version: 66.13
glider: 137
mission: 5
dive: 378
start: 5 25 117 12 22 7
data:
$ID,137
$MISSION,5
$DIVE,378
$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,40
$R_STBD_OVSHOOT,80
$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
$GPS1,250517,121527,1210.0884,6308.7358,47,0.7,55,-1.1,1.2,55.0,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-68.4
$GPS2,250517,122131,1210.1178,6308.7944,14,0.7,26,-1.1,0.0,225.0,11,9.5
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,106.4,856562,-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,-175.2,90,1986,326,565,0.0,0.0,0,94,0.00,0.00,-83.53,0.000,16386,0.000,0.000,90,1986,2751,2672,2831,0,0,0,0,0,0,14.84,28.83,14.86
$GC,97,-2.00,-175.2,90,1986,2672,2831,5.0,-8.1,14,128,12.52,2.58,-10.27,0.000,18724,0.381,2.001,2648,3338,3314,3189,3440,0,0,0,0,0,0,13.99,12.86,14.26
$GC,225,-1.83,-175.2,2647,3338,3190,3441,36.3,-23.6,38,233,0.25,2.28,0.00,0.000,3206,0.302,0.031,2700,1942,3315,3190,3441,0,0,0,0,0,0,14.14,14.59,14.47
$GC,541,-1.75,-175.2,2700,1941,3190,3441,87.3,-14.6,76,546,0.00,2.30,0.00,0.000,644,0.000,0.049,2701,548,3315,3190,3441,0,0,0,0,0,0,14.98,14.62,15.00
$GC,593,-1.71,-175.2,2701,547,3190,3441,95.0,-13.8,86,603,0.15,2.22,0.00,0.000,3206,0.274,0.028,2725,1943,3315,3190,3441,0,0,0,0,0,0,14.33,14.70,14.59
$GC,903,-1.71,-175.2,2724,1943,3191,3441,132.5,-10.1,118,912,0.00,2.30,0.00,0.000,260,0.000,0.047,2716,3352,3316,3191,3442,0,0,0,0,0,0,15.02,14.66,15.04
$GC,945,-1.74,-175.2,2716,3352,3191,3441,136.9,-10.2,126,954,0.00,2.25,0.00,0.000,1158,0.000,0.030,2716,1950,3316,3191,3441,0,0,0,0,0,0,14.78,14.72,14.80
$GC,1254,-1.74,-175.2,2716,1950,3192,3441,170.7,-10.7,158,1263,0.00,2.33,0.00,0.000,260,0.000,0.046,2706,3356,3316,3192,3441,0,0,0,0,0,0,15.05,14.69,15.07
$GC,1336,-1.74,-175.2,2706,3356,3192,3441,178.8,-9.9,174,1345,0.00,2.25,0.00,0.000,1062,0.000,0.030,2706,1944,3317,3193,3441,0,0,0,0,0,0,14.72,14.71,14.73
$GC,1648,-1.74,-175.2,2706,1945,3192,3441,208.5,-10.1,206,1653,0.00,2.28,0.00,0.000,516,0.000,0.049,2706,551,3316,3192,3441,0,0,0,0,0,0,15.03,14.69,15.04
$GC,1757,-1.74,-175.2,2706,550,3192,3441,220.3,-9.7,227,1765,0.12,2.25,0.00,0.000,3110,0.263,0.028,2722,1970,3316,3192,3440,0,0,0,0,0,0,14.41,14.75,14.65
$GC,2064,-1.80,-175.2,2721,1969,3192,3441,247.6,-9.1,258,2069,0.00,2.25,0.00,0.000,420,0.000,0.047,2714,3352,3316,3192,3441,0,0,0,0,0,0,15.03,14.69,15.05
$GC,2117,-1.87,-175.2,2713,3352,3192,3441,252.9,-10.1,268,2123,0.00,2.25,0.00,0.000,1158,0.000,0.031,2714,1950,3316,3192,3441,0,0,0,0,0,0,14.80,14.74,14.82
$GC,2433,-1.91,-175.2,2713,1949,3192,3441,283.8,-10.4,280,2439,0.12,2.30,0.00,0.000,4740,0.158,0.049,2670,557,3316,3192,3441,0,0,0,0,0,0,14.64,14.68,14.70
$GC,2544,-1.87,-175.2,2669,556,3192,3441,297.1,-11.5,301,2549,0.15,2.25,0.00,0.000,3206,0.284,0.030,2688,1966,3316,3192,3441,0,0,0,0,0,0,14.32,14.75,14.61
$GC,2863,-1.87,-175.2,2688,1967,3192,3441,331.3,-10.6,314,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1966,3316,3192,3441,0,0,0,0,0,0,15.03,15.06,15.06
$GC,3166,-1.87,-175.2,2688,1966,3191,3441,362.1,-10.0,324,3171,0.00,2.38,0.00,0.000,548,0.000,0.055,2689,566,3316,3191,3441,0,0,0,0,0,0,15.04,14.66,15.07
$GC,3208,-1.87,-175.2,2689,565,3190,3441,367.0,-10.2,332,3214,0.00,2.25,0.00,0.000,1030,0.000,0.033,2681,1956,3315,3190,3441,0,0,0,0,0,0,14.81,14.74,14.83
$GC,3532,-1.87,-175.2,2680,1956,3189,3440,399.4,-10.2,346,3539,0.00,2.35,0.00,0.000,516,0.000,0.055,2686,572,3314,3188,3440,0,0,0,0,0,0,15.04,14.65,15.06
$GC,3562,-1.87,-175.2,2686,571,3188,3440,402.7,-10.7,351,3569,0.00,2.28,0.00,0.000,1030,0.000,0.034,2678,1968,3313,3188,3439,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3867,-1.87,-175.2,2677,1969,3186,3438,435.6,-11.1,362,3873,0.00,2.40,0.00,0.000,516,0.000,0.056,2687,560,3312,3186,3438,0,0,0,0,0,0,15.03,14.64,15.06
$GC,3924,-1.87,-175.2,2686,558,3186,3438,442.5,-11.5,373,3932,0.00,2.30,0.00,0.000,1030,0.000,0.034,2677,1967,3311,3185,3438,0,0,0,0,0,0,14.79,14.72,14.81
$GC,4233,-1.87,-175.2,2677,1967,3184,3435,476.5,-11.2,384,4238,0.00,2.40,0.00,0.000,516,0.000,0.057,2683,563,3309,3183,3436,0,0,0,0,0,0,15.04,14.64,15.07
$GC,4290,-1.87,-175.2,2682,562,3182,3436,483.3,-11.5,395,4298,0.00,2.30,0.00,0.000,1030,0.000,0.034,2674,1966,3309,3182,3436,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4597,-1.87,-175.2,2674,1966,3182,3434,515.2,-10.4,406,4603,0.00,2.40,0.00,0.000,516,0.000,0.058,2674,566,3308,3182,3434,0,0,0,0,0,0,15.03,14.63,15.05
$GC,4640,-1.87,-175.2,2674,566,3182,3434,520.1,-11.1,414,4647,0.12,2.30,0.00,0.000,3078,0.285,0.036,2687,1972,3307,3181,3434,0,0,0,0,0,0,14.31,14.71,14.59
$GC,4966,-1.87,-175.2,2686,1972,3181,3431,550.5,-9.4,428,4973,0.00,2.40,0.00,0.000,548,0.000,0.058,2689,574,3306,3181,3431,0,0,0,0,0,0,15.04,14.62,15.06
$GC,4996,-1.87,-175.2,2689,574,3181,3431,553.8,-10.5,433,5004,0.00,2.28,0.00,0.000,1030,0.000,0.036,2681,1955,3305,3180,3431,0,0,0,0,0,0,14.77,14.70,14.80
$GC,5302,-1.87,-175.2,2681,1955,3178,3429,583.0,-9.6,444,5309,0.00,2.38,0.00,0.000,548,0.000,0.059,2682,572,3303,3178,3429,0,0,0,0,0,0,15.03,14.61,15.06
$GC,5357,-1.87,-175.2,2682,572,3177,3429,588.8,-10.6,454,5362,0.00,2.30,0.00,0.000,1030,0.000,0.036,2674,1969,3303,3177,3429,0,0,0,0,0,0,14.77,14.70,14.79
$GC,5670,-1.87,-175.2,2673,1969,3177,3427,620.2,-10.3,466,5675,0.00,2.40,0.00,0.000,516,0.000,0.058,2674,574,3302,3177,3427,0,0,0,0,0,0,15.03,14.60,15.05
$GC,5729,-1.87,-175.2,2673,574,3176,3426,626.8,-10.7,477,5737,0.12,2.30,0.00,0.000,3078,0.284,0.036,2686,1971,3301,3176,3427,0,0,0,0,0,0,14.27,14.69,14.56
$GC,6037,-1.87,-175.2,2686,1971,3174,3425,657.5,-10.2,488,6043,0.00,2.42,0.00,0.000,516,0.000,0.060,2687,565,3299,3174,3425,0,0,0,0,0,0,15.03,14.59,15.05
$GC,6079,-1.87,-175.2,2687,564,3174,3425,662.5,-10.9,496,6085,0.00,2.30,0.00,0.000,1030,0.000,0.037,2679,1959,3299,3174,3425,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6403,-1.87,-175.2,2679,1959,3172,3423,696.8,-10.9,510,6410,0.00,2.40,0.00,0.000,516,0.000,0.060,2680,569,3297,3172,3423,0,0,0,0,0,0,15.02,14.58,15.04
$GC,6447,-1.87,-175.2,2680,569,3172,3423,702.0,-11.1,518,6454,0.00,2.30,0.00,0.000,1030,0.000,0.037,2672,1959,3297,3171,3423,0,0,0,0,0,0,14.75,14.68,14.77
$GC,6773,-1.87,-175.2,2672,1959,3170,3421,737.7,-11.0,532,6779,0.00,2.42,0.00,0.000,516,0.000,0.064,2672,562,3295,3170,3420,0,0,0,0,0,0,15.03,14.58,15.06
$GC,6812,-1.84,-175.2,2672,561,3170,3420,742.3,-11.2,539,6818,0.17,2.33,0.00,0.000,3206,0.279,0.038,2703,1967,3295,3170,3420,0,0,0,0,0,0,14.13,14.66,14.33
$GC,7142,-1.88,-175.2,2702,1968,3169,3420,775.4,-9.9,554,7148,0.00,2.42,0.00,0.000,676,0.000,0.061,2704,567,3294,3169,3419,0,0,0,0,0,0,15.02,14.57,15.05
$GC,7180,-1.88,-175.2,2703,567,3169,3419,779.7,-11.2,561,7185,0.00,2.33,0.00,0.000,1030,0.000,0.040,2695,1965,3294,3169,3419,0,0,0,0,0,0,14.73,14.66,14.76
$GC,7510,-1.88,-175.2,2695,1965,3168,3418,812.6,-10.0,576,7516,0.00,2.42,0.00,0.000,516,0.000,0.064,2696,571,3293,3168,3418,0,0,0,0,0,0,15.02,14.57,15.04
$GC,7548,-1.88,-175.2,2695,571,3168,3418,816.9,-10.3,583,7552,0.00,2.33,0.00,0.000,1030,0.000,0.040,2685,1968,3293,3168,3418,0,0,0,0,0,0,14.73,14.65,14.75
$GC,7876,-1.88,-175.2,2685,1968,3166,3417,850.5,-10.4,598,7882,0.00,2.42,0.00,0.000,516,0.000,0.060,2685,568,3291,3166,3417,0,0,0,0,0,0,15.01,14.56,15.04
$GC,7935,-1.88,-175.2,2685,568,3166,3417,856.7,-9.8,609,7943,0.00,2.33,0.00,0.000,1062,0.000,0.039,2676,1963,3291,3166,3417,0,0,0,0,0,0,14.71,14.64,14.74
$GC,8242,-1.88,-175.2,2676,1963,3166,3415,887.7,-10.2,620,8247,0.00,2.42,0.00,0.000,516,0.000,0.062,2676,566,3290,3166,3415,0,0,0,0,0,0,15.02,14.54,15.05
$GC,8306,-1.88,-175.2,2675,566,3166,3415,894.7,-10.3,632,8312,0.12,2.35,0.00,0.000,3078,0.269,0.044,2689,1962,3290,3166,3415,0,0,0,0,0,0,14.22,14.60,14.46
$GC,8641,-1.88,-175.2,2689,1962,3166,3414,927.6,-9.9,648,8643,0.00,0.00,0.00,0.000,38,0.000,0.000,2688,1962,3290,3166,3414,0,0,0,0,0,0,15.01,15.04,15.03
$GC,8942,-1.88,-175.2,2689,1962,3166,3413,957.4,-10.0,658,8949,0.00,2.42,0.00,0.000,548,0.000,0.062,2690,570,3289,3165,3413,0,0,0,0,0,0,15.02,14.52,15.03
$GC,9012,-1.88,-175.2,2689,570,3165,3412,965.0,-9.7,671,9017,0.00,2.33,0.00,0.000,1062,0.000,0.041,2682,1962,3289,3165,3413,0,0,0,0,0,0,14.69,14.61,14.72
$STATE,9280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9280,begin apogee
$GC,9286,-0.42,0.0,2682,1709,3164,3411,991.5,-9.9,684,9450,1.27,0.00,160.68,2.713,10246,0.248,0.000,3003,1708,2596,2472,2720,0,0,0,0,0,0,13.95,13.91,12.53
$STATE,9451,end apogee,CONTROL_FINISHED_OK
$STATE,9451,begin climb
$GC,9453,2.00,175.2,3004,1708,2470,2718,997.0,0.0,689,9628,1.88,2.65,162.65,2.703,10756,0.177,0.079,3546,307,1879,1742,2017,0,0,0,0,0,0,13.93,13.82,12.47
$GC,9674,1.82,175.2,3546,307,1734,2017,976.7,14.1,738,9679,0.25,2.42,0.00,0.000,5254,0.347,0.041,3499,1710,1875,1733,2017,0,0,0,0,0,0,13.93,14.23,14.22
$GC,10002,1.72,175.2,3499,1710,1727,2017,938.8,11.5,753,10010,0.12,2.38,0.00,0.000,4484,0.391,0.063,3465,3101,1872,1728,2017,0,0,0,0,0,0,14.18,14.54,14.42
$GC,10052,1.67,175.2,3465,3101,1727,2015,933.2,10.0,763,10056,0.00,2.40,0.00,0.000,1158,0.000,0.055,3473,1719,1871,1727,2015,0,0,0,0,0,0,14.69,14.61,14.72
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$STATE,19017,end climb,SURFACE_DEPTH_REACHED
$STATE,19019,begin surface coast
$FINISH,1.7,1.021714
$STATE,19030,end surface coast,CONTROL_FINISHED_OK
$STATE,19030,begin surface
$SM_CCo,19052,51.17,0.080,0,0,449,526.65
$SM_CCo,19106,-0.12,0.000,0,0,450,526.65
$SM_CCo,19110,0.00,0.000,0,0,450,526.65
$SM_GC,2.51,10.27,2.80,0.00,0.071,0.033,0.000,92,1949,450,-13.78,-1.64,526.65,0,0,0,0,0,0,14.49,14.62,14.88
$IRIDIUM_FIX,1203.50,6311.30,250517,064556
$TT8_MAMPS,0.023968,0.158039
$HUMID,51.10
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.30
$XPDR_PINGS,10
$24V_AH,12.47,148.648
$10V_AH,12.62,0.000
$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,28.350,220.175,528.000,51.175,0.000,0.000,0.000,243.950,124.250,0.000,27.929,3057.218,12559.493,784.684,2758.929,312.795,0.000,2317.428,0.000,2126.487,0.000,821.777,0.000
$DEVICE_MAMPS,390.915,2001.240,2713.455,80.325,0.000,0.000,0.000,192.780,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225672
$DATA_FILE_SIZE,66563,1495
$CAP_FILE_SIZE,234384,0
$CFSIZE,260034560,225345536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.065,269.02,1
$GPS,250517,174207,1210.048,6309.512,45,0.8,51,-1.1,0.0,208.8,9,9.6