version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 196
start: 2 16 117 4 56 44
data:
$ID,626
$MISSION,1
$DIVE,196
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,750
$D_NO_BLEED,29
$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,235
$T_MISSION,500
$T_ABORT,400
$T_TURN,250
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0038360001
$HD_B,0.010078
$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,360
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130548.21
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,158
$PITCH_MAX,3905
$C_PITCH,2800
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,286
$ROLL_MAX,3922
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.80853
$PRESSURE_SLOPE,0.000140886
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,133
$DEVICE4,163
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043901233
$SEABIRD_T_H,0.00063526275
$SEABIRD_T_I,2.50098e-05
$SEABIRD_T_J,2.985784e-06
$SEABIRD_C_G,-9.6502161
$SEABIRD_C_H,1.0763537
$SEABIRD_C_I,-0.002494992
$SEABIRD_C_J,0.00024128702
$GPS1,160217,045031,2323.941,-15709.669,21,0.8,38,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.1
$GPS2,160217,045550,2323.915,-15709.602,6,0.7,6,10.0
$SPEED_LIMITS,0.213,0.243
$TGT_NAME,AC2
$TGT_LATLONG,2322.500,-15707.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.152,0.150
$KALMAN_X,-103296.9,-545.7,80.9,193571.7,3985.7
$KALMAN_Y,184166.6,208.3,290.7,-105382.3,-3004.6
$MHEAD_RNG_PITCHd_Wd,304.6,4430,-22.5,-9.929,-25.00,1474
$D_GRID,700
$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,14,begin dive
$GC,15,-0.80,-95.4,115,2625,1141,1097,0.0,0.0,0,78,0.00,0.00,-55.03,0.000,16390,0.000,0.000,115,2625,2990,3019,2962,0,0,0,0,0,0,28.83,28.83,14.92
$GC,81,-0.84,-126.5,115,2625,3018,2962,4.1,-7.6,7,100,8.50,2.17,-1.98,0.000,18692,0.499,0.090,2520,3898,3116,3151,3081,0,0,0,0,0,0,14.42,14.67,14.83
$GC,190,-0.84,-126.5,2520,3898,3152,3082,40.0,-24.6,22,200,0.00,2.20,0.00,0.000,1030,0.000,0.054,2519,2604,3116,3152,3081,0,0,0,0,0,0,28.83,14.64,28.83
$GC,511,-0.84,-126.5,2520,2603,3153,3081,126.5,-26.5,71,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2604,3117,3153,3081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,782,-0.84,-126.5,2521,2604,3154,3081,194.8,-22.0,103,790,0.00,2.30,0.00,0.000,516,0.000,0.059,2520,1180,3117,3154,3081,0,0,0,0,0,0,28.83,14.76,28.83
$GC,794,-0.84,-126.5,2520,1180,3154,3081,197.3,-21.5,104,802,0.00,2.40,0.00,0.000,1030,0.000,0.057,2520,2590,3117,3154,3081,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1044,-0.84,-126.5,2520,2590,3155,3081,245.1,-17.7,111,1049,0.00,2.30,0.00,0.000,516,0.000,0.057,2520,1184,3118,3155,3081,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1122,-0.84,-126.5,2520,1184,3155,3081,258.4,-17.2,113,1126,0.00,2.35,0.00,0.000,1030,0.000,0.060,2520,2600,3118,3156,3081,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1398,-0.84,-126.5,2520,2600,3156,3081,304.9,-16.1,120,1402,0.00,2.17,0.00,0.000,260,0.000,0.078,2520,3918,3119,3157,3081,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1577,-0.84,-126.5,2520,3918,3157,3081,329.1,-15.5,124,1581,0.00,2.15,0.00,0.000,1030,0.000,0.046,2520,2589,3119,3157,3081,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1834,-0.84,-126.5,2520,2589,3156,3081,372.1,-15.5,131,1838,0.00,2.28,0.00,0.000,516,0.000,0.058,2520,1179,3118,3156,3081,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1858,-0.84,-126.5,2520,1179,3156,3081,372.1,-15.5,131,1862,0.00,2.38,0.00,0.000,1030,0.000,0.062,2520,2606,3118,3156,3081,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2105,-0.84,-126.5,2520,2607,3156,3081,414.9,-15.6,137,2109,0.00,2.20,0.00,0.000,260,0.000,0.081,2520,3920,3118,3156,3081,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2144,-0.84,-126.5,2520,3920,3157,3081,420.2,-15.3,138,2148,0.00,2.15,0.00,0.000,1030,0.000,0.047,2519,2591,3118,3156,3080,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2421,-0.84,-126.5,2520,2590,3157,3078,461.4,-14.8,145,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2591,3117,3156,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2661,-0.84,-126.5,2520,2590,3156,3075,495.1,-13.8,151,2667,0.00,2.28,0.00,0.000,516,0.000,0.059,2520,1187,3115,3156,3074,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2684,-0.84,-126.5,2520,1187,3156,3074,495.1,-13.8,151,2688,0.00,2.38,0.00,0.000,1030,0.000,0.063,2520,2603,3115,3156,3074,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2936,-0.84,-126.5,2520,2604,3156,3071,532.1,-13.4,158,2940,0.00,2.20,0.00,0.000,260,0.000,0.082,2520,3921,3113,3156,3071,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2972,-0.84,-126.5,2520,3921,3156,3070,537.1,-13.4,159,2976,0.00,2.15,0.00,0.000,1030,0.000,0.049,2520,2594,3113,3156,3070,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3248,-0.84,-126.5,2520,2593,3156,3067,574.2,-13.4,166,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2593,3111,3156,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3488,-0.84,-126.5,2520,2593,3156,3063,605.4,-13.0,172,3492,0.00,2.30,0.00,0.000,516,0.000,0.060,2520,1182,3109,3156,3063,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3507,-0.84,-126.5,2520,1181,3156,3063,605.4,-13.0,172,3511,0.00,2.40,0.00,0.000,1030,0.000,0.065,2520,2608,3109,3156,3063,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3758,-0.84,-126.5,2520,2609,3156,3059,641.5,-13.5,179,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2608,3107,3156,3059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3999,-0.84,-126.5,2520,2608,3156,3055,673.9,-13.6,185,4003,0.00,2.35,0.00,0.000,516,0.000,0.060,2520,1189,3105,3156,3055,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4058,-0.84,-126.5,2520,1188,3156,3055,678.9,-13.6,186,4062,0.00,2.40,0.00,0.000,1030,0.000,0.067,2520,2607,3105,3156,3055,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4228,begin apogee
$GC,4233,-0.15,0.0,2520,2482,3156,3053,705.0,-13.3,191,4342,0.68,0.00,105.88,2.819,10246,0.331,0.000,2746,2482,2599,2678,2520,0,0,0,0,0,0,14.65,28.83,13.34
$STATE,4343,end apogee,CONTROL_FINISHED_OK
$STATE,4343,begin climb
$GC,4344,0.84,126.5,2746,2482,2678,2520,708.3,0.0,193,4460,0.85,0.00,111.65,2.765,10246,0.203,0.000,3066,2481,2083,2165,2002,0,0,0,0,0,0,14.14,28.83,13.23
$GC,4670,0.84,126.5,3066,2481,2165,1992,667.0,16.4,202,4676,0.00,2.53,0.00,0.000,260,0.000,0.083,3066,3919,2078,2165,1992,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4713,0.84,126.5,3066,3919,2165,1992,659.8,16.6,203,4717,0.00,2.33,0.00,0.000,1030,0.000,0.054,3076,2537,2078,2165,1992,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4990,0.84,126.5,3076,2535,2165,1988,609.7,18.0,210,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2536,2076,2165,1988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5230,0.84,126.5,3076,2536,2164,1984,566.8,17.7,216,5236,0.00,2.40,0.00,0.000,516,0.000,0.067,3088,1093,2074,2164,1984,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5313,0.84,126.5,3088,1093,2164,1981,553.5,16.8,218,5318,0.08,2.42,0.00,0.000,5126,0.512,0.062,3074,2520,2072,2164,1981,0,0,0,0,0,0,14.55,14.83,28.83
$GC,5585,0.84,126.5,3073,2520,2165,1979,511.2,15.0,225,5589,0.00,2.35,0.00,0.000,260,0.000,0.076,3073,3921,2072,2165,1980,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5684,0.84,126.5,3074,3921,2164,1980,498.7,15.6,227,5688,0.00,2.35,0.00,0.000,1030,0.000,0.054,3083,2503,2072,2164,1980,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5941,0.84,126.5,3083,2502,2164,1977,455.5,15.3,234,5945,0.00,2.33,0.00,0.000,516,0.000,0.063,3095,1090,2070,2164,1977,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5970,0.84,126.5,3095,1089,2164,1975,455.5,15.3,234,5978,0.10,2.40,0.00,0.000,5126,0.510,0.060,3073,2509,2069,2164,1975,0,0,0,0,0,0,14.55,14.88,28.83
$GC,6217,0.84,126.5,3072,2509,2164,1975,415.2,14.4,241,6223,0.00,2.35,0.00,0.000,260,0.000,0.077,3073,3915,2070,2164,1976,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6297,0.84,126.5,3073,3915,2164,1976,402.2,15.3,243,6301,0.00,2.33,0.00,0.000,1030,0.000,0.052,3083,2504,2070,2164,1976,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6573,0.84,126.5,3083,2503,2164,1975,363.2,13.8,250,6579,0.00,2.40,0.00,0.000,260,0.000,0.079,3083,3915,2070,2164,1976,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6636,0.84,126.5,3083,3915,2164,1975,356.5,14.5,251,6641,0.10,2.33,0.00,0.000,5126,0.520,0.053,3072,2505,2069,2164,1974,0,0,0,0,0,0,14.54,14.92,28.83
$GC,6888,0.84,126.5,3072,2503,2164,1974,318.4,13.4,258,6892,0.00,2.33,0.00,0.000,516,0.000,0.063,3082,1091,2069,2164,1974,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6982,0.84,126.5,3082,1090,2164,1970,309.7,12.2,260,6987,0.00,2.40,0.00,0.000,1030,0.000,0.058,3082,2520,2067,2165,1970,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7239,0.84,126.5,3082,2520,2164,1972,278.4,11.1,267,7244,0.00,2.33,0.00,0.000,260,0.000,0.078,3082,3913,2067,2164,1970,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7369,0.84,126.5,3082,3913,2164,1971,265.8,10.7,270,7374,0.10,2.30,0.00,0.000,5126,0.517,0.049,3071,2500,2067,2164,1971,0,0,0,0,0,0,14.53,14.93,28.83
$GC,7631,0.84,126.5,3072,2499,2164,1971,236.0,11.3,277,7635,0.00,2.40,0.00,0.000,260,0.000,0.076,3071,3918,2067,2164,1971,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7650,0.84,126.5,3071,3918,2164,1972,236.0,11.3,277,7654,0.00,2.30,0.00,0.000,1030,0.000,0.051,3081,2514,2068,2164,1972,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7907,0.84,127.6,3082,2512,2164,1971,208.0,9.9,284,7913,0.00,2.33,0.00,0.000,516,0.000,0.061,3093,1092,2068,2164,1972,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8115,0.86,145.3,3093,1091,2164,1970,190.8,8.7,295,8136,0.03,2.35,13.60,1.991,13318,0.493,0.058,3084,2506,2006,2103,1910,0,0,0,0,0,0,14.53,14.79,14.12
$GC,8387,0.92,189.2,3084,2506,2103,1911,169.4,6.9,322,8433,0.00,2.45,36.60,2.033,8452,0.000,0.075,3084,3921,1827,1930,1724,0,0,0,0,0,0,28.83,14.54,13.85
$GC,8623,0.92,189.2,3084,3921,1930,1721,144.1,12.0,347,8630,0.00,2.35,0.00,0.000,1030,0.000,0.050,3094,2507,1825,1931,1720,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8927,0.92,189.2,3094,2506,1930,1718,111.8,11.4,396,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2506,1824,1930,1718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9237,0.92,189.2,3095,2506,1930,1718,75.6,12.0,445,9247,0.00,2.38,0.00,0.000,516,0.000,0.060,3104,1102,1824,1930,1718,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9270,0.92,189.2,3105,1102,1930,1717,71.7,12.0,449,9280,0.00,2.42,0.00,0.000,1030,0.000,0.057,3105,2509,1823,1930,1717,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9606,0.92,189.2,3106,2509,1930,1720,28.1,13.4,498,9616,0.00,2.42,0.00,0.000,516,0.000,0.061,3116,1096,1825,1930,1721,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9633,0.92,189.2,3115,1095,1930,1720,24.7,13.5,501,9643,0.05,2.45,0.00,0.000,5126,0.413,0.059,3099,2515,1825,1930,1721,0,0,0,0,0,0,14.45,14.71,28.83
$STATE,9793,end climb,SURFACE_DEPTH_REACHED
$STATE,9793,begin surface coast
$FINISH,0.2,0.999558
$STATE,9822,end surface coast,CONTROL_FINISHED_OK
$STATE,9822,begin surface
$SM_CCo,9837,84.65,0.910,0,0,1129,360.09
$SM_GC,1.41,6.95,0.15,84.65,0.101,0.122,0.910,128,2619,1129,-8.21,-0.57,360.09,0,0,0,0,0,0,14.82,14.80,14.14
$IRIDIUM_FIX,2309.79,-15707.82,131209,181801
$TT8_MAMPS,0.018725,0.018725
$HUMID,40.86
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,13.2,67.404
$10V_AH,13.5,0.000
$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,17.425,107.525,267.725,84.650,0.000,31.513,48.422,145.303,0.500,0.000,7.307,1451.189,6085.125,466.686,2144.108,101.312,33.248,1190.830,0.000,1407.165,0.000,0.550,0.000
$DEVICE_MAMPS,520.200,121.635,2819.025,910.350,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,355.304,289.220,505.201,487.342,1008.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,47286,528
$CAP_FILE_SIZE,100832,0
$CFSIZE,2097086464,2074869760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160217,074255,2324.005,-15710.130,12,1.4,12,10.0