version: 66.13
glider: 171
mission: 11
dive: 60
start: 8 6 119 7 19 55
data:
$ID,171
$MISSION,11
$DIVE,60
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,390
$T_ABORT,1440
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.0163117
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,580.87036
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,060819,071103,1343.6409,8700.1611,29,1.2,54,-0.9,0.3,137.3,6,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.4
$GPS2,060819,071904,1343.5868,8700.2568,3,0.9,5,-0.9,1.1,186.9,8,10.0
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,WP01
$TGT_LATLONG,1200.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,184.2,191843,-17.5,-10.000,-26.22,2202
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.66,-146.0,36,2508,631,564,0.0,0.0,0,119,0.00,0.00,-98.32,0.005,16386,0.000,0.000,1,2508,2909,2900,2918,0,0,0,0,0,0,14.85,28.83,14.88
$GC,122,-0.66,-146.0,1,2508,2901,2918,4.8,-13.3,20,151,9.30,2.35,-12.05,0.013,18692,0.364,0.106,2095,3890,3565,3566,3565,0,0,0,0,0,0,14.49,14.09,14.64
$GC,170,-0.66,-146.0,2095,3890,3566,3565,23.7,-36.8,29,178,0.00,2.25,0.00,0.000,1030,0.000,0.038,2095,2500,3565,3566,3565,0,0,0,0,0,0,14.73,14.71,14.76
$GC,366,-0.66,-146.0,2096,2497,3566,3565,85.3,-23.7,55,376,0.00,2.35,0.00,0.000,260,0.000,0.088,2085,3883,3565,3566,3565,0,0,0,0,0,0,14.93,14.71,14.95
$GC,388,-0.66,-146.0,2085,3882,3566,3565,90.4,-22.4,59,395,0.12,2.17,0.00,0.000,3078,0.256,0.037,2112,2496,3565,3566,3565,0,0,0,0,0,0,14.65,14.78,14.80
$GC,582,-0.66,-146.0,2111,2494,3566,3565,126.1,-18.0,79,588,0.00,2.35,0.00,0.000,260,0.000,0.088,2103,3883,3565,3566,3565,0,0,0,0,0,0,14.97,14.76,15.00
$GC,818,-0.66,-146.0,2103,3883,3566,3565,162.1,-13.5,125,825,0.00,2.17,0.00,0.000,1030,0.000,0.037,2103,2493,3566,3567,3565,0,0,0,0,0,0,14.90,14.85,14.91
$GC,1012,-0.66,-146.0,2103,2491,3566,3565,186.0,-12.3,145,1019,0.00,2.35,0.00,0.000,260,0.000,0.087,2093,3888,3566,3568,3565,0,0,0,0,0,0,15.02,14.81,15.04
$GC,1182,-0.66,-146.0,2092,3889,3566,3565,208.1,-13.1,178,1189,0.00,2.22,0.00,0.000,1030,0.000,0.037,2092,2500,3565,3566,3565,0,0,0,0,0,0,14.87,14.83,14.89
$GC,1369,-0.66,-146.0,2092,2498,3566,3564,231.1,-12.5,197,1375,0.00,2.25,0.00,0.000,516,0.000,0.054,2092,1090,3565,3566,3564,0,0,0,0,0,0,15.02,14.85,15.04
$GC,1413,-0.66,-146.0,2091,1090,3565,3564,236.8,-12.6,205,1420,0.12,2.33,0.00,0.000,3078,0.238,0.061,2110,2501,3564,3566,3563,0,0,0,0,0,0,14.76,14.85,14.90
$GC,1608,-0.66,-146.0,2110,2501,3568,3561,259.5,-11.7,221,1615,0.00,2.33,0.00,0.000,260,0.000,0.090,2101,3894,3563,3566,3561,0,0,0,0,0,0,15.04,14.84,15.07
$GC,1646,-0.66,-146.0,2101,3894,3565,3561,264.3,-12.1,228,1653,0.00,2.22,0.00,0.000,1030,0.000,0.038,2101,2501,3563,3565,3561,0,0,0,0,0,0,14.90,14.87,14.92
$GC,1953,-0.66,-146.0,2101,2500,3565,3557,299.4,-11.2,244,1958,0.00,2.25,0.00,0.000,516,0.000,0.057,2101,1096,3562,3564,3560,0,0,0,0,0,0,15.07,14.91,15.09
$GC,1996,-0.66,-146.0,2101,1095,3564,3557,304.2,-10.8,252,2002,0.00,2.33,0.00,0.000,1030,0.000,0.065,2090,2501,3560,3563,3557,0,0,0,0,0,0,14.97,14.89,14.98
$GC,2320,-0.66,-146.0,2090,2501,3563,3552,341.9,-11.6,271,2325,0.00,2.33,0.00,0.000,260,0.000,0.090,2080,3894,3557,3562,3553,0,0,0,0,0,0,15.09,14.88,15.11
$GC,2351,-0.66,-146.0,2077,3894,3562,3552,346.0,-12.8,277,2359,0.15,2.17,0.00,0.000,3078,0.219,0.038,2117,2493,3557,3562,3552,0,0,0,0,0,0,14.83,14.94,14.95
$GC,2667,-0.66,-146.0,2116,2492,3560,3549,378.5,-10.4,294,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2491,3554,3560,3548,0,0,0,0,0,0,15.08,15.13,15.12
$GC,2967,-0.66,-146.0,2116,2492,3557,3547,410.4,-10.5,309,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3551,3555,3547,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3267,-0.66,-146.0,2116,2491,3554,3545,440.5,-9.7,324,3272,0.00,2.22,0.00,0.000,516,0.000,0.054,2118,1101,3549,3554,3544,0,0,0,0,0,0,15.10,14.92,15.13
$GC,3299,-0.66,-146.0,2119,1101,3554,3544,443.8,-9.9,330,3305,0.00,2.33,0.00,0.000,1030,0.000,0.065,2108,2502,3549,3554,3544,0,0,0,0,0,0,14.99,14.91,15.01
$GC,3613,-0.66,-146.0,2107,2503,3552,3542,474.6,-9.8,347,3619,0.00,2.35,0.00,0.000,260,0.000,0.093,2097,3900,3547,3553,3542,0,0,0,0,0,0,15.09,14.89,15.13
$GC,3636,-0.66,-146.0,2097,3900,3553,3542,477.0,-10.1,351,3642,0.00,2.20,0.00,0.000,1030,0.000,0.041,2097,2493,3547,3552,3542,0,0,0,0,0,0,15.00,14.95,15.02
$GC,3960,-0.66,-146.0,2096,2493,3550,3540,512.7,-11.5,370,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2492,3545,3551,3540,0,0,0,0,0,0,15.10,15.14,15.13
$GC,4260,-0.66,-146.0,2096,2493,3548,3538,548.2,-11.9,385,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2493,3543,3548,3538,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4560,-0.66,-146.0,2096,2493,3546,3537,582.7,-10.9,400,4566,0.00,2.22,0.00,0.000,516,0.000,0.055,2096,1106,3541,3546,3536,0,0,0,0,0,0,15.10,14.92,15.13
$GC,4584,-0.66,-146.0,2096,1106,3545,3536,585.3,-11.2,404,4594,0.12,2.33,0.00,0.000,3078,0.236,0.067,2116,2504,3540,3545,3536,0,0,0,0,0,0,14.83,14.91,14.97
$GC,4907,-0.66,-146.0,2114,2504,3544,3534,614.9,-8.9,423,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2504,3538,3544,3533,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5207,-0.66,-146.0,2114,2504,3542,3533,641.3,-8.9,438,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2504,3537,3542,3532,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5506,-0.66,-146.0,2114,2504,3541,3532,668.6,-9.2,453,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2504,3536,3540,3532,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5806,-0.66,-146.0,2114,2504,3539,3529,697.4,-9.7,468,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2504,3534,3539,3529,0,0,0,0,0,0,15.09,15.13,15.12
$GC,6106,-0.66,-146.0,2114,2504,3538,3528,727.1,-10.1,483,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2504,3532,3536,3528,0,0,0,0,0,0,15.09,15.13,15.12
$GC,6407,-0.66,-146.0,2114,2504,3541,3527,756.8,-9.8,498,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2504,3532,3537,3527,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6706,-0.66,-146.0,2114,2504,3536,3527,784.7,-9.2,513,6713,0.00,2.28,0.00,0.000,516,0.000,0.057,2115,1106,3530,3535,3526,0,0,0,0,0,0,15.09,14.90,15.11
$GC,6751,-0.66,-146.0,2115,1106,3535,3526,788.9,-9.2,521,6758,0.00,2.33,0.00,0.000,1030,0.000,0.065,2106,2501,3531,3535,3527,0,0,0,0,0,0,14.97,14.90,15.00
$GC,7076,-0.66,-146.0,2106,2501,3535,3525,819.8,-9.6,540,7082,0.00,2.35,0.00,0.000,260,0.000,0.097,2095,3893,3529,3534,3525,0,0,0,0,0,0,15.09,14.86,15.11
$GC,7120,-0.66,-146.0,2094,3893,3534,3525,824.2,-10.3,548,7126,0.00,2.20,0.00,0.000,1030,0.000,0.043,2095,2496,3529,3534,3525,0,0,0,0,0,0,14.98,14.92,15.00
$GC,7444,-0.66,-146.0,2095,2496,3533,3526,856.6,-9.8,567,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2495,3528,3533,3524,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7744,-0.66,-146.0,2095,2495,3532,3524,885.7,-9.7,582,7750,0.00,2.25,0.00,0.000,516,0.000,0.056,2095,1101,3527,3532,3523,0,0,0,0,0,0,15.08,14.90,15.11
$GC,7771,-0.66,-146.0,2094,1101,3531,3523,888.6,-10.8,587,7780,0.12,2.35,0.00,0.000,3078,0.235,0.067,2113,2504,3527,3531,3524,0,0,0,0,0,0,14.81,14.88,14.95
$GC,8088,-0.66,-146.0,2113,2504,3531,3521,917.4,-9.2,605,8095,0.00,2.35,0.00,0.000,260,0.000,0.099,2104,3893,3526,3531,3521,0,0,0,0,0,0,15.07,14.85,15.10
$GC,8116,-0.66,-146.0,2103,3893,3531,3521,920.2,-9.9,610,8122,0.00,2.20,0.00,0.000,1030,0.000,0.043,2104,2499,3526,3531,3521,0,0,0,0,0,0,14.97,14.92,14.99
$GC,8435,-0.66,-146.0,2104,2499,3530,3521,951.0,-9.7,628,8441,0.00,2.28,0.00,0.000,516,0.000,0.058,2104,1097,3525,3529,3521,0,0,0,0,0,0,15.07,14.88,15.10
$GC,8488,-0.66,-146.0,2103,1096,3532,3521,956.0,-9.4,638,8494,0.00,2.35,0.00,0.000,1030,0.000,0.067,2093,2498,3525,3529,3521,0,0,0,0,0,0,14.96,14.87,14.97
$GC,8802,-0.66,-146.0,2093,2497,3529,3520,985.3,-9.0,655,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3524,3529,3520,0,0,0,0,0,0,15.07,15.10,15.10
$STATE,8860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8860,begin apogee
$GC,8866,-0.15,0.0,2094,2498,3529,3520,990.6,-8.9,658,9001,0.62,0.00,126.75,2.020,10246,0.181,0.000,2275,2498,2967,2994,2941,0,0,0,0,0,0,14.80,13.96,13.28
$STATE,9003,end apogee,CONTROL_FINISHED_OK
$STATE,9004,begin climb
$GC,9006,0.66,146.0,2277,2499,2993,2940,992.5,0.0,665,9155,0.82,0.00,132.98,2.007,10502,0.108,0.000,2542,2498,2371,2409,2333,0,0,0,0,0,0,14.21,14.02,13.21
$GC,9463,0.66,146.0,2541,2498,2398,2326,938.3,14.0,712,9469,0.00,2.47,0.00,0.000,516,0.000,0.059,2554,1043,2362,2398,2326,0,0,0,0,0,0,14.77,14.60,14.80
$GC,9547,0.66,146.0,2553,1042,2397,2325,926.4,14.3,728,9553,0.00,2.38,0.00,0.000,1030,0.000,0.060,2554,2447,2361,2397,2325,0,0,0,0,0,0,14.71,14.62,14.73
$GC,9871,0.66,146.0,2554,2447,2396,2324,880.6,13.8,747,9877,0.00,2.33,0.00,0.000,516,0.000,0.058,2565,1048,2360,2397,2324,0,0,0,0,0,0,14.92,14.74,14.95
$GC,9903,0.66,146.0,2563,1049,2396,2323,875.8,13.9,753,9908,0.00,2.35,0.00,0.000,1030,0.000,0.061,2566,2446,2360,2396,2324,0,0,0,0,0,0,14.82,14.73,14.84
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$STATE,17796,end climb,SURFACE_DEPTH_REACHED
$STATE,17796,begin surface coast
$STATE,17817,end surface coast,CONTROL_FINISHED_OK
$STATE,17817,begin surface
$SM_CCo,17842,115.10,0.621,1,0,600,580.87
$SM_GC,1.16,7.35,0.10,115.10,0.067,0.158,0.621,116,2506,600,-6.79,-0.85,580.87,0,0,0,0,1,0,14.73,14.67,14.06
$IRIDIUM_FIX,1343.91,8702.38,060819,020632
$TT8_MAMPS,0.018725,0.959469
$HUMID,40.15
$INTERNAL_PRESSURE,9.478
$TCM_TEMP,24.90
$XPDR_PINGS,6
$SC_FREEKB,3883232
$PM_FREEKB_00,59130944
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.21,24.072
$10V_AH,13.53,0.000
$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,19.700,166.975,521.400,115.100,0.000,0.000,0.000,273.950,1.500,0.000,17.062,1339.600,11581.134,663.322,4409.284,466.058,0.000,2404.770,0.000,3822.703,0.000,0.541,0.000
$DEVICE_MAMPS,364.140,157.590,2020.365,621.180,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3508.266,0.000,0.000,0.000,0.000,0.000,17818.000,0.000,17836.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.684,0.000,3.726,0.000
$MEM,251856
$DATA_FILE_SIZE,63386,1442
$CAP_FILE_SIZE,258120,0
$CFSIZE,260034560,189026304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.106,222.19,1
$GPS,060819,122135,1341.078,8659.303,72,1.4,73,-0.9,1.3,83.6,6,7.2