version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 470
start: 3 28 117 18 10 58
data:
$ID,626
$MISSION,1
$DIVE,470
$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,290
$T_MISSION,450
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,380
$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,-132098.97
$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,30
$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,2500
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,38
$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
$GPS1,280317,180325,2238.086,-15801.174,17,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.4
$GPS2,280317,180944,2238.052,-15801.136,8,0.8,8,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC6
$TGT_LATLONG,2251.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,0.213
$KALMAN_X,-166042.5,874.9,276.2,166628.4,-1800.2
$KALMAN_Y,-165880.3,131.6,200.0,159910.9,353.0
$MHEAD_RNG_PITCHd_Wd,346.7,24024,-15.9,-8.046,-19.20,2502
$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,13,begin dive
$GC,15,-0.66,-107.1,114,2529,1069,1007,0.0,0.0,0,78,0.00,0.00,-57.40,0.000,16390,0.000,0.000,114,2529,3036,3066,3006,0,0,0,0,0,0,28.83,28.83,14.85
$GC,81,-0.66,-107.1,114,2529,3066,3007,4.3,-9.0,7,100,8.85,2.38,0.00,0.000,2308,0.480,0.057,2574,3899,3038,3069,3007,0,0,0,0,0,0,14.00,14.53,28.83
$GC,299,-0.66,-107.1,2575,3899,3070,3006,54.5,-14.6,38,309,0.00,2.38,0.00,0.000,1030,0.000,0.047,2574,2508,3038,3070,3006,0,0,0,0,0,0,28.83,14.50,28.83
$GC,619,-0.66,-107.1,2575,2507,3071,3006,112.3,-18.1,87,625,0.00,2.38,0.00,0.000,516,0.000,0.058,2574,1081,3038,3071,3006,0,0,0,0,0,0,28.83,14.66,28.83
$GC,664,-0.66,-107.1,2574,1081,3071,3006,121.0,-17.4,94,673,0.00,2.45,0.00,0.000,1030,0.000,0.055,2574,2483,3038,3070,3006,0,0,0,0,0,0,28.83,14.51,28.83
$GC,950,-0.66,-107.1,2574,2484,3071,3006,167.6,-16.0,133,958,0.00,2.30,0.00,0.000,516,0.000,0.054,2574,1090,3039,3072,3006,0,0,0,0,0,0,28.83,14.52,28.83
$GC,970,-0.66,-107.1,2574,1090,3071,3006,171.5,-16.0,135,982,0.00,2.38,0.00,0.000,1030,0.000,0.057,2574,2502,3039,3072,3006,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1220,-0.66,-107.1,2574,2502,3072,3006,206.8,-13.9,157,1226,0.00,2.35,0.00,0.000,516,0.000,0.056,2574,1085,3039,3072,3006,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1238,-0.66,-107.1,2574,1086,3072,3006,206.8,-13.9,157,1242,0.00,2.40,0.00,0.000,1030,0.000,0.058,2574,2501,3039,3072,3006,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1495,-0.66,-107.1,2574,2501,3073,3006,240.5,-11.6,164,1501,0.00,2.35,0.00,0.000,516,0.000,0.055,2574,1080,3039,3073,3006,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1553,-0.66,-107.1,2574,1079,3073,3006,245.0,-11.2,165,1557,0.00,2.40,0.00,0.000,1030,0.000,0.059,2574,2505,3039,3073,3006,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1810,-0.66,-107.1,2574,2505,3073,3006,276.7,-11.8,172,1816,0.00,2.38,0.00,0.000,260,0.000,0.076,2574,3911,3039,3073,3006,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1858,-0.66,-107.1,2574,3911,3073,3006,281.6,-12.2,173,1863,0.00,2.30,0.00,0.000,1030,0.000,0.043,2574,2493,3039,3073,3006,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2125,-0.66,-107.1,2574,2492,3073,3006,313.0,-11.4,180,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2492,3039,3073,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,-0.66,-107.1,2574,2492,3072,3004,340.1,-11.2,186,2371,0.00,2.30,0.00,0.000,516,0.000,0.057,2574,1086,3038,3073,3004,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2488,-0.66,-107.1,2574,1086,3073,3003,353.3,-11.1,189,2493,0.00,2.40,0.00,0.000,1030,0.000,0.058,2574,2510,3038,3073,3003,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2760,-0.66,-107.1,2574,2510,3073,3001,382.6,-10.7,196,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2510,3036,3072,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3000,-0.66,-107.1,2574,2511,3073,2997,407.7,-10.3,202,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2511,3035,3073,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,-0.66,-107.1,2574,2511,3073,2995,431.7,-9.9,208,3246,0.00,2.40,0.00,0.000,260,0.000,0.079,2574,3917,3034,3073,2995,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3303,-0.66,-107.1,2574,3917,3072,2994,435.6,-9.8,209,3307,0.00,2.33,0.00,0.000,1030,0.000,0.043,2574,2493,3033,3073,2994,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3555,-0.66,-107.1,2575,2491,3073,2990,462.1,-9.6,216,3561,0.00,2.33,0.00,0.000,516,0.000,0.059,2574,1083,3031,3073,2990,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3608,-0.66,-107.1,2574,1083,3073,2990,466.2,-9.8,217,3612,0.00,2.40,0.00,0.000,1030,0.000,0.059,2574,2501,3031,3073,2990,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3870,-0.66,-107.1,2574,2501,3073,2987,493.4,-10.0,224,3876,0.00,2.35,0.00,0.000,516,0.000,0.056,2574,1088,3030,3073,2987,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3903,-0.66,-107.1,2574,1089,3072,2987,493.4,-10.0,224,3910,0.00,2.40,0.00,0.000,1030,0.000,0.060,2574,2499,3030,3073,2987,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4150,-0.66,-107.1,2574,2500,3072,2983,521.9,-10.0,231,4156,0.00,2.40,0.00,0.000,260,0.000,0.080,2574,3911,3028,3073,2983,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4183,-0.66,-107.1,2573,3911,3072,2983,521.9,-10.0,231,4190,0.00,2.33,0.00,0.000,1030,0.000,0.044,2574,2494,3027,3073,2982,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4430,-0.66,-107.1,2574,2493,3072,2980,547.3,-8.8,238,4436,0.00,2.35,0.00,0.000,516,0.000,0.059,2574,1083,3025,3072,2979,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4448,-0.66,-107.1,2574,1083,3072,2979,547.3,-8.8,238,4453,0.00,2.42,0.00,0.000,1030,0.000,0.060,2574,2505,3025,3072,2979,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4705,-0.66,-107.1,2575,2505,3072,2976,570.9,-8.5,245,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2505,3024,3072,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,-0.66,-107.1,2574,2505,3072,2974,591.5,-8.6,251,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2505,3023,3073,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5185,-0.66,-107.1,2574,2504,3072,2971,613.0,-9.1,257,5191,0.00,2.38,0.00,0.000,516,0.000,0.057,2574,1089,3021,3072,2970,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5243,-0.66,-107.1,2574,1089,3072,2970,616.5,-9.0,258,5248,0.00,2.42,0.00,0.000,1030,0.000,0.061,2574,2505,3021,3073,2970,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5501,-0.66,-107.1,2574,2505,3072,2968,638.5,-7.7,265,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2506,3020,3072,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.66,-107.1,2574,2505,3072,2966,655.8,-7.3,271,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2505,3019,3072,2966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,-0.66,-107.1,2574,2505,3071,2963,673.1,-7.2,277,5986,0.00,2.40,0.00,0.000,516,0.000,0.057,2574,1090,3017,3072,2962,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5999,-0.66,-107.1,2574,1090,3072,2962,673.1,-7.2,277,6003,0.00,2.42,0.00,0.000,1030,0.000,0.062,2574,2500,3017,3072,2962,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6256,-0.66,-107.1,2574,2501,3072,2959,694.1,-7.8,284,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2500,3015,3072,2959,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6334,begin apogee
$GC,6339,-0.17,0.0,2575,2421,3072,2958,700.5,-8.0,286,6432,0.52,0.00,89.97,2.603,10246,0.301,0.000,2746,2421,2600,2676,2524,0,0,0,0,0,0,14.11,28.83,13.07
$STATE,6433,end apogee,CONTROL_FINISHED_OK
$STATE,6433,begin climb
$GC,6435,0.66,107.1,2747,2421,2676,2524,702.4,0.0,288,6540,0.73,2.65,97.18,2.598,10500,0.188,0.076,3014,3860,2162,2238,2086,0,0,0,0,0,0,14.10,13.93,12.93
$GC,6555,0.66,107.1,3014,3861,2238,2086,699.1,4.3,291,6560,0.00,2.42,0.00,0.000,1030,0.000,0.051,3025,2481,2162,2238,2086,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6807,0.66,107.1,3025,2480,2238,2077,668.1,11.5,298,6813,0.00,2.45,0.00,0.000,516,0.000,0.064,3036,1032,2156,2237,2076,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6835,0.66,107.1,3036,1033,2236,2073,668.1,11.5,298,6841,0.10,2.45,0.00,0.000,5126,0.418,0.060,3012,2453,2154,2236,2073,0,0,0,0,0,0,14.23,14.56,28.83
$GC,7082,0.66,107.1,3014,2453,2236,2073,639.4,10.2,304,7088,0.00,2.42,0.00,0.000,260,0.000,0.076,3013,3868,2154,2236,2072,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7096,0.66,107.1,3013,3868,2236,2073,639.4,10.2,304,7100,0.00,2.40,0.00,0.000,1030,0.000,0.054,3023,2441,2154,2236,2072,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7357,0.66,107.1,3023,2440,2236,2071,608.7,10.9,311,7363,0.00,2.38,0.00,0.000,516,0.000,0.063,3034,1024,2152,2236,2069,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7397,0.66,107.1,3034,1024,2235,2069,604.7,10.6,312,7404,0.10,2.42,0.00,0.000,5126,0.419,0.058,3011,2451,2152,2235,2069,0,0,0,0,0,0,14.28,14.67,28.83
$GC,7677,0.66,107.1,3011,2451,2235,2069,578.9,9.1,319,7683,0.00,2.40,0.00,0.000,516,0.000,0.060,3021,1031,2151,2235,2068,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7757,0.66,107.1,3020,1031,2235,2065,571.5,9.2,321,7763,0.00,2.42,0.00,0.000,1030,0.000,0.058,3021,2455,2150,2235,2065,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8037,0.66,107.1,3021,2454,2235,2065,543.7,10.0,328,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2454,2150,2235,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8277,0.66,107.1,3021,2455,2235,2064,520.4,9.7,334,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2454,2150,2235,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,0.66,107.1,3021,2455,2235,2064,497.1,9.8,340,8524,0.00,2.40,0.00,0.000,260,0.000,0.074,3020,3866,2149,2235,2064,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8545,0.66,107.1,3021,3866,2235,2064,497.1,9.8,340,8551,0.08,2.38,0.00,0.000,5126,0.474,0.048,3018,2432,2149,2235,2064,0,0,0,0,0,0,14.29,14.72,28.83
$GC,8793,0.66,107.1,3018,2432,2235,2063,469.4,10.1,346,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2431,2149,2235,2063,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,12117,0.75,175.6,3033,3856,1987,1777,155.1,10.1,466,12125,0.00,2.38,0.00,0.000,1030,0.000,0.047,3042,2455,1882,1987,1777,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,13863,end climb,SURFACE_DEPTH_REACHED
$STATE,13863,begin surface coast
$FINISH,0.2,1.006133
$STATE,13920,end surface coast,CONTROL_FINISHED_OK
$STATE,13920,begin surface
$SM_CCo,13936,106.72,0.858,0,0,1048,380.21
$SM_GC,1.11,6.75,0.12,106.72,0.067,0.131,0.858,127,2513,1048,-8.21,-0.74,380.21,0,0,0,0,0,0,14.67,14.65,13.92
$IRIDIUM_FIX,2227.67,-15801.07,230110,070719
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.77
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,23.20
$XPDR_PINGS,4
$24V_AH,12.9,151.572
$10V_AH,13.1,0.000
$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,17.425,148.725,255.050,106.725,0.000,32.400,46.105,175.940,1.000,0.000,9.311,1998.028,8921.213,503.412,2815.978,200.148,33.255,1467.503,0.000,1849.545,0.000,0.549,0.000
$DEVICE_MAMPS,514.080,131.580,2602.530,857.565,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,497.090,405.094,692.793,687.004,1421.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352972
$DATA_FILE_SIZE,64187,734
$CAP_FILE_SIZE,134482,0
$CFSIZE,2097086464,2042232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,280317,220556,2238.865,-15801.180,17,1.4,17,9.8