version: 66.13
glider: 171
mission: 11
dive: 183
start: 9 3 119 13 52 33
data:
$ID,171
$MISSION,11
$DIVE,183
$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,390
$T_MISSION,440
$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,120
$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,0.019109501
$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,500
$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,60
$R_STBD_OVSHOOT,34
$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
$GPS1,030919,134139,1317.2019,8700.5947,20,1.2,20,-0.9,0.7,100.8,5,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.7
$GPS2,030919,135142,1317.1135,8700.7783,2,0.6,3,-0.9,0.6,115.8,12,6.0
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,204.5,31725,-17.1,-8.462,-27.86,2074
$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
$WARN,HPMAR logging already started
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-116.8,8,2505,973,876,0.0,0.0,0,102,0.00,0.00,-77.62,0.005,16386,0.000,0.000,1,2505,2752,2754,2750,0,0,0,0,0,0,14.83,28.83,14.85
$GC,105,-0.62,-116.8,1,2505,2754,2751,4.8,-13.1,16,134,9.30,2.35,-12.43,0.012,18692,0.351,0.093,2109,3888,3446,3451,3441,0,0,0,0,0,0,14.35,13.85,14.54
$GC,291,-0.62,-116.8,2109,3889,3451,3441,70.6,-28.0,52,298,0.00,2.20,0.00,0.000,1030,0.000,0.035,2109,2505,3446,3451,3441,0,0,0,0,0,0,14.76,14.69,14.78
$GC,486,-0.62,-116.8,2109,2504,3452,3441,111.3,-17.8,72,493,0.00,2.35,0.00,0.000,260,0.000,0.081,2099,3887,3446,3451,3441,0,0,0,0,0,0,14.93,14.65,14.96
$GC,511,-0.62,-116.8,2098,3887,3451,3441,115.4,-16.5,76,519,0.12,2.20,0.00,0.000,3078,0.234,0.034,2126,2491,3446,3451,3441,0,0,0,0,0,0,14.58,14.76,14.76
$GC,707,-0.62,-116.8,2126,2490,3452,3441,144.0,-14.4,96,713,0.00,2.40,0.00,0.000,260,0.000,0.084,2118,3894,3446,3451,3441,0,0,0,0,0,0,14.96,14.70,14.99
$GC,756,-0.62,-116.8,2117,3894,3451,3441,151.4,-14.4,105,763,0.00,2.25,0.00,0.000,1030,0.000,0.033,2118,2500,3446,3451,3441,0,0,0,0,0,0,14.72,14.69,14.74
$GC,942,-0.62,-116.8,2118,2499,3451,3442,178.3,-14.9,124,948,0.00,2.35,0.00,0.000,260,0.000,0.083,2108,3887,3446,3451,3441,0,0,0,0,0,0,14.98,14.72,15.00
$GC,986,-0.62,-116.8,2107,3887,3451,3441,184.9,-14.6,132,993,0.00,2.20,0.00,0.000,1030,0.000,0.033,2108,2492,3446,3451,3441,0,0,0,0,0,0,14.85,14.80,14.88
$GC,1182,-0.62,-116.8,2107,2491,3451,3441,211.4,-13.5,152,1188,0.00,2.25,0.00,0.000,516,0.000,0.049,2108,1094,3446,3451,3442,0,0,0,0,0,0,15.00,14.78,15.02
$GC,1206,-0.62,-116.8,2107,1094,3451,3441,214.7,-13.4,156,1214,0.12,2.35,0.00,0.000,3078,0.227,0.060,2126,2502,3446,3451,3441,0,0,0,0,0,0,14.65,14.78,14.82
$GC,1402,-0.62,-116.8,2126,2502,3450,3441,237.5,-11.7,176,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2501,3446,3451,3441,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1592,-0.62,-116.8,2125,2502,3448,3441,259.8,-11.8,191,1598,0.00,2.38,0.00,0.000,260,0.000,0.085,2117,3898,3444,3447,3441,0,0,0,0,0,0,15.03,14.76,15.05
$GC,1625,-0.62,-116.8,2116,3899,3447,3441,263.8,-11.7,197,1631,0.00,2.20,0.00,0.000,1030,0.000,0.034,2117,2494,3444,3447,3441,0,0,0,0,0,0,14.90,14.85,14.91
$GC,1939,-0.62,-116.8,2116,2493,3444,3439,297.6,-10.3,214,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2493,3441,3444,3439,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2240,-0.62,-116.8,2116,2493,3443,3436,330.0,-11.2,229,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2493,3439,3443,3436,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2539,-0.62,-116.8,2116,2493,3441,3433,365.4,-12.2,244,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2493,3437,3441,3433,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2839,-0.62,-116.8,2116,2493,3438,3429,401.4,-11.6,259,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2493,3434,3439,3429,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3139,-0.62,-116.8,2116,2493,3436,3426,432.4,-9.6,274,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2493,3432,3438,3426,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3439,-0.62,-116.8,2117,2493,3434,3424,460.8,-9.5,289,3445,0.00,2.40,0.00,0.000,260,0.000,0.089,2107,3891,3428,3434,3423,0,0,0,0,0,0,15.07,14.77,15.09
$GC,3476,-0.62,-116.8,2106,3891,3433,3423,464.6,-9.8,296,3485,0.00,2.25,0.00,0.000,1030,0.000,0.037,2107,2509,3429,3434,3424,0,0,0,0,0,0,14.81,14.78,14.83
$GC,3782,-0.62,-116.8,2106,2508,3431,3422,495.6,-10.4,312,3789,0.00,2.30,0.00,0.000,516,0.000,0.051,2106,1098,3426,3431,3422,0,0,0,0,0,0,15.05,14.81,15.09
$GC,3807,-0.62,-116.8,2106,1098,3431,3422,498.3,-11.1,316,3815,0.12,2.38,0.00,0.000,3078,0.221,0.063,2125,2501,3426,3431,3422,0,0,0,0,0,0,14.69,14.79,14.85
$GC,4133,-0.62,-116.8,2125,2501,3430,3420,529.2,-9.6,335,4138,0.00,2.38,0.00,0.000,260,0.000,0.091,2116,3894,3425,3430,3420,0,0,0,0,0,0,15.06,14.76,15.08
$GC,4170,-0.62,-116.8,2116,3894,3430,3420,533.1,-10.3,342,4176,0.00,2.28,0.00,0.000,1030,0.000,0.038,2117,2499,3425,3430,3421,0,0,0,0,0,0,14.81,14.77,14.83
$GC,4476,-0.62,-116.8,2116,2497,3428,3419,564.9,-10.5,358,4482,0.00,2.28,0.00,0.000,516,0.000,0.051,2116,1102,3423,3428,3418,0,0,0,0,0,0,15.06,14.82,15.09
$GC,4509,-0.62,-116.8,2116,1102,3428,3418,568.6,-10.9,364,4516,0.00,2.38,0.00,0.000,1030,0.000,0.065,2106,2499,3423,3428,3418,0,0,0,0,0,0,14.88,14.77,14.91
$GC,4824,-0.62,-116.8,2106,2499,3427,3416,603.8,-11.4,381,4830,0.00,2.40,0.00,0.000,260,0.000,0.092,2096,3901,3421,3426,3416,0,0,0,0,0,0,15.06,14.73,15.08
$GC,4876,-0.62,-116.8,2094,3902,3426,3415,610.1,-11.9,391,4883,0.12,2.25,0.00,0.000,3078,0.214,0.037,2125,2486,3421,3426,3417,0,0,0,0,0,0,14.66,14.85,14.84
$GC,5190,-0.62,-116.8,2125,2486,3424,3415,642.1,-10.1,408,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2485,3419,3424,3414,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5490,-0.62,-116.8,2125,2485,3423,3413,672.2,-10.0,423,5500,0.00,2.45,0.00,0.000,260,0.000,0.091,2116,3902,3418,3422,3414,0,0,0,0,0,0,15.05,14.73,15.08
$GC,5512,-0.62,-116.8,2116,3902,3422,3413,674.4,-10.1,427,5518,0.00,2.22,0.00,0.000,1030,0.000,0.038,2116,2503,3419,3425,3413,0,0,0,0,0,0,14.90,14.84,14.92
$GC,5836,-0.62,-116.8,2116,2501,3421,3412,708.4,-10.4,446,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2501,3416,3421,3412,0,0,0,0,0,0,15.04,15.08,15.07
$GC,6136,-0.62,-116.8,2116,2501,3420,3411,738.9,-10.0,461,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2502,3415,3420,3411,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6436,-0.62,-116.8,2116,2501,3419,3410,768.3,-9.7,476,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2501,3413,3419,3408,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6736,-0.62,-116.8,2116,2500,3417,3409,798.2,-10.2,491,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2501,3413,3418,3408,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7036,-0.62,-116.8,2116,2501,3415,3408,828.7,-10.2,506,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2501,3412,3417,3408,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7336,-0.62,-116.8,2116,2501,3415,3408,858.5,-9.8,521,7342,0.00,2.42,0.00,0.000,260,0.000,0.093,2106,3896,3411,3415,3408,0,0,0,0,0,0,15.04,14.70,15.07
$GC,7363,-0.62,-116.8,2106,3896,3414,3408,861.4,-10.7,526,7368,0.00,2.25,0.00,0.000,1030,0.000,0.038,2106,2491,3410,3414,3407,0,0,0,0,0,0,14.88,14.82,14.90
$GC,7681,-0.62,-116.8,2106,2490,3413,3407,893.3,-10.0,544,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2490,3410,3413,3407,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7981,-0.62,-116.8,2105,2490,3413,3405,923.3,-9.9,559,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2490,3409,3413,3406,0,0,0,0,0,0,15.02,15.06,15.05
$GC,8281,-0.62,-116.8,2106,2490,3413,3405,953.5,-10.0,574,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2490,3408,3412,3405,0,0,0,0,0,0,15.02,15.05,15.05
$GC,8582,-0.62,-116.8,2105,2490,3412,3404,983.8,-10.0,589,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2490,3408,3412,3404,0,0,0,0,0,0,15.02,15.06,15.05
$STATE,8659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8659,begin apogee
$GC,8665,-0.15,0.0,2106,2490,3412,3404,991.8,-10.1,593,8770,0.60,0.00,99.82,2.056,10246,0.175,0.000,2280,2490,2968,2997,2940,0,0,0,0,0,0,14.59,14.19,13.28
$STATE,8772,end apogee,CONTROL_FINISHED_OK
$STATE,8772,begin climb
$GC,8775,0.62,116.8,2280,2490,2994,2940,994.8,0.0,598,8901,0.77,0.00,109.78,2.035,10246,0.102,0.000,2531,2490,2489,2522,2457,0,0,0,0,0,0,14.23,14.02,13.16
$GC,9203,0.62,116.8,2531,2490,2513,2452,964.5,9.5,620,9210,0.00,2.42,0.00,0.000,516,0.000,0.053,2543,1049,2482,2513,2452,0,0,0,0,0,0,14.77,14.56,14.80
$GC,9276,0.62,116.8,2543,1049,2511,2451,957.3,9.4,634,9282,0.00,2.40,0.00,0.000,1030,0.000,0.057,2543,2449,2481,2511,2451,0,0,0,0,0,0,14.67,14.59,14.70
$GC,9590,0.62,116.8,2543,2449,2511,2449,927.4,9.6,651,9596,0.00,2.35,0.00,0.000,516,0.000,0.051,2554,1047,2482,2514,2450,0,0,0,0,0,0,14.90,14.69,14.93
$GC,9634,0.62,116.8,2553,1047,2510,2449,923.2,9.7,659,9639,0.00,2.38,0.00,0.000,1030,0.000,0.056,2554,2447,2479,2510,2449,0,0,0,0,0,0,14.76,14.67,14.79
$GC,9957,0.62,116.8,2554,2447,2510,2448,891.1,10.0,678,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2447,2479,2510,2449,0,0,0,0,0,0,14.95,14.98,14.98
$GC,10258,0.62,116.8,2553,2446,2509,2447,860.8,10.0,693,10263,0.00,2.35,0.00,0.000,516,0.000,0.050,2565,1039,2478,2509,2447,0,0,0,0,0,0,14.97,14.74,15.00
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$STATE,19995,end climb,SURFACE_DEPTH_REACHED
$STATE,19995,begin surface coast
$STATE,20016,end surface coast,CONTROL_FINISHED_OK
$STATE,20016,begin surface
$SM_CCo,20041,136.60,0.662,1,0,928,500.17
$SM_GC,1.23,7.22,0.10,136.60,0.049,0.156,0.662,119,2508,928,-6.78,-1.02,500.17,0,0,0,0,1,0,14.71,14.64,13.97
$IRIDIUM_FIX,1321.78,8700.40,030919,080001
$TT8_MAMPS,0.018725,0.571487
$HUMID,42.28
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,24.30
$XPDR_PINGS,2
$SC_FREEKB,3828128
$PM_FREEKB_00,51212928
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.16,71.115
$10V_AH,13.03,0.000
$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,19.175,168.575,407.750,136.600,0.000,0.000,0.000,352.425,0.500,0.000,14.886,1487.181,13207.442,645.054,4887.169,568.624,0.000,2489.797,0.000,4202.025,0.000,0.542,0.000
$DEVICE_MAMPS,351.135,156.060,2056.320,661.725,0.000,0.000,0.000,199.665,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3950.283,0.000,0.000,0.000,0.000,0.000,20023.000,0.000,20048.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.474,0.000,3.449,0.000
$MEM,251916
$DATA_FILE_SIZE,66655,1545
$CAP_FILE_SIZE,280502,0
$CFSIZE,260034560,174477312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.074,137.79,1
$GPS,030919,193030,1314.977,8700.576,29,0.9,29,-0.9,0.4,77.8,10,3.6