version: 66.12
glider: 196
mission: 7
dive: 316
start: 9 9 114 21 48 29
data:
$ID,196
$MISSION,7
$DIVE,316
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7574.5508
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,090914,213024,7440.702,-14226.261,30,0.8,50,24.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-76.3
$GPS2,090914,214810,7440.654,-14226.368,6,0.8,26,24.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7330.000,-14500.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,187.7,153794,-22.3,-11.628,-24.76,1933
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.69,-145.9,189,2794,426,549,0.0,0.0,0,169,0.00,0.00,-150.82,0.000,16390,0.000,0.000,195,2793,3852,3897,3808,0,0,0,0,0,0,28.83,28.83,14.46
$GC,172,-0.69,-145.9,189,2793,3898,3809,2.2,-0.2,15,187,12.32,1.73,0.00,0.000,2308,0.400,0.063,2659,3787,3853,3897,3810,0,0,0,0,0,0,13.91,14.26,28.83
$GC,414,-0.69,-145.9,2659,3788,3899,3812,2.3,-0.1,63,418,0.00,1.67,0.00,0.000,1030,0.000,0.046,2664,2756,3854,3897,3811,0,0,0,0,0,0,28.83,14.33,28.83
$GC,723,-0.69,-145.9,2665,2754,3899,3812,2.8,-0.9,95,728,0.00,1.77,0.00,0.000,260,0.000,0.088,2659,3767,3855,3899,3811,0,0,0,0,0,0,28.83,14.27,28.83
$GC,953,-0.69,-145.9,2659,3767,3901,3811,81.7,-25.6,141,958,0.00,1.67,0.00,0.000,1030,0.000,0.051,2659,2764,3856,3900,3812,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1263,-0.69,-145.9,2660,2764,3901,3812,147.3,-19.4,173,1268,0.00,1.80,0.00,0.000,260,0.000,0.099,2651,3757,3855,3900,3811,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1494,-0.69,-145.9,2652,3758,3901,3812,194.0,-19.4,219,1499,0.00,1.62,0.00,0.000,1030,0.000,0.054,2651,2749,3855,3900,3811,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1804,-0.69,-145.9,2651,2749,3902,3811,248.8,-15.8,251,1808,0.00,1.83,0.00,0.000,260,0.000,0.099,2643,3785,3856,3901,3811,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2033,-0.69,-145.9,2644,3786,3901,3812,286.2,-16.0,297,2038,0.00,1.70,0.00,0.000,1030,0.000,0.054,2642,2761,3856,3901,3811,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2344,-0.69,-145.9,2643,2761,3902,3811,331.8,-14.5,309,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2761,3855,3900,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2643,-0.69,-145.9,2644,2762,3902,3812,374.5,-14.1,319,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2762,3854,3898,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,-0.69,-145.9,2644,2763,3901,3812,416.5,-14.1,329,2945,0.12,0.00,0.00,0.000,2054,0.259,0.000,2668,2762,3855,3900,3811,0,0,0,0,0,0,14.29,28.83,28.83
$GC,3243,-0.69,-145.9,2669,2762,3901,3812,452.5,-11.8,339,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2761,3855,3900,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3544,-0.69,-145.9,2669,2762,3901,3811,487.4,-11.5,349,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2761,3855,3900,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3844,-0.69,-145.9,2669,2762,3902,3811,521.4,-11.2,359,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2762,3855,3900,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4144,-0.69,-145.9,2669,2762,3902,3811,554.4,-10.9,369,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2762,3856,3901,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4444,-0.69,-145.9,2669,2762,3902,3812,587.0,-10.8,379,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2762,3856,3901,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4744,-0.69,-145.9,2669,2763,3902,3812,619.5,-10.8,389,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2762,3856,3902,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5044,-0.69,-145.9,2669,2762,3902,3811,652.1,-10.9,399,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2761,3856,3902,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.69,-145.9,2668,2762,3901,3811,685.0,-11.0,409,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2762,3856,3902,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.69,-145.9,2669,2762,3903,3812,717.6,-10.8,419,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2761,3856,3902,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,-0.69,-145.9,2668,2762,3903,3812,749.8,-10.7,429,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2761,3857,3903,3811,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5971,begin apogee
$GC,5976,-0.13,0.0,2669,2762,3904,3812,753.0,-10.8,430,6105,0.65,0.00,126.53,1.992,10244,0.215,0.000,2844,2761,3257,3278,3237,0,0,0,0,0,0,14.27,28.83,13.07
$STATE,6106,end apogee,CONTROL_FINISHED_OK
$STATE,6106,begin climb
$GC,6108,0.69,145.9,2845,2762,3273,3233,756.5,0.0,434,6240,0.88,0.00,124.50,1.831,11270,0.119,0.000,3112,2761,2657,2666,2649,0,0,0,0,0,0,13.76,28.83,12.63
$GC,6545,0.69,145.9,3113,2762,2665,2644,711.4,13.1,474,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2761,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6845,0.69,145.9,3112,2761,2667,2642,672.1,13.1,484,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2761,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7145,0.69,145.9,3112,2761,2667,2642,632.7,13.2,494,7150,0.00,2.38,0.00,0.000,516,0.000,0.064,3122,1352,2653,2665,2642,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7160,0.69,145.9,3124,1352,2666,2643,630.8,12.8,497,7165,0.00,2.40,0.00,0.000,1030,0.000,0.089,3123,2717,2653,2665,2642,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7476,0.69,145.9,3123,2717,2667,2642,588.2,13.6,510,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2716,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7775,0.69,145.9,3124,2718,2666,2643,547.9,13.4,520,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2713,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8076,0.69,145.9,3123,2718,2663,2643,508.6,13.0,530,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2717,2653,2666,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8375,0.69,145.9,3123,2717,2666,2642,469.4,13.1,540,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2717,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8675,0.69,145.9,3123,2717,2667,2642,430.7,12.7,550,8680,0.00,1.88,0.00,0.000,260,0.000,0.096,3123,3783,2653,2665,2642,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8695,0.69,145.9,3123,3784,2667,2643,427.8,14.2,554,8700,0.00,1.73,0.00,0.000,1030,0.000,0.049,3128,2735,2653,2665,2642,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9005,0.69,145.9,3129,2738,2666,2641,387.7,12.7,566,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2734,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9305,0.69,145.9,3130,2737,2666,2642,349.8,12.4,576,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2737,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9605,0.69,145.9,3128,2737,2667,2642,314.0,11.9,586,9610,0.00,2.33,0.00,0.000,516,0.000,0.064,3139,1348,2654,2667,2641,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9630,0.70,158.8,3140,1349,2666,2643,311.4,10.9,591,9646,0.00,2.45,11.60,1.381,9222,0.000,0.090,3140,2746,2609,2618,2601,0,0,0,0,0,0,28.83,14.35,13.78
$GC,9965,0.70,158.8,3140,2746,2615,2593,270.2,12.0,608,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2747,2602,2612,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10266,0.73,201.8,3140,2746,2614,2593,237.2,9.3,626,10307,0.00,2.38,35.88,1.307,8708,0.000,0.060,3149,1348,2429,2434,2424,0,0,0,0,0,0,28.83,14.32,13.71
$GC,10352,0.76,243.1,3150,1347,2432,2424,229.3,9.4,643,10393,0.00,2.47,34.95,1.391,9222,0.000,0.089,3149,2740,2261,2261,2261,0,0,0,0,0,0,28.83,14.26,13.52
$GC,10698,0.76,244.0,3150,2740,2261,2251,188.2,11.6,682,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2740,2256,2260,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10998,0.77,260.1,3150,2740,2262,2250,156.9,10.8,712,11019,0.00,2.38,14.50,1.250,8708,0.000,0.064,3160,1350,2191,2195,2187,0,0,0,0,0,0,28.83,14.38,13.74
$GC,11049,0.79,289.3,3160,1349,2196,2186,151.5,10.1,722,11081,0.00,2.45,24.77,1.219,9222,0.000,0.090,3160,2734,2075,2078,2073,0,0,0,0,0,0,28.83,14.33,13.66
$GC,11379,0.80,298.4,3160,2734,2079,2063,114.2,11.1,758,11384,0.00,0.00,3.72,1.172,8198,0.000,0.000,3160,2734,2039,2045,2034,0,0,0,0,0,0,28.83,28.83,13.47
$GC,11679,0.82,333.2,3161,2735,2060,2035,84.4,9.8,788,11701,0.00,2.42,16.45,0.441,8708,0.000,0.064,3166,1357,1899,1902,1897,0,0,0,0,0,0,28.83,14.28,13.95
$GC,11747,0.85,380.9,3168,1357,1909,1897,78.4,9.1,801,11777,0.00,2.45,22.30,0.422,9222,0.000,0.091,3168,2732,1704,1708,1700,0,0,0,0,0,0,28.83,14.22,13.91
$GC,12081,0.92,475.8,3168,2728,1715,1690,49.5,6.6,838,12132,0.00,1.95,42.55,0.335,8452,0.000,0.099,3168,3780,1316,1334,1298,0,0,0,0,0,0,28.83,14.19,13.97
$GC,12182,0.98,563.8,3168,3780,1335,1297,43.2,6.9,858,12228,0.08,1.73,39.97,0.314,11270,0.073,0.050,3218,2748,957,964,951,0,0,0,0,0,0,14.20,14.24,13.95
$GC,12533,1.06,680.8,3218,2749,963,942,17.8,5.4,898,12589,0.00,2.47,51.62,0.252,8708,0.000,0.070,3221,1357,498,446,551,0,0,0,0,0,0,28.83,14.16,14.01
$GC,12675,1.14,783.6,3222,1356,448,552,9.8,6.2,926,12680,0.12,2.45,0.00,0.000,3078,0.137,0.090,3270,2732,498,445,551,0,0,0,0,0,0,14.21,14.17,28.83
$FREEZE,8.07,-1.290,-1.422,2,1,0
$FREEZE,7.46,-1.291,-1.421,2,1,0
$FREEZE,6.38,-1.288,-1.421,2,1,0
$FREEZE,5.25,-1.290,-1.420,2,1,0
$FREEZE,4.29,-1.290,-1.419,2,1,0
$FREEZE,3.33,-1.290,-1.418,2,1,0
$FREEZE,2.43,-1.290,-1.418,2,1,0
$FREEZE,1.66,-1.297,-1.417,2,1,0
$STATE,12762,end climb,SURFACE_DEPTH_REACHED
$STATE,12763,begin surface coast
$FREEZE,0.95,-1.313,-1.416,2,1,0
$FREEZE,0.95,-1.278,-1.416,2,1,0
$FINISH,1.0,1.020882
$STATE,12783,end surface coast,CONTROL_FINISHED_OK
$STATE,12783,begin surface
$SM_CCo,12860,0.00,0.000,0,0,494,678.01
$SM_GC,2.07,9.35,0.00,0.00,0.071,0.000,0.000,198,2732,494,-8.36,-0.79,678.01,0,0,0,0,0,0,14.35,28.83,28.83
$RAFOS_CLK,246
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7358.04,-14223.90,090914,213414
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.72
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.70
$XPDR_PINGS,11
$SC_FREEKB,3797056
$24V_AH,12.63,97.900
$10V_AH,12.72,0.000
$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,23.525,50.100,549.350,0.000,0.000,0.000,0.000,766.150,2.750,0.000,27.251,0.000,10357.873,642.856,2614.567,303.607,0.000,2167.416,0.000,1400.844,1438.000,0.539,0.000
$DEVICE_MAMPS,400.095,99.450,1992.060,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12835.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.609,0.000,0.000,0.000
$MEM,181916
$DATA_FILE_SIZE,33346,938
$CAP_FILE_SIZE,150793,0
$CFSIZE,2097872896,2031058944
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13417.82,0x2378b6,7,5
$INTR,1,5973.58,0x2378b6,2,5
$INTR,2,12787.46,0x2378b6,7,5
$SOUNDSPEED,1446.6
$GPS,100914,012412,7439.479,-14229.831,35,0.8,55,24.0