version: 66.13
glider: 171
mission: 11
dive: 195
start: 9 6 119 10 29 56
data:
$ID,171
$MISSION,11
$DIVE,195
$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,0.0019952599
$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,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,51
$R_STBD_OVSHOOT,62
$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
$GPS1,060919,102038,1314.0643,8701.5312,28,0.9,28,-0.9,0.5,8.1,9,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.1
$GPS2,060919,102910,1314.0035,8701.6006,3,1.0,6,-0.9,2.4,205.7,8,7.6
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,348.3,59790,-17.3,-8.462,-25.76,2103
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.62,-116.8,1,2542,968,879,0.0,0.0,0,103,0.00,0.00,-78.80,0.005,16386,0.000,0.000,1,2543,2773,2775,2772,0,0,0,0,0,0,14.83,28.83,14.86
$GC,107,-0.62,-116.8,1,2543,2776,2772,4.3,-11.2,16,138,9.30,2.35,-12.32,0.012,18948,0.351,0.065,2126,1097,3446,3453,3440,0,0,0,0,0,0,14.31,13.83,14.52
$GC,238,-0.62,-116.8,2126,1098,3453,3440,45.8,-22.3,42,245,0.00,2.35,0.00,0.000,1030,0.000,0.061,2118,2457,3446,3453,3440,0,0,0,0,0,0,14.65,14.60,14.69
$GC,428,-0.62,-116.8,2118,2457,3453,3440,92.6,-20.8,62,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2456,3446,3453,3440,0,0,0,0,0,0,14.90,14.93,14.92
$GC,618,-0.62,-116.8,2118,2457,3453,3440,129.5,-17.5,81,627,0.00,2.45,0.00,0.000,260,0.000,0.084,2107,3910,3446,3453,3440,0,0,0,0,0,0,14.95,14.64,14.97
$GC,660,-0.62,-116.8,2107,3911,3453,3440,137.1,-18.7,89,666,0.00,2.25,0.00,0.000,1030,0.000,0.037,2107,2493,3446,3453,3440,0,0,0,0,0,0,14.83,14.77,14.83
$GC,854,-0.62,-116.8,2107,2491,3453,3440,167.4,-13.9,109,860,0.00,2.22,0.00,0.000,516,0.000,0.045,2107,1102,3446,3453,3440,0,0,0,0,0,0,14.97,14.76,15.00
$GC,892,-0.62,-116.8,2107,1101,3453,3440,172.6,-13.1,116,899,0.08,2.40,0.00,0.000,3078,0.207,0.062,2121,2497,3446,3453,3440,0,0,0,0,0,0,14.54,14.66,14.66
$GC,1078,-0.62,-116.8,2119,2496,3453,3440,195.1,-12.7,135,1084,0.00,2.38,0.00,0.000,260,0.000,0.083,2111,3900,3446,3453,3439,0,0,0,0,0,0,14.98,14.71,15.01
$GC,1112,-0.62,-116.8,2110,3900,3453,3440,199.5,-13.3,141,1118,0.00,2.20,0.00,0.000,1030,0.000,0.033,2111,2492,3446,3453,3440,0,0,0,0,0,0,14.86,14.81,14.88
$GC,1305,-0.62,-116.8,2110,2491,3452,3439,223.8,-12.2,161,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3445,3451,3439,0,0,0,0,0,0,15.00,15.04,15.03
$GC,1496,-0.62,-116.8,2110,2491,3451,3440,246.3,-12.3,180,1505,0.00,2.40,0.00,0.000,260,0.000,0.083,2100,3900,3444,3449,3440,0,0,0,0,0,0,15.01,14.73,15.04
$GC,1528,-0.62,-116.8,2099,3900,3450,3440,250.4,-13.2,186,1534,0.00,2.22,0.00,0.000,1030,0.000,0.034,2100,2508,3445,3450,3440,0,0,0,0,0,0,14.89,14.81,14.90
$GC,1842,-0.62,-116.8,2099,2507,3446,3439,290.2,-12.4,203,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2507,3442,3446,3439,0,0,0,0,0,0,15.03,15.07,15.06
$GC,2142,-0.62,-116.8,2099,2506,3445,3436,326.7,-12.0,218,2149,0.00,2.35,0.00,0.000,260,0.000,0.086,2089,3889,3439,3444,3435,0,0,0,0,0,0,15.04,14.73,15.07
$GC,2175,-0.62,-116.8,2088,3890,3444,3435,331.0,-12.6,224,2182,0.15,2.20,0.00,0.000,3078,0.214,0.034,2126,2489,3439,3444,3435,0,0,0,0,0,0,14.66,14.85,14.83
$GC,2490,-0.62,-116.8,2126,2487,3443,3432,363.7,-10.5,241,2496,0.00,2.25,0.00,0.000,516,0.000,0.049,2130,1105,3437,3443,3431,0,0,0,0,0,0,15.04,14.81,15.07
$GC,2522,-0.62,-116.8,2126,1105,3443,3431,367.4,-10.8,247,2530,0.00,2.35,0.00,0.000,1030,0.000,0.059,2118,2504,3436,3442,3431,0,0,0,0,0,0,14.88,14.78,14.91
$GC,2838,-0.62,-116.8,2117,2503,3439,3428,405.6,-12.4,264,2844,0.00,2.38,0.00,0.000,260,0.000,0.089,2107,3896,3434,3440,3429,0,0,0,0,0,0,15.05,14.74,15.08
$GC,2870,-0.62,-116.8,2107,3895,3439,3428,409.9,-13.2,270,2876,0.00,2.20,0.00,0.000,1030,0.000,0.034,2107,2505,3433,3439,3428,0,0,0,0,0,0,14.91,14.85,14.92
$GC,3184,-0.62,-116.8,2107,2504,3438,3424,448.8,-12.3,287,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2504,3430,3437,3424,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3484,-0.62,-116.8,2107,2504,3435,3423,484.5,-11.6,302,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2504,3428,3434,3423,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3784,-0.62,-116.8,2107,2504,3432,3421,518.7,-11.5,317,3792,0.00,2.40,0.00,0.000,260,0.000,0.090,2096,3891,3426,3432,3421,0,0,0,0,0,0,15.04,14.71,15.07
$GC,3825,-0.62,-116.8,2096,3892,3432,3421,523.6,-11.8,325,3832,0.12,2.20,0.00,0.000,3078,0.209,0.037,2127,2498,3427,3433,3421,0,0,0,0,0,0,14.66,14.85,14.83
$GC,4150,-0.62,-116.8,2126,2497,3431,3420,556.5,-10.2,344,4156,0.00,2.28,0.00,0.000,516,0.000,0.050,2127,1100,3424,3430,3419,0,0,0,0,0,0,15.05,14.80,15.08
$GC,4183,-0.62,-116.8,2127,1100,3431,3419,560.0,-10.1,350,4189,0.00,2.38,0.00,0.000,1030,0.000,0.062,2118,2501,3424,3430,3419,0,0,0,0,0,0,14.87,14.77,14.90
$GC,4497,-0.62,-116.8,2118,2501,3430,3417,593.2,-10.6,367,4504,0.00,2.40,0.00,0.000,260,0.000,0.092,2108,3893,3423,3429,3417,0,0,0,0,0,0,15.04,14.72,15.07
$GC,4538,-0.62,-116.8,2107,3893,3429,3417,597.4,-11.0,374,4544,0.00,2.28,0.00,0.000,1030,0.000,0.037,2108,2498,3424,3429,3419,0,0,0,0,0,0,14.77,14.73,14.79
$GC,4841,-0.62,-116.8,2107,2497,3428,3415,629.2,-10.0,390,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3421,3428,3415,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5141,-0.62,-116.8,2107,2498,3426,3415,658.5,-9.6,405,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3419,3426,3413,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5442,-0.62,-116.8,2107,2497,3424,3412,686.5,-9.2,420,5448,0.00,2.28,0.00,0.000,516,0.000,0.050,2107,1106,3418,3424,3412,0,0,0,0,0,0,15.04,14.78,15.07
$GC,5479,-0.62,-116.8,2107,1106,3423,3412,690.1,-9.2,427,5488,0.08,2.42,0.00,0.000,3078,0.189,0.063,2121,2498,3417,3423,3412,0,0,0,0,0,0,14.55,14.65,14.83
$GC,5786,-0.62,-116.8,2121,2498,3422,3411,715.6,-8.5,443,5793,0.00,2.40,0.00,0.000,260,0.000,0.093,2112,3891,3416,3422,3411,0,0,0,0,0,0,15.04,14.69,15.06
$GC,5824,-0.62,-116.8,2112,3892,3422,3411,719.2,-9.2,450,5831,0.00,2.28,0.00,0.000,1030,0.000,0.037,2113,2502,3416,3422,3411,0,0,0,0,0,0,14.75,14.71,14.77
$GC,6131,-0.62,-116.8,2112,2501,3421,3410,748.7,-9.9,466,6137,0.00,2.30,0.00,0.000,516,0.000,0.050,2112,1097,3415,3421,3410,0,0,0,0,0,0,15.03,14.76,15.06
$GC,6164,-0.62,-116.8,2112,1097,3421,3409,752.2,-10.4,472,6173,0.00,2.40,0.00,0.000,1030,0.000,0.062,2101,2505,3415,3421,3409,0,0,0,0,0,0,14.84,14.73,14.87
$GC,6475,-0.62,-116.8,2101,2505,3420,3408,786.5,-11.5,489,6483,0.00,2.40,0.00,0.000,260,0.000,0.093,2090,3894,3414,3420,3408,0,0,0,0,0,0,15.02,14.68,15.05
$GC,6530,-0.62,-116.8,2090,3894,3420,3408,793.2,-12.0,500,6538,0.10,2.30,0.00,0.000,3078,0.183,0.038,2122,2492,3414,3420,3408,0,0,0,0,0,0,14.50,14.70,14.62
$GC,6837,-0.62,-116.8,2122,2491,3419,3408,824.0,-9.8,516,6843,0.00,2.28,0.00,0.000,516,0.000,0.050,2123,1105,3413,3419,3407,0,0,0,0,0,0,15.03,14.75,15.05
$GC,6869,-0.62,-116.8,2122,1104,3418,3407,827.4,-9.9,522,6875,0.00,2.38,0.00,0.000,1030,0.000,0.062,2114,2499,3412,3418,3407,0,0,0,0,0,0,14.83,14.72,14.85
$GC,7182,-0.62,-116.8,2113,2500,3417,3406,858.4,-9.8,539,7189,0.00,2.42,0.00,0.000,260,0.000,0.093,2103,3902,3412,3418,3406,0,0,0,0,0,0,15.02,14.66,15.04
$GC,7227,-0.62,-116.8,2103,3901,3417,3406,862.9,-10.3,547,7233,0.00,2.25,0.00,0.000,1030,0.000,0.039,2103,2498,3411,3417,3406,0,0,0,0,0,0,14.85,14.79,14.88
$GC,7551,-0.62,-116.8,2103,2499,3415,3406,896.6,-10.4,566,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2499,3411,3416,3406,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7852,-0.62,-116.8,2103,2498,3416,3405,928.0,-10.4,581,7858,0.00,2.30,0.00,0.000,516,0.000,0.050,2103,1100,3410,3417,3404,0,0,0,0,0,0,15.02,14.73,15.04
$GC,7884,-0.62,-116.8,2103,1100,3415,3402,931.8,-11.1,587,7892,0.15,2.40,0.00,0.000,3078,0.212,0.063,2128,2503,3409,3415,3403,0,0,0,0,0,0,14.57,14.71,14.76
$GC,8201,-0.62,-116.8,2128,2504,3414,3402,959.6,-8.8,604,8209,0.00,2.42,0.00,0.000,260,0.000,0.093,2120,3900,3408,3414,3402,0,0,0,0,0,0,15.02,14.64,15.04
$GC,8230,-0.62,-116.8,2119,3900,3414,3402,962.5,-10.0,610,8236,0.00,2.25,0.00,0.000,1030,0.000,0.039,2119,2501,3408,3414,3402,0,0,0,0,0,0,14.85,14.77,14.86
$STATE,8541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8541,begin apogee
$GC,8547,-0.15,0.0,2120,2500,3413,3402,991.3,-9.4,627,8656,0.55,0.00,103.80,2.048,10246,0.169,0.000,2280,2500,2968,2997,2939,0,0,0,0,0,0,14.57,14.16,13.24
$STATE,8659,end apogee,CONTROL_FINISHED_OK
$STATE,8659,begin climb
$GC,8661,0.62,116.8,2280,2500,2995,2938,994.5,0.0,632,8786,0.77,0.00,113.30,2.033,10246,0.096,0.000,2536,2499,2491,2526,2456,0,0,0,0,0,0,14.22,14.02,13.14
$GC,9085,0.62,116.8,2535,2499,2513,2452,966.9,9.2,654,9094,0.00,2.45,0.00,0.000,516,0.000,0.052,2548,1047,2482,2514,2451,0,0,0,0,0,0,14.76,14.54,14.78
$GC,9127,0.62,116.8,2547,1047,2513,2451,963.2,8.5,662,9137,0.00,2.40,0.00,0.000,1030,0.000,0.057,2547,2445,2481,2512,2451,0,0,0,0,0,0,14.64,14.55,14.66
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$STATE,19368,end climb,SURFACE_DEPTH_REACHED
$STATE,19368,begin surface coast
$STATE,19410,end surface coast,CONTROL_FINISHED_OK
$STATE,19410,begin surface
$SM_CCo,19437,90.25,0.586,1,0,928,500.17
$SM_GC,1.26,7.12,2.53,90.25,0.050,0.060,0.586,117,2505,928,-6.78,-0.76,500.17,0,0,0,0,1,0,14.71,14.65,14.07
$IRIDIUM_FIX,1310.77,8704.94,060919,044306
$TT8_MAMPS,0.018725,0.429926
$HUMID,42.20
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.60
$XPDR_PINGS,3
$SC_FREEKB,3822752
$PM_FREEKB_00,50537472
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.14,75.672
$10V_AH,13.39,0.000
$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,19.375,211.600,478.100,90.250,0.000,0.000,0.000,276.025,0.750,0.000,19.104,1448.350,12582.784,636.813,4812.711,566.941,0.000,2503.407,0.000,4195.995,0.000,0.541,0.000
$DEVICE_MAMPS,351.135,93.330,2047.905,585.990,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3900.927,0.000,0.000,0.000,0.000,0.000,19417.000,0.000,19429.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.296,0.000,3.395,0.000
$MEM,251916
$DATA_FILE_SIZE,66534,1561
$CAP_FILE_SIZE,284679,0
$CFSIZE,260034560,172994560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.025,49.80,1
$GPS,060919,155700,1315.995,8701.464,29,1.8,29,-0.9,0.8,291.8,5,6.6