version: 66.13
glider: 137
mission: 5
dive: 162
start: 4 5 117 10 52 13
data:
$ID,137
$MISSION,5
$DIVE,162
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$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,330
$T_MISSION,450
$T_ABORT,720
$T_TURN,225
$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,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,54893
$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,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$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,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,1
$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,-84.34626
$PRESSURE_SLOPE,0.0001160319
$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,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,050417,104636,1318.3279,6052.4043,35,0.8,40,-0.7,0.0,0.0,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-68.0
$GPS2,050417,105137,1318.3237,6052.3965,6,0.8,16,-0.7,0.0,0.0,11,9.2
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1317.296,6054.751
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,112.2,4651,-16.6,-10.000,-19.21,2243
$D_GRID,990
$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,-1.28,-146.0,91,2081,333,568,0.0,0.0,0,104,0.00,0.00,-94.40,0.000,16386,0.000,0.000,91,2081,2976,2893,3060,0,0,0,0,0,0,14.85,28.83,14.87
$GC,107,-1.28,-146.0,91,2081,2893,3060,4.5,-6.1,16,139,14.18,2.55,-7.60,0.000,18724,0.422,2.086,2881,3422,3388,3278,3499,0,0,0,0,0,0,14.29,13.44,14.66
$GC,261,-1.28,-146.0,2880,3422,3279,3499,31.3,-13.0,45,268,0.00,2.28,0.00,0.000,1030,0.000,0.035,2881,2039,3389,3279,3499,0,0,0,0,0,0,14.72,14.66,14.73
$GC,570,-1.28,-146.0,2880,2038,3279,3499,72.6,-12.1,89,574,0.00,2.30,0.00,0.000,516,0.000,0.056,2881,652,3389,3279,3499,0,0,0,0,0,0,14.98,14.71,15.00
$GC,621,-1.28,-146.0,2880,652,3280,3499,78.6,-11.2,99,626,0.12,2.25,0.00,0.000,3078,0.258,0.037,2897,2035,3389,3280,3499,0,0,0,0,0,0,14.56,14.76,14.76
$GC,928,-1.34,-146.0,2896,2035,3280,3499,108.8,-10.0,130,936,0.00,2.33,0.00,0.000,420,0.000,0.057,2888,3447,3389,3280,3499,0,0,0,0,0,0,15.04,14.73,15.06
$GC,979,-1.42,-146.0,2888,3447,3282,3499,113.9,-9.9,140,989,0.00,2.28,0.00,0.000,1190,0.000,0.036,2888,2047,3390,3281,3499,0,0,0,0,0,0,14.87,14.81,14.88
$GC,1289,-1.48,-146.0,2888,2047,3282,3499,143.6,-9.3,172,1299,0.12,2.30,0.00,0.000,4772,0.123,0.054,2820,654,3390,3282,3499,0,0,0,0,0,0,14.84,14.78,14.87
$GC,1375,-1.41,-146.0,2819,654,3282,3499,154.8,-12.9,189,1383,0.25,2.28,0.00,0.000,3206,0.247,0.039,2869,2057,3390,3282,3499,0,0,0,0,0,0,14.59,14.83,14.82
$GC,1682,-1.46,-146.0,2869,2057,3281,3499,186.4,-8.6,220,1692,0.00,2.30,0.00,0.000,420,0.000,0.057,2860,3454,3390,3282,3499,0,0,0,0,0,0,15.09,14.81,15.11
$GC,1755,-1.56,-146.0,2860,3454,3281,3499,191.6,-6.8,234,1764,0.08,2.25,0.00,0.000,5286,0.078,0.037,2811,2051,3390,3282,3499,0,0,0,0,0,0,14.78,14.82,14.83
$GC,2066,-1.52,-146.0,2811,2050,3282,3499,221.2,-10.2,266,2071,0.12,2.33,0.00,0.000,2692,0.265,0.057,2842,647,3390,3281,3499,0,0,0,0,0,0,14.62,14.81,14.76
$GC,2105,-1.52,-146.0,2841,647,3281,3499,225.3,-9.6,273,2114,0.00,2.30,0.00,0.000,1062,0.000,0.041,2833,2056,3390,3281,3499,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2433,-1.52,-146.0,2832,2056,3282,3499,256.2,-9.7,302,2435,0.00,0.00,0.00,0.000,38,0.000,0.000,2833,2056,3390,3282,3499,0,0,0,0,0,0,15.08,15.10,15.10
$GC,2734,-1.52,-146.0,2832,2056,3281,3499,286.9,-10.4,312,2739,0.00,2.38,0.00,0.000,516,0.000,0.061,2833,651,3390,3281,3499,0,0,0,0,0,0,15.09,14.82,15.11
$GC,2787,-1.52,-146.0,2833,651,3281,3499,293.2,-11.6,322,2794,0.00,2.30,0.00,0.000,1030,0.000,0.043,2823,2052,3390,3281,3499,0,0,0,0,0,0,14.92,14.84,14.94
$GC,3102,-1.52,-146.0,2823,2051,3281,3499,326.7,-10.9,334,3109,0.00,2.40,0.00,0.000,516,0.000,0.063,2823,647,3390,3281,3499,0,0,0,0,0,0,15.09,14.81,15.11
$GC,3159,-1.52,-146.0,2823,647,3281,3499,333.7,-11.7,345,3169,0.12,2.33,0.00,0.000,3078,0.261,0.044,2840,2062,3389,3280,3499,0,0,0,0,0,0,14.64,14.85,14.85
$GC,3468,-1.56,-146.0,2840,2062,3278,3499,365.9,-10.6,356,3473,0.00,2.33,0.00,0.000,388,0.000,0.065,2831,3453,3388,3278,3498,0,0,0,0,0,0,15.10,14.81,15.12
$GC,3506,-1.62,-146.0,2830,3453,3278,3498,370.3,-10.7,363,3511,0.00,2.30,0.00,0.000,1158,0.000,0.041,2831,2054,3388,3279,3498,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3834,-1.62,-146.0,2831,2054,3277,3496,405.8,-10.6,378,3841,0.00,2.35,0.00,0.000,516,0.000,0.063,2831,647,3386,3278,3495,0,0,0,0,0,0,15.09,14.81,15.12
$GC,3884,-1.62,-146.0,2830,647,3277,3495,411.4,-11.0,387,3889,0.00,2.33,0.00,0.000,1030,0.000,0.047,2821,2052,3386,3277,3495,0,0,0,0,0,0,14.91,14.83,14.93
$GC,4202,-1.62,-146.0,2821,2052,3275,3493,442.5,-9.6,400,4203,0.00,0.00,0.00,0.000,38,0.000,0.000,2821,2052,3384,3275,3494,0,0,0,0,0,0,15.10,15.12,15.11
$GC,4503,-1.62,-146.0,2821,2051,3274,3490,472.1,-10.1,410,4510,0.00,2.40,0.00,0.000,516,0.000,0.065,2821,653,3381,3273,3490,0,0,0,0,0,0,15.10,14.80,15.12
$GC,4537,-1.62,-146.0,2821,652,3274,3490,476.1,-10.4,416,4542,0.00,2.33,0.00,0.000,1030,0.000,0.047,2811,2050,3381,3273,3490,0,0,0,0,0,0,14.91,14.83,14.93
$GC,4870,-1.62,-146.0,2811,2050,3272,3487,512.5,-11.0,432,4875,0.00,2.38,0.00,0.000,516,0.000,0.066,2811,653,3379,3272,3487,0,0,0,0,0,0,15.09,14.79,15.11
$GC,4938,-1.62,-146.0,2811,652,3272,3487,520.7,-11.7,445,4945,0.00,2.33,0.00,0.000,1030,0.000,0.046,2802,2057,3379,3272,3487,0,0,0,0,0,0,14.90,14.83,14.92
$GC,5268,-1.62,-146.0,2801,2056,3270,3486,558.4,-11.5,460,5274,0.10,2.35,0.00,0.000,2308,0.275,0.063,2812,3456,3378,3270,3486,0,0,0,0,0,0,14.64,14.78,14.81
$GC,5308,-1.65,-146.0,2810,3456,3270,3485,563.1,-10.7,467,5313,0.00,2.35,0.00,0.000,1158,0.000,0.044,2812,2040,3377,3270,3485,0,0,0,0,0,0,14.90,14.83,14.92
$GC,5637,-1.65,-146.0,2812,2041,3268,3485,597.9,-10.6,482,5642,0.00,2.35,0.00,0.000,516,0.000,0.067,2813,648,3376,3268,3485,0,0,0,0,0,0,15.10,14.78,15.12
$GC,5663,-1.65,-146.0,2813,649,3268,3484,601.3,-11.3,487,5671,0.00,2.35,0.00,0.000,1030,0.000,0.047,2804,2061,3376,3268,3484,0,0,0,0,0,0,14.90,14.82,14.92
$GC,5972,-1.65,-146.0,2804,2061,3267,3482,635.5,-11.3,498,5977,0.00,2.42,0.00,0.000,516,0.000,0.066,2804,648,3375,3267,3483,0,0,0,0,0,0,15.10,14.77,15.12
$GC,6008,-1.65,-146.0,2804,647,3267,3482,640.1,-11.8,505,6014,0.00,2.35,0.00,0.000,1030,0.000,0.047,2796,2061,3374,3267,3482,0,0,0,0,0,0,14.90,14.82,14.92
$GC,6337,-1.65,-146.0,2795,2061,3267,3480,679.0,-11.7,520,6343,0.00,2.35,0.00,0.000,260,0.000,0.069,2786,3450,3373,3266,3480,0,0,0,0,0,0,15.09,14.76,15.11
$GC,6372,-1.65,-146.0,2785,3450,3266,3480,683.2,-11.2,526,6377,0.12,2.35,0.00,0.000,3078,0.249,0.047,2811,2039,3373,3266,3480,0,0,0,0,0,0,14.56,14.81,14.81
$GC,6705,-1.65,-146.0,2811,2039,3265,3480,718.0,-10.1,542,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2039,3372,3265,3479,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7006,-1.65,-146.0,2811,2039,3263,3478,746.4,-9.2,552,7013,0.00,2.35,0.00,0.000,548,0.000,0.067,2812,650,3371,3264,3479,0,0,0,0,0,0,15.09,14.76,15.11
$GC,7057,-1.65,-146.0,2812,650,3263,3478,751.3,-9.4,561,7063,0.00,2.35,0.00,0.000,1062,0.000,0.047,2803,2060,3370,3263,3478,0,0,0,0,0,0,14.89,14.81,14.91
$GC,7376,-1.65,-146.0,2803,2060,3262,3477,780.1,-9.0,574,7377,0.00,0.00,0.00,0.000,38,0.000,0.000,2803,2060,3369,3262,3477,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7677,-1.65,-146.0,2803,2060,3261,3477,807.3,-9.2,584,7684,0.00,2.42,0.00,0.000,548,0.000,0.067,2805,651,3369,3261,3477,0,0,0,0,0,0,15.09,14.76,15.11
$GC,7742,-1.65,-146.0,2805,651,3261,3477,813.8,-9.4,596,7749,0.00,2.35,0.00,0.000,1062,0.000,0.048,2796,2060,3368,3260,3477,0,0,0,0,0,0,14.88,14.80,14.90
$GC,8077,-1.65,-146.0,2796,2060,3260,3476,847.3,-10.2,612,8082,0.00,2.42,0.00,0.000,516,0.000,0.067,2798,653,3368,3260,3477,0,0,0,0,0,0,15.08,14.75,15.10
$GC,8135,-1.65,-146.0,2798,653,3260,3476,854.0,-11.1,623,8144,0.12,2.35,0.00,0.000,3078,0.279,0.048,2814,2055,3368,3260,3476,0,0,0,0,0,0,14.50,14.79,14.77
$GC,8444,-1.65,-146.0,2813,2055,3259,3476,885.2,-10.5,634,8449,0.00,2.38,0.00,0.000,260,0.000,0.068,2805,3450,3367,3259,3476,0,0,0,0,0,0,15.09,14.73,15.11
$GC,8487,-1.69,-146.0,2805,3450,3259,3475,890.3,-11.3,642,8492,0.00,2.33,0.00,0.000,1158,0.000,0.043,2805,2054,3367,3259,3475,0,0,0,0,0,0,14.88,14.79,14.90
$GC,8810,-1.69,-146.0,2805,2054,3258,3474,925.9,-11.1,656,8817,0.00,2.40,0.00,0.000,516,0.000,0.068,2806,641,3366,3258,3474,0,0,0,0,0,0,15.07,14.73,15.09
$GC,8833,-1.69,-146.0,2806,642,3258,3474,929.0,-12.4,660,8838,0.00,2.35,0.00,0.000,1030,0.000,0.048,2797,2047,3366,3258,3474,0,0,0,0,0,0,14.87,14.78,14.90
$GC,9146,-1.69,-146.0,2797,2048,3257,3473,964.9,-11.7,672,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2047,3365,3257,3473,0,0,0,0,0,0,15.07,15.10,15.09
$STATE,9384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9384,begin apogee
$GC,9389,-0.33,0.0,2798,1785,3257,3472,992.6,-11.6,680,9522,1.17,0.00,129.05,2.699,10246,0.265,0.000,3099,1783,2789,2678,2901,0,0,0,0,0,0,14.43,14.02,13.01
$STATE,9523,end apogee,CONTROL_FINISHED_OK
$STATE,9523,begin climb
$GC,9525,1.28,146.0,3098,1783,2673,2897,996.7,0.0,684,9665,1.25,0.00,136.15,2.660,10246,0.167,0.000,3456,1783,2193,2067,2319,0,0,0,0,0,0,14.01,13.85,12.88
$GC,9956,1.07,146.0,3456,1783,2043,2315,955.2,12.6,699,9958,0.22,0.00,0.00,0.000,4230,0.343,0.000,3414,1783,2179,2043,2315,0,0,0,0,0,0,14.23,14.57,14.53
$GC,10256,0.95,146.0,3414,1783,2040,2315,921.1,11.6,709,10258,0.15,0.00,0.00,0.000,4230,0.369,0.000,3387,1783,2177,2040,2315,0,0,0,0,0,0,14.35,14.71,14.67
$GC,10556,0.87,146.0,3387,1782,2037,2315,887.9,11.3,719,10562,0.12,2.42,0.00,0.000,4740,0.369,0.078,3371,397,2175,2036,2315,0,0,0,0,0,0,14.39,14.67,14.60
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$GC,19103,1.17,341.3,3419,1800,1270,1597,17.7,9.5,1320,19116,0.00,2.47,4.28,0.139,8868,0.000,0.067,3428,399,1397,1234,1561,0,0,0,0,0,0,14.97,14.68,14.62
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$STATE,19267,end climb,SURFACE_DEPTH_REACHED
$STATE,19268,begin surface coast
$FINISH,1.5,1.020512
$STATE,19309,end surface coast,CONTROL_FINISHED_OK
$STATE,19309,begin surface
$SM_CCo,19326,103.47,0.081,0,0,450,573.99
$SM_GC,2.39,9.88,0.40,103.47,0.086,0.059,0.081,90,2076,450,-14.12,-1.13,573.99,0,0,0,0,0,0,14.70,14.79,14.66
$IRIDIUM_FIX,1312.02,6052.42,050417,053612
$TT8_MAMPS,0.023968,0.158039
$HUMID,47.99
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.00
$XPDR_PINGS,8
$24V_AH,12.88,56.125
$10V_AH,13.54,0.000
$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,29.250,181.075,433.525,103.475,0.000,0.000,0.000,208.800,111.000,0.000,17.461,3061.693,13198.859,797.464,2477.808,203.307,0.000,2136.018,0.000,1934.005,0.000,731.112,0.000
$DEVICE_MAMPS,421.515,2086.155,2698.920,81.090,0.000,0.000,0.000,179.775,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.808,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225128
$DATA_FILE_SIZE,59980,1359
$CAP_FILE_SIZE,218195,0
$CFSIZE,260034560,246013952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,247.81,1
$GPS,050417,161730,1317.346,6054.633,40,0.9,51,-0.7,0.3,188.0,9,9.8