version: 66.12
glider: 203
mission: 6
dive: 7
start: 12 12 114 11 11 42
data:
$ID,203
$MISSION,6
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,9
$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,15
$N_GPS,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2855
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$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,-63.024231
$PRESSURE_SLOPE,0.0001160131
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,121214,110734,2108.0903,-15810.8457,23,0.9,23,9.6,0.7,313.2,8,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-65.8
$GPS2,121214,111133,2108.1321,-15810.9023,6,0.8,6,9.6,0.6,316.1,10,14.1
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,151.5,103777,-18.3,-10.000,-21.02,2236
$D_GRID,2516
$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,11,begin dive
$GC,12,-0.93,-146.0,198,2387,1257,1169,0.0,0.0,0,52,0.00,0.00,-37.75,0.000,16386,0.000,0.000,197,2387,2345,2367,2324,0,0,0,0,0,0,26.89,28.83,26.97
$GC,53,-0.93,-146.0,198,2387,2369,2324,3.3,-7.2,6,95,8.93,2.05,-24.75,0.000,18948,0.226,0.050,2538,1028,3436,3498,3375,0,0,0,0,0,0,26.40,25.54,26.64
$GC,234,-0.93,-146.0,2538,1030,3499,3377,39.3,-22.4,41,242,0.00,2.08,0.00,0.000,1030,0.000,0.034,2532,2393,3436,3498,3375,0,0,0,0,0,0,26.79,26.74,26.82
$GC,546,-0.92,-146.0,2532,2393,3501,3375,111.6,-23.5,77,551,0.00,2.17,0.00,0.000,260,0.000,0.051,2521,3796,3437,3499,3375,0,0,0,0,0,0,27.10,26.84,27.17
$GC,691,-0.91,-146.0,2521,3797,3500,3377,142.0,-22.8,91,698,0.08,2.03,0.00,0.000,3078,0.146,0.028,2544,2415,3438,3499,3377,0,0,0,0,0,0,26.77,26.96,26.86
$GC,995,-0.91,-146.0,2545,2414,3501,3381,191.4,-13.4,122,1001,0.00,2.15,0.00,0.000,260,0.000,0.051,2537,3802,3440,3499,3381,0,0,0,0,0,0,27.21,26.95,27.27
$GC,1060,-0.91,-146.0,2537,3803,3500,3384,200.0,-14.4,128,1068,0.00,2.05,0.00,0.000,1030,0.000,0.028,2537,2395,3441,3500,3382,0,0,0,0,0,0,27.07,27.05,27.09
$GC,1365,-0.91,-146.0,2538,2396,3504,3384,242.0,-13.0,159,1371,0.00,2.17,0.00,0.000,260,0.000,0.051,2527,3802,3442,3503,3382,0,0,0,0,0,0,27.26,27.01,27.33
$GC,1545,-0.91,-146.0,2527,3803,3504,3384,266.3,-13.4,169,1551,0.05,2.05,0.00,0.000,3078,0.148,0.028,2543,2397,3443,3503,3383,0,0,0,0,0,0,26.94,27.11,27.01
$GC,1875,-0.91,-146.0,2543,2397,3504,3384,303.5,-11.4,180,1881,0.00,2.17,0.00,0.000,260,0.000,0.053,2539,3795,3442,3502,3382,0,0,0,0,0,0,27.31,27.05,27.38
$GC,2005,-0.91,-146.0,2538,3795,3503,3383,318.5,-12.6,184,2010,0.00,2.05,0.00,0.000,1030,0.000,0.028,2539,2390,3442,3502,3383,0,0,0,0,0,0,27.17,27.15,27.19
$GC,2325,-0.91,-146.0,2539,2389,3500,3384,357.0,-11.5,195,2331,0.00,2.20,0.00,0.000,260,0.000,0.054,2529,3800,3440,3498,3382,0,0,0,0,0,0,27.34,27.08,27.41
$GC,2550,-0.91,-146.0,2529,3801,3497,3382,383.4,-12.7,202,2555,0.05,2.05,0.00,0.000,3078,0.152,0.029,2546,2394,3439,3496,3382,0,0,0,0,0,0,27.01,27.19,27.08
$GC,2866,-0.92,-146.0,2546,2394,3494,3384,421.7,-11.4,213,2870,0.00,2.20,0.00,0.000,260,0.000,0.054,2540,3806,3437,3492,3382,0,0,0,0,0,0,27.36,27.10,27.43
$GC,2996,-0.92,-146.0,2541,3808,3491,3383,435.7,-11.6,217,3001,0.00,2.05,0.00,0.000,1030,0.000,0.030,2541,2407,3436,3490,3382,0,0,0,0,0,0,27.22,27.20,27.24
$GC,3316,-0.92,-146.0,2541,2406,3488,3382,474.2,-11.5,228,3320,0.00,2.20,0.00,0.000,260,0.000,0.056,2531,3812,3434,3487,3382,0,0,0,0,0,0,27.38,27.11,27.45
$GC,3451,-0.93,-146.0,2530,3812,3488,3380,489.3,-12.6,232,3455,0.00,2.08,0.00,0.000,1030,0.000,0.031,2531,2398,3432,3486,3379,0,0,0,0,0,0,27.24,27.22,27.26
$GC,3765,-0.93,-146.0,2531,2395,3486,3377,530.9,-12.6,243,3770,0.00,2.20,0.00,0.000,260,0.000,0.055,2522,3802,3431,3484,3378,0,0,0,0,0,0,27.39,27.12,27.46
$GC,3950,-0.93,-146.0,2522,3802,3484,3376,553.4,-12.3,249,3955,0.05,2.08,0.00,0.000,3078,0.151,0.031,2538,2394,3429,3482,3376,0,0,0,0,0,0,27.05,27.23,27.13
$GC,4276,-0.93,-146.0,2538,2394,3481,3375,587.4,-10.0,260,4280,0.00,2.20,0.00,0.000,260,0.000,0.056,2531,3799,3427,3480,3375,0,0,0,0,0,0,27.40,27.13,27.46
$GC,4465,-0.93,-146.0,2530,3799,3480,3373,605.6,-10.0,266,4470,0.00,2.05,0.00,0.000,1030,0.000,0.032,2530,2403,3425,3477,3373,0,0,0,0,0,0,27.24,27.24,27.27
$GC,4786,-0.94,-146.0,2530,2401,3477,3372,640.4,-11.0,277,4790,0.00,2.20,0.00,0.000,260,0.000,0.057,2522,3805,3423,3475,3372,0,0,0,0,0,0,27.40,27.13,27.48
$GC,5015,-0.94,-146.0,2522,3805,3475,3371,664.7,-11.4,284,5021,0.03,2.08,0.00,0.000,3078,0.184,0.033,2530,2400,3422,3474,3371,0,0,0,0,0,0,27.09,27.24,27.15
$GC,5326,-0.94,-146.0,2530,2401,3473,3370,697.9,-9.6,295,5330,0.00,2.20,0.00,0.000,260,0.000,0.058,2527,3800,3420,3472,3369,0,0,0,0,0,0,27.41,27.14,27.48
$GC,5495,-0.95,-146.0,2527,3798,3472,3367,712.8,-10.0,300,5500,0.00,2.08,0.00,0.000,1030,0.000,0.034,2527,2400,3419,3470,3368,0,0,0,0,0,0,27.26,27.24,27.29
$GC,5806,-0.95,-146.0,2527,2400,3469,3368,747.4,-11.1,311,5810,0.00,2.20,0.00,0.000,260,0.000,0.057,2517,3801,3417,3468,3366,0,0,0,0,0,0,27.41,27.13,27.48
$GC,5926,-0.95,-146.0,2517,3801,3468,3365,761.8,-11.9,315,5930,0.05,2.08,0.00,0.000,3078,0.161,0.034,2533,2398,3415,3466,3365,0,0,0,0,0,0,27.05,27.24,27.14
$GC,6256,-0.96,-146.0,2533,2397,3467,3364,798.9,-11.4,326,6260,0.00,2.20,0.00,0.000,260,0.000,0.060,2526,3795,3414,3465,3364,0,0,0,0,0,0,27.41,27.13,27.48
$GC,6486,-0.96,-146.0,2526,3795,3465,3363,824.0,-11.9,333,6490,0.00,2.08,0.00,0.000,1030,0.000,0.034,2526,2393,3413,3463,3363,0,0,0,0,0,0,27.27,27.24,27.28
$GC,6796,-0.97,-146.0,2527,2394,3462,3363,861.9,-11.5,344,6800,0.00,2.22,0.00,0.000,260,0.000,0.059,2517,3808,3411,3461,3362,0,0,0,0,0,0,27.41,27.13,27.49
$GC,6970,-0.97,-146.0,2517,3808,3461,3362,880.2,-12.3,349,6978,0.00,2.08,0.00,0.000,1030,0.000,0.034,2517,2400,3411,3461,3361,0,0,0,0,0,0,27.26,27.24,27.28
$GC,7276,-0.97,-146.0,2516,2400,3460,3362,919.2,-11.4,360,7280,0.00,2.20,0.00,0.000,260,0.000,0.059,2511,3793,3410,3459,3361,0,0,0,0,0,0,27.41,27.13,27.49
$GC,7435,-0.97,-146.0,2509,3795,3460,3362,936.7,-11.8,365,7440,0.03,2.08,0.00,0.000,3078,0.184,0.034,2519,2396,3410,3460,3360,0,0,0,0,0,0,27.09,27.24,27.15
$GC,7756,-0.98,-146.0,2519,2396,3460,3360,972.1,-10.4,376,7760,0.00,2.22,0.00,0.000,260,0.000,0.060,2513,3806,3409,3458,3360,0,0,0,0,0,0,27.41,27.13,27.48
$STATE,7935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7935,begin apogee
$GC,7938,-0.25,0.0,2514,2588,3458,3360,990.7,-10.3,382,8062,0.75,0.00,115.70,1.472,10246,0.129,0.000,2757,2587,2839,2892,2786,0,0,0,0,1,0,27.01,24.42,24.01
$STATE,8062,end apogee,CONTROL_FINISHED_OK
$STATE,8062,begin climb
$GC,8063,0.93,146.0,2757,2587,2900,2787,995.2,0.0,386,8201,1.10,2.28,124.47,1.579,10756,0.070,0.035,3149,1204,2246,2295,2198,0,0,0,0,1,0,25.15,24.75,23.82
$GC,8426,0.93,177.5,3149,1203,2300,2199,982.9,8.6,398,8460,0.00,2.20,30.48,1.026,9222,0.000,0.040,3149,2597,2114,2162,2066,0,0,0,0,0,0,26.22,26.19,24.87
$GC,8776,0.92,177.5,3150,2598,2148,2056,946.4,10.4,410,8780,0.00,2.15,0.00,0.000,516,0.000,0.037,3150,1207,2101,2148,2054,0,0,0,0,0,0,26.61,26.42,26.69
$GC,8866,0.91,177.5,3150,1207,2149,2054,937.5,10.0,413,8870,0.00,2.17,0.00,0.000,1030,0.000,0.040,3150,2596,2100,2147,2054,0,0,0,0,0,0,26.53,26.49,26.56
$GC,9196,0.91,183.4,3150,2597,2148,2053,905.2,9.7,424,9200,0.00,2.00,0.00,0.000,260,0.000,0.058,3150,3854,2100,2147,2053,0,0,0,0,0,0,26.90,26.66,26.97
$GC,9406,0.90,183.4,3150,3854,2147,2053,882.4,11.0,431,9410,0.00,1.90,0.00,0.000,1030,0.000,0.034,3150,2593,2099,2145,2053,0,0,0,0,0,0,26.85,26.83,26.87
$GC,9736,0.89,188.3,3150,2591,2146,2052,850.0,9.8,442,9749,0.00,2.05,8.10,0.992,8452,0.000,0.057,3150,3850,2066,2113,2020,0,0,0,0,0,0,27.08,26.58,25.89
$GC,9970,0.88,188.3,3150,3850,2110,2017,826.4,11.4,449,9978,0.00,1.88,0.00,0.000,1030,0.000,0.034,3150,2601,2063,2109,2018,0,0,0,0,0,0,26.86,26.84,26.88
$GC,10276,0.87,188.3,3150,2601,2110,2017,791.7,10.3,460,10280,0.00,2.00,0.00,0.000,260,0.000,0.057,3150,3857,2062,2108,2017,0,0,0,0,0,0,27.09,26.84,27.15
$GC,10505,0.86,188.3,3150,3857,2109,2016,768.5,11.0,467,10510,0.00,1.88,0.00,0.000,1030,0.000,0.033,3150,2593,2062,2108,2017,0,0,0,0,0,0,26.99,26.98,27.02
$GC,10816,0.85,188.3,3149,2593,2109,2017,734.3,10.2,478,10820,0.00,2.00,0.00,0.000,260,0.000,0.056,3150,3856,2061,2106,2017,0,0,0,0,0,0,27.18,26.93,27.25
$GC,11045,0.84,188.3,3150,3857,2109,2018,711.2,10.9,485,11050,0.00,1.88,0.00,0.000,1030,0.000,0.033,3150,2593,2061,2107,2016,0,0,0,0,0,0,27.07,27.04,27.09
$GC,11356,0.84,190.3,3150,2594,2109,2018,678.1,9.9,496,11360,0.00,2.00,0.00,0.000,260,0.000,0.056,3150,3858,2061,2107,2016,0,0,0,0,0,0,27.24,26.99,27.30
$GC,11585,0.83,190.3,3150,3858,2108,2015,655.8,10.6,503,11590,0.00,1.88,0.00,0.000,1030,0.000,0.033,3150,2593,2061,2107,2016,0,0,0,0,0,0,27.11,27.09,27.13
$GC,11896,0.82,221.8,3150,2592,2108,2016,626.3,8.6,514,11930,0.00,2.08,29.67,0.822,8452,0.000,0.056,3150,3858,1927,1974,1880,0,0,0,0,0,0,27.27,26.44,25.82
$GC,12153,0.81,221.8,3150,3859,1967,1872,601.1,10.8,522,12158,0.05,1.90,0.00,0.000,5126,0.212,0.033,3138,2594,1919,1966,1873,0,0,0,0,0,0,26.53,26.76,26.64
$GC,12469,0.81,252.5,3137,2596,1966,1873,571.7,8.6,533,12502,0.00,2.00,26.40,0.786,8452,0.000,0.054,3138,3853,1798,1845,1752,0,0,0,0,0,0,27.04,26.11,25.69
$GC,12726,0.81,252.5,3138,3854,1839,1748,544.2,12.1,541,12730,0.00,1.88,0.00,0.000,1030,0.000,0.032,3138,2607,1792,1838,1746,0,0,0,0,0,0,26.69,26.65,26.71
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$GC,15111,0.79,273.6,3131,2598,1758,1663,275.7,10.5,621,15115,0.00,1.98,0.00,0.000,260,0.000,0.054,3131,3850,1709,1757,1662,0,0,0,0,0,0,27.14,26.89,27.21
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$STATE,17828,end climb,SURFACE_DEPTH_REACHED
$STATE,17828,begin surface coast
$FINISH,0.9,1.007831
$STATE,17838,end surface coast,CONTROL_FINISHED_OK
$STATE,17838,begin surface
$SM_CCo,17851,4.18,0.142,0,0,1204,400.08
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$IRIDIUM_FIX,2059.45,-15817.92,121214,060814
$TT8_MAMPS,0.057673,0.057673
$HUMID,40.82
$INTERNAL_PRESSURE,9.1463
$TCM_TEMP,25.20
$XPDR_PINGS,6
$24V_AH,23.82,5.137
$10V_AH,10.39,5.886
$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
$DEVICE_SECS,18.900,150.925,435.350,4.175,0.000,0.000,0.000,179.175,1.500,0.000,7.957,0.000,13764.248,611.836,3627.718,75.805,0.000,2226.654,0.000,2835.281,0.000,0.554,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,625.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270588
$DATA_FILE_SIZE,40043,925
$CAP_FILE_SIZE,184632,0
$CFSIZE,1024393216,1019166720
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,18022.56,0x236d6a,7,5
$INTR,1,76.13,0x23373e,0,24
$CURRENT,0.000,111.80,1
$GPS,121214,161005,2106.699,-15810.688,30,1.0,30,9.6,0.6,166.3,8,17.6