version: 66.13
glider: 137
mission: 5
dive: 377
start: 5 25 117 6 50 11
data:
$ID,137
$MISSION,5
$DIVE,377
$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,180
$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,0.0031300001
$HD_B,0.023700001
$HD_C,7.0400001e-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,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,12
$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,1960
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2597
$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,10
$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
$GPS1,250517,064407,1211.0702,6308.0205,43,0.7,49,-1.1,0.0,53.6,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-68.5
$GPS2,250517,064935,1211.0903,6308.0698,9,0.7,18,-1.1,1.0,67.1,11,9.6
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,129.3,858711,-21.5,-10.000,-28.12,2673
$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,8,-2.00,-175.2,89,1966,327,572,0.0,0.0,0,88,0.00,0.00,-77.68,0.000,16386,0.000,0.000,89,1966,2567,2498,2637,0,0,0,0,0,0,14.85,28.83,14.88
$GC,91,-2.00,-175.2,89,1966,2499,2637,4.4,-5.3,13,125,12.80,2.72,-14.70,0.000,18724,0.390,2.009,2649,3361,3313,3187,3439,0,0,0,0,0,0,14.04,12.88,14.47
$GC,214,-1.83,-175.2,2649,3362,3189,3439,31.8,-22.3,35,221,0.22,2.33,0.00,0.000,3206,0.310,0.033,2694,1937,3314,3189,3439,0,0,0,0,0,0,14.11,14.59,14.47
$GC,524,-1.73,-175.2,2694,1937,3190,3439,84.1,-15.1,75,534,0.12,2.38,0.00,0.000,2436,0.314,0.047,2716,3360,3314,3190,3439,0,0,0,0,0,0,14.28,14.54,14.46
$GC,580,-1.73,-175.2,2715,3360,3190,3439,92.2,-13.3,86,586,0.00,2.28,0.00,0.000,1030,0.000,0.032,2715,1959,3314,3190,3439,0,0,0,0,0,0,14.74,14.68,14.76
$GC,888,-1.73,-175.2,2715,1958,3191,3439,129.4,-12.8,117,892,0.00,2.33,0.00,0.000,516,0.000,0.052,2716,552,3315,3191,3439,0,0,0,0,0,0,15.02,14.65,15.04
$GC,943,-1.73,-175.2,2715,552,3191,3439,137.4,-13.7,128,949,0.00,2.30,0.00,0.000,1030,0.000,0.031,2705,1973,3315,3191,3439,0,0,0,0,0,0,14.78,14.71,14.79
$GC,1250,-1.73,-175.2,2705,1973,3192,3439,173.3,-10.7,159,1258,0.00,2.38,0.00,0.000,516,0.000,0.051,2705,555,3316,3193,3439,0,0,0,0,0,0,15.05,14.66,15.07
$GC,1264,-1.73,-175.2,2705,554,3192,3439,175.1,-11.8,162,1272,0.12,2.28,0.00,0.000,3078,0.259,0.034,2721,1966,3315,3192,3439,0,0,0,0,0,0,14.40,14.73,14.64
$GC,1572,-1.78,-175.2,2721,1966,3193,3439,200.0,-8.9,193,1578,0.00,2.38,0.00,0.000,676,0.000,0.052,2722,550,3316,3193,3439,0,0,0,0,0,0,15.03,14.67,15.05
$GC,1645,-1.82,-175.2,2721,550,3193,3438,208.0,-10.1,206,1655,0.00,2.28,0.00,0.000,1158,0.000,0.032,2714,1964,3316,3193,3439,0,0,0,0,0,0,14.80,14.73,14.82
$GC,1954,-1.86,-175.2,2713,1963,3193,3439,241.1,-9.7,237,1962,0.00,0.00,0.00,0.000,166,0.000,0.000,2713,1964,3316,3193,3439,0,0,0,0,0,0,15.03,15.05,15.04
$GC,2264,-1.90,-175.2,2713,1964,3193,3439,271.1,-9.8,254,2272,0.12,2.35,0.00,0.000,4772,0.145,0.052,2668,560,3316,3193,3439,0,0,0,0,0,0,14.67,14.66,14.72
$GC,2336,-1.87,-175.2,2668,560,3193,3439,279.8,-11.5,267,2341,0.17,2.25,0.00,0.000,3206,0.285,0.033,2693,1961,3316,3193,3439,0,0,0,0,0,0,14.28,14.73,14.60
$GC,2665,-1.87,-175.2,2692,1961,3193,3439,313.1,-10.2,282,2672,0.00,2.30,0.00,0.000,260,0.000,0.052,2684,3361,3316,3193,3439,0,0,0,0,0,0,15.04,14.69,15.07
$GC,2720,-1.90,-175.2,2684,3361,3193,3439,318.9,-11.0,292,2725,0.00,2.28,0.00,0.000,1158,0.000,0.034,2684,1963,3316,3193,3439,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3034,-1.90,-175.2,2684,1963,3193,3439,349.3,-9.6,304,3038,0.00,2.35,0.00,0.000,548,0.000,0.056,2687,550,3316,3193,3439,0,0,0,0,0,0,15.04,14.67,15.07
$GC,3072,-1.90,-175.2,2687,550,3193,3439,353.5,-10.0,311,3077,0.00,2.30,0.00,0.000,1062,0.000,0.034,2679,1965,3316,3193,3439,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3402,-1.90,-175.2,2678,1965,3191,3439,388.0,-10.9,326,3407,0.00,2.40,0.00,0.000,516,0.000,0.057,2678,553,3315,3191,3439,0,0,0,0,0,0,15.05,14.66,15.07
$GC,3435,-1.90,-175.2,2678,553,3191,3439,392.1,-11.4,332,3442,0.00,2.33,0.00,0.000,1030,0.000,0.037,2669,1967,3315,3191,3439,0,0,0,0,0,0,14.80,14.72,14.82
$GC,3770,-1.90,-175.2,2669,1967,3189,3437,430.7,-11.8,348,3775,0.00,2.40,0.00,0.000,516,0.000,0.057,2669,557,3312,3189,3436,0,0,0,0,0,0,15.04,14.65,15.06
$GC,3829,-1.90,-175.2,2668,557,3188,3436,438.2,-12.0,359,3837,0.12,2.30,0.00,0.000,3078,0.293,0.036,2681,1965,3312,3188,3436,0,0,0,0,0,0,14.31,14.71,14.60
$GC,4137,-1.90,-175.2,2681,1965,3187,3435,472.6,-11.3,370,4142,0.00,2.42,0.00,0.000,516,0.000,0.060,2682,559,3310,3186,3435,0,0,0,0,0,0,15.04,14.64,15.07
$GC,4185,-1.90,-175.2,2682,558,3186,3435,478.5,-12.5,379,4190,0.00,2.30,0.00,0.000,1030,0.000,0.037,2674,1962,3310,3185,3435,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4503,-1.90,-175.2,2674,1962,3184,3432,514.6,-11.3,392,4508,0.00,2.42,0.00,0.000,516,0.000,0.060,2674,548,3308,3184,3432,0,0,0,0,0,0,15.03,14.63,15.05
$GC,4538,-1.87,-175.2,2673,547,3183,3432,518.7,-11.6,398,4544,0.12,2.33,0.00,0.000,3206,0.288,0.037,2686,1970,3307,3183,3432,0,0,0,0,0,0,14.30,14.71,14.59
$GC,4875,-1.87,-175.2,2686,1970,3181,3430,554.7,-10.6,414,4879,0.00,2.42,0.00,0.000,516,0.000,0.060,2687,558,3306,3182,3430,0,0,0,0,0,0,15.04,14.62,15.07
$GC,4901,-1.87,-175.2,2687,557,3182,3430,558.1,-11.6,419,4908,0.00,2.30,0.00,0.000,1030,0.000,0.037,2679,1955,3306,3182,3430,0,0,0,0,0,0,14.77,14.70,14.80
$GC,5209,-1.87,-175.2,2678,1956,3181,3427,590.2,-10.5,430,5214,0.00,2.42,0.00,0.000,516,0.000,0.063,2679,548,3304,3182,3427,0,0,0,0,0,0,15.04,14.61,15.07
$GC,5262,-1.87,-175.2,2678,548,3181,3427,596.2,-11.0,440,5269,0.12,2.33,0.00,0.000,3078,0.288,0.037,2692,1966,3304,3181,3427,0,0,0,0,0,0,14.28,14.69,14.57
$GC,5578,-1.87,-175.2,2691,1966,3178,3425,625.9,-9.2,452,5585,0.00,2.42,0.00,0.000,548,0.000,0.061,2692,557,3302,3179,3425,0,0,0,0,0,0,15.03,14.60,15.05
$GC,5637,-1.87,-175.2,2692,557,3178,3425,632.0,-9.7,463,5644,0.00,2.30,0.00,0.000,1062,0.000,0.037,2684,1955,3301,3178,3425,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5946,-1.87,-175.2,2684,1955,3177,3423,659.8,-9.3,474,5951,0.00,2.42,0.00,0.000,548,0.000,0.063,2685,553,3300,3177,3423,0,0,0,0,0,0,15.04,14.59,15.07
$GC,5988,-1.87,-175.2,2684,552,3177,3423,664.3,-10.2,482,5993,0.00,2.33,0.00,0.000,1030,0.000,0.038,2674,1959,3299,3176,3423,0,0,0,0,0,0,14.76,14.68,14.78
$GC,6312,-1.87,-175.2,2674,1959,3175,3421,696.2,-10.2,496,6318,0.00,2.42,0.00,0.000,516,0.000,0.063,2674,560,3298,3175,3421,0,0,0,0,0,0,15.02,14.59,15.04
$GC,6366,-1.87,-175.2,2674,560,3174,3421,702.3,-11.0,506,6372,0.12,2.33,0.00,0.000,3078,0.283,0.039,2687,1967,3297,3174,3421,0,0,0,0,0,0,14.24,14.67,14.54
$GC,6681,-1.87,-175.2,2686,1967,3173,3419,732.8,-9.9,518,6686,0.00,2.45,0.00,0.000,548,0.000,0.062,2687,550,3296,3173,3419,0,0,0,0,0,0,15.03,14.58,15.06
$GC,6715,-1.87,-175.2,2687,550,3173,3419,736.4,-10.0,524,6720,0.00,2.33,0.00,0.000,1030,0.000,0.041,2679,1954,3295,3172,3419,0,0,0,0,0,0,14.74,14.66,14.76
$GC,7049,-1.87,-175.2,2679,1954,3171,3418,770.9,-10.5,540,7054,0.00,2.42,0.00,0.000,516,0.000,0.063,2679,555,3294,3171,3417,0,0,0,0,0,0,15.03,14.57,15.06
$GC,7092,-1.87,-175.2,2679,554,3171,3417,776.0,-11.3,548,7097,0.12,2.35,0.00,0.000,3078,0.287,0.040,2692,1974,3294,3171,3417,0,0,0,0,0,0,14.23,14.66,14.49
$GC,7417,-1.87,-175.2,2692,1975,3170,3417,808.0,-9.9,562,7423,0.00,2.47,0.00,0.000,548,0.000,0.066,2693,541,3293,3170,3417,0,0,0,0,0,0,15.02,14.54,15.05
$GC,7461,-1.87,-175.2,2692,541,3170,3417,812.9,-10.8,570,7466,0.00,2.38,0.00,0.000,1030,0.000,0.041,2684,1964,3293,3169,3417,0,0,0,0,0,0,14.72,14.65,14.75
$GC,7785,-1.87,-175.2,2684,1964,3168,3416,845.2,-9.9,584,7790,0.00,2.45,0.00,0.000,548,0.000,0.067,2684,564,3292,3169,3416,0,0,0,0,0,0,15.02,14.53,15.04
$GC,7829,-1.87,-175.2,2684,564,3168,3416,850.1,-10.5,592,7833,0.00,2.33,0.00,0.000,1030,0.000,0.040,2675,1961,3292,3169,3416,0,0,0,0,0,0,14.72,14.64,14.74
$GC,8154,-1.87,-175.2,2674,1962,3168,3414,882.1,-9.9,606,8158,0.00,2.45,0.00,0.000,548,0.000,0.063,2675,556,3291,3168,3414,0,0,0,0,0,0,15.03,14.52,15.05
$GC,8201,-1.87,-175.2,2674,556,3167,3414,887.4,-10.7,615,8206,0.12,2.35,0.00,0.000,3078,0.291,0.042,2686,1963,3290,3167,3414,0,0,0,0,0,0,14.19,14.62,14.43
$GC,8520,-1.87,-175.2,2686,1964,3166,3413,917.7,-9.6,628,8525,0.00,2.47,0.00,0.000,548,0.000,0.070,2687,552,3289,3166,3413,0,0,0,0,0,0,15.02,14.54,15.04
$GC,8556,-1.87,-175.2,2687,552,3166,3413,921.1,-10.6,634,8561,0.00,2.38,0.00,0.000,1030,0.000,0.045,2679,1961,3289,3166,3413,0,0,0,0,0,0,14.69,14.59,14.71
$GC,8891,-1.87,-175.2,2679,1961,3166,3412,954.7,-10.2,650,8896,0.00,2.45,0.00,0.000,516,0.000,0.066,2679,564,3289,3166,3412,0,0,0,0,0,0,15.02,14.50,15.04
$GC,8924,-1.84,-175.2,2679,563,3166,3411,958.4,-10.6,656,8932,0.15,2.35,0.00,0.000,3206,0.287,0.044,2698,1965,3288,3166,3411,0,0,0,0,0,0,14.12,14.60,14.36
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9265,-0.42,0.0,2699,1716,3166,3410,991.7,-10.0,672,9429,1.23,0.00,160.57,2.713,10246,0.252,0.000,3008,1715,2596,2472,2720,0,0,0,0,0,0,13.93,13.92,12.55
$STATE,9430,end apogee,CONTROL_FINISHED_OK
$STATE,9431,begin climb
$GC,9432,2.00,175.2,3007,1715,2470,2718,997.9,0.0,677,9607,1.85,2.55,162.90,2.711,10500,0.181,0.067,3529,3109,1879,1744,2014,0,0,0,0,0,0,13.90,13.81,12.46
$GC,9663,1.84,175.2,3529,3110,1744,2005,978.5,11.9,728,9669,0.20,2.50,0.00,0.000,5254,0.363,0.053,3502,1700,1874,1744,2005,0,0,0,0,0,0,13.93,14.26,14.28
$GC,9977,1.75,175.2,3501,1700,1737,2005,944.4,10.9,740,9983,0.12,2.45,0.00,0.000,4484,0.380,0.058,3468,3104,1871,1737,2005,0,0,0,0,0,0,14.20,14.55,14.43
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$STATE,19314,end climb,SURFACE_DEPTH_REACHED
$STATE,19315,begin surface coast
$FINISH,1.5,1.006516
$STATE,19341,end surface coast,CONTROL_FINISHED_OK
$STATE,19341,begin surface
$SM_CCo,19360,53.67,0.080,0,0,450,526.65
$SM_CCo,19417,-0.22,0.000,0,0,451,526.65
$SM_CCo,19421,0.57,0.096,0,0,450,526.65
$SM_GC,2.59,10.57,0.32,0.57,0.086,0.056,0.096,91,1978,450,-13.79,-1.84,526.65,0,0,0,0,0,0,14.43,14.65,14.54
$IRIDIUM_FIX,1205.71,6305.37,250517,012129
$TT8_MAMPS,0.023968,0.158788
$HUMID,51.77
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.20
$XPDR_PINGS,10
$24V_AH,12.46,148.214
$10V_AH,12.67,0.000
$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,28.950,236.100,523.725,54.250,0.000,0.000,0.000,216.100,122.500,0.000,20.488,3127.545,12770.670,759.200,2771.027,319.388,0.000,2304.994,0.000,2180.013,0.000,813.356,0.000
$DEVICE_MAMPS,390.150,2008.890,2712.690,95.625,0.000,0.000,0.000,185.895,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225696
$DATA_FILE_SIZE,66707,1533
$CAP_FILE_SIZE,239733,0
$CFSIZE,260034560,225439744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.083,249.96,1
$GPS,250517,121527,1210.088,6308.736,47,0.7,55,-1.1,1.2,55.0,11,9.6