version: 66.14
glider: 46
mission: 5
dive: 11
start: 5 29 119 2 30 47
data:
$ID,46
$MISSION,5
$DIVE,11
$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,32
$R_STBD_OVSHOOT,51
$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
$GPS1,290519,022110,3213.4651,-6431.3633,38,1.2,78,-14.9,0.8,19.6,7,4.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-51.9
$GPS2,290519,022947,3213.5872,-6431.2910,6,1.1,47,-14.9,0.2,41.6,7,4.4
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$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,187.3,70679,-18.1,-10.000,-20.89,2961
$D_GRID,3078
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,71,-1.16,-194.6,182,1957,248,454,1.6,0.3,6,221,0.00,0.00,-147.00,0.149,16386,0.000,0.000,178,1957,2575,2484,2667,0,0,0,0,0,0,27.08,28.83,27.10,8.37,20.23
$GC,223,-1.16,-194.6,178,1957,2484,2667,3.4,-2.2,21,253,9.73,3.50,-9.12,0.191,18692,0.251,0.070,2677,3316,2808,2692,2925,0,0,0,0,0,0,26.19,26.43,26.33,8.60,19.71
$GC,345,-1.16,-194.6,2676,3316,2693,2924,20.5,-12.5,33,355,0.00,3.42,0.00,0.000,1030,0.000,0.057,2677,1933,2808,2693,2924,0,0,0,0,0,0,26.72,26.67,26.74,8.62,19.40
$GC,655,-1.16,-194.6,2676,1932,2694,2923,57.8,-12.6,64,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1932,2808,2693,2924,0,0,0,0,0,0,27.14,27.15,27.15,8.62,19.67
$GC,955,-1.16,-194.6,2676,1932,2692,2923,90.1,-10.3,94,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1932,2808,2693,2923,0,0,0,0,0,0,27.24,27.26,27.25,8.62,19.67
$GC,1257,-1.16,-194.6,2676,1933,2693,2923,121.5,-10.6,124,1267,0.00,3.50,0.00,0.000,260,0.000,0.070,2663,3318,2808,2693,2923,0,0,0,0,0,0,27.31,26.94,27.32,8.62,19.20
$GC,1319,-1.16,-194.6,2662,3318,2693,2923,129.1,-12.5,130,1330,0.10,3.38,0.00,0.000,3078,0.194,0.057,2692,1933,2808,2693,2924,0,0,0,0,0,0,26.74,27.03,26.89,8.61,19.40
$GC,1639,-1.16,-194.6,2692,1933,2693,2923,162.9,-11.1,156,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2924,0,0,0,0,0,0,27.36,27.38,27.38,8.60,19.36
$GC,1939,-1.16,-194.6,2691,1933,2693,2923,197.3,-11.4,171,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2923,0,0,0,0,0,0,27.40,27.41,27.41,8.60,19.36
$GC,2239,-1.16,-194.6,2691,1933,2693,2923,234.0,-11.8,186,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2924,0,0,0,0,0,0,27.42,27.44,27.43,8.59,19.83
$GC,2539,-1.16,-194.6,2691,1933,2693,2923,270.7,-12.4,201,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2923,0,0,0,0,0,0,27.44,27.46,27.45,8.59,19.87
$GC,2839,-1.16,-194.6,2691,1933,2693,2923,308.1,-12.6,215,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2924,0,0,0,0,0,0,27.46,27.46,27.46,8.59,19.75
$GC,3139,-1.16,-194.6,2691,1933,2693,2924,345.5,-12.3,225,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2924,0,0,0,0,0,0,27.46,27.48,27.48,8.59,19.99
$GC,3439,-1.16,-194.6,2691,1933,2692,2923,382.9,-12.7,235,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2923,0,0,0,0,0,0,27.48,27.49,27.48,8.59,20.42
$GC,3739,-1.16,-194.6,2691,1933,2693,2923,420.9,-12.6,245,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2807,2692,2923,0,0,0,0,0,0,27.48,27.50,27.49,8.59,19.99
$GC,4039,-1.16,-194.6,2691,1933,2693,2923,460.1,-12.9,255,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2923,0,0,0,0,0,0,27.48,27.51,27.50,8.59,20.03
$GC,4339,-1.16,-194.6,2691,1933,2693,2923,498.3,-12.3,265,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2923,0,0,0,0,0,0,27.49,27.51,27.50,8.58,20.19
$GC,4639,-1.16,-194.6,2691,1933,2693,2923,535.6,-12.6,275,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2808,2693,2923,0,0,0,0,0,0,27.50,27.51,27.51,8.58,20.62
$GC,4939,-1.16,-194.6,2691,1933,2692,2922,572.9,-12.7,285,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2807,2692,2922,0,0,0,0,0,0,27.50,27.51,27.51,8.57,20.38
$GC,5239,-1.16,-194.6,2691,1933,2693,2922,611.2,-13.1,295,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2807,2693,2922,0,0,0,0,0,0,27.51,27.52,27.51,8.56,20.11
$GC,5539,-1.16,-194.6,2692,1933,2693,2921,650.4,-13.1,305,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2807,2693,2921,0,0,0,0,0,0,27.50,27.52,27.51,8.55,20.19
$GC,5839,-1.16,-194.6,2691,1933,2693,2921,690.0,-13.3,315,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2807,2693,2921,0,0,0,0,0,0,27.51,27.52,27.52,8.53,19.87
$GC,6139,-1.16,-194.6,2692,1933,2692,2920,730.4,-13.6,325,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2806,2693,2920,0,0,0,0,0,0,27.51,27.53,27.52,8.51,20.90
$GC,6439,-1.16,-194.6,2691,1933,2693,2919,771.4,-13.8,335,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2805,2692,2919,0,0,0,0,0,0,27.51,27.52,27.52,8.49,20.42
$GC,6739,-1.16,-194.6,2691,1933,2693,2918,812.7,-13.7,345,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2805,2693,2918,0,0,0,0,0,0,27.51,27.53,27.52,8.47,20.03
$GC,7039,-1.16,-194.6,2691,1933,2692,2917,854.1,-14.1,355,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1933,2805,2692,2918,0,0,0,0,0,0,27.51,27.53,27.53,8.45,20.82
$GC,7339,-1.16,-194.6,2691,1933,2691,2917,899.9,-15.6,365,7346,0.00,3.50,0.00,0.000,260,0.000,0.070,2680,3321,2804,2691,2917,0,0,0,0,0,0,27.51,27.10,27.53,8.42,20.11
$GC,7422,-1.16,-194.6,2679,3321,2692,2916,909.8,-15.8,367,7430,0.00,3.38,0.00,0.000,1030,0.000,0.055,2680,1938,2804,2692,2916,0,0,0,0,0,0,27.26,27.20,27.27,8.41,20.50
$GC,7729,-1.16,-194.6,2679,1938,2690,2915,962.7,-16.2,378,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1938,2802,2690,2915,0,0,0,0,0,0,27.51,27.53,27.53,8.38,20.82
$GC,8029,-1.16,-194.6,2679,1938,2688,2913,1012.1,-16.8,387,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1938,2800,2688,2913,0,0,0,0,0,0,27.52,27.53,27.53,8.35,20.42
$GC,8329,-1.16,-194.6,2679,1938,2686,2912,1063.9,-17.3,392,8336,0.00,3.53,0.00,0.000,260,0.000,0.070,2663,3326,2798,2686,2911,0,0,0,0,0,0,27.52,27.08,27.53,8.33,20.74
$GC,8382,-1.16,-194.6,2663,3326,2686,2911,1063.9,-17.3,392,8390,0.10,3.40,0.00,0.000,3078,0.194,0.055,2693,1938,2798,2686,2911,0,0,0,0,0,0,26.88,27.20,27.02,8.32,20.62
$GC,8689,-1.16,-194.6,2693,1938,2685,2910,1126.6,-17.4,398,8697,0.00,3.60,0.00,0.000,516,0.000,0.082,2693,546,2797,2685,2910,0,0,0,0,0,0,27.52,26.99,27.53,8.30,21.05
$GC,8732,-1.16,-194.6,2692,546,2684,2910,1126.6,-17.4,398,8737,0.00,3.38,0.00,0.000,1030,0.000,0.057,2678,1928,2796,2684,2909,0,0,0,0,0,0,27.26,27.21,27.28,8.30,20.97
$GC,9049,-1.16,-194.6,2677,1928,2684,2908,1194.6,-18.8,404,9056,0.00,3.55,0.00,0.000,260,0.000,0.070,2661,3333,2796,2684,2908,0,0,0,0,0,0,27.52,27.08,27.53,8.27,21.33
$GC,9092,-1.16,-194.6,2661,3332,2684,2907,1194.6,-18.8,404,9098,0.12,3.42,0.00,0.000,3078,0.189,0.055,2698,1937,2795,2684,2907,0,0,0,0,0,0,26.81,27.18,26.97,8.27,21.56
$GC,9405,-1.16,-194.6,2698,1936,2683,2906,1258.2,-17.5,410,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1936,2794,2682,2906,0,0,0,0,0,0,27.52,27.53,27.53,8.25,21.13
$GC,9706,-1.16,-194.6,2698,1936,2681,2905,1309.6,-17.1,415,9712,0.00,3.55,0.00,0.000,260,0.000,0.072,2692,3333,2792,2680,2905,0,0,0,0,0,0,27.52,27.06,27.53,8.23,22.00
$GC,9748,-1.16,-194.6,2691,3332,2680,2905,1309.6,-17.1,415,9754,0.00,3.42,0.00,0.000,1030,0.000,0.055,2693,1935,2792,2680,2905,0,0,0,0,0,0,27.24,27.17,27.26,8.23,21.72
$GC,10061,-1.16,-194.6,2691,1935,2679,2903,1370.9,-17.4,421,10068,0.00,3.55,0.00,0.000,260,0.000,0.072,2683,3328,2791,2679,2903,0,0,0,0,0,0,27.52,27.06,27.53,8.21,21.84
$GC,10090,-1.16,-194.6,2682,3328,2679,2903,1370.9,-17.4,421,10098,0.00,3.40,0.00,0.000,1030,0.000,0.055,2683,1941,2791,2679,2903,0,0,0,0,0,0,27.24,27.17,27.26,8.20,22.43
$GC,10420,-1.16,-194.6,2682,1941,2677,2901,1434.4,-17.6,427,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1941,2789,2677,2901,0,0,0,0,0,0,27.52,27.54,27.53,8.19,22.59
$STATE,10479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10479,begin apogee
$GC,10483,-0.61,0.0,2683,1822,2677,2901,1445.2,-17.7,428,10634,0.60,0.00,147.12,1.850,10246,0.164,0.000,2871,1822,2136,2019,2254,0,0,0,0,0,0,26.61,25.05,24.18,8.19,22.23
$STATE,10635,end apogee,CONTROL_FINISHED_OK
$STATE,10635,begin climb
$GC,10636,1.16,194.6,2871,1822,2019,2253,1457.0,0.0,430,10800,1.73,3.92,152.18,1.818,11012,0.142,0.072,3421,3228,1465,1346,1584,0,0,0,0,0,0,25.22,24.66,23.80,8.16,21.45
$GC,11185,1.26,554.5,3421,3228,1346,1582,1474.6,-2.5,439,11455,0.08,3.50,259.98,1.827,11270,0.134,0.055,3483,1837,348,235,462,0,0,0,0,0,0,26.44,26.47,23.63,8.08,21.64
$GC,11802,1.26,554.5,3483,1837,235,462,1417.5,12.0,450,11809,0.00,3.65,0.00,0.000,260,0.000,0.067,3483,3224,348,235,462,0,0,0,0,0,0,26.60,26.32,26.63,7.96,21.01
$GC,11840,1.26,554.5,3482,3224,235,461,1417.5,12.0,450,11846,0.00,3.53,0.00,0.000,1030,0.000,0.057,3498,1839,348,235,461,0,0,0,0,0,0,26.48,26.41,26.49,7.96,21.29
$GC,12157,1.26,554.5,3498,1839,235,461,1372.6,12.5,456,12165,0.00,3.60,0.00,0.000,260,0.000,0.070,3499,3228,348,235,461,0,0,0,0,0,0,26.98,26.68,26.99,7.95,21.76
$GC,12211,1.26,554.5,3498,3228,234,461,1372.6,12.5,456,12219,0.12,3.50,0.00,0.000,5126,0.228,0.057,3480,1831,347,235,460,0,0,0,0,0,0,26.50,26.74,26.71,7.94,21.60
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$STATE,20946,end climb,SURFACE_DEPTH_REACHED
$STATE,20946,begin surface coast
$FINISH,0.7,1.008540
$STATE,20957,end surface coast,CONTROL_FINISHED_OK
$STATE,20957,begin surface
$SM_CCo,21033,0.00,0.000,0,0,351,518.83
$SM_GC,1.90,8.62,0.20,0.00,0.079,0.084,0.000,193,1960,351,-8.91,-1.16,518.83,0,0,1,0,0,0,27.09,27.22,27.15
$IRIDIUM_FIX,3213.62,-6429.90,290519,022231
$TT8_MAMPS,0.021721,0.171521
$HUMID,20.86
$INTERNAL_PRESSURE,8.27261
$TCM_TEMP,19.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,23.63,9.344
$10V_AH,10.49,5.643
$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,22.175,196.100,565.125,0.000,156.125,50.593,75.477,196.530,1.250,0.000,48.155,2477.638,16012.809,773.006,2219.473,97.926,0.000,1874.952,0.000,1808.574,0.000,2.658,0.000
$DEVICE_MAMPS,268.164,84.422,1849.835,0.000,191.191,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.268,1001.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320308
$DATA_FILE_SIZE,55664,768
$CAP_FILE_SIZE,157916,0
$CFSIZE,2046525440,2040168448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$INTR,0,22372.38,0x213d9c,7,24
$CURRENT,0.113,14.52,1
$GPS,290519,082303,3210.925,-6429.878,33,1.1,65,-14.9,1.0,18.4,10,5.0