version: 66.13
glider: 124
mission: 26
dive: 136
start: 6 16 118 16 51 54
data:
$ID,124
$MISSION,26
$DIVE,136
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,2.5
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55793
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2681
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.43451
$PRESSURE_SLOPE,0.00010836
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,71
$LOGGERDEVICE3,134
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043545738
$SEABIRD_T_H,0.00062548259
$SEABIRD_T_I,2.3693661e-05
$SEABIRD_T_J,2.5207949e-06
$SEABIRD_C_G,-9.9945526
$SEABIRD_C_H,1.1183146
$SEABIRD_C_I,-0.0026370776
$SEABIRD_C_J,0.00028069684
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,139.0
$CP_NDIVE,1.0
$GPS1,160618,164133,5833.3037,-2346.6516,38,0.9,38,-15.7,0.0,0.0,9,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.9
$GPS2,160618,165128,5833.3940,-2346.6682,11,1.3,16,-15.7,0.6,323.9,6,6.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.5,75973,-17.6,-10.000,-21.24,2209
$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
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.65,-146.0,29,1679,1389,1096,0.0,0.0,0,116,0.00,0.00,-98.53,0.006,16390,0.000,0.000,26,1679,3276,3242,3310,0,0,0,0,0,0,14.76,13.48,14.78
$GC,119,-0.65,-146.0,27,1679,3244,3311,3.2,-2.3,5,133,8.93,0.85,0.00,0.000,2596,0.412,0.041,1983,1166,3277,3249,3305,0,0,0,0,0,0,14.30,14.61,14.52
$GC,358,-0.65,-146.0,1984,1166,3268,3284,41.4,-13.4,53,363,0.00,0.93,0.00,0.000,1030,0.000,0.049,1981,1696,3275,3267,3284,0,0,0,0,0,0,14.70,14.67,14.72
$GC,698,-0.65,-146.0,1980,1696,3276,3277,89.0,-14.1,73,703,0.00,0.93,0.00,0.000,516,0.000,0.054,1980,1175,3276,3275,3277,0,0,0,0,0,0,14.92,14.73,14.92
$GC,754,-0.65,-146.0,1980,1175,3276,3277,96.8,-13.7,84,760,0.00,0.90,0.00,0.000,1030,0.000,0.048,1977,1690,3276,3275,3277,0,0,0,0,0,0,14.77,14.74,14.79
$GC,1098,-0.65,-146.0,1978,1690,3277,3276,144.3,-13.8,94,1103,0.00,0.85,0.00,0.000,260,0.000,0.050,1973,2235,3276,3276,3276,0,0,0,0,0,0,15.00,14.78,15.01
$GC,1143,-0.65,-146.0,1972,2239,3279,3274,150.2,-13.0,103,1149,0.00,0.88,0.00,0.000,1030,0.000,0.056,1972,1706,3275,3278,3273,0,0,0,0,0,0,14.81,14.78,14.84
$GC,1499,-0.65,-146.0,1972,1706,3280,3273,198.7,-13.7,118,1504,0.00,0.95,0.00,0.000,516,0.000,0.060,1972,1157,3275,3279,3272,0,0,0,0,0,0,15.02,14.79,15.04
$GC,1729,-0.65,-146.0,1972,1157,3281,3272,230.2,-13.6,164,1734,0.00,0.93,0.00,0.000,1030,0.000,0.050,1969,1698,3276,3280,3272,0,0,0,0,0,0,14.85,14.81,14.89
$GC,2060,-0.65,-146.0,1969,1698,3281,3272,277.2,-14.3,174,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1697,3276,3280,3272,0,0,0,0,0,0,15.06,15.08,15.08
$GC,2380,-0.65,-146.0,1969,1696,3282,3272,323.4,-14.5,182,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1697,3276,3280,3272,0,0,0,0,0,0,15.09,15.11,15.10
$GC,2700,-0.65,-146.0,1969,1698,3281,3272,369.0,-14.2,190,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1697,3276,3281,3272,0,0,0,0,0,0,15.10,15.12,15.11
$GC,3020,-0.65,-146.0,1969,1697,3281,3272,414.0,-14.1,198,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1697,3276,3281,3271,0,0,0,0,0,0,15.11,15.13,15.13
$GC,3340,-0.65,-146.0,1969,1697,3282,3271,458.3,-13.3,206,3345,0.10,0.95,0.00,0.000,2564,0.308,0.048,1991,1158,3276,3281,3271,0,0,0,0,0,0,14.73,14.83,14.90
$GC,3370,-0.65,-146.0,1991,1158,3282,3271,461.9,-11.0,212,3376,0.00,0.93,0.00,0.000,1030,0.000,0.050,1989,1692,3276,3281,3271,0,0,0,0,0,0,14.90,14.88,14.94
$GC,3701,-0.65,-146.0,1989,1692,3283,3271,498.0,-10.9,222,3706,0.00,0.82,0.00,0.000,260,0.000,0.052,1984,2226,3276,3282,3270,0,0,0,0,0,0,15.11,14.90,15.14
$GC,3756,-0.65,-146.0,1984,2229,3283,3270,503.8,-10.4,233,3761,0.00,0.88,0.00,0.000,1030,0.000,0.057,1983,1695,3276,3283,3269,0,0,0,0,0,0,14.92,14.89,14.95
$GC,4101,-0.65,-146.0,1984,1694,3285,3269,545.6,-12.4,246,4106,0.00,0.90,0.00,0.000,516,0.000,0.060,1983,1172,3276,3283,3269,0,0,0,0,0,0,15.12,14.89,15.14
$GC,4331,-0.65,-146.0,1983,1171,3284,3270,572.2,-10.8,292,4337,0.00,0.88,0.00,0.000,1030,0.000,0.050,1980,1682,3275,3283,3268,0,0,0,0,0,0,14.93,14.90,14.95
$GC,4662,-0.65,-146.0,1980,1684,3284,3268,611.5,-11.7,302,4667,0.00,0.85,0.00,0.000,260,0.000,0.051,1976,2229,3275,3283,3267,0,0,0,0,0,0,15.11,14.90,15.14
$GC,4757,-0.65,-146.0,1975,2232,3284,3267,622.0,-10.7,321,4762,0.00,0.90,0.00,0.000,1030,0.000,0.058,1975,1686,3275,3283,3267,0,0,0,0,0,0,14.93,14.90,14.95
$GC,5102,-0.65,-146.0,1975,1686,3283,3267,661.4,-11.3,334,5107,0.00,0.90,0.00,0.000,516,0.000,0.061,1975,1163,3274,3283,3266,0,0,0,0,0,0,15.12,14.89,15.14
$GC,5327,-0.65,-146.0,1975,1163,3284,3267,687.0,-11.5,379,5332,0.00,0.90,0.00,0.000,1030,0.000,0.051,1972,1684,3274,3283,3266,0,0,0,0,0,0,14.99,14.91,14.96
$GC,5663,-0.65,-146.0,1972,1684,3284,3265,727.8,-12.2,390,5668,0.00,0.85,0.00,0.000,260,0.000,0.052,1968,2230,3274,3284,3265,0,0,0,0,0,0,15.12,14.90,15.14
$GC,5683,-0.65,-146.0,1968,2232,3284,3265,730.2,-11.6,394,5688,0.05,0.90,0.00,0.000,3078,0.244,0.053,1985,1678,3273,3283,3264,0,0,0,0,0,0,14.72,14.90,14.85
$GC,6023,-0.65,-146.0,1985,1679,3284,3265,767.6,-10.9,406,6028,0.00,0.88,0.00,0.000,516,0.000,0.060,1985,1168,3274,3284,3264,0,0,0,0,0,0,15.13,14.90,15.14
$GC,6228,-0.65,-146.0,1985,1167,3285,3264,788.6,-10.1,447,6233,0.00,0.88,0.00,0.000,1030,0.000,0.052,1982,1678,3274,3284,3264,0,0,0,0,0,0,14.94,14.91,14.97
$GC,6584,-0.65,-146.0,1983,1677,3284,3264,825.9,-10.6,462,6588,0.00,0.85,0.00,0.000,260,0.000,0.052,1978,2225,3273,3283,3263,0,0,0,0,0,0,15.13,14.89,15.14
$GC,6653,-0.65,-146.0,1978,2226,3285,3264,833.1,-10.1,476,6659,0.00,0.90,0.00,0.000,1030,0.000,0.055,1977,1680,3273,3283,3263,0,0,0,0,0,0,14.93,14.90,14.95
$GC,6985,-0.65,-146.0,1978,1680,3285,3263,869.1,-11.0,486,6989,0.00,0.88,0.00,0.000,516,0.000,0.060,1977,1169,3273,3284,3262,0,0,0,0,0,0,15.13,14.89,15.14
$GC,7214,-0.65,-146.0,1977,1169,3284,3263,893.7,-10.4,532,7220,0.00,0.85,0.00,0.000,1030,0.000,0.053,1974,1666,3272,3284,3261,0,0,0,0,0,0,14.94,14.89,14.96
$GC,7545,-0.65,-146.0,1974,1666,3284,3261,928.8,-10.6,542,7550,0.00,0.90,0.00,0.000,260,0.000,0.054,1970,2234,3272,3284,3260,0,0,0,0,0,0,15.12,14.86,15.14
$GC,7580,-0.65,-146.0,1971,2236,3285,3260,932.3,-10.0,549,7586,0.00,0.93,0.00,0.000,1030,0.000,0.054,1970,1673,3272,3284,3260,0,0,0,0,0,0,14.89,14.85,14.91
$GC,7905,-0.65,-146.0,1970,1672,3284,3261,967.1,-10.6,558,7910,0.00,0.88,0.00,0.000,516,0.000,0.061,1969,1165,3271,3283,3259,0,0,0,0,0,0,15.12,14.85,15.14
$STATE,8118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8118,begin apogee
$GC,8125,-0.12,0.0,1968,1726,3284,3259,990.0,-10.2,601,8253,0.45,0.00,126.88,2.263,10244,0.220,0.000,2099,1730,2681,2844,2518,0,0,0,0,0,0,14.73,14.08,13.33
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8254,begin climb
$GC,8257,0.65,146.0,2100,1730,2843,2518,993.1,0.0,604,8398,0.55,0.00,132.70,2.202,11270,0.146,0.000,2274,1743,2085,2330,1840,0,0,0,0,0,0,14.06,14.27,13.12
$GC,8748,0.65,146.0,2274,1744,2314,1840,933.8,13.4,644,8753,0.00,0.82,0.00,0.000,260,0.000,0.045,2275,2254,2076,2313,1839,0,0,0,0,0,0,14.69,14.50,14.71
$GC,8803,0.65,146.0,2275,2259,2312,1839,926.3,13.5,655,8808,0.00,0.93,0.00,0.000,1030,0.000,0.064,2278,1718,2075,2311,1839,0,0,0,0,0,0,14.53,14.49,14.55
$GC,9149,0.65,146.0,2279,1718,2308,1839,880.5,13.2,668,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,1718,2073,2308,1839,0,0,0,0,0,0,14.87,14.88,14.88
$GC,9468,0.65,146.0,2278,1718,2307,1839,839.2,12.7,676,9473,0.00,0.88,0.00,0.000,260,0.000,0.044,2277,2259,2072,2306,1839,0,0,0,0,0,0,14.91,14.71,14.93
$GC,9503,0.65,146.0,2276,2263,2307,1839,834.5,13.1,683,9509,0.00,0.90,0.00,0.000,1030,0.000,0.064,2280,1724,2073,2307,1839,0,0,0,0,0,0,14.75,14.71,14.77
$GC,9828,0.65,146.0,2281,1723,2305,1839,792.2,13.1,692,9833,0.00,0.85,0.00,0.000,260,0.000,0.045,2280,2250,2071,2304,1839,0,0,0,0,0,0,14.96,14.76,14.97
$GC,9868,0.65,146.0,2280,2253,2305,1839,786.9,13.2,700,9876,0.00,0.88,0.00,0.000,1030,0.000,0.064,2282,1721,2071,2304,1839,0,0,0,0,0,0,14.78,14.74,14.81
$GC,10232,0.65,146.0,2283,1721,2304,1839,737.6,13.4,716,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1721,2071,2303,1839,0,0,0,0,0,0,15.00,15.05,15.02
$GC,10552,0.65,146.0,2283,1721,2302,1839,695.3,12.9,724,10556,0.00,0.85,0.00,0.000,260,0.000,0.045,2283,2250,2070,2302,1839,0,0,0,0,0,0,15.01,14.81,15.03
$GC,10611,0.65,146.0,2283,2253,2303,1839,687.4,12.6,736,10616,0.00,0.88,0.00,0.000,1030,0.000,0.066,2286,1731,2070,2302,1839,0,0,0,0,0,0,14.81,14.78,14.83
$GC,10952,0.65,146.0,2287,1730,2302,1839,643.1,12.8,748,10956,0.00,0.85,0.00,0.000,260,0.000,0.047,2286,2259,2070,2302,1839,0,0,0,0,0,0,15.03,14.82,15.04
$GC,10982,0.65,146.0,2285,2263,2302,1839,639.0,14.2,754,10986,0.00,0.90,0.00,0.000,1030,0.000,0.065,2289,1727,2070,2302,1839,0,0,0,0,0,0,14.82,14.77,14.84
$GC,11312,0.65,146.0,2290,1726,2302,1839,595.8,12.9,764,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1726,2070,2301,1839,0,0,0,0,0,0,15.04,15.06,15.05
$GC,11632,0.65,146.0,2289,1727,2301,1839,554.5,12.9,772,11637,0.00,0.85,0.00,0.000,260,0.000,0.047,2289,2254,2069,2300,1839,0,0,0,0,0,0,15.04,14.80,15.05
$GC,11754,0.65,146.0,2290,2258,2301,1839,538.7,12.3,796,11759,0.08,0.88,0.00,0.000,5126,0.240,0.067,2269,1739,2070,2300,1840,0,0,0,0,0,0,14.65,14.83,14.78
$GC,12114,0.65,146.0,2269,1739,2301,1840,498.6,11.1,812,12119,0.00,0.98,0.00,0.000,516,0.000,0.067,2273,1194,2069,2300,1839,0,0,0,0,0,0,15.03,14.81,15.04
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$STATE,16579,end climb,SURFACE_DEPTH_REACHED
$STATE,16579,begin surface coast
$FINISH,1.2,1.027017
$STATE,16599,end surface coast,CONTROL_FINISHED_OK
$STATE,16599,begin surface
$SM_CCo,16617,120.57,0.113,0,0,1254,350.04
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$IRIDIUM_FIX,5834.66,-2347.69,160618,114910
$TT8_MAMPS,0.038199,0.71155
$HUMID,38.81
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,18.70
$XPDR_PINGS,20
$SC_FREEKB,3942048
$CP_FREE,15876456448.000000
$24V_AH,13.12,0.000
$10V_AH,13.27,47.157
$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,16.300,53.500,259.575,120.575,0.000,0.000,0.000,385.975,5.000,0.000,18.874,0.000,13967.913,618.077,2408.956,337.377,0.000,1822.037,0.000,1493.928,0.000,0.537,0.000
$DEVICE_MAMPS,411.570,140.760,2262.870,113.220,0.000,0.000,0.000,171.360,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.318,0.000,25.000,0.000
$MEM,333776
$DATA_FILE_SIZE,36708,1046
$CAP_FILE_SIZE,133502,0
$CFSIZE,260165632,240279552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9868.58,0x235320,1,24
$CURRENT,0.198,356.61,1
$GPS,160618,213206,5833.905,-2344.077,40,1.3,43,-15.7,0.3,324.0,8,5.9