version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 388
start: 10 20 120 11 12 5
data:
$ID,148
$MISSION,16
$DIVE,388
$N_DIVES,0
$STOP_T,3102110
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$D_NO_BLEED,44
$D_BOOST,0
$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,166
$T_MISSION,350
$T_ABORT,400
$T_TURN,500
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,52572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2784
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1680
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2735
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-175.12193
$PRESSURE_SLOPE,0.00014082
$AD7714Ch0Gain,32
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,94
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,1.01
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,51
$DEVICE5,70
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044223969
$SEABIRD_T_H,0.0006524105
$SEABIRD_T_I,2.6769641e-05
$SEABIRD_T_J,3.3395147e-06
$SEABIRD_C_G,-9.9008942
$SEABIRD_C_H,1.1448398
$SEABIRD_C_I,-0.0022728546
$SEABIRD_C_J,0.00025923335
$GPS1,201020,110401,2211.1445,-15643.6846,21,0.9,53,9.9,0.0,319.5,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-61.0
$GPS2,201020,111141,2211.1821,-15643.6367,6,0.9,20,9.9,0.5,316.0,8,9.6
$SPEED_LIMITS,0.174,0.261
$TGT_NAME,SLA3
$TGT_LATLONG,2207.500,-15652.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,224.9,16665,-18.3,-10.040,-21.06,2228
$D_GRID,500
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.01,-146.6,425,1667,1225,1137,0.0,0.0,0,95,0.00,0.00,-76.38,0.000,16386,0.000,0.000,425,1668,3307,3361,3254,0,0,0,0,0,0,24.68,28.83,24.70
$GC,98,-1.01,-146.6,425,1667,3361,3255,4.9,-11.9,11,114,10.38,2.33,-0.45,0.000,18948,0.137,0.051,2454,283,3336,3392,3280,0,0,0,0,0,0,24.32,23.76,24.45
$GC,240,-1.01,-146.6,2453,283,3394,3279,44.9,-18.7,37,249,0.00,2.17,0.00,0.000,3078,0.000,0.015,2454,1708,3337,3395,3280,0,0,0,0,0,0,24.60,24.59,24.61
$GC,495,-1.01,-146.6,2453,1710,3396,3280,92.9,-16.4,86,502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1710,3338,3396,3280,0,0,0,0,0,0,24.82,24.83,24.82
$GC,749,-1.01,-146.6,2453,1710,3397,3280,127.4,-12.5,135,757,0.00,2.40,0.00,0.000,2564,0.000,0.046,2454,283,3338,3397,3280,0,0,0,0,0,0,24.87,24.57,24.87
$GC,791,-1.01,-146.6,2453,283,3397,3280,133.1,-13.7,142,798,0.00,2.12,0.00,0.000,3078,0.000,0.015,2454,1691,3339,3397,3281,0,0,0,0,0,0,24.70,24.70,24.70
$GC,1049,-1.01,-146.6,2453,1693,3399,3281,161.4,-10.4,181,1051,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1693,3340,3399,3281,0,0,0,0,0,0,24.90,24.91,24.91
$GC,1289,-1.01,-146.6,2453,1693,3399,3281,189.2,-12.5,205,1291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1693,3340,3399,3281,0,0,0,0,0,0,24.92,24.94,24.93
$GC,1530,-1.01,-146.6,2453,1693,3399,3281,218.0,-11.1,229,1537,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1693,3340,3399,3281,0,0,0,0,0,0,24.94,24.95,24.95
$GC,1779,-1.01,-146.6,2453,1693,3399,3281,242.7,-9.2,254,1781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1693,3340,3399,3281,0,0,0,0,0,0,24.96,24.97,24.96
$GC,2019,-1.01,-146.6,2453,1693,3399,3281,265.3,-9.3,278,2028,0.00,2.33,0.00,0.000,2564,0.000,0.049,2454,291,3340,3399,3281,0,0,0,0,0,0,24.97,24.67,24.98
$GC,2084,-1.01,-146.6,2453,291,3399,3281,271.9,-10.6,284,2091,0.00,2.10,0.00,0.000,3078,0.000,0.017,2454,1663,3340,3399,3281,0,0,0,0,0,0,24.81,24.79,24.82
$GC,2333,-1.01,-146.6,2453,1664,3399,3281,297.9,-9.5,309,2343,0.00,2.12,0.00,0.000,2308,0.000,0.022,2454,3041,3340,3399,3281,0,0,0,0,0,0,24.98,24.73,24.99
$GC,2356,-1.01,-146.6,2454,3041,3399,3281,300.1,-9.0,311,2366,0.00,2.15,0.00,0.000,3078,0.000,0.025,2454,1682,3340,3399,3281,0,0,0,0,0,0,24.80,24.72,24.81
$GC,2610,-1.01,-146.6,2453,1682,3399,3281,320.1,-7.6,336,2619,0.00,2.10,0.00,0.000,2308,0.000,0.024,2454,3026,3340,3399,3281,0,0,0,0,0,0,24.99,24.72,25.00
$GC,2693,-1.01,-146.6,2453,3026,3399,3281,327.1,-8.4,344,2702,0.00,2.15,0.00,0.000,3078,0.000,0.029,2453,1679,3340,3399,3281,0,0,0,0,0,0,24.81,24.72,24.82
$GC,2944,-1.01,-146.6,2453,1679,3399,3281,351.0,-10.5,369,2955,0.00,2.40,0.00,0.000,2564,0.000,0.066,2454,280,3340,3399,3281,0,0,0,0,0,0,25.00,24.68,25.01
$GC,2989,-1.01,-146.6,2454,280,3399,3281,356.1,-11.3,373,2998,0.00,2.10,0.00,0.000,3078,0.000,0.018,2454,1656,3340,3399,3281,0,0,0,0,0,0,24.84,24.79,24.84
$GC,3240,-1.01,-146.6,2453,1659,3399,3280,382.2,-9.9,398,3249,0.00,2.22,0.00,0.000,2308,0.000,0.034,2454,3058,3339,3399,3280,0,0,0,0,0,0,25.01,24.74,25.01
$GC,3315,-1.01,-146.6,2453,3058,3399,3279,388.8,-8.6,405,3324,0.00,2.28,0.00,0.000,3078,0.000,0.031,2454,1682,3339,3399,3279,0,0,0,0,0,0,24.77,24.72,24.79
$GC,3582,-1.01,-146.6,2453,1682,3399,3275,408.6,-6.9,423,3584,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1683,3337,3399,3275,0,0,0,0,0,0,25.01,25.03,25.02
$GC,3823,-1.01,-146.6,2453,1682,3399,3272,425.4,-7.1,429,3827,0.00,2.47,0.00,0.000,2564,0.000,0.076,2454,274,3335,3399,3272,0,0,0,0,0,0,25.02,24.69,25.03
$GC,3838,-1.01,-146.6,2453,274,3399,3272,425.4,-7.1,429,3843,0.00,2.17,0.00,0.000,3078,0.000,0.021,2454,1658,3335,3399,3272,0,0,0,0,0,0,24.84,24.79,24.86
$GC,4101,-1.01,-146.6,2453,1659,3399,3268,447.7,-8.3,436,4107,0.00,2.30,0.00,0.000,2308,0.000,0.035,2454,3068,3333,3399,3268,0,0,0,0,0,0,25.02,24.74,25.03
$GC,4141,-1.01,-146.6,2453,3068,3399,3267,451.1,-8.5,437,4147,0.00,2.28,0.00,0.000,3078,0.000,0.035,2454,1679,3333,3399,3267,0,0,0,0,0,0,24.83,24.73,24.84
$GC,4420,-1.01,-146.6,2453,1679,3398,3263,475.2,-8.6,444,4427,0.00,2.50,0.00,0.000,2564,0.000,0.081,2454,275,3331,3399,3263,0,0,0,0,0,0,25.02,24.69,25.03
$GC,4451,-1.01,-146.6,2453,276,3399,3263,475.2,-8.6,444,4460,0.00,2.25,0.00,0.000,3078,0.000,0.025,2454,1678,3331,3399,3263,0,0,0,0,0,0,24.84,24.77,24.85
$GC,4701,-1.01,-146.6,2453,1677,3399,3259,498.6,-8.2,451,4707,0.00,2.28,0.00,0.000,2308,0.000,0.041,2454,3075,3329,3399,3259,0,0,0,0,0,0,25.02,24.73,25.03
$STATE,4739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4739,begin apogee
$GC,4746,-0.23,0.0,2453,1837,3399,3258,501.9,-8.2,452,4874,1.10,0.00,123.75,0.854,10246,0.073,0.000,2705,1837,2734,2796,2673,0,0,0,0,0,0,24.70,24.01,23.51
$STATE,4875,end apogee,CONTROL_FINISHED_OK
$STATE,4875,begin climb
$GC,4877,1.01,146.6,2705,1837,2796,2672,506.1,0.0,455,5014,1.67,2.50,128.12,0.832,10500,0.054,0.054,3094,3235,2136,2190,2082,0,0,0,0,0,0,24.17,23.99,23.49
$GC,5049,1.01,146.6,3093,3235,2189,2077,501.6,4.2,459,5054,0.00,2.33,0.00,0.000,3078,0.000,0.035,3094,1843,2133,2189,2077,0,0,0,0,0,0,24.37,24.27,24.39
$GC,5301,1.02,156.8,3093,1843,2188,2069,475.1,9.6,466,5313,0.00,0.00,9.50,0.708,10246,0.000,0.000,3093,1843,2094,2154,2035,0,0,0,0,0,0,24.69,24.16,23.68
$GC,5542,1.03,157.6,3093,1843,2154,2028,451.3,10.0,472,5548,0.00,2.53,0.00,0.000,2564,0.000,0.078,3094,425,2091,2154,2028,0,0,0,0,0,0,24.74,24.41,24.75
$GC,5639,1.03,157.6,3093,425,2154,2027,443.0,10.1,474,5644,0.00,2.30,0.00,0.000,3078,0.000,0.022,3094,1849,2090,2154,2027,0,0,0,0,0,0,24.59,24.53,24.60
$GC,5897,1.07,191.5,3093,1849,2154,2023,419.2,8.5,481,5937,0.05,2.42,31.05,0.787,10500,0.122,0.053,3115,3230,1952,2011,1894,0,0,0,0,0,0,24.61,24.06,23.57
$GC,5990,1.09,210.8,3114,3230,2010,1892,411.2,9.2,483,6019,0.00,2.33,19.00,0.751,11270,0.000,0.033,3114,1837,1874,1926,1822,0,0,0,0,0,0,24.49,24.39,23.58
$GC,6264,1.09,210.8,3114,1837,1925,1815,378.0,12.8,502,6273,0.00,2.45,0.00,0.000,2564,0.000,0.069,3115,434,1870,1926,1815,0,0,0,0,0,0,24.74,24.42,24.75
$GC,6318,1.09,210.8,3114,434,1924,1815,370.4,14.0,507,6328,0.00,2.30,0.00,0.000,3078,0.000,0.021,3115,1844,1869,1924,1815,0,0,0,0,0,0,24.56,24.53,24.57
$GC,6568,1.09,210.8,3114,1845,1923,1812,341.4,10.7,532,6575,0.00,0.00,0.00,0.000,2054,0.000,0.000,3115,1845,1868,1924,1812,0,0,0,0,0,0,24.80,24.81,24.81
$GC,6816,1.09,210.8,3114,1845,1924,1809,315.1,10.5,557,6818,0.00,0.00,0.00,0.000,2054,0.000,0.000,3115,1846,1866,1924,1809,0,0,0,0,0,0,24.84,24.85,24.84
$GC,7056,1.12,233.8,3114,1846,1924,1807,293.6,9.0,581,7086,0.00,2.35,21.00,0.710,10500,0.000,0.038,3115,3227,1779,1829,1730,0,0,0,0,0,0,24.87,24.15,23.68
$GC,7209,1.14,250.1,3114,3227,1829,1730,279.4,9.3,596,7232,0.08,2.28,16.25,0.679,11270,0.085,0.031,3153,1837,1714,1766,1662,0,0,0,0,0,0,24.51,24.49,23.69
$GC,7470,1.14,250.1,3153,1837,1766,1655,251.2,12.2,622,7472,0.00,0.00,0.00,0.000,4102,0.000,0.000,3153,1837,1710,1766,1655,0,0,0,0,0,0,24.77,24.78,24.78
$GC,7712,1.14,250.1,3152,1837,1766,1652,220.9,12.8,646,7716,0.00,2.40,0.00,0.000,4612,0.000,0.057,3153,431,1709,1766,1652,0,0,0,0,0,0,24.82,24.51,24.82
$GC,7757,1.14,250.1,3153,431,1766,1651,214.4,14.7,650,7764,0.00,2.25,0.00,0.000,5126,0.000,0.019,3153,1864,1708,1766,1651,0,0,0,0,0,0,24.66,24.61,24.67
$GC,8005,1.14,250.1,3153,1868,1766,1651,182.7,11.7,675,8013,0.00,0.00,0.00,0.000,4102,0.000,0.000,3153,1868,1708,1766,1651,0,0,0,0,0,0,24.85,24.87,24.86
$GC,8255,1.14,250.1,3153,1868,1766,1651,154.0,10.6,700,8262,0.00,0.00,0.00,0.000,4102,0.000,0.000,3154,1868,1708,1766,1650,0,0,0,0,0,0,24.88,24.89,24.89
$GC,8508,1.14,250.1,3153,1868,1765,1650,126.9,10.8,746,8516,0.00,2.20,0.00,0.000,4356,0.000,0.030,3153,3224,1708,1766,1650,0,0,0,0,0,0,24.90,24.65,24.91
$GC,8555,1.14,250.5,3153,3224,1766,1651,122.2,10.0,754,8562,0.00,2.28,0.00,0.000,5126,0.000,0.027,3154,1825,1708,1766,1650,0,0,0,0,0,0,24.68,24.65,24.70
$GC,8809,1.18,285.9,3152,1824,1766,1650,97.2,8.4,803,8850,0.00,0.00,33.40,0.549,10758,0.000,0.000,3154,1824,1567,1616,1519,0,0,0,0,0,0,24.92,24.06,23.80
$GC,9100,1.25,337.3,3153,1825,1616,1517,71.1,7.7,857,9155,0.00,2.38,47.88,0.522,10756,0.000,0.049,3153,430,1359,1403,1316,0,0,0,0,0,0,24.79,24.03,23.76
$GC,9178,1.25,337.3,3153,430,1403,1315,64.1,10.1,869,9187,0.00,2.25,0.00,0.000,3078,0.000,0.017,3154,1849,1358,1403,1314,0,0,0,0,0,0,24.44,24.41,24.44
$GC,9435,1.25,337.3,3153,1852,1403,1310,38.1,11.7,918,9442,0.00,0.00,0.00,0.000,2054,0.000,0.000,3154,1852,1356,1403,1310,0,0,0,0,0,0,24.77,24.77,24.77
$GC,9688,1.25,337.3,3153,1852,1403,1310,9.8,10.7,967,9695,0.00,0.00,0.00,0.000,2054,0.000,0.000,3154,1852,1356,1403,1310,0,0,0,0,0,0,24.82,24.83,24.82
$STATE,9753,end climb,SURFACE_DEPTH_REACHED
$STATE,9753,begin surface coast
$FINISH,0.4,1.022510
$STATE,9779,end surface coast,CONTROL_FINISHED_OK
$STATE,9779,begin surface
$SM_CCo,9800,24.48,0.451,0,0,1184,380.21
$SM_GC,1.30,11.23,0.28,24.48,0.034,0.052,0.451,422,1670,1184,-7.32,0.99,380.21,0,0,0,0,0,0,24.58,24.59,23.91
$IRIDIUM_FIX,2202.04,-15641.97,201020,081046
$TT8_MAMPS,0.021721,0.278628
$HUMID,59.17
$INTERNAL_PRESSURE,9.65256
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,23.49,48.940
$10V_AH,9.95,55.294
$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,24.500,87.100,429.950,24.475,0.000,30.581,49.392,247.711,0.750,0.000,21.163,2496.146,4439.428,624.320,2527.175,197.085,0.000,1554.874,0.000,2173.817,0.000,0.540,0.000
$DEVICE_MAMPS,136.935,81.090,853.740,451.350,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,661.002,684.097,0.000,1299.478,914.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,0.000,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,339332
$DATA_FILE_SIZE,80578,984
$CAP_FILE_SIZE,117586,0
$CFSIZE,259248128,232136704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138,56.99,1
$GPS,201020,135719,2210.854,-15644.144,22,0.9,53,9.9,0.3,213.5,9,6.7