version: 66.12
glider: 187
mission: 8
dive: 203
start: 8 4 115 16 21 54
data:
$ID,187
$MISSION,8
$DIVE,203
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,040815,154301,4731.1245,-12605.2783,82,1.1,82,16.6,0.6,190.2,10,7.0
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.8
$GPS2,040815,162126,4731.3062,-12605.2051,3,0.7,4,16.6,0.6,298.6,12,8.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,168.5,90286,-14.8,-7.333,-19.49,2243
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,28,-0.39,-107.1,50,1879,1225,1407,0.0,0.0,0,106,0.00,0.00,-71.32,0.000,16390,0.000,0.000,48,1879,3380,3381,3379,0,0,0,0,0,0,14.51,13.09,14.53
$GC,113,-0.39,-107.1,48,1878,3381,3381,2.5,-3.8,2,137,13.90,2.55,0.00,0.000,2820,0.360,0.089,3245,3319,3381,3381,3382,0,0,0,0,0,0,14.03,14.28,14.21
$GC,346,-0.39,-107.1,3245,3319,3380,3390,64.0,-14.9,46,358,0.00,2.53,0.00,0.000,1030,0.000,0.092,3245,1906,3384,3379,3390,0,0,0,0,0,0,14.44,14.33,14.47
$GC,559,-0.39,-107.1,3245,1907,3376,3394,93.0,-13.0,56,570,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1907,3386,3376,3396,0,0,0,0,0,0,14.65,14.67,14.66
$GC,740,-0.39,-107.1,3243,1906,3376,3395,114.8,-11.8,62,750,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1910,3388,3376,3401,0,0,0,0,0,0,14.68,14.70,14.69
$GC,919,-0.39,-107.1,3245,1905,3376,3395,134.7,-10.9,68,930,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,3385,3376,3395,0,0,0,0,0,0,14.70,14.72,14.72
$GC,1099,-0.39,-107.1,3245,1906,3375,3393,153.3,-10.3,74,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3388,3382,3395,0,0,0,0,0,0,14.71,14.74,14.73
$GC,1280,-0.39,-107.1,3245,1906,3373,3395,172.8,-10.8,80,1291,0.00,2.53,0.00,0.000,516,0.000,0.106,3245,476,3384,3374,3395,0,0,0,0,0,0,14.73,14.41,14.75
$GC,1316,-0.39,-107.1,3245,475,3373,3395,177.2,-12.5,85,1328,0.00,2.50,0.00,0.000,1030,0.000,0.090,3245,1900,3383,3372,3395,0,0,0,0,0,0,14.57,14.45,14.59
$GC,1502,-0.39,-107.1,3245,1899,3369,3395,198.2,-11.3,92,1513,0.00,2.50,0.00,0.000,260,0.000,0.104,3245,3323,3382,3369,3395,0,0,0,0,0,0,14.73,14.43,14.75
$GC,1559,-0.39,-107.1,3245,3319,3369,3395,204.6,-10.3,101,1570,0.00,2.53,0.00,0.000,1030,0.000,0.092,3246,1902,3382,3369,3395,0,0,0,0,0,0,14.58,14.47,14.61
$GC,1766,-0.39,-107.1,3245,1901,3366,3395,227.1,-10.9,110,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1901,3383,3372,3395,0,0,0,0,0,0,14.75,14.77,14.77
$GC,1946,-0.39,-107.1,3245,1901,3364,3395,245.4,-10.0,116,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1901,3379,3364,3395,0,0,0,0,0,0,14.75,14.77,14.77
$GC,2126,-0.39,-107.1,3245,1901,3362,3395,262.3,-9.4,120,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1898,3377,3362,3392,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2426,-0.39,-107.1,3249,1901,3358,3393,289.1,-8.9,125,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1901,3376,3358,3395,0,0,0,0,0,0,14.77,14.79,14.78
$GC,2726,-0.39,-107.1,3245,1901,3355,3391,316.1,-9.0,130,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1902,3375,3355,3395,0,0,0,0,0,0,14.78,14.80,14.80
$GC,3026,-0.39,-107.1,3245,1901,3352,3395,343.8,-9.3,135,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1901,3374,3353,3395,0,0,0,0,0,0,14.78,14.80,14.80
$GC,3326,-0.39,-107.1,3245,1901,3349,3395,372.2,-9.5,140,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1901,3372,3351,3394,0,0,0,0,0,0,14.78,14.80,14.78
$GC,3626,-0.39,-107.1,3244,1900,3346,3394,401.9,-10.0,145,3637,0.00,2.55,0.00,0.000,260,0.000,0.109,3245,3316,3370,3345,3395,0,0,0,0,0,0,14.78,14.45,14.81
$GC,3663,-0.39,-107.1,3245,3319,3345,3394,405.6,-10.4,150,3675,0.00,2.55,0.00,0.000,1030,0.000,0.096,3245,1889,3370,3346,3394,0,0,0,0,0,0,14.60,14.47,14.63
$GC,4015,-0.39,-107.1,3245,1889,3343,3393,440.5,-10.0,162,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1889,3368,3343,3393,0,0,0,0,0,0,14.77,14.79,14.79
$GC,4311,-0.39,-107.1,3245,1889,3338,3392,469.3,-9.5,167,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1889,3367,3341,3393,0,0,0,0,0,0,14.78,14.80,14.79
$GC,4611,-0.39,-107.1,3246,1894,3340,3390,496.0,-8.8,172,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1889,3367,3340,3394,0,0,0,0,0,0,14.79,14.81,14.80
$GC,4911,-0.39,-107.1,3251,1889,3339,3391,522.0,-8.6,177,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1889,3365,3339,3391,0,0,0,0,0,0,14.78,14.79,14.80
$GC,5211,-0.39,-107.1,3245,1889,3338,3390,548.0,-8.7,182,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1889,3364,3338,3390,0,0,0,0,0,0,14.78,14.80,14.80
$GC,5511,-0.39,-107.1,3245,1886,3336,3390,573.9,-8.6,187,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1888,3362,3337,3388,0,0,0,0,0,0,14.78,14.80,14.80
$GC,5811,-0.39,-107.1,3245,1888,3334,3389,599.2,-8.4,192,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1889,3360,3334,3386,0,0,0,0,0,0,14.78,14.81,14.80
$GC,6111,-0.39,-107.1,3245,1885,3333,3388,624.6,-8.5,197,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3361,3334,3388,0,0,0,0,0,0,14.78,14.80,14.80
$GC,6411,-0.39,-107.1,3245,1894,3333,3390,649.5,-8.2,202,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1893,3363,3339,3388,0,0,0,0,0,0,14.77,14.79,14.79
$GC,6711,-0.39,-107.1,3245,1888,3332,3388,673.7,-8.0,207,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1888,3359,3332,3387,0,0,0,0,0,0,14.78,14.79,14.79
$GC,7011,-0.39,-107.1,3245,1888,3329,3386,697.1,-7.8,212,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3359,3333,3386,0,0,0,0,0,0,14.78,14.80,14.80
$GC,7311,-0.39,-107.1,3245,1888,3329,3385,719.3,-7.4,217,7322,0.00,2.60,0.00,0.000,260,0.000,0.110,3245,3319,3356,3328,3385,0,0,0,0,0,0,14.78,14.41,14.80
$GC,7347,-0.39,-107.1,3245,3321,3329,3385,721.9,-7.3,222,7359,0.00,2.55,0.00,0.000,1030,0.000,0.097,3245,1906,3357,3329,3385,0,0,0,0,0,0,14.58,14.45,14.61
$GC,7700,-0.39,-107.1,3245,1906,3333,3385,746.4,-7.1,234,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1902,3356,3328,3385,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7997,-0.39,-107.1,3245,1905,3328,3385,768.7,-7.4,239,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1906,3356,3328,3385,0,0,0,0,0,0,14.77,14.79,14.79
$GC,8295,-0.39,-107.1,3245,1910,3327,3384,791.0,-7.4,244,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1905,3355,3327,3384,0,0,0,0,0,0,14.76,14.78,14.78
$GC,8596,-0.39,-107.1,3245,1905,3326,3384,812.3,-7.2,249,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1902,3354,3326,3382,0,0,0,0,0,0,14.77,14.78,14.78
$GC,8896,-0.39,-107.1,3245,1905,3326,3383,833.0,-6.9,254,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,3355,3326,3384,0,0,0,0,0,0,14.75,14.77,14.77
$GC,9196,-0.39,-107.1,3245,1905,3325,3383,852.9,-6.6,259,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,3354,3325,3383,0,0,0,0,0,0,14.76,14.78,14.77
$GC,9496,-0.39,-107.1,3245,1905,3324,3383,872.9,-6.7,264,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1908,3353,3324,3383,0,0,0,0,0,0,14.75,14.77,14.77
$GC,9796,-0.39,-107.1,3245,1905,3324,3383,892.4,-6.5,269,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,3356,3330,3382,0,0,0,0,0,0,14.75,14.78,14.76
$GC,10096,-0.39,-107.1,3245,1905,3324,3382,911.1,-6.2,274,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,3352,3323,3382,0,0,0,0,0,0,14.76,14.78,14.78
$GC,10396,-0.39,-107.1,3245,1905,3322,3382,929.5,-6.1,279,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,3351,3321,3382,0,0,0,0,0,0,14.74,14.76,14.76
$GC,10695,-0.39,-107.1,3245,1905,3321,3382,949.7,-6.8,284,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,3352,3322,3382,0,0,0,0,0,0,14.77,14.76,14.76
$GC,10996,-0.39,-107.1,3245,1905,3321,3382,970.1,-6.8,289,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1905,3351,3321,3382,0,0,0,0,0,0,14.74,14.76,14.76
$STATE,11291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11291,begin apogee
$GC,11303,-0.16,0.0,3246,2248,3321,3382,991.5,-7.1,294,11393,0.30,0.00,82.07,1.915,10246,0.169,0.000,3344,2248,2941,2887,2996,0,0,0,0,0,0,14.32,13.99,13.28
$STATE,11395,end apogee,CONTROL_FINISHED_OK
$STATE,11395,begin climb
$GC,11400,0.39,107.1,3338,2248,2884,2995,994.7,0.0,295,11499,0.52,0.00,89.85,1.887,10246,0.111,0.000,3517,2248,2502,2384,2621,0,0,0,0,0,0,14.00,13.76,13.11
$GC,11782,0.41,107.1,3516,2248,2378,2618,975.5,6.6,302,11792,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2248,2499,2380,2618,0,0,0,0,0,0,14.40,14.42,14.41
$GC,12076,0.41,107.1,3517,2248,2377,2618,955.1,6.8,307,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2248,2497,2377,2618,0,0,0,0,0,0,14.54,14.56,14.56
$GC,12376,0.42,107.1,3516,2248,2377,2618,936.0,6.4,312,12387,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2248,2497,2376,2619,0,0,0,0,0,0,14.62,14.64,14.63
$GC,12675,0.42,107.1,3517,2248,2379,2618,915.6,6.9,317,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2248,2497,2376,2618,0,0,0,0,0,0,14.64,14.67,14.67
$GC,12976,0.42,107.1,3517,2248,2375,2618,894.5,7.0,322,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2247,2495,2372,2618,0,0,0,0,0,0,14.69,14.72,14.70
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$GC,25134,0.93,408.6,3694,2233,1846,2116,19.2,-0.7,1105,25233,0.00,2.53,82.15,0.170,8708,0.000,0.107,3705,839,1276,1138,1414,0,0,0,0,0,0,14.64,14.28,14.22
$STATE,25319,end climb,SURFACE_DEPTH_REACHED
$STATE,25319,begin surface coast
$FINISH,3.3,1.023040
$STATE,25324,end surface coast,CONTROL_FINISHED_OK
$STATE,25324,begin surface
$SM_CCo,25418,0.00,0.000,0,0,1276,408.42
$SM_GC,1.32,10.18,1.95,0.00,0.052,0.099,0.000,95,1898,1276,-10.26,-0.68,408.42,0,0,0,0,0,0,14.35,14.30,14.45
$IRIDIUM_FIX,4710.21,-12603.75,040815,160546
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.38
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.30
$XPDR_PINGS,0
$SC_FREEKB,3859456
$24V_AH,13.09,54.387
$10V_AH,13.51,0.000
$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,25.275,128.125,346.800,0.000,0.000,0.000,0.000,1814.575,0.000,0.000,5.455,2419.586,19392.445,547.945,3951.867,1383.316,0.000,4068.509,0.000,1685.025,0.000,0.538,0.000
$DEVICE_MAMPS,359.550,113.220,1914.795,0.000,0.000,0.000,0.000,156.825,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25400.000,646.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.693,7.597,0.000,0.000
$MEM,286236
$DATA_FILE_SIZE,39981,1142
$CAP_FILE_SIZE,244433,0
$CFSIZE,260034560,234225664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,345.13,1
$GPS,040815,232709,4731.129,-12606.362,45,1.0,45,16.6,1.0,191.1,7,8.9