version: 66.13
glider: 171
mission: 11
dive: 209
start: 9 9 119 18 51 54
data:
$ID,171
$MISSION,11
$DIVE,209
$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,50
$R_STBD_OVSHOOT,31
$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
$GPS1,090919,184239,1338.9327,8700.7939,33,0.8,42,-0.9,0.6,189.1,8,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.0
$GPS2,090919,185107,1338.8644,8700.7676,2,0.6,3,-0.9,0.5,225.8,12,8.3
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,346.2,13748,-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,-116.8,77,2511,972,878,0.0,0.0,0,102,0.00,0.00,-77.43,0.005,16386,0.000,0.000,70,2511,2789,2786,2793,0,0,0,0,0,0,14.83,28.83,14.86
$GC,105,-0.62,-116.8,69,2511,2787,2794,5.3,-14.8,16,136,9.10,2.33,-11.27,0.013,19204,0.356,0.066,2127,1098,3445,3451,3440,0,0,0,0,0,0,14.27,13.78,14.50
$GC,255,-0.62,-116.8,2126,1097,3451,3442,56.3,-27.8,46,267,0.00,2.38,0.00,0.000,1030,0.000,0.060,2118,2497,3447,3452,3442,0,0,0,0,0,0,14.64,14.55,14.67
$GC,446,-0.62,-116.8,2117,2498,3451,3442,105.3,-20.5,66,456,0.00,2.38,0.00,0.000,260,0.000,0.082,2107,3897,3448,3452,3444,0,0,0,0,0,0,14.92,14.57,14.95
$GC,561,-0.62,-116.8,2107,3897,3451,3442,128.3,-18.0,88,567,0.00,2.22,0.00,0.000,1030,0.000,0.035,2108,2491,3446,3451,3441,0,0,0,0,0,0,14.81,14.75,14.82
$GC,755,-0.62,-116.8,2107,2490,3452,3442,160.4,-14.7,108,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2490,3446,3451,3442,0,0,0,0,0,0,14.97,15.00,15.00
$GC,944,-0.62,-116.8,2107,2490,3452,3442,187.2,-12.4,127,951,0.00,2.40,0.00,0.000,260,0.000,0.083,2096,3897,3446,3451,3442,0,0,0,0,0,0,14.98,14.62,15.00
$GC,1019,-0.62,-116.8,2096,3897,3452,3442,196.2,-12.8,141,1026,0.12,2.22,0.00,0.000,3078,0.220,0.033,2126,2490,3446,3451,3442,0,0,0,0,0,0,14.58,14.79,14.77
$GC,1215,-0.62,-116.8,2125,2488,3451,3442,218.0,-11.1,161,1224,0.00,2.40,0.00,0.000,260,0.000,0.081,2117,3897,3445,3450,3441,0,0,0,0,0,0,15.00,14.69,15.02
$GC,1257,-0.62,-116.8,2116,3897,3451,3442,223.0,-11.9,169,1263,0.00,2.20,0.00,0.000,1030,0.000,0.032,2117,2492,3446,3451,3442,0,0,0,0,0,0,14.85,14.81,14.88
$GC,1451,-0.62,-116.8,2116,2491,3450,3442,245.8,-12.1,189,1457,0.00,2.22,0.00,0.000,516,0.000,0.047,2116,1108,3446,3450,3442,0,0,0,0,0,0,15.01,14.78,15.04
$GC,1488,-0.62,-116.8,2116,1107,3449,3442,250.5,-11.8,196,1495,0.00,2.38,0.00,0.000,1030,0.000,0.056,2106,2500,3445,3449,3442,0,0,0,0,0,0,14.71,14.66,14.76
$GC,1677,-0.62,-116.8,2106,2500,3447,3442,273.1,-11.9,206,1686,0.00,2.35,0.00,0.000,260,0.000,0.083,2095,3891,3444,3447,3442,0,0,0,0,0,0,15.02,14.71,15.05
$GC,1752,-0.62,-116.8,2094,3891,3446,3442,282.8,-12.3,221,1759,0.08,2.22,0.00,0.000,3078,0.190,0.032,2119,2500,3444,3446,3443,0,0,0,0,0,0,14.54,14.74,14.65
$GC,2059,-0.62,-116.8,2119,2498,3444,3438,317.2,-11.2,237,2064,0.00,2.25,0.00,0.000,516,0.000,0.047,2119,1106,3440,3444,3437,0,0,0,0,0,0,15.04,14.78,15.07
$GC,2090,-0.62,-116.8,2119,1106,3444,3437,321.0,-11.6,243,2098,0.00,2.35,0.00,0.000,1030,0.000,0.058,2110,2508,3440,3444,3437,0,0,0,0,0,0,14.86,14.76,14.89
$GC,2406,-0.62,-116.8,2110,2508,3442,3434,358.2,-11.9,260,2414,0.00,2.35,0.00,0.000,260,0.000,0.085,2100,3893,3438,3442,3434,0,0,0,0,0,0,15.04,14.72,15.07
$GC,2435,-0.62,-116.8,2099,3893,3442,3434,362.0,-12.7,266,2441,0.00,2.20,0.00,0.000,1030,0.000,0.034,2100,2497,3438,3442,3434,0,0,0,0,0,0,14.90,14.84,14.91
$GC,2749,-0.62,-116.8,2099,2496,3439,3431,399.4,-11.7,283,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2496,3433,3437,3429,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3049,-0.62,-116.8,2099,2496,3437,3428,434.0,-11.6,298,3057,0.00,2.40,0.00,0.000,260,0.000,0.086,2088,3893,3432,3437,3428,0,0,0,0,0,0,15.04,14.72,15.07
$GC,3084,-0.62,-116.8,2088,3893,3436,3428,438.3,-12.4,305,3091,0.10,2.25,0.00,0.000,3078,0.184,0.035,2120,2501,3432,3436,3428,0,0,0,0,0,0,14.53,14.73,14.64
$GC,3391,-0.62,-116.8,2120,2500,3434,3424,469.2,-10.1,321,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2500,3429,3434,3424,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3691,-0.62,-116.8,2120,2500,3432,3423,500.8,-10.7,336,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2500,3427,3432,3423,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3990,-0.62,-116.8,2120,2500,3430,3421,533.8,-11.0,351,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2500,3426,3431,3421,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4291,-0.62,-116.8,2120,2500,3429,3420,566.6,-10.7,366,4297,0.00,2.28,0.00,0.000,516,0.000,0.050,2121,1106,3424,3429,3420,0,0,0,0,0,0,15.04,14.76,15.06
$GC,4323,-0.62,-116.8,2120,1106,3429,3420,570.3,-10.9,372,4329,0.00,2.35,0.00,0.000,1030,0.000,0.060,2112,2499,3424,3429,3420,0,0,0,0,0,0,14.85,14.74,14.87
$GC,4638,-0.62,-116.8,2112,2499,3427,3418,605.0,-11.1,389,4644,0.00,2.40,0.00,0.000,260,0.000,0.088,2101,3890,3422,3427,3417,0,0,0,0,0,0,15.04,14.69,15.06
$GC,4682,-0.62,-116.8,2101,3889,3427,3417,610.0,-11.4,397,4688,0.00,2.22,0.00,0.000,1030,0.000,0.036,2100,2493,3422,3426,3418,0,0,0,0,0,0,14.87,14.81,14.89
$GC,5007,-0.62,-116.8,2101,2491,3425,3416,647.2,-11.3,416,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2491,3420,3425,3415,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5306,-0.62,-116.8,2101,2491,3422,3414,680.4,-11.0,431,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2491,3418,3423,3414,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5606,-0.62,-116.8,2101,2491,3421,3413,713.6,-11.1,446,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3417,3421,3413,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5906,-0.62,-116.8,2101,2491,3421,3411,746.0,-10.6,461,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3416,3421,3411,0,0,0,0,0,0,15.02,15.06,15.05
$GC,6206,-0.62,-116.8,2101,2491,3419,3410,777.0,-10.3,476,6214,0.00,2.45,0.00,0.000,260,0.000,0.090,2090,3894,3414,3419,3410,0,0,0,0,0,0,15.02,14.65,15.06
$GC,6241,-0.62,-116.8,2089,3894,3419,3410,780.9,-10.9,483,6249,0.10,2.30,0.00,0.000,3078,0.181,0.037,2122,2493,3414,3419,3410,0,0,0,0,0,0,14.44,14.66,14.56
$GC,6547,-0.62,-116.8,2122,2489,3418,3406,809.3,-9.4,499,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2489,3413,3419,3407,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6847,-0.62,-116.8,2122,2489,3417,3407,839.1,-10.2,514,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2489,3412,3417,3407,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7148,-0.62,-116.8,2122,2489,3416,3408,870.0,-10.3,529,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2488,3412,3417,3407,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7447,-0.62,-116.8,2122,2489,3414,3406,900.3,-10.0,544,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2489,3410,3414,3406,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7747,-0.62,-116.8,2123,2490,3413,3405,928.0,-8.8,559,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2490,3409,3414,3405,0,0,0,0,0,0,15.01,15.04,15.03
$GC,8047,-0.62,-116.8,2121,2489,3413,3404,953.9,-8.6,574,8056,0.00,2.45,0.00,0.000,260,0.000,0.091,2113,3901,3408,3413,3404,0,0,0,0,0,0,15.01,14.59,15.03
$GC,8083,-0.62,-116.8,2113,3901,3413,3404,957.1,-8.9,581,8089,0.00,2.33,0.00,0.000,1030,0.000,0.038,2113,2495,3409,3413,3406,0,0,0,0,0,0,14.67,14.63,14.70
$GC,8389,-0.62,-116.8,2113,2494,3412,3402,984.2,-9.0,597,8395,0.00,2.30,0.00,0.000,516,0.000,0.051,2113,1108,3407,3412,3402,0,0,0,0,0,0,15.00,14.68,15.04
$GC,8436,-0.62,-116.8,2112,1107,3411,3402,988.8,-9.3,606,8442,0.00,2.40,0.00,0.000,1030,0.000,0.060,2102,2499,3406,3410,3402,0,0,0,0,0,0,14.78,14.66,14.81
$STATE,8453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8453,begin apogee
$GC,8459,-0.15,0.0,2102,2500,3411,3402,990.4,-9.1,609,8568,0.60,0.00,104.28,2.036,10246,0.176,0.000,2275,2499,2968,2996,2940,0,0,0,0,0,0,14.51,14.16,13.21
$STATE,8570,end apogee,CONTROL_FINISHED_OK
$STATE,8570,begin climb
$GC,8574,0.62,116.8,2275,2499,2994,2940,993.2,0.0,614,8706,0.80,2.60,114.12,2.023,10756,0.102,0.052,2546,1046,2488,2521,2456,0,0,0,0,0,0,14.20,14.04,13.12
$GC,8721,0.66,116.8,2546,1046,2518,2456,988.9,6.8,629,8728,0.00,2.47,0.00,0.000,1094,0.000,0.055,2545,2443,2487,2518,2456,0,0,0,0,0,0,14.23,14.15,14.25
$GC,9035,0.66,116.8,2546,2443,2513,2452,957.2,10.3,646,9041,0.00,2.38,0.00,0.000,516,0.000,0.052,2557,1049,2482,2513,2452,0,0,0,0,0,0,14.78,14.56,14.81
$GC,9093,0.66,116.8,2557,1049,2511,2451,951.1,10.0,657,9100,0.00,2.45,0.00,0.000,1030,0.000,0.057,2557,2444,2481,2511,2451,0,0,0,0,0,0,14.55,14.50,14.58
$GC,9399,0.66,116.8,2557,2444,2511,2450,919.7,10.1,673,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2444,2480,2511,2450,0,0,0,0,0,0,14.90,14.92,14.92
$GC,9699,0.66,116.8,2557,2444,2510,2449,890.3,9.4,688,9705,0.00,2.35,0.00,0.000,516,0.000,0.052,2568,1050,2479,2510,2448,0,0,0,0,0,0,14.93,14.67,14.97
$GC,9743,0.66,116.8,2568,1047,2509,2448,886.2,9.2,696,9749,0.00,2.38,0.00,0.000,1030,0.000,0.054,2568,2449,2478,2509,2448,0,0,0,0,0,0,14.77,14.67,14.79
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$STATE,19471,end climb,SURFACE_DEPTH_REACHED
$STATE,19471,begin surface coast
$STATE,19485,end surface coast,CONTROL_FINISHED_OK
$STATE,19485,begin surface
$SM_CCo,19515,107.20,0.616,1,0,929,500.17
$SM_GC,1.20,7.53,2.50,107.20,0.061,0.055,0.616,124,2495,929,-6.79,-0.99,500.17,0,0,0,0,1,0,14.67,14.59,13.97
$IRIDIUM_FIX,1335.45,8700.17,090919,130457
$TT8_MAMPS,0.018725,0.919023
$HUMID,42.47
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.90
$XPDR_PINGS,3
$SC_FREEKB,3816480
$PM_FREEKB_00,49747200
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.12,81.012
$10V_AH,13.24,0.000
$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,19.500,178.825,456.375,107.200,0.000,0.000,0.000,270.925,0.750,0.000,16.203,1400.129,12862.230,630.299,4687.978,556.759,0.000,2425.029,0.000,4098.158,0.000,0.542,0.000
$DEVICE_MAMPS,355.725,91.035,2035.665,615.825,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3814.409,0.000,0.000,0.000,0.000,0.000,19493.000,0.000,19506.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.264,0.000,3.367,0.000
$MEM,251916
$DATA_FILE_SIZE,66635,1523
$CAP_FILE_SIZE,274345,0
$CFSIZE,260034560,171286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.051,60.49,1
$GPS,100919,002030,1340.798,8700.988,26,0.8,26,-0.9,0.9,115.8,9,3.7