version: 66.13
glider: 178
mission: 31
dive: 262
start: 12 6 119 7 7 33
data:
$ID,178
$MISSION,31
$DIVE,262
$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,37
$R_STBD_OVSHOOT,32
$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
$GPS1,061219,065524,1417.7272,14408.9395,32,1.2,32,0.2,0.5,218.8,7,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-55.3
$GPS2,061219,070644,1417.7554,14408.7666,2,0.6,4,0.2,1.1,274.3,12,5.8
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,140.7,14533,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.81,-97.3,134,2742,988,867,0.0,0.0,0,114,0.00,0.00,-87.70,0.005,16386,0.000,0.000,129,2741,3220,3252,3188,0,0,0,0,0,0,15.20,28.83,15.24
$GC,117,-0.81,-97.3,129,2741,3252,3189,4.8,-9.7,9,135,8.20,2.35,-2.50,0.047,18948,0.392,0.060,1854,1330,3366,3400,3332,0,0,0,0,0,0,14.66,14.19,14.88
$GC,214,-0.81,-97.3,1853,1330,3402,3333,39.2,-29.3,27,224,0.00,2.40,0.00,0.000,1030,0.000,0.050,1846,2744,3366,3401,3331,0,0,0,0,0,0,15.11,15.01,15.13
$GC,402,-0.81,-97.3,1846,2744,3405,3332,97.3,-28.2,47,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2744,3366,3401,3332,0,0,0,0,0,0,15.33,15.35,15.35
$GC,592,-0.81,-97.3,1846,2744,3401,3332,141.0,-20.7,66,601,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2744,3367,3402,3332,0,0,0,0,0,0,15.37,15.38,15.38
$GC,783,-0.81,-97.3,1846,2744,3405,3332,170.5,-13.1,85,790,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2744,3367,3402,3332,0,0,0,0,0,0,15.38,15.40,15.40
$GC,972,-0.81,-97.3,1846,2744,3401,3332,193.4,-12.4,104,977,0.00,2.03,0.00,0.000,260,0.000,0.073,1838,3946,3366,3401,3332,0,0,0,0,0,0,15.41,15.10,15.42
$GC,1112,-0.81,-97.3,1837,3943,3401,3332,211.7,-12.5,131,1119,0.00,2.00,0.00,0.000,1030,0.000,0.030,1838,2681,3366,3401,3332,0,0,0,0,0,0,15.19,15.19,15.21
$GC,1297,-0.81,-97.3,1838,2681,3401,3332,234.4,-11.3,150,1303,0.00,2.17,0.00,0.000,516,0.000,0.041,1838,1337,3366,3401,3331,0,0,0,0,0,0,15.42,15.16,15.44
$GC,1396,-0.81,-97.3,1837,1337,3401,3332,247.1,-12.3,169,1403,0.00,2.42,0.00,0.000,1030,0.000,0.047,1838,2756,3366,3401,3331,0,0,0,0,0,0,15.15,15.09,15.18
$GC,1583,-0.81,-97.3,1837,2756,3401,3330,267.7,-11.1,178,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2756,3364,3401,3328,0,0,0,0,0,0,15.43,15.45,15.45
$GC,1882,-0.81,-97.3,1838,2756,3402,3328,303.3,-12.6,188,1889,0.00,2.03,0.00,0.000,260,0.000,0.077,1838,3943,3364,3401,3327,0,0,0,0,0,0,15.45,15.08,15.46
$GC,1966,-0.81,-97.3,1838,3943,3401,3326,315.2,-14.9,204,1972,0.00,1.95,0.00,0.000,1030,0.000,0.031,1838,2698,3362,3401,3323,0,0,0,0,0,0,15.28,15.25,15.30
$GC,2282,-0.81,-97.3,1837,2700,3401,3322,354.7,-11.8,216,2288,0.00,2.22,0.00,0.000,516,0.000,0.041,1838,1334,3361,3401,3322,0,0,0,0,0,0,15.42,15.17,15.45
$GC,2485,-0.81,-97.3,1837,1336,3401,3319,374.6,-8.0,256,2493,0.00,2.42,0.00,0.000,1030,0.000,0.050,1838,2753,3360,3401,3319,0,0,0,0,0,0,15.23,15.13,15.26
$GC,2801,-0.81,-97.3,1834,2753,3401,3312,401.1,-9.4,268,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2753,3356,3401,3312,0,0,0,0,0,0,15.45,15.46,15.46
$GC,3102,-0.81,-97.3,1837,2753,3401,3308,432.8,-10.5,278,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2753,3354,3401,3308,0,0,0,0,0,0,15.43,15.45,15.45
$GC,3402,-0.81,-97.3,1837,2753,3401,3302,466.7,-11.8,288,3408,0.00,2.08,0.00,0.000,260,0.000,0.084,1838,3941,3351,3401,3301,0,0,0,0,0,0,15.44,15.08,15.45
$GC,3557,-0.81,-97.3,1838,3940,3400,3300,485.0,-11.4,318,3563,0.00,1.98,0.00,0.000,1030,0.000,0.037,1839,2720,3350,3400,3300,0,0,0,0,0,0,15.27,15.22,15.28
$GC,3892,-0.81,-97.3,1837,2720,3396,3297,517.4,-9.2,334,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2720,3347,3396,3299,0,0,0,0,0,0,15.42,15.45,15.45
$GC,4191,-0.81,-97.3,1837,2720,3393,3294,543.9,-8.6,344,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2720,3343,3393,3294,0,0,0,0,0,0,15.43,15.45,15.47
$GC,4491,-0.81,-97.3,1835,2725,3391,3292,568.8,-7.9,354,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2719,3341,3391,3292,0,0,0,0,0,0,15.42,15.45,15.45
$GC,4791,-0.81,-97.3,1837,2719,3389,3291,592.2,-7.9,364,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2719,3340,3389,3291,0,0,0,0,0,0,15.42,15.44,15.43
$GC,5091,-0.81,-97.3,1838,2725,3386,3288,618.4,-9.1,374,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2720,3337,3387,3288,0,0,0,0,0,0,15.42,15.44,15.44
$GC,5391,-0.81,-97.3,1837,2720,3384,3286,646.4,-9.3,384,5399,0.00,2.28,0.00,0.000,516,0.000,0.046,1842,1369,3335,3384,3286,0,0,0,0,0,0,15.41,15.09,15.42
$GC,5507,-0.81,-97.3,1837,1369,3383,3286,657.8,-10.0,406,5519,0.00,2.40,0.00,0.000,1030,0.000,0.057,1838,2752,3334,3383,3286,0,0,0,0,0,0,15.19,15.06,15.21
$GC,5818,-0.81,-97.3,1837,2752,3382,3285,686.6,-9.2,418,5824,0.00,2.12,0.00,0.000,260,0.000,0.089,1838,3953,3333,3382,3284,0,0,0,0,0,0,15.38,15.00,15.39
$GC,5883,-0.81,-97.3,1837,3953,3382,3284,692.7,-9.5,430,5889,0.00,1.98,0.00,0.000,1030,0.000,0.041,1838,2751,3332,3382,3283,0,0,0,0,0,0,15.22,15.16,15.23
$GC,6218,-0.81,-97.3,1837,2751,3381,3282,723.0,-8.8,446,6224,0.00,2.33,0.00,0.000,516,0.000,0.045,1838,1362,3331,3380,3282,0,0,0,0,0,0,15.38,15.07,15.40
$GC,6265,-0.81,-97.3,1837,1362,3382,3282,727.5,-8.9,455,6276,0.00,2.42,0.00,0.000,1030,0.000,0.057,1838,2754,3330,3379,3282,0,0,0,0,0,0,15.14,15.02,15.17
$GC,6584,-0.81,-97.3,1837,2754,3378,3280,754.1,-8.5,468,6589,0.00,2.10,0.00,0.000,260,0.000,0.091,1838,3942,3332,3385,3280,0,0,0,0,0,0,15.40,14.98,15.42
$GC,6679,-0.81,-97.3,1838,3942,3378,3279,762.9,-9.3,486,6685,0.00,1.98,0.00,0.000,1030,0.000,0.041,1838,2749,3328,3378,3279,0,0,0,0,0,0,15.20,15.15,15.21
$GC,7013,-0.81,-97.3,1838,2749,3376,3278,790.3,-7.9,502,7019,0.00,2.35,0.00,0.000,516,0.000,0.047,1838,1359,3326,3376,3277,0,0,0,0,0,0,15.38,15.01,15.38
$GC,7112,-0.81,-97.3,1833,1357,3375,3278,798.0,-8.2,521,7118,0.00,2.45,0.00,0.000,1030,0.000,0.058,1837,2753,3323,3370,3277,0,0,0,0,0,0,15.13,15.01,15.17
$GC,7442,-0.81,-97.3,1837,2753,3374,3277,823.0,-7.5,536,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2753,3325,3375,3276,0,0,0,0,0,0,15.35,15.38,15.38
$GC,7743,-0.81,-97.3,1837,2753,3371,3276,845.1,-7.3,546,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2753,3322,3369,3276,0,0,0,0,0,0,15.35,15.37,15.36
$GC,8043,-0.81,-97.3,1837,2753,3372,3274,866.8,-7.2,556,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2753,3323,3373,3274,0,0,0,0,0,0,15.35,15.38,15.38
$GC,8342,-0.81,-97.3,1837,2753,3371,3273,887.4,-6.8,566,8351,0.00,2.38,0.00,0.000,516,0.000,0.047,1837,1361,3322,3371,3273,0,0,0,0,0,0,15.35,15.03,15.37
$GC,8412,-0.81,-97.3,1837,1361,3370,3274,893.3,-7.6,580,8421,0.00,2.45,0.00,0.000,1030,0.000,0.059,1838,2756,3321,3370,3273,0,0,0,0,0,0,15.11,14.99,15.15
$GC,8737,-0.81,-97.3,1837,2756,3370,3272,915.2,-7.0,594,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2756,3323,3374,3272,0,0,0,0,0,0,15.35,15.37,15.37
$GC,9034,-0.81,-97.3,1837,2756,3368,3271,939.1,-8.4,604,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2756,3319,3367,3272,0,0,0,0,0,0,15.35,15.38,15.37
$GC,9335,-0.81,-97.3,1837,2757,3367,3278,966.2,-9.3,614,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2756,3320,3369,3271,0,0,0,0,0,0,15.36,15.38,15.38
$STATE,9602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9602,begin apogee
$GC,9610,-0.21,0.0,1837,1720,3367,3270,992.3,-9.8,623,9702,0.77,0.00,86.15,2.087,10246,0.205,0.000,2053,1720,2970,3034,2907,0,0,0,0,0,0,14.83,14.55,13.74
$STATE,9711,end apogee,CONTROL_FINISHED_OK
$STATE,9711,begin climb
$GC,9713,0.81,97.3,2053,1720,3034,2905,997.3,0.0,626,9825,1.05,1.98,100.82,2.043,10756,0.117,0.076,2381,645,2572,2633,2512,0,0,0,0,0,0,14.53,14.31,13.55
$GC,9922,0.84,97.3,2381,645,2624,2508,988.9,7.4,671,9927,0.00,1.85,0.00,0.000,1094,0.000,0.042,2381,1724,2569,2625,2514,0,0,0,0,0,0,14.73,14.67,14.76
$GC,10242,0.87,97.3,2376,1724,2625,2501,965.4,7.6,684,10245,0.00,0.00,0.00,0.000,70,0.000,0.000,2380,1724,2564,2627,2502,0,0,0,0,0,0,15.18,15.21,15.20
$GC,10541,0.87,97.3,2381,1724,2625,2500,941.1,8.3,694,10550,0.00,2.40,0.00,0.000,260,0.000,0.067,2381,3095,2565,2630,2500,0,0,0,0,0,0,15.26,14.91,15.28
$GC,10622,0.87,97.3,2380,3095,2625,2493,934.1,9.9,710,10631,0.00,2.40,0.00,0.000,1030,0.000,0.046,2381,1708,2561,2625,2498,0,0,0,0,0,0,15.07,14.97,15.10
$GC,10934,0.87,97.3,2380,1708,2625,2497,904.6,9.3,722,10945,0.00,2.47,0.00,0.000,260,0.000,0.067,2381,3090,2560,2625,2495,0,0,0,0,0,0,15.28,14.90,15.30
$GC,10998,0.87,97.3,2379,3088,2625,2496,898.6,10.4,734,11004,0.00,2.42,0.00,0.000,1030,0.000,0.047,2381,1700,2560,2625,2496,0,0,0,0,0,0,15.08,14.98,15.11
$GC,11334,0.87,97.3,2380,1700,2625,2495,866.1,9.4,750,11340,0.00,1.88,0.00,0.000,516,0.000,0.076,2381,623,2560,2625,2495,0,0,0,0,0,0,15.30,14.93,15.32
$GC,11399,0.87,97.3,2380,623,2624,2495,860.4,9.8,762,11404,0.00,1.80,0.00,0.000,1030,0.000,0.044,2381,1701,2559,2624,2495,0,0,0,0,0,0,15.12,15.05,15.14
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$STATE,21547,end climb,SURFACE_DEPTH_REACHED
$STATE,21547,begin surface coast
$STATE,21590,end surface coast,CONTROL_FINISHED_OK
$STATE,21590,begin surface
$SM_CCo,21611,144.45,0.683,1,0,928,500.17
$SM_GC,0.36,6.78,1.70,144.45,0.071,0.049,0.683,156,2717,928,-6.10,-1.98,500.17,0,0,0,0,1,0,15.03,15.05,14.40
$IRIDIUM_FIX,1417.59,14411.44,061219,001750
$TT8_MAMPS,0.019474,0.156541
$HUMID,46.14
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.10
$XPDR_PINGS,0
$SC_FREEKB,3754400
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,85016512
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.55,106.990
$10V_AH,13.18,0.000
$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,17.050,157.575,395.225,144.450,0.000,0.000,0.000,407.675,0.000,0.000,16.023,1583.569,14258.359,605.662,5482.534,511.956,0.000,2760.952,0.000,4717.988,0.000,0.552,0.000
$DEVICE_MAMPS,392.445,91.035,2086.920,683.145,0.000,0.000,0.000,202.725,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21617.000,21616.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.396,8.102,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,66551,1893
$CAP_FILE_SIZE,195456,0
$CFSIZE,260034560,216494080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.054,291.10,1
$GPS,061219,131139,1416.210,14409.511,18,0.9,27,0.3,0.5,286.1,10,2.8