version: 66.14
glider: 46
mission: 5
dive: 10
start: 5 28 119 20 16 5
data:
$ID,46
$MISSION,5
$DIVE,10
$N_DIVES,0
$STOP_T,5301919
$D_SURF,3
$D_FLARE,3
$D_TGT,1440
$D_ABORT,6050
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$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,480
$T_MISSION,495
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,-15
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79912.602
$MASS_COMP,10878
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3820
$C_PITCH,3070
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.299999
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,1939
$C_ROLL_CLIMB,1833
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2137
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$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,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.768235
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,280519,201052,3216.2561,-6431.6475,7,1.0,30,-14.9,0.7,29.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-48.9
$GPS2,280519,201505,3216.2651,-6431.6426,9,1.0,35,-14.9,0.2,97.8,10,5.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,204.0,11885,-18.1,-10.000,-20.89,2961
$D_GRID,2596
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,72,-1.16,-194.6,184,1915,459,651,1.4,-0.3,6,211,0.00,0.00,-134.98,0.151,16390,0.000,0.000,179,1915,2808,2711,2906,0,0,0,0,0,0,27.30,26.74,26.57,8.55,19.48
$GC,214,-1.16,-194.6,179,1914,2711,2905,4.2,-4.8,20,233,9.55,3.55,0.00,0.000,2308,0.248,0.072,2679,3317,2809,2711,2907,0,0,0,0,0,0,26.43,26.73,26.66,8.78,18.49
$GC,399,-1.16,-194.6,2678,3317,2709,2908,30.5,-11.2,38,408,0.00,3.33,0.00,0.000,1030,0.000,0.060,2678,1947,2808,2709,2908,0,0,0,0,0,0,26.97,26.92,26.99,8.78,18.89
$GC,706,-1.16,-194.6,2678,1947,2708,2908,61.8,-9.8,69,718,0.00,3.62,0.00,0.000,516,0.000,0.084,2678,546,2808,2708,2908,0,0,0,0,0,0,27.33,26.91,27.34,8.76,18.93
$GC,870,-1.10,-194.6,2678,546,2706,2909,81.8,-12.0,85,882,0.15,3.35,0.00,0.000,3078,0.174,0.060,2710,1935,2807,2706,2909,0,0,0,0,0,0,26.79,27.10,26.89,8.76,18.97
$GC,1180,-1.10,-194.6,2709,1935,2705,2908,111.2,-9.4,116,1191,0.00,3.50,0.00,0.000,260,0.000,0.072,2696,3331,2806,2704,2909,0,0,0,0,0,0,27.42,27.05,27.43,8.73,19.04
$GC,1274,-1.10,-194.6,2695,3331,2705,2909,120.9,-10.6,125,1284,0.00,3.35,0.00,0.000,1030,0.000,0.057,2696,1941,2806,2704,2909,0,0,0,0,0,0,27.16,27.14,27.18,8.73,19.12
$GC,1594,-1.10,-194.6,2695,1940,2704,2908,154.9,-10.8,155,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1940,2806,2704,2908,0,0,0,0,0,0,27.46,27.47,27.47,8.72,19.60
$GC,1894,-1.10,-194.6,2695,1941,2702,2909,188.6,-11.4,170,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1941,2806,2703,2909,0,0,0,0,0,0,27.47,27.48,27.48,8.70,19.71
$GC,2194,-1.10,-194.6,2695,1940,2701,2908,222.2,-11.0,185,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1941,2805,2701,2909,0,0,0,0,0,0,27.48,27.50,27.50,8.69,19.99
$GC,2495,-1.10,-194.6,2695,1940,2701,2908,256.1,-11.6,200,2501,0.00,3.58,0.00,0.000,516,0.000,0.084,2696,550,2804,2700,2909,0,0,0,0,0,0,27.49,27.05,27.51,8.68,20.19
$GC,2542,-1.10,-194.6,2695,551,2700,2909,261.1,-12.0,202,2548,0.12,3.35,0.00,0.000,3078,0.191,0.057,2719,1942,2804,2700,2909,0,0,0,0,0,0,26.90,27.21,27.06,8.67,19.67
$GC,2849,-1.10,-194.6,2718,1942,2698,2908,294.0,-10.0,217,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1942,2803,2698,2908,0,0,0,0,0,0,27.50,27.51,27.51,8.68,19.91
$GC,3169,-1.10,-194.6,2718,1942,2698,2908,325.2,-10.0,229,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1943,2802,2697,2907,0,0,0,0,0,0,27.50,27.51,27.51,8.66,20.27
$GC,3469,-1.10,-194.6,2718,1942,2696,2908,357.8,-11.8,239,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1942,2802,2697,2908,0,0,0,0,0,0,27.51,27.52,27.52,8.66,20.82
$GC,3769,-1.10,-194.6,2718,1942,2696,2908,392.9,-12.1,249,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1942,2801,2695,2908,0,0,0,0,0,0,27.51,27.52,27.53,8.65,20.54
$GC,4069,-1.10,-194.6,2718,1943,2695,2907,428.9,-11.9,259,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1942,2801,2695,2907,0,0,0,0,0,0,27.51,27.53,27.52,8.65,20.54
$GC,4369,-1.10,-194.6,2718,1942,2694,2906,464.0,-11.2,269,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1942,2800,2694,2907,0,0,0,0,0,0,27.51,27.53,27.53,8.64,20.70
$GC,4669,-1.10,-194.6,2718,1942,2694,2906,497.2,-11.1,279,4676,0.00,3.47,0.00,0.000,260,0.000,0.072,2709,3327,2800,2694,2907,0,0,0,0,0,0,27.51,27.12,27.53,8.63,20.50
$GC,4707,-1.10,-194.6,2708,3327,2694,2906,500.6,-11.3,280,4712,0.00,3.38,0.00,0.000,1030,0.000,0.057,2709,1938,2800,2694,2906,0,0,0,0,0,0,27.27,27.20,27.28,8.64,20.62
$GC,5024,-1.10,-194.6,2708,1938,2693,2906,540.9,-12.7,291,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1938,2799,2693,2906,0,0,0,0,0,0,27.51,27.53,27.53,8.62,20.58
$GC,5324,-1.10,-194.6,2708,1938,2693,2906,580.0,-12.9,301,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1938,2799,2693,2905,0,0,0,0,0,0,27.52,27.53,27.53,8.61,20.70
$GC,5624,-1.10,-194.6,2708,1938,2693,2905,619.0,-13.0,311,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1938,2798,2692,2905,0,0,0,0,0,0,27.52,27.53,27.53,8.60,20.74
$GC,5924,-1.10,-194.6,2708,1938,2691,2905,659.6,-13.9,321,5931,0.00,3.53,0.00,0.000,260,0.000,0.072,2700,3330,2798,2692,2904,0,0,0,0,0,0,27.52,27.11,27.53,8.59,20.78
$GC,5972,-1.10,-194.6,2700,3330,2692,2904,663.8,-14.0,322,5977,0.00,3.38,0.00,0.000,1030,0.000,0.057,2699,1939,2798,2692,2904,0,0,0,0,0,0,27.26,27.20,27.28,8.59,20.50
$GC,6280,-1.10,-194.6,2700,1939,2692,2903,710.0,-14.3,332,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1939,2797,2692,2903,0,0,0,0,0,0,27.52,27.53,27.53,8.56,20.70
$GC,6579,-1.10,-194.6,2700,1938,2691,2903,752.6,-14.2,342,6587,0.00,3.50,0.00,0.000,260,0.000,0.072,2689,3329,2796,2691,2902,0,0,0,0,0,0,27.52,27.10,27.53,8.54,20.93
$GC,6652,-1.10,-194.6,2689,3329,2691,2902,761.4,-14.5,344,6657,0.00,3.38,0.00,0.000,1030,0.000,0.057,2689,1939,2796,2691,2902,0,0,0,0,0,0,27.26,27.20,27.27,8.53,21.29
$GC,6964,-1.10,-194.6,2688,1939,2689,2901,810.2,-15.1,355,6971,0.00,3.60,0.00,0.000,516,0.000,0.084,2688,546,2795,2689,2901,0,0,0,0,0,0,27.51,27.01,27.53,8.51,20.70
$GC,6994,-1.10,-194.6,2689,546,2689,2901,814.9,-15.2,356,7002,0.15,3.38,0.00,0.000,3078,0.186,0.060,2719,1934,2795,2689,2902,0,0,0,0,0,0,26.83,27.21,27.01,8.51,20.78
$GC,7324,-1.10,-194.6,2718,1934,2687,2900,861.7,-14.3,367,7332,0.00,3.55,0.00,0.000,260,0.000,0.072,2709,3340,2793,2687,2900,0,0,0,0,0,0,27.52,27.10,27.53,8.48,20.46
$GC,7408,-1.10,-194.6,2709,3340,2687,2899,870.4,-14.3,369,7415,0.00,3.42,0.00,0.000,1030,0.000,0.057,2709,1938,2793,2687,2899,0,0,0,0,0,0,27.24,27.18,27.27,8.48,21.45
$GC,7714,-1.10,-194.6,2708,1938,2685,2899,919.8,-15.2,380,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1938,2792,2685,2899,0,0,0,0,0,0,27.52,27.53,27.53,8.44,20.70
$GC,8014,-1.10,-194.6,2708,1938,2684,2897,965.8,-15.4,390,8021,0.00,3.55,0.00,0.000,260,0.000,0.072,2697,3333,2790,2684,2897,0,0,0,0,0,0,27.52,27.09,27.53,8.41,21.09
$GC,8078,-1.10,-194.6,2696,3333,2684,2897,975.6,-16.0,392,8083,0.00,3.40,0.00,0.000,1030,0.000,0.057,2697,1940,2790,2684,2897,0,0,0,0,0,0,27.25,27.19,27.27,8.41,20.97
$GC,8430,-1.10,-194.6,2696,1941,2683,2896,1033.7,-16.1,401,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1940,2789,2683,2895,0,0,0,0,0,0,27.52,27.54,27.53,8.38,21.25
$GC,8730,-1.10,-194.6,2696,1940,2680,2894,1083.0,-16.4,406,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1940,2786,2679,2894,0,0,0,0,0,0,27.52,27.54,27.53,8.35,21.60
$GC,9031,-1.10,-194.6,2696,1941,2678,2893,1133.7,-16.8,411,9037,0.00,3.53,0.00,0.000,260,0.000,0.072,2683,3326,2785,2678,2892,0,0,0,0,0,0,27.52,27.08,27.54,8.32,21.80
$GC,9083,-1.10,-194.6,2682,3326,2679,2892,1133.7,-16.8,411,9092,0.10,3.40,0.00,0.000,3078,0.196,0.057,2712,1938,2785,2679,2892,0,0,0,0,0,0,26.87,27.19,27.01,8.32,22.47
$GC,9390,-1.10,-194.6,2712,1938,2677,2891,1193.6,-16.2,417,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1938,2784,2677,2891,0,0,0,0,0,0,27.53,27.54,27.54,8.30,21.92
$GC,9690,-1.10,-194.6,2711,1938,2676,2890,1240.1,-15.6,422,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1938,2782,2676,2889,0,0,0,0,0,0,27.53,27.55,27.54,8.28,22.90
$GC,9990,-1.10,-194.6,2712,1938,2675,2888,1288.4,-16.1,427,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1938,2781,2675,2888,0,0,0,0,0,0,27.52,27.55,27.54,8.26,22.98
$GC,10291,-1.10,-194.6,2712,1938,2674,2888,1338.0,-16.5,432,10297,0.00,3.55,0.00,0.000,260,0.000,0.072,2708,3326,2780,2673,2887,0,0,0,0,0,0,27.52,27.04,27.54,8.25,22.67
$GC,10343,-1.10,-194.6,2709,3327,2674,2886,1338.0,-16.5,432,10352,0.00,3.42,0.00,0.000,1030,0.000,0.057,2709,1933,2780,2674,2886,0,0,0,0,0,0,27.22,27.16,27.25,8.24,22.59
$GC,10650,-1.10,-194.6,2708,1933,2671,2885,1398.7,-17.0,438,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1933,2778,2671,2885,0,0,0,0,0,0,27.53,27.55,27.54,8.23,22.55
$STATE,10889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10889,begin apogee
$GC,10893,-0.61,0.0,2708,1830,2670,2884,1440.4,-17.4,442,11040,0.52,0.00,144.10,1.810,10246,0.159,0.000,2874,1829,2137,2020,2254,0,0,0,0,0,0,26.61,25.18,24.33,8.21,23.53
$STATE,11041,end apogee,CONTROL_FINISHED_OK
$STATE,11042,begin climb
$GC,11043,1.16,194.6,2874,1829,2018,2254,1453.0,0.0,444,11209,1.70,3.97,153.73,1.780,10756,0.139,0.097,3438,446,1464,1346,1583,0,0,0,0,0,0,25.36,24.79,24.12,8.18,22.59
$GC,11219,1.16,194.6,3437,446,1346,1583,1462.8,-5.7,447,11224,0.00,3.62,0.00,0.000,1030,0.000,0.057,3438,1841,1464,1346,1583,0,0,0,0,0,0,25.58,25.53,25.58,8.13,21.41
$GC,11547,1.27,585.7,3437,1841,1346,1581,1475.6,-3.6,453,11815,0.08,4.05,257.88,1.820,10756,0.142,0.094,3499,449,348,235,461,0,0,0,0,0,0,26.65,24.84,24.01,8.11,22.23
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$STATE,21702,end climb,SURFACE_DEPTH_REACHED
$STATE,21702,begin surface coast
$FINISH,0.9,1.018708
$STATE,21713,end surface coast,CONTROL_FINISHED_OK
$STATE,21714,begin surface
$SM_CCo,21789,0.00,0.000,0,0,353,518.54
$SM_GC,1.71,8.60,0.22,0.00,0.074,0.077,0.000,198,1955,353,-8.90,-1.07,518.54,0,0,0,0,0,0,27.08,27.27,27.15
$IRIDIUM_FIX,3216.44,-6434.50,280519,200723
$TT8_MAMPS,0.021721,0.169274
$HUMID,22.04
$INTERNAL_PRESSURE,8.27261
$TCM_TEMP,22.70
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.0,17.0
$24V_AH,24.01,9.032
$10V_AH,10.53,5.573
$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,21.900,210.625,559.625,0.000,134.975,0.000,0.000,0.000,4.250,0.000,35.893,2525.052,16648.432,774.551,1880.299,88.746,0.000,1877.961,0.000,1814.929,0.000,2.657,0.000
$DEVICE_MAMPS,248.300,163.878,1820.039,0.000,151.463,0.000,0.000,0.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.529,1022.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320284
$DATA_FILE_SIZE,55475,784
$CAP_FILE_SIZE,226680,0
$CFSIZE,2046525440,2040233984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.110,29.22,1
$GPS,290519,022110,3213.465,-6431.363,38,1.2,78,-14.9,0.8,19.6,7,4.4