,-84.0,275.4,-11.0,164,2058,0.00,2.50,0.00,0.000,4,0.000,0.042,2571,166,3305,0,0,0,0,0,0
$GC,2147,-1.87,-84.0,286.0,-10.9,166,2151,0.00,2.30,0.00,0.000,6,0.000,0.018,2571,1659,3305,0,0,0,0,0,0
$GC,2429,-1.87,-84.0,314.9,-10.5,173,2433,0.00,2.58,0.00,0.000,4,0.000,0.029,2571,3273,3305,0,0,0,0,0,0
$GC,2448,-1.87,-84.0,317.0,-10.8,173,2452,0.00,2.60,0.00,0.000,6,0.000,0.027,2571,1653,3304,0,0,0,0,0,0
$GC,2714,-1.87,-84.0,346.9,-11.7,180,2718,0.00,2.50,0.00,0.000,4,0.000,0.053,2571,162,3303,0,0,0,0,0,0
$GC,2732,-1.87,-84.0,349.3,-11.2,180,2736,0.00,2.28,0.00,0.000,6,0.000,0.020,2571,1643,3303,0,0,0,0,0,0
$GC,2996,-1.87,-84.0,379.0,-11.2,187,3000,0.00,2.47,0.00,0.000,4,0.000,0.052,2571,172,3302,0,0,0,0,0,0
$GC,3011,-1.87,-84.0,380.8,-11.8,187,3015,0.00,2.28,0.00,0.000,6,0.000,0.021,2571,1646,3302,0,0,0,0,0,0
$GC,3280,-1.87,-84.0,411.8,-11.4,194,3284,0.00,2.53,0.00,0.000,4,0.000,0.056,2572,166,3300,0,0,0,0,0,0
$GC,3354,-1.87,-84.0,420.9,-11.9,195,3359,0.00,2.33,0.00,0.000,6,0.000,0.025,2571,1619,3299,0,0,0,0,0,0
$GC,3615,-1.87,-84.0,449.6,-11.3,202,3619,0.00,2.45,0.00,0.000,4,0.000,0.064,2571,173,3298,0,0,0,0,0,0
$GC,3661,-1.87,-84.0,456.0,-13.8,203,3665,0.00,2.30,0.00,0.000,6,0.000,0.027,2571,1613,3297,0,0,0,0,0,0
$GC,3943,-1.87,-84.0,491.0,-12.4,210,3948,0.00,2.50,0.00,0.000,4,0.000,0.061,2571,175,3296,0,0,0,0,0,0
$GC,3959,-1.87,-84.0,493.0,-12.1,210,3963,0.00,2.30,0.00,0.000,6,0.000,0.028,2571,1606,3296,0,0,0,0,0,0
$GC,4232,-1.93,-85.0,521.7,-9.9,217,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1606,3294,0,0,0,0,0,0
$GC,4476,-2.01,-93.6,544.0,-9.1,223,4482,0.12,2.53,0.00,0.000,4,0.067,0.065,2521,172,3292,0,0,0,0,0,0
$GC,4507,-1.88,-93.6,547.3,-10.8,223,4512,0.22,2.28,0.00,0.000,6,0.105,0.031,2568,1590,3292,0,0,0,0,0,0
$GC,4767,-1.88,-93.6,573.2,-10.3,230,4771,0.00,2.45,0.00,0.000,4,0.000,0.065,2568,176,3290,0,0,0,0,0,0
$GC,4831,-1.88,-93.6,580.6,-11.1,231,4836,0.00,2.30,0.00,0.000,6,0.000,0.031,2568,1575,3289,0,0,0,0,0,0
$GC,5102,-1.95,-93.7,607.6,-10.0,238,5106,0.00,2.45,0.00,0.000,4,0.000,0.067,2568,167,3288,0,0,0,0,0,0
$GC,5157,-1.95,-93.7,613.6,-10.8,239,5162,0.00,2.30,0.00,0.000,6,0.000,0.034,2568,1565,3288,0,0,0,0,0,0
$GC,5437,-1.95,-99.0,639.8,-9.4,246,5442,0.00,2.45,0.00,0.000,4,0.000,0.070,2568,179,3285,0,0,0,0,0,0
$GC,5521,-1.95,-99.0,649.0,-10.8,247,5525,0.00,2.25,0.00,0.000,6,0.000,0.034,2568,1555,3284,0,0,0,0,0,0
$GC,5772,-2.02,-99.0,674.4,-10.4,253,5779,0.12,2.92,0.00,0.000,4,0.067,0.058,2520,3258,3283,0,0,0,0,0,0
$GC,5787,-2.02,-102.2,675.9,-9.7,253,5793,0.00,2.78,0.00,0.000,6,0.000,0.041,2520,1617,3283,0,0,0,0,0,0
$GC,6069,-2.02,-102.2,706.4,-10.8,260,6073,0.00,2.55,0.00,0.000,4,0.000,0.077,2520,169,3281,0,0,0,0,0,0
$GC,6093,-1.92,-102.2,709.6,-12.2,260,6098,0.15,2.30,0.00,0.000,6,0.094,0.035,2556,1559,3281,0,0,0,0,0,0
$GC,6359,-1.93,-108.0,734.9,-9.4,267,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1559,3279,0,0,0,0,0,0
$GC,6603,-1.93,-109.4,758.6,-9.8,273,6607,0.00,2.45,0.00,0.000,4,0.000,0.072,2556,167,3279,0,0,0,0,0,0
$GC,6677,-1.93,-109.4,766.9,-10.6,274,6682,0.00,2.30,0.00,0.000,6,0.000,0.036,2556,1554,3277,0,0,0,0,0,0
$GC,6938,-1.93,-109.4,793.2,-10.3,281,6942,0.00,2.42,0.00,0.000,4,0.000,0.072,2556,172,3276,0,0,0,0,0,0
$GC,7009,-1.93,-109.4,801.3,-11.1,282,7013,0.00,2.28,0.00,0.000,6,0.000,0.036,2556,1558,3275,0,0,0,0,0,0
$GC,7268,-1.93,-112.1,827.0,-9.7,289,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1558,3274,0,0,0,0,0,0
$GC,7514,-1.94,-113.5,850.8,-9.9,295,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1558,3273,0,0,0,0,0,0
$GC,7756,-1.94,-113.5,875.7,-10.2,301,7760,0.00,2.42,0.00,0.000,4,0.000,0.071,2555,176,3272,0,0,0,0,0,0
$GC,7834,-1.94,-113.5,884.5,-11.6,302,7838,0.00,2.25,0.00,0.000,6,0.000,0.035,2556,1547,3271,0,0,0,0,0,0
$STATE,8000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8000,begin apogee
$GC,8008,-0.31,0.0,900.8,9.9,306,8083,1.60,0.00,69.43,1.152,6,0.087,0.000,2909,1667,2954,0,0,0,0,0,0
$STATE,8084,end apogee,CONTROL_FINISHED_OK
$STATE,8084,begin climb
$GC,8087,1.84,113.5,902.5,0.0,308,8196,1.98,0.00,105.18,1.136,6,0.029,0.000,3395,1666,2492,0,0,0,0,0,0
$GC,8407,1.59,113.5,870.2,13.8,316,8414,0.32,2.62,0.00,0.000,4,0.122,0.067,3327,177,2484,0,0,0,0,0,0
$GC,8429,1.36,113.5,867.5,13.8,316,8434,0.25,2.53,0.00,0.000,6,0.123,0.035,3279,1684,2483,0,0,0,0,0,0
$GC,8699,1.36,113.5,838.4,10.7,323,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1685,2481,0,0,0,0,0,0
$GC,8942,1.36,113.5,812.9,10.4,329,8946,0.00,2.75,0.00,0.000,4,0.000,0.060,3279,3285,2479,0,0,0,0,0,0
$GC,8962,1.37,120.3,810.9,9.3,329,8974,0.00,2.67,5.25,0.780,6,0.000,0.037,3279,1697,2464,0,0,0,0,0,0
$GC,9229,1.37,120.3,782.9,10.8,336,9233,0.00,2.72,0.00,0.000,4,0.000,0.081,3279,172,2463,0,0,0,0,0,0
$GC,9267,1.28,120.3,778.3,12.6,336,9272,0.00,2.53,0.00,0.000,6,0.000,0.035,3279,1694,2461,0,0,0,0,0,0
$GC,9519,1.28,120.3,752.3,10.2,343,9523,0.00,2.70,0.00,0.000,4,0.000,0.067,3279,163,2461,0,0,0,0,0,0
$GC,9565,1.20,120.3,746.7,12.0,344,9570,0.17,2.55,0.00,0.000,6,0.123,0.035,3244,1698,2461,0,0,0,0,0,0
$GC,9850,1.33,130.3,720.8,8.9,351,9863,0.10,0.00,10.60,0.923,6,0.084,0.000,3278,1699,2423,0,0,0,0,0,0
$GC,10093,1.33,130.3,694.1,11.2,357,10097,0.00,2.72,0.00,0.000,4,0.000,0.067,3278,166,2420,0,0,0,0,0,0
$GC,10131,1.26,130.3,689.0,13.1,357,10137,0.12,2.55,0.00,0.000,6,0.131,0.036,3255,1699,2420,0,0,0,0,0,0
$GC,10382,1.36,130.3,661.6,10.9,364,10384,0.10,0.00,0.00,0.000,6,0.085,0.000,3289,1700,2419,0,0,0,0,0,0
$GC,10625,1.36,130.3,635.3,10.5,370,10629,0.00,2.72,0.00,0.000,4,0.000,0.061,3289,3286,2419,0,0,0,0,0,0
$GC,10639,1.36,130.3,633.6,10.0,370,10644,0.00,2.65,0.00,0.000,6,0.000,0.036,3289,1700,2419,0,0,0,0,0,0
$GC,10909,1.38,140.1,608.9,9.0,377,10925,0.00,2.72,9.98,0.864,4,0.000,0.076,3290,176,2383,0,0,0,0,0,0
$GC,11002,1.30,140.1,598.6,10.9,379,11007,0.12,2.53,0.00,0.000,6,0.133,0.032,3266,1703,2382,0,0,0,0,0,0
$GC,11293,1.40,145.1,570.5,9.5,386,11306,0.00,2.72,5.97,0.739,4,0.000,0.062,3266,174,2363,0,0,0,0,0,0
$GC,11411,1.40,145.1,557.2,11.2,388,11415,0.00,2.47,0.00,0.000,6,0.000,0.030,3266,1684,2362,0,0,0,0,0,0
$GC,11675,1.51,150.2,532.4,9.5,395,11687,0.17,2.70,6.28,0.736,4,0.059,0.060,3320,165,2342,0,0,0,0,0,0
$GC,11702,1.40,150.2,528.8,10.2,395,11707,0.17,2.50,0.00,0.000,6,0.127,0.029,3287,1684,2341,0,0,0,0,0,0
$GC,11965,1.46,150.2,500.8,10.8,402,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1684,2340,0,0,0,0,0,0
$GC,12206,1.53,150.2,475.1,10.5,408,12213,0.10,2.78,0.00,0.000,4,0.084,0.061,3323,3285,2339,0,0,0,0,0,0
$GC,12260,1.53,150.2,469.0,10.7,409,12265,0.00,2.70,0.00,0.000,6,0.000,0.035,3323,1684,2339,0,0,0,0,0,0
$GC,12545,1.53,150.2,438.6,10.5,416,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1684,2339,0,0,0,0,0,0
$GC,12787,1.53,150.2,413.1,10.3,422,12791,0.00,2.67,0.00,0.000,4,0.000,0.073,3323,162,2339,0,0,0,0,0,0
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$GC,13939,1.61,163.4,296.3,10.5,450,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1695,2284,0,0,0,0,0,0
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$GC,16460,1.90,263.8,55.6,7.4,617,16489,0.10,0.00,22.70,0.492,6,0.081,0.000,3410,1684,1877,0,0,0,0,0,0
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$STATE,16876,end climb,SURFACE_DEPTH_REACHED
$STATE,16876,begin surface coast
$FINISH,0.9,1.011166
$STATE,16905,end surface coast,CONTROL_FINISHED_OK
$STATE,16905,begin surface
$SM_CCo,16929,79.53,0.453,0,0,1322,400.08
$SM_GC,1.77,0.00,0.00,79.53,0.000,0.000,0.453,414,1663,1322,-11.80,-1.61,400.08
$IRIDIUM_FIX,2145.77,-15816.23,120101,222252
$TT8_MAMPS,0.027612
$HUMID,65.98
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,20.80
$XPDR_PINGS,4
$24V_AH,22.9,67.154
$10V_AH,9.9,75.106
$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,32.000,201.050,321.750,79.525,0.000,28.026,35.943,200.798,1.000,0.000,13.428,1492.191,12489.863,555.107,1842.532,1067.008,33.369,1598.784,0.000,2082.853,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,80.535,1152.034,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,459.787,471.089,570.193,577.474,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356052
$DATA_FILE_SIZE,51058,676
$CAP_FILE_SIZE,169525,0
$CFSIZE,260165632,97374208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201011,075637,2151.350,-15814.497,27,1.2,27,9.9