version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 151
start: 9 25 118 4 58 55
data:
$ID,573
$MISSION,22
$DIVE,151
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,1050
$D_NO_BLEED,29
$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,234
$T_MISSION,249
$T_ABORT,268
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,290
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.59918
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,1000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,250918,044019,-2955.8618,3127.8438,22,0.9,44,-24.9,0.7,154.7,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.2
$GPS2,250918,045843,-2956.4060,3127.6121,19,1.0,22,-24.9,0.8,182.8,8,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,INSHORE
$TGT_LATLONG,-2946.360,3120.060
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,351.8,22216,-18.2,-9.972,-21.00,2242
$D_GRID,700
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-146.0,72,2125,1293,1176,0.0,0.0,0,81,0.00,0.00,-61.03,0.000,16386,0.000,0.000,72,2125,2928,2939,2918,0,0,0,0,0,0,14.96,28.83,14.97
$GC,83,-0.85,-146.0,72,2126,2942,2920,3.2,-7.7,11,112,12.15,2.45,-8.70,0.000,18692,0.291,0.086,2201,3543,3409,3449,3369,0,0,0,0,0,0,14.61,13.89,14.73
$GC,201,-0.85,-146.0,2194,3543,3452,3370,28.7,-16.7,34,208,0.05,2.38,0.00,0.000,3078,0.252,0.039,2207,2113,3410,3451,3369,0,0,0,0,0,0,14.73,14.84,14.83
$GC,268,-0.85,-146.0,2206,2113,3456,3369,41.2,-20.4,47,274,0.00,2.33,0.00,0.000,2564,0.000,0.067,2204,730,3409,3451,3368,0,0,0,0,0,0,15.05,14.81,15.06
$GC,288,-0.85,-146.0,2206,729,3450,3370,45.6,-21.4,51,294,0.00,2.35,0.00,0.000,3078,0.000,0.049,2201,2127,3410,3451,3369,0,0,0,0,0,0,14.87,14.82,14.88
$GC,354,-0.85,-146.0,2202,2128,3450,3369,57.6,-16.7,64,360,0.00,2.42,0.00,0.000,2308,0.000,0.075,2200,3548,3410,3451,3369,0,0,0,0,0,0,15.09,14.88,15.09
$GC,419,-0.85,-146.0,2200,3548,3457,3370,68.0,-16.8,77,426,0.00,2.35,0.00,0.000,3078,0.000,0.039,2200,2129,3410,3451,3369,0,0,0,0,0,0,14.92,14.88,14.94
$GC,486,-0.85,-146.0,2201,2129,3452,3370,79.7,-18.2,90,491,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2129,3409,3451,3367,0,0,0,0,0,0,15.09,15.13,15.10
$GC,551,-0.85,-146.0,2200,2128,3453,3369,91.5,-17.3,103,557,0.00,2.45,0.00,0.000,2308,0.000,0.070,2191,3537,3409,3451,3368,0,0,0,0,0,0,15.11,14.88,15.11
$GC,601,-0.85,-146.0,2192,3538,3451,3369,99.6,-15.4,113,609,0.08,2.33,0.00,0.000,3078,0.214,0.038,2208,2122,3410,3452,3369,0,0,0,0,0,0,14.83,14.91,14.93
$GC,669,-0.85,-146.0,2209,2122,3452,3369,110.0,-14.8,126,674,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,2121,3410,3452,3369,0,0,0,0,0,0,15.12,15.12,15.12
$GC,734,-0.85,-146.0,2209,2122,3452,3369,119.6,-15.4,139,740,0.00,2.47,0.00,0.000,2308,0.000,0.072,2207,3541,3410,3452,3368,0,0,0,0,0,0,15.14,14.88,15.14
$GC,774,-0.85,-146.0,2207,3541,3454,3369,125.4,-14.2,147,781,0.00,2.33,0.00,0.000,3078,0.000,0.038,2207,2132,3410,3452,3369,0,0,0,0,0,0,14.96,14.90,14.97
$GC,841,-0.85,-146.0,2208,2132,3452,3369,134.8,-15.0,160,846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,2132,3410,3452,3369,0,0,0,0,0,0,15.14,15.14,15.14
$GC,906,-0.85,-146.0,2207,2132,3453,3369,144.4,-14.5,173,912,0.00,2.38,0.00,0.000,2564,0.000,0.065,2207,702,3411,3453,3369,0,0,0,0,0,0,15.14,14.94,15.14
$GC,936,-0.85,-146.0,2207,702,3454,3369,149.1,-15.8,179,943,0.00,2.38,0.00,0.000,3078,0.000,0.047,2200,2128,3410,3452,3368,0,0,0,0,0,0,14.99,14.95,15.02
$GC,1003,-0.85,-146.0,2201,2130,3450,3369,158.7,-14.4,192,1009,0.00,2.40,0.00,0.000,2308,0.000,0.074,2200,3538,3411,3453,3369,0,0,0,0,0,0,15.14,14.90,15.15
$GC,1038,-0.85,-146.0,2199,3538,3454,3370,164.0,-13.5,199,1045,0.00,2.30,0.00,0.000,3078,0.000,0.037,2200,2147,3411,3453,3369,0,0,0,0,0,0,14.95,14.91,14.97
$GC,1105,-0.85,-146.0,2201,2147,3453,3369,172.7,-13.6,212,1110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2146,3411,3453,3369,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1169,-0.85,-146.0,2201,2147,3453,3369,181.3,-13.1,225,1176,0.00,2.42,0.00,0.000,2308,0.000,0.071,2200,3541,3411,3453,3369,0,0,0,0,0,0,15.16,14.94,15.17
$GC,1195,-0.85,-146.0,2199,3541,3454,3370,184.5,-11.6,230,1202,0.00,2.33,0.00,0.000,3078,0.000,0.037,2200,2126,3410,3453,3368,0,0,0,0,0,0,15.00,14.95,15.02
$GC,1262,-0.85,-146.0,2201,2125,3452,3369,192.8,-13.0,243,1267,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2126,3411,3453,3369,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1326,-0.85,-146.0,2200,2127,3453,3369,201.3,-13.3,256,1332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2126,3411,3453,3369,0,0,0,0,0,0,15.16,15.17,15.17
$GC,1391,-0.85,-146.0,2201,2127,3451,3369,210.0,-13.5,269,1401,0.00,2.38,0.00,0.000,2564,0.000,0.065,2200,725,3411,3453,3369,0,0,0,0,0,0,15.17,14.95,15.18
$GC,1415,-0.85,-146.0,2200,725,3455,3369,213.3,-14.0,273,1422,0.08,2.33,0.00,0.000,3078,0.230,0.047,2209,2134,3410,3452,3368,0,0,0,0,0,0,14.88,14.97,14.97
$GC,1481,-0.85,-146.0,2210,2134,3452,3369,222.0,-12.9,286,1482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2134,3410,3453,3368,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1541,-0.85,-146.0,2208,2134,3454,3370,229.5,-12.5,298,1547,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2134,3411,3453,3369,0,0,0,0,0,0,15.18,15.19,15.18
$GC,1606,-0.85,-146.0,2208,2134,3454,3370,237.6,-12.4,311,1613,0.00,2.40,0.00,0.000,2308,0.000,0.073,2207,3529,3410,3452,3369,0,0,0,0,0,0,15.19,14.95,15.19
$GC,1637,-0.85,-146.0,2207,3530,3454,3369,241.1,-11.4,317,1644,0.00,2.30,0.00,0.000,3078,0.000,0.037,2207,2132,3410,3452,3369,0,0,0,0,0,0,15.03,15.00,15.05
$GC,1704,-0.85,-146.0,2208,2132,3452,3369,248.8,-11.4,330,1710,0.00,2.35,0.00,0.000,2564,0.000,0.067,2207,725,3410,3452,3369,0,0,0,0,0,0,15.19,14.97,15.19
$GC,1739,-0.85,-146.0,2208,726,3452,3369,252.8,-12.1,337,1746,0.00,2.33,0.00,0.000,3078,0.000,0.048,2207,2124,3410,3452,3369,0,0,0,0,0,0,15.01,14.96,15.03
$GC,1806,-0.85,-146.0,2207,2125,3452,3369,260.0,-11.1,350,1812,0.00,2.38,0.00,0.000,2308,0.000,0.073,2198,3534,3410,3452,3368,0,0,0,0,0,0,15.18,14.98,15.19
$GC,1846,-0.85,-146.0,2199,3534,3451,3369,264.6,-10.9,358,1853,0.05,2.33,0.00,0.000,3078,0.241,0.037,2211,2121,3410,3452,3368,0,0,0,0,0,0,14.88,15.00,14.98
$GC,1912,-0.85,-146.0,2211,2120,3453,3369,271.7,-11.0,371,1913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,2120,3410,3452,3368,0,0,0,0,0,0,15.20,15.20,15.20
$GC,1972,-0.85,-146.0,2211,2121,3453,3369,278.7,-11.8,383,1979,0.00,2.35,0.00,0.000,2564,0.000,0.066,2211,731,3409,3451,3367,0,0,0,0,0,0,15.20,14.97,15.21
$GC,2003,-0.85,-146.0,2212,732,3451,3368,283.0,-13.4,389,2010,0.00,2.33,0.00,0.000,3078,0.000,0.049,2207,2130,3409,3451,3368,0,0,0,0,0,0,15.03,15.00,15.06
$GC,2070,-0.85,-146.0,2208,2131,3451,3368,291.0,-12.5,402,2076,0.00,2.38,0.00,0.000,2308,0.000,0.075,2206,3538,3409,3450,3368,0,0,0,0,0,0,15.20,14.99,15.20
$GC,2105,-0.85,-146.0,2208,3539,3450,3368,295.5,-12.2,409,2112,0.00,2.30,0.00,0.000,3078,0.000,0.037,2208,2138,3409,3451,3367,0,0,0,0,0,0,15.03,15.00,15.06
$GC,2181,-0.85,-146.0,2206,2139,3452,3368,305.5,-13.2,418,2182,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2139,3408,3450,3367,0,0,0,0,0,0,15.22,15.22,15.22
$GC,2302,-0.85,-146.0,2207,2139,3451,3368,321.1,-12.9,424,2307,0.00,2.40,0.00,0.000,2308,0.000,0.071,2199,3544,3407,3449,3366,0,0,0,0,0,0,15.21,15.02,15.21
$GC,2351,-0.85,-146.0,2199,3545,3449,3367,326.2,-12.4,426,2357,0.03,2.33,0.00,0.000,3078,0.331,0.037,2206,2125,3408,3449,3367,0,0,0,0,0,0,14.88,15.03,15.00
$GC,2481,-0.85,-146.0,2205,2125,3450,3368,342.9,-12.2,433,2487,0.00,2.35,0.00,0.000,2564,0.000,0.067,2206,736,3407,3448,3367,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2521,-0.85,-146.0,2207,737,3448,3368,348.4,-13.1,435,2527,0.00,2.33,0.00,0.000,3078,0.000,0.050,2207,2137,3407,3448,3367,0,0,0,0,0,0,15.08,15.03,15.09
$GC,2661,-0.85,-146.0,2207,2138,3448,3366,367.1,-13.5,442,2667,0.00,2.40,0.00,0.000,2308,0.000,0.076,2206,3532,3406,3448,3365,0,0,0,0,0,0,15.26,15.02,15.26
$GC,2706,-0.85,-146.0,2205,3533,3449,3366,372.3,-13.3,444,2712,0.00,2.30,0.00,0.000,3078,0.000,0.038,2206,2135,3406,3448,3365,0,0,0,0,0,0,15.09,15.05,15.10
$GC,2842,-0.85,-146.0,2206,2135,3448,3366,390.4,-13.0,451,2847,0.00,2.35,0.00,0.000,2564,0.000,0.068,2206,723,3406,3447,3365,0,0,0,0,0,0,15.23,15.04,15.24
$GC,2856,-0.85,-146.0,2205,723,3449,3366,390.4,-13.0,451,2863,0.00,2.33,0.00,0.000,3078,0.000,0.049,2201,2126,3406,3447,3365,0,0,0,0,0,0,15.09,15.04,15.11
$GC,2981,-0.85,-146.0,2201,2127,3447,3365,408.8,-13.1,458,2987,0.00,2.45,0.00,0.000,2308,0.000,0.076,2200,3545,3405,3447,3364,0,0,0,0,0,0,15.27,15.02,15.28
$GC,3001,-0.85,-146.0,2201,3546,3447,3364,411.4,-13.0,459,3007,0.00,2.33,0.00,0.000,3078,0.000,0.039,2200,2133,3405,3447,3364,0,0,0,0,0,0,15.09,15.05,15.11
$GC,3141,-0.85,-146.0,2201,2134,3446,3364,429.0,-12.6,466,3142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2133,3405,3446,3364,0,0,0,0,0,0,15.27,15.28,15.28
$STATE,3260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3260,begin apogee
$GC,3264,-0.19,0.0,2200,1887,3447,3364,443.8,-12.5,472,3384,1.12,0.00,112.82,1.588,10246,0.159,0.000,2428,1886,2812,2851,2774,0,0,0,0,0,0,15.00,14.35,13.89
$STATE,3385,end apogee,CONTROL_FINISHED_OK
$STATE,3385,begin climb
$GC,3386,0.85,146.0,2428,1887,2851,2775,448.9,0.0,478,3513,1.52,2.45,115.62,1.562,10756,0.084,0.075,2759,526,2214,2258,2171,0,0,0,0,0,0,14.46,14.31,13.78
$GC,3597,0.90,180.6,2758,526,2254,2172,443.3,8.4,488,3633,0.00,2.38,28.88,1.503,11270,0.000,0.044,2759,1929,2073,2120,2027,0,0,0,0,0,0,14.66,14.62,13.94
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$STATE,7841,end climb,SURFACE_DEPTH_REACHED
$STATE,7841,begin surface coast
$FINISH,2.2,1.024260
$STATE,7846,end surface coast,CONTROL_FINISHED_OK
$STATE,7846,begin surface
$SM_CCo,7927,0.00,0.000,0,0,1370,353.72
$SM_GC,1.07,12.68,2.00,0.00,0.075,0.046,0.000,149,2127,1370,-7.27,1.02,353.72,0,0,0,0,0,0,14.85,14.87,14.93
$IRIDIUM_FIX,-2945.08,3128.96,250918,020651
$TT8_MAMPS,0.038199,0.956473
$HUMID,50.86
$INTERNAL_PRESSURE,9.07226
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,401.0,52.7
$SC_FREEKB,3843136
$24V_AH,13.78,43.422
$10V_AH,13.55,0.000
$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,27.875,203.775,404.375,0.000,0.000,26.683,41.853,764.668,8.500,0.000,23.569,0.000,4495.061,813.571,3458.779,242.987,0.000,1870.079,0.000,1856.439,0.000,56.852,0.000
$DEVICE_MAMPS,357.255,85.680,1588.140,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7933.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.104,0.000,0.000,0.000
$MEM,343560
$DATA_FILE_SIZE,40006,1120
$CAP_FILE_SIZE,243568,0
$CFSIZE,1023623168,1001488384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6851.17,0x212b6e,1,24
$GPS,250918,071217,-2956.301,3126.078,38,0.9,57,-24.9,0.5,173.3,10,10.0