version: 66.13
glider: 204
mission: 21
dive: 136
start: 11 6 117 0 58 22
data:
$ID,204
$MISSION,21
$DIVE,136
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,850
$D_ABORT,1010
$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,300
$T_MISSION,500
$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,1010
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.026
$MASS,52527
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0200298
$HD_C,2.53195e-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,500
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3145
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,16
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.85684
$PRESSURE_SLOPE,0.00010934046
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_PING_N,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,20
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043580476
$SEABIRD_T_H,0.00063004985
$SEABIRD_T_I,2.4557072e-05
$SEABIRD_T_J,2.6474129e-06
$SEABIRD_C_G,-10.262359
$SEABIRD_C_H,1.1522416
$SEABIRD_C_I,-0.00012417733
$SEABIRD_C_J,0.00011025551
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$GPS1,061117,004925,1936.2365,-15602.3359,14,0.8,31,9.5,0.4,118.8,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.2
$GPS2,061117,005803,1936.2388,-15602.2881,4,0.8,6,9.5,0.2,203.9,10,6.6
$SPEED_LIMITS,0.164,0.186
$TGT_NAME,SHELF2
$TGT_LATLONG,1937.000,-15603.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,310.4,1879,-26.2,-9.444,-30.00,1862
$D_GRID,1010
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-1.17,-114.4,185,2504,1171,1038,0.0,0.0,0,114,0.00,0.00,-101.82,0.000,16390,0.000,0.000,184,2504,3613,3545,3681,0,0,0,0,0,0,20.39,19.57,20.43
$GC,116,-1.20,-146.2,185,2504,3547,3680,3.6,-5.7,10,142,16.15,3.12,-2.47,0.000,18980,0.235,0.962,2608,1111,3745,3685,3805,0,0,0,0,0,0,19.92,19.39,20.11
$GC,366,-1.20,-146.2,2608,1110,3690,3805,57.3,-18.8,60,372,0.00,2.90,0.00,0.000,1030,0.000,0.041,2600,2496,3747,3689,3805,0,0,0,0,0,0,20.22,20.16,20.24
$GC,686,-1.20,-146.2,2600,2497,3693,3806,112.2,-15.5,74,692,0.00,2.88,0.00,0.000,516,0.000,0.040,2604,1110,3748,3691,3805,0,0,0,0,0,0,20.43,20.17,20.47
$GC,771,-1.20,-146.2,2605,1110,3693,3805,123.8,-13.6,91,778,0.00,2.90,0.00,0.000,1030,0.000,0.039,2596,2507,3748,3692,3804,0,0,0,0,0,0,20.24,20.17,20.25
$GC,1076,-1.20,-146.2,2596,2507,3694,3804,162.0,-12.4,102,1082,0.00,2.88,0.00,0.000,516,0.000,0.037,2601,1109,3749,3694,3805,0,0,0,0,0,0,20.44,20.18,20.47
$GC,1231,-1.20,-146.2,2601,1110,3695,3806,181.0,-11.7,133,1238,0.00,2.90,0.00,0.000,1030,0.000,0.040,2592,2501,3750,3695,3805,0,0,0,0,0,0,20.25,20.18,20.27
$GC,1557,-1.20,-146.2,2592,2501,3699,3805,215.9,-10.6,148,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2501,3751,3698,3804,0,0,0,0,0,0,20.44,20.49,20.48
$GC,1857,-1.20,-146.2,2592,2503,3700,3806,243.9,-9.4,158,1862,0.00,2.90,0.00,0.000,548,0.000,0.041,2600,1100,3752,3699,3805,0,0,0,0,0,0,20.44,20.20,20.49
$GC,2062,-1.20,-146.2,2600,1100,3698,3805,263.1,-9.0,199,2067,0.00,2.95,0.00,0.000,1062,0.000,0.043,2592,2502,3752,3699,3805,0,0,0,0,0,0,20.25,20.19,20.28
$GC,2397,-1.20,-146.2,2591,2502,3700,3804,290.2,-8.3,211,2398,0.00,0.00,0.00,0.000,38,0.000,0.000,2590,2503,3751,3698,3804,0,0,0,0,0,0,20.45,20.50,20.49
$GC,2697,-1.20,-146.2,2591,2503,3697,3803,314.6,-8.2,216,2698,0.00,0.00,0.00,0.000,38,0.000,0.000,2591,2503,3750,3697,3804,0,0,0,0,0,0,20.45,20.50,20.49
$GC,2997,-1.20,-146.2,2591,2502,3694,3803,340.4,-8.8,221,3003,0.00,2.58,0.00,0.000,292,0.000,0.063,2582,3698,3748,3693,3803,0,0,0,0,0,0,20.45,20.17,20.49
$GC,3037,-1.20,-146.2,2582,3699,3693,3804,344.3,-10.0,229,3044,0.00,2.45,0.00,0.000,1030,0.000,0.035,2586,2510,3748,3693,3803,0,0,0,0,0,0,20.27,20.23,20.28
$GC,3359,-1.20,-146.2,2587,2510,3692,3800,373.3,-9.0,238,3364,0.12,2.92,0.00,0.000,2596,0.163,0.041,2616,1091,3745,3691,3799,0,0,0,0,0,0,20.11,20.20,20.23
$GC,3479,-1.20,-146.2,2616,1092,3690,3800,383.8,-9.0,262,3484,0.00,2.95,0.00,0.000,1062,0.000,0.039,2607,2506,3744,3690,3798,0,0,0,0,0,0,20.27,20.20,20.28
$GC,3839,-1.20,-146.2,2607,2506,3687,3793,413.3,-8.1,279,3840,0.00,0.00,0.00,0.000,38,0.000,0.000,2607,2506,3740,3686,3794,0,0,0,0,0,0,20.46,20.51,20.50
$GC,4138,-1.20,-146.2,2607,2507,3685,3792,439.8,-8.9,284,4144,0.00,2.92,0.00,0.000,548,0.000,0.039,2616,1090,3737,3684,3790,0,0,0,0,0,0,20.46,20.21,20.50
$GC,4183,-1.20,-146.2,2616,1091,3684,3792,443.8,-9.0,293,4190,0.00,2.95,0.00,0.000,1062,0.000,0.041,2607,2496,3736,3683,3790,0,0,0,0,0,0,20.28,20.21,20.30
$GC,4499,-1.20,-146.2,2607,2497,3683,3788,471.4,-8.7,301,4505,0.00,2.62,0.00,0.000,292,0.000,0.064,2598,3699,3734,3682,3786,0,0,0,0,0,0,20.47,20.18,20.50
$GC,4529,-1.20,-146.2,2598,3700,3682,3788,474.1,-9.6,307,4535,0.00,2.50,0.00,0.000,1030,0.000,0.038,2597,2499,3733,3681,3786,0,0,0,0,0,0,20.28,20.25,20.30
$GC,4860,-1.20,-146.2,2598,2500,3679,3785,503.4,-8.8,318,4865,0.00,2.90,0.00,0.000,548,0.000,0.038,2601,1091,3731,3679,3784,0,0,0,0,0,0,20.47,20.21,20.51
$GC,4925,-1.20,-146.2,2601,1091,3678,3786,509.1,-8.8,331,4930,0.00,2.97,0.00,0.000,1062,0.000,0.041,2592,2509,3730,3677,3783,0,0,0,0,0,0,20.28,20.20,20.30
$GC,5280,-1.20,-146.2,2592,2511,3676,3782,537.8,-7.8,347,5280,0.00,0.00,0.00,0.000,38,0.000,0.000,2592,2509,3728,3675,3781,0,0,0,0,0,0,20.47,20.51,20.51
$GC,5580,-1.20,-146.2,2593,2509,3674,3778,560.4,-7.4,352,5580,0.00,0.00,0.00,0.000,38,0.000,0.000,2592,2509,3725,3672,3778,0,0,0,0,0,0,20.47,20.52,20.51
$GC,5880,-1.20,-146.2,2591,2510,3671,3777,584.8,-8.3,357,5886,0.00,2.95,0.00,0.000,548,0.000,0.039,2598,1091,3723,3671,3776,0,0,0,0,0,0,20.47,20.22,20.51
$GC,5976,-1.20,-146.2,2598,1092,3671,3776,593.6,-9.1,376,5982,0.00,2.97,0.00,0.000,1062,0.000,0.041,2590,2504,3723,3671,3775,0,0,0,0,0,0,20.28,20.22,20.30
$GC,6301,-1.20,-146.2,2590,2505,3671,3775,621.2,-8.4,386,6307,0.00,2.95,0.00,0.000,548,0.000,0.042,2599,1091,3721,3669,3773,0,0,0,0,0,0,20.47,20.21,20.51
$GC,6396,-1.20,-146.2,2599,1091,3669,3773,628.7,-7.6,405,6402,0.00,2.95,0.00,0.000,1062,0.000,0.042,2590,2497,3720,3668,3773,0,0,0,0,0,0,20.29,20.23,20.31
$GC,6721,-1.20,-146.2,2590,2498,3667,3771,650.4,-6.5,415,6722,0.00,0.00,0.00,0.000,38,0.000,0.000,2590,2497,3717,3666,3769,0,0,0,0,0,0,20.48,20.53,20.52
$GC,7022,-1.20,-146.2,2589,2497,3666,3767,669.5,-6.4,420,7023,0.00,0.00,0.00,0.000,38,0.000,0.000,2590,2497,3716,3664,3768,0,0,0,0,0,0,20.48,20.53,20.51
$GC,7321,-1.20,-146.2,2590,2497,3664,3766,690.3,-7.0,425,7328,0.00,2.95,0.00,0.000,548,0.000,0.046,2598,1092,3714,3662,3766,0,0,0,0,0,0,20.48,20.21,20.52
$GC,7372,-1.20,-146.2,2599,1092,3663,3766,694.1,-7.5,435,7378,0.00,2.97,0.00,0.000,1062,0.000,0.044,2590,2508,3714,3662,3766,0,0,0,0,0,0,20.29,20.22,20.31
$GC,7683,-1.20,-146.2,2590,2510,3662,3766,716.5,-7.2,442,7684,0.00,0.00,0.00,0.000,38,0.000,0.000,2590,2509,3713,3662,3765,0,0,0,0,0,0,20.48,20.53,20.53
$GC,7982,-1.20,-146.2,2589,2508,3662,3762,739.0,-7.6,447,7987,0.00,2.92,0.00,0.000,548,0.000,0.040,2598,1090,3711,3661,3762,0,0,0,0,0,0,20.48,20.23,20.52
$GC,8123,-1.20,-146.2,2599,1091,3662,3762,750.4,-8.2,475,8128,0.00,2.97,0.00,0.000,1062,0.000,0.042,2589,2507,3711,3661,3762,0,0,0,0,0,0,20.30,20.23,20.31
$GC,8463,-1.20,-146.2,2590,2508,3659,3762,778.4,-8.3,488,8463,0.00,0.00,0.00,0.000,38,0.000,0.000,2590,2507,3710,3659,3761,0,0,0,0,0,0,20.49,20.54,20.53
$GC,8762,-1.20,-146.2,2590,2508,3659,3762,804.4,-8.7,493,8763,0.00,0.00,0.00,0.000,38,0.000,0.000,2589,2507,3709,3658,3760,0,0,0,0,0,0,20.49,20.54,20.53
$GC,9062,-1.20,-146.2,2590,2508,3658,3758,829.6,-8.4,498,9067,0.00,2.95,0.00,0.000,548,0.000,0.041,2598,1090,3707,3657,3757,0,0,0,0,0,0,20.49,20.23,20.53
$GC,9117,-1.20,-146.2,2598,1091,3657,3757,834.6,-8.6,509,9125,0.00,2.97,0.00,0.000,1062,0.000,0.043,2589,2496,3707,3657,3757,0,0,0,0,0,0,20.30,20.23,20.32
$STATE,9361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9361,begin apogee
$GC,9365,-0.21,0.0,2590,2404,3657,3756,854.3,-8.2,514,9544,1.75,0.00,171.90,0.971,10246,0.175,0.000,2925,2403,3137,3157,3117,0,0,0,0,0,0,20.07,19.70,19.25
$STATE,9545,end apogee,CONTROL_FINISHED_OK
$STATE,9545,begin climb
$GC,9547,1.20,146.2,2926,2405,3155,3118,856.6,0.0,517,9739,2.12,3.00,181.50,0.935,10756,0.138,0.036,3386,989,2538,2563,2514,0,0,0,0,0,0,19.93,19.87,19.27
$GC,9763,1.20,146.2,3387,990,2554,2509,834.0,13.6,528,9769,0.00,2.95,0.00,0.000,1030,0.000,0.033,3386,2410,2529,2552,2507,0,0,0,0,0,0,20.10,20.04,20.13
$GC,10084,1.20,146.2,3387,2410,2550,2499,792.2,13.0,537,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2410,2524,2549,2499,0,0,0,0,0,0,20.36,20.41,20.40
$GC,10384,1.20,146.2,3387,2409,2547,2497,751.0,13.8,542,10390,0.00,2.75,0.00,0.000,260,0.000,0.054,3386,3696,2521,2546,2497,0,0,0,0,0,0,20.39,20.11,20.43
$GC,10424,1.20,146.2,3387,3696,2547,2493,744.5,16.5,550,10430,0.00,2.67,0.00,0.000,1030,0.000,0.029,3396,2382,2520,2546,2494,0,0,0,0,0,0,20.25,20.20,20.26
$GC,10745,1.20,146.2,3395,2382,2545,2494,695.9,15.0,559,10750,0.00,2.83,0.00,0.000,516,0.000,0.032,3406,999,2519,2546,2493,0,0,0,0,0,0,20.40,20.17,20.45
$GC,10785,1.20,146.2,3406,1000,2546,2494,690.1,14.5,567,10790,0.00,2.88,0.00,0.000,1030,0.000,0.031,3406,2398,2519,2545,2493,0,0,0,0,0,0,20.23,20.17,20.25
$GC,11105,1.20,146.2,3407,2398,2546,2493,646.1,13.6,576,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2398,2519,2545,2493,0,0,0,0,0,0,20.42,20.47,20.46
$GC,11405,1.20,146.2,3406,2398,2545,2492,604.9,13.7,581,11410,0.00,2.88,0.00,0.000,516,0.000,0.032,3416,1001,2518,2544,2492,0,0,0,0,0,0,20.42,20.19,20.47
$GC,11429,1.20,146.2,3417,1000,2546,2492,601.3,14.0,586,11436,0.17,2.88,0.00,0.000,5126,0.170,0.031,3389,2400,2518,2544,2492,0,0,0,0,0,0,20.03,20.18,20.20
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$GC,13718,1.20,146.2,3419,1002,2542,2490,289.9,12.0,658,13725,0.17,2.88,0.00,0.000,5126,0.164,0.032,3391,2401,2515,2541,2490,0,0,0,0,0,0,20.06,20.21,20.23
$GC,14049,1.20,146.2,3391,2402,2541,2491,253.5,10.9,669,14055,0.00,2.78,0.00,0.000,260,0.000,0.054,3390,3699,2515,2540,2490,0,0,0,0,0,0,20.46,20.18,20.50
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$GC,16140,1.26,239.6,3397,3698,2239,2120,58.1,10.0,837,16147,0.00,2.62,2.10,0.196,9222,0.000,0.028,3405,2401,2166,2221,2112,0,0,0,0,0,0,20.25,20.23,19.54
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$STATE,16759,end climb,SURFACE_DEPTH_REACHED
$STATE,16759,begin surface coast
$FINISH,0.2,1.009489
$STATE,16780,end surface coast,CONTROL_FINISHED_OK
$STATE,16780,begin surface
$SM_CCo,16799,146.35,0.105,0,0,1103,500.17
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$IRIDIUM_FIX,1937.52,-15604.81,051117,200424
$TT8_MAMPS,0.045689,0.235186
$HUMID,50.07
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,19.25,45.056
$10V_AH,9.94,31.810
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.975,148.850,452.050,146.350,0.000,0.000,0.000,386.000,0.000,0.000,7.622,0.000,14257.569,888.335,2122.361,186.042,0.000,1994.720,0.000,1284.451,0.000,0.546,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.530,0.000,0.000,0.000
$MEM,215508
$DATA_FILE_SIZE,30065,896
$CAP_FILE_SIZE,127461,0
$CFSIZE,260030464,239226880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,4534.25,0x213b70,0,24
$CURRENT,0.054,141.31,1
$GPS,061117,054130,1936.898,-15603.219,23,0.8,23,9.5,0.3,181.4,9,4.2