version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 6
start: 10 19 117 20 39 39
data:
$ID,542
$MISSION,17
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$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,333
$T_MISSION,343
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,1
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,500.95157
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1905
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-176.5815
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,191017,203446,-5249.0825,-4013.1675,18,1.1,18,-6.6,0.0,0.0,5,32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-62.0
$GPS2,191017,203859,-5249.1011,-4013.1614,36,1.1,36,-6.6,0.0,0.0,5,19.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5251.486,-4016.176
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,224.0,5556,-16.9,-10.010,-19.80,2586
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.58,-107.1,182,1972,658,595,0.0,0.0,0,109,0.00,0.00,-92.15,0.000,16386,0.000,0.000,181,1973,2747,2802,2693,0,0,0,0,0,0,26.10,28.83,26.12
$GC,111,-0.58,-107.1,181,1973,2803,2694,3.3,-4.1,12,137,8.77,2.42,-7.65,0.000,19204,0.249,0.105,2370,3390,3123,3212,3034,0,0,0,0,0,0,25.58,25.37,25.76
$GC,156,-0.58,-107.1,2369,3390,3214,3034,18.5,-30.7,18,164,0.00,2.42,0.00,0.000,1030,0.000,0.080,2370,1983,3124,3215,3034,0,0,0,0,0,0,25.85,25.78,25.88
$GC,212,-0.58,-107.1,2369,1983,3215,3034,30.9,-20.3,27,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1983,3124,3215,3034,0,0,0,0,0,0,26.14,26.15,26.15
$GC,268,-0.58,-107.1,2369,1982,3215,3034,42.2,-20.3,36,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1982,3124,3215,3034,0,0,0,0,0,0,26.17,26.18,26.17
$GC,323,-0.58,-107.1,2369,1983,3215,3034,53.6,-20.9,45,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1983,3124,3215,3034,0,0,0,0,0,0,26.19,26.20,26.20
$GC,378,-0.58,-107.1,2369,1982,3215,3034,65.0,-20.0,54,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1983,3125,3215,3035,0,0,0,0,0,0,26.21,26.22,26.22
$GC,434,-0.58,-107.1,2369,1982,3214,3034,76.5,-20.8,63,442,0.00,2.45,0.00,0.000,260,0.000,0.096,2359,3389,3124,3214,3034,0,0,0,0,0,0,26.22,25.86,26.25
$GC,478,-0.58,-107.1,2359,3389,3214,3034,85.7,-19.8,70,487,0.00,2.42,0.00,0.000,1030,0.000,0.083,2359,1977,3124,3215,3034,0,0,0,0,0,0,25.97,25.90,26.00
$GC,534,-0.58,-107.1,2359,1977,3215,3034,97.1,-21.1,79,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1977,3124,3214,3034,0,0,0,0,0,0,26.25,26.27,26.26
$GC,590,-0.58,-107.1,2359,1977,3215,3034,108.9,-20.5,88,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1977,3124,3215,3034,0,0,0,0,0,0,26.27,26.28,26.28
$GC,738,-0.58,-107.1,2359,1977,3215,3034,139.5,-20.2,113,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1977,3125,3216,3034,0,0,0,0,0,0,26.32,26.33,26.32
$GC,885,-0.58,-107.1,2359,1977,3215,3034,168.9,-19.7,138,894,0.00,2.45,0.00,0.000,260,0.000,0.096,2349,3389,3124,3215,3034,0,0,0,0,0,0,26.34,25.98,26.36
$GC,913,-0.58,-107.1,2349,3389,3214,3034,174.5,-19.4,142,922,0.10,2.42,0.00,0.000,3078,0.182,0.082,2378,1971,3124,3215,3034,0,0,0,0,0,0,25.92,26.01,26.02
$GC,1061,-0.58,-107.1,2377,1971,3215,3034,199.9,-17.5,167,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1971,3124,3215,3034,0,0,0,0,0,0,26.37,26.39,26.39
$GC,1207,-0.58,-107.1,2378,1971,3215,3034,225.3,-17.6,192,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1971,3124,3215,3034,0,0,0,0,0,0,26.40,26.41,26.41
$GC,1353,-0.58,-107.1,2377,1971,3215,3034,250.7,-17.4,217,1361,0.00,2.45,0.00,0.000,260,0.000,0.096,2370,3390,3124,3215,3034,0,0,0,0,0,0,26.43,26.06,26.44
$GC,1386,-0.58,-107.1,2369,3390,3215,3035,256.5,-17.3,222,1395,0.00,2.40,0.00,0.000,1030,0.000,0.083,2370,1980,3124,3215,3034,0,0,0,0,0,0,26.15,26.08,26.19
$GC,1534,-0.58,-107.1,2369,1980,3215,3034,282.6,-17.8,247,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1980,3124,3215,3034,0,0,0,0,0,0,26.45,26.46,26.46
$GC,1681,-0.58,-107.1,2369,1980,3215,3034,308.7,-17.9,272,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1980,3124,3215,3034,0,0,0,0,0,0,26.46,26.48,26.48
$GC,1827,-0.58,-107.1,2369,1980,3215,3034,334.2,-16.8,297,1836,0.00,2.42,0.00,0.000,260,0.000,0.096,2359,3389,3124,3214,3034,0,0,0,0,0,0,26.48,26.11,26.49
$GC,1861,-0.58,-107.1,2359,3389,3214,3034,339.9,-17.2,302,1869,0.00,2.40,0.00,0.000,1030,0.000,0.083,2359,1978,3124,3215,3034,0,0,0,0,0,0,26.20,26.14,26.25
$GC,2008,-0.58,-107.1,2359,1978,3215,3034,365.6,-18.1,327,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1978,3124,3215,3034,0,0,0,0,0,0,26.49,26.51,26.51
$GC,2154,-0.58,-107.1,2359,1978,3215,3034,391.8,-17.6,352,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1978,3124,3214,3034,0,0,0,0,0,0,26.51,26.53,26.52
$GC,2301,-0.58,-107.1,2359,1978,3215,3034,417.7,-17.5,377,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1978,3124,3215,3034,0,0,0,0,0,0,26.53,26.54,26.53
$GC,2447,-0.58,-107.1,2359,1978,3215,3034,443.4,-17.1,402,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1978,3124,3215,3034,0,0,0,0,0,0,26.54,26.55,26.55
$GC,2593,-0.58,-107.1,2359,1978,3214,3034,468.3,-17.3,427,2602,0.00,2.45,0.00,0.000,260,0.000,0.096,2349,3389,3124,3215,3034,0,0,0,0,0,0,26.55,26.19,26.56
$GC,2615,-0.58,-107.1,2349,3389,3215,3034,472.2,-17.0,430,2624,0.10,2.40,0.00,0.000,3078,0.177,0.083,2379,1974,3124,3214,3034,0,0,0,0,0,0,26.11,26.20,26.22
$GC,2764,-0.58,-107.1,2378,1974,3215,3034,494.4,-14.6,455,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1974,3124,3215,3034,0,0,0,0,0,0,26.55,26.57,26.56
$GC,2909,-0.58,-107.1,2378,1974,3215,3034,516.1,-15.1,480,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1974,3124,3215,3034,0,0,0,0,0,0,26.57,26.58,26.58
$GC,3260,-0.58,-107.1,2378,1974,3215,3034,569.6,-15.2,541,3268,0.00,2.42,0.00,0.000,260,0.000,0.095,2370,3391,3124,3215,3034,0,0,0,0,0,0,26.59,26.22,26.60
$GC,3293,-0.58,-107.1,2369,3392,3215,3034,574.7,-15.4,546,3302,0.00,2.40,0.00,0.000,1030,0.000,0.083,2370,1977,3124,3215,3034,0,0,0,0,0,0,26.29,26.24,26.35
$GC,3645,-0.58,-107.1,2369,1977,3215,3034,630.7,-15.7,607,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3124,3215,3034,0,0,0,0,0,0,26.61,26.63,26.62
$GC,3994,-0.58,-107.1,2369,1977,3215,3034,685.8,-15.7,668,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3124,3215,3034,0,0,0,0,0,0,26.63,26.65,26.64
$GC,4344,-0.58,-107.1,2370,1976,3215,3034,739.0,-14.8,729,4353,0.00,2.40,0.00,0.000,260,0.000,0.096,2360,3383,3124,3214,3034,0,0,0,0,0,0,26.65,26.27,26.66
$GC,4384,-0.58,-107.1,2359,3383,3214,3034,744.7,-14.6,735,4392,0.00,2.38,0.00,0.000,1030,0.000,0.082,2360,1977,3124,3214,3034,0,0,0,0,0,0,26.36,26.30,26.40
$GC,4735,-0.58,-107.1,2359,1977,3215,3034,799.6,-16.1,796,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1977,3124,3215,3034,0,0,0,0,0,0,26.65,26.67,26.67
$GC,5085,-0.58,-107.1,2359,1977,3214,3034,853.3,-15.5,857,5093,0.00,2.40,0.00,0.000,260,0.000,0.096,2350,3386,3124,3214,3034,0,0,0,0,0,0,26.67,26.29,26.68
$GC,5112,-0.58,-107.1,2349,3385,3215,3034,857.5,-14.8,861,5121,0.10,2.38,0.00,0.000,3078,0.174,0.081,2379,1975,3124,3215,3034,0,0,0,0,0,0,26.23,26.32,26.36
$GC,5464,-0.58,-107.1,2379,1976,3214,3034,904.0,-13.1,922,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1975,3123,3214,3033,0,0,0,0,0,0,26.67,26.69,26.69
$GC,5815,-0.58,-107.1,2379,1975,3215,3034,949.5,-13.3,983,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1975,3124,3214,3034,0,0,0,0,0,0,26.69,26.70,26.70
$GC,6166,-0.58,-107.1,2378,1975,3215,3034,994.8,-12.6,1044,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1975,3124,3214,3034,0,0,0,0,0,0,26.70,26.72,26.71
$STATE,6208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6208,begin apogee
$GC,6212,-0.14,0.0,2379,1904,3215,3034,1000.3,-12.4,1051,6319,0.43,0.00,99.38,1.839,10246,0.161,0.000,2518,1904,2683,2780,2586,0,0,0,0,0,0,26.28,23.83,23.11
$STATE,6320,end apogee,CONTROL_FINISHED_OK
$STATE,6320,begin climb
$GC,6322,0.58,107.1,2518,1904,2779,2587,1005.3,0.0,1065,6436,0.77,2.67,104.32,1.795,10756,0.121,0.095,2775,492,2247,2330,2164,0,0,0,0,0,0,24.25,23.53,22.84
$GC,6485,0.85,382.0,2774,492,2320,2161,1009.5,-0.9,1088,6773,0.22,2.58,273.48,1.767,11270,0.074,0.081,2857,1903,1124,1221,1027,0,0,0,0,0,0,24.53,24.50,21.64
$GC,7116,0.85,382.0,2856,1903,1217,1012,890.5,23.0,1186,7124,0.00,2.60,0.00,0.000,260,0.000,0.096,2857,3314,1114,1217,1012,0,0,0,0,0,0,25.08,24.74,25.09
$GC,7297,0.85,382.0,2857,3314,1215,1012,849.3,21.8,1217,7305,0.00,2.53,0.00,0.000,1030,0.000,0.086,2868,1912,1113,1215,1012,0,0,0,0,0,0,25.10,25.04,25.15
$GC,7648,0.85,382.0,2868,1913,1214,1010,768.2,22.9,1278,7656,0.00,2.55,0.00,0.000,516,0.000,0.103,2879,497,1111,1214,1009,0,0,0,0,0,0,25.73,25.39,25.75
$GC,7715,0.85,382.0,2879,497,1212,1009,752.5,22.7,1289,7724,0.10,2.47,0.00,0.000,5126,0.200,0.085,2853,1905,1110,1212,1008,0,0,0,0,0,0,25.37,25.44,25.48
$GC,8068,0.85,382.0,2853,1905,1212,1007,678.9,20.5,1350,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1905,1109,1212,1007,0,0,0,0,0,0,25.99,26.00,26.01
$GC,8418,0.85,382.0,2853,1905,1212,1007,609.0,20.7,1411,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1905,1109,1211,1007,0,0,0,0,0,0,26.14,26.15,26.15
$GC,8768,0.85,382.0,2853,1905,1212,1006,538.1,20.4,1472,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1905,1108,1211,1006,0,0,0,0,0,0,26.25,26.27,26.27
$GC,9118,0.85,382.0,2853,1905,1211,1006,469.1,19.6,1533,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1905,1109,1212,1006,0,0,0,0,0,0,26.34,26.35,26.34
$GC,9264,0.85,382.0,2853,1905,1212,1006,441.0,19.1,1558,9272,0.00,2.47,0.00,0.000,516,0.000,0.102,2862,493,1109,1212,1006,0,0,0,0,0,0,26.36,26.01,26.38
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$GC,10482,0.85,382.0,2872,1911,1211,1005,199.9,19.8,1764,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1911,1108,1211,1005,0,0,0,0,0,0,26.51,26.53,26.52
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$STATE,11564,end climb,SURFACE_DEPTH_REACHED
$STATE,11564,begin surface coast
$FINISH,-0.0,1.022668
$STATE,11583,end surface coast,CONTROL_FINISHED_OK
$STATE,11583,begin surface
$SM_CCo,11597,52.30,0.177,0,0,638,501.14
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$IRIDIUM_FIX,-5227.86,-4007.49,191017,203026
$TT8_MAMPS,0.021721,0.229943
$HUMID,61.45
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,21.64,2.671
$10V_AH,10.19,1.593
$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
$DEVICE_SECS,17.700,68.950,477.175,52.300,0.000,0.000,0.000,0.000,0.000,0.000,36.987,4283.020,0.000,646.776,6594.609,233.995,0.000,2389.560,0.000,6646.161,0.000,1.003,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1381.052,97.065,6649.549,6207.461,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343300
$DATA_FILE_SIZE,127048,1948
$CAP_FILE_SIZE,183319,0
$CFSIZE,259248128,256655360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,191017,235457,-5250.134,-4015.330,37,0.9,37,-6.6,0.5,333.7,10,23.7