version: 66.13
glider: 178
mission: 31
dive: 73
start: 10 18 119 17 12 33
data:
$ID,178
$MISSION,31
$DIVE,73
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$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,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$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,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.45766
$PRESSURE_SLOPE,0.0001061024
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,181019,170009,1417.8573,14410.3721,21,0.8,30,0.3,0.3,84.0,11,2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-58.2
$GPS2,181019,171144,1417.8988,14410.3604,2,0.6,3,0.3,0.6,314.6,12,6.9
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,351.6,5780,-16.5,-8.462,-22.45,2099
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-116.8,151,2718,992,863,0.0,0.0,0,110,0.00,0.00,-88.88,0.005,16386,0.000,0.000,151,2719,3254,3297,3212,0,0,0,0,0,0,15.26,28.83,15.29
$GC,112,-0.73,-116.8,151,2718,3297,3212,5.0,-9.6,9,131,8.00,2.05,-3.17,0.038,18692,0.399,0.094,1870,3917,3444,3507,3381,0,0,0,0,0,0,14.91,14.57,15.07
$GC,263,-0.73,-116.8,1868,3922,3508,3381,65.1,-29.0,39,270,0.00,1.90,0.00,0.000,1030,0.000,0.031,1870,2728,3444,3508,3381,0,0,0,0,0,0,15.21,15.20,15.23
$GC,452,-0.73,-116.8,1868,2721,3509,3380,106.8,-19.8,58,457,0.00,2.03,0.00,0.000,260,0.000,0.078,1860,3917,3444,3509,3380,0,0,0,0,0,0,15.40,15.20,15.42
$GC,518,-0.73,-116.8,1861,3921,3509,3382,120.9,-23.0,70,524,0.00,1.83,0.00,0.000,1030,0.000,0.031,1861,2732,3444,3509,3380,0,0,0,0,0,0,15.31,15.28,15.32
$GC,712,-0.73,-116.8,1860,2725,3515,3380,160.3,-18.5,90,718,0.00,2.00,0.00,0.000,260,0.000,0.081,1852,3907,3444,3509,3380,0,0,0,0,0,0,15.43,15.23,15.45
$GC,947,-0.73,-116.8,1852,3907,3509,3381,201.8,-15.9,136,955,0.15,1.80,0.00,0.000,3078,0.280,0.031,1885,2734,3444,3509,3380,0,0,0,0,0,0,15.18,15.33,15.33
$GC,1143,-0.73,-116.8,1885,2723,3509,3379,223.3,-9.8,156,1148,0.00,2.15,0.00,0.000,516,0.000,0.043,1884,1381,3445,3510,3381,0,0,0,0,0,0,15.48,15.29,15.50
$GC,1321,-0.73,-116.8,1885,1381,3509,3380,241.5,-9.9,191,1328,0.00,2.25,0.00,0.000,1030,0.000,0.052,1885,2715,3444,3509,3380,0,0,0,0,0,0,15.33,15.28,15.35
$GC,1509,-0.73,-116.8,1883,2714,3509,3379,260.2,-10.3,204,1515,0.00,2.05,0.00,0.000,260,0.000,0.080,1878,3946,3444,3509,3379,0,0,0,0,0,0,15.50,15.30,15.52
$GC,1621,-0.73,-116.8,1877,3946,3509,3378,273.7,-12.1,226,1627,0.00,1.85,0.00,0.000,1030,0.000,0.033,1878,2731,3444,3509,3379,0,0,0,0,0,0,15.41,15.38,15.42
$GC,1935,-0.73,-116.8,1877,2732,3509,3375,308.0,-10.7,238,1942,0.00,2.15,0.00,0.000,516,0.000,0.044,1878,1393,3442,3509,3375,0,0,0,0,0,0,15.52,15.34,15.54
$GC,2000,-0.73,-116.8,1877,1393,3508,3374,314.9,-10.6,250,2008,0.00,2.25,0.00,0.000,1030,0.000,0.053,1878,2749,3441,3509,3374,0,0,0,0,0,0,15.40,15.33,15.40
$GC,2337,-0.73,-116.8,1877,2749,3508,3370,346.3,-8.9,266,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2749,3439,3508,3370,0,0,0,0,0,0,15.52,15.53,15.54
$GC,2637,-0.73,-116.8,1877,2749,3506,3363,372.7,-9.5,276,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2749,3437,3506,3369,0,0,0,0,0,0,15.53,15.55,15.54
$GC,2937,-0.73,-116.8,1877,2749,3504,3366,403.7,-10.6,286,2943,0.00,2.00,0.00,0.000,260,0.000,0.085,1878,3944,3435,3504,3366,0,0,0,0,0,0,15.53,15.33,15.55
$GC,3144,-0.73,-116.8,1878,3945,3502,3364,425.6,-10.6,327,3150,0.00,1.88,0.00,0.000,1030,0.000,0.037,1878,2786,3432,3501,3364,0,0,0,0,0,0,15.40,15.38,15.42
$GC,3451,-0.73,-116.8,1877,2787,3506,3362,453.6,-8.6,338,3457,0.00,2.00,0.00,0.000,260,0.000,0.085,1878,3949,3430,3499,3362,0,0,0,0,0,0,15.54,15.33,15.56
$GC,3533,-0.73,-116.8,1877,3946,3498,3362,461.6,-9.8,354,3539,0.00,1.90,0.00,0.000,1030,0.000,0.039,1878,2751,3429,3497,3362,0,0,0,0,0,0,15.42,15.38,15.44
$GC,3847,-0.73,-116.8,1877,2751,3495,3359,489.1,-8.3,366,3853,0.00,2.28,0.00,0.000,516,0.000,0.046,1878,1353,3427,3495,3359,0,0,0,0,0,0,15.54,15.36,15.56
$GC,4079,-0.73,-116.8,1877,1353,3492,3359,509.9,-8.6,412,4085,0.00,2.35,0.00,0.000,1030,0.000,0.057,1878,2748,3426,3492,3360,0,0,0,0,0,0,15.42,15.34,15.43
$GC,4386,-0.73,-116.8,1878,2747,3489,3355,534.9,-8.2,423,4392,0.00,2.30,0.00,0.000,516,0.000,0.045,1878,1350,3422,3489,3356,0,0,0,0,0,0,15.53,15.36,15.55
$GC,4524,-0.73,-116.8,1877,1350,3486,3355,547.5,-9.2,450,4532,0.00,2.38,0.00,0.000,1030,0.000,0.058,1878,2756,3421,3486,3356,0,0,0,0,0,0,15.41,15.33,15.42
$GC,4840,-0.73,-116.8,1877,2756,3485,3353,574.9,-8.8,463,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2756,3419,3485,3354,0,0,0,0,0,0,15.52,15.54,15.54
$GC,5139,-0.73,-116.8,1873,2757,3483,3351,600.0,-8.1,473,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2753,3416,3483,3349,0,0,0,0,0,0,15.52,15.54,15.52
$GC,5439,-0.73,-116.8,1878,2756,3480,3349,624.2,-8.2,483,5445,0.00,2.03,0.00,0.000,260,0.000,0.091,1878,3945,3415,3481,3349,0,0,0,0,0,0,15.52,15.31,15.54
$GC,5480,-0.73,-116.8,1877,3946,3480,3349,627.9,-8.7,491,5489,0.00,1.92,0.00,0.000,1030,0.000,0.043,1877,2752,3414,3480,3349,0,0,0,0,0,0,15.41,15.36,15.42
$GC,5807,-0.73,-116.8,1877,2752,3477,3347,654.6,-8.2,505,5814,0.00,2.28,0.00,0.000,516,0.000,0.047,1878,1355,3412,3478,3347,0,0,0,0,0,0,15.52,15.33,15.54
$GC,5890,-0.73,-116.8,1877,1355,3477,3347,661.9,-8.4,521,5897,0.00,2.40,0.00,0.000,1030,0.000,0.060,1876,2758,3411,3476,3346,0,0,0,0,0,0,15.40,15.32,15.42
$GC,6207,-0.73,-116.8,1877,2758,3475,3344,685.9,-7.5,533,6214,0.00,2.03,0.00,0.000,260,0.000,0.093,1878,3945,3409,3474,3345,0,0,0,0,0,0,15.50,15.30,15.52
$GC,6255,-0.73,-116.8,1878,3945,3475,3345,690.0,-8.2,542,6260,0.00,1.92,0.00,0.000,1030,0.000,0.044,1877,2748,3409,3474,3345,0,0,0,0,0,0,15.41,15.38,15.42
$GC,6573,-0.73,-116.8,1877,2748,3473,3344,713.2,-7.2,555,6578,0.00,2.28,0.00,0.000,516,0.000,0.048,1878,1354,3408,3472,3344,0,0,0,0,0,0,15.51,15.33,15.52
$GC,6637,-0.73,-116.8,1878,1354,3472,3344,717.9,-7.5,567,6645,0.00,2.38,0.00,0.000,1030,0.000,0.062,1878,2747,3408,3472,3345,0,0,0,0,0,0,15.39,15.30,15.41
$GC,6967,-0.73,-116.8,1877,2748,3471,3342,740.7,-6.7,583,6973,0.00,2.08,0.00,0.000,260,0.000,0.093,1878,3955,3406,3471,3342,0,0,0,0,0,0,15.51,15.30,15.53
$GC,7025,-0.73,-116.8,1877,3955,3471,3342,744.5,-5.9,594,7031,0.00,2.00,0.00,0.000,1062,0.000,0.045,1878,2749,3406,3470,3342,0,0,0,0,0,0,15.37,15.34,15.39
$GC,7331,-0.73,-116.8,1877,2749,3469,3341,764.4,-6.4,605,7335,0.00,0.00,0.00,0.000,38,0.000,0.000,1878,2749,3404,3469,3340,0,0,0,0,0,0,15.50,15.52,15.52
$GC,7631,-0.73,-116.8,1877,2750,3467,3340,783.6,-6.4,615,7636,0.00,2.30,0.00,0.000,548,0.000,0.049,1878,1344,3403,3467,3340,0,0,0,0,0,0,15.50,15.31,15.52
$GC,7717,-0.73,-116.8,1877,1345,3466,3340,789.7,-7.4,632,7724,0.00,2.45,0.00,0.000,1030,0.000,0.063,1877,2752,3403,3466,3340,0,0,0,0,0,0,15.33,15.27,15.35
$GC,8024,-0.73,-116.8,1877,2752,3463,3339,808.7,-6.2,643,8028,0.00,0.00,0.00,0.000,38,0.000,0.000,1878,2752,3402,3466,3339,0,0,0,0,0,0,15.50,15.52,15.52
$GC,8324,-0.73,-116.8,1878,2752,3464,3338,828.2,-6.6,653,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2752,3399,3464,3334,0,0,0,0,0,0,15.49,15.51,15.50
$GC,8624,-0.73,-116.8,1877,2752,3464,3337,849.0,-7.3,663,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2752,3400,3463,3338,0,0,0,0,0,0,15.49,15.51,15.51
$GC,8924,-0.73,-116.8,1877,2752,3463,3337,871.2,-7.7,673,8930,0.00,2.08,0.00,0.000,260,0.000,0.095,1878,3950,3399,3462,3336,0,0,0,0,0,0,15.49,15.27,15.50
$GC,9067,-0.73,-116.8,1877,3950,3464,3336,882.5,-7.9,701,9073,0.00,1.95,0.00,0.000,1030,0.000,0.047,1878,2751,3402,3462,3342,0,0,0,0,0,0,15.38,15.33,15.40
$GC,9381,-0.73,-116.8,1877,2751,3461,3335,905.2,-7.2,713,9389,0.00,2.33,0.00,0.000,516,0.000,0.050,1876,1347,3397,3461,3334,0,0,0,0,0,0,15.47,15.29,15.49
$GC,9485,-0.73,-116.8,1877,1347,3460,3336,912.8,-8.8,733,9491,0.00,2.40,0.00,0.000,1030,0.000,0.063,1883,2750,3398,3461,3335,0,0,0,0,0,0,15.36,15.28,15.38
$GC,9809,-0.73,-116.8,1877,2750,3459,3334,935.6,-7.0,747,9815,0.00,2.35,0.00,0.000,516,0.000,0.050,1877,1343,3396,3459,3334,0,0,0,0,0,0,15.47,15.29,15.49
$GC,9917,-0.73,-116.8,1877,1343,3458,3334,943.6,-6.3,768,9926,0.00,2.42,0.00,0.000,1062,0.000,0.063,1875,2756,3396,3458,3334,0,0,0,0,0,0,15.34,15.25,15.35
$GC,10234,-0.73,-116.8,1877,2757,3458,3333,967.9,-8.0,781,10241,0.00,2.35,0.00,0.000,516,0.000,0.050,1878,1346,3395,3458,3333,0,0,0,0,0,0,15.47,15.28,15.49
$GC,10342,-0.73,-116.8,1877,1346,3458,3333,978.0,-8.8,802,10349,0.00,2.42,0.00,0.000,1030,0.000,0.065,1877,2748,3395,3458,3333,0,0,0,0,0,0,15.34,15.26,15.36
$STATE,10510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10510,begin apogee
$GC,10516,-0.21,0.0,1878,1702,3458,3333,991.1,-8.1,810,10624,0.62,0.00,102.90,2.091,10246,0.209,0.000,2056,1702,2970,3041,2900,0,0,0,0,0,0,15.19,14.52,13.81
$STATE,10633,end apogee,CONTROL_FINISHED_OK
$STATE,10633,begin climb
$GC,10635,0.73,116.8,2055,1702,3041,2899,995.0,0.0,813,10766,0.98,2.00,118.40,2.026,10756,0.124,0.076,2363,641,2491,2557,2426,0,0,0,0,0,0,14.52,14.31,13.65
$GC,10996,0.73,116.8,2362,640,2549,2420,968.6,8.5,891,11002,0.00,1.83,0.00,0.000,1030,0.000,0.044,2363,1730,2483,2548,2419,0,0,0,0,0,0,14.96,14.90,14.98
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$STATE,21877,end climb,SURFACE_DEPTH_REACHED
$STATE,21877,begin surface coast
$STATE,21895,end surface coast,CONTROL_FINISHED_OK
$STATE,21895,begin surface
$SM_CCo,21914,102.38,0.640,1,0,927,500.17
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$IRIDIUM_FIX,1415.49,14411.44,181019,102911
$TT8_MAMPS,0.020223,0.16478
$HUMID,44.48
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.00
$XPDR_PINGS,0
$SC_FREEKB,3845536
$PM_FREEKB_00,87114752
$PM_FREEKB_01,124821056
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,0
$24V_AH,13.65,30.344
$10V_AH,13.16,0.000
$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,16.825,183.375,456.275,102.375,0.000,0.000,0.000,473.575,0.000,0.000,16.297,1666.279,14345.583,612.151,5739.798,362.280,0.000,2916.408,0.000,4908.776,0.000,0.553,0.000
$DEVICE_MAMPS,398.565,94.860,2090.745,639.540,0.000,0.000,0.000,207.315,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21924.000,21918.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.809,7.646,0.000,0.000
$MEM,270884
$DATA_FILE_SIZE,69787,2026
$CAP_FILE_SIZE,209238,0
$CFSIZE,260034560,246767616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,3536.49,0x214798,0,24
$CURRENT,0.076,220.59,1
$GPS,181019,232100,1419.501,14409.275,30,0.8,30,0.2,0.9,256.2,9,6.0