version: 66.13
glider: 133
mission: 5
dive: 98
start: 3 24 117 9 8 59
data:
$ID,133
$MISSION,5
$DIVE,98
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54382
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,108
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3101
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-18.083
$PRESSURE_SLOPE,0.00011564888
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.090000004
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043768995
$SEABIRD_T_H,0.00063528348
$SEABIRD_T_I,2.4782157e-05
$SEABIRD_T_J,2.6511516e-06
$SEABIRD_C_G,-9.8739452
$SEABIRD_C_H,1.0990992
$SEABIRD_C_I,-0.0013875214
$SEABIRD_C_J,0.00019236583
$GPS1,240317,090338,1354.9510,6056.5811,28,1.0,31,-0.7,0.0,0.0,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.7
$GPS2,240317,090815,1354.9283,6056.5894,15,1.0,18,-0.7,0.4,70.3,9,9.1
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1357.562,6057.549
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,16.1,5173,-17.4,-9.167,-20.10,1927
$D_GRID,1000
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.30,-115.0,139,2616,1217,1302,0.0,0.0,0,69,0.00,0.00,-59.62,0.000,16386,0.000,0.000,140,2616,3390,3442,3339,0,0,0,0,0,0,14.95,28.83,14.97
$GC,71,-1.34,-146.0,139,2616,3443,3341,3.0,-5.4,10,97,13.45,2.08,-4.53,0.000,18724,0.425,2.075,2865,3800,3699,3718,3681,1,0,0,0,0,0,14.49,13.92,14.76
$GC,203,-1.34,-146.0,2864,3799,3718,3683,28.3,-15.1,35,210,0.00,1.75,0.00,0.000,1030,0.000,0.022,2868,2572,3700,3718,3683,0,0,0,0,0,0,14.82,14.80,14.83
$GC,517,-1.34,-146.0,2867,2572,3718,3684,69.9,-12.0,81,521,0.00,2.00,0.00,0.000,516,0.000,0.026,2868,1251,3701,3718,3684,0,0,0,0,0,0,15.04,14.86,15.06
$GC,551,-1.34,-146.0,2867,1251,3718,3685,74.3,-12.4,88,558,0.00,2.12,0.00,0.000,1030,0.000,0.034,2860,2583,3701,3717,3685,0,0,0,0,0,0,14.86,14.83,14.88
$GC,859,-1.34,-146.0,2860,2583,3718,3686,111.8,-12.0,119,862,0.00,2.00,0.00,0.000,516,0.000,0.026,2860,1257,3702,3718,3686,0,0,0,0,0,0,15.09,14.91,15.11
$GC,893,-1.38,-146.0,2860,1255,3718,3686,116.3,-12.2,126,900,0.00,2.10,0.00,0.000,1158,0.000,0.036,2854,2604,3702,3718,3687,0,0,0,0,0,0,14.95,14.89,14.96
$GC,1199,-1.38,-146.0,2853,2604,3718,3688,153.3,-13.4,157,1203,0.00,2.03,0.00,0.000,516,0.000,0.025,2853,1258,3703,3718,3688,0,0,0,0,0,0,15.13,14.95,15.15
$GC,1240,-1.44,-146.0,2853,1257,3718,3688,158.8,-12.7,165,1245,0.00,2.10,0.00,0.000,1158,0.000,0.036,2845,2612,3703,3718,3688,0,0,0,0,0,0,14.98,14.92,15.00
$GC,1552,-1.47,-146.0,2845,2612,3718,3690,193.3,-9.6,197,1557,0.00,1.92,0.00,0.000,388,0.000,0.057,2836,3814,3704,3718,3690,0,0,0,0,0,0,15.15,14.93,15.16
$GC,1694,-1.47,-146.0,2836,3814,3718,3690,208.5,-10.3,225,1698,0.00,1.73,0.00,0.000,1030,0.000,0.021,2836,2583,3704,3718,3690,0,0,0,0,0,0,15.02,15.00,15.03
$GC,2005,-1.52,-146.0,2836,2583,3718,3690,243.1,-11.4,257,2010,0.00,1.98,0.00,0.000,644,0.000,0.025,2835,1259,3704,3718,3690,0,0,0,0,0,0,15.16,14.98,15.18
$GC,2091,-1.57,-146.0,2836,1259,3717,3689,252.3,-10.3,274,2098,0.00,2.10,0.00,0.000,1158,0.000,0.034,2830,2614,3704,3718,3690,0,0,0,0,0,0,15.02,14.96,15.03
$GC,2397,-1.62,-146.0,2830,2614,3717,3690,282.0,-9.8,285,2398,0.00,0.00,0.00,0.000,134,0.000,0.000,2830,2614,3704,3718,3690,0,0,0,0,0,0,15.19,15.21,15.21
$GC,2697,-1.67,-146.0,2830,2614,3715,3690,310.6,-9.2,295,2699,0.10,0.00,0.00,0.000,4230,0.148,0.000,2781,2615,3702,3715,3690,0,0,0,0,0,0,15.00,15.06,15.04
$GC,2997,-1.67,-146.0,2780,2615,3711,3689,343.9,-11.7,305,3002,0.12,2.08,0.00,0.000,2564,0.260,0.024,2811,1253,3700,3711,3690,0,0,0,0,0,0,14.83,15.02,14.95
$GC,3023,-1.70,-146.0,2811,1252,3711,3690,346.8,-10.8,310,3029,0.00,2.10,0.00,0.000,1158,0.000,0.036,2804,2602,3700,3711,3690,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3329,-1.70,-146.0,2804,2602,3707,3689,379.5,-10.6,321,3333,0.00,1.92,0.00,0.000,260,0.000,0.057,2795,3808,3698,3707,3689,0,0,0,0,0,0,15.21,14.98,15.23
$GC,3363,-1.70,-146.0,2795,3808,3707,3689,383.7,-11.1,328,3367,0.00,1.75,0.00,0.000,1030,0.000,0.022,2795,2609,3697,3706,3688,0,0,0,0,0,0,15.05,15.03,15.06
$GC,3690,-1.70,-146.0,2795,2608,3705,3686,418.5,-10.7,343,3694,0.00,2.05,0.00,0.000,516,0.000,0.026,2795,1257,3696,3706,3686,0,0,0,0,0,0,15.21,15.02,15.23
$GC,3734,-1.73,-146.0,2795,1249,3705,3685,423.4,-10.9,352,3738,0.00,2.10,0.00,0.000,1158,0.000,0.035,2789,2603,3695,3705,3685,0,0,0,0,0,0,15.05,15.00,15.07
$GC,4050,-1.73,-146.0,2788,2602,3702,3684,457.8,-11.2,365,4055,0.00,1.92,0.00,0.000,260,0.000,0.055,2780,3809,3692,3702,3683,0,0,0,0,0,0,15.21,14.99,15.23
$GC,4090,-1.73,-146.0,2780,3809,3702,3683,462.9,-12.7,373,4095,0.00,1.77,0.00,0.000,1030,0.000,0.023,2780,2600,3692,3702,3683,0,0,0,0,0,0,15.04,15.04,15.06
$GC,4412,-1.73,-146.0,2780,2599,3700,3681,498.9,-11.0,387,4415,0.00,2.05,0.00,0.000,516,0.000,0.027,2780,1252,3690,3699,3681,0,0,0,0,0,0,15.21,15.02,15.23
$GC,4460,-1.73,-146.0,2780,1244,3700,3681,504.4,-10.6,397,4465,0.00,2.12,0.00,0.000,1030,0.000,0.035,2773,2607,3690,3700,3680,0,0,0,0,0,0,15.05,15.00,15.07
$GC,4772,-1.73,-146.0,2773,2606,3698,3678,538.6,-11.1,409,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2606,3688,3698,3678,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5072,-1.73,-146.0,2773,2606,3695,3678,572.8,-11.5,419,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2606,3687,3696,3678,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5372,-1.73,-146.0,2773,2606,3694,3676,609.0,-12.1,429,5376,0.00,2.08,0.00,0.000,516,0.000,0.026,2773,1246,3684,3694,3675,0,0,0,0,0,0,15.21,15.02,15.23
$GC,5403,-1.73,-146.0,2773,1246,3694,3675,612.8,-12.7,435,5408,0.12,2.12,0.00,0.000,3078,0.287,0.036,2789,2607,3684,3694,3675,0,0,0,0,0,0,14.83,15.00,15.02
$GC,5731,-1.73,-146.0,2789,2606,3690,3674,648.2,-10.5,450,5735,0.00,2.10,0.00,0.000,516,0.000,0.028,2790,1237,3682,3691,3674,0,0,0,0,0,0,15.21,15.02,15.23
$GC,5775,-1.78,-146.0,2790,1237,3692,3674,652.9,-10.4,459,5779,0.00,2.15,0.00,0.000,1158,0.000,0.037,2786,2607,3682,3692,3673,0,0,0,0,0,0,15.05,15.00,15.07
$GC,6092,-1.78,-146.0,2786,2607,3690,3672,686.0,-10.6,472,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2607,3681,3691,3672,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6392,-1.78,-146.0,2786,2606,3690,3671,719.3,-11.5,482,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2606,3680,3689,3672,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6691,-1.78,-146.0,2786,2606,3688,3670,755.6,-12.3,492,6695,0.00,2.08,0.00,0.000,516,0.000,0.028,2787,1265,3679,3688,3670,0,0,0,0,0,0,15.21,15.02,15.23
$GC,6722,-1.82,-146.0,2786,1250,3688,3670,759.3,-13.1,498,6728,0.00,2.12,0.00,0.000,1158,0.000,0.037,2783,2607,3679,3688,3670,0,0,0,0,0,0,15.06,14.99,15.07
$GC,7052,-1.82,-146.0,2782,2606,3686,3668,798.6,-11.7,514,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2607,3677,3687,3668,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7352,-1.82,-146.0,2782,2607,3686,3667,831.2,-10.4,524,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2607,3676,3686,3667,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7652,-1.82,-146.0,2782,2607,3684,3666,860.1,-9.5,534,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2607,3675,3684,3667,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7952,-1.82,-146.0,2783,2606,3683,3666,887.8,-9.3,544,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2607,3675,3684,3666,0,0,0,0,0,0,15.21,15.23,15.23
$GC,8252,-1.82,-146.0,2782,2607,3683,3665,916.4,-9.6,554,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2607,3674,3683,3665,0,0,0,0,0,0,15.21,15.23,15.23
$GC,8552,-1.82,-146.0,2782,2605,3682,3664,944.4,-9.4,564,8556,0.00,2.10,0.00,0.000,516,0.000,0.028,2783,1241,3672,3682,3663,0,0,0,0,0,0,15.21,15.01,15.23
$GC,8591,-1.85,-146.0,2782,1241,3681,3663,948.3,-9.4,572,8595,0.00,2.15,0.00,0.000,1158,0.000,0.037,2775,2606,3672,3681,3663,0,0,0,0,0,0,15.05,14.99,15.07
$GC,8902,-1.85,-146.0,2775,2606,3680,3662,979.5,-10.5,584,8906,0.00,1.95,0.00,0.000,260,0.000,0.059,2766,3813,3671,3680,3662,0,0,0,0,0,0,15.21,14.97,15.22
$GC,8946,-1.85,-146.0,2766,3813,3680,3662,984.5,-11.4,593,8951,0.00,1.80,0.00,0.000,1030,0.000,0.026,2766,2611,3671,3680,3662,0,0,0,0,0,0,15.03,15.02,15.04
$STATE,9022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9022,begin apogee
$GC,9026,-0.33,0.0,2766,2289,3680,3662,992.9,-11.2,598,9164,1.20,0.00,133.93,2.041,10246,0.243,0.000,3097,2288,3100,3081,3120,0,0,0,0,0,0,14.81,14.17,13.52
$STATE,9165,end apogee,CONTROL_FINISHED_OK
$STATE,9165,begin climb
$GC,9167,1.34,146.0,3097,2288,3076,3117,995.3,0.0,602,9317,1.15,2.20,141.18,2.013,10756,0.106,0.037,3480,977,2498,2449,2548,0,0,0,0,0,0,14.17,14.09,13.43
$GC,9386,1.14,146.0,3479,977,2444,2535,978.7,13.8,650,9392,0.22,2.20,0.00,0.000,5254,0.286,0.034,3422,2336,2489,2443,2535,0,0,0,0,0,0,14.24,14.38,14.37
$GC,9715,1.02,146.0,3422,2336,2438,2531,940.1,11.5,666,9717,0.15,0.00,0.00,0.000,4230,0.334,0.000,3392,2336,2484,2438,2530,0,0,0,0,0,0,14.55,14.77,14.75
$GC,10015,0.95,146.0,3392,2336,2436,2528,908.1,10.8,676,10019,0.00,2.17,0.00,0.000,644,0.000,0.037,3398,978,2482,2436,2528,0,0,0,0,0,0,15.01,14.82,15.03
$GC,10059,0.88,146.0,3398,978,2436,2526,903.0,10.9,685,10064,0.17,2.12,0.00,0.000,5254,0.277,0.035,3363,2317,2481,2436,2527,0,0,0,0,0,0,14.66,14.83,14.85
$GC,10371,0.88,146.0,3363,2317,2435,2526,871.6,10.2,697,10376,0.00,2.28,0.00,0.000,260,0.000,0.057,3363,3706,2480,2435,2526,0,0,0,0,0,0,15.07,14.85,15.09
$GC,10406,0.81,146.0,3362,3706,2435,2526,867.6,11.4,704,10411,0.12,2.08,0.00,0.000,5254,0.311,0.026,3347,2335,2480,2435,2526,0,0,0,0,0,0,14.71,14.90,14.90
$GC,10729,0.82,156.5,3346,2333,2433,2526,839.0,8.6,718,10737,0.00,0.00,5.72,1.663,8230,0.000,0.000,3347,2334,2463,2415,2511,0,0,0,0,0,0,15.10,14.85,14.09
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$GC,18454,1.18,276.8,3418,2310,1926,2042,28.3,8.9,1306,18462,0.00,2.20,1.58,0.213,8740,0.000,0.035,3428,936,1972,1913,2032,0,0,0,0,0,0,15.07,14.88,14.73
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$STATE,18726,end climb,SURFACE_DEPTH_REACHED
$STATE,18726,begin surface coast
$FINISH,0.5,1.010953
$STATE,18757,end surface coast,CONTROL_FINISHED_OK
$STATE,18758,begin surface
$SM_CCo,18774,67.05,0.081,0,0,1265,450.12
$SM_GC,1.38,9.35,0.45,67.05,0.067,0.058,0.081,142,2612,1265,-13.85,-1.22,450.12,0,0,0,0,0,0,14.81,14.87,14.78
$IRIDIUM_FIX,1347.51,6158.66,240317,031648
$TT8_MAMPS,0.023968,0.204477
$HUMID,46.49
$INTERNAL_PRESSURE,8.97285
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.43,25.550
$10V_AH,13.35,0.000
$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,27.150,156.775,412.625,67.050,0.000,0.000,0.000,184.750,0.000,0.000,19.608,2823.655,13403.787,616.967,2162.077,127.535,0.000,1918.453,0.000,1941.042,0.000,0.548,0.000
$DEVICE_MAMPS,425.340,2074.680,2041.020,81.090,0.000,0.000,0.000,164.475,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,696.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193876
$DATA_FILE_SIZE,59926,1364
$CAP_FILE_SIZE,168833,0
$CFSIZE,260034560,251379712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.032,75.13,1
$GPS,240317,142409,1357.744,6057.653,29,1.0,33,-0.7,0.2,182.0,7,9.3