version: 66.14
glider: 640
mission: 9
dive: 45
start: 1 16 122 21 19 41
data:
$ID,640
$MISSION,9
$DIVE,45
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,500
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,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,54330
$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,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,190
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2390
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-154.12344
$PRESSURE_SLOPE,0.00014097099
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$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,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.2613181e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$GPS1,160122,211440,-6359.1436,223.4099,51,0.9,60,-21.1,0.3,340.1,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.4
$GPS2,160122,211911,-6359.1304,223.4376,6,0.9,16,-21.1,0.7,21.6,9,9.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.3,57241,-18.3,-10.000,-21.04,2236
$D_GRID,990
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.70,-146.0,231,1846,1982,2001,0.0,0.0,0,88,0.00,0.00,-78.95,0.000,16386,0.000,0.000,232,1846,3162,3133,3191,0,0,0,0,0,0,14.68,28.83,14.69,8.49,58.03
$GC,91,-0.70,-146.0,231,1845,3133,3192,3.3,-7.2,12,120,6.03,2.72,-12.00,0.000,18692,0.369,2.279,2169,3291,3544,3529,3559,0,0,0,0,0,0,14.34,13.69,14.55,8.61,58.50
$GC,187,-0.70,-146.0,2169,3291,3529,3561,22.0,-15.1,29,195,0.00,2.50,0.00,0.000,5126,0.000,0.063,2169,1843,3545,3529,3561,0,0,0,0,0,0,14.53,14.43,14.54,8.65,56.69
$GC,317,-0.70,-146.0,2169,1843,3529,3561,45.6,-19.2,54,325,0.00,2.50,0.00,0.000,4612,0.000,0.083,2169,441,3545,3529,3561,0,0,0,0,0,0,14.69,14.47,14.69,8.64,57.28
$GC,352,-0.70,-146.0,2169,441,3529,3562,52.3,-19.0,60,359,0.00,2.42,0.00,0.000,3078,0.000,0.050,2159,1854,3545,3529,3561,0,0,0,0,0,0,14.59,14.50,14.60,8.64,57.91
$GC,662,-0.70,-146.0,2159,1855,3529,3561,110.4,-18.4,97,668,0.00,2.42,0.00,0.000,2308,0.000,0.083,2148,3256,3545,3530,3561,0,0,0,0,0,0,14.80,14.57,14.80,8.63,56.57
$GC,734,-0.70,-146.0,2148,3255,3530,3562,120.6,-17.5,100,742,0.00,2.42,0.00,0.000,3078,0.000,0.063,2147,1852,3545,3529,3562,0,0,0,0,0,0,14.62,14.57,14.64,8.63,57.00
$GC,1042,-0.70,-146.0,2147,1852,3530,3562,180.3,-19.1,116,1049,0.05,2.50,0.00,0.000,2564,0.454,0.082,2161,434,3546,3530,3562,0,0,0,0,0,0,14.56,14.65,14.73,8.63,57.48
$GC,1090,-0.70,-146.0,2160,434,3530,3562,187.5,-18.5,118,1094,0.00,2.40,0.00,0.000,3078,0.000,0.050,2152,1856,3545,3529,3562,0,0,0,0,0,0,14.77,14.67,14.78,8.64,57.28
$GC,1402,-0.70,-146.0,2151,1856,3529,3562,243.9,-17.7,134,1408,0.00,2.40,0.00,0.000,2308,0.000,0.083,2141,3257,3545,3529,3562,0,0,0,0,0,0,14.92,14.69,14.92,8.65,58.66
$GC,1475,-0.70,-146.0,2141,3256,3530,3562,253.6,-16.5,137,1484,0.05,2.40,0.00,0.000,3078,0.321,0.063,2158,1853,3545,3529,3562,0,0,0,0,0,0,14.60,14.69,14.71,8.65,58.54
$GC,1782,-0.70,-146.0,2158,1852,3529,3562,306.1,-16.6,153,1788,0.00,2.47,0.00,0.000,2564,0.000,0.084,2158,433,3546,3530,3562,0,0,0,0,0,0,14.95,14.73,14.96,8.66,58.54
$GC,1835,-0.70,-146.0,2158,433,3529,3562,312.7,-16.5,155,1843,0.00,2.42,0.00,0.000,3078,0.000,0.051,2148,1849,3545,3529,3562,0,0,0,0,0,0,14.76,14.72,14.79,8.66,58.74
$GC,2143,-0.70,-146.0,2148,1849,3529,3562,366.2,-16.9,171,2149,0.00,2.40,0.00,0.000,2308,0.000,0.084,2137,3257,3545,3529,3562,0,0,0,0,0,0,14.97,14.74,14.98,8.66,59.13
$GC,2215,-0.70,-146.0,2137,3258,3529,3562,375.6,-16.2,174,2224,0.08,2.40,0.00,0.000,3078,0.282,0.063,2165,1849,3545,3528,3562,0,0,0,0,0,0,14.66,14.73,14.76,8.67,59.45
$GC,2523,-0.70,-146.0,2164,1849,3529,3562,424.5,-15.5,190,2529,0.00,2.47,0.00,0.000,516,0.000,0.090,2165,440,3545,3529,3562,0,0,0,0,0,0,14.99,14.77,15.00,8.67,58.97
$GC,2583,-0.70,-146.0,2164,440,3529,3562,433.4,-15.1,193,2589,0.00,2.35,0.00,0.000,3078,0.000,0.050,2155,1853,3545,3528,3562,0,0,0,0,0,0,14.88,14.78,14.89,8.67,59.45
$GC,2903,-0.70,-146.0,2155,1853,3528,3562,483.2,-15.8,209,2909,0.00,2.40,0.00,0.000,2308,0.000,0.083,2145,3255,3545,3528,3562,0,0,0,0,0,0,15.00,14.78,15.01,8.68,59.25
$GC,2991,-0.70,-146.0,2145,3256,3528,3562,494.7,-14.2,213,2996,0.05,2.35,0.00,0.000,3078,0.411,0.064,2162,1845,3545,3528,3562,0,0,0,0,0,0,14.69,14.78,14.85,8.67,59.29
$GC,3300,-0.70,-146.0,2161,1845,3528,3562,542.0,-15.5,228,3306,0.00,2.42,0.00,0.000,2564,0.000,0.090,2161,443,3545,3529,3562,0,0,0,0,0,0,15.02,14.78,15.02,8.68,59.25
$GC,3346,-0.70,-146.0,2161,442,3528,3562,548.2,-15.7,230,3350,0.00,2.35,0.00,0.000,3078,0.000,0.050,2152,1852,3545,3528,3562,0,0,0,0,0,0,14.90,14.81,14.91,8.68,59.64
$GC,3659,-0.70,-146.0,2151,1852,3529,3562,599.0,-16.2,246,3665,0.00,2.40,0.00,0.000,2308,0.000,0.084,2141,3260,3545,3528,3562,0,0,0,0,0,0,15.02,14.79,15.02,8.69,59.60
$GC,3739,-0.70,-146.0,2141,3260,3528,3562,610.7,-14.5,250,3746,0.08,2.35,0.00,0.000,3078,0.346,0.065,2167,1850,3545,3528,3563,0,0,0,0,0,0,14.73,14.81,14.87,8.69,59.33
$GC,4059,-0.70,-146.0,2167,1851,3529,3562,657.8,-15.0,266,4065,0.00,2.47,0.00,0.000,516,0.000,0.090,2167,439,3545,3528,3562,0,0,0,0,0,0,15.02,14.81,15.03,8.69,59.05
$GC,4112,-0.70,-146.0,2167,439,3529,3562,663.9,-15.2,268,4120,0.00,2.40,0.00,0.000,3078,0.000,0.050,2158,1851,3545,3528,3562,0,0,0,0,0,0,14.83,14.78,14.86,8.69,58.70
$GC,4419,-0.70,-146.0,2158,1851,3529,3563,713.3,-15.7,284,4423,0.00,2.40,0.00,0.000,2308,0.000,0.084,2148,3260,3545,3528,3562,0,0,0,0,0,0,15.04,14.81,15.04,8.70,59.21
$GC,4498,-0.70,-146.0,2147,3259,3528,3563,724.2,-14.3,288,4503,0.05,2.35,0.00,0.000,3078,0.410,0.064,2164,1849,3545,3529,3562,0,0,0,0,0,0,14.73,14.82,14.88,8.70,59.17
$GC,4815,-0.70,-146.0,2164,1849,3529,3563,770.0,-14.8,304,4819,0.00,2.47,0.00,0.000,516,0.000,0.093,2164,438,3546,3529,3563,0,0,0,0,0,0,15.04,14.82,15.05,8.70,59.49
$GC,4859,-0.70,-146.0,2164,437,3529,3563,775.4,-15.0,306,4863,0.00,2.38,0.00,0.000,3078,0.000,0.050,2155,1867,3546,3529,3563,0,0,0,0,0,0,14.94,14.83,14.95,8.70,58.89
$GC,5171,-0.70,-146.0,2154,1867,3529,3563,823.7,-15.4,322,5175,0.00,2.35,0.00,0.000,2308,0.000,0.083,2144,3258,3546,3529,3563,0,0,0,0,0,0,15.06,14.83,15.06,8.70,58.97
$GC,5227,-0.70,-146.0,2143,3257,3529,3563,831.8,-14.7,325,5232,0.05,2.35,0.00,0.000,3078,0.414,0.065,2161,1845,3546,3529,3563,0,0,0,0,0,0,14.75,14.84,14.91,8.71,59.52
$GC,5544,-0.70,-146.0,2160,1847,3530,3563,877.8,-14.7,341,5548,0.00,2.45,0.00,0.000,2564,0.000,0.093,2161,441,3546,3529,3563,0,0,0,0,0,0,15.07,14.84,15.07,8.70,59.68
$GC,5608,-0.70,-146.0,2161,441,3530,3563,885.7,-14.0,344,5612,0.00,2.35,0.00,0.000,3078,0.000,0.050,2152,1864,3546,3529,3563,0,0,0,0,0,0,14.95,14.85,14.97,8.71,59.25
$GC,5920,-0.70,-146.0,2151,1864,3529,3563,933.1,-15.4,360,5924,0.00,2.35,0.00,0.000,2308,0.000,0.083,2141,3254,3546,3529,3563,0,0,0,0,0,0,15.08,14.84,15.08,8.71,59.21
$GC,5989,-0.70,-146.0,2141,3254,3529,3563,941.3,-14.8,363,5997,0.08,2.35,0.00,0.000,3078,0.337,0.066,2168,1842,3545,3528,3563,0,0,0,0,0,0,14.78,14.85,14.92,8.71,59.80
$GC,6296,-0.70,-146.0,2167,1842,3530,3563,985.4,-13.8,379,6300,0.00,2.45,0.00,0.000,516,0.000,0.094,2168,441,3547,3530,3564,0,0,0,0,0,0,15.08,14.85,15.09,8.71,59.25
$STATE,6331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6331,begin apogee
$GC,6337,-0.14,0.0,2160,1774,3530,3563,990.3,-13.8,381,6460,0.50,0.00,119.53,2.664,10246,0.224,0.000,2347,1775,2943,2942,2945,0,0,0,0,0,0,14.79,13.83,13.01,8.72,59.09
$STATE,6461,end apogee,CONTROL_FINISHED_OK
$STATE,6461,begin climb
$GC,6462,0.70,146.0,2347,1775,2941,2944,994.8,0.0,387,6587,0.73,0.00,120.85,2.567,10246,0.154,0.000,2619,1775,2347,2348,2347,0,0,0,0,0,0,13.82,13.55,12.73,8.68,58.19
$GC,6873,0.70,146.0,2618,1775,2353,2346,942.9,15.3,408,6878,0.00,2.60,0.00,0.000,4612,0.000,0.090,2630,360,2349,2353,2346,0,0,0,0,0,0,14.42,14.21,14.42,8.61,58.26
$GC,6917,0.70,146.0,2629,359,2353,2346,937.3,15.5,410,6922,0.00,2.42,0.00,0.000,5126,0.000,0.042,2630,1771,2349,2353,2346,0,0,0,0,0,0,14.35,14.27,14.36,8.61,57.48
$GC,7229,0.70,146.0,2630,1771,2353,2346,886.6,15.7,426,7234,0.00,2.45,0.00,0.000,4356,0.000,0.074,2630,3179,2349,2353,2346,0,0,0,0,0,0,14.66,14.44,14.66,8.61,58.07
$GC,7289,0.70,146.0,2630,3179,2353,2346,877.8,15.7,429,7294,0.08,2.42,0.00,0.000,5126,0.379,0.068,2617,1770,2349,2353,2346,0,0,0,0,0,0,14.38,14.47,14.54,8.61,58.54
$GC,7601,0.70,146.0,2617,1771,2353,2346,830.9,15.3,445,7605,0.00,2.50,0.00,0.000,516,0.000,0.083,2627,359,2349,2353,2346,0,0,0,0,0,0,14.79,14.57,14.79,8.61,58.50
$GC,7677,0.70,146.0,2626,359,2353,2347,819.5,15.0,449,7683,0.00,2.38,0.00,0.000,5126,0.000,0.041,2627,1785,2349,2353,2346,0,0,0,0,0,0,14.70,14.60,14.71,8.60,58.30
$GC,7997,0.70,146.0,2627,1786,2353,2346,770.0,15.5,465,8001,0.00,2.35,0.00,0.000,4356,0.000,0.072,2627,3167,2349,2353,2346,0,0,0,0,0,0,14.88,14.66,14.88,8.60,58.34
$GC,8056,0.70,146.0,2627,3167,2353,2346,761.5,15.1,468,8061,0.08,2.38,0.00,0.000,5126,0.375,0.067,2614,1764,2349,2353,2346,0,0,0,0,0,0,14.58,14.67,14.73,8.60,58.86
$GC,8374,0.70,146.0,2613,1764,2353,2346,715.4,14.5,484,8380,0.00,2.45,0.00,0.000,516,0.000,0.083,2624,355,2350,2354,2346,0,0,0,0,0,0,14.93,14.71,14.93,8.59,58.66
$GC,8441,0.70,146.0,2623,356,2355,2346,706.6,14.6,487,8445,0.00,2.33,0.00,0.000,5126,0.000,0.041,2624,1765,2350,2354,2346,0,0,0,0,0,0,14.83,14.73,14.84,8.60,59.13
$GC,8753,0.70,146.0,2623,1765,2355,2346,659.3,14.8,503,8759,0.00,2.38,0.00,0.000,4356,0.000,0.072,2624,3173,2350,2354,2346,0,0,0,0,0,0,14.97,14.74,14.97,8.59,59.13
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$GC,12171,0.70,146.0,2624,1767,2356,2346,200.4,12.6,673,12177,0.00,2.45,0.00,0.000,4612,0.000,0.084,2635,355,2351,2357,2346,0,0,0,0,0,0,15.04,14.83,15.04,8.56,58.66
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$STATE,13980,end climb,SURFACE_DEPTH_REACHED
$STATE,13980,begin surface coast
$FINISH,-0.3,1.027137
$STATE,14013,end surface coast,CONTROL_FINISHED_OK
$STATE,14013,begin surface
$SM_CCo,14026,3.78,1.058,0,0,2169,190.10
$SM_GC,1.95,5.70,0.10,3.78,0.088,0.136,1.058,236,1870,2169,-6.41,-1.16,190.10,0,0,0,0,0,0,14.61,14.57,13.94
$IRIDIUM_FIX,-6358.31,217.24,160122,171704
$TT8_MAMPS,0.019474,0.328062
$HUMID,57.60
$INTERNAL_PRESSURE,8.47224
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.73,160.140
$10V_AH,13.04,0.000
$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,14.000,183.225,270.800,3.775,0.000,22.919,12.753,143.264,0.000,0.000,17.152,2360.877,8858.898,487.583,2515.185,86.369,0.000,1537.904,0.000,1845.155,0.000,0.535,0.000
$DEVICE_MAMPS,453.645,2278.935,2663.730,1057.995,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.882,1426.175,237.405,1148.970,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342892
$DATA_FILE_SIZE,66005,874
$CAP_FILE_SIZE,147227,0
$CFSIZE,1023623168,1016414208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170122,011544,-6359.438,223.942,60,1.3,101,-21.1,0.0,183.4,5,5.7