version: 66.12
glider: 178
mission: 20
dive: 19
start: 3 4 115 6 27 11
data:
$ID,178
$MISSION,20
$DIVE,19
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,330
$T_MISSION,360
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$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,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,040315,062205,1309.2699,14446.3848,61,1.1,61,1.6,1.1,224.7,8,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-69.6
$GPS2,040315,062659,1309.2465,14446.2998,36,1.4,40,1.6,1.1,249.1,8,7.1
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S1
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,85.3,3100,-17.8,-10.000,-20.71,2479
$D_GRID,983
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.71,-175.2,124,2569,903,890,0.0,0.0,0,108,0.00,0.00,-92.40,0.000,16386,0.000,0.000,123,2569,3211,3256,3167,0,0,0,0,0,0,26.98,28.83,27.05
$GC,110,-0.71,-175.2,122,2570,3260,3167,4.1,-12.3,16,133,10.25,0.00,-7.65,0.000,18950,0.252,0.000,2543,2569,3657,3727,3588,0,0,0,0,0,0,26.53,26.34,26.77
$GC,433,-0.71,-175.2,2544,2570,3732,3590,117.0,-32.4,60,436,0.00,2.15,0.00,0.000,516,0.000,0.031,2548,1140,3661,3732,3590,0,0,0,0,0,0,27.17,26.98,27.23
$GC,448,-0.71,-175.2,2547,1140,3735,3591,120.0,-32.2,61,454,0.00,2.20,0.00,0.000,1030,0.000,0.046,2540,2545,3661,3732,3590,0,0,0,0,0,0,27.23,26.94,27.24
$GC,753,-0.71,-175.2,2541,2545,3737,3591,180.0,-14.4,92,757,0.00,2.12,0.00,0.000,516,0.000,0.033,2541,1144,3663,3737,3590,0,0,0,0,0,0,27.27,27.06,27.33
$GC,783,-0.71,-175.2,2540,1145,3737,3592,184.2,-14.4,95,786,0.00,2.20,0.00,0.000,1030,0.000,0.039,2529,2562,3663,3736,3591,0,0,0,0,0,0,27.32,27.05,27.35
$GC,1113,-0.71,-175.2,2529,2562,3742,3592,235.3,-17.3,114,1116,0.00,1.90,0.00,0.000,260,0.000,0.052,2520,3769,3666,3740,3592,0,0,0,0,0,0,27.34,27.12,27.40
$GC,1342,-0.71,-175.2,2519,3770,3742,3594,266.1,-14.6,121,1347,0.00,1.83,0.00,0.000,1030,0.000,0.029,2520,2534,3666,3740,3593,0,0,0,0,0,0,27.43,27.21,27.46
$GC,1653,-0.71,-175.2,2521,2535,3741,3594,310.1,-13.2,132,1657,0.00,2.05,0.00,0.000,516,0.000,0.034,2521,1170,3667,3741,3593,0,0,0,0,0,0,27.41,27.22,27.48
$GC,1692,-0.71,-175.2,2519,1171,3741,3594,314.2,-13.1,133,1697,0.10,2.12,0.00,0.000,3078,0.140,0.040,2544,2547,3667,3741,3593,0,0,0,0,0,0,27.09,27.20,27.46
$GC,2013,-0.71,-175.2,2545,2548,3740,3594,349.3,-9.5,144,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2547,3666,3740,3593,0,0,0,0,0,0,27.44,27.52,27.51
$GC,2313,-0.71,-175.2,2543,2548,3738,3594,381.6,-11.4,154,2317,0.00,2.10,0.00,0.000,516,0.000,0.035,2547,1167,3664,3736,3593,0,0,0,0,0,0,27.46,27.27,27.53
$GC,2357,-0.71,-175.2,2547,1167,3735,3594,384.9,-11.4,155,2361,0.00,2.15,0.00,0.000,1030,0.000,0.041,2541,2549,3664,3735,3593,0,0,0,0,0,0,27.52,27.24,27.54
$GC,2673,-0.71,-175.2,2541,2549,3728,3593,420.2,-10.4,166,2676,0.00,2.10,0.00,0.000,516,0.000,0.036,2540,1169,3661,3730,3593,0,0,0,0,0,0,27.48,27.28,27.55
$GC,2742,-0.71,-175.2,2540,1170,3730,3592,426.5,-10.4,168,2747,0.00,2.15,0.00,0.000,1030,0.000,0.042,2530,2549,3660,3729,3592,0,0,0,0,0,0,27.54,27.27,27.56
$GC,3063,-0.71,-175.2,2530,2550,3727,3591,461.7,-10.4,179,3066,0.00,2.10,0.00,0.000,516,0.000,0.036,2531,1169,3658,3726,3590,0,0,0,0,0,0,27.49,27.32,27.55
$GC,3163,-0.71,-175.2,2531,1169,3723,3590,470.9,-10.2,182,3166,0.00,2.15,0.00,0.000,1030,0.000,0.044,2522,2549,3656,3724,3589,0,0,0,0,0,0,27.55,27.28,27.58
$GC,3483,-0.71,-175.2,2521,2550,3722,3587,506.1,-10.7,193,3487,0.00,2.12,0.00,0.000,516,0.000,0.037,2522,1160,3653,3721,3586,0,0,0,0,0,0,27.51,27.29,27.57
$GC,3522,-0.71,-175.2,2521,1161,3722,3587,509.3,-10.7,194,3527,0.10,2.17,0.00,0.000,3078,0.151,0.044,2544,2552,3653,3721,3586,0,0,0,0,0,0,27.17,27.29,27.26
$GC,3843,-0.71,-175.2,2543,2553,3720,3583,541.4,-9.4,205,3846,0.00,2.08,0.00,0.000,516,0.000,0.038,2546,1161,3650,3718,3582,0,0,0,0,0,0,27.52,27.30,27.58
$GC,3873,-0.71,-175.2,2546,1162,3718,3583,544.2,-9.4,206,3877,0.00,2.17,0.00,0.000,1030,0.000,0.043,2539,2553,3649,3717,3582,0,0,0,0,0,0,27.33,27.28,27.35
$GC,4203,-0.71,-175.2,2540,2553,3714,3580,574.4,-9.1,217,4207,0.00,2.12,0.00,0.000,516,0.000,0.037,2539,1165,3647,3714,3580,0,0,0,0,0,0,27.52,27.31,27.59
$GC,4243,-0.71,-175.2,2539,1166,3715,3580,577.3,-9.1,218,4247,0.00,2.17,0.00,0.000,1030,0.000,0.044,2531,2550,3646,3713,3580,0,0,0,0,0,0,27.34,27.29,27.36
$GC,4563,-0.71,-175.2,2532,2551,3711,3578,616.0,-12.4,229,4566,0.00,2.12,0.00,0.000,516,0.000,0.038,2531,1164,3644,3711,3578,0,0,0,0,0,0,27.53,27.31,27.60
$GC,4647,-0.71,-175.2,2530,1165,3712,3578,623.1,-12.3,231,4654,0.00,2.17,0.00,0.000,1030,0.000,0.046,2523,2552,3643,3710,3577,0,0,0,0,0,0,27.34,27.30,27.36
$GC,4953,-0.71,-175.2,2524,2553,3706,3577,660.5,-10.9,242,4956,0.00,2.12,0.00,0.000,516,0.000,0.038,2523,1165,3641,3707,3576,0,0,0,0,0,0,27.53,27.32,27.60
$GC,5022,-0.71,-175.2,2523,1166,3706,3577,666.9,-10.9,244,5027,0.10,2.17,0.00,0.000,3078,0.149,0.044,2546,2550,3641,3706,3576,0,0,0,0,0,0,27.21,27.30,27.27
$GC,5343,-0.71,-175.2,2545,2551,3706,3574,696.0,-8.3,255,5346,0.00,2.12,0.00,0.000,516,0.000,0.040,2546,1135,3639,3704,3574,0,0,0,0,0,0,27.53,27.32,27.60
$GC,5368,-0.71,-175.2,2545,1136,3706,3574,696.0,-8.3,255,5374,0.00,2.22,0.00,0.000,1030,0.000,0.044,2541,2558,3638,3704,3573,0,0,0,0,0,0,27.35,27.31,27.37
$GC,5673,-0.71,-175.2,2542,2558,3701,3572,720.4,-7.1,266,5676,0.00,2.12,0.00,0.000,516,0.000,0.039,2541,1174,3636,3702,3571,0,0,0,0,0,0,27.53,27.32,27.60
$GC,5753,-0.71,-175.2,2540,1175,3701,3572,724.6,-7.1,268,5756,0.00,2.15,0.00,0.000,1030,0.000,0.044,2534,2549,3635,3700,3571,0,0,0,0,0,0,27.34,27.31,27.38
$GC,6063,-0.71,-175.2,2534,2550,3698,3570,750.2,-8.0,279,6066,0.00,2.10,0.00,0.000,516,0.000,0.039,2534,1176,3633,3698,3569,0,0,0,0,0,0,27.54,27.32,27.60
$GC,6103,-0.71,-175.2,2535,1176,3698,3569,752.7,-8.1,280,6106,0.00,2.15,0.00,0.000,1030,0.000,0.044,2526,2547,3633,3698,3569,0,0,0,0,0,0,27.35,27.31,27.38
$GC,6423,-0.71,-175.2,2527,2548,3697,3568,780.3,-8.6,291,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2548,3632,3697,3567,0,0,0,0,0,0,27.54,27.61,27.60
$GC,6723,-0.71,-175.2,2526,2548,3695,3566,806.1,-9.0,301,6726,0.00,2.12,0.00,0.000,516,0.000,0.040,2526,1163,3629,3693,3565,0,0,0,0,0,0,27.54,27.33,27.61
$GC,6818,-0.71,-175.2,2526,1164,3693,3566,814.3,-9.1,304,6822,0.12,2.15,0.00,0.000,3078,0.177,0.046,2548,2549,3629,3694,3565,0,0,0,0,0,0,27.19,27.30,27.33
$GC,7143,-0.71,-175.2,2548,2550,3693,3564,842.5,-8.9,315,7147,0.00,2.12,0.00,0.000,516,0.000,0.040,2548,1164,3628,3693,3563,0,0,0,0,0,0,27.54,27.33,27.60
$GC,7188,-0.71,-175.2,2548,1165,3692,3564,845.5,-9.0,316,7191,0.00,2.17,0.00,0.000,1030,0.000,0.045,2547,2547,3627,3692,3563,0,0,0,0,0,0,27.35,27.31,27.39
$GC,7503,-0.71,-175.2,2547,2548,3691,3563,878.0,-10.2,327,7506,0.00,2.12,0.00,0.000,516,0.000,0.040,2546,1164,3626,3690,3562,0,0,0,0,0,0,27.54,27.32,27.61
$GC,7567,-0.71,-175.2,2547,1166,3690,3563,884.1,-10.2,329,7571,0.00,2.17,0.00,0.000,1030,0.000,0.045,2546,2547,3626,3690,3562,0,0,0,0,0,0,27.34,27.31,27.38
$GC,7893,-0.71,-175.2,2547,2548,3689,3562,919.8,-11.0,340,7897,0.00,2.12,0.00,0.000,516,0.000,0.041,2546,1168,3625,3689,3561,0,0,0,0,0,0,27.54,27.33,27.61
$GC,7957,-0.71,-175.2,2547,1169,3688,3562,926.5,-11.2,342,7961,0.00,2.17,0.00,0.000,1030,0.000,0.046,2546,2550,3624,3687,3562,0,0,0,0,0,0,27.35,27.31,27.38
$GC,8283,-0.71,-175.2,2545,2551,3688,3562,962.4,-10.5,353,8286,0.00,2.12,0.00,0.000,516,0.000,0.041,2546,1170,3623,3686,3561,0,0,0,0,0,0,27.54,27.32,27.61
$GC,8313,-0.71,-175.2,2545,1171,3688,3561,965.3,-10.4,354,8317,0.00,2.17,0.00,0.000,1030,0.000,0.046,2546,2555,3624,3687,3561,0,0,0,0,0,0,27.34,27.30,27.38
$STATE,8521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8521,begin apogee
$GC,8525,-0.11,0.0,2546,2103,3687,3560,985.5,-9.6,361,8676,0.60,0.00,145.73,1.300,10246,0.128,0.000,2738,2102,2940,2987,2893,0,0,0,0,0,0,27.19,25.10,24.34
$STATE,8677,end apogee,CONTROL_FINISHED_OK
$STATE,8677,begin climb
$GC,8678,0.71,175.2,2739,2102,2987,2893,993.5,0.0,366,8837,0.77,0.00,156.38,1.284,10758,0.054,0.000,3017,2102,2226,2276,2177,0,0,0,0,0,0,25.35,24.89,24.17
$GC,9124,0.71,175.2,3016,2102,2268,2164,943.2,14.0,381,9127,0.00,2.30,0.00,0.000,260,0.000,0.054,3016,3506,2215,2266,2164,0,0,0,0,0,0,26.58,26.36,26.66
$GC,9178,0.71,175.2,3017,3507,2264,2163,934.9,14.3,383,9182,0.00,2.20,0.00,0.000,1030,0.000,0.033,3028,2110,2213,2264,2163,0,0,0,0,0,0,26.51,26.48,26.53
$GC,9508,0.71,175.2,3027,2110,2264,2162,883.9,16.0,394,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2110,2211,2262,2161,0,0,0,0,0,0,26.95,27.03,27.02
$GC,9808,0.71,175.2,3028,2110,2261,2162,832.3,17.5,404,9811,0.00,2.28,0.00,0.000,260,0.000,0.056,3027,3502,2211,2261,2161,0,0,0,0,0,0,27.08,26.84,27.15
$GC,9842,0.71,175.2,3027,3503,2262,2162,826.5,17.8,405,9846,0.00,2.17,0.00,0.000,1030,0.000,0.034,3038,2103,2210,2260,2161,0,0,0,0,0,0,26.93,26.89,26.96
$GC,10168,0.71,175.2,3039,2103,2258,2161,764.1,18.9,416,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2103,2210,2259,2161,0,0,0,0,0,0,27.18,27.26,27.25
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$GC,13078,0.71,175.2,3019,3501,2257,2158,336.3,12.4,513,13081,0.00,2.15,0.00,0.000,1030,0.000,0.033,3032,2098,2206,2255,2157,0,0,0,0,0,0,27.27,27.23,27.29
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$STATE,16081,end climb,SURFACE_DEPTH_REACHED
$STATE,16082,begin surface coast
$FINISH,0.7,1.022074
$STATE,16102,end surface coast,CONTROL_FINISHED_OK
$STATE,16102,begin surface
$SM_CCo,16116,65.03,0.063,0,0,902,500.17
$SM_GC,0.48,8.00,0.70,65.03,0.060,0.050,0.063,160,2545,902,-8.13,-1.19,500.17,0,0,0,0,0,0,26.87,26.90,26.79
$IRIDIUM_FIX,1305.38,14443.96,291207,154713
$TT8_MAMPS,0.050183,0.050183
$HUMID,43.10
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.17,3.151
$10V_AH,10.39,2.347
$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,20.575,143.800,440.000,65.025,0.000,0.000,0.000,195.725,0.250,0.000,42.841,0.000,13159.008,681.357,2456.723,169.190,0.000,1832.232,0.000,1761.198,0.000,0.551,0.000
$DEVICE_MAMPS,251.685,56.610,1300.500,62.730,0.000,0.000,0.000,83.385,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,520.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229968
$DATA_FILE_SIZE,33471,766
$CAP_FILE_SIZE,142480,0
$CFSIZE,260034560,255893504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14583.28,0x236db2,7,5
$CURRENT,0.126,245.44,1
$GPS,040315,105804,1309.348,14447.606,40,1.7,50,1.6,0.5,171.4,7,8.6