version: 66.13
glider: 171
mission: 11
dive: 213
start: 9 10 119 18 4 40
data:
$ID,171
$MISSION,11
$DIVE,213
$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,62
$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
$GPS1,100919,175509,1337.3610,8700.7207,19,1.2,19,-0.9,0.5,110.2,7,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.7
$GPS2,100919,180355,1337.2355,8700.6963,2,0.6,2,-0.9,1.2,159.0,12,10.0
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,200.0,68972,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-116.8,108,2504,640,559,0.0,0.0,0,117,0.00,0.00,-92.03,0.005,16386,0.000,0.000,99,2505,2803,2798,2809,0,0,0,0,0,0,14.83,28.83,14.86
$GC,120,-0.62,-116.8,99,2505,2799,2809,5.0,-14.1,19,149,9.02,0.00,-11.57,0.014,18950,0.362,0.000,2119,2505,3448,3453,3443,0,0,0,0,0,0,14.31,13.37,14.52
$GC,334,-0.62,-116.8,2119,2505,3452,3443,81.4,-30.6,52,340,0.00,2.38,0.00,0.000,260,0.000,0.086,2110,3889,3448,3453,3443,0,0,0,0,0,0,14.90,14.61,14.92
$GC,572,-0.62,-116.8,2110,3889,3453,3443,129.1,-18.6,98,577,0.00,2.17,0.00,0.000,1030,0.000,0.034,2110,2497,3448,3453,3443,0,0,0,0,0,0,14.80,14.75,14.81
$GC,765,-0.62,-116.8,2110,2496,3451,3444,162.6,-16.0,118,771,0.00,2.22,0.00,0.000,516,0.000,0.047,2111,1113,3448,3453,3444,0,0,0,0,0,0,14.95,14.66,14.98
$GC,809,-0.62,-116.8,2110,1113,3453,3443,169.4,-14.9,126,815,0.00,2.33,0.00,0.000,1030,0.000,0.060,2100,2496,3447,3452,3443,0,0,0,0,0,0,14.79,14.69,14.82
$GC,1003,-0.62,-116.8,2100,2496,3453,3444,199.3,-14.4,146,1009,0.00,2.38,0.00,0.000,260,0.000,0.084,2089,3899,3448,3453,3443,0,0,0,0,0,0,14.97,14.68,15.00
$GC,1037,-0.62,-116.8,2088,3898,3453,3443,204.1,-14.4,152,1044,0.15,2.20,0.00,0.000,3078,0.219,0.035,2126,2494,3448,3453,3443,0,0,0,0,0,0,14.57,14.78,14.76
$GC,1232,-0.62,-116.8,2125,2493,3452,3443,228.2,-12.1,172,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2493,3447,3452,3443,0,0,0,0,0,0,14.99,15.02,15.02
$GC,1422,-0.62,-116.8,2125,2493,3451,3443,250.8,-11.7,191,1429,0.00,2.28,0.00,0.000,516,0.000,0.047,2126,1115,3446,3450,3443,0,0,0,0,0,0,15.00,14.73,15.02
$GC,1440,-0.62,-116.8,2126,1115,3451,3443,253.2,-11.3,194,1447,0.00,2.38,0.00,0.000,1030,0.000,0.059,2117,2498,3446,3450,3443,0,0,0,0,0,0,14.70,14.65,14.73
$GC,1748,-0.62,-116.8,2117,2500,3447,3443,288.0,-10.9,210,1753,0.00,2.38,0.00,0.000,260,0.000,0.085,2106,3897,3445,3448,3443,0,0,0,0,0,0,15.02,14.71,15.04
$GC,1784,-0.62,-116.8,2106,3897,3446,3443,292.5,-11.7,217,1791,0.00,2.25,0.00,0.000,1030,0.000,0.033,2106,2501,3444,3446,3443,0,0,0,0,0,0,14.76,14.73,14.78
$GC,2092,-0.62,-116.8,2106,2500,3444,3441,328.2,-11.6,233,2097,0.00,2.25,0.00,0.000,516,0.000,0.047,2106,1109,3442,3444,3441,0,0,0,0,0,0,15.03,14.77,15.05
$GC,2135,-0.62,-116.8,2106,1109,3443,3441,333.4,-11.3,241,2144,0.12,2.33,0.00,0.000,3078,0.217,0.058,2125,2502,3442,3443,3441,0,0,0,0,0,0,14.63,14.76,14.81
$GC,2458,-0.62,-116.8,2125,2502,3442,3436,366.1,-10.1,260,2464,0.00,2.35,0.00,0.000,260,0.000,0.085,2116,3890,3439,3442,3437,0,0,0,0,0,0,15.03,14.72,15.06
$GC,2490,-0.62,-116.8,2116,3890,3441,3437,369.7,-10.8,266,2496,0.00,2.20,0.00,0.000,1030,0.000,0.033,2116,2493,3439,3442,3437,0,0,0,0,0,0,14.88,14.83,14.90
$GC,2804,-0.62,-116.8,2116,2492,3438,3434,402.6,-10.5,283,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2492,3436,3439,3434,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3104,-0.62,-116.8,2116,2492,3438,3431,433.4,-10.2,298,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2491,3435,3439,3431,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3404,-0.62,-116.8,2116,2492,3435,3429,465.1,-10.9,313,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2492,3432,3435,3429,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3704,-0.62,-116.8,2116,2492,3432,3426,499.0,-11.4,328,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2492,3429,3432,3426,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4004,-0.62,-116.8,2115,2492,3432,3423,532.8,-11.2,343,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2491,3427,3432,3423,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4304,-0.62,-116.8,2115,2491,3429,3423,565.5,-10.8,358,4309,0.00,2.28,0.00,0.000,516,0.000,0.051,2116,1105,3426,3429,3423,0,0,0,0,0,0,15.04,14.75,15.06
$GC,4330,-0.62,-116.8,2115,1105,3429,3423,568.6,-11.2,363,4337,0.00,2.35,0.00,0.000,1030,0.000,0.059,2106,2499,3426,3429,3423,0,0,0,0,0,0,14.84,14.74,14.88
$GC,4650,-0.62,-116.8,2106,2500,3428,3421,605.4,-11.8,381,4655,0.00,2.40,0.00,0.000,260,0.000,0.088,2095,3899,3424,3428,3420,0,0,0,0,0,0,15.03,14.68,15.06
$GC,4701,-0.62,-116.8,2094,3899,3427,3421,611.9,-12.4,391,4709,0.12,2.22,0.00,0.000,3078,0.207,0.038,2125,2509,3424,3427,3421,0,0,0,0,0,0,14.60,14.79,14.78
$GC,5018,-0.62,-116.8,2124,2507,3426,3420,645.1,-10.4,408,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2507,3423,3426,3421,0,0,0,0,0,0,15.03,15.06,15.05
$GC,5317,-0.62,-116.8,2125,2507,3424,3419,674.7,-9.6,423,5324,0.00,2.30,0.00,0.000,516,0.000,0.051,2125,1105,3421,3424,3419,0,0,0,0,0,0,15.02,14.73,15.05
$GC,5345,-0.62,-116.8,2125,1105,3424,3419,677.6,-10.3,428,5351,0.00,2.38,0.00,0.000,1030,0.000,0.063,2116,2499,3421,3423,3419,0,0,0,0,0,0,14.82,14.71,14.85
$GC,5664,-0.62,-116.8,2116,2499,3422,3417,708.6,-9.5,446,5670,0.00,2.40,0.00,0.000,260,0.000,0.090,2106,3891,3419,3422,3417,0,0,0,0,0,0,15.02,14.66,15.04
$GC,5692,-0.62,-116.8,2106,3892,3421,3417,711.5,-10.6,451,5699,0.00,2.25,0.00,0.000,1030,0.000,0.038,2106,2490,3419,3422,3417,0,0,0,0,0,0,14.85,14.78,14.87
$GC,6012,-0.62,-116.8,2105,2489,3421,3416,743.1,-9.8,469,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2489,3418,3421,3416,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6313,-0.62,-116.8,2105,2489,3420,3414,772.8,-10.0,484,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2488,3417,3420,3414,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6612,-0.62,-116.8,2105,2488,3418,3413,803.4,-10.3,499,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2489,3415,3418,3413,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6912,-0.62,-116.8,2105,2488,3418,3412,834.7,-10.7,514,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2488,3414,3417,3412,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7212,-0.62,-116.8,2105,2488,3416,3412,867.0,-10.8,529,7220,0.00,2.45,0.00,0.000,260,0.000,0.090,2095,3891,3413,3414,3412,0,0,0,0,0,0,15.01,14.63,15.04
$GC,7247,-0.62,-116.8,2094,3891,3416,3412,871.1,-11.5,536,7254,0.10,2.30,0.00,0.000,3078,0.171,0.037,2126,2493,3413,3416,3410,0,0,0,0,0,0,14.45,14.64,14.56
$GC,7554,-0.62,-116.8,2127,2493,3415,3411,900.4,-9.5,552,7559,0.00,2.30,0.00,0.000,516,0.000,0.051,2126,1102,3412,3415,3410,0,0,0,0,0,0,15.01,14.69,15.03
$GC,7586,-0.62,-116.8,2126,1102,3414,3411,903.7,-9.5,558,7596,0.00,2.40,0.00,0.000,1030,0.000,0.060,2117,2508,3412,3414,3411,0,0,0,0,0,0,14.78,14.68,14.82
$GC,7897,-0.62,-116.8,2117,2508,3413,3409,934.0,-9.7,575,7904,0.00,2.40,0.00,0.000,260,0.000,0.091,2107,3894,3411,3413,3410,0,0,0,0,0,0,15.00,14.62,15.02
$GC,7926,-0.62,-116.8,2107,3894,3414,3410,936.9,-10.6,580,7932,0.00,2.25,0.00,0.000,1030,0.000,0.038,2107,2498,3411,3413,3410,0,0,0,0,0,0,14.81,14.75,14.83
$GC,8245,-0.62,-116.8,2106,2497,3413,3408,968.3,-9.8,598,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3410,3413,3408,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,8462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8464,begin apogee
$GC,8470,-0.15,0.0,2107,2497,3413,3407,990.3,-10.1,609,8583,0.60,0.00,104.43,2.029,10246,0.172,0.000,2280,2496,2967,2993,2942,0,0,0,0,0,0,14.52,14.16,13.25
$STATE,8585,end apogee,CONTROL_FINISHED_OK
$STATE,8585,begin climb
$GC,8588,0.62,116.8,2281,2497,2991,2941,994.4,0.0,615,8713,0.77,0.00,112.68,2.020,10502,0.093,0.000,2538,2496,2491,2524,2459,0,0,0,0,0,0,14.23,14.00,13.12
$GC,9027,0.62,116.8,2537,2496,2511,2454,966.5,9.2,658,9035,0.00,2.45,0.00,0.000,516,0.000,0.053,2548,1047,2482,2511,2453,0,0,0,0,0,0,14.76,14.54,14.79
$GC,9081,0.62,116.8,2549,1047,2510,2453,961.1,9.7,669,9089,0.00,2.45,0.00,0.000,1030,0.000,0.056,2549,2442,2481,2510,2453,0,0,0,0,0,0,14.53,14.48,14.57
$GC,9388,0.62,116.8,2548,2442,2509,2452,930.9,10.0,685,9394,0.00,2.35,0.00,0.000,516,0.000,0.051,2560,1048,2480,2509,2452,0,0,0,0,0,0,14.88,14.64,14.91
$GC,9432,0.62,116.8,2559,1047,2507,2452,926.5,9.9,693,9439,0.00,2.38,0.00,0.000,1030,0.000,0.055,2560,2445,2480,2508,2452,0,0,0,0,0,0,14.73,14.64,14.76
$GC,9757,0.62,116.8,2559,2445,2508,2451,891.2,11.1,712,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2445,2479,2507,2451,0,0,0,0,0,0,14.93,14.97,14.96
$GC,10057,0.62,116.8,2558,2444,2506,2450,858.0,11.2,727,10063,0.00,2.35,0.00,0.000,516,0.000,0.050,2571,1046,2478,2506,2450,0,0,0,0,0,0,14.95,14.69,14.98
$GC,10100,0.62,116.8,2570,1046,2506,2450,853.1,11.1,735,10109,0.15,2.38,0.00,0.000,5126,0.242,0.054,2537,2449,2478,2506,2450,0,0,0,0,0,0,14.47,14.68,14.72
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$STATE,19608,end climb,SURFACE_DEPTH_REACHED
$STATE,19608,begin surface coast
$STATE,19635,end surface coast,CONTROL_FINISHED_OK
$STATE,19636,begin surface
$SM_CCo,19661,122.68,0.619,1,0,928,500.17
$SM_GC,1.32,7.22,0.10,122.68,0.056,0.152,0.619,118,2508,928,-6.79,-0.90,500.17,0,0,0,0,1,0,14.73,14.68,14.03
$IRIDIUM_FIX,1337.61,8704.60,100919,121027
$TT8_MAMPS,0.018725,0.932505
$HUMID,40.51
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,26.50
$XPDR_PINGS,2
$SC_FREEKB,3814688
$PM_FREEKB_00,49520512
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.12,82.555
$10V_AH,13.37,0.000
$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,18.925,174.275,443.625,122.675,0.000,0.000,0.000,285.625,0.500,0.000,14.097,1453.495,12857.799,612.654,4844.188,551.055,0.000,2464.929,0.000,4234.684,0.000,0.542,0.000
$DEVICE_MAMPS,361.845,152.235,2028.780,618.885,0.000,0.000,0.000,182.835,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3927.061,0.000,0.000,0.000,0.000,0.000,19642.000,0.000,19661.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.245,0.000,3.480,0.000
$MEM,251832
$DATA_FILE_SIZE,69983,1572
$CAP_FILE_SIZE,280053,0
$CFSIZE,260034560,170790912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.077,161.28,1
$GPS,100919,233619,1334.713,8700.228,34,0.7,45,-0.9,0.2,156.4,12,4.2