version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1059
start: 10 28 121 3 27 58
data:
$ID,626
$MISSION,3
$DIVE,1059
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,750
$D_NO_BLEED,150
$D_BOOST,20
$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,194
$T_MISSION,475
$T_ABORT,550
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54816
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.011885
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,199
$PITCH_MAX,3921
$C_PITCH,2720
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2035
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$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
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.91942
$PRESSURE_SLOPE,0.00014088588
$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,0.0097655999
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044219922
$SEABIRD_T_H,0.00064468966
$SEABIRD_T_I,2.6862755e-05
$SEABIRD_T_J,3.3151866e-06
$SEABIRD_C_G,-10.061407
$SEABIRD_C_H,1.1334444
$SEABIRD_C_I,-0.0030129163
$SEABIRD_C_J,0.00029655115
$GPS1,281021,031832,2238.5366,-15807.2266,26,0.8,36,9.8,0.6,99.9,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.8
$GPS2,281021,032706,2238.5339,-15807.2734,7,0.8,16,9.8,0.0,178.2,10,9.8
$SPEED_LIMITS,0.258,0.268
$TGT_NAME,ALOHA5
$TGT_LATLONG,2239.000,-15800.000
$TGT_RADIUS,1300.000
$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,67.1,12462,-18.7,-12.027,-24.18,2133
$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,17,-0.62,-136.3,130,2046,669,525,0.0,0.0,0,95,0.00,0.00,-75.25,0.000,16386,0.000,0.000,130,2046,3065,3034,3097,0,0,0,0,0,0,15.03,28.83,15.04
$GC,99,-0.62,-136.3,129,2046,3034,3098,3.3,-6.2,11,114,8.62,0.00,-1.83,0.000,18950,0.441,0.000,2515,2047,3179,3149,3210,0,0,0,0,0,0,13.92,13.07,14.23
$GC,363,-0.62,-136.3,2514,2047,3161,3199,70.1,-23.3,44,374,0.00,2.40,0.00,0.000,2308,0.000,0.067,2506,3435,3180,3161,3199,0,0,0,0,0,0,15.09,14.31,15.09
$GC,399,-0.62,-136.3,2506,3435,3161,3200,78.9,-23.6,47,410,0.00,2.35,0.00,0.000,3078,0.000,0.049,2506,2039,3180,3162,3198,0,0,0,0,0,0,14.29,14.24,14.32
$GC,648,-0.62,-136.3,2506,2038,3163,3197,124.2,-16.8,72,659,0.00,2.40,0.00,0.000,2564,0.000,0.057,2506,625,3180,3164,3196,0,0,0,0,0,0,15.16,14.22,15.16
$GC,693,-0.62,-136.3,2506,625,3164,3197,131.5,-16.1,76,705,0.05,2.40,0.00,0.000,3078,0.315,0.055,2513,2025,3180,3165,3196,0,0,0,0,0,0,13.92,14.27,14.09
$GC,947,-0.62,-136.3,2512,2025,3165,3196,169.9,-14.8,101,955,0.00,2.42,0.00,0.000,2308,0.000,0.069,2504,3449,3180,3165,3195,0,0,0,0,0,0,15.17,14.41,15.18
$GC,990,-0.62,-136.3,2503,3449,3165,3195,176.5,-14.4,105,1000,0.05,2.38,0.00,0.000,3078,0.275,0.045,2522,2029,3180,3166,3195,0,0,0,0,0,0,14.12,14.54,14.23
$GC,1240,-0.62,-136.3,2521,2029,3166,3195,209.2,-12.1,130,1249,0.00,2.33,0.00,0.000,516,0.000,0.054,2522,628,3180,3166,3195,0,0,0,0,0,0,15.19,14.46,15.19
$GC,1284,-0.62,-136.3,2522,628,3166,3195,214.9,-12.7,134,1294,0.00,2.40,0.00,0.000,3078,0.000,0.054,2514,2042,3179,3166,3193,0,0,0,0,0,0,14.53,14.47,14.57
$GC,1539,-0.62,-136.3,2513,2041,3166,3194,246.5,-12.7,159,1548,0.00,2.38,0.00,0.000,2308,0.000,0.067,2503,3440,3179,3166,3193,0,0,0,0,0,0,15.19,14.22,15.19
$GC,1617,-0.62,-136.3,2503,3440,3166,3194,255.4,-10.6,166,1626,0.05,2.35,0.00,0.000,3078,0.331,0.044,2523,2031,3179,3166,3193,0,0,0,0,0,0,14.52,14.76,14.73
$GC,1865,-0.62,-136.3,2522,2030,3166,3192,280.5,-10.3,191,1874,0.00,2.33,0.00,0.000,516,0.000,0.054,2523,631,3179,3166,3192,0,0,0,0,0,0,15.19,14.47,15.20
$GC,1890,-0.62,-136.3,2523,630,3166,3192,282.9,-10.2,193,1898,0.00,2.38,0.00,0.000,3078,0.000,0.053,2515,2036,3178,3166,3191,0,0,0,0,0,0,14.54,14.47,14.57
$GC,2141,-0.62,-136.3,2514,2036,3167,3190,309.4,-10.7,218,2150,0.00,2.40,0.00,0.000,2308,0.000,0.067,2504,3447,3178,3166,3190,0,0,0,0,0,0,15.19,14.44,15.19
$GC,2269,-0.62,-136.3,2504,3447,3166,3189,322.9,-10.4,230,2279,0.05,2.35,0.00,0.000,3078,0.258,0.044,2523,2036,3177,3166,3189,0,0,0,0,0,0,14.26,14.63,14.39
$GC,2518,-0.62,-136.3,2522,2036,3166,3188,348.3,-9.8,255,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2036,3177,3166,3188,0,0,0,0,0,0,15.20,15.21,15.21
$GC,2770,-0.62,-136.3,2522,2036,3166,3185,373.1,-10.0,280,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2036,3175,3166,3185,0,0,0,0,0,0,15.19,15.21,15.19
$GC,3018,-0.62,-136.3,2522,2036,3166,3182,398.2,-9.9,305,3027,0.00,2.42,0.00,0.000,260,0.000,0.067,2514,3445,3173,3166,3181,0,0,0,0,0,0,15.21,14.40,15.21
$GC,3064,-0.62,-136.3,2514,3445,3166,3181,402.5,-9.9,309,3072,0.00,2.42,0.00,0.000,3078,0.000,0.046,2514,2033,3173,3165,3181,0,0,0,0,0,0,14.84,14.66,14.87
$GC,3317,-0.62,-136.3,2513,2033,3166,3178,428.4,-10.6,334,3325,0.00,2.45,0.00,0.000,2308,0.000,0.068,2503,3442,3172,3166,3178,0,0,0,0,0,0,15.19,14.38,15.19
$GC,3350,-0.62,-136.3,2503,3442,3165,3178,432.5,-10.5,337,3360,0.03,2.35,0.00,0.000,3078,0.322,0.047,2515,2038,3172,3166,3178,0,0,0,0,0,0,14.23,14.47,14.33
$GC,3600,-0.62,-136.3,2515,2037,3166,3175,457.4,-9.8,362,3608,0.00,2.40,0.00,0.000,2564,0.000,0.059,2515,634,3170,3165,3176,0,0,0,0,0,0,15.19,14.41,15.19
$GC,3645,-0.62,-136.3,2515,634,3164,3176,461.9,-10.1,366,3655,0.00,2.40,0.00,0.000,3078,0.000,0.057,2506,2029,3170,3164,3176,0,0,0,0,0,0,14.40,14.38,14.45
$GC,3898,-0.62,-136.3,2506,2030,3164,3171,487.0,-9.9,391,3907,0.00,2.45,0.00,0.000,2308,0.000,0.072,2495,3444,3167,3164,3171,0,0,0,0,0,0,15.18,14.35,15.18
$GC,3963,-0.62,-136.3,2495,3444,3164,3170,493.9,-10.2,397,3973,0.05,2.38,0.00,0.000,3078,0.265,0.047,2515,2028,3167,3164,3171,0,0,0,0,0,0,14.13,14.43,14.26
$GC,4215,-0.62,-136.3,2514,2028,3163,3168,518.4,-9.9,422,4224,0.00,2.42,0.00,0.000,2564,0.000,0.060,2515,625,3165,3162,3169,0,0,0,0,0,0,15.19,14.42,15.19
$GC,4242,-0.62,-136.3,2514,625,3161,3169,521.0,-10.2,424,4248,0.00,2.45,0.00,0.000,3078,0.000,0.059,2506,2034,3164,3161,3168,0,0,0,0,0,0,14.83,14.66,14.86
$GC,4491,-0.62,-136.3,2506,2034,3161,3165,549.0,-11.3,449,4501,0.00,2.45,0.00,0.000,2308,0.000,0.071,2495,3445,3163,3161,3165,0,0,0,0,0,0,15.18,14.33,15.18
$GC,4549,-0.62,-136.3,2494,3444,3161,3165,555.5,-11.6,454,4556,0.08,2.40,0.00,0.000,3078,0.299,0.047,2521,2033,3162,3161,3164,0,0,0,0,0,0,14.38,14.69,14.62
$GC,4797,-0.62,-136.3,2521,2032,3161,3163,580.9,-9.7,479,4806,0.00,2.38,0.00,0.000,516,0.000,0.056,2522,629,3161,3159,3164,0,0,0,0,0,0,15.17,14.35,15.19
$GC,4831,-0.62,-136.3,2521,629,3159,3163,584.2,-10.0,482,4840,0.00,2.42,0.00,0.000,3078,0.000,0.055,2514,2030,3161,3159,3163,0,0,0,0,0,0,14.42,14.35,14.46
$GC,5083,-0.62,-136.3,2513,2030,3159,3160,607.4,-9.2,507,5093,0.00,2.47,0.00,0.000,2308,0.000,0.070,2502,3447,3159,3159,3160,0,0,0,0,0,0,15.17,14.04,15.18
$GC,5159,-0.62,-136.3,2501,3447,3159,3159,614.9,-9.8,514,5168,0.05,2.40,0.00,0.000,3078,0.260,0.047,2520,2030,3158,3158,3159,0,0,0,0,0,0,14.07,14.37,14.20
$GC,5410,-0.62,-136.3,2520,2030,3159,3157,637.9,-9.2,539,5419,0.00,2.38,0.00,0.000,516,0.000,0.057,2521,632,3158,3158,3158,0,0,0,0,0,0,15.16,14.32,15.17
$GC,5434,-0.62,-136.3,2519,632,3157,3158,640.4,-9.4,541,5444,0.00,2.45,0.00,0.000,3078,0.000,0.056,2512,2041,3157,3157,3158,0,0,0,0,0,0,14.38,14.31,14.42
$GC,5688,-0.62,-136.3,2512,2041,3157,3156,666.6,-10.6,566,5696,0.00,2.45,0.00,0.000,2308,0.000,0.070,2501,3444,3155,3156,3155,0,0,0,0,0,0,15.16,14.26,15.16
$GC,5743,-0.62,-136.3,2501,3445,3157,3155,672.9,-11.0,571,5753,0.05,2.40,0.00,0.000,3078,0.257,0.047,2519,2034,3156,3157,3155,0,0,0,0,0,0,14.04,14.33,14.17
$GC,5993,-0.62,-136.3,2519,2033,3156,3153,697.1,-9.2,596,6001,0.00,2.42,0.00,0.000,2564,0.000,0.057,2519,634,3155,3156,3154,0,0,0,0,0,0,15.17,14.33,15.18
$STATE,6023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6023,begin apogee
$GC,6033,-0.14,0.0,2510,2123,3155,3153,700.4,-9.6,599,6158,0.45,0.00,121.28,1.903,10246,0.254,0.000,2666,2124,2619,2711,2528,0,0,0,0,0,0,13.80,14.25,13.21
$STATE,6159,end apogee,CONTROL_FINISHED_OK
$STATE,6160,begin climb
$GC,6163,0.62,136.3,2666,2123,2711,2527,705.2,0.0,612,6302,0.60,2.58,127.35,1.856,10756,0.166,0.064,2913,717,2062,2159,1966,0,0,0,0,0,0,14.22,14.28,13.24
$GC,6314,0.63,156.8,2912,717,2154,1965,694.6,11.0,627,6341,0.00,2.53,19.38,1.736,11270,0.000,0.060,2913,2121,1978,2071,1886,0,0,0,0,0,0,14.56,14.42,13.28
$GC,6582,0.63,156.8,2912,2121,2066,1880,659.8,12.4,654,6591,0.00,2.47,0.00,0.000,2308,0.000,0.072,2912,3534,1973,2066,1880,0,0,0,0,0,0,15.04,14.26,15.04
$GC,6646,0.63,156.8,2912,3534,2066,1880,651.4,13.1,660,6655,0.00,2.42,0.00,0.000,1030,0.000,0.054,2925,2127,1973,2066,1880,0,0,0,0,0,0,14.34,14.28,14.38
$GC,6900,0.63,156.8,2925,2127,2066,1878,619.1,12.7,685,6909,0.00,2.45,0.00,0.000,516,0.000,0.067,2936,714,1970,2064,1877,0,0,0,0,0,0,15.09,14.40,15.10
$GC,6934,0.63,156.8,2935,714,2060,1878,614.4,12.4,688,6943,0.00,2.45,0.00,0.000,5126,0.000,0.059,2936,2126,1968,2060,1877,0,0,0,0,0,0,14.50,14.42,14.54
$GC,7185,0.63,156.8,2935,2126,2060,1877,580.5,13.8,713,7194,0.00,2.45,0.00,0.000,4356,0.000,0.073,2936,3533,1968,2060,1876,0,0,0,0,0,0,15.13,14.36,15.14
$GC,7249,0.63,156.8,2936,3533,2060,1877,570.6,15.0,719,7259,0.08,2.42,0.00,0.000,5126,0.313,0.055,2924,2119,1968,2060,1877,0,0,0,0,0,0,14.03,14.41,14.25
$GC,7499,0.63,156.8,2924,2118,2060,1877,536.1,14.4,744,7509,0.00,2.45,0.00,0.000,516,0.000,0.067,2933,719,1968,2060,1876,0,0,0,0,0,0,15.15,14.12,15.16
$GC,7554,0.63,156.8,2933,719,2057,1877,528.1,14.6,749,7563,0.00,2.45,0.00,0.000,5126,0.000,0.060,2933,2122,1966,2057,1876,0,0,0,0,0,0,14.43,14.37,14.47
$GC,7808,0.63,156.8,2934,2122,2057,1876,490.7,15.1,774,7818,0.00,2.45,0.00,0.000,4356,0.000,0.072,2934,3526,1966,2057,1876,0,0,0,0,0,0,15.13,14.06,15.14
$GC,7893,0.63,156.8,2933,3526,2057,1876,476.9,15.3,782,7902,0.05,2.42,0.00,0.000,5126,0.343,0.057,2929,2122,1966,2057,1876,0,0,0,0,0,0,13.98,14.35,14.18
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$GC,9909,0.68,239.6,2938,2118,1844,1658,231.2,10.7,981,9940,0.00,2.50,24.62,1.302,8708,0.000,0.062,2948,702,1641,1737,1545,0,0,0,0,0,0,15.11,14.62,13.69
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$STATE,12019,end climb,SURFACE_DEPTH_REACHED
$STATE,12020,begin surface coast
$FINISH,0.2,1.010812
$STATE,12050,end surface coast,CONTROL_FINISHED_OK
$STATE,12050,begin surface
$SM_CCo,12132,0.00,0.000,0,0,595,496.72
$SM_GC,1.02,6.53,2.30,0.00,0.043,0.041,0.000,107,2046,595,-7.86,-0.99,496.72,0,0,0,0,0,0,14.79,14.69,14.83
$IRIDIUM_FIX,2227.67,-15808.45,281021,032055
$TT8_MAMPS,0.02247,0.334803
$HUMID,55.67
$INTERNAL_PRESSURE,8.99412
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.07,233.584
$10V_AH,12.17,0.000
$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,16.975,179.800,560.325,0.000,0.000,29.718,43.861,260.664,0.000,0.000,17.457,3033.630,5449.342,746.672,2944.960,480.867,0.000,2051.341,0.000,2600.102,0.000,0.552,0.000
$DEVICE_MAMPS,440.640,73.440,1903.320,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,818.474,939.339,1624.792,1002.216,1165.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339172
$DATA_FILE_SIZE,114477,1213
$CAP_FILE_SIZE,167832,0
$CFSIZE,1023623168,929562624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.138,268.02,1
$GPS,281021,065131,2238.687,-15807.003,17,0.8,43,9.8,0.3,245.6,10,8.1