version: 66.13
glider: 171
mission: 11
dive: 63
start: 8 6 119 22 44 42
data:
$ID,171
$MISSION,11
$DIVE,63
$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,47
$R_STBD_OVSHOOT,38
$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
$GPS1,060819,223604,1336.7140,8659.5625,35,1.0,35,-0.9,1.5,227.1,7,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-59.0
$GPS2,060819,224351,1336.6232,8659.5840,2,0.9,6,-0.9,0.8,168.5,9,7.5
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,169.5,67830,-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,-146.0,2,2524,634,563,0.0,0.0,0,115,0.00,0.00,-94.22,0.005,16386,0.000,0.000,1,2524,2824,2818,2830,0,0,0,0,0,0,14.85,28.83,14.88
$GC,118,-0.66,-146.0,1,2525,2818,2830,4.7,-11.2,19,150,9.18,2.28,-13.90,0.011,19204,0.357,0.099,2095,3884,3566,3563,3570,0,0,0,0,0,0,14.45,14.08,14.64
$GC,160,-0.66,-146.0,2094,3884,3564,3566,20.8,-40.9,27,166,0.00,2.28,0.00,0.000,1030,0.000,0.054,2094,2520,3564,3562,3566,0,0,0,0,0,0,14.72,14.68,14.74
$GC,357,-0.66,-146.0,2094,2518,3564,3566,87.7,-30.2,54,362,0.00,2.30,0.00,0.000,260,0.000,0.084,2084,3886,3565,3564,3566,0,0,0,0,0,0,14.92,14.73,14.95
$GC,555,-0.66,-146.0,2083,3886,3564,3566,129.6,-17.8,93,563,0.08,2.28,0.00,0.000,3078,0.215,0.041,2106,2474,3565,3564,3566,0,0,0,0,0,0,14.66,14.76,14.74
$GC,742,-0.66,-146.0,2106,2473,3564,3566,155.7,-13.9,112,748,0.00,2.40,0.00,0.000,260,0.000,0.086,2097,3887,3565,3565,3566,0,0,0,0,0,0,14.99,14.78,15.01
$GC,785,-0.66,-146.0,2097,3887,3564,3566,162.0,-14.6,120,791,0.00,2.17,0.00,0.000,1030,0.000,0.038,2097,2500,3564,3564,3565,0,0,0,0,0,0,14.88,14.82,14.88
$GC,979,-0.66,-146.0,2097,2499,3564,3566,187.1,-12.7,140,985,0.00,2.25,0.00,0.000,516,0.000,0.056,2097,1093,3565,3565,3566,0,0,0,0,0,0,15.01,14.83,15.03
$GC,1026,-0.66,-146.0,2096,1094,3564,3566,193.2,-12.5,149,1034,0.00,2.35,0.00,0.000,1030,0.000,0.061,2086,2486,3564,3564,3565,0,0,0,0,0,0,14.83,14.79,14.87
$GC,1213,-0.66,-146.0,2086,2486,3564,3564,218.6,-13.8,168,1223,0.12,2.35,0.00,0.000,2308,0.249,0.087,2106,3891,3564,3564,3564,0,0,0,0,0,0,14.75,14.81,14.87
$GC,1247,-0.66,-146.0,2105,3891,3564,3564,223.1,-13.9,174,1253,0.00,2.17,0.00,0.000,1030,0.000,0.037,2106,2496,3564,3564,3564,0,0,0,0,0,0,14.92,14.88,14.94
$GC,1441,-0.66,-146.0,2105,2494,3564,3563,247.2,-12.1,194,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2494,3563,3564,3563,0,0,0,0,0,0,15.02,15.06,15.05
$GC,1633,-0.66,-146.0,2105,2494,3564,3560,267.9,-10.9,205,1639,0.00,2.38,0.00,0.000,260,0.000,0.090,2095,3899,3562,3564,3560,0,0,0,0,0,0,15.04,14.84,15.07
$GC,1657,-0.66,-146.0,2094,3900,3564,3559,270.9,-11.6,209,1664,0.00,2.17,0.00,0.000,1030,0.000,0.038,2095,2499,3561,3564,3559,0,0,0,0,0,0,14.95,14.90,14.97
$GC,1982,-0.66,-146.0,2095,2497,3563,3555,309.7,-12.2,228,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2497,3559,3563,3556,0,0,0,0,0,0,15.07,15.10,15.10
$GC,2281,-0.66,-146.0,2092,2498,3562,3552,346.9,-12.4,243,2287,0.00,2.35,0.00,0.000,260,0.000,0.091,2084,3891,3557,3562,3552,0,0,0,0,0,0,15.09,14.88,15.12
$GC,2325,-0.66,-146.0,2084,3891,3559,3551,352.4,-13.0,251,2332,0.12,2.17,0.00,0.000,3078,0.230,0.038,2113,2493,3556,3562,3551,0,0,0,0,0,0,14.82,14.94,14.95
$GC,2650,-0.66,-146.0,2113,2493,3560,3547,388.0,-10.7,270,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3553,3560,3547,0,0,0,0,0,0,15.09,15.13,15.12
$GC,2949,-0.66,-146.0,2113,2493,3557,3546,418.5,-10.0,285,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3551,3557,3546,0,0,0,0,0,0,15.09,15.13,15.12
$GC,3249,-0.66,-146.0,2113,2493,3555,3544,449.8,-10.6,300,3255,0.00,2.22,0.00,0.000,516,0.000,0.055,2114,1103,3548,3554,3543,0,0,0,0,0,0,15.10,14.92,15.13
$GC,3282,-0.66,-146.0,2116,1102,3554,3542,453.4,-10.8,306,3288,0.00,2.33,0.00,0.000,1030,0.000,0.064,2105,2502,3548,3554,3542,0,0,0,0,0,0,14.99,14.90,15.00
$GC,3595,-0.66,-146.0,2104,2502,3552,3540,487.8,-10.9,323,3601,0.00,2.35,0.00,0.000,260,0.000,0.096,2094,3899,3546,3552,3540,0,0,0,0,0,0,15.10,14.89,15.13
$GC,3618,-0.66,-146.0,2093,3899,3552,3540,490.5,-11.0,327,3624,0.00,2.17,0.00,0.000,1030,0.000,0.041,2093,2502,3546,3552,3540,0,0,0,0,0,0,15.00,14.95,15.01
$GC,3943,-0.66,-146.0,2093,2500,3550,3538,526.0,-10.6,346,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3544,3550,3538,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4242,-0.66,-146.0,2093,2500,3548,3536,557.3,-10.4,361,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3542,3548,3536,0,0,0,0,0,0,15.10,15.13,15.12
$GC,4542,-0.66,-146.0,2093,2500,3545,3535,588.3,-10.4,376,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3540,3545,3535,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4842,-0.66,-146.0,2094,2500,3544,3533,619.5,-10.5,391,4848,0.00,2.25,0.00,0.000,516,0.000,0.056,2093,1101,3538,3544,3533,0,0,0,0,0,0,15.10,14.92,15.12
$GC,4865,-0.66,-146.0,2093,1101,3543,3533,622.0,-10.5,395,4874,0.12,2.33,0.00,0.000,3078,0.236,0.065,2112,2500,3538,3544,3533,0,0,0,0,0,0,14.83,14.90,14.96
$GC,5188,-0.66,-146.0,2113,2500,3542,3532,652.5,-9.4,414,5193,0.00,2.35,0.00,0.000,260,0.000,0.095,2103,3894,3537,3542,3532,0,0,0,0,0,0,15.09,14.87,15.12
$GC,5212,-0.66,-146.0,2102,3894,3541,3532,654.9,-10.0,418,5218,0.00,2.20,0.00,0.000,1030,0.000,0.042,2102,2496,3537,3542,3532,0,0,0,0,0,0,15.00,14.94,15.01
$GC,5535,-0.66,-146.0,2103,2494,3538,3529,688.5,-10.6,437,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2494,3534,3540,3529,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5835,-0.66,-146.0,2103,2494,3539,3528,722.3,-11.5,452,5841,0.00,2.25,0.00,0.000,516,0.000,0.057,2103,1098,3533,3539,3528,0,0,0,0,0,0,15.09,14.90,15.11
$GC,5873,-0.66,-146.0,2102,1098,3537,3528,726.8,-11.6,459,5879,0.00,2.40,0.00,0.000,1030,0.000,0.068,2091,2501,3533,3538,3528,0,0,0,0,0,0,14.91,14.85,14.94
$GC,6179,-0.66,-146.0,2091,2502,3537,3527,763.2,-11.8,475,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3532,3537,3527,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6480,-0.66,-146.0,2091,2501,3536,3525,797.5,-11.1,490,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2501,3531,3537,3525,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6779,-0.66,-146.0,2091,2501,3535,3524,830.5,-11.0,505,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3529,3535,3524,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7079,-0.66,-146.0,2091,2502,3534,3523,862.4,-10.4,520,7085,0.00,2.38,0.00,0.000,260,0.000,0.099,2081,3901,3528,3535,3522,0,0,0,0,0,0,15.08,14.85,15.11
$GC,7116,-0.66,-146.0,2081,3902,3534,3522,866.5,-11.0,527,7123,0.10,2.28,0.00,0.000,3078,0.194,0.044,2112,2492,3528,3534,3522,0,0,0,0,0,0,14.78,14.89,14.87
$GC,7422,-0.66,-146.0,2112,2493,3533,3522,893.9,-8.8,543,7428,0.00,2.22,0.00,0.000,516,0.000,0.056,2112,1108,3527,3533,3521,0,0,0,0,0,0,15.08,14.90,15.11
$GC,7466,-0.66,-146.0,2112,1107,3532,3521,898.0,-9.3,551,7472,0.00,2.33,0.00,0.000,1030,0.000,0.067,2103,2503,3526,3532,3521,0,0,0,0,0,0,14.96,14.88,14.98
$GC,7791,-0.66,-146.0,2103,2502,3531,3521,928.5,-9.5,570,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2503,3526,3531,3521,0,0,0,0,0,0,15.07,15.11,15.11
$GC,8090,-0.66,-146.0,2103,2503,3530,3520,957.4,-9.6,585,8096,0.00,2.28,0.00,0.000,516,0.000,0.055,2103,1106,3525,3530,3520,0,0,0,0,0,0,15.07,14.89,15.10
$GC,8118,-0.66,-146.0,2103,1106,3530,3520,960.3,-10.0,590,8124,0.00,2.35,0.00,0.000,1030,0.000,0.067,2091,2507,3525,3530,3520,0,0,0,0,0,0,14.96,14.87,14.97
$STATE,8414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8414,begin apogee
$GC,8420,-0.15,0.0,2092,2445,3529,3519,990.1,-9.8,607,8556,0.62,0.00,126.15,2.032,10246,0.181,0.000,2276,2444,2968,2996,2941,0,0,0,0,0,0,14.80,14.13,13.28
$STATE,8559,end apogee,CONTROL_FINISHED_OK
$STATE,8559,begin climb
$GC,8561,0.66,146.0,2277,2443,2995,2939,993.4,0.0,614,8712,0.82,2.45,134.50,2.027,10756,0.108,0.060,2553,1047,2370,2411,2329,0,0,0,0,0,0,14.21,14.04,13.21
$GC,8733,0.66,146.0,2553,1046,2408,2328,980.5,12.0,628,8740,0.00,2.50,0.00,0.000,1030,0.000,0.061,2553,2442,2367,2407,2328,0,0,0,0,0,0,14.22,14.17,14.26
$GC,9040,0.66,146.0,2553,2443,2400,2324,937.1,14.3,644,9045,0.00,2.35,0.00,0.000,516,0.000,0.057,2563,1044,2362,2400,2324,0,0,0,0,0,0,14.78,14.62,14.82
$GC,9067,0.66,146.0,2563,1043,2399,2324,933.0,14.5,649,9074,0.00,2.38,0.00,0.000,1030,0.000,0.060,2563,2444,2361,2399,2324,0,0,0,0,0,0,14.69,14.62,14.71
$GC,9386,0.66,146.0,2562,2445,2399,2323,886.1,14.6,667,9392,0.00,2.35,0.00,0.000,516,0.000,0.057,2575,1043,2361,2399,2323,0,0,0,0,0,0,14.91,14.73,14.95
$GC,9410,0.66,146.0,2574,1043,2397,2323,882.6,14.9,671,9419,0.12,2.35,0.00,0.000,5126,0.249,0.060,2548,2443,2360,2398,2322,0,0,0,0,0,0,14.64,14.73,14.80
$GC,9733,0.66,146.0,2548,2443,2397,2322,839.7,13.0,690,9738,0.00,2.33,0.00,0.000,516,0.000,0.058,2558,1043,2359,2397,2322,0,0,0,0,0,0,14.97,14.79,15.00
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$STATE,17049,end climb,SURFACE_DEPTH_REACHED
$STATE,17049,begin surface coast
$STATE,17069,end surface coast,CONTROL_FINISHED_OK
$STATE,17069,begin surface
$SM_CCo,17095,91.53,0.590,1,0,600,580.87
$SM_GC,1.22,7.10,0.10,91.53,0.047,0.154,0.590,122,2515,600,-6.76,-0.82,580.87,0,0,0,0,1,0,14.72,14.66,14.09
$IRIDIUM_FIX,1335.45,8700.17,060819,173330
$TT8_MAMPS,0.018725,0.262899
$HUMID,41.69
$INTERNAL_PRESSURE,9.478
$TCM_TEMP,24.70
$XPDR_PINGS,2
$SC_FREEKB,3881888
$PM_FREEKB_00,58980032
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.21,25.256
$10V_AH,13.47,0.000
$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,19.000,162.850,544.875,91.525,0.000,0.000,0.000,258.775,0.500,0.000,17.956,1275.883,11067.584,667.609,4211.823,448.874,0.000,2323.694,0.000,3654.124,0.000,0.541,0.000
$DEVICE_MAMPS,357.255,210.375,2031.840,589.815,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3416.551,0.000,0.000,0.000,0.000,0.000,17071.000,0.000,17088.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.627,0.000,3.711,0.000
$MEM,251872
$DATA_FILE_SIZE,60088,1356
$CAP_FILE_SIZE,248026,0
$CFSIZE,260034560,188706816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.040,294.42,1
$GPS,070819,033239,1334.906,8659.535,23,1.0,23,-0.9,0.6,115.7,8,9.2