version: 66.13
glider: 137
mission: 5
dive: 393
start: 5 28 117 22 14 9
data:
$ID,137
$MISSION,5
$DIVE,393
$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,34
$R_STBD_OVSHOOT,74
$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
$GPS1,280517,220832,1208.3234,6320.1357,40,0.9,53,-1.1,0.3,3.1,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-65.5
$GPS2,280517,221335,1208.3054,6320.1948,7,0.7,13,-1.1,0.0,99.0,11,9.3
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,124.5,837931,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-2.00,-175.2,93,1991,324,566,0.0,0.0,0,91,0.00,0.00,-81.20,0.000,16386,0.000,0.000,94,1993,2677,2605,2749,0,0,0,0,0,0,14.84,28.83,14.86
$GC,94,-2.00,-175.2,93,1993,2606,2749,4.7,-6.5,14,127,12.85,2.58,-12.00,0.000,18724,0.390,2.001,2652,3330,3312,3187,3438,0,0,0,0,0,0,14.00,13.12,14.45
$GC,230,-1.83,-175.2,2652,3329,3189,3438,36.1,-20.5,39,237,0.22,2.28,0.00,0.000,3206,0.305,0.031,2697,1932,3313,3189,3438,0,0,0,0,0,0,14.12,14.59,14.46
$GC,546,-1.73,-175.2,2697,1932,3189,3438,89.7,-15.4,77,556,0.12,2.28,0.00,0.000,2692,0.315,0.052,2727,566,3313,3189,3438,0,0,0,0,0,0,14.28,14.52,14.45
$GC,572,-1.69,-175.2,2727,566,3189,3438,94.0,-13.5,82,580,0.00,2.22,0.00,0.000,1158,0.000,0.031,2719,1945,3313,3189,3438,0,0,0,0,0,0,14.73,14.68,14.76
$GC,879,-1.69,-175.2,2719,1944,3189,3438,131.8,-11.4,113,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1945,3314,3190,3438,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1180,-1.69,-175.2,2719,1944,3191,3438,163.9,-10.4,143,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1945,3314,3191,3438,0,0,0,0,0,0,15.04,15.06,15.06
$GC,1480,-1.73,-175.2,2719,1945,3192,3438,196.0,-10.9,173,1490,0.00,2.33,0.00,0.000,644,0.000,0.055,2720,563,3315,3192,3438,0,0,0,0,0,0,15.04,14.57,15.07
$GC,1559,-1.73,-175.2,2719,563,3192,3438,203.9,-10.0,187,1563,0.00,2.25,0.00,0.000,1062,0.000,0.031,2709,1966,3315,3192,3438,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1874,-1.76,-175.2,2709,1966,3192,3438,234.2,-9.6,219,1879,0.00,2.30,0.00,0.000,420,0.000,0.050,2699,3361,3315,3192,3438,0,0,0,0,0,0,15.03,14.66,15.05
$GC,1935,-1.80,-175.2,2699,3361,3191,3438,240.8,-10.0,230,1946,0.00,2.28,0.00,0.000,1158,0.000,0.031,2699,1950,3314,3191,3438,0,0,0,0,0,0,14.79,14.73,14.81
$GC,2256,-1.80,-175.2,2699,1950,3192,3438,271.0,-9.5,248,2260,0.00,2.33,0.00,0.000,548,0.000,0.056,2699,553,3315,3192,3438,0,0,0,0,0,0,15.04,14.65,15.06
$GC,2294,-1.80,-175.2,2699,552,3192,3438,274.8,-9.7,255,2299,0.00,2.28,0.00,0.000,1062,0.000,0.032,2689,1962,3315,3192,3438,0,0,0,0,0,0,14.80,14.74,14.82
$GC,2623,-1.80,-175.2,2689,1963,3192,3438,306.3,-9.7,270,2631,0.00,2.30,0.00,0.000,292,0.000,0.050,2679,3364,3314,3191,3438,0,0,0,0,0,0,15.03,14.68,15.05
$GC,2642,-1.80,-175.2,2678,3364,3192,3438,308.6,-10.3,273,2650,0.12,2.28,0.00,0.000,3078,0.269,0.031,2703,1951,3314,3191,3438,0,0,0,0,0,0,14.37,14.73,14.63
$GC,2965,-1.83,-175.2,2703,1951,3191,3438,341.4,-10.5,286,2971,0.00,2.33,0.00,0.000,644,0.000,0.057,2705,564,3314,3191,3438,0,0,0,0,0,0,15.04,14.64,15.07
$GC,3044,-1.87,-175.2,2705,564,3191,3438,350.4,-10.9,301,3049,0.00,2.28,0.00,0.000,1158,0.000,0.033,2696,1966,3314,3191,3438,0,0,0,0,0,0,14.80,14.73,14.81
$GC,3363,-1.87,-175.2,2696,1966,3189,3438,383.4,-10.3,314,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1966,3313,3189,3438,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3664,-1.87,-175.2,2696,1966,3187,3437,413.8,-10.2,324,3668,0.00,2.40,0.00,0.000,516,0.000,0.060,2697,567,3311,3187,3436,0,0,0,0,0,0,15.03,14.63,15.05
$GC,3729,-1.87,-175.2,2697,567,3186,3437,421.0,-10.5,336,3734,0.00,2.30,0.00,0.000,1030,0.000,0.041,2689,1963,3311,3186,3437,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4062,-1.87,-175.2,2688,1963,3184,3435,455.9,-10.4,352,4067,0.00,2.33,0.00,0.000,260,0.000,0.053,2678,3366,3309,3184,3435,0,0,0,0,0,0,15.03,14.66,15.05
$GC,4084,-1.87,-175.2,2678,3367,3184,3434,458.4,-10.8,356,4089,0.00,2.30,0.00,0.000,1030,0.000,0.036,2679,1966,3309,3184,3434,0,0,0,0,0,0,14.78,14.70,14.80
$GC,4398,-1.87,-175.2,2679,1966,3182,3433,489.9,-9.9,368,4403,0.00,2.38,0.00,0.000,548,0.000,0.061,2689,561,3307,3182,3432,0,0,0,0,0,0,15.03,14.62,15.05
$GC,4436,-1.87,-175.2,2689,560,3182,3432,494.2,-9.9,375,4441,0.00,2.30,0.00,0.000,1062,0.000,0.034,2681,1964,3307,3182,3432,0,0,0,0,0,0,14.78,14.71,14.80
$GC,4766,-1.87,-175.2,2681,1964,3181,3430,526.3,-9.8,390,4772,0.00,2.42,0.00,0.000,548,0.000,0.063,2686,557,3305,3181,3430,0,0,0,0,0,0,15.04,14.62,15.07
$GC,4820,-1.87,-175.2,2685,557,3181,3430,532.3,-11.4,400,4827,0.00,2.33,0.00,0.000,1030,0.000,0.039,2677,1960,3305,3181,3430,0,0,0,0,0,0,14.76,14.68,14.78
$GC,5135,-1.87,-175.2,2677,1960,3179,3428,564.1,-10.4,412,5142,0.00,2.42,0.00,0.000,516,0.000,0.064,2677,558,3304,3180,3428,0,0,0,0,0,0,15.02,14.60,15.04
$GC,5158,-1.87,-175.2,2677,558,3178,3428,567.1,-11.8,416,5164,0.12,2.35,0.00,0.000,3078,0.276,0.042,2690,1961,3303,3178,3428,0,0,0,0,0,0,14.28,14.66,14.57
$GC,5474,-1.87,-175.2,2690,1961,3177,3425,599.5,-10.6,428,5479,0.00,2.35,0.00,0.000,260,0.000,0.057,2682,3367,3301,3177,3425,0,0,0,0,0,0,15.04,14.63,15.06
$GC,5500,-1.87,-175.2,2682,3367,3177,3425,602.7,-10.4,433,5508,0.00,2.33,0.00,0.000,1030,0.000,0.037,2682,1964,3301,3177,3425,0,0,0,0,0,0,14.75,14.66,14.78
$GC,5809,-1.87,-175.2,2682,1964,3176,3424,635.5,-10.8,444,5813,0.00,2.40,0.00,0.000,516,0.000,0.065,2682,556,3299,3175,3424,0,0,0,0,0,0,15.04,14.59,15.06
$GC,5881,-1.87,-175.2,2682,556,3174,3423,643.9,-11.0,458,5889,0.00,2.35,0.00,0.000,1030,0.000,0.040,2674,1966,3298,3174,3423,0,0,0,0,0,0,14.73,14.65,14.76
$GC,6208,-1.87,-175.2,2673,1966,3173,3421,679.0,-11.0,472,6213,0.00,2.45,0.00,0.000,516,0.000,0.065,2674,560,3297,3173,3421,0,0,0,0,0,0,15.03,14.57,15.05
$GC,6262,-1.87,-175.2,2673,559,3172,3421,685.6,-12.1,482,6270,0.15,2.35,0.00,0.000,3078,0.286,0.041,2692,1968,3296,3172,3421,0,0,0,0,0,0,14.19,14.66,14.44
$GC,6579,-1.87,-175.2,2692,1968,3171,3419,717.4,-10.0,494,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1969,3295,3170,3420,0,0,0,0,0,0,15.01,15.04,15.03
$GC,6881,-1.87,-175.2,2692,1968,3169,3418,747.3,-10.0,504,6886,0.00,2.47,0.00,0.000,548,0.000,0.066,2693,549,3293,3169,3418,0,0,0,0,0,0,15.03,14.56,15.05
$GC,6908,-1.87,-175.2,2693,549,3169,3418,750.6,-10.6,509,6916,0.00,2.38,0.00,0.000,1030,0.000,0.040,2685,1965,3293,3169,3418,0,0,0,0,0,0,14.72,14.64,14.75
$GC,7216,-1.87,-175.2,2685,1965,3169,3417,782.2,-10.5,520,7221,0.00,2.45,0.00,0.000,516,0.000,0.063,2689,556,3292,3168,3417,0,0,0,0,0,0,15.03,14.56,15.05
$GC,7288,-1.87,-175.2,2688,556,3168,3417,790.7,-11.4,534,7295,0.00,2.35,0.00,0.000,1030,0.000,0.041,2681,1960,3292,3168,3417,0,0,0,0,0,0,14.71,14.63,14.73
$GC,7615,-1.87,-175.2,2680,1960,3167,3416,826.6,-11.3,548,7620,0.00,2.45,0.00,0.000,516,0.000,0.066,2682,557,3291,3167,3416,0,0,0,0,0,0,15.02,14.54,15.04
$GC,7681,-1.87,-175.2,2681,556,3166,3416,835.1,-11.1,561,7686,0.00,2.35,0.00,0.000,1030,0.000,0.037,2673,1968,3291,3166,3416,0,0,0,0,0,0,14.71,14.64,14.74
$GC,8011,-1.87,-175.2,2673,1968,3165,3414,873.0,-11.7,576,8016,0.00,2.45,0.00,0.000,516,0.000,0.057,2673,546,3289,3165,3414,0,0,0,0,0,0,15.02,14.54,15.04
$GC,8044,-1.87,-175.2,2673,546,3165,3414,877.3,-12.0,582,8053,0.15,2.38,0.00,0.000,3078,0.271,0.038,2693,1969,3289,3165,3414,0,0,0,0,0,0,14.16,14.62,14.42
$GC,8382,-1.90,-175.2,2692,1969,3166,3413,914.2,-10.8,598,8389,0.00,2.47,0.00,0.000,644,0.000,0.066,2700,542,3289,3165,3413,0,0,0,0,0,0,15.01,14.50,15.03
$GC,8421,-1.90,-175.2,2700,541,3165,3413,918.9,-10.8,605,8428,0.00,2.38,0.00,0.000,1030,0.000,0.041,2692,1958,3289,3165,3413,0,0,0,0,0,0,14.69,14.61,14.72
$GC,8752,-1.90,-175.2,2691,1958,3165,3411,953.9,-10.8,620,8756,0.00,2.45,0.00,0.000,516,0.000,0.065,2697,556,3288,3165,3411,0,0,0,0,0,0,15.00,14.51,15.02
$GC,8801,-1.93,-175.2,2698,555,3165,3411,959.6,-11.2,629,8808,0.00,2.38,0.00,0.000,1158,0.000,0.043,2689,1966,3287,3164,3411,0,0,0,0,0,0,14.69,14.60,14.71
$STATE,9089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9089,begin apogee
$GC,9094,-0.42,0.0,2689,1705,3164,3410,990.7,-10.8,641,9259,1.30,0.00,160.48,2.707,10246,0.278,0.000,3002,1701,2596,2472,2721,0,0,0,0,0,0,13.89,13.93,12.53
$STATE,9260,end apogee,CONTROL_FINISHED_OK
$STATE,9260,begin climb
$GC,9262,2.00,175.2,3002,1701,2470,2718,997.3,0.0,646,9435,1.90,2.50,162.88,2.705,10500,0.194,0.063,3527,3107,1879,1742,2016,0,0,0,0,0,0,13.91,13.57,12.50
$GC,9533,1.86,175.2,3527,3106,1742,2002,972.6,12.2,704,9543,0.15,2.47,0.00,0.000,5254,0.347,0.053,3509,1696,1872,1742,2002,0,0,0,0,0,0,14.11,14.40,14.42
$GC,9844,1.76,175.2,3509,1696,1737,2001,934.9,12.2,716,9850,0.12,2.42,0.00,0.000,4484,0.393,0.055,3481,3104,1869,1737,2002,0,0,0,0,0,0,14.19,14.54,14.42
$GC,9867,1.69,175.2,3481,3104,1737,2001,931.8,12.3,721,9874,0.12,2.45,0.00,0.000,5254,0.371,0.054,3470,1689,1869,1737,2002,0,0,0,0,0,0,14.21,14.60,14.59
$GC,10174,1.65,175.2,3470,1689,1735,2001,897.5,11.3,732,10179,0.00,2.47,0.00,0.000,388,0.000,0.057,3464,3109,1868,1734,2002,0,0,0,0,0,0,14.98,14.64,15.00
$GC,10200,1.62,175.2,3464,3110,1734,2001,894.4,11.4,737,10207,0.10,2.42,0.00,0.000,5254,0.313,0.047,3457,1687,1868,1734,2002,0,0,0,0,0,0,14.34,14.66,14.64
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$STATE,18586,end climb,SURFACE_DEPTH_REACHED
$STATE,18586,begin surface coast
$FINISH,1.6,1.021804
$STATE,18612,end surface coast,CONTROL_FINISHED_OK
$STATE,18612,begin surface
$SM_CCo,18632,46.22,0.080,0,0,449,526.65
$SM_CCo,18681,-0.15,0.000,0,0,451,526.65
$SM_CCo,18685,0.22,0.124,0,0,449,526.65
$SM_GC,2.50,10.32,0.45,0.22,0.073,0.044,0.124,98,1987,449,-13.75,-1.24,526.65,0,0,0,0,0,0,14.46,14.64,14.52
$IRIDIUM_FIX,1203.50,6318.20,280517,165058
$TT8_MAMPS,0.023968,0.158039
$HUMID,53.18
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.10
$XPDR_PINGS,9
$24V_AH,12.50,155.249
$10V_AH,12.44,0.000
$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,28.175,206.750,534.225,46.450,0.000,0.000,0.000,195.000,117.750,0.000,14.326,3027.826,12086.767,755.194,2788.161,328.123,0.000,2274.596,0.000,2233.740,0.000,775.983,0.000
$DEVICE_MAMPS,393.210,2001.240,2706.570,123.930,0.000,0.000,0.000,194.310,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225652
$DATA_FILE_SIZE,70002,1571
$CAP_FILE_SIZE,228938,0
$CFSIZE,260034560,223891456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.084,237.23,1
$GPS,290517,032659,1207.612,6320.786,35,1.1,45,-1.1,0.0,119.1,9,9.9