version: 66.13
glider: 171
mission: 11
dive: 224
start: 9 13 119 9 48 40
data:
$ID,171
$MISSION,11
$DIVE,224
$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,36
$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
$GPS1,130919,093909,1308.3239,8659.2842,25,0.9,25,-0.9,0.4,172.7,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.6
$GPS2,130919,094753,1308.2977,8659.2656,3,0.5,4,-0.9,0.6,299.1,12,5.0
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,175.6,15424,-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,18,-0.62,-116.8,79,2507,971,879,0.0,0.0,0,102,0.00,0.00,-77.55,0.005,16386,0.000,0.000,77,2508,2796,2793,2799,0,0,0,0,0,0,14.83,28.83,14.86
$GC,105,-0.62,-116.8,77,2508,2794,2799,5.2,-13.9,16,138,9.20,2.38,-11.35,0.013,18692,0.359,0.097,2109,3891,3447,3453,3442,0,0,0,0,0,0,14.29,13.81,14.51
$GC,191,-0.62,-116.8,2108,3891,3453,3442,38.1,-30.8,33,198,0.00,2.28,0.00,0.000,1030,0.000,0.038,2108,2506,3447,3453,3441,0,0,0,0,0,0,14.66,14.62,14.69
$GC,381,-0.62,-116.8,2108,2504,3453,3442,95.9,-25.6,55,387,0.00,2.30,0.00,0.000,516,0.000,0.048,2109,1090,3447,3452,3442,0,0,0,0,0,0,14.91,14.67,14.94
$GC,469,-0.62,-116.8,2108,1090,3452,3441,114.0,-17.7,72,477,0.08,2.40,0.00,0.000,3078,0.221,0.055,2119,2493,3447,3453,3442,0,0,0,0,0,0,14.47,14.63,14.60
$GC,656,-0.62,-116.8,2119,2493,3452,3442,143.9,-15.3,91,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2493,3447,3453,3442,0,0,0,0,0,0,14.95,14.98,14.98
$GC,845,-0.62,-116.8,2119,2493,3453,3442,172.5,-14.4,110,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2494,3447,3453,3442,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1036,-0.62,-116.8,2119,2493,3453,3442,196.2,-11.5,129,1042,0.00,2.38,0.00,0.000,260,0.000,0.084,2110,3891,3447,3453,3442,0,0,0,0,0,0,14.98,14.68,15.00
$GC,1114,-0.62,-116.8,2110,3892,3453,3441,206.3,-12.8,144,1122,0.00,2.28,0.00,0.000,1030,0.000,0.034,2110,2482,3447,3452,3442,0,0,0,0,0,0,14.73,14.71,14.76
$GC,1300,-0.62,-116.8,2110,2481,3451,3442,231.7,-14.4,163,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2482,3446,3451,3442,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1491,-0.62,-116.8,2110,2481,3450,3441,258.2,-13.4,179,1499,0.00,2.42,0.00,0.000,260,0.000,0.085,2100,3897,3445,3449,3441,0,0,0,0,0,0,15.01,14.71,15.04
$GC,1572,-0.62,-116.8,2099,3897,3448,3441,269.2,-13.4,195,1578,0.00,2.20,0.00,0.000,1030,0.000,0.032,2100,2494,3444,3448,3441,0,0,0,0,0,0,14.87,14.82,14.89
$GC,1896,-0.62,-116.8,2099,2493,3445,3441,311.2,-12.4,214,1903,0.00,2.40,0.00,0.000,260,0.000,0.085,2088,3897,3442,3445,3440,0,0,0,0,0,0,15.03,14.72,15.06
$GC,1921,-0.62,-116.8,2089,3897,3444,3440,314.3,-12.5,218,1928,0.15,2.20,0.00,0.000,3078,0.208,0.034,2126,2494,3442,3444,3440,0,0,0,0,0,0,14.63,14.83,14.81
$GC,2246,-0.62,-116.8,2126,2493,3443,3436,348.6,-10.5,237,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2493,3439,3443,3435,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2547,-0.62,-116.8,2126,2493,3441,3432,379.1,-10.1,252,2552,0.00,2.25,0.00,0.000,516,0.000,0.049,2127,1107,3436,3441,3432,0,0,0,0,0,0,15.04,14.78,15.07
$GC,2570,-0.62,-116.8,2126,1106,3440,3432,381.6,-10.5,256,2576,0.00,2.35,0.00,0.000,1030,0.000,0.059,2118,2506,3436,3440,3432,0,0,0,0,0,0,14.85,14.76,14.88
$GC,2895,-0.62,-116.8,2117,2505,3438,3428,414.9,-10.2,275,2901,0.00,2.38,0.00,0.000,260,0.000,0.086,2107,3897,3433,3438,3429,0,0,0,0,0,0,15.04,14.71,15.07
$GC,2932,-0.62,-116.8,2107,3897,3438,3429,419.1,-11.0,282,2940,0.00,2.25,0.00,0.000,1030,0.000,0.034,2107,2511,3433,3438,3429,0,0,0,0,0,0,14.76,14.73,14.78
$GC,3240,-0.62,-116.8,2107,2510,3435,3425,453.9,-11.5,298,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2510,3429,3434,3425,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3539,-0.62,-116.8,2107,2510,3432,3423,488.6,-11.7,313,3545,0.00,2.30,0.00,0.000,516,0.000,0.050,2107,1105,3427,3432,3423,0,0,0,0,0,0,15.04,14.76,15.07
$GC,3573,-0.62,-116.8,2107,1105,3432,3423,492.7,-11.7,319,3583,0.12,2.35,0.00,0.000,3078,0.216,0.058,2126,2499,3426,3430,3423,0,0,0,0,0,0,14.62,14.75,14.79
$GC,3883,-0.62,-116.8,2126,2499,3431,3421,525.1,-10.4,336,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2499,3426,3430,3422,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4183,-0.62,-116.8,2125,2499,3429,3420,555.7,-10.0,351,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2499,3424,3429,3420,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4482,-0.62,-116.8,2125,2499,3428,3418,583.8,-9.0,366,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2499,3423,3428,3418,0,0,0,0,0,0,15.04,15.07,15.06
$GC,4782,-0.62,-116.8,2127,2501,3427,3414,609.4,-8.4,381,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2501,3421,3427,3415,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5082,-0.62,-116.8,2127,2501,3424,3414,634.9,-8.6,396,5088,0.00,2.40,0.00,0.000,260,0.000,0.088,2118,3897,3418,3423,3414,0,0,0,0,0,0,15.03,14.66,15.05
$GC,5120,-0.62,-116.8,2118,3897,3423,3414,638.3,-9.3,403,5127,0.00,2.30,0.00,0.000,1030,0.000,0.038,2119,2499,3419,3425,3414,0,0,0,0,0,0,14.71,14.67,14.73
$GC,5426,-0.62,-116.8,2118,2497,3421,3413,666.4,-9.2,419,5432,0.00,2.28,0.00,0.000,516,0.000,0.050,2118,1106,3417,3421,3413,0,0,0,0,0,0,15.03,14.73,15.06
$GC,5463,-0.62,-116.8,2118,1106,3421,3413,670.1,-9.5,426,5471,0.00,2.42,0.00,0.000,1030,0.000,0.058,2108,2498,3417,3421,3413,0,0,0,0,0,0,14.65,14.59,14.69
$GC,5770,-0.62,-116.8,2107,2498,3421,3411,700.8,-10.2,442,5776,0.00,2.40,0.00,0.000,260,0.000,0.090,2096,3893,3416,3421,3411,0,0,0,0,0,0,15.02,14.65,15.05
$GC,5814,-0.62,-116.8,2096,3893,3421,3412,705.6,-11.0,450,5822,0.12,2.22,0.00,0.000,3078,0.208,0.037,2127,2496,3416,3421,3411,0,0,0,0,0,0,14.57,14.78,14.75
$GC,6140,-0.62,-116.8,2126,2494,3419,3411,736.0,-9.3,469,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2494,3413,3417,3410,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6440,-0.62,-116.8,2126,2494,3418,3409,764.6,-9.5,484,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2494,3413,3418,3409,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6740,-0.62,-116.8,2126,2494,3416,3408,791.9,-8.9,499,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2494,3412,3416,3408,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7040,-0.62,-116.8,2126,2494,3416,3407,817.2,-8.3,514,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2494,3411,3416,3407,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7339,-0.62,-116.8,2126,2493,3414,3407,842.0,-8.3,529,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2494,3410,3414,3407,0,0,0,0,0,0,15.00,15.04,15.04
$GC,7640,-0.62,-116.8,2127,2494,3413,3406,867.6,-8.7,544,7645,0.00,2.28,0.00,0.000,516,0.000,0.050,2127,1109,3409,3413,3406,0,0,0,0,0,0,15.00,14.69,15.03
$GC,7684,-0.62,-116.8,2127,1109,3413,3406,871.4,-8.7,552,7690,0.00,2.40,0.00,0.000,1030,0.000,0.060,2118,2504,3409,3413,3406,0,0,0,0,0,0,14.78,14.67,14.81
$GC,8008,-0.62,-116.8,2118,2504,3413,3404,901.6,-9.3,571,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2504,3408,3413,3404,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8307,-0.62,-116.8,2118,2504,3412,3404,929.1,-9.0,586,8314,0.00,2.42,0.00,0.000,260,0.000,0.090,2108,3902,3407,3412,3403,0,0,0,0,0,0,15.00,14.59,15.02
$GC,8340,-0.62,-116.8,2107,3902,3411,3403,932.2,-10.0,592,8346,0.00,2.25,0.00,0.000,1030,0.000,0.037,2108,2504,3406,3409,3403,0,0,0,0,0,0,14.80,14.74,14.82
$GC,8654,-0.62,-116.8,2107,2503,3411,3402,961.4,-9.2,609,8660,0.00,2.33,0.00,0.000,516,0.000,0.050,2107,1102,3406,3411,3402,0,0,0,0,0,0,14.99,14.66,15.02
$GC,8681,-0.62,-116.8,2107,1102,3410,3402,964.3,-10.5,614,8689,0.12,2.40,0.00,0.000,3078,0.217,0.059,2126,2504,3406,3410,3402,0,0,0,0,0,0,14.50,14.65,14.69
$GC,9002,-0.62,-116.8,2126,2504,3410,3402,989.9,-8.0,632,9007,0.00,2.42,0.00,0.000,262,0.000,0.090,2117,3899,3405,3410,3401,0,0,0,0,0,0,14.99,14.58,15.02
$STATE,9008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9008,begin apogee
$GC,9016,-0.15,0.0,2117,2430,3410,3402,990.5,-7.9,633,9128,0.55,0.00,103.72,2.034,10246,0.167,0.000,2277,2431,2967,2994,2941,0,0,0,0,0,0,14.50,13.95,13.21
$STATE,9130,end apogee,CONTROL_FINISHED_OK
$STATE,9130,begin climb
$GC,9133,0.62,116.8,2277,2431,2992,2941,994.1,0.0,639,9262,0.80,2.45,112.62,2.017,10756,0.099,0.054,2549,1034,2489,2522,2457,0,0,0,0,0,0,14.21,14.02,13.11
$GC,9291,0.62,116.8,2548,1034,2516,2456,989.7,8.0,665,9300,0.00,2.50,0.00,0.000,1030,0.000,0.054,2549,2449,2485,2515,2456,0,0,0,0,0,0,14.26,14.18,14.26
$GC,9614,0.62,116.8,2548,2449,2512,2452,957.2,10.1,684,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2449,2482,2512,2453,0,0,0,0,0,0,14.78,14.82,14.81
$GC,9914,0.62,116.8,2548,2450,2510,2451,927.6,10.0,699,9919,0.00,2.40,0.00,0.000,516,0.000,0.051,2560,1030,2480,2510,2451,0,0,0,0,0,0,14.88,14.63,14.91
$GC,9950,0.62,116.8,2559,1029,2509,2450,923.5,10.5,706,9958,0.00,2.47,0.00,0.000,1030,0.000,0.055,2560,2444,2480,2509,2451,0,0,0,0,0,0,14.59,14.54,14.64
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$STATE,20132,end climb,SURFACE_DEPTH_REACHED
$STATE,20132,begin surface coast
$STATE,20147,end surface coast,CONTROL_FINISHED_OK
$STATE,20147,begin surface
$SM_CCo,20173,74.25,0.545,1,0,928,500.17
$SM_GC,1.48,7.28,0.12,74.25,0.048,0.129,0.545,118,2533,928,-6.78,-0.79,500.17,0,0,0,0,1,0,14.66,14.60,14.04
$IRIDIUM_FIX,1310.69,8658.30,130919,042638
$TT8_MAMPS,0.018725,0.238931
$HUMID,42.16
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.60
$XPDR_PINGS,3
$SC_FREEKB,3809760
$PM_FREEKB_00,48895872
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.11,86.759
$10V_AH,12.86,0.000
$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,19.025,165.775,492.075,74.250,0.000,0.000,0.000,284.700,0.750,0.000,17.053,1421.567,13403.659,605.902,4784.636,565.368,0.000,2446.797,0.000,4163.643,0.000,0.543,0.000
$DEVICE_MAMPS,358.785,129.285,2034.135,544.680,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3899.034,0.000,0.000,0.000,0.000,0.000,20157.000,0.000,20167.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.247,0.000,3.382,0.000
$MEM,251916
$DATA_FILE_SIZE,66613,1542
$CAP_FILE_SIZE,277386,0
$CFSIZE,260034560,169480192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.066,151.07,1
$GPS,130919,152739,1305.847,8659.710,23,1.2,23,-0.9,0.3,316.0,5,7.8