version: 66.13
glider: 137
mission: 5
dive: 399
start: 5 30 117 6 23 16
data:
$ID,137
$MISSION,5
$DIVE,399
$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,43
$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
$GPS1,300517,061713,1205.9728,6326.0737,55,1.2,67,-1.1,1.4,63.9,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-61.7
$GPS2,300517,062242,1205.9481,6326.1631,11,1.0,19,-1.1,0.9,127.7,9,9.7
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,112.4,826612,-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,-175.2,87,2002,320,566,0.0,0.0,0,88,0.00,0.00,-77.30,0.000,16386,0.000,0.000,87,2001,2549,2475,2624,0,0,0,0,0,0,14.85,28.83,14.87
$GC,91,-2.00,-175.2,87,2001,2477,2624,4.1,-4.1,13,129,12.80,2.60,-15.05,0.000,18724,0.387,1.997,2652,3332,3314,3189,3440,0,0,0,0,0,0,13.98,12.80,14.44
$GC,227,-1.84,-175.2,2652,3332,3190,3440,33.5,-21.9,38,236,0.20,2.25,0.00,0.000,3206,0.288,0.031,2693,1947,3315,3190,3440,0,0,0,0,0,0,14.16,14.59,14.47
$GC,539,-1.75,-175.2,2693,1946,3190,3440,84.8,-13.2,77,543,0.12,2.30,0.00,0.000,2692,0.311,0.046,2724,566,3315,3190,3440,0,0,0,0,0,0,14.31,14.57,14.47
$GC,675,-1.75,-175.2,2723,564,3191,3440,102.3,-12.6,104,681,0.00,2.22,0.00,0.000,1030,0.000,0.027,2715,1953,3315,3191,3440,0,0,0,0,0,0,14.76,14.70,14.77
$GC,981,-1.75,-175.2,2715,1954,3192,3440,138.9,-11.1,135,990,0.00,2.33,0.00,0.000,516,0.000,0.050,2715,568,3315,3191,3440,0,0,0,0,0,0,15.03,14.64,15.05
$GC,1025,-1.75,-175.2,2715,568,3191,3440,144.2,-10.9,144,1033,0.00,2.22,0.00,0.000,1030,0.000,0.029,2706,1960,3315,3191,3440,0,0,0,0,0,0,14.78,14.72,14.80
$GC,1333,-1.75,-175.2,2705,1960,3193,3440,176.0,-10.2,175,1342,0.00,2.30,0.00,0.000,260,0.000,0.050,2695,3364,3316,3192,3440,0,0,0,0,0,0,15.05,14.67,15.07
$GC,1377,-1.75,-175.2,2695,3364,3193,3440,181.0,-10.7,184,1384,0.10,2.28,0.00,0.000,3078,0.252,0.030,2714,1947,3316,3193,3440,0,0,0,0,0,0,14.44,14.73,14.66
$GC,1686,-1.79,-175.2,2713,1946,3193,3440,213.8,-10.6,215,1695,0.00,0.00,0.00,0.000,134,0.000,0.000,2714,1946,3316,3193,3440,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1996,-1.82,-175.2,2713,1946,3193,3440,243.8,-9.5,246,2003,0.00,2.28,0.00,0.000,676,0.000,0.052,2714,574,3316,3193,3440,0,0,0,0,0,0,15.02,14.66,15.04
$GC,2046,-1.87,-175.2,2714,574,3193,3440,248.7,-10.0,254,2052,0.00,2.22,0.00,0.000,1158,0.000,0.030,2706,1961,3316,3193,3440,0,0,0,0,0,0,14.80,14.74,14.81
$GC,2363,-1.91,-175.2,2706,1962,3193,3440,281.0,-10.7,266,2369,0.00,2.30,0.00,0.000,388,0.000,0.050,2696,3361,3316,3193,3440,0,0,0,0,0,0,15.04,14.68,15.06
$GC,2431,-1.96,-175.2,2696,3361,3193,3440,288.6,-10.5,279,2436,0.10,2.28,0.00,0.000,5254,0.180,0.033,2663,1956,3316,3193,3440,0,0,0,0,0,0,14.60,14.73,14.73
$GC,2761,-1.93,-175.2,2663,1956,3193,3440,324.5,-10.8,294,2767,0.00,2.33,0.00,0.000,644,0.000,0.056,2663,563,3316,3193,3440,0,0,0,0,0,0,15.04,14.65,15.07
$GC,2849,-1.89,-175.2,2663,563,3193,3440,334.9,-11.3,311,2858,0.17,2.28,0.00,0.000,3206,0.278,0.037,2688,1958,3316,3193,3440,0,0,0,0,0,0,14.30,14.72,14.59
$GC,3156,-1.89,-175.2,2689,1958,3192,3440,366.2,-10.5,322,3162,0.00,2.30,0.00,0.000,260,0.000,0.050,2681,3357,3316,3193,3439,0,0,0,0,0,0,15.04,14.67,15.06
$GC,3194,-1.89,-175.2,2680,3357,3192,3439,370.5,-10.3,329,3199,0.00,2.28,0.00,0.000,1030,0.000,0.034,2681,1967,3316,3193,3439,0,0,0,0,0,0,14.78,14.71,14.81
$GC,3522,-1.89,-175.2,2680,1967,3191,3438,405.3,-10.8,344,3527,0.00,2.38,0.00,0.000,516,0.000,0.060,2681,556,3314,3190,3438,0,0,0,0,0,0,15.03,14.64,15.05
$GC,3572,-1.89,-175.2,2681,556,3190,3438,411.1,-11.1,353,3578,0.00,2.30,0.00,0.000,1030,0.000,0.038,2673,1951,3314,3190,3439,0,0,0,0,0,0,14.78,14.70,14.80
$GC,3893,-1.89,-175.2,2673,1951,3189,3435,446.1,-10.8,366,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1951,3312,3189,3435,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4193,-1.89,-175.2,2672,1951,3187,3433,478.0,-10.6,376,4198,0.00,2.40,0.00,0.000,516,0.000,0.063,2673,559,3310,3187,3433,0,0,0,0,0,0,15.02,14.63,15.04
$GC,4242,-1.89,-175.2,2673,558,3186,3433,483.8,-10.9,385,4249,0.12,2.33,0.00,0.000,3078,0.286,0.036,2686,1979,3309,3186,3433,0,0,0,0,0,0,14.31,14.71,14.61
$GC,4564,-1.89,-175.2,2686,1980,3184,3430,516.6,-10.3,398,4569,0.00,2.45,0.00,0.000,516,0.000,0.061,2687,554,3307,3184,3430,0,0,0,0,0,0,15.04,14.62,15.06
$GC,4598,-1.89,-175.2,2686,554,3184,3430,520.5,-10.6,404,4604,0.00,2.33,0.00,0.000,1030,0.000,0.039,2678,1952,3306,3183,3430,0,0,0,0,0,0,14.76,14.68,14.78
$GC,4933,-1.89,-175.2,2678,1952,3182,3428,556.2,-10.9,420,4937,0.00,2.40,0.00,0.000,516,0.000,0.060,2678,557,3305,3182,3428,0,0,0,0,0,0,15.02,14.62,15.04
$GC,4988,-1.89,-175.2,2678,556,3182,3428,562.6,-11.8,430,4994,0.00,2.33,0.00,0.000,1030,0.000,0.035,2669,1969,3305,3182,3428,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5304,-1.89,-175.2,2669,1969,3182,3425,597.6,-11.3,442,5310,0.00,2.42,0.00,0.000,516,0.000,0.060,2669,531,3303,3181,3425,0,0,0,0,0,0,15.03,14.57,15.05
$GC,5353,-1.89,-175.2,2669,531,3181,3425,603.8,-11.2,451,5359,0.15,2.38,0.00,0.000,3078,0.285,0.037,2693,1976,3303,3182,3425,0,0,0,0,0,0,14.21,14.68,14.38
$GC,5673,-1.92,-175.2,2693,1977,3179,3423,636.4,-10.2,464,5674,0.00,0.00,0.00,0.000,134,0.000,0.000,2693,1977,3301,3179,3423,0,0,0,0,0,0,15.02,15.05,15.05
$GC,5975,-1.95,-175.2,2693,1978,3177,3422,666.5,-10.0,474,5980,0.00,2.47,0.00,0.000,644,0.000,0.063,2694,537,3299,3177,3422,0,0,0,0,0,0,15.03,14.57,15.05
$GC,6043,-1.95,-175.2,2694,537,3177,3421,673.8,-9.7,487,6047,0.00,2.35,0.00,0.000,1062,0.000,0.037,2685,1959,3299,3177,3421,0,0,0,0,0,0,14.74,14.67,14.77
$GC,6372,-1.95,-175.2,2685,1959,3176,3419,706.7,-10.1,502,6378,0.00,2.45,0.00,0.000,516,0.000,0.066,2686,553,3298,3177,3419,0,0,0,0,0,0,15.03,14.56,15.05
$GC,6451,-1.95,-175.2,2685,553,3175,3419,715.3,-10.8,517,6456,0.00,2.35,0.00,0.000,1030,0.000,0.040,2676,1959,3297,3175,3419,0,0,0,0,0,0,14.72,14.64,14.75
$GC,6769,-1.95,-175.2,2676,1959,3174,3417,748.0,-10.3,530,6774,0.00,2.45,0.00,0.000,516,0.000,0.063,2676,552,3295,3174,3417,0,0,0,0,0,0,15.02,14.54,15.03
$GC,6835,-1.95,-175.2,2676,552,3174,3417,755.2,-10.4,542,6841,0.00,2.35,0.00,0.000,1030,0.000,0.039,2666,1963,3295,3173,3417,0,0,0,0,0,0,14.72,14.64,14.75
$GC,7170,-1.95,-175.2,2666,1963,3172,3417,792.0,-11.1,558,7175,0.00,2.45,0.00,0.000,516,0.000,0.060,2666,549,3294,3172,3417,0,0,0,0,0,0,15.01,14.55,15.03
$GC,7228,-1.95,-175.2,2665,549,3171,3416,799.3,-11.6,569,7236,0.00,2.38,0.00,0.000,1030,0.000,0.038,2656,1971,3294,3171,3417,0,0,0,0,0,0,14.71,14.64,14.74
$GC,7537,-1.95,-175.2,2656,1970,3171,3416,834.1,-11.4,580,7542,0.00,2.45,0.00,0.000,516,0.000,0.059,2656,554,3293,3170,3416,0,0,0,0,0,0,15.02,14.56,15.04
$GC,7572,-1.90,-175.2,2656,554,3170,3416,838.3,-12.4,586,7580,0.17,2.35,0.00,0.000,3206,0.273,0.042,2686,1965,3293,3170,3416,0,0,0,0,0,0,14.14,14.62,14.31
$GC,7908,-1.90,-175.2,2685,1966,3169,3415,873.5,-10.4,602,7916,0.00,2.40,0.00,0.000,260,0.000,0.066,2677,3366,3292,3169,3415,0,0,0,0,0,0,15.01,14.55,15.03
$GC,7939,-1.90,-175.2,2677,3366,3169,3415,877.0,-10.8,607,7947,0.00,2.38,0.00,0.000,1030,0.000,0.047,2677,1968,3292,3169,3415,0,0,0,0,0,0,14.69,14.59,14.71
$GC,8245,-1.90,-175.2,2677,1968,3169,3414,909.0,-10.5,618,8251,0.00,2.45,0.00,0.000,516,0.000,0.067,2677,547,3291,3168,3414,0,0,0,0,0,0,15.02,14.52,15.04
$GC,8312,-1.90,-175.2,2678,547,3168,3414,917.0,-11.1,631,8317,0.00,2.35,0.00,0.000,1030,0.000,0.036,2667,1962,3291,3168,3414,0,0,0,0,0,0,14.70,14.63,14.73
$GC,8642,-1.90,-175.2,2667,1962,3167,3413,952.5,-10.9,646,8647,0.00,2.45,0.00,0.000,516,0.000,0.059,2667,549,3289,3166,3412,0,0,0,0,0,0,15.02,14.53,15.04
$GC,8699,-1.90,-175.2,2667,549,3166,3413,959.3,-11.3,657,8708,0.12,2.38,0.00,0.000,3078,0.275,0.038,2681,1968,3289,3166,3413,0,0,0,0,0,0,14.21,14.60,14.47
$STATE,9004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9004,begin apogee
$GC,9009,-0.42,0.0,2681,1694,3166,3411,990.6,-10.1,668,9174,1.30,0.00,160.38,2.703,10246,0.257,0.000,3006,1693,2596,2474,2718,0,0,0,0,0,0,13.95,13.93,12.52
$STATE,9175,end apogee,CONTROL_FINISHED_OK
$STATE,9175,begin climb
$GC,9178,2.00,175.2,3006,1693,2471,2717,996.2,0.0,673,9350,1.83,2.58,162.12,2.693,10500,0.165,0.057,3532,3096,1878,1742,2015,0,0,0,0,0,0,13.95,13.59,12.50
$GC,9361,1.86,175.2,3532,3096,1742,2009,980.5,12.7,709,9369,0.17,2.55,0.00,0.000,5254,0.360,0.063,3509,1701,1875,1742,2008,0,0,0,0,0,0,13.83,14.06,14.10
$GC,9669,1.77,175.2,3508,1701,1733,2008,941.3,12.9,720,9671,0.12,0.00,0.00,0.000,4230,0.365,0.000,3488,1701,1870,1733,2008,0,0,0,0,0,0,14.23,14.64,14.59
$GC,9968,1.70,175.2,3488,1700,1730,2008,904.9,12.1,730,9973,0.00,2.47,0.00,0.000,388,0.000,0.066,3482,3103,1869,1730,2008,0,0,0,0,0,0,14.97,14.60,15.00
$GC,10001,1.64,175.2,3482,3103,1730,2007,900.8,12.5,736,10007,0.12,2.40,0.00,0.000,5254,0.317,0.050,3462,1691,1868,1730,2007,0,0,0,0,0,0,14.21,14.61,14.44
$GC,10330,1.64,175.2,3461,1691,1729,2007,864.2,11.1,752,10336,0.00,2.53,0.00,0.000,260,0.000,0.076,3461,3100,1868,1729,2007,0,0,0,0,0,0,15.01,14.59,15.04
$GC,10415,1.61,175.2,3461,3100,1730,2006,854.6,11.1,769,10421,0.00,2.45,0.00,0.000,1158,0.000,0.063,3470,1705,1867,1729,2006,0,0,0,0,0,0,14.73,14.63,14.76
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$STATE,18710,end climb,SURFACE_DEPTH_REACHED
$STATE,18711,begin surface coast
$FINISH,1.5,1.021003
$STATE,18737,end surface coast,CONTROL_FINISHED_OK
$STATE,18738,begin surface
$SM_CCo,18757,55.47,0.082,0,0,450,526.65
$SM_CCo,18816,-0.12,0.000,0,0,451,526.65
$SM_CCo,18820,0.08,0.214,0,0,450,526.65
$SM_GC,2.46,10.43,0.45,0.08,0.076,0.041,0.214,92,2014,450,-13.77,-0.99,526.65,0,0,0,0,0,0,14.48,14.68,14.49
$IRIDIUM_FIX,1201.30,6324.12,300517,005835
$TT8_MAMPS,0.023968,0.158039
$HUMID,51.73
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.20
$XPDR_PINGS,12
$24V_AH,12.50,157.813
$10V_AH,13.23,0.000
$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,29.025,207.650,518.250,55.550,0.000,0.000,0.000,212.800,119.500,0.000,21.659,3006.488,12306.849,797.457,2709.434,324.841,0.000,2290.626,0.000,2133.509,0.000,788.834,0.000
$DEVICE_MAMPS,387.090,1996.650,2702.745,214.200,0.000,0.000,0.000,186.660,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66638,1500
$CAP_FILE_SIZE,228367,0
$CFSIZE,260034560,223313920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.029,204.26,1
$GPS,300517,113813,1205.523,6327.568,27,1.2,38,-1.1,0.9,172.7,7,9.9