version: 66.13
glider: 137
mission: 5
dive: 200
start: 4 13 117 11 59 17
data:
$ID,137
$MISSION,5
$DIVE,200
$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,35
$R_STBD_OVSHOOT,62
$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
$GPS1,130417,115325,1312.1165,6023.6821,47,0.9,54,-0.7,0.7,258.0,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.8
$GPS2,130417,115828,1312.1243,6023.6226,13,0.8,22,-0.7,0.4,292.0,10,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1309.148,6022.848
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,183.5,5686,-17.2,-10.000,-19.78,2091
$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,-1.31,-136.1,90,2087,331,564,0.0,0.0,0,108,0.00,0.00,-98.25,0.000,16386,0.000,0.000,90,2088,3077,2994,3161,0,0,0,0,0,0,14.83,28.83,14.86
$GC,111,-1.32,-146.0,90,2088,2995,3160,4.7,-7.1,17,137,13.80,2.70,-5.43,0.000,18980,0.405,2.071,2882,650,3386,3278,3495,0,0,0,0,0,0,14.25,13.59,14.47
$GC,215,-1.32,-146.0,2881,650,3280,3495,26.1,-12.8,36,221,0.00,2.30,0.00,0.000,1030,0.000,0.040,2873,2040,3387,3280,3494,0,0,0,0,0,0,14.66,14.60,14.69
$GC,529,-1.32,-146.0,2872,2040,3280,3495,65.4,-12.7,86,538,0.00,2.35,0.00,0.000,260,0.000,0.058,2862,3451,3387,3280,3495,0,0,0,0,0,0,14.96,14.64,14.98
$GC,560,-1.36,-146.0,2862,3451,3280,3495,69.6,-12.7,92,570,0.00,2.33,0.00,0.000,1158,0.000,0.037,2862,2035,3387,3280,3495,0,0,0,0,0,0,14.76,14.69,14.78
$GC,870,-1.36,-146.0,2862,2035,3281,3495,111.3,-11.2,124,880,0.00,2.40,0.00,0.000,260,0.000,0.057,2853,3458,3388,3281,3495,0,0,0,0,0,0,15.02,14.69,15.04
$GC,915,-1.42,-146.0,2852,3458,3281,3495,116.2,-10.1,133,923,0.00,2.33,0.00,0.000,1158,0.000,0.038,2853,2041,3388,3281,3495,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1222,-1.45,-146.0,2852,2041,3282,3495,148.3,-12.4,164,1232,0.00,2.30,0.00,0.000,644,0.000,0.058,2853,652,3388,3282,3495,0,0,0,0,0,0,15.05,14.72,15.07
$GC,1336,-1.53,-146.0,2852,651,3282,3495,162.3,-10.7,186,1344,0.00,2.28,0.00,0.000,1158,0.000,0.041,2843,2053,3388,3282,3495,0,0,0,0,0,0,14.73,14.69,14.77
$GC,1645,-1.57,-146.0,2842,2053,3282,3495,193.9,-8.7,218,1649,0.00,2.33,0.00,0.000,420,0.000,0.059,2832,3462,3388,3282,3495,0,0,0,0,0,0,15.07,14.73,15.09
$GC,1680,-1.64,-146.0,2832,3462,3282,3494,197.4,-9.6,225,1687,0.00,2.33,0.00,0.000,1190,0.000,0.039,2832,2040,3389,3283,3495,0,0,0,0,0,0,14.85,14.78,14.87
$GC,1987,-1.67,-146.0,2832,2040,3282,3495,231.0,-12.6,256,1992,0.00,2.30,0.00,0.000,644,0.000,0.060,2832,653,3388,3282,3495,0,0,0,0,0,0,15.04,14.73,15.07
$GC,2037,-1.70,-146.0,2832,653,3282,3495,237.9,-13.6,265,2048,0.00,2.30,0.00,0.000,1158,0.000,0.040,2822,2060,3388,3282,3495,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2347,-1.70,-146.0,2822,2060,3282,3494,276.9,-12.3,282,2353,0.00,2.40,0.00,0.000,516,0.000,0.062,2822,647,3388,3282,3495,0,0,0,0,0,0,15.05,14.72,15.07
$GC,2376,-1.70,-146.0,2822,647,3282,3495,280.7,-12.5,287,2383,0.00,2.30,0.00,0.000,1030,0.000,0.043,2813,2046,3388,3282,3495,0,0,0,0,0,0,14.85,14.77,14.87
$GC,2682,-1.70,-146.0,2812,2046,3282,3494,309.0,-8.3,298,2683,0.00,0.00,0.00,0.000,38,0.000,0.000,2812,2046,3388,3282,3495,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2983,-1.70,-146.0,2812,2046,3282,3495,338.2,-11.1,308,2988,0.00,2.35,0.00,0.000,260,0.000,0.063,2802,3452,3388,3282,3494,0,0,0,0,0,0,15.08,14.73,15.10
$GC,3065,-1.74,-146.0,2802,3451,3282,3494,349.1,-13.9,324,3070,0.00,2.30,0.00,0.000,1158,0.000,0.040,2802,2054,3388,3282,3495,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3379,-1.74,-146.0,2802,2054,3278,3494,391.0,-13.6,336,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2054,3386,3278,3494,0,0,0,0,0,0,15.08,15.10,15.10
$GC,3679,-1.74,-146.0,2802,2054,3278,3494,431.0,-13.2,346,3684,0.00,2.40,0.00,0.000,260,0.000,0.062,2792,3460,3385,3278,3493,0,0,0,0,0,0,15.07,14.72,15.09
$GC,3734,-1.77,-146.0,2792,3460,3277,3493,438.3,-12.5,356,3739,0.00,2.35,0.00,0.000,1158,0.000,0.041,2792,2039,3384,3277,3492,0,0,0,0,0,0,14.85,14.77,14.88
$GC,4048,-1.77,-146.0,2792,2038,3275,3490,476.6,-11.6,368,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2038,3383,3275,3491,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4348,-1.77,-146.0,2792,2038,3273,3488,509.1,-10.7,378,4353,0.00,2.40,0.00,0.000,260,0.000,0.063,2782,3450,3380,3273,3487,0,0,0,0,0,0,15.07,14.67,15.09
$GC,4383,-1.77,-146.0,2782,3450,3273,3487,512.8,-10.7,384,4388,0.00,2.33,0.00,0.000,1030,0.000,0.044,2783,2051,3380,3273,3487,0,0,0,0,0,0,14.85,14.76,14.87
$GC,4717,-1.77,-146.0,2782,2051,3272,3486,550.2,-11.4,400,4722,0.00,2.42,0.00,0.000,260,0.000,0.072,2773,3449,3379,3272,3486,0,0,0,0,0,0,15.07,14.69,15.09
$GC,4764,-1.77,-146.0,2773,3449,3272,3486,556.1,-11.5,409,4770,0.00,2.35,0.00,0.000,1030,0.000,0.047,2773,2041,3379,3272,3486,0,0,0,0,0,0,14.84,14.76,14.86
$GC,5084,-1.74,-146.0,2773,2041,3270,3485,591.3,-11.1,422,5091,0.10,2.40,0.00,0.000,2436,0.271,0.061,2782,3451,3377,3270,3485,0,0,0,0,0,0,14.53,14.68,14.70
$GC,5123,-1.74,-146.0,2781,3451,3270,3484,596.0,-10.8,429,5130,0.00,2.35,0.00,0.000,1030,0.000,0.047,2781,2048,3377,3270,3484,0,0,0,0,0,0,14.83,14.75,14.86
$GC,5453,-1.74,-146.0,2781,2047,3268,3483,634.9,-12.1,444,5458,0.00,2.42,0.00,0.000,260,0.000,0.066,2772,3453,3375,3268,3482,0,0,0,0,0,0,15.07,14.68,15.09
$GC,5491,-1.74,-146.0,2771,3453,3268,3482,639.8,-12.3,451,5497,0.12,2.35,0.00,0.000,3078,0.265,0.043,2795,2039,3375,3268,3482,0,0,0,0,0,0,14.41,14.74,14.69
$GC,5821,-1.74,-146.0,2795,2039,3267,3481,677.9,-11.5,466,5826,0.00,2.38,0.00,0.000,516,0.000,0.070,2795,647,3374,3267,3481,0,0,0,0,0,0,15.07,14.67,15.10
$GC,5859,-1.74,-146.0,2795,647,3267,3481,682.6,-11.9,473,5864,0.00,2.35,0.00,0.000,1030,0.000,0.047,2787,2060,3373,3267,3480,0,0,0,0,0,0,14.83,14.75,14.85
$GC,6187,-1.74,-146.0,2787,2060,3266,3479,718.7,-10.5,488,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2060,3372,3266,3479,0,0,0,0,0,0,15.06,15.08,15.08
$GC,6490,-1.74,-146.0,2787,2060,3265,3478,746.5,-8.9,498,6491,0.00,0.00,0.00,0.000,38,0.000,0.000,2787,2060,3371,3265,3477,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6789,-1.74,-146.0,2787,2060,3264,3477,773.0,-8.9,508,6793,0.00,2.42,0.00,0.000,548,0.000,0.066,2787,652,3370,3264,3477,0,0,0,0,0,0,15.07,14.67,15.09
$GC,6857,-1.74,-146.0,2787,652,3264,3477,780.3,-9.6,521,6865,0.00,2.35,0.00,0.000,1062,0.000,0.046,2778,2058,3370,3264,3477,0,0,0,0,0,0,14.81,14.72,14.84
$GC,7188,-1.74,-146.0,2778,2059,3262,3477,813.8,-10.5,536,7193,0.00,2.42,0.00,0.000,516,0.000,0.066,2778,653,3370,3263,3477,0,0,0,0,0,0,15.06,14.66,15.08
$GC,7223,-1.70,-146.0,2778,651,3262,3477,817.5,-11.2,542,7229,0.17,2.35,0.00,0.000,3206,0.285,0.050,2807,2053,3369,3262,3477,0,0,0,0,0,0,14.32,14.71,14.52
$GC,7559,-1.74,-146.0,2807,2053,3261,3476,851.0,-10.1,558,7564,0.00,2.40,0.00,0.000,388,0.000,0.071,2798,3453,3368,3261,3476,0,0,0,0,0,0,15.07,14.65,15.09
$GC,7602,-1.81,-146.0,2798,3453,3261,3476,855.6,-10.2,566,7607,0.00,2.38,0.00,0.000,1158,0.000,0.049,2799,2045,3368,3261,3476,0,0,0,0,0,0,14.81,14.71,14.83
$GC,7925,-1.81,-146.0,2798,2045,3260,3475,888.2,-10.1,580,7932,0.00,2.40,0.00,0.000,516,0.000,0.068,2799,639,3367,3259,3475,0,0,0,0,0,0,15.05,14.64,15.07
$GC,7983,-1.81,-146.0,2798,639,3259,3474,894.7,-10.9,591,7991,0.00,2.38,0.00,0.000,1030,0.000,0.048,2789,2048,3367,3259,3475,0,0,0,0,0,0,14.80,14.70,14.83
$GC,8292,-1.81,-146.0,2788,2049,3259,3473,927.0,-10.7,602,8297,0.00,2.45,0.00,0.000,516,0.000,0.070,2790,640,3366,3259,3473,0,0,0,0,0,0,15.07,14.64,15.09
$GC,8318,-1.81,-146.0,2788,640,3259,3473,930.4,-11.4,607,8326,0.00,2.40,0.00,0.000,1030,0.000,0.052,2779,2057,3365,3258,3473,0,0,0,0,0,0,14.80,14.70,14.83
$GC,8626,-1.81,-146.0,2779,2057,3258,3471,964.6,-11.3,618,8631,0.00,2.42,0.00,0.000,260,0.000,0.077,2770,3458,3364,3258,3471,0,0,0,0,0,0,15.07,14.62,15.09
$GC,8668,-1.81,-146.0,2769,3458,3258,3471,969.7,-11.6,626,8673,0.00,2.40,0.00,0.000,1030,0.000,0.055,2770,2056,3364,3258,3471,0,0,0,0,0,0,14.78,14.68,14.82
$STATE,8870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8870,begin apogee
$GC,8875,-0.33,0.0,2770,1794,3257,3471,992.0,-11.0,636,9008,1.30,0.00,129.12,2.713,10246,0.269,0.000,3098,1791,2789,2676,2902,0,0,0,0,0,0,14.38,13.99,12.94
$STATE,9009,end apogee,CONTROL_FINISHED_OK
$STATE,9009,begin climb
$GC,9011,1.32,146.0,3098,1791,2671,2900,994.0,0.0,640,9154,1.25,0.00,135.57,2.655,10758,0.152,0.000,3462,1791,2190,2063,2318,0,0,0,0,0,0,14.00,13.62,12.78
$GC,9472,1.13,146.0,3462,1791,2043,2316,943.7,13.4,681,9477,0.17,2.45,0.00,0.000,4740,0.337,0.067,3436,386,2179,2042,2317,0,0,0,0,0,0,14.16,14.47,14.37
$GC,9538,0.97,146.0,3435,386,2040,2317,934.9,13.3,694,9543,0.20,2.40,0.00,0.000,5254,0.355,0.041,3389,1806,2178,2040,2316,0,0,0,0,0,0,14.18,14.54,14.54
$GC,9860,0.90,146.0,3390,1806,2038,2316,901.5,10.1,708,9867,0.00,2.42,0.00,0.000,388,0.000,0.070,3386,3211,2177,2038,2317,0,0,0,0,0,0,14.92,14.59,14.95
$GC,9910,0.81,146.0,3386,3211,2038,2316,896.3,10.5,718,9915,0.20,2.40,0.00,0.000,5254,0.323,0.052,3354,1799,2177,2038,2316,0,0,0,0,0,0,14.28,14.64,14.64
$GC,10215,0.86,182.5,3354,1799,2036,2316,870.6,8.2,729,10253,0.00,2.53,31.50,2.446,8740,0.000,0.075,3363,398,2039,1898,2181,0,0,0,0,0,0,14.99,14.40,13.45
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$GC,14900,0.96,264.3,3396,399,1544,1863,369.8,12.2,1015,14904,0.00,2.38,0.00,0.000,1030,0.000,0.049,3387,1802,1703,1544,1862,0,0,0,0,0,0,14.80,14.71,14.83
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$STATE,18177,end climb,SURFACE_DEPTH_REACHED
$STATE,18177,begin surface coast
$FINISH,1.5,1.022876
$STATE,18206,end surface coast,CONTROL_FINISHED_OK
$STATE,18206,begin surface
$SM_CCo,18226,83.05,0.080,0,0,449,573.99
$SM_GC,2.39,9.93,2.83,83.05,0.081,0.037,0.080,89,2068,449,-14.13,-0.96,573.99,0,0,0,0,0,0,14.63,14.71,14.62
$IRIDIUM_FIX,1307.59,6024.65,130417,062438
$TT8_MAMPS,0.024717,0.15729
$HUMID,49.09
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,8
$24V_AH,12.78,69.659
$10V_AH,13.14,0.000
$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,27.625,207.900,473.725,83.050,0.000,0.000,0.000,198.250,104.000,0.000,23.608,2906.891,12247.965,766.597,2480.479,228.588,0.000,2156.218,0.000,1952.399,0.000,683.152,0.000
$DEVICE_MAMPS,405.450,2070.855,2713.455,80.325,0.000,0.000,0.000,185.895,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225100
$DATA_FILE_SIZE,60044,1372
$CAP_FILE_SIZE,213161,0
$CFSIZE,260034560,242728960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,317.17,1
$GPS,130417,170600,1309.853,6022.910,51,0.9,56,-0.7,0.4,299.1,10,9.9