version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 174
start: 11 22 117 9 54 1
data:
$ID,542
$MISSION,17
$DIVE,174
$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,1964
$C_ROLL_CLIMB,1877
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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,2130
$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
$GPS1,221117,094327,-5246.2617,-4011.3608,43,1.1,43,-6.7,0.9,1.5,8,12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.1
$GPS2,221117,095316,-5246.2612,-4011.3540,18,1.1,18,-6.7,0.0,0.0,8,14.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,144.8,3097,-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,16,-0.56,-87.6,191,1965,1207,1095,0.0,0.0,0,79,0.00,0.00,-58.70,0.000,16390,0.000,0.000,191,1965,2489,2570,2409,0,0,0,0,0,0,25.96,24.03,25.97
$GC,81,-0.56,-87.6,191,1965,2571,2410,3.2,-4.3,9,96,8.88,2.38,0.00,0.000,2308,0.241,0.071,2374,3379,2492,2574,2411,0,0,0,0,0,0,25.10,25.44,25.31
$GC,448,-0.56,-87.6,2373,3379,2576,2410,63.6,-14.3,74,457,0.00,2.38,0.00,0.000,1030,0.000,0.066,2374,1966,2492,2575,2410,0,0,0,0,0,0,25.78,25.70,25.83
$GC,504,-0.56,-87.6,2373,1965,2576,2410,71.3,-14.8,83,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1966,2493,2576,2410,0,0,0,0,0,0,26.25,26.25,26.25
$GC,556,-0.56,-87.6,2373,1966,2576,2410,79.4,-14.7,92,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1966,2493,2576,2410,0,0,0,0,0,0,26.26,26.27,26.27
$GC,612,-0.56,-87.6,2373,1966,2576,2410,87.3,-14.5,101,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1966,2493,2576,2410,0,0,0,0,0,0,26.28,26.29,26.29
$GC,664,-0.56,-87.6,2373,1966,2576,2411,95.2,-14.5,110,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1966,2493,2576,2410,0,0,0,0,0,0,26.29,26.31,26.31
$GC,720,-0.56,-87.6,2373,1966,2576,2410,103.1,-14.5,119,727,0.00,2.35,0.00,0.000,260,0.000,0.076,2363,3387,2493,2576,2410,0,0,0,0,0,0,26.32,25.75,26.32
$GC,739,-0.56,-87.6,2363,3387,2576,2411,106.5,-15.1,122,748,0.00,2.38,0.00,0.000,1030,0.000,0.063,2364,1965,2493,2576,2410,0,0,0,0,0,0,25.86,25.81,25.94
$GC,886,-0.56,-87.6,2363,1966,2576,2410,128.7,-14.3,147,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1965,2493,2576,2410,0,0,0,0,0,0,26.35,26.36,26.36
$GC,1029,-0.56,-87.6,2363,1965,2576,2410,149.1,-14.7,172,1038,0.00,2.38,0.00,0.000,516,0.000,0.078,2364,556,2493,2576,2410,0,0,0,0,0,0,26.39,25.80,26.39
$GC,1101,-0.56,-87.6,2363,556,2576,2411,160.7,-16.0,184,1111,0.10,2.35,0.00,0.000,3078,0.194,0.066,2381,1966,2493,2576,2410,0,0,0,0,0,0,25.61,25.88,25.75
$GC,1249,-0.56,-87.6,2380,1966,2576,2410,181.4,-14.4,209,1255,0.00,2.30,0.00,0.000,516,0.000,0.075,2381,555,2493,2576,2410,0,0,0,0,0,0,26.42,25.84,26.44
$GC,1298,-0.56,-87.6,2380,555,2576,2410,188.7,-14.3,217,1305,0.00,2.30,0.00,0.000,1030,0.000,0.067,2373,1966,2493,2577,2410,0,0,0,0,0,0,26.06,25.89,26.10
$GC,1442,-0.56,-87.6,2372,1967,2576,2410,209.6,-14.2,242,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1967,2493,2576,2410,0,0,0,0,0,0,26.45,26.46,26.46
$GC,1588,-0.56,-87.6,2372,1967,2576,2410,229.6,-13.3,267,1595,0.00,2.33,0.00,0.000,260,0.000,0.077,2362,3380,2493,2576,2410,0,0,0,0,0,0,26.47,25.89,26.48
$GC,1626,-0.56,-87.6,2361,3380,2576,2410,235.1,-14.1,273,1633,0.00,2.30,0.00,0.000,1030,0.000,0.062,2362,1958,2493,2576,2410,0,0,0,0,0,0,26.09,25.92,26.14
$GC,1770,-0.56,-87.6,2361,1958,2576,2410,255.8,-13.7,298,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1958,2493,2576,2410,0,0,0,0,0,0,26.48,26.51,26.50
$GC,1914,-0.56,-87.6,2361,1958,2577,2410,275.5,-14.0,323,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1958,2493,2576,2410,0,0,0,0,0,0,26.51,26.52,26.52
$GC,2058,-0.56,-87.6,2361,1958,2576,2410,294.8,-13.2,348,2067,0.00,2.38,0.00,0.000,260,0.000,0.077,2352,3375,2493,2576,2410,0,0,0,0,0,0,26.52,25.91,26.53
$GC,2080,-0.56,-87.6,2351,3374,2577,2410,297.7,-13.3,351,2088,0.12,2.30,0.00,0.000,3078,0.193,0.063,2386,1956,2493,2576,2410,0,0,0,0,0,0,25.72,25.97,25.94
$GC,2226,-0.56,-87.6,2385,1956,2576,2410,315.9,-12.1,376,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,2493,2577,2410,0,0,0,0,0,0,26.53,26.54,26.54
$GC,2372,-0.56,-87.6,2385,1956,2576,2410,334.2,-12.8,401,2379,0.00,2.30,0.00,0.000,516,0.000,0.078,2385,554,2493,2577,2410,0,0,0,0,0,0,26.54,25.92,26.55
$GC,2404,-0.56,-87.6,2385,554,2576,2410,338.5,-13.7,406,2412,0.00,2.35,0.00,0.000,1030,0.000,0.068,2377,1967,2493,2576,2410,0,0,0,0,0,0,26.06,25.99,26.12
$GC,2551,-0.56,-87.6,2377,1967,2577,2410,357.2,-12.8,431,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1967,2493,2576,2410,0,0,0,0,0,0,26.55,26.56,26.56
$GC,2694,-0.56,-87.6,2376,1967,2576,2410,375.0,-11.5,456,2703,0.00,2.35,0.00,0.000,260,0.000,0.078,2366,3371,2493,2576,2410,0,0,0,0,0,0,26.56,25.94,26.57
$GC,2722,-0.56,-87.6,2366,3371,2576,2410,378.3,-11.9,460,2731,0.00,2.33,0.00,0.000,1030,0.000,0.063,2366,1963,2493,2576,2411,0,0,0,0,0,0,26.08,26.01,26.17
$GC,2870,-0.56,-87.6,2366,1963,2576,2410,395.3,-11.3,485,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1963,2493,2576,2410,0,0,0,0,0,0,26.57,26.58,26.58
$GC,3014,-0.56,-87.6,2366,1963,2576,2410,411.9,-11.2,510,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1963,2493,2576,2410,0,0,0,0,0,0,26.58,26.59,26.59
$GC,3161,-0.56,-87.6,2366,1963,2576,2410,427.7,-11.2,535,3169,0.00,2.30,0.00,0.000,516,0.000,0.076,2366,554,2493,2576,2410,0,0,0,0,0,0,26.58,25.96,26.60
$GC,3212,-0.56,-87.6,2366,553,2577,2410,433.7,-11.9,543,3220,0.10,2.30,0.00,0.000,3078,0.206,0.065,2382,1974,2493,2576,2410,0,0,0,0,0,0,25.79,26.03,26.00
$GC,3358,-0.56,-87.6,2381,1974,2576,2410,449.5,-10.6,568,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1974,2493,2576,2410,0,0,0,0,0,0,26.59,26.60,26.60
$GC,3507,-0.56,-87.6,2382,1974,2576,2410,465.2,-10.5,593,3513,0.00,2.30,0.00,0.000,260,0.000,0.078,2373,3376,2493,2576,2410,0,0,0,0,0,0,26.60,25.96,26.61
$GC,3535,-0.56,-87.6,2373,3376,2576,2410,468.3,-11.1,597,3541,0.00,2.30,0.00,0.000,1030,0.000,0.063,2373,1955,2493,2576,2410,0,0,0,0,0,0,26.20,26.03,26.25
$GC,3677,-0.56,-87.6,2373,1955,2576,2410,485.0,-11.8,622,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1955,2493,2576,2410,0,0,0,0,0,0,26.60,26.61,26.61
$GC,3821,-0.56,-87.6,2373,1955,2576,2410,501.9,-11.4,647,3827,0.00,2.28,0.00,0.000,516,0.000,0.075,2373,554,2493,2576,2410,0,0,0,0,0,0,26.60,25.97,26.62
$GC,3857,-0.56,-87.6,2373,554,2576,2410,506.2,-12.6,653,3863,0.00,2.30,0.00,0.000,1030,0.000,0.065,2363,1975,2493,2576,2411,0,0,0,0,0,0,26.20,26.03,26.25
$GC,4181,-0.56,-87.6,2363,1974,2576,2410,545.5,-11.6,714,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.62,26.63,26.63
$GC,4503,-0.56,-87.6,2363,1974,2576,2410,584.5,-12.3,775,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1974,2493,2576,2410,0,0,0,0,0,0,26.63,26.65,26.65
$GC,4825,-0.56,-87.6,2363,1974,2577,2410,623.5,-11.7,836,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.65,26.66,26.65
$GC,5150,-0.56,-87.6,2363,1974,2576,2410,662.0,-11.7,897,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.65,26.67,26.66
$GC,5469,-0.56,-87.6,2363,1974,2576,2410,699.2,-11.2,958,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.67,26.68,26.67
$GC,5794,-0.56,-87.6,2363,1974,2576,2410,738.0,-11.9,1019,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2577,2410,0,0,0,0,0,0,26.67,26.69,26.68
$GC,6115,-0.56,-87.6,2363,1974,2576,2410,776.7,-12.0,1080,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.68,26.68,26.69
$GC,6439,-0.56,-87.6,2363,1974,2577,2410,815.7,-12.1,1141,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.68,26.70,26.70
$GC,6760,-0.56,-87.6,2363,1974,2576,2410,854.1,-11.6,1202,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2577,2410,0,0,0,0,0,0,26.69,26.70,26.70
$GC,7084,-0.56,-87.6,2363,1974,2576,2410,890.4,-10.7,1263,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.70,26.71,26.70
$GC,7408,-0.56,-87.6,2362,1974,2576,2410,924.9,-10.5,1324,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.70,26.71,26.70
$GC,7734,-0.56,-87.6,2363,1974,2576,2410,957.3,-9.5,1385,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1974,2493,2576,2410,0,0,0,0,0,0,26.70,26.72,26.71
$GC,8053,-0.56,-87.6,2363,1974,2576,2410,988.5,-9.6,1446,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1973,2493,2576,2410,0,0,0,0,0,0,26.70,26.72,26.72
$STATE,8176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8176,begin apogee
$GC,8181,-0.14,0.0,2363,1867,2576,2410,1000.1,-9.4,1469,8273,0.50,0.00,85.97,1.966,10246,0.171,0.000,2517,1867,2130,2214,2046,0,0,0,0,0,0,25.67,24.01,23.00
$STATE,8274,end apogee,CONTROL_FINISHED_OK
$STATE,8274,begin climb
$GC,8276,0.56,87.6,2517,1867,2214,2046,1002.6,0.0,1485,8373,0.77,0.00,90.25,1.742,10246,0.117,0.000,2762,1867,1772,1853,1691,0,0,0,0,0,0,24.14,23.01,22.08
$GC,8689,0.56,87.6,2761,1867,1845,1679,961.3,11.0,1562,8696,0.00,2.50,0.00,0.000,260,0.000,0.080,2762,3289,1761,1843,1679,0,0,0,0,0,0,25.38,24.90,25.39
$GC,8734,0.56,87.6,2761,3288,1842,1678,956.1,12.1,1570,8741,0.00,2.42,0.00,0.000,1030,0.000,0.067,2772,1879,1760,1842,1678,0,0,0,0,0,0,25.18,25.03,25.22
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$STATE,17029,end climb,SURFACE_DEPTH_REACHED
$STATE,17029,begin surface coast
$FINISH,1.8,1.022526
$STATE,17038,end surface coast,CONTROL_FINISHED_OK
$STATE,17038,begin surface
$SM_CCo,17115,0.00,0.000,0,0,1238,219.05
$SM_GC,0.98,7.30,2.53,0.00,0.071,0.071,0.000,190,1967,1238,-7.45,-0.45,219.05,0,0,0,0,0,0,25.41,25.98,25.78
$IRIDIUM_FIX,-5220.79,-4010.63,221117,042841
$TT8_MAMPS,0.021721,0.237433
$HUMID,61.14
$INTERNAL_PRESSURE,9.28714
$TCM_TEMP,8.10
$XPDR_PINGS,0
$24V_AH,22.08,34.794
$10V_AH,9.95,59.385
$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,18.325,117.650,308.925,0.000,0.000,22.574,34.879,368.987,0.000,0.000,20.338,6532.451,3000.068,602.620,7155.916,394.530,0.000,2908.501,0.000,6670.667,0.000,1.005,0.000
$DEVICE_MAMPS,240.975,95.625,2370.735,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.311,145.353,4392.839,2770.894,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343384
$DATA_FILE_SIZE,211054,3063
$CAP_FILE_SIZE,261458,0
$CFSIZE,259248128,232800256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.025,354.69,1
$GPS,221117,144032,-5247.576,-4008.992,44,0.8,44,-6.7,0.0,0.0,9,8.9