version: 66.13
glider: 171
mission: 11
dive: 232
start: 9 15 119 8 10 46
data:
$ID,171
$MISSION,11
$DIVE,232
$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,52
$R_STBD_OVSHOOT,26
$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
$GPS1,150919,080058,1312.5936,8701.1592,31,1.2,31,-0.9,0.9,95.2,6,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.1
$GPS2,150919,080959,1312.5029,8701.2363,2,0.6,3,-0.9,0.2,0.0,12,7.6
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,336.7,62539,-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,-116.8,89,2501,968,882,0.0,0.0,0,102,0.00,0.00,-77.30,0.005,16386,0.000,0.000,84,2501,2794,2791,2797,0,0,0,0,0,0,14.81,28.83,14.84
$GC,105,-0.62,-116.8,84,2501,2792,2797,5.4,-15.1,16,132,9.10,2.33,-11.23,0.013,18948,0.354,0.070,2125,1107,3447,3453,3441,0,0,0,0,0,0,14.26,13.77,14.47
$GC,166,-0.62,-116.8,2125,1103,3453,3441,30.5,-32.2,28,172,0.00,2.42,0.00,0.000,1030,0.000,0.062,2116,2492,3447,3453,3441,0,0,0,0,0,0,14.55,14.49,14.59
$GC,361,-0.62,-116.8,2116,2492,3453,3441,91.0,-25.0,53,371,0.00,2.40,0.00,0.000,260,0.000,0.081,2106,3906,3447,3453,3441,0,0,0,0,0,0,14.88,14.60,14.91
$GC,466,-0.62,-116.8,2105,3906,3453,3441,114.1,-18.1,73,472,0.00,2.25,0.00,0.000,1030,0.000,0.034,2106,2494,3446,3453,3440,0,0,0,0,0,0,14.71,14.64,14.73
$GC,660,-0.62,-116.8,2105,2493,3453,3441,147.2,-15.2,93,669,0.00,2.40,0.00,0.000,260,0.000,0.081,2095,3900,3447,3453,3441,0,0,0,0,0,0,14.92,14.64,14.95
$GC,754,-0.62,-116.8,2094,3900,3453,3441,161.2,-15.3,111,761,0.12,2.22,0.00,0.000,3078,0.231,0.033,2123,2490,3447,3453,3441,0,0,0,0,0,0,14.47,14.69,14.64
$GC,950,-0.62,-116.8,2122,2488,3453,3441,190.4,-14.8,131,956,0.00,2.25,0.00,0.000,516,0.000,0.050,2121,1099,3447,3453,3441,0,0,0,0,0,0,14.96,14.72,14.98
$GC,1055,-0.62,-116.8,2122,1099,3453,3441,204.3,-12.4,151,1061,0.00,2.38,0.00,0.000,1030,0.000,0.059,2114,2513,3447,3453,3441,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1249,-0.62,-116.8,2113,2514,3452,3441,227.7,-11.4,171,1254,0.00,2.33,0.00,0.000,260,0.000,0.082,2103,3894,3446,3452,3441,0,0,0,0,0,0,14.99,14.67,15.01
$GC,1273,-0.62,-116.8,2103,3894,3451,3441,230.3,-10.9,175,1278,0.00,2.20,0.00,0.000,1030,0.000,0.032,2103,2494,3446,3451,3441,0,0,0,0,0,0,14.83,14.78,14.85
$GC,1476,-0.62,-116.8,2103,2493,3450,3441,255.5,-13.3,194,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2493,3445,3450,3441,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1776,-0.62,-116.8,2103,2493,3446,3440,293.1,-12.1,209,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2493,3443,3446,3441,0,0,0,0,0,0,15.02,15.05,15.04
$GC,2076,-0.62,-116.8,2103,2493,3444,3437,329.6,-11.8,224,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2493,3440,3443,3438,0,0,0,0,0,0,15.02,15.06,15.05
$GC,2377,-0.62,-116.8,2102,2493,3442,3434,365.9,-12.2,239,2382,0.00,2.40,0.00,0.000,260,0.000,0.085,2092,3893,3437,3442,3432,0,0,0,0,0,0,15.03,14.69,15.06
$GC,2400,-0.62,-116.8,2091,3893,3442,3434,368.9,-12.4,243,2407,0.15,2.20,0.00,0.000,3078,0.201,0.034,2129,2498,3438,3442,3434,0,0,0,0,0,0,14.60,14.81,14.78
$GC,2725,-0.62,-116.8,2129,2497,3439,3430,400.4,-9.5,262,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2497,3434,3439,3430,0,0,0,0,0,0,15.03,15.07,15.06
$GC,3025,-0.62,-116.8,2129,2497,3437,3428,429.6,-9.9,277,3030,0.00,2.28,0.00,0.000,516,0.000,0.051,2130,1102,3432,3437,3428,0,0,0,0,0,0,15.03,14.75,15.06
$GC,3068,-0.62,-116.8,2130,1103,3435,3426,433.9,-9.5,285,3074,0.00,2.38,0.00,0.000,1030,0.000,0.060,2121,2507,3431,3435,3428,0,0,0,0,0,0,14.83,14.73,14.86
$GC,3392,-0.62,-116.8,2121,2508,3433,3424,467.0,-10.2,304,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2508,3428,3433,3424,0,0,0,0,0,0,15.03,15.06,15.06
$GC,3693,-0.62,-116.8,2120,2508,3431,3423,498.1,-10.5,319,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2508,3427,3431,3423,0,0,0,0,0,0,15.03,15.07,15.06
$GC,3992,-0.62,-116.8,2120,2508,3430,3421,530.1,-10.7,334,3998,0.00,2.38,0.00,0.000,260,0.000,0.086,2112,3894,3424,3427,3421,0,0,0,0,0,0,15.03,14.66,15.06
$GC,4029,-0.62,-116.8,2110,3894,3429,3421,534.6,-11.4,341,4036,0.00,2.28,0.00,0.000,1030,0.000,0.034,2110,2504,3425,3429,3421,0,0,0,0,0,0,14.71,14.67,14.73
$GC,4336,-0.62,-116.8,2108,2501,3429,3417,570.2,-11.7,357,4342,0.00,2.30,0.00,0.000,516,0.000,0.051,2109,1101,3423,3429,3417,0,0,0,0,0,0,15.02,14.73,15.05
$GC,4389,-0.62,-116.8,2109,1101,3429,3417,576.5,-11.5,367,4395,0.00,2.40,0.00,0.000,1030,0.000,0.060,2100,2509,3423,3430,3417,0,0,0,0,0,0,14.81,14.71,14.83
$GC,4703,-0.62,-116.8,2099,2509,3427,3417,614.9,-12.2,384,4711,0.00,2.38,0.00,0.000,260,0.000,0.086,2089,3891,3421,3427,3415,0,0,0,0,0,0,15.02,14.64,15.04
$GC,4754,-0.62,-116.8,2088,3891,3426,3417,621.4,-12.6,394,4761,0.15,2.22,0.00,0.000,3078,0.204,0.036,2126,2495,3422,3428,3417,0,0,0,0,0,0,14.54,14.78,14.73
$GC,5070,-0.62,-116.8,2126,2494,3422,3417,654.2,-10.1,411,5076,0.00,2.30,0.00,0.000,516,0.000,0.051,2127,1108,3419,3422,3416,0,0,0,0,0,0,15.02,14.71,15.04
$GC,5102,-0.62,-116.8,2126,1108,3422,3416,657.6,-10.2,417,5108,0.00,2.38,0.00,0.000,1030,0.000,0.060,2118,2504,3418,3422,3415,0,0,0,0,0,0,14.80,14.69,14.83
$GC,5416,-0.62,-116.8,2117,2505,3422,3413,689.9,-10.2,434,5423,0.00,2.40,0.00,0.000,260,0.000,0.087,2107,3891,3417,3422,3413,0,0,0,0,0,0,15.02,14.62,15.04
$GC,5449,-0.62,-116.8,2107,3892,3421,3413,693.5,-10.7,440,5455,0.00,2.22,0.00,0.000,1030,0.000,0.037,2107,2500,3417,3422,3412,0,0,0,0,0,0,14.83,14.77,14.85
$GC,5763,-0.62,-116.8,2107,2499,3421,3412,726.5,-10.5,457,5769,0.00,2.30,0.00,0.000,516,0.000,0.051,2107,1108,3416,3421,3412,0,0,0,0,0,0,15.01,14.69,15.04
$GC,5807,-0.62,-116.8,2107,1108,3421,3412,731.1,-10.3,465,5817,0.12,2.38,0.00,0.000,3078,0.219,0.059,2125,2501,3416,3421,3412,0,0,0,0,0,0,14.48,14.64,14.68
$GC,6131,-0.62,-116.8,2125,2501,3419,3411,760.5,-9.0,484,6136,0.00,2.40,0.00,0.000,260,0.000,0.089,2117,3890,3415,3419,3411,0,0,0,0,0,0,15.00,14.60,15.03
$GC,6157,-0.62,-116.8,2116,3890,3419,3411,763.2,-9.9,489,6163,0.00,2.22,0.00,0.000,1030,0.000,0.038,2117,2503,3415,3419,3411,0,0,0,0,0,0,14.81,14.75,14.84
$GC,6476,-0.62,-116.8,2116,2501,3420,3410,793.4,-9.4,507,6482,0.00,2.30,0.00,0.000,516,0.000,0.050,2116,1107,3413,3418,3409,0,0,0,0,0,0,15.01,14.68,15.03
$GC,6521,-0.62,-116.8,2116,1106,3417,3410,797.6,-9.5,515,6526,0.00,2.38,0.00,0.000,1030,0.000,0.060,2106,2499,3413,3417,3410,0,0,0,0,0,0,14.76,14.66,14.80
$GC,6845,-0.62,-116.8,2106,2499,3416,3407,829.7,-9.9,534,6851,0.00,2.42,0.00,0.000,260,0.000,0.089,2095,3898,3412,3416,3408,0,0,0,0,0,0,15.00,14.59,15.02
$GC,6903,-0.62,-116.8,2094,3898,3416,3408,835.9,-10.4,545,6910,0.08,2.30,0.00,0.000,3078,0.184,0.037,2119,2506,3412,3416,3408,0,0,0,0,0,0,14.38,14.60,14.50
$GC,7210,-0.62,-116.8,2119,2505,3415,3408,863.3,-9.0,561,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2505,3411,3415,3408,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7510,-0.62,-116.8,2119,2505,3413,3407,890.4,-9.0,576,7515,0.00,2.33,0.00,0.000,516,0.000,0.050,2120,1098,3412,3416,3409,0,0,0,0,0,0,15.00,14.66,15.02
$GC,7562,-0.62,-116.8,2119,1098,3413,3407,895.3,-8.9,586,7569,0.00,2.40,0.00,0.000,1030,0.000,0.060,2111,2498,3410,3413,3407,0,0,0,0,0,0,14.76,14.64,14.78
$GC,7878,-0.62,-116.8,2110,2498,3413,3406,924.7,-9.5,603,7884,0.00,2.45,0.00,0.000,260,0.000,0.090,2100,3897,3409,3413,3406,0,0,0,0,0,0,14.99,14.57,15.02
$GC,7916,-0.62,-116.8,2100,3897,3413,3406,928.6,-9.9,610,7924,0.00,2.33,0.00,0.000,1030,0.000,0.037,2099,2497,3410,3415,3406,0,0,0,0,0,0,14.62,14.59,14.64
$GC,8222,-0.62,-116.8,2100,2496,3412,3405,958.6,-9.8,626,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2496,3408,3412,3405,0,0,0,0,0,0,14.98,15.02,15.01
$GC,8521,-0.62,-116.8,2099,2496,3411,3403,988.1,-9.8,641,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2496,3407,3412,3403,0,0,0,0,0,0,14.98,15.02,15.01
$STATE,8539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8539,begin apogee
$GC,8545,-0.15,0.0,2100,2496,3411,3403,990.1,-9.9,642,8660,0.62,0.00,105.15,2.026,10246,0.177,0.000,2279,2496,2967,2992,2942,0,0,0,0,0,0,14.46,14.14,13.14
$STATE,8662,end apogee,CONTROL_FINISHED_OK
$STATE,8662,begin climb
$GC,8664,0.62,116.8,2279,2495,2991,2942,993.3,0.0,648,8790,0.77,0.00,114.47,2.025,10502,0.093,0.000,2535,2495,2491,2523,2459,0,0,0,0,0,0,14.21,13.99,13.08
$GC,9084,0.62,116.8,2534,2495,2511,2453,964.1,10.2,672,9092,0.00,2.45,0.00,0.000,516,0.000,0.052,2546,1046,2482,2511,2453,0,0,0,0,0,0,14.75,14.51,14.78
$GC,9133,0.62,116.8,2546,1046,2510,2453,958.8,10.2,682,9140,0.00,2.42,0.00,0.000,1030,0.000,0.055,2546,2443,2481,2510,2452,0,0,0,0,0,0,14.62,14.52,14.65
$GC,9448,0.62,116.8,2546,2443,2509,2452,925.8,10.8,699,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2443,2480,2509,2452,0,0,0,0,0,0,14.88,14.91,14.90
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$STATE,19993,end climb,SURFACE_DEPTH_REACHED
$STATE,19993,begin surface coast
$STATE,20024,end surface coast,CONTROL_FINISHED_OK
$STATE,20024,begin surface
$SM_CCo,20052,96.85,0.588,1,0,928,500.17
$SM_GC,1.28,7.07,0.10,96.85,0.041,0.147,0.588,129,2522,928,-6.78,-0.74,500.17,0,0,0,0,1,0,14.66,14.64,14.03
$IRIDIUM_FIX,1312.83,8700.51,150919,021301
$TT8_MAMPS,0.018725,0.928011
$HUMID,41.33
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,26.40
$XPDR_PINGS,1
$SC_FREEKB,3806176
$PM_FREEKB_00,48442496
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.08,89.822
$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,18.700,193.100,473.150,96.850,0.000,0.000,0.000,298.675,0.250,0.000,16.660,1497.466,13037.274,635.760,4959.865,566.322,0.000,2525.848,0.000,4318.312,0.000,0.542,0.000
$DEVICE_MAMPS,354.195,146.880,2026.485,587.520,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3972.986,0.000,0.000,0.000,0.000,0.000,20033.000,0.000,20048.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.245,0.000,3.367,0.000
$MEM,251848
$DATA_FILE_SIZE,69998,1621
$CAP_FILE_SIZE,286653,0
$CFSIZE,260034560,168497152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.089,96.11,1
$GPS,150919,134800,1314.081,8701.580,17,0.7,17,-0.9,1.3,180.5,11,3.1