version: 66.13
glider: 137
mission: 5
dive: 246
start: 4 23 117 22 54 35
data:
$ID,137
$MISSION,5
$DIVE,246
$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,32
$R_STBD_OVSHOOT,69
$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
$GPS1,230417,224613,1302.6782,6038.4448,36,1.3,48,-0.7,0.6,185.7,6,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-67.5
$GPS2,230417,225400,1302.5938,6038.4170,4,0.9,17,-0.7,0.4,199.8,9,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1258.259,6138.993
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,76.6,109619,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.28,-146.0,93,2088,326,567,0.0,0.0,0,103,0.00,0.00,-93.53,0.000,16386,0.000,0.000,94,2088,2954,2876,3032,0,0,0,0,0,0,14.82,28.83,14.85
$GC,106,-1.28,-146.0,93,2088,2876,3032,4.7,-6.3,16,137,13.68,2.80,-7.78,0.000,18980,0.395,2.069,2891,646,3389,3271,3507,0,0,0,0,0,0,14.17,13.20,14.42
$GC,226,-1.33,-146.0,2891,645,3271,3507,26.1,-11.7,38,233,0.00,2.30,0.00,0.000,1158,0.000,0.037,2883,2033,3390,3273,3507,0,0,0,0,0,0,14.63,14.56,14.65
$GC,537,-1.38,-146.0,2883,2033,3273,3507,60.2,-10.1,90,546,0.00,2.35,0.00,0.000,644,0.000,0.055,2883,646,3390,3273,3507,0,0,0,0,0,0,14.94,14.53,14.95
$GC,572,-1.45,-146.0,2883,645,3273,3507,64.5,-10.8,97,579,0.00,2.33,0.00,0.000,1158,0.000,0.037,2873,2058,3390,3273,3507,0,0,0,0,0,0,14.72,14.65,14.74
$GC,881,-1.51,-146.0,2872,2058,3273,3507,95.6,-11.4,128,891,0.10,2.40,0.00,0.000,4740,0.142,0.053,2824,635,3390,3273,3507,0,0,0,0,0,0,14.73,14.57,14.77
$GC,933,-1.51,-146.0,2823,635,3273,3507,103.2,-14.1,138,943,0.15,2.33,0.00,0.000,3078,0.249,0.036,2846,2061,3390,3273,3507,0,0,0,0,0,0,14.40,14.70,14.64
$GC,1243,-1.51,-146.0,2846,2061,3274,3507,138.9,-10.1,170,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2061,3390,3274,3507,0,0,0,0,0,0,15.04,15.06,15.06
$GC,1546,-1.54,-146.0,2846,2062,3274,3507,161.9,-7.3,200,1555,0.00,2.38,0.00,0.000,676,0.000,0.056,2846,645,3391,3275,3507,0,0,0,0,0,0,15.04,14.61,15.07
$GC,1608,-1.60,-146.0,2846,644,3274,3507,166.5,-6.6,212,1618,0.00,2.30,0.00,0.000,1190,0.000,0.035,2837,2059,3390,3274,3507,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1918,-1.64,-146.0,2837,2060,3274,3507,193.1,-9.6,244,1919,0.00,0.00,0.00,0.000,166,0.000,0.000,2837,2060,3391,3275,3507,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2220,-1.69,-146.0,2837,2060,3274,3507,223.6,-9.8,274,2227,0.12,2.30,0.00,0.000,4516,0.133,0.055,2779,3447,3391,3275,3507,0,0,0,0,0,0,14.71,14.68,14.75
$GC,2272,-1.69,-146.0,2779,3447,3274,3507,230.2,-12.4,283,2281,0.12,2.33,0.00,0.000,3078,0.253,0.035,2805,2025,3390,3274,3507,0,0,0,0,0,0,14.41,14.73,14.66
$GC,2580,-1.69,-146.0,2804,2025,3274,3507,263.1,-10.8,306,2587,0.00,2.28,0.00,0.000,516,0.000,0.057,2805,660,3391,3275,3507,0,0,0,0,0,0,15.04,14.67,15.06
$GC,2634,-1.69,-146.0,2805,659,3275,3507,269.3,-11.5,316,2639,0.00,2.28,0.00,0.000,1030,0.000,0.037,2797,2051,3390,3274,3507,0,0,0,0,0,0,14.81,14.73,14.83
$GC,2947,-1.69,-146.0,2796,2051,3274,3507,303.1,-10.9,328,2952,0.00,2.33,0.00,0.000,260,0.000,0.058,2787,3446,3390,3274,3507,0,0,0,0,0,0,15.04,14.68,15.06
$GC,2973,-1.69,-146.0,2787,3445,3274,3507,306.3,-10.9,333,2984,0.00,2.30,0.00,0.000,1030,0.000,0.037,2787,2053,3390,3274,3507,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3280,-1.69,-146.0,2786,2053,3275,3507,336.5,-9.8,344,3281,0.00,0.00,0.00,0.000,38,0.000,0.000,2787,2053,3391,3275,3507,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3581,-1.69,-146.0,2787,2053,3273,3504,368.7,-11.1,354,3588,0.00,2.38,0.00,0.000,260,0.000,0.057,2777,3445,3388,3273,3503,0,0,0,0,0,0,15.05,14.67,15.07
$GC,3619,-1.69,-146.0,2777,3445,3273,3503,373.6,-12.2,361,3626,0.12,2.33,0.00,0.000,3078,0.248,0.039,2802,2035,3387,3273,3502,0,0,0,0,0,0,14.39,14.73,14.66
$GC,3951,-1.69,-146.0,2802,2035,3271,3501,410.7,-11.2,376,3956,0.00,2.33,0.00,0.000,516,0.000,0.059,2803,654,3386,3271,3501,0,0,0,0,0,0,15.06,14.66,15.08
$GC,4004,-1.69,-146.0,2802,654,3271,3501,417.4,-12.5,386,4011,0.00,2.30,0.00,0.000,1030,0.000,0.038,2794,2049,3386,3271,3501,0,0,0,0,0,0,14.81,14.72,14.83
$GC,4319,-1.69,-146.0,2794,2050,3269,3498,451.2,-10.5,398,4326,0.00,2.40,0.00,0.000,516,0.000,0.062,2794,657,3383,3269,3498,0,0,0,0,0,0,15.05,14.64,15.08
$GC,4356,-1.69,-146.0,2794,656,3269,3498,455.5,-10.6,405,4363,0.10,2.33,0.00,0.000,3078,0.287,0.041,2802,2059,3383,3268,3498,0,0,0,0,0,0,14.39,14.71,14.64
$GC,4687,-1.69,-146.0,2802,2059,3267,3495,486.8,-9.7,420,4688,0.00,0.00,0.00,0.000,38,0.000,0.000,2802,2060,3381,3267,3495,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4987,-1.69,-146.0,2802,2059,3266,3494,518.0,-10.8,430,4992,0.00,2.35,0.00,0.000,260,0.000,0.061,2794,3449,3380,3266,3494,0,0,0,0,0,0,15.05,14.64,15.07
$GC,5036,-1.74,-146.0,2794,3449,3266,3493,523.6,-10.9,439,5043,0.00,2.33,0.00,0.000,1158,0.000,0.041,2794,2060,3379,3266,3493,0,0,0,0,0,0,14.78,14.69,14.81
$GC,5357,-1.74,-146.0,2793,2060,3265,3491,558.5,-10.9,452,5362,0.00,2.42,0.00,0.000,516,0.000,0.068,2794,644,3378,3265,3491,0,0,0,0,0,0,15.06,14.60,15.08
$GC,5424,-1.74,-146.0,2793,644,3264,3491,566.2,-11.0,465,5429,0.00,2.35,0.00,0.000,1030,0.000,0.043,2784,2051,3377,3263,3491,0,0,0,0,0,0,14.78,14.69,14.80
$GC,5754,-1.74,-146.0,2784,2052,3262,3489,599.2,-9.8,480,5759,0.00,2.45,0.00,0.000,548,0.000,0.067,2787,646,3375,3262,3489,0,0,0,0,0,0,15.05,14.59,15.08
$GC,5796,-1.74,-146.0,2787,646,3262,3489,603.9,-10.7,488,5801,0.00,2.35,0.00,0.000,1030,0.000,0.044,2779,2050,3375,3261,3489,0,0,0,0,0,0,14.77,14.68,14.80
$GC,6120,-1.74,-146.0,2779,2050,3261,3487,635.3,-9.7,502,6126,0.00,2.38,0.00,0.000,292,0.000,0.063,2769,3449,3374,3261,3487,0,0,0,0,0,0,15.05,14.61,15.07
$GC,6149,-1.74,-146.0,2769,3449,3261,3486,638.3,-9.8,507,6158,0.12,2.35,0.00,0.000,3110,0.259,0.042,2793,2048,3374,3261,3487,0,0,0,0,0,0,14.31,14.67,14.59
$GC,6455,-1.74,-146.0,2793,2047,3259,3486,664.6,-8.4,518,6462,0.00,2.40,0.00,0.000,548,0.000,0.067,2794,648,3372,3259,3486,0,0,0,0,0,0,15.04,14.58,15.07
$GC,6484,-1.74,-146.0,2793,648,3259,3486,667.3,-8.7,523,6491,0.00,2.38,0.00,0.000,1062,0.000,0.045,2785,2058,3372,3259,3486,0,0,0,0,0,0,14.76,14.67,14.79
$GC,6792,-1.74,-146.0,2785,2059,3258,3485,696.1,-9.9,534,6793,0.00,0.00,0.00,0.000,38,0.000,0.000,2785,2059,3371,3258,3485,0,0,0,0,0,0,15.05,15.08,15.08
$GC,7091,-1.74,-146.0,2785,2058,3258,3484,727.8,-10.7,544,7096,0.00,2.47,0.00,0.000,516,0.000,0.067,2785,632,3370,3257,3484,0,0,0,0,0,0,15.04,14.54,15.06
$GC,7129,-1.74,-146.0,2785,632,3257,3484,732.4,-11.2,551,7133,0.00,2.40,0.00,0.000,1030,0.000,0.044,2776,2058,3370,3257,3484,0,0,0,0,0,0,14.76,14.66,14.78
$GC,7458,-1.74,-146.0,2775,2058,3256,3482,769.7,-11.5,566,7463,0.00,2.47,0.00,0.000,516,0.000,0.066,2778,640,3369,3256,3482,0,0,0,0,0,0,15.05,14.56,15.07
$GC,7480,-1.70,-146.0,2777,641,3255,3482,772.7,-12.1,570,7485,0.12,2.38,0.00,0.000,3206,0.288,0.045,2797,2054,3368,3255,3482,0,0,0,0,0,0,14.20,14.66,14.39
$GC,7794,-1.70,-146.0,2797,2054,3254,3481,805.8,-10.6,582,7799,0.00,2.38,0.00,0.000,260,0.000,0.063,2789,3444,3367,3254,3481,0,0,0,0,0,0,15.04,14.58,15.06
$GC,7815,-1.70,-146.0,2789,3444,3254,3481,808.4,-10.6,586,7820,0.00,2.35,0.00,0.000,1030,0.000,0.044,2789,2051,3367,3254,3481,0,0,0,0,0,0,14.75,14.65,14.78
$GC,8129,-1.70,-146.0,2789,2051,3253,3479,841.0,-10.3,598,8133,0.00,2.42,0.00,0.000,516,0.000,0.068,2791,643,3366,3253,3480,0,0,0,0,0,0,15.04,14.55,15.06
$GC,8163,-1.70,-146.0,2791,643,3253,3479,844.5,-10.5,604,8168,0.10,2.38,0.00,0.000,3078,0.291,0.046,2799,2056,3366,3252,3480,0,0,0,0,0,0,14.31,14.65,14.57
$GC,8498,-1.70,-146.0,2799,2056,3251,3479,876.8,-9.5,620,8503,0.00,2.40,0.00,0.000,292,0.000,0.065,2791,3455,3365,3251,3479,0,0,0,0,0,0,15.04,14.56,15.07
$GC,8518,-1.70,-146.0,2791,3454,3251,3479,879.2,-10.0,624,8523,0.00,2.38,0.00,0.000,1062,0.000,0.043,2791,2045,3365,3252,3479,0,0,0,0,0,0,14.73,14.64,14.77
$GC,8831,-1.70,-146.0,2791,2045,3250,3479,908.8,-9.5,636,8833,0.00,0.00,0.00,0.000,38,0.000,0.000,2791,2044,3365,3251,3479,0,0,0,0,0,0,15.04,15.06,15.06
$GC,9133,-1.70,-146.0,2790,2044,3249,3478,936.6,-9.2,646,9140,0.00,2.42,0.00,0.000,548,0.000,0.069,2795,642,3364,3250,3478,0,0,0,0,0,0,15.04,14.53,15.06
$GC,9162,-1.70,-146.0,2794,642,3249,3478,939.9,-10.2,651,9169,0.00,2.40,0.00,0.000,1030,0.000,0.047,2786,2058,3363,3249,3478,0,0,0,0,0,0,14.73,14.64,14.76
$GC,9470,-1.70,-146.0,2786,2058,3249,3478,968.5,-9.4,662,9471,0.00,0.00,0.00,0.000,38,0.000,0.000,2786,2058,3363,3249,3478,0,0,0,0,0,0,15.04,15.07,15.07
$STATE,9707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9707,begin apogee
$GC,9712,-0.33,0.0,2786,1785,3248,3477,990.9,-9.3,670,9845,1.23,0.00,129.25,2.697,10246,0.259,0.000,3096,1784,2789,2674,2905,0,0,0,0,0,0,14.22,13.95,12.85
$STATE,9846,end apogee,CONTROL_FINISHED_OK
$STATE,9846,begin climb
$GC,9848,1.28,146.0,3095,1784,2669,2902,994.0,0.0,674,9997,1.20,2.65,135.82,2.671,11012,0.148,0.076,3463,407,2187,2057,2318,0,0,0,0,0,0,13.95,13.73,12.65
$GC,10040,1.05,146.0,3463,406,2047,2318,982.6,13.1,711,10047,0.25,2.47,0.00,0.000,5254,0.304,0.043,3408,1822,2182,2046,2318,0,0,0,0,0,0,13.75,14.02,13.94
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$GC,18887,1.25,423.2,3438,390,988,1345,37.8,8.8,1389,18917,0.00,2.38,22.05,1.197,9382,0.000,0.037,3429,1810,1057,874,1241,0,0,0,0,0,0,14.63,14.57,13.83
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$STATE,19244,end climb,SURFACE_DEPTH_REACHED
$STATE,19244,begin surface coast
$FINISH,1.6,1.008358
$STATE,19272,end surface coast,CONTROL_FINISHED_OK
$STATE,19272,begin surface
$SM_CCo,19292,65.62,0.080,0,0,450,573.99
$SM_GC,2.46,10.10,2.88,65.62,0.075,0.037,0.080,92,2059,450,-14.13,-0.99,573.99,0,0,0,0,0,0,14.51,14.59,14.52
$IRIDIUM_FIX,1258.73,6038.66,230417,171353
$TT8_MAMPS,0.023968,0.158039
$HUMID,51.26
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.90
$XPDR_PINGS,6
$24V_AH,12.65,88.879
$10V_AH,12.99,0.000
$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,28.925,223.950,512.225,65.625,0.000,0.000,0.000,244.075,106.500,0.000,18.895,3085.915,13039.362,786.641,2657.920,256.459,0.000,2302.798,0.000,2081.137,0.000,707.603,0.000
$DEVICE_MAMPS,394.740,2068.560,2696.625,80.325,0.000,0.000,0.000,187.425,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.328,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225860
$DATA_FILE_SIZE,63317,1463
$CAP_FILE_SIZE,228814,0
$CFSIZE,260034560,238424064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046,217.95,1
$GPS,240417,041839,1302.533,6040.850,39,0.9,48,-0.7,0.0,194.5,9,9.6