version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 50
start: 10 10 118 21 5 51
data:
$ID,573
$MISSION,23
$DIVE,50
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,170
$T_MISSION,180
$T_ABORT,190
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,305
$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,320
$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,2
$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,1987
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,20
$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,15
$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,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,101018,204756,-3135.8569,2946.7500,25,0.9,41,-26.2,1.4,240.7,9,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.1
$GPS2,101018,210527,-3136.3176,2946.2415,19,0.9,19,-26.2,0.9,229.5,8,8.1
$SPEED_LIMITS,0.170,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,-3130.124,2935.866
$TGT_RADIUS,1852.000
$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,331.2,20000,-18.0,-9.804,-20.79,2280
$D_GRID,500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.84,-146.0,72,1987,1526,1465,0.0,0.0,0,88,0.00,0.00,-65.97,0.000,16386,0.000,0.000,74,1988,3288,3308,3268,0,0,0,0,0,0,14.92,28.83,14.92
$GC,90,-0.84,-146.0,73,1988,3308,3268,3.8,-10.4,12,115,12.48,2.50,-2.12,0.000,18692,0.301,0.090,2199,3408,3409,3448,3371,0,0,0,0,0,0,14.50,13.67,14.66
$GC,307,-0.84,-146.0,2199,3408,3450,3369,42.9,-13.9,54,314,0.08,2.38,0.00,0.000,3078,0.275,0.045,2215,1989,3410,3449,3371,0,0,0,0,0,0,14.68,14.79,14.84
$GC,377,-0.84,-146.0,2214,1988,3450,3371,51.8,-13.0,67,384,0.00,2.47,0.00,0.000,2308,0.000,0.073,2208,3405,3410,3450,3370,0,0,0,0,0,0,15.05,14.78,15.04
$GC,457,-0.84,-146.0,2208,3404,3450,3371,62.8,-13.5,82,463,0.00,2.38,0.00,0.000,3078,0.000,0.045,2208,1984,3410,3450,3371,0,0,0,0,0,0,14.92,14.83,14.93
$GC,525,-0.84,-146.0,2208,1983,3450,3371,71.6,-12.3,95,531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1983,3410,3450,3371,0,0,0,0,0,0,15.06,15.07,15.07
$GC,593,-0.84,-146.0,2208,1983,3450,3371,79.9,-11.3,108,599,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1983,3410,3450,3371,0,0,0,0,0,0,15.06,15.06,15.06
$GC,661,-0.84,-146.0,2208,1983,3450,3371,87.6,-12.0,121,666,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1983,3410,3451,3370,0,0,0,0,0,0,15.07,15.07,15.08
$GC,729,-0.84,-146.0,2208,1983,3451,3370,95.7,-12.1,134,735,0.00,2.47,0.00,0.000,2308,0.000,0.072,2207,3405,3410,3450,3371,0,0,0,0,0,0,15.07,14.74,15.07
$GC,787,-0.84,-146.0,2207,3405,3451,3371,102.5,-10.6,145,794,0.00,2.35,0.00,0.000,3078,0.000,0.041,2207,1984,3411,3451,3371,0,0,0,0,0,0,14.95,14.85,14.97
$GC,859,-0.84,-146.0,2207,1983,3451,3366,110.2,-12.0,158,865,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1983,3411,3451,3371,0,0,0,0,0,0,15.08,15.09,15.09
$GC,927,-0.84,-146.0,2207,1983,3451,3370,119.5,-12.9,171,934,0.00,2.47,0.00,0.000,2308,0.000,0.072,2207,3404,3411,3451,3371,0,0,0,0,0,0,15.09,14.83,15.09
$GC,976,-0.84,-146.0,2207,3407,3451,3370,125.3,-12.2,180,983,0.00,2.35,0.00,0.000,3078,0.000,0.042,2207,1989,3411,3451,3371,0,0,0,0,0,0,14.97,14.87,14.98
$GC,1046,-0.84,-146.0,2207,1988,3451,3371,133.8,-12.4,193,1051,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3410,3451,3370,0,0,0,0,0,0,15.09,15.09,15.10
$GC,1113,-0.84,-146.0,2207,1988,3451,3370,142.4,-12.6,206,1119,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3411,3451,3371,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1182,-0.84,-146.0,2207,1988,3451,3371,150.3,-12.0,219,1187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3411,3451,3371,0,0,0,0,0,0,15.09,15.10,15.09
$GC,1249,-0.84,-146.0,2207,1988,3451,3370,158.9,-12.5,232,1255,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3411,3452,3371,0,0,0,0,0,0,15.09,15.10,15.09
$GC,1317,-0.84,-146.0,2207,1986,3451,3371,167.4,-12.1,245,1323,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3411,3451,3371,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1385,-0.84,-146.0,2207,1988,3451,3371,175.2,-11.9,258,1391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3411,3452,3371,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1453,-0.84,-146.0,2207,1988,3451,3371,183.5,-11.3,271,1459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3411,3451,3371,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1521,-0.84,-146.0,2206,1988,3451,3370,191.3,-11.0,284,1527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3411,3451,3371,0,0,0,0,0,0,15.11,15.11,15.10
$GC,1589,-0.84,-146.0,2206,1988,3451,3371,199.2,-11.8,297,1595,0.00,2.47,0.00,0.000,2308,0.000,0.072,2206,3404,3411,3451,3371,0,0,0,0,0,0,15.10,14.77,15.10
$GC,1623,-0.84,-146.0,2206,3404,3451,3370,202.9,-9.3,303,1630,0.00,2.38,0.00,0.000,3078,0.000,0.041,2207,1976,3411,3451,3371,0,0,0,0,0,0,14.99,14.90,15.00
$GC,1692,-0.84,-146.0,2206,1976,3451,3371,210.7,-11.6,316,1698,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1976,3411,3451,3371,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1759,-0.84,-146.0,2206,1976,3451,3371,218.4,-11.4,329,1765,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1976,3410,3451,3370,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1827,-0.84,-146.0,2207,1976,3451,3370,226.5,-11.5,342,1833,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1974,3410,3451,3370,0,0,0,0,0,0,15.13,15.14,15.14
$GC,1895,-0.84,-146.0,2206,1976,3451,3370,233.8,-10.7,355,1901,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1976,3410,3451,3370,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1963,-0.84,-146.0,2206,1975,3452,3370,240.8,-10.4,368,1968,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1976,3410,3451,3370,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2031,-0.84,-146.0,2206,1976,3451,3369,247.2,-9.2,381,2036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1976,3410,3451,3369,0,0,0,0,0,0,15.14,15.15,15.15
$GC,2100,-0.84,-146.0,2206,1976,3451,3369,253.7,-9.2,394,2105,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1976,3414,3459,3369,0,0,0,0,0,0,15.14,15.15,15.14
$GC,2168,-0.84,-146.0,2206,1975,3451,3369,260.5,-9.8,407,2175,0.00,2.47,0.00,0.000,2308,0.000,0.073,2204,3404,3410,3451,3369,0,0,0,0,0,0,15.14,14.88,15.15
$GC,2207,-0.84,-146.0,2203,3404,3451,3369,264.4,-9.4,414,2214,0.00,2.35,0.00,0.000,3078,0.000,0.042,2204,1981,3409,3451,3368,0,0,0,0,0,0,15.02,14.91,15.03
$GC,2277,-0.84,-146.0,2203,1981,3451,3368,270.7,-10.2,427,2282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1980,3409,3451,3368,0,0,0,0,0,0,15.15,15.15,15.15
$GC,2344,-0.84,-146.0,2203,1980,3451,3368,278.9,-13.4,440,2350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1980,3410,3451,3369,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2413,-0.84,-146.0,2203,1981,3450,3368,287.8,-12.9,453,2420,0.00,2.47,0.00,0.000,2308,0.000,0.071,2203,3410,3409,3450,3368,0,0,0,0,0,0,15.14,14.88,15.14
$GC,2455,-0.84,-146.0,2203,3410,3450,3368,293.0,-11.8,460,2462,0.00,2.35,0.00,0.000,3078,0.000,0.044,2204,1989,3409,3450,3368,0,0,0,0,0,0,15.02,14.91,15.03
$GC,2534,-0.84,-146.0,2203,1988,3450,3368,302.5,-12.3,472,2536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1988,3409,3450,3368,0,0,0,0,0,0,15.16,15.16,15.15
$STATE,2652,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2653,begin apogee
$GC,2657,-0.19,0.0,2204,1989,3449,3368,317.9,-12.4,478,2774,1.12,0.00,112.78,1.467,10246,0.156,0.000,2428,1987,2811,2848,2775,0,0,0,0,0,0,14.83,14.42,13.86
$STATE,2776,end apogee,CONTROL_FINISHED_OK
$STATE,2776,begin climb
$GC,2778,0.84,146.0,2428,1987,2848,2774,323.8,0.0,484,2904,1.58,2.60,114.12,1.436,10756,0.075,0.072,2775,546,2213,2256,2171,0,0,0,0,0,0,14.42,14.26,13.76
$GC,3165,0.84,146.0,2772,546,2247,2171,300.9,12.6,503,3171,0.05,2.35,0.00,0.000,5126,0.340,0.044,2767,1976,2209,2247,2171,0,0,0,0,0,0,14.60,14.76,14.77
$GC,3294,0.85,153.9,2766,1976,2246,2171,288.4,9.4,527,3306,0.00,0.00,6.97,1.120,12550,0.000,0.000,2767,1976,2183,2221,2146,0,0,0,0,0,0,15.01,14.66,14.14
$GC,3369,0.85,153.9,2767,1976,2221,2145,280.0,10.2,541,3375,0.00,2.38,0.00,0.000,4356,0.000,0.070,2767,3352,2183,2221,2145,0,0,0,0,0,0,15.00,14.77,15.00
$GC,3472,0.87,168.9,2766,3352,2221,2143,269.1,9.1,561,3491,0.00,2.33,13.40,1.280,13318,0.000,0.044,2775,1943,2122,2165,2080,0,0,0,0,0,0,14.92,14.82,14.18
$GC,3553,0.87,168.9,2774,1943,2164,2077,260.1,13.0,576,3559,0.00,2.40,0.00,0.000,4612,0.000,0.076,2786,550,2119,2162,2076,0,0,0,0,0,0,15.00,14.76,15.00
$GC,3596,0.87,168.9,2785,550,2162,2077,253.6,15.4,584,3604,0.05,2.33,0.00,0.000,5126,0.347,0.047,2777,1950,2119,2162,2076,0,0,0,0,0,0,14.66,14.82,14.85
$GC,3665,0.87,168.9,2776,1951,2160,2076,244.6,12.3,597,3671,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1950,2119,2162,2077,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3733,0.87,168.9,2776,1950,2162,2076,237.2,11.6,610,3738,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1950,2119,2162,2076,0,0,0,0,0,0,15.05,15.06,15.06
$GC,3800,0.87,168.9,2776,1950,2162,2076,228.7,11.8,623,3807,0.00,2.42,0.00,0.000,4612,0.000,0.077,2785,547,2118,2161,2076,0,0,0,0,0,0,15.06,14.82,15.07
$GC,3834,0.87,168.9,2785,547,2158,2076,224.8,12.0,629,3840,0.00,2.33,0.00,0.000,5126,0.000,0.047,2784,1956,2118,2161,2076,0,0,0,0,0,0,14.90,14.88,14.90
$GC,3903,0.87,168.9,2784,1956,2161,2076,217.4,10.8,642,3910,0.00,2.40,0.00,0.000,4356,0.000,0.071,2785,3355,2118,2161,2076,0,0,0,0,0,0,15.08,14.84,15.09
$GC,3947,0.87,168.9,2784,3355,2161,2076,211.9,11.9,650,3954,0.10,2.33,0.00,0.000,5126,0.289,0.044,2776,1956,2118,2161,2076,0,0,0,0,0,0,14.73,14.88,14.91
$GC,4016,0.88,175.8,2776,1956,2161,2075,205.1,9.5,663,4029,0.00,2.38,6.57,1.060,12548,0.000,0.067,2776,3350,2094,2138,2051,0,0,0,0,0,0,15.11,14.76,14.25
$GC,4077,0.88,175.8,2776,3351,2138,2050,199.0,10.8,674,4083,0.00,2.33,0.00,0.000,5126,0.000,0.046,2784,1949,2093,2138,2049,0,0,0,0,0,0,14.96,14.87,14.97
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$STATE,5948,end climb,SURFACE_DEPTH_REACHED
$STATE,5948,begin surface coast
$FINISH,-0.1,1.008312
$STATE,6004,end surface coast,CONTROL_FINISHED_OK
$STATE,6004,begin surface
$SM_CCo,6027,67.35,0.129,0,0,1506,320.11
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$IRIDIUM_FIX,-3122.76,2946.26,101018,181129
$TT8_MAMPS,0.019474,0.88382
$HUMID,55.15
$INTERNAL_PRESSURE,8.83787
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,290.2,42.5
$SC_FREEKB,3894592
$24V_AH,13.67,62.704
$10V_AH,13.72,0.000
$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,28.050,91.050,270.325,67.350,0.000,22.733,15.896,727.062,5.500,0.000,20.313,2419.809,1288.256,620.652,2612.955,197.516,0.000,1543.958,0.000,1646.447,0.000,37.751,0.000
$DEVICE_MAMPS,374.850,90.270,1466.505,128.520,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6091.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.372,0.000,0.000,0.000
$MEM,339720
$DATA_FILE_SIZE,33318,1041
$CAP_FILE_SIZE,193952,0
$CFSIZE,1023623168,1012842496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101018,224850,-3136.325,2945.207,17,0.9,46,-26.2,1.2,229.2,9,7.2