version: 66.13
glider: 137
mission: 5
dive: 386
start: 5 27 117 8 20 0
data:
$ID,137
$MISSION,5
$DIVE,386
$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,36
$R_STBD_OVSHOOT,67
$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
$GPS1,270517,081337,1209.2803,6314.2886,50,0.9,56,-1.1,0.5,120.5,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.8
$GPS2,270517,081925,1209.2802,6314.3545,16,0.9,24,-1.1,0.0,84.4,9,9.7
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,120.4,847512,-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,7,-2.00,-175.2,94,1988,329,572,0.0,0.0,0,88,0.00,0.00,-77.80,0.000,16386,0.000,0.000,94,1990,2576,2510,2643,0,0,0,0,0,0,14.85,28.83,14.87
$GC,91,-2.00,-175.2,94,1990,2511,2644,4.3,-4.9,13,125,12.62,2.85,-14.50,0.000,18980,0.384,2.003,2660,553,3313,3189,3438,0,0,0,0,0,0,14.01,12.82,14.45
$GC,242,-1.84,-175.2,2660,552,3191,3438,37.9,-21.5,41,250,0.22,2.25,0.00,0.000,3206,0.290,0.030,2699,1943,3314,3191,3438,0,0,0,0,0,0,14.19,14.62,14.50
$GC,554,-1.77,-175.2,2699,1943,3191,3438,86.3,-14.1,78,563,0.00,2.33,0.00,0.000,388,0.000,0.050,2691,3361,3314,3191,3438,0,0,0,0,0,0,14.99,14.54,15.01
$GC,608,-1.71,-175.2,2691,3361,3191,3438,95.0,-14.5,89,616,0.15,2.30,0.00,0.000,3206,0.262,0.031,2722,1945,3314,3191,3438,0,0,0,0,0,0,14.33,14.69,14.59
$GC,916,-1.71,-175.2,2722,1945,3193,3438,134.7,-11.2,120,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1945,3315,3193,3438,0,0,0,0,0,0,15.03,15.05,15.04
$GC,1216,-1.71,-175.2,2722,1945,3194,3438,167.8,-11.1,150,1225,0.00,2.25,0.00,0.000,516,0.000,0.050,2723,564,3316,3194,3438,0,0,0,0,0,0,15.04,14.60,15.07
$GC,1260,-1.75,-175.2,2722,564,3194,3438,173.6,-12.2,159,1267,0.00,2.25,0.00,0.000,1158,0.000,0.028,2714,1970,3316,3194,3438,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1570,-1.79,-175.2,2714,1971,3194,3438,204.6,-9.8,190,1574,0.00,2.38,0.00,0.000,676,0.000,0.051,2714,555,3316,3194,3438,0,0,0,0,0,0,15.04,14.68,15.06
$GC,1641,-1.79,-175.2,2714,555,3194,3438,212.1,-10.0,203,1649,0.00,2.28,0.00,0.000,1062,0.000,0.031,2704,1971,3316,3194,3438,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1949,-1.79,-175.2,2704,1971,3194,3438,243.1,-10.7,234,1954,0.00,2.28,0.00,0.000,260,0.000,0.051,2694,3361,3316,3194,3438,0,0,0,0,0,0,15.03,14.68,15.05
$GC,2009,-1.83,-175.2,2694,3361,3194,3438,250.2,-11.3,245,2017,0.00,2.28,0.00,0.000,1158,0.000,0.034,2694,1960,3315,3193,3438,0,0,0,0,0,0,14.79,14.73,14.82
$GC,2315,-1.83,-175.2,2694,1960,3194,3438,282.0,-10.1,256,2322,0.00,2.33,0.00,0.000,516,0.000,0.056,2694,563,3316,3194,3438,0,0,0,0,0,0,15.03,14.66,15.05
$GC,2350,-1.83,-175.2,2694,563,3194,3438,285.7,-10.1,262,2355,0.00,2.25,0.00,0.000,1030,0.000,0.033,2685,1956,3316,3194,3438,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2686,-1.83,-175.2,2685,1956,3194,3438,317.9,-9.8,278,2687,0.00,0.00,0.00,0.000,38,0.000,0.000,2685,1956,3316,3194,3438,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2985,-1.83,-175.2,2685,1956,3193,3438,348.6,-10.5,288,2989,0.00,2.40,0.00,0.000,516,0.000,0.061,2685,550,3315,3193,3438,0,0,0,0,0,0,15.04,14.65,15.06
$GC,3104,-1.83,-175.2,2685,550,3192,3438,362.2,-11.5,310,3110,0.12,2.30,0.00,0.000,3078,0.277,0.034,2699,1968,3314,3191,3438,0,0,0,0,0,0,14.38,14.73,14.64
$GC,3419,-1.86,-175.2,2699,1968,3190,3438,395.5,-10.6,322,3424,0.00,2.42,0.00,0.000,644,0.000,0.059,2700,553,3314,3190,3438,0,0,0,0,0,0,15.04,14.66,15.07
$GC,3453,-1.86,-175.2,2700,552,3190,3438,399.2,-10.6,328,3458,0.00,2.30,0.00,0.000,1030,0.000,0.036,2692,1960,3314,3190,3438,0,0,0,0,0,0,14.80,14.73,14.81
$GC,3786,-1.86,-175.2,2691,1959,3188,3436,434.1,-10.3,344,3790,0.00,2.40,0.00,0.000,516,0.000,0.062,2691,566,3312,3188,3436,0,0,0,0,0,0,15.04,14.63,15.06
$GC,3824,-1.86,-175.2,2691,565,3188,3436,438.5,-11.0,351,3829,0.00,2.30,0.00,0.000,1030,0.000,0.036,2681,1965,3311,3188,3435,0,0,0,0,0,0,14.79,14.71,14.81
$GC,4154,-1.86,-175.2,2681,1966,3186,3433,472.3,-10.2,366,4159,0.00,2.42,0.00,0.000,516,0.000,0.063,2682,560,3309,3186,3433,0,0,0,0,0,0,15.04,14.62,15.07
$GC,4232,-1.86,-175.2,2681,559,3185,3433,481.0,-11.1,381,4239,0.12,2.33,0.00,0.000,3078,0.272,0.041,2696,1960,3308,3184,3433,0,0,0,0,0,0,14.34,14.69,14.61
$GC,4553,-1.89,-175.2,2696,1960,3182,3431,511.1,-9.5,394,4558,0.00,2.38,0.00,0.000,420,0.000,0.061,2687,3374,3305,3181,3430,0,0,0,0,0,0,15.04,14.64,15.07
$GC,4570,-1.92,-175.2,2687,3373,3182,3430,512.8,-9.6,397,4576,0.00,2.35,0.00,0.000,1190,0.000,0.041,2687,1964,3306,3182,3430,0,0,0,0,0,0,14.76,14.68,14.79
$GC,4890,-1.92,-175.2,2687,1964,3182,3428,544.2,-10.0,410,4895,0.00,2.40,0.00,0.000,548,0.000,0.063,2693,546,3305,3182,3428,0,0,0,0,0,0,15.04,14.63,15.07
$GC,4939,-1.92,-175.2,2692,546,3182,3428,549.6,-10.6,419,4946,0.00,2.35,0.00,0.000,1030,0.000,0.036,2684,1972,3305,3182,3428,0,0,0,0,0,0,14.77,14.70,14.80
$GC,5261,-1.92,-175.2,2684,1973,3181,3425,581.3,-10.0,432,5266,0.00,2.47,0.00,0.000,548,0.000,0.063,2693,534,3303,3181,3425,0,0,0,0,0,0,15.04,14.59,15.06
$GC,5295,-1.92,-175.2,2692,533,3180,3425,585.1,-10.6,438,5302,0.00,2.38,0.00,0.000,1030,0.000,0.037,2684,1965,3302,3180,3425,0,0,0,0,0,0,14.76,14.69,14.79
$GC,5631,-1.92,-175.2,2684,1965,3178,3423,618.2,-9.9,454,5636,0.00,2.45,0.00,0.000,548,0.000,0.064,2693,552,3300,3178,3423,0,0,0,0,0,0,15.04,14.59,15.06
$GC,5680,-1.92,-175.2,2692,551,3177,3423,623.7,-11.0,463,5687,0.00,2.33,0.00,0.000,1030,0.000,0.037,2684,1959,3300,3177,3423,0,0,0,0,0,0,14.76,14.68,14.78
$GC,6001,-1.92,-175.2,2684,1960,3176,3421,656.8,-10.6,476,6006,0.00,2.45,0.00,0.000,516,0.000,0.064,2693,547,3299,3177,3421,0,0,0,0,0,0,15.04,14.58,15.06
$GC,6035,-1.92,-175.2,2692,547,3177,3421,660.6,-10.3,482,6042,0.00,2.35,0.00,0.000,1030,0.000,0.038,2684,1965,3298,3176,3421,0,0,0,0,0,0,14.76,14.68,14.78
$GC,6371,-1.92,-175.2,2684,1965,3173,3419,697.2,-10.9,498,6376,0.00,2.45,0.00,0.000,516,0.000,0.064,2693,553,3297,3175,3419,0,0,0,0,0,0,15.03,14.57,15.05
$GC,6408,-1.92,-175.2,2692,553,3174,3419,701.8,-11.1,505,6414,0.00,2.35,0.00,0.000,1030,0.000,0.041,2684,1964,3296,3173,3419,0,0,0,0,0,0,14.74,14.66,14.77
$GC,6739,-1.92,-175.2,2684,1964,3172,3417,736.8,-10.7,520,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1964,3294,3171,3417,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7039,-1.92,-175.2,2684,1964,3170,3417,769.1,-10.8,530,7044,0.00,2.45,0.00,0.000,516,0.000,0.064,2693,553,3293,3170,3417,0,0,0,0,0,0,15.02,14.56,15.04
$GC,7115,-1.92,-175.2,2692,553,3170,3417,778.0,-11.5,544,7120,0.00,2.35,0.00,0.000,1030,0.000,0.039,2684,1965,3293,3170,3417,0,0,0,0,0,0,14.73,14.66,14.76
$GC,7439,-1.92,-175.2,2684,1965,3169,3416,812.2,-10.7,558,7444,0.00,2.47,0.00,0.000,516,0.000,0.063,2693,533,3292,3169,3416,0,0,0,0,0,0,15.02,14.54,15.04
$GC,7473,-1.92,-175.2,2692,533,3169,3416,816.0,-11.6,564,7478,0.00,2.38,0.00,0.000,1030,0.000,0.041,2684,1960,3292,3169,3416,0,0,0,0,0,0,14.73,14.64,14.75
$GC,7807,-1.92,-175.2,2684,1960,3168,3415,851.6,-10.5,580,7812,0.00,2.45,0.00,0.000,516,0.000,0.064,2692,554,3291,3168,3414,0,0,0,0,0,0,15.03,14.54,15.05
$GC,7849,-1.92,-175.2,2692,553,3168,3415,856.6,-11.1,588,7854,0.00,2.35,0.00,0.000,1030,0.000,0.041,2684,1959,3291,3167,3415,0,0,0,0,0,0,14.71,14.64,14.74
$GC,8173,-1.92,-175.2,2684,1959,3167,3413,887.7,-9.6,602,8180,0.00,2.45,0.00,0.000,548,0.000,0.064,2692,553,3289,3167,3412,0,0,0,0,0,0,15.02,14.53,15.04
$GC,8209,-1.92,-175.2,2692,553,3167,3413,891.2,-9.9,608,8214,0.00,2.35,0.00,0.000,1062,0.000,0.041,2684,1960,3290,3167,3413,0,0,0,0,0,0,14.71,14.63,14.73
$GC,8542,-1.92,-175.2,2684,1961,3167,3411,922.3,-9.2,624,8547,0.00,2.47,0.00,0.000,548,0.000,0.064,2693,536,3289,3167,3411,0,0,0,0,0,0,15.02,14.51,15.04
$GC,8581,-1.92,-175.2,2692,536,3167,3411,926.3,-9.7,631,8585,0.00,2.40,0.00,0.000,1062,0.000,0.042,2684,1966,3288,3166,3411,0,0,0,0,0,0,14.70,14.62,14.73
$GC,8911,-1.92,-175.2,2684,1966,3166,3410,956.4,-9.4,646,8913,0.00,0.00,0.00,0.000,38,0.000,0.000,2684,1966,3288,3166,3410,0,0,0,0,0,0,15.02,15.05,15.04
$GC,9210,-1.92,-175.2,2684,1966,3165,3409,985.4,-9.7,656,9215,0.00,2.47,0.00,0.000,548,0.000,0.066,2693,553,3287,3165,3409,0,0,0,0,0,0,15.02,14.50,15.04
$STATE,9251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9253,begin apogee
$GC,9260,-0.42,0.0,2686,1717,3164,3408,990.3,-10.4,664,9425,1.27,0.00,160.68,2.693,10246,0.252,0.000,3006,1726,2596,2474,2718,0,0,0,0,0,0,13.97,13.93,12.55
$STATE,9426,end apogee,CONTROL_FINISHED_OK
$STATE,9426,begin climb
$GC,9428,2.00,175.2,3006,1726,2471,2716,995.9,0.0,669,9602,1.85,2.42,162.75,2.704,10500,0.175,0.060,3531,3091,1878,1744,2012,0,0,0,0,0,0,13.93,13.56,12.47
$GC,9628,1.85,175.2,3531,3091,1743,2005,979.4,12.7,714,9634,0.20,2.47,0.00,0.000,5254,0.379,0.051,3505,1710,1873,1743,2004,0,0,0,0,0,0,13.83,14.16,14.18
$GC,9948,1.74,175.2,3505,1710,1735,2005,942.6,11.7,727,9949,0.12,0.00,0.00,0.000,4230,0.380,0.000,3485,1709,1869,1735,2004,0,0,0,0,0,0,14.23,14.65,14.59
$GC,10247,1.68,175.2,3485,1709,1733,2004,910.2,10.7,737,10251,0.00,2.42,0.00,0.000,388,0.000,0.058,3475,3100,1868,1733,2004,0,0,0,0,0,0,14.97,14.63,15.00
$GC,10308,1.61,175.2,3475,3100,1733,2003,903.7,11.3,749,10316,0.17,2.42,0.00,0.000,5254,0.370,0.053,3452,1695,1868,1733,2003,0,0,0,0,0,0,14.21,14.63,14.60
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$STATE,19170,end climb,SURFACE_DEPTH_REACHED
$STATE,19171,begin surface coast
$FINISH,1.6,1.021644
$STATE,19207,end surface coast,CONTROL_FINISHED_OK
$STATE,19207,begin surface
$SM_CCo,19226,46.33,0.080,0,0,449,526.65
$SM_CCo,19276,-0.38,0.000,0,0,451,526.65
$SM_CCo,19280,1.05,0.087,0,0,450,526.65
$SM_GC,2.53,10.12,0.38,1.05,0.056,0.052,0.087,94,1978,450,-13.76,-1.41,526.65,0,0,0,0,0,0,14.48,14.65,14.53
$IRIDIUM_FIX,1203.50,6313.27,270517,024435
$TT8_MAMPS,0.023968,0.158788
$HUMID,52.36
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.30
$XPDR_PINGS,15
$24V_AH,12.47,152.173
$10V_AH,12.68,0.000
$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,27.775,211.275,545.000,47.375,0.000,0.000,0.000,228.800,123.500,0.000,26.144,3100.747,12596.620,759.056,2847.745,321.414,0.000,2323.342,0.000,2236.569,0.000,801.943,0.000
$DEVICE_MAMPS,384.030,2002.770,2704.275,87.210,0.000,0.000,0.000,182.070,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225664
$DATA_FILE_SIZE,69985,1573
$CAP_FILE_SIZE,234908,0
$CFSIZE,260034560,224563200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.070,238.96,1
$GPS,270517,134258,1208.685,6315.037,49,0.8,58,-1.1,0.5,131.6,10,9.5