version: 66.12
glider: 187
mission: 8
dive: 627
start: 12 10 115 19 9 22
data:
$ID,187
$MISSION,8
$DIVE,627
$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,570
$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,606.13629
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,2
$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,1970
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,14
$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,48
$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
$GPS1,101215,183101,4753.2114,-12524.2959,72,0.9,72,16.5,0.7,34.7,10,6.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-69.7
$GPS2,101215,190853,4753.7705,-12523.7510,3,0.9,5,16.5,0.7,4.2,9,5.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,191.3,157148,-14.8,-7.333,-19.49,2243
$D_GRID,779
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,29,-0.39,-107.1,73,1953,1213,1414,0.0,0.0,0,120,0.00,0.00,-78.75,0.000,16390,0.000,0.000,73,1952,3379,3368,3391,0,0,0,0,0,0,14.53,12.44,14.40
$GC,128,-0.39,-107.1,73,1953,3368,3391,6.4,-9.6,3,151,14.90,0.00,0.00,0.000,2822,0.384,0.000,3259,1956,3381,3369,3393,0,0,0,0,0,0,13.74,14.20,14.12
$GC,503,-0.39,-107.1,3259,1955,3365,3402,62.5,-9.7,18,514,0.00,2.67,0.00,0.000,260,0.000,0.104,3259,3389,3383,3365,3401,0,0,0,0,0,0,14.52,13.95,14.54
$GC,599,-0.39,-107.1,3259,3389,3365,3402,70.1,-6.6,35,611,0.00,2.58,0.00,0.000,1030,0.000,0.084,3259,1975,3384,3366,3402,0,0,0,0,0,0,14.14,14.00,14.19
$GC,948,-0.39,-107.1,3259,1974,3364,3402,102.0,-9.0,47,959,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1974,3382,3363,3402,0,0,0,0,0,0,14.55,14.54,14.57
$GC,1248,-0.39,-107.1,3258,1974,3363,3402,127.6,-8.3,52,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1974,3383,3365,3402,0,0,0,0,0,0,14.57,14.59,14.59
$GC,1547,-0.39,-107.1,3260,1974,3364,3402,150.1,-7.4,57,1558,0.00,2.67,0.00,0.000,260,0.000,0.103,3259,3389,3381,3361,3401,0,0,0,0,0,0,14.57,13.84,14.58
$GC,1580,-0.39,-107.1,3259,3389,3364,3402,152.3,-7.0,61,1591,0.00,2.60,0.00,0.000,1030,0.000,0.081,3259,1960,3384,3364,3405,0,0,0,0,0,0,14.12,13.99,14.17
$GC,1936,-0.39,-107.1,3259,1960,3370,3403,177.0,-7.1,74,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1960,3383,3364,3402,0,0,0,0,0,0,14.53,14.54,14.53
$GC,2233,-0.39,-107.1,3259,1960,3363,3402,198.3,-7.1,79,2245,0.00,2.70,0.00,0.000,260,0.000,0.101,3255,3390,3382,3363,3402,0,0,0,0,0,0,14.54,13.80,14.55
$GC,2260,-0.39,-107.1,3259,3390,3363,3402,200.4,-7.3,82,2271,0.00,2.60,0.00,0.000,1030,0.000,0.083,3259,1972,3382,3363,3402,0,0,0,0,0,0,14.00,13.84,14.04
$GC,2624,-0.39,-107.1,3259,1972,3362,3402,226.0,-7.2,96,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1972,3382,3362,3402,0,0,0,0,0,0,14.52,14.52,14.54
$GC,2918,-0.39,-107.1,3259,1972,3362,3402,247.3,-7.1,101,2929,0.00,2.62,0.00,0.000,516,0.000,0.098,3259,544,3382,3361,3403,0,0,0,0,0,0,14.57,13.80,14.59
$GC,2954,-0.39,-107.1,3259,545,3361,3402,250.3,-8.2,106,2965,0.00,2.62,0.00,0.000,1030,0.000,0.086,3259,1981,3379,3361,3398,0,0,0,0,0,0,14.04,13.90,14.10
$GC,3307,-0.39,-107.1,3259,1980,3360,3402,275.9,-7.4,118,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1986,3380,3359,3402,0,0,0,0,0,0,14.53,14.55,14.54
$GC,3602,-0.39,-107.1,3257,1981,3359,3402,298.2,-7.4,123,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1981,3380,3358,3402,0,0,0,0,0,0,14.57,14.59,14.60
$GC,3903,-0.39,-107.1,3259,1981,3358,3403,319.9,-7.2,128,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1980,3380,3358,3403,0,0,0,0,0,0,14.57,14.58,14.57
$GC,4202,-0.39,-107.1,3259,1978,3358,3402,340.5,-6.9,133,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1981,3380,3358,3402,0,0,0,0,0,0,14.57,14.59,14.61
$GC,4502,-0.39,-107.1,3259,1981,3357,3402,360.4,-6.5,138,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1981,3379,3356,3402,0,0,0,0,0,0,14.58,14.60,14.59
$GC,4803,-0.39,-107.1,3259,1981,3356,3402,379.4,-6.4,143,4814,0.00,2.65,0.00,0.000,260,0.000,0.104,3259,3387,3379,3356,3402,0,0,0,0,0,0,14.54,13.70,14.55
$GC,4835,-0.39,-107.1,3259,3387,3356,3402,381.4,-6.0,147,4847,0.00,2.62,0.00,0.000,1030,0.000,0.085,3259,1961,3379,3356,3402,0,0,0,0,0,0,13.99,13.83,14.04
$GC,5194,-0.39,-107.1,3259,1960,3354,3402,403.7,-6.3,160,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1960,3378,3354,3403,0,0,0,0,0,0,14.53,14.55,14.54
$GC,5488,-0.39,-107.1,3256,1960,3354,3402,422.9,-6.5,165,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1961,3378,3354,3402,0,0,0,0,0,0,14.54,14.56,14.56
$GC,5788,-0.39,-107.1,3259,1960,3353,3402,444.4,-7.2,170,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1960,3378,3354,3402,0,0,0,0,0,0,14.57,14.58,14.58
$GC,6089,-0.39,-107.1,3261,1960,3353,3402,467.2,-7.5,175,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1960,3378,3354,3402,0,0,0,0,0,0,14.57,14.57,14.57
$GC,6389,-0.39,-107.1,3259,1960,3351,3402,487.3,-6.6,180,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1960,3377,3352,3402,0,0,0,0,0,0,14.57,14.58,14.58
$GC,6688,-0.39,-107.1,3259,1960,3346,3402,504.6,-5.7,185,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1960,3374,3347,3402,0,0,0,0,0,0,14.57,14.59,14.59
$GC,6988,-0.39,-107.1,3259,1960,3350,3398,521.3,-5.5,190,6999,0.00,2.72,0.00,0.000,260,0.000,0.105,3259,3390,3375,3349,3402,0,0,0,0,0,0,14.55,13.68,14.57
$GC,7020,-0.39,-107.1,3259,3386,3350,3402,522.9,-4.9,194,7031,0.00,2.62,0.00,0.000,1030,0.000,0.088,3260,1973,3375,3349,3401,0,0,0,0,0,0,13.93,13.78,14.00
$GC,7379,-0.39,-107.1,3259,1970,3345,3402,539.6,-4.7,207,7390,0.00,2.65,0.00,0.000,516,0.000,0.098,3259,559,3375,3349,3402,0,0,0,0,0,0,14.49,13.68,14.51
$GC,7440,-0.39,-107.1,3259,560,3349,3402,543.6,-6.2,217,7451,0.00,2.62,0.00,0.000,1030,0.000,0.090,3263,1976,3375,3349,3402,0,0,0,0,0,0,13.91,13.78,13.98
$GC,7764,-0.39,-107.1,3259,1971,3342,3402,561.2,-5.5,224,7775,0.00,2.70,0.00,0.000,260,0.000,0.104,3259,3389,3371,3341,3402,0,0,0,0,0,0,14.51,13.63,14.52
$GC,7811,-0.39,-107.1,3259,3392,3347,3403,563.9,-5.6,231,7822,0.00,2.65,0.00,0.000,1030,0.000,0.086,3259,1962,3374,3347,3402,0,0,0,0,0,0,13.93,13.78,13.99
$GC,8150,-0.39,-107.1,3258,1964,3345,3398,584.1,-6.2,241,8161,0.00,2.65,0.00,0.000,516,0.000,0.099,3259,546,3373,3345,3402,0,0,0,0,0,0,14.54,13.66,14.54
$GC,8181,-0.39,-107.1,3259,546,3345,3402,586.5,-7.1,245,8192,0.00,2.65,0.00,0.000,1030,0.000,0.090,3259,1973,3373,3345,3402,0,0,0,0,0,0,13.92,13.76,13.98
$GC,8539,-0.39,-107.1,3259,1973,3341,3402,607.2,-5.7,258,8550,0.00,2.70,0.00,0.000,260,0.000,0.104,3259,3388,3373,3344,3402,0,0,0,0,0,0,14.50,13.62,14.52
$GC,8601,-0.39,-107.1,3259,3388,3344,3402,611.1,-5.9,268,8612,0.00,2.65,0.00,0.000,1030,0.000,0.087,3258,1969,3373,3344,3402,0,0,0,0,0,0,13.93,13.75,13.97
$GC,8924,-0.39,-107.1,3259,1971,3343,3402,628.6,-5.4,275,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1968,3374,3343,3406,0,0,0,0,0,0,14.54,14.57,14.57
$GC,9226,-0.39,-107.1,3259,1971,3342,3402,646.2,-5.9,280,9237,0.00,2.75,0.00,0.000,260,0.000,0.107,3265,3389,3372,3342,3402,0,0,0,0,0,0,14.50,13.60,14.50
$GC,9269,-0.39,-107.1,3259,3390,3342,3402,649.0,-6.2,286,9280,0.00,2.65,0.00,0.000,1030,0.000,0.087,3259,1972,3369,3342,3397,0,0,0,0,0,0,13.88,13.72,13.96
$GC,9616,-0.39,-107.1,3259,1972,3341,3404,670.2,-6.2,297,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1971,3371,3340,3402,0,0,0,0,0,0,14.51,14.52,14.52
$GC,9911,-0.39,-107.1,3259,1973,3340,3402,687.5,-5.8,302,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1972,3371,3340,3402,0,0,0,0,0,0,14.52,14.54,14.54
$GC,10211,-0.39,-107.1,3259,1971,3346,3402,701.8,-4.6,307,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1970,3370,3339,3402,0,0,0,0,0,0,14.53,14.55,14.55
$GC,10513,-0.39,-107.1,3259,1972,3338,3402,714.1,-4.0,312,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1971,3370,3338,3402,0,0,0,0,0,0,14.51,14.52,14.53
$GC,10811,-0.39,-107.1,3258,1971,3343,3402,725.9,-4.0,317,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1972,3369,3338,3400,0,0,0,0,0,0,14.49,14.50,14.50
$GC,11113,-0.39,-107.1,3259,1972,3337,3402,740.3,-4.9,322,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1971,3369,3337,3402,0,0,0,0,0,0,14.50,14.51,14.52
$GC,11411,-0.39,-107.1,3259,1972,3336,3402,755.8,-5.4,327,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1971,3369,3336,3402,0,0,0,0,0,0,14.51,14.52,14.52
$GC,11713,-0.39,-107.1,3259,1972,3335,3402,770.2,-4.8,332,11724,0.00,2.70,0.00,0.000,516,0.000,0.102,3259,556,3368,3335,3402,0,0,0,0,0,0,14.47,13.65,14.49
$GC,11750,-0.39,-107.1,3259,560,3335,3402,772.0,-5.7,337,11761,0.00,2.67,0.00,0.000,1030,0.000,0.093,3259,1983,3368,3335,3402,0,0,0,0,0,0,13.85,13.69,13.90
$STATE,11912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11912,begin apogee
$GC,11925,-0.16,0.0,3259,2246,3335,3401,779.7,-4.6,346,12027,0.30,0.00,93.93,1.667,10246,0.148,0.000,3347,2247,2940,2876,3005,0,0,0,0,0,0,13.69,13.78,12.83
$STATE,12029,end apogee,CONTROL_FINISHED_OK
$STATE,12030,begin climb
$GC,12035,0.39,107.1,3347,2246,2871,3003,781.5,0.0,347,12141,0.47,0.00,97.38,1.651,10246,0.095,0.000,3519,2246,2505,2379,2632,0,0,0,0,0,0,13.89,13.67,12.71
$GC,12403,0.42,172.9,3518,2245,2372,2630,770.8,4.3,354,12475,0.00,2.67,57.80,1.631,8708,0.000,0.104,3526,840,2233,2073,2393,0,0,0,0,0,0,14.43,13.90,12.93
$GC,12538,0.42,172.9,3526,839,2073,2392,762.1,7.4,379,12550,0.00,2.60,0.00,0.000,1030,0.000,0.094,3527,2262,2232,2073,2392,0,0,0,0,0,0,14.11,13.98,14.14
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$STATE,23156,end climb,SURFACE_DEPTH_REACHED
$STATE,23162,begin surface coast
$FINISH,-0.4,1.024506
$STATE,23192,end surface coast,CONTROL_FINISHED_OK
$STATE,23193,begin surface
$SM_CCo,23227,154.35,0.081,0,0,470,606.14
$SM_GC,0.59,10.02,3.17,154.35,0.035,0.086,0.081,88,1973,470,-10.27,0.51,606.14,0,0,0,0,0,0,14.09,13.92,14.09
$IRIDIUM_FIX,4732.49,-12522.93,101215,185059
$TT8_MAMPS,0.02247,0.02247
$HUMID,48.07
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3679744
$24V_AH,12.44,179.060
$10V_AH,13.05,0.000
$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,26.000,164.950,307.000,154.350,0.000,0.000,0.000,1575.400,0.000,0.000,6.521,1910.924,18303.475,700.169,3412.808,1312.482,0.000,3732.415,0.000,1299.426,0.000,0.537,0.000
$DEVICE_MAMPS,384.030,107.865,1666.935,81.090,0.000,0.000,0.000,159.120,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23281.000,562.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.886,7.723,0.000,0.000
$MEM,286220
$DATA_FILE_SIZE,30031,875
$CAP_FILE_SIZE,219158,0
$CFSIZE,260034560,179236864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,327.87,1
$GPS,111215,014039,4752.872,-12526.379,30,1.3,30,16.5,1.3,4.3,6,9.5