version: 66.12
glider: 204
mission: 15
dive: 78
start: 3 15 115 9 23 28
data:
$ID,204
$MISSION,15
$DIVE,78
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,48
$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,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,150315,091735,1323.6693,14605.7969,51,1.3,51,1.4,0.7,343.0,7,36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.6
$GPS2,150315,092316,1323.7054,14605.7588,11,0.9,11,1.4,1.7,7.9,9,18.2
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,329.5,102382,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-175.2,196,2619,804,812,0.0,0.0,0,163,0.00,0.00,-64.40,0.000,16386,0.000,0.000,195,2619,2566,2526,2606,0,0,0,0,0,0,26.17,28.83,26.22
$GC,165,-0.80,-175.2,196,2618,2524,2608,3.5,-2.7,8,204,11.77,2.12,-18.77,0.000,18948,0.237,0.041,3016,1222,3555,3526,3585,0,0,0,0,0,0,25.83,24.79,26.08
$GC,405,-0.80,-175.2,3016,1223,3529,3587,67.2,-25.0,44,418,0.00,2.08,0.00,0.000,1030,0.000,0.031,3007,2594,3557,3528,3586,0,0,0,0,0,0,26.22,26.17,26.24
$GC,712,-0.80,-175.2,3008,2595,3530,3587,142.5,-22.0,75,722,0.00,2.05,0.00,0.000,516,0.000,0.024,3012,1208,3557,3529,3586,0,0,0,0,0,0,26.22,26.25,26.28
$GC,766,-0.80,-175.2,3012,1209,3530,3587,153.8,-19.9,80,774,0.00,2.10,0.00,0.000,1030,0.000,0.030,3003,2605,3558,3530,3586,0,0,0,0,0,0,26.29,26.23,26.31
$GC,1092,-0.80,-175.2,3003,2606,3530,3588,217.7,-18.6,106,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2605,3560,3534,3587,0,0,0,0,0,0,26.28,26.34,26.34
$GC,1391,-0.80,-175.2,3003,2605,3537,3586,264.4,-14.2,116,1399,0.00,1.65,0.00,0.000,260,0.000,0.044,2995,3693,3562,3535,3590,0,0,0,0,0,0,26.30,26.25,26.36
$GC,1453,-0.80,-175.2,2995,3694,3536,3591,273.2,-13.7,118,1460,0.00,1.52,0.00,0.000,1030,0.000,0.021,3002,2589,3562,3535,3590,0,0,0,0,0,0,26.34,26.32,26.36
$GC,1784,-0.80,-175.2,3002,2590,3536,3593,320.7,-13.9,129,1793,0.00,1.70,0.00,0.000,260,0.000,0.044,2995,3701,3562,3535,3590,0,0,0,0,0,0,26.30,26.26,26.36
$GC,1851,-0.80,-175.2,2995,3702,3536,3591,329.3,-13.5,131,1859,0.00,1.52,0.00,0.000,1030,0.000,0.023,3002,2610,3562,3535,3590,0,0,0,0,0,0,26.37,26.35,26.39
$GC,2178,-0.80,-175.2,3002,2612,3536,3588,369.5,-11.6,142,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2610,3561,3535,3587,0,0,0,0,0,0,26.26,26.33,26.32
$GC,2478,-0.80,-175.2,3002,2612,3536,3584,407.9,-12.6,152,2490,0.00,2.05,0.00,0.000,516,0.000,0.024,3011,1206,3558,3534,3582,0,0,0,0,0,0,26.27,26.30,26.32
$GC,2523,-0.80,-175.2,3011,1206,3536,3582,411.8,-12.7,153,2531,0.00,2.10,0.00,0.000,1030,0.000,0.030,3002,2602,3558,3534,3582,0,0,0,0,0,0,26.34,26.29,26.36
$GC,2835,-0.80,-175.2,3003,2602,3532,3580,452.8,-12.6,164,2842,0.00,1.65,0.00,0.000,260,0.000,0.043,2994,3692,3555,3531,3580,0,0,0,0,0,0,26.29,26.27,26.36
$GC,2891,-0.80,-175.2,2994,3692,3532,3578,456.7,-12.5,165,2901,0.00,1.55,0.00,0.000,1030,0.000,0.021,3001,2574,3552,3526,3578,0,0,0,0,0,0,26.36,26.32,26.37
$GC,3196,-0.80,-175.2,3001,2574,3528,3576,498.9,-12.9,176,3206,0.00,1.77,0.00,0.000,260,0.000,0.044,2993,3720,3551,3526,3576,0,0,0,0,0,0,26.29,26.23,26.34
$GC,3235,-0.80,-175.2,2994,3720,3527,3575,503.4,-12.8,177,3242,0.00,1.60,0.00,0.000,1030,0.000,0.024,3001,2617,3550,3526,3575,0,0,0,0,0,0,26.34,26.33,26.35
$GC,3561,-0.80,-175.2,3000,2616,3524,3571,542.4,-11.3,188,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2616,3547,3523,3571,0,0,0,0,0,0,26.27,26.35,26.34
$GC,3861,-0.80,-175.2,3001,2616,3520,3569,575.8,-11.1,198,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2616,3544,3519,3570,0,0,0,0,0,0,26.28,26.35,26.34
$GC,4161,-0.80,-175.2,3000,2616,3517,3567,608.6,-10.7,208,4169,0.00,2.08,0.00,0.000,516,0.000,0.027,3009,1213,3541,3515,3567,0,0,0,0,0,0,26.27,26.25,26.33
$GC,4192,-0.80,-175.2,3010,1214,3516,3568,611.3,-10.6,209,4200,0.00,2.10,0.00,0.000,1030,0.000,0.031,3001,2598,3541,3515,3567,0,0,0,0,0,0,26.31,26.25,26.33
$GC,4519,-0.80,-175.2,3001,2599,3514,3563,645.0,-10.0,220,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2599,3538,3513,3563,0,0,0,0,0,0,26.26,26.33,26.32
$GC,4819,-0.80,-175.2,3001,2599,3511,3561,676.7,-11.1,230,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2599,3535,3510,3561,0,0,0,0,0,0,26.25,26.32,26.31
$GC,5119,-0.80,-175.2,3002,2605,3509,3559,711.3,-11.5,240,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2599,3533,3508,3559,0,0,0,0,0,0,26.25,26.32,26.31
$GC,5419,-0.80,-175.2,3001,2599,3508,3556,743.4,-10.3,250,5427,0.00,2.08,0.00,0.000,516,0.000,0.026,3010,1206,3530,3506,3555,0,0,0,0,0,0,26.23,26.22,26.29
$GC,5461,-0.80,-175.2,3009,1205,3507,3556,746.1,-10.3,251,5470,0.00,2.12,0.00,0.000,1030,0.000,0.030,3000,2601,3531,3506,3556,0,0,0,0,0,0,26.26,26.20,26.28
$GC,5774,-0.80,-175.2,3001,2601,3505,3554,779.7,-10.5,262,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2601,3529,3504,3554,0,0,0,0,0,0,26.22,26.29,26.29
$GC,6074,-0.80,-175.2,3001,2601,3503,3552,813.2,-11.3,272,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2601,3527,3502,3553,0,0,0,0,0,0,26.24,26.31,26.30
$GC,6374,-0.80,-175.2,3000,2601,3502,3551,848.2,-11.8,282,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2601,3526,3501,3551,0,0,0,0,0,0,26.21,26.27,26.27
$GC,6674,-0.80,-175.2,3001,2602,3500,3551,883.0,-11.6,292,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2601,3524,3499,3550,0,0,0,0,0,0,26.22,26.29,26.28
$GC,6974,-0.80,-175.2,3001,2601,3498,3548,916.5,-11.0,302,6982,0.00,2.08,0.00,0.000,516,0.000,0.027,3009,1216,3522,3497,3548,0,0,0,0,0,0,26.20,26.15,26.27
$GC,7005,-0.80,-175.2,3009,1217,3498,3549,919.2,-10.9,303,7013,0.00,2.12,0.00,0.000,1030,0.000,0.031,3000,2602,3523,3497,3549,0,0,0,0,0,0,26.21,26.15,26.23
$GC,7327,-0.80,-175.2,3000,2602,3497,3547,952.9,-10.4,314,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2602,3521,3496,3547,0,0,0,0,0,0,26.20,26.26,26.27
$GC,7627,-0.80,-175.2,3001,2603,3494,3547,984.4,-10.7,324,7634,0.00,1.70,0.00,0.000,260,0.000,0.045,2992,3700,3517,3489,3545,0,0,0,0,0,0,26.17,26.08,26.24
$GC,7668,-0.80,-175.2,2993,3697,3493,3547,987.9,-10.9,325,7675,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2590,3519,3493,3545,0,0,0,0,0,0,26.24,26.21,26.25
$STATE,7688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7688,begin apogee
$GC,7691,-0.17,0.0,2992,2425,3494,3544,991.4,-11.0,326,7836,0.77,0.00,138.05,1.311,10246,0.157,0.000,3213,2424,2838,2811,2865,0,0,0,0,0,0,25.89,24.84,24.13
$STATE,7836,end apogee,CONTROL_FINISHED_OK
$STATE,7836,begin climb
$GC,7837,0.80,175.2,3213,2422,2809,2859,997.4,0.0,330,7997,1.05,2.25,145.32,1.282,10756,0.138,0.026,3528,1033,2115,2111,2120,0,0,0,0,0,0,24.98,24.21,23.49
$GC,8101,0.98,303.0,3528,1034,2107,2117,995.9,5.1,339,8220,0.22,2.20,108.43,1.282,11270,0.148,0.029,3589,2423,1602,1604,1601,0,0,0,0,0,0,25.20,25.31,23.56
$GC,8534,0.98,303.0,3589,2423,1591,1583,940.3,13.7,354,8541,0.00,2.03,0.00,0.000,260,0.000,0.046,3588,3691,1586,1590,1582,0,0,0,0,0,0,25.84,25.82,25.91
$GC,8600,0.98,303.0,3588,3691,1591,1582,930.8,14.6,356,8607,0.00,1.85,0.00,0.000,1030,0.000,0.022,3597,2409,1585,1589,1582,0,0,0,0,0,0,25.98,25.97,25.99
$GC,8921,0.98,303.0,3598,2406,1588,1581,882.8,14.9,367,8928,0.00,2.05,0.00,0.000,260,0.000,0.045,3597,3694,1583,1587,1580,0,0,0,0,0,0,26.12,26.09,26.19
$GC,8952,0.98,303.0,3598,3695,1588,1582,877.8,15.1,368,8960,0.00,1.85,0.00,0.000,1030,0.000,0.023,3606,2419,1584,1588,1580,0,0,0,0,0,0,26.20,26.15,26.20
$GC,9283,0.98,303.0,3606,2418,1587,1578,828.6,14.7,379,9291,0.00,2.00,0.00,0.000,260,0.000,0.044,3606,3693,1581,1585,1578,0,0,0,0,0,0,26.20,26.15,26.26
$GC,9315,0.98,303.0,3606,3692,1587,1578,824.4,14.9,380,9322,0.00,1.85,0.00,0.000,1030,0.000,0.024,3615,2408,1582,1586,1578,0,0,0,0,0,0,26.25,26.22,26.25
$GC,9636,0.98,303.0,3616,2406,1585,1579,775.9,14.7,391,9643,0.00,2.03,0.00,0.000,260,0.000,0.044,3613,3693,1581,1584,1578,0,0,0,0,0,0,26.20,26.15,26.26
$GC,9672,0.98,303.0,3613,3694,1586,1579,771.1,15.0,392,9680,0.12,1.85,0.00,0.000,5126,0.177,0.023,3591,2422,1581,1585,1578,0,0,0,0,0,0,25.97,26.22,26.16
$GC,9999,0.98,303.0,3592,2423,1585,1578,725.4,13.4,403,10006,0.00,2.10,0.00,0.000,516,0.000,0.029,3602,1032,1580,1583,1578,0,0,0,0,0,0,26.20,26.19,26.26
$GC,10030,0.98,303.0,3602,1033,1583,1578,721.8,13.6,404,10041,0.00,2.12,0.00,0.000,1030,0.000,0.029,3601,2421,1579,1582,1577,0,0,0,0,0,0,26.21,26.15,26.24
$GC,10355,0.98,303.0,3601,2421,1584,1577,676.5,14.1,415,10363,0.00,2.03,0.00,0.000,260,0.000,0.047,3601,3699,1577,1582,1573,0,0,0,0,0,0,26.19,26.12,26.25
$GC,10406,0.98,303.0,3601,3699,1584,1576,671.6,14.6,416,10414,0.00,1.85,0.00,0.000,1030,0.000,0.024,3611,2426,1579,1582,1577,0,0,0,0,0,0,26.23,26.20,26.25
$GC,10718,0.98,303.0,3610,2425,1583,1577,618.0,16.6,427,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2425,1579,1582,1577,0,0,0,0,0,0,26.18,26.25,26.25
$GC,11018,0.98,303.0,3610,2425,1582,1576,569.9,15.6,437,11026,0.00,2.00,0.00,0.000,260,0.000,0.044,3611,3695,1579,1582,1576,0,0,0,0,0,0,26.17,26.10,26.24
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$STATE,15997,end climb,SURFACE_DEPTH_REACHED
$STATE,15998,begin surface coast
$FINISH,0.7,1.022399
$STATE,16028,end surface coast,CONTROL_FINISHED_OK
$STATE,16028,begin surface
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$IRIDIUM_FIX,1320.88,14605.68,090108,224520
$TT8_MAMPS,0.054677,0.054677
$HUMID,34.91
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.60
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,16058.71 6814.07
$PA_BOOTCOUNT,883
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.05/0.084/1.856/1.678
$PA_DISK_BANK,0
$24V_AH,23.49,17.534
$10V_AH,10.13,30.280
$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,24.650,101.275,552.175,0.000,0.000,0.000,0.000,253.575,0.000,16417.061,12.646,0.000,12798.701,581.847,2969.251,86.478,0.000,2119.759,0.000,1593.890,0.000,0.548,0.000
$DEVICE_MAMPS,237.150,55.080,1311.210,0.000,0.000,0.000,0.000,87.975,420.000,63.128,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,523.306,0.000,0.000,0.000,0.000,0.000,16417.109,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229076
$DATA_FILE_SIZE,33402,777
$CAP_FILE_SIZE,136347,0
$CFSIZE,1024393216,1010548736
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,17732.99,0x236db2,7,5
$INTR,1,7985.27,0x233784,1,24
$CURRENT,0.105,335.70,1
$GPS,150315,135235,1326.753,14603.984,27,0.8,27,1.4,0.6,23.7,11,15.4