version: 66.14
glider: 640
mission: 9
dive: 91
start: 1 25 122 0 39 46
data:
$ID,640
$MISSION,9
$DIVE,91
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,15
$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,360
$T_MISSION,400
$T_ABORT,530
$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,90
$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,20
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,78
$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
$GPS1,250122,003131,-6324.4224,209.3209,44,1.5,85,-21.0,0.3,179.8,5,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.1
$GPS2,250122,003917,-6324.4248,209.2692,9,1.5,50,-21.0,0.0,257.0,5,6.4
$SPEED_LIMITS,0.159,0.200
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,72.1,18955,-22.1,-9.167,-24.67,1465
$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,-0.74,-87.6,219,1821,2129,2202,0.0,0.0,0,82,0.00,0.00,-71.90,0.000,16390,0.000,0.000,219,1821,3305,3272,3339,0,0,0,0,0,0,14.72,13.71,14.71,8.53,57.99
$GC,84,-0.74,-87.6,219,1821,3273,3339,3.4,-6.0,11,99,6.00,1.17,0.00,0.000,2308,0.365,0.045,2137,2543,3308,3278,3339,0,0,0,0,0,0,14.33,14.49,14.56,8.65,57.24
$GC,286,-0.74,-87.6,2137,2542,3281,3340,41.5,-16.9,50,293,0.00,1.08,0.00,0.000,3078,0.000,0.055,2137,1896,3310,3281,3339,0,0,0,0,0,0,14.57,14.52,14.60,8.65,56.34
$GC,611,-0.74,-87.6,2136,1896,3282,3339,98.3,-18.0,99,614,0.00,1.27,0.00,0.000,2564,0.000,0.066,2137,1167,3311,3282,3340,0,0,0,0,0,0,14.83,14.61,14.83,8.65,56.10
$GC,760,-0.74,-87.6,2136,1168,3282,3339,122.1,-16.4,106,765,0.05,1.12,0.00,0.000,3078,0.356,0.044,2147,1832,3310,3282,3339,0,0,0,0,0,0,14.51,14.66,14.64,8.64,55.59
$GC,1073,-0.74,-87.6,2147,1832,3282,3339,170.5,-14.8,122,1076,0.00,1.20,0.00,0.000,2308,0.000,0.057,2144,2563,3310,3282,3339,0,0,0,0,0,0,14.92,14.71,14.92,8.65,57.44
$GC,1134,-0.74,-87.6,2144,2564,3282,3339,179.6,-14.9,125,1138,0.00,1.15,0.00,0.000,3078,0.000,0.057,2144,1867,3311,3282,3340,0,0,0,0,0,0,14.76,14.71,14.77,8.65,57.63
$GC,1455,-0.74,-87.6,2143,1867,3282,3339,226.0,-14.1,141,1458,0.00,1.23,0.00,0.000,2564,0.000,0.070,2144,1164,3310,3282,3339,0,0,0,0,0,0,14.96,14.73,14.96,8.66,58.19
$GC,1584,-0.74,-87.6,2143,1165,3281,3339,243.0,-13.9,147,1588,0.00,1.20,0.00,0.000,3078,0.000,0.046,2139,1875,3311,3282,3340,0,0,0,0,0,0,14.80,14.76,14.82,8.67,57.75
$GC,1896,-0.74,-87.6,2138,1875,3282,3339,288.4,-14.4,163,1898,0.00,0.00,0.00,0.000,2054,0.000,0.000,2139,1875,3310,3282,3339,0,0,0,0,0,0,14.99,15.00,15.00,8.67,58.66
$GC,2198,-0.74,-87.6,2138,1875,3282,3339,331.2,-14.3,178,2199,0.00,0.00,0.00,0.000,2054,0.000,0.000,2138,1875,3310,3282,3339,0,0,0,0,0,0,15.01,15.02,15.02,8.67,58.62
$GC,2496,-0.74,-87.6,2138,1875,3282,3339,375.7,-14.9,193,2500,0.00,1.25,0.00,0.000,2564,0.000,0.069,2139,1161,3310,3282,3339,0,0,0,0,0,0,15.02,14.81,15.02,8.67,58.78
$GC,2557,-0.74,-87.6,2138,1161,3282,3339,385.0,-15.0,196,2562,0.05,1.17,0.00,0.000,3078,0.360,0.045,2149,1869,3310,3282,3339,0,0,0,0,0,0,14.66,14.82,14.81,8.67,58.07
$GC,2879,-0.74,-87.6,2149,1870,3282,3339,430.3,-13.8,212,2881,0.00,0.00,0.00,0.000,2054,0.000,0.000,2149,1870,3310,3282,3339,0,0,0,0,0,0,15.04,15.04,15.04,8.68,58.74
$GC,3179,-0.74,-87.6,2149,1870,3281,3339,471.4,-13.6,227,3180,0.00,0.00,0.00,0.000,2054,0.000,0.000,2150,1870,3310,3282,3339,0,0,0,0,0,0,15.04,15.04,15.05,8.68,58.66
$GC,3479,-0.74,-87.6,2149,1870,3282,3339,512.1,-13.7,242,3483,0.00,1.23,0.00,0.000,2564,0.000,0.071,2149,1163,3311,3282,3340,0,0,0,0,0,0,15.05,14.83,15.05,8.68,58.50
$GC,3542,-0.74,-87.6,2148,1164,3282,3338,520.5,-13.6,245,3547,0.00,1.20,0.00,0.000,3078,0.000,0.044,2146,1877,3310,3281,3339,0,0,0,0,0,0,14.94,14.86,14.95,8.68,58.78
$GC,3862,-0.74,-87.6,2145,1877,3282,3339,563.8,-13.6,261,3863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2146,1877,3311,3282,3340,0,0,0,0,0,0,15.05,15.05,15.06,8.68,58.82
$GC,4161,-0.74,-87.6,2145,1877,3281,3340,604.1,-13.5,276,4162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2146,1877,3310,3282,3339,0,0,0,0,0,0,15.07,15.07,15.07,8.68,59.25
$GC,4461,-0.74,-87.6,2145,1877,3282,3339,644.3,-13.3,291,4464,0.00,1.23,0.00,0.000,2564,0.000,0.070,2145,1170,3310,3282,3339,0,0,0,0,0,0,15.07,14.84,15.07,8.69,59.45
$GC,4522,-0.74,-87.6,2145,1170,3281,3339,652.5,-13.5,294,4525,0.00,1.15,0.00,0.000,3078,0.000,0.045,2141,1863,3310,3282,3339,0,0,0,0,0,0,14.90,14.86,14.92,8.69,59.13
$GC,4843,-0.74,-87.6,2140,1863,3283,3339,695.8,-13.4,310,4846,0.00,1.23,0.00,0.000,2564,0.000,0.073,2141,1161,3311,3283,3339,0,0,0,0,0,0,15.07,14.83,15.07,8.69,58.58
$GC,4897,-0.74,-87.6,2140,1162,3283,3339,701.4,-13.6,312,4905,0.03,1.17,0.00,0.000,3078,0.442,0.045,2143,1867,3311,3283,3339,0,0,0,0,0,0,14.65,14.81,14.80,8.69,58.34
$GC,5204,-0.74,-87.6,2143,1865,3284,3339,743.6,-13.2,328,5205,0.00,0.00,0.00,0.000,2054,0.000,0.000,2143,1865,3312,3284,3340,0,0,0,0,0,0,15.07,15.07,15.07,8.70,59.05
$GC,5504,-0.74,-87.6,2142,1865,3284,3340,783.1,-13.2,343,5505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2143,1865,3311,3284,3339,0,0,0,0,0,0,15.06,15.06,15.06,8.69,58.93
$GC,5804,-0.74,-87.6,2143,1865,3284,3339,821.6,-12.6,358,5808,0.00,1.23,0.00,0.000,2564,0.000,0.074,2143,1165,3311,3284,3339,0,0,0,0,0,0,15.08,14.85,15.08,8.69,59.17
$GC,5873,-0.74,-87.6,2143,1165,3284,3339,829.4,-12.8,361,5877,0.00,1.15,0.00,0.000,3078,0.000,0.045,2139,1861,3311,3284,3339,0,0,0,0,0,0,14.92,14.88,14.92,8.70,58.50
$GC,6186,-0.74,-87.6,2139,1862,3285,3339,869.9,-12.6,377,6187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2139,1862,3311,3284,3339,0,0,0,0,0,0,15.07,15.07,15.07,8.70,59.01
$GC,6485,-0.74,-87.6,2139,1862,3285,3339,907.6,-12.4,392,6489,0.00,1.23,0.00,0.000,2564,0.000,0.073,2139,1160,3312,3285,3339,0,0,0,0,0,0,15.08,14.85,15.08,8.70,59.29
$GC,6548,-0.74,-87.6,2139,1161,3285,3339,915.5,-12.7,395,6552,0.05,1.17,0.00,0.000,3078,0.354,0.045,2150,1869,3311,3284,3339,0,0,0,0,0,0,14.71,14.88,14.85,8.70,58.86
$GC,6870,-0.74,-87.6,2150,1869,3284,3340,953.9,-11.7,411,6871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2150,1869,3311,3284,3339,0,0,0,0,0,0,15.07,15.08,15.07,8.70,59.56
$GC,7170,-0.74,-87.6,2150,1869,3284,3339,988.9,-11.7,426,7171,0.00,0.00,0.00,0.000,2054,0.000,0.000,2150,1868,3312,3285,3340,0,0,0,0,0,0,15.08,15.08,15.08,8.70,58.66
$STATE,7189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7189,begin apogee
$GC,7193,-0.14,0.0,2150,1763,3285,3339,991.3,-11.7,427,7272,0.52,0.00,75.10,2.550,10246,0.242,0.000,2345,1763,2942,2929,2956,0,0,0,0,0,0,14.76,14.06,13.21,8.70,59.09
$STATE,7273,end apogee,CONTROL_FINISHED_OK
$STATE,7273,begin climb
$GC,7274,0.74,87.6,2345,1763,2929,2955,994.7,0.0,431,7353,0.75,0.00,75.53,2.469,10246,0.161,0.000,2627,1761,2585,2574,2596,0,0,0,0,0,0,14.03,13.79,12.97,8.68,58.50
$GC,7650,0.74,87.6,2626,1763,2570,2595,959.2,11.1,450,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1763,2582,2569,2595,0,0,0,0,0,0,14.57,14.58,14.57,8.65,58.62
$GC,7950,0.74,87.6,2626,1763,2569,2595,925.9,11.1,465,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1763,2582,2570,2594,0,0,0,0,0,0,14.74,14.75,14.74,8.64,58.50
$GC,8251,0.74,87.6,2627,1763,2570,2595,893.2,10.7,480,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1763,2581,2569,2594,0,0,0,0,0,0,14.83,14.84,14.84,8.64,58.58
$GC,8550,0.74,87.6,2626,1763,2569,2595,860.6,10.9,495,8553,0.00,1.17,0.00,0.000,260,0.000,0.052,2628,2469,2582,2570,2594,0,0,0,0,0,0,14.90,14.70,14.90,8.63,58.74
$GC,8611,0.74,87.6,2628,2470,2569,2594,853.8,11.1,498,8615,0.00,1.12,0.00,0.000,5126,0.000,0.059,2633,1793,2581,2569,2594,0,0,0,0,0,0,14.74,14.70,14.76,8.63,58.46
$GC,8932,0.74,87.6,2633,1794,2570,2594,818.6,10.8,514,8936,0.00,1.25,0.00,0.000,4612,0.000,0.071,2639,1075,2582,2569,2595,0,0,0,0,0,0,14.95,14.73,14.95,8.63,59.09
$GC,9001,0.74,87.6,2639,1076,2569,2595,811.8,11.0,517,9005,0.00,1.15,0.00,0.000,5126,0.000,0.037,2639,1778,2582,2569,2595,0,0,0,0,0,0,14.81,14.76,14.83,8.63,58.58
$GC,9313,0.74,87.6,2639,1777,2570,2595,777.1,10.8,533,9315,0.00,0.00,0.00,0.000,4102,0.000,0.000,2639,1778,2582,2569,2595,0,0,0,0,0,0,14.98,14.99,14.98,8.62,58.89
$GC,9613,0.74,87.6,2639,1777,2569,2595,744.2,10.9,548,9615,0.00,0.00,0.00,0.000,4102,0.000,0.000,2639,1777,2582,2569,2595,0,0,0,0,0,0,15.00,15.00,15.00,8.62,58.97
$GC,9915,0.74,87.6,2639,1777,2569,2594,711.6,10.8,563,9916,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1777,2581,2569,2594,0,0,0,0,0,0,15.02,15.02,15.02,8.62,59.05
$GC,10213,0.74,87.6,2639,1777,2569,2595,679.5,10.5,578,10215,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1777,2582,2569,2595,0,0,0,0,0,0,15.03,15.04,15.04,8.62,59.64
$GC,10513,0.74,87.6,2639,1777,2570,2595,648.2,10.5,593,10517,0.00,1.23,0.00,0.000,4612,0.000,0.070,2645,1070,2582,2570,2595,0,0,0,0,0,0,15.04,14.83,15.04,8.62,59.01
$GC,10567,0.74,87.6,2645,1071,2570,2595,643.9,10.5,595,10576,0.05,1.15,0.00,0.000,5126,0.316,0.038,2627,1785,2581,2568,2595,0,0,0,0,0,0,14.66,14.78,14.78,8.62,59.60
$GC,10874,0.74,87.6,2627,1786,2570,2595,612.8,9.7,611,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1786,2582,2569,2595,0,0,0,0,0,0,15.04,15.05,15.05,8.61,58.93
$GC,11174,0.74,87.6,2627,1786,2569,2595,583.7,9.5,626,11178,0.00,1.25,0.00,0.000,516,0.000,0.067,2631,1063,2582,2570,2595,0,0,0,0,0,0,15.05,14.83,15.06,8.61,59.37
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$GC,15081,0.75,98.6,2629,1779,2529,2552,215.2,9.9,821,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1779,2540,2529,2552,0,0,0,0,0,0,15.00,15.02,15.00,8.60,58.62
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$STATE,17370,end climb,SURFACE_DEPTH_REACHED
$STATE,17370,begin surface coast
$FINISH,-0.0,1.027385
$STATE,17401,end surface coast,CONTROL_FINISHED_OK
$STATE,17401,begin surface
$SM_CCo,17415,29.92,0.249,0,0,2169,190.10
$SM_GC,3.48,5.68,0.12,29.92,0.083,0.119,0.249,226,1891,2169,-6.40,-1.22,190.10,0,0,0,0,0,0,14.69,14.64,14.49
$IRIDIUM_FIX,-6326.70,205.13,240122,192526
$TT8_MAMPS,0.020223,0.330309
$HUMID,57.24
$INTERNAL_PRESSURE,8.50154
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.97,172.612
$10V_AH,13.19,0.000
$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,13.225,47.950,201.225,29.925,0.000,23.546,14.278,283.862,0.000,0.000,51.037,2758.498,11683.322,341.506,2998.342,131.298,0.000,1343.912,0.000,1895.259,0.000,0.536,0.000
$DEVICE_MAMPS,442.170,149.940,2549.745,248.625,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.617,2275.900,279.790,1394.397,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343120
$DATA_FILE_SIZE,79798,1060
$CAP_FILE_SIZE,142547,0
$CFSIZE,1023623168,1011990528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250122,053150,-6323.008,210.363,46,0.9,47,-21.0,0.0,0.0,8,9.0