version: 66.06
glider: 1
mission: 14
dive: 78
start: 10 8 109 3 24 20
data:
$ID,1
$MISSION,14
$DIVE,78
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-220743.69
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,2
$R_STBD_OVSHOOT,4
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,70.149475
$FG_AHR_24V,4.6384048
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,032503,6656.591,-5804.757,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,033152,6656.581,-5804.887,20,1.1,20,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK4
$TGT_LATLONG,6346.000,-5421.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.085,-0.181
$KALMAN_X,9226.7,-689.2,-3525.8,9421.4,-2995.9
$KALMAN_Y,8567.4,336.9,243.5,-1815.3,-1454.6
$MHEAD_RNG_PITCHd_Wd,136.8,397706,-14.2,-7.021
$D_GRID,100
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.07,-146.6,0.0,0.0,0,98,0.00,0.00,-68.22,0.000,2,0.007,0.000,637,1901,2662,0,0,0,0,0,0
$GC,102,-1.07,-146.6,3.2,-2.4,14,145,9.70,3.50,-15.07,0.000,4,0.000,0.000,2501,369,3115,10,0,21,0,0,0
$GC,151,-0.21,-146.6,10.7,-15.3,22,166,1.05,3.25,0.00,0.007,6,0.000,0.000,2703,2199,3117,2,0,19,0,0,0
$GC,232,0.05,-146.6,26.8,-19.1,33,247,0.00,3.08,0.00,0.007,4,0.007,0.000,2700,3496,3119,0,0,15,0,0,0
$GC,499,0.05,-146.6,59.4,-9.4,56,508,0.00,2.88,0.00,0.007,6,0.000,0.000,2700,1708,3125,0,0,15,0,0,0
$GC,827,0.05,-146.6,90.8,-10.3,87,844,0.00,3.78,0.00,0.007,4,0.007,0.001,2702,3751,3121,0,0,22,0,0,0
$STATE,920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,931,-0.31,0.0,100.5,9.7,95,1063,0.43,0.00,121.95,7.544,6,0.000,0.007,2586,1835,2528,1,0,0,0,1,0
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1067,1.07,146.6,113.5,0.0,108,1204,1.75,2.20,125.50,7.545,4,0.000,0.000,2975,601,1903,0,0,10,0,0,0
$GC,1457,2.95,676.5,153.1,-10.0,144,1746,2.03,2.78,262.02,3.543,6,0.000,0.000,3399,2250,611,2,0,14,0,1,0
$GC,2061,4.84,1205.7,211.8,-10.0,202,2077,0.00,2.92,0.12,0.007,4,0.007,0.000,3399,459,594,0,0,12,0,0,0
$GC,2329,5.50,1743.0,239.1,-10.3,225,2339,0.00,3.12,1.08,0.000,6,0.007,0.000,3407,2268,588,0,0,16,0,0,0
$GC,2664,6.10,2230.7,269.8,-8.7,257,2679,0.00,3.12,0.12,0.000,4,0.007,0.000,3399,442,597,0,0,17,0,0,0
$GC,2931,6.67,2697.0,291.8,-8.0,280,2942,0.00,3.25,1.00,0.000,6,0.007,0.000,3400,2178,594,0,0,18,0,0,0
$GC,3266,7.19,3122.3,317.3,-6.7,312,3282,0.00,2.90,0.12,0.000,4,0.007,0.000,3400,448,592,0,0,14,0,0,0
$GC,3534,7.77,3589.7,337.5,-8.0,335,3545,0.00,3.10,1.48,0.000,6,0.007,0.000,3401,2129,595,0,0,14,0,0,0
$GC,3869,8.38,4084.4,366.2,-8.9,367,3887,0.00,3.33,0.12,0.007,4,0.007,0.000,3397,568,598,0,0,17,0,0,0
$GC,4140,8.95,4547.1,389.6,-7.9,390,4149,0.00,3.05,0.98,0.000,6,0.007,0.000,3399,2522,592,0,0,17,0,0,0
$GC,4475,9.50,4997.2,416.1,-7.5,422,4490,0.00,3.83,0.15,0.007,4,0.007,0.000,3396,326,593,0,0,23,0,0,0
$GC,4742,10.05,5445.1,436.2,-7.4,445,4753,0.00,3.28,1.30,0.000,6,0.007,0.000,3402,2195,595,0,0,15,0,0,0
$GC,5078,10.61,5897.8,460.6,-7.6,477,5094,0.00,3.78,0.17,0.000,4,0.007,0.000,3398,272,596,0,0,21,0,0,0
$GC,5346,11.19,6372.1,482.6,-8.3,500,5356,0.00,3.30,1.23,0.000,6,0.007,0.000,3402,2245,594,0,0,16,0,0,0
$GC,5681,11.78,6855.4,510.8,-8.5,532,5698,0.00,3.67,0.12,0.007,4,0.000,0.000,3399,440,593,0,0,22,0,0,0
$GC,5951,12.37,7331.8,533.8,-8.3,555,5961,0.00,2.83,1.60,0.000,6,0.007,0.000,3402,2240,588,0,0,10,0,0,0
$GC,6288,12.98,7824.2,563.8,-8.8,587,6303,0.00,3.28,0.12,0.000,4,0.007,0.000,3402,492,594,0,0,16,0,0,0
$GC,6556,13.59,8319.8,588.1,-8.9,610,6566,0.00,3.92,0.47,0.000,6,0.007,0.000,3398,2236,593,0,0,21,0,0,0
$GC,6891,14.21,8824.0,617.4,-9.2,642,6906,0.00,2.97,0.00,0.007,4,0.000,0.000,3398,389,592,0,0,17,0,0,0
$GC,7158,14.82,9322.0,641.5,-9.0,665,7168,0.00,3.50,0.00,0.007,6,0.007,0.000,3400,2252,596,0,0,16,0,0,0
$GC,7492,15.41,9801.9,669.3,-8.4,697,7508,0.00,3.72,0.00,0.007,4,0.007,0.000,3399,300,592,0,0,23,0,0,0
$GC,7760,16.02,10296.8,692.2,-8.9,720,7770,0.00,3.88,0.00,0.007,6,0.007,0.000,3406,2337,588,0,0,20,0,0,0
$GC,8095,16.62,10784.1,719.9,-8.7,752,8110,0.00,3.08,0.00,0.007,4,0.007,0.000,3402,605,594,0,0,13,0,0,0
$GC,8362,17.22,11273.4,742.8,-8.7,775,8368,0.00,2.85,0.00,0.007,6,0.007,0.000,3400,2121,610,0,0,13,0,0,0
$GC,8688,17.75,11709.5,768.8,-7.0,806,8703,0.00,3.03,0.00,0.007,4,0.007,0.000,3399,388,592,0,0,14,0,0,0
$GC,8956,18.28,12137.4,788.4,-6.8,829,8965,0.00,3.83,0.00,0.007,6,0.007,0.000,3405,2260,593,0,0,19,0,0,0
$GC,9290,18.89,12631.9,812.2,-8.9,861,9306,0.00,3.88,0.00,0.007,4,0.007,0.000,3400,347,595,0,0,21,0,0,0
$GC,9559,19.50,13124.4,836.7,-8.8,884,9568,0.00,3.25,0.00,0.007,6,0.007,0.000,3399,2208,594,0,0,16,0,0,0
$GC,9892,20.02,13550.3,859.2,-6.7,916,9907,0.00,3.28,0.00,0.007,4,0.007,0.000,3404,473,596,0,0,14,0,0,0
$GC,10160,20.56,13987.0,878.6,-7.0,939,10169,0.00,3.17,0.00,0.007,6,0.007,0.000,3399,2357,595,0,0,18,0,0,0
$GC,10494,21.07,14402.5,901.7,-6.4,971,10509,0.00,3.88,0.00,0.007,4,0.007,0.000,3397,307,592,0,0,20,0,0,0
$GC,10762,21.60,14838.4,921.0,-7.0,994,10772,0.00,3.28,0.00,0.007,6,0.007,0.000,3401,2154,594,0,0,17,0,0,0
$GC,11097,22.05,15204.2,946.9,-4.8,1026,11103,0.00,2.78,0.00,0.007,4,0.007,0.000,3402,439,594,0,0,12,0,0,0
$GC,11355,21.75,15204.2,936.5,10.9,1048,11366,0.00,3.40,0.00,0.007,6,0.007,0.000,3400,2194,592,0,0,20,0,0,0
$GC,11690,21.68,15204.2,908.9,8.1,1080,11705,0.00,3.03,0.00,0.007,4,0.007,0.000,3401,479,593,0,0,15,0,0,0
$GC,11958,21.88,15242.8,890.4,5.8,1103,11963,0.00,2.88,0.00,0.007,6,0.007,0.000,3399,2216,594,0,0,11,0,0,0
$GC,12282,22.14,15284.7,869.9,5.7,1134,12297,0.00,2.95,0.00,0.007,4,0.007,0.000,3401,416,595,0,0,14,0,0,0
$GC,12549,22.14,15284.7,852.7,8.6,1157,12556,0.00,3.88,0.00,0.007,6,0.007,0.000,3398,2260,594,0,0,23,0,0,0
$GC,12881,22.08,15284.7,819.9,9.3,1189,12896,0.00,3.28,0.00,0.007,4,0.007,0.000,3398,445,597,0,0,15,0,0,0
$GC,13148,22.08,15284.7,798.8,7.5,1212,13155,0.00,3.17,0.00,0.000,6,0.007,0.000,3401,2208,596,0,0,17,0,0,0
$GC,13473,22.08,15284.7,772.5,8.3,1243,13488,0.00,3.15,0.00,0.007,4,0.000,0.000,3397,369,592,0,0,19,0,0,0
$GC,13741,22.13,15322.4,750.9,5.8,1266,13747,0.00,3.15,0.00,0.000,6,0.007,0.000,3402,2157,592,0,0,16,0,0,0
$GC,14073,22.04,15322.4,729.6,10.1,1298,14089,0.00,3.60,0.00,0.007,4,0.007,0.000,3398,499,597,0,0,19,0,0,0
$GC,14341,21.95,15322.4,702.2,9.7,1321,14351,0.00,3.35,0.00,0.000,6,0.007,0.000,3397,2119,597,0,0,18,0,0,0
$GC,14676,22.03,15322.4,675.6,7.9,1353,14691,0.00,3.20,0.00,0.007,4,0.007,0.000,3398,439,594,0,0,15,0,0,0
$GC,14943,21.89,15322.4,648.9,10.7,1376,14950,0.00,2.80,0.00,0.007,6,0.000,0.000,3401,2140,593,0,0,14,0,0,0
$GC,15268,21.89,15322.4,617.4,8.1,1407,15283,0.00,2.85,0.00,0.007,4,0.007,0.000,3401,506,598,0,0,14,0,0,0
$GC,15535,21.89,15322.4,595.1,9.5,1430,15542,0.00,3.35,0.00,0.007,6,0.007,0.000,3400,2260,595,0,0,18,0,0,0
$GC,15859,21.89,15322.4,564.9,9.4,1461,15875,0.00,3.58,0.00,0.007,4,0.007,0.000,3400,243,594,0,0,19,0,0,0
$GC,16127,21.99,15322.4,542.0,7.8,1484,16137,0.00,3.90,0.00,0.007,6,0.000,0.000,3399,2316,594,0,0,23,0,0,0
$GC,16461,21.99,15322.4,513.6,9.2,1516,16476,0.00,3.42,0.00,0.007,4,0.007,0.000,3400,456,583,0,0,15,0,0,0
$GC,16728,21.99,15322.4,488.8,10.4,1539,16735,0.00,3.28,0.00,0.007,6,0.007,0.000,3398,2158,589,0,0,18,0,0,0
$GC,17053,22.12,15323.8,466.4,7.0,1570,17069,0.00,2.83,0.00,0.007,4,0.007,0.000,3402,614,594,0,0,16,0,0,0
$GC,17322,22.12,15323.8,439.6,10.3,1593,17331,0.00,3.05,0.00,0.007,6,0.007,0.000,3398,2215,593,0,0,16,0,0,0
$GC,17656,22.12,15323.8,407.8,7.9,1625,17672,0.00,3.53,0.00,0.007,4,0.007,0.000,3398,461,595,0,0,18,0,0,0
$GC,17923,22.12,15323.8,384.3,9.0,1648,17931,0.00,3.33,0.00,0.000,6,0.007,0.000,3398,2311,594,0,0,16,0,0,0
$GC,18249,22.20,15323.8,353.7,8.1,1679,18265,0.00,3.38,0.00,0.007,4,0.007,0.000,3401,447,591,0,0,16,0,0,0
$GC,18518,22.20,15323.8,334.0,7.3,1702,18528,0.00,3.38,0.00,0.007,6,0.007,0.000,3400,2180,594,0,0,19,0,0,0
$GC,18852,22.20,15323.8,304.1,8.4,1734,18866,0.00,3.15,0.00,0.007,4,0.007,0.000,3402,381,592,0,0,14,0,0,0
$GC,19119,22.21,15335.4,283.3,6.6,1757,19126,0.00,3.42,0.00,0.007,6,0.007,0.000,3400,2267,592,0,0,17,0,0,0
$GC,19443,22.21,15335.4,257.3,8.1,1788,19458,0.00,4.32,0.00,0.007,4,0.000,0.000,3399,505,592,0,0,26,0,0,0
$GC,19710,22.21,15335.4,231.3,8.8,1811,19721,0.00,4.15,0.00,0.007,6,0.007,0.000,3403,2387,598,0,0,25,0,0,0
$GC,20045,22.21,15335.4,205.9,10.1,1843,20060,0.00,3.47,0.00,0.007,4,0.007,0.000,3401,471,594,0,0,21,0,0,0
$GC,20312,22.21,15335.4,180.9,8.7,1866,20320,0.00,3.20,0.00,0.007,6,0.000,0.000,3397,2196,593,0,0,16,0,0,0
$GC,20637,22.21,15335.4,155.9,7.3,1897,20653,0.00,3.47,0.00,0.007,4,0.007,0.000,3400,493,596,0,0,19,0,0,0
$GC,20905,22.13,15335.4,131.2,8.9,1920,20914,0.00,3.50,0.00,0.007,6,0.000,0.000,3400,2322,594,0,0,18,0,0,0
$GC,21239,22.24,15335.4,102.3,7.1,1952,21254,0.00,3.08,0.00,0.007,4,0.007,0.000,3398,574,594,0,0,18,0,0,0
$GC,21506,22.18,15335.4,79.1,9.8,1975,21513,0.00,2.80,0.00,0.007,6,0.007,0.000,3399,2266,591,0,0,19,0,0,0
$GC,21831,22.20,15347.4,52.6,6.6,2006,21846,0.00,4.60,0.00,0.007,4,0.007,0.000,3396,339,598,0,0,26,0,0,0
$GC,22076,22.20,15347.4,33.3,8.1,2027,22086,0.00,4.18,0.00,0.000,6,0.007,0.000,3401,2207,594,0,0,23,0,0,0
$GC,22280,22.27,15406.5,19.8,5.1,2047,22296,0.00,3.05,0.00,0.007,4,0.007,0.000,3400,489,598,0,0,15,0,0,0
$STATE,22547,end climb,SURFACE_DEPTH_REACHED
$STATE,22547,begin surface coast
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$STATE,22560,end surface coast,CONTROL_FINISHED_OK
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$RAFOS,0,1254989042,8.083333,8.067223,80,0,0,0,0,0,847,0,0,0,0,0
$RAFOS,4,1254977044,4.750000,4.734445,80,0,0,0,0,0,681,0,0,0,0,0
$RAFOS,3,1254976450,4.583333,4.569445,80,0,0,0,0,0,784,0,0,0,0,0
$RAFOS,2,1254975847,4.416667,4.401945,80,0,0,0,0,0,573,0,0,0,0,0
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$RAFOS,0,1254974641,4.083333,4.066945,80,0,0,0,0,0,848,0,0,0,0,0
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078135052
$INTERNAL_PRESSURE,16.265
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,239.478
$10V_AH,10.7,36.965
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,70.358
$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,29.675,259.225,519.675,0.000,0.000,0.000,0.000,149.776,0.000,0.000,20.956,3579.673,15233.863,1219.514,2321.648,688.079,33.362,1464.104,0.000,2212.422,3600.000,2.997,0.000
$DEVICE_MAMPS,119.000,60.000,7544.501,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1266.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336268
$DATA_FILE_SIZE,69211,2096
$CAP_FILE_SIZE,258411,8
$CFSIZE,260165632,246808576
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,26,1352,2,0
$SOUNDSPEED,1462.9
$GPS,081009,095210,6655.257,-5808.171,8,1.1,9,18.0