version: 66.13
glider: 178
mission: 31
dive: 130
start: 11 2 119 0 59 35
data:
$ID,178
$MISSION,31
$DIVE,130
$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,100
$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,39
$R_STBD_OVSHOOT,27
$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
$GPS1,021119,004856,1411.8855,14409.3506,34,1.4,35,0.3,1.5,233.1,7,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-53.8
$GPS2,021119,005846,1411.8461,14409.2480,3,0.7,4,0.3,0.4,20.1,12,7.2
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,19.8,17007,-18.6,-8.462,-24.20,1753
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.81,-97.3,148,2730,985,867,0.0,0.0,0,109,0.00,0.00,-88.60,0.005,16386,0.000,0.000,147,2731,3223,3249,3198,0,0,0,0,0,0,15.24,28.83,15.26
$GC,111,-0.81,-97.3,147,2731,3248,3199,4.7,-9.1,9,129,8.02,2.10,-2.53,0.047,18692,0.401,0.090,1844,3955,3366,3400,3333,0,0,0,0,0,0,14.83,14.42,15.01
$GC,355,-0.81,-97.3,1844,3954,3400,3333,96.1,-30.2,58,362,0.00,1.98,0.00,0.000,1030,0.000,0.031,1844,2713,3364,3396,3333,0,0,0,0,0,0,15.21,15.19,15.22
$GC,542,-0.81,-97.3,1844,2713,3400,3333,128.4,-14.5,77,548,0.00,2.10,0.00,0.000,260,0.000,0.074,1843,3950,3366,3400,3333,0,0,0,0,0,0,15.39,15.18,15.41
$GC,776,-0.81,-97.3,1844,3950,3400,3333,173.2,-18.4,123,781,0.00,1.85,0.00,0.000,1030,0.000,0.031,1844,2747,3366,3400,3333,0,0,0,0,0,0,15.32,15.30,15.33
$GC,969,-0.81,-97.3,1843,2747,3400,3333,202.6,-14.2,143,975,0.00,2.05,0.00,0.000,260,0.000,0.073,1843,3953,3367,3401,3333,0,0,0,0,0,0,15.45,15.22,15.47
$GC,1076,-0.81,-97.3,1843,3954,3401,3333,218.1,-13.8,164,1083,0.00,1.90,0.00,0.000,1030,0.000,0.030,1843,2743,3366,3400,3333,0,0,0,0,0,0,15.31,15.29,15.33
$GC,1263,-0.81,-97.3,1843,2743,3401,3333,239.1,-9.9,183,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2743,3367,3401,3333,0,0,0,0,0,0,15.47,15.49,15.49
$GC,1474,-0.81,-97.3,1843,2743,3402,3332,261.2,-11.3,198,1480,0.00,2.03,0.00,0.000,260,0.000,0.074,1843,3944,3367,3402,3332,0,0,0,0,0,0,15.45,15.26,15.49
$GC,1706,-0.81,-97.3,1843,3946,3401,3330,293.3,-12.2,244,1712,0.00,1.83,0.00,0.000,1030,0.000,0.033,1844,2771,3365,3400,3331,0,0,0,0,0,0,15.38,15.34,15.39
$GC,2019,-0.81,-97.3,1843,2772,3400,3328,327.2,-10.5,256,2025,0.00,1.98,0.00,0.000,260,0.000,0.076,1845,3945,3364,3400,3328,0,0,0,0,0,0,15.50,15.28,15.52
$GC,2142,-0.81,-97.3,1843,3944,3401,3327,340.0,-11.1,280,2148,0.00,1.88,0.00,0.000,1030,0.000,0.034,1843,2750,3362,3400,3324,0,0,0,0,0,0,15.39,15.33,15.40
$GC,2476,-0.81,-97.3,1843,2750,3400,3322,372.7,-9.1,296,2482,0.00,2.22,0.00,0.000,516,0.000,0.042,1843,1369,3359,3396,3322,0,0,0,0,0,0,15.50,15.28,15.52
$GC,2599,-0.81,-97.3,1841,1369,3400,3321,383.7,-8.8,320,2608,0.00,2.33,0.00,0.000,1030,0.000,0.050,1843,2758,3360,3400,3320,0,0,0,0,0,0,15.37,15.28,15.39
$GC,2931,-0.81,-97.3,1843,2758,3400,3315,415.9,-10.7,336,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2758,3357,3400,3314,0,0,0,0,0,0,15.50,15.52,15.51
$GC,3231,-0.81,-97.3,1843,2758,3401,3309,451.2,-11.8,346,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2758,3354,3400,3309,0,0,0,0,0,0,15.50,15.52,15.53
$GC,3531,-0.81,-97.3,1843,2758,3400,3304,481.9,-9.9,356,3537,0.00,2.30,0.00,0.000,516,0.000,0.044,1843,1372,3352,3400,3304,0,0,0,0,0,0,15.50,15.31,15.52
$GC,3727,-0.81,-97.3,1843,1371,3399,3302,502.3,-10.5,395,3733,0.00,2.33,0.00,0.000,1030,0.000,0.054,1843,2749,3350,3398,3302,0,0,0,0,0,0,15.38,15.29,15.39
$GC,4041,-0.81,-97.3,1843,2749,3397,3299,532.8,-9.6,407,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2749,3347,3397,3297,0,0,0,0,0,0,15.50,15.52,15.51
$GC,4341,-0.81,-97.3,1846,2749,3395,3294,562.5,-10.0,417,4347,0.00,2.30,0.00,0.000,516,0.000,0.044,1843,1362,3344,3395,3294,0,0,0,0,0,0,15.50,15.30,15.51
$GC,4408,-0.81,-97.3,1843,1362,3394,3294,569.8,-10.8,430,4414,0.00,2.35,0.00,0.000,1030,0.000,0.055,1843,2750,3344,3394,3294,0,0,0,0,0,0,15.37,15.28,15.39
$GC,4731,-0.81,-97.3,1843,2752,3392,3291,602.3,-10.1,444,4737,0.00,2.03,0.00,0.000,260,0.000,0.086,1843,3943,3342,3392,3292,0,0,0,0,0,0,15.47,15.26,15.50
$GC,4876,-0.81,-97.3,1843,3943,3391,3297,617.4,-10.4,472,4882,0.00,1.90,0.00,0.000,1030,0.000,0.043,1843,2769,3340,3391,3290,0,0,0,0,0,0,15.38,15.33,15.39
$GC,5189,-0.81,-97.3,1843,2768,3389,3288,648.8,-9.9,484,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2768,3338,3389,3288,0,0,0,0,0,0,15.49,15.51,15.51
$GC,5490,-0.81,-97.3,1842,2768,3387,3287,678.2,-9.6,494,5496,0.00,2.33,0.00,0.000,516,0.000,0.047,1843,1354,3336,3386,3287,0,0,0,0,0,0,15.50,15.28,15.51
$GC,5623,-0.81,-97.3,1843,1354,3383,3287,691.2,-9.5,520,5631,0.00,2.38,0.00,0.000,1030,0.000,0.057,1840,2749,3336,3385,3287,0,0,0,0,0,0,15.35,15.26,15.37
$GC,5945,-0.81,-97.3,1843,2748,3383,3288,718.2,-7.9,534,5951,0.00,2.08,0.00,0.000,260,0.000,0.089,1843,3946,3333,3383,3284,0,0,0,0,0,0,15.48,15.23,15.50
$GC,6089,-0.81,-97.3,1843,3947,3382,3283,730.4,-8.6,562,6094,0.00,1.95,0.00,0.000,1030,0.000,0.043,1843,2750,3332,3383,3281,0,0,0,0,0,0,15.36,15.31,15.38
$GC,6402,-0.81,-97.3,1843,2750,3382,3282,754.9,-7.9,574,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2750,3332,3382,3282,0,0,0,0,0,0,15.48,15.50,15.50
$GC,6702,-0.81,-97.3,1843,2750,3380,3280,781.4,-9.0,584,6708,0.00,2.30,0.00,0.000,516,0.000,0.048,1844,1354,3330,3381,3280,0,0,0,0,0,0,15.47,15.26,15.50
$GC,6840,-0.81,-97.3,1844,1351,3379,3280,794.9,-7.7,611,6846,0.00,2.40,0.00,0.000,1030,0.000,0.060,1843,2749,3329,3379,3279,0,0,0,0,0,0,15.33,15.24,15.35
$GC,7159,-0.81,-97.3,1843,2750,3378,3279,827.3,-10.1,624,7165,0.00,2.35,0.00,0.000,516,0.000,0.047,1843,1342,3328,3378,3278,0,0,0,0,0,0,15.46,15.24,15.48
$GC,7228,-0.81,-97.3,1843,1344,3376,3278,835.1,-10.3,637,7234,0.00,2.42,0.00,0.000,1030,0.000,0.059,1843,2758,3325,3377,3274,0,0,0,0,0,0,15.33,15.23,15.35
$GC,7557,-0.81,-97.3,1841,2757,3376,3277,866.4,-9.4,652,7562,0.00,2.38,0.00,0.000,516,0.000,0.049,1843,1350,3326,3376,3277,0,0,0,0,0,0,15.46,15.25,15.48
$GC,7591,-0.81,-97.3,1843,1350,3376,3277,870.2,-9.6,658,7598,0.00,2.40,0.00,0.000,1030,0.000,0.060,1843,2751,3326,3376,3277,0,0,0,0,0,0,15.30,15.23,15.33
$GC,7921,-0.81,-97.3,1842,2750,3375,3276,898.2,-8.2,674,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2751,3325,3375,3276,0,0,0,0,0,0,15.47,15.50,15.48
$GC,8221,-0.81,-97.3,1843,2751,3374,3275,922.6,-8.0,684,8229,0.00,2.35,0.00,0.000,516,0.000,0.049,1843,1353,3324,3374,3274,0,0,0,0,0,0,15.46,15.23,15.47
$GC,8291,-0.81,-97.3,1842,1353,3374,3270,929.4,-8.5,698,8299,0.00,2.40,0.00,0.000,1030,0.000,0.059,1843,2751,3324,3374,3274,0,0,0,0,0,0,15.31,15.22,15.33
$GC,8612,-0.81,-97.3,1843,2751,3372,3274,955.6,-8.6,712,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2751,3323,3373,3274,0,0,0,0,0,0,15.45,15.47,15.47
$GC,8912,-0.81,-97.3,1846,2751,3372,3273,981.9,-8.8,722,8918,0.00,2.38,0.00,0.000,516,0.000,0.049,1845,1347,3322,3372,3273,0,0,0,0,0,0,15.45,15.22,15.49
$GC,8995,-0.81,-97.3,1843,1347,3371,3273,990.0,-8.6,738,9001,0.00,2.33,0.00,0.000,1027,0.000,0.059,1843,2710,3322,3371,3273,0,0,0,0,0,0,28.83,15.45,28.83
$STATE,9002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9002,begin apogee
$GC,9008,-0.21,0.0,1843,1705,3371,3273,990.4,-8.4,739,9100,0.75,0.00,85.88,2.071,10246,0.213,0.000,2055,1704,2966,3029,2904,0,0,0,0,0,0,15.09,14.61,13.90
$STATE,9109,end apogee,CONTROL_FINISHED_OK
$STATE,9109,begin climb
$GC,9111,0.81,97.3,2055,1705,3031,2902,993.3,0.0,742,9217,1.02,0.00,98.93,2.019,10758,0.114,0.000,2379,1705,2572,2632,2512,0,0,0,0,0,0,14.62,14.38,13.71
$GC,9511,0.81,97.3,2379,1704,2629,2500,958.7,10.7,776,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1710,2564,2628,2500,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9811,0.81,97.3,2379,1704,2627,2497,926.5,10.7,786,9817,0.00,1.85,0.00,0.000,516,0.000,0.076,2380,639,2562,2627,2497,0,0,0,0,0,0,15.28,15.07,15.30
$GC,9967,0.81,97.3,2379,638,2625,2497,910.1,10.3,817,9975,0.00,1.77,0.00,0.000,1030,0.000,0.043,2380,1719,2561,2625,2497,0,0,0,0,0,0,15.17,15.11,15.19
$GC,10298,0.81,97.3,2385,1717,2625,2495,877.8,9.2,832,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1716,2560,2625,2495,0,0,0,0,0,0,15.35,15.39,15.37
$GC,10598,0.81,97.3,2380,1719,2625,2494,852.7,8.2,842,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1718,2559,2625,2494,0,0,0,0,0,0,15.38,15.40,15.40
$GC,10898,0.83,97.3,2380,1718,2625,2493,829.2,7.9,852,10902,0.00,0.00,0.00,0.000,70,0.000,0.000,2380,1718,2559,2625,2493,0,0,0,0,0,0,15.38,15.40,15.40
$GC,11198,0.83,97.3,2380,1719,2625,2492,804.0,8.8,862,11205,0.00,1.90,0.00,0.000,516,0.000,0.074,2381,637,2558,2624,2492,0,0,0,0,0,0,15.41,15.15,15.42
$GC,11431,0.83,97.3,2386,638,2623,2492,782.4,9.6,908,11437,0.00,1.73,0.00,0.000,1030,0.000,0.044,2381,1702,2557,2623,2492,0,0,0,0,0,0,15.28,15.21,15.30
$GC,11745,0.83,97.3,2380,1703,2623,2493,752.9,9.6,920,11750,0.00,2.35,0.00,0.000,260,0.000,0.067,2381,3087,2557,2623,2492,0,0,0,0,0,0,15.40,15.17,15.42
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$STATE,20214,end climb,SURFACE_DEPTH_REACHED
$STATE,20214,begin surface coast
$STATE,20245,end surface coast,CONTROL_FINISHED_OK
$STATE,20245,begin surface
$SM_CCo,20264,137.15,0.648,1,0,928,500.17
$SM_GC,0.45,6.78,1.75,137.15,0.083,0.057,0.648,161,2721,928,-6.08,-1.70,500.17,0,0,0,0,1,0,15.18,15.19,14.52
$IRIDIUM_FIX,1413.70,14413.25,011119,184126
$TT8_MAMPS,0.019474,0.158039
$HUMID,44.36
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.90
$XPDR_PINGS,1
$SC_FREEKB,3814144
$PM_FREEKB_00,58040768
$PM_FREEKB_01,113965376
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.71,54.502
$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,16.850,153.750,394.275,137.150,0.000,0.000,0.000,373.850,0.250,0.000,15.442,1494.900,13467.359,592.569,5102.052,346.112,0.000,2630.317,0.000,4420.452,0.000,0.553,0.000
$DEVICE_MAMPS,400.860,90.270,2070.855,647.955,0.000,0.000,0.000,203.490,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20263.000,20267.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.181,5.893,0.000,0.000
$MEM,270796
$DATA_FILE_SIZE,63274,1862
$CAP_FILE_SIZE,187488,0
$CFSIZE,260034560,236482560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.088,251.37,1
$GPS,021119,064110,1413.572,14408.992,31,0.9,32,0.3,0.5,250.7,7,10.0