version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 90
start: 11 4 117 1 34 42
data:
$ID,542
$MISSION,17
$DIVE,90
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$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,720
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,2
$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,180
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,18
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2155
$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
$GPS1,041117,012402,-5241.0591,-4016.0215,44,0.9,44,-6.7,0.6,224.6,10,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.9
$GPS2,041117,013357,-5241.0684,-4015.9529,19,0.9,19,-6.7,1.0,93.5,10,9.9
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART3
$TGT_LATLONG,-5242.059,-4015.221
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,173.7,2010,-17.1,-10.010,-20.00,2523
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.56,-87.6,136,1978,1416,1289,0.0,0.0,0,72,0.00,0.00,-49.83,0.000,16390,0.000,0.000,136,1977,2512,2593,2432,0,0,0,0,0,0,25.94,25.14,25.95
$GC,74,-0.56,-87.6,136,1977,2593,2433,4.1,-7.6,8,90,9.15,2.42,0.00,0.000,2308,0.252,0.073,2374,3398,2514,2595,2434,0,0,0,0,0,0,25.32,25.59,25.61
$GC,425,-0.56,-87.6,2373,3398,2599,2433,65.4,-15.9,68,434,0.00,2.38,0.00,0.000,1030,0.000,0.067,2374,1981,2516,2599,2433,0,0,0,0,0,0,25.89,25.84,25.94
$GC,483,-0.56,-87.6,2373,1981,2599,2433,74.6,-16.6,77,489,0.00,2.33,0.00,0.000,260,0.000,0.076,2363,3392,2516,2599,2433,0,0,0,0,0,0,26.20,25.82,26.21
$GC,501,-0.56,-87.6,2363,3392,2598,2433,78.0,-16.0,80,510,0.00,2.38,0.00,0.000,1030,0.000,0.064,2364,1969,2516,2599,2433,0,0,0,0,0,0,25.92,25.84,25.96
$GC,560,-0.56,-87.6,2363,1970,2599,2433,87.8,-17.6,89,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1969,2516,2599,2433,0,0,0,0,0,0,26.22,26.23,26.23
$GC,612,-0.56,-87.6,2363,1969,2599,2433,97.1,-17.1,98,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1970,2516,2599,2433,0,0,0,0,0,0,26.25,26.26,26.25
$GC,669,-0.56,-87.6,2363,1969,2599,2433,106.3,-17.5,107,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1970,2516,2599,2433,0,0,0,0,0,0,26.26,26.28,26.27
$GC,814,-0.56,-87.6,2363,1969,2599,2433,131.5,-17.0,132,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1969,2516,2599,2433,0,0,0,0,0,0,26.31,26.32,26.32
$GC,964,-0.56,-87.6,2363,1969,2599,2433,156.1,-16.6,157,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1969,2516,2599,2433,0,0,0,0,0,0,26.35,26.36,26.36
$GC,1110,-0.56,-87.6,2363,1969,2599,2433,179.9,-15.7,182,1119,0.00,2.38,0.00,0.000,260,0.000,0.078,2354,3389,2516,2600,2433,0,0,0,0,0,0,26.38,26.00,26.39
$GC,1183,-0.56,-87.6,2353,3389,2599,2433,191.5,-15.4,194,1193,0.10,2.35,0.00,0.000,3078,0.197,0.065,2381,1972,2516,2599,2433,0,0,0,0,0,0,25.87,26.04,26.01
$GC,1334,-0.56,-87.6,2381,1972,2600,2433,211.9,-13.2,219,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1972,2516,2600,2433,0,0,0,0,0,0,26.41,26.44,26.43
$GC,1480,-0.56,-87.6,2381,1972,2599,2433,231.6,-13.2,244,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1972,2516,2600,2433,0,0,0,0,0,0,26.44,26.46,26.46
$GC,1631,-0.56,-87.6,2380,1972,2600,2433,251.6,-13.0,269,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1972,2516,2600,2433,0,0,0,0,0,0,26.46,26.48,26.48
$GC,1776,-0.56,-87.6,2381,1972,2600,2433,270.7,-12.9,294,1785,0.00,2.38,0.00,0.000,260,0.000,0.080,2373,3391,2516,2599,2433,0,0,0,0,0,0,26.48,26.09,26.50
$GC,1811,-0.56,-87.6,2372,3391,2599,2433,275.1,-13.3,299,1818,0.00,2.30,0.00,0.000,1030,0.000,0.066,2373,1977,2516,2599,2433,0,0,0,0,0,0,26.25,26.12,26.27
$GC,1958,-0.56,-87.6,2372,1976,2599,2433,295.0,-13.2,324,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,2515,2598,2433,0,0,0,0,0,0,26.50,26.51,26.51
$GC,2106,-0.56,-87.6,2372,1976,2600,2433,314.1,-13.0,349,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,2516,2600,2433,0,0,0,0,0,0,26.51,26.53,26.53
$GC,2252,-0.56,-87.6,2372,1976,2599,2433,332.8,-12.9,374,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,2516,2599,2433,0,0,0,0,0,0,26.53,26.54,26.54
$GC,2402,-0.56,-87.6,2372,1976,2599,2433,351.5,-12.3,399,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,2516,2599,2433,0,0,0,0,0,0,26.55,26.55,26.55
$GC,2548,-0.56,-87.6,2372,1976,2599,2433,369.9,-12.5,424,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,2516,2600,2433,0,0,0,0,0,0,26.55,26.57,26.57
$GC,2698,-0.56,-87.6,2372,1976,2599,2433,388.1,-12.1,449,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,2516,2599,2433,0,0,0,0,0,0,26.57,26.58,26.58
$GC,2843,-0.56,-87.6,2372,1976,2599,2433,406.3,-12.0,474,2852,0.00,2.35,0.00,0.000,260,0.000,0.080,2363,3390,2516,2599,2433,0,0,0,0,0,0,26.58,26.19,26.59
$GC,2866,-0.56,-87.6,2362,3390,2599,2433,408.9,-12.3,477,2872,0.00,2.28,0.00,0.000,1030,0.000,0.066,2363,1977,2516,2599,2433,0,0,0,0,0,0,26.34,26.22,26.36
$GC,3012,-0.56,-87.6,2362,1976,2599,2433,427.7,-12.8,502,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,2516,2599,2433,0,0,0,0,0,0,26.58,26.60,26.59
$GC,3163,-0.56,-87.6,2362,1977,2599,2433,446.8,-13.0,527,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1976,2516,2599,2433,0,0,0,0,0,0,26.59,26.60,26.60
$GC,3308,-0.56,-87.6,2362,1976,2599,2433,465.4,-12.7,552,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1976,2516,2599,2433,0,0,0,0,0,0,26.60,26.62,26.61
$GC,3457,-0.56,-87.6,2362,1976,2600,2433,483.9,-12.3,577,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1976,2516,2600,2433,0,0,0,0,0,0,26.61,26.62,26.62
$GC,3602,-0.56,-87.6,2362,1976,2599,2433,502.3,-13.0,602,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1976,2516,2600,2433,0,0,0,0,0,0,26.62,26.63,26.63
$GC,3926,-0.56,-87.6,2362,1977,2599,2433,542.9,-12.8,663,3932,0.00,2.30,0.00,0.000,260,0.000,0.080,2353,3391,2516,2599,2433,0,0,0,0,0,0,26.63,26.24,26.64
$GC,3970,-0.56,-87.6,2352,3391,2600,2433,548.6,-13.0,671,3977,0.12,2.28,0.00,0.000,3078,0.197,0.065,2387,1977,2516,2600,2433,0,0,0,0,0,0,26.10,26.27,26.31
$GC,4293,-0.56,-87.6,2386,1976,2600,2433,583.7,-10.7,732,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1977,2516,2600,2433,0,0,0,0,0,0,26.64,26.65,26.65
$GC,4618,-0.56,-87.6,2386,1976,2599,2433,617.5,-10.4,793,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1977,2516,2599,2433,0,0,0,0,0,0,26.65,26.67,26.67
$GC,4939,-0.56,-87.6,2386,1976,2599,2433,651.5,-10.5,854,4945,0.00,2.33,0.00,0.000,516,0.000,0.079,2387,546,2516,2599,2433,0,0,0,0,0,0,26.67,26.27,26.67
$GC,4969,-0.56,-87.6,2386,547,2599,2434,654.9,-11.3,859,4975,0.00,2.33,0.00,0.000,1030,0.000,0.069,2379,1986,2516,2599,2433,0,0,0,0,0,0,26.42,26.29,26.45
$GC,5291,-0.56,-87.6,2378,1986,2599,2433,689.5,-10.2,920,5300,0.00,2.33,0.00,0.000,260,0.000,0.080,2368,3390,2516,2599,2433,0,0,0,0,0,0,26.67,26.27,26.68
$GC,5316,-0.56,-87.6,2367,3390,2599,2433,692.1,-10.1,924,5323,0.00,2.33,0.00,0.000,1030,0.000,0.064,2368,1970,2516,2600,2433,0,0,0,0,0,0,26.36,26.29,26.41
$GC,5640,-0.56,-87.6,2367,1969,2599,2433,726.5,-10.4,985,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1969,2516,2599,2433,0,0,0,0,0,0,26.67,26.69,26.68
$GC,5959,-0.56,-87.6,2367,1969,2600,2433,760.0,-10.1,1046,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1969,2516,2600,2433,0,0,0,0,0,0,26.68,26.70,26.70
$GC,6284,-0.56,-87.6,2367,1969,2599,2433,792.4,-9.6,1107,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1969,2516,2600,2433,0,0,0,0,0,0,26.69,26.70,26.70
$GC,6603,-0.56,-87.6,2367,1969,2599,2433,824.3,-10.0,1168,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1969,2516,2599,2433,0,0,0,0,0,0,26.70,26.71,26.71
$GC,6929,-0.56,-87.6,2367,1970,2599,2433,855.8,-9.8,1229,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1970,2516,2600,2433,0,0,0,0,0,0,26.70,26.72,26.72
$GC,7250,-0.56,-87.6,2367,1970,2600,2433,887.6,-10.3,1290,7256,0.00,2.33,0.00,0.000,260,0.000,0.080,2358,3400,2516,2599,2433,0,0,0,0,0,0,26.71,26.31,26.72
$GC,7282,-0.56,-87.6,2357,3401,2598,2433,890.8,-10.2,1296,7292,0.10,2.33,0.00,0.000,3078,0.187,0.064,2386,1976,2516,2599,2433,0,0,0,0,0,0,26.17,26.33,26.30
$GC,7609,-0.56,-87.6,2385,1975,2600,2433,919.4,-8.7,1357,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1976,2516,2599,2433,0,0,0,0,0,0,26.71,26.72,26.72
$GC,7932,-0.56,-87.6,2385,1976,2599,2433,947.1,-8.8,1418,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1976,2516,2599,2433,0,0,0,0,0,0,26.72,26.73,26.72
$GC,8255,-0.56,-87.6,2385,1976,2600,2433,975.2,-8.8,1479,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1976,2516,2600,2433,0,0,0,0,0,0,26.72,26.73,26.73
$STATE,8539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8539,begin apogee
$GC,8543,-0.14,0.0,2386,1897,2600,2434,1000.2,-8.4,1533,8635,0.43,0.00,83.88,1.802,10246,0.171,0.000,2522,1895,2155,2253,2058,0,0,0,0,0,0,26.19,24.04,23.30
$STATE,8636,end apogee,CONTROL_FINISHED_OK
$STATE,8636,begin climb
$GC,8638,0.56,87.6,2521,1895,2252,2057,1002.9,0.0,1549,8731,0.75,0.00,88.50,1.746,10246,0.125,0.000,2761,1895,1797,1896,1699,0,0,0,0,0,0,24.44,23.18,22.29
$GC,9048,0.56,87.6,2760,1895,1887,1685,963.3,10.7,1625,9055,0.00,2.50,0.00,0.000,260,0.000,0.082,2761,3317,1785,1886,1685,0,0,0,0,0,0,25.29,24.94,25.30
$GC,9095,0.56,87.6,2760,3317,1884,1684,958.1,11.8,1633,9101,0.00,2.40,0.00,0.000,1030,0.000,0.067,2771,1913,1784,1884,1684,0,0,0,0,0,0,25.17,25.05,25.20
$GC,9415,0.56,87.6,2770,1913,1883,1682,921.3,11.2,1694,9422,0.00,2.42,0.00,0.000,516,0.000,0.083,2782,492,1782,1883,1682,0,0,0,0,0,0,25.82,25.46,25.83
$GC,9456,0.56,87.6,2781,492,1883,1682,916.8,11.4,1701,9462,0.00,2.38,0.00,0.000,1030,0.000,0.070,2782,1905,1782,1883,1682,0,0,0,0,0,0,25.63,25.50,25.65
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$STATE,17842,end climb,SURFACE_DEPTH_REACHED
$STATE,17842,begin surface coast
$FINISH,-0.1,1.022608
$STATE,17876,end surface coast,CONTROL_FINISHED_OK
$STATE,17876,begin surface
$SM_CCo,17951,0.00,0.000,0,0,1310,207.28
$SM_GC,1.03,7.10,0.15,0.00,0.057,0.103,0.000,158,1974,1310,-7.44,-0.57,207.28,0,0,0,0,0,0,26.00,25.97,26.07
$IRIDIUM_FIX,-5220.79,-4013.35,031117,201707
$TT8_MAMPS,0.021721,0.243425
$HUMID,61.38
$INTERNAL_PRESSURE,9.27737
$TCM_TEMP,8.50
$XPDR_PINGS,0
$24V_AH,22.29,20.161
$10V_AH,10.03,32.638
$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,18.575,179.400,263.850,0.000,0.000,23.157,41.358,379.357,0.000,0.000,20.006,6818.312,3311.490,626.368,7426.943,348.250,0.000,3039.951,0.000,6916.561,0.000,1.005,0.000
$DEVICE_MAMPS,251.685,111.690,1801.575,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.281,136.052,4552.619,2878.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343328
$DATA_FILE_SIZE,217425,3177
$CAP_FILE_SIZE,283367,0
$CFSIZE,259248128,245608448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,322.05,1
$GPS,041117,063502,-5242.600,-4015.925,38,0.8,38,-6.7,0.9,91.5,10,11.4