version: 66.13
glider: 137
mission: 5
dive: 135
start: 3 30 117 12 37 27
data:
$ID,137
$MISSION,5
$DIVE,135
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,450
$T_ABORT,720
$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,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,300317,123149,1336.7166,6109.0161,35,0.9,53,-0.7,0.4,195.7,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.7
$GPS2,300317,123640,1336.6865,6109.0000,14,0.9,23,-0.7,0.0,225.2,9,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1333.929,6106.519
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,231.5,6785,-16.8,-10.000,-19.44,2181
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-1.29,-142.0,94,2082,329,560,0.0,0.0,0,109,0.00,0.00,-99.65,0.000,16386,0.000,0.000,94,2083,3089,3004,3174,0,0,0,0,0,0,14.88,28.83,14.90
$GC,111,-1.30,-146.0,94,2083,3005,3174,4.5,-6.5,17,138,13.45,2.67,-5.35,0.000,18980,0.402,2.096,2889,640,3386,3278,3494,0,0,0,0,0,0,14.37,13.70,14.57
$GC,225,-1.30,-146.0,2889,640,3279,3494,26.7,-12.7,38,232,0.00,2.30,0.00,0.000,1030,0.000,0.039,2881,2036,3386,3279,3494,0,0,0,0,0,0,14.73,14.67,14.75
$GC,535,-1.30,-146.0,2880,2036,3279,3494,67.6,-13.2,86,543,0.00,2.35,0.00,0.000,260,0.000,0.060,2870,3450,3387,3280,3494,0,0,0,0,0,0,14.99,14.73,15.01
$GC,588,-1.30,-146.0,2869,3450,3280,3494,75.1,-13.2,97,596,0.00,2.35,0.00,0.000,1030,0.000,0.037,2870,2043,3387,3280,3494,0,0,0,0,0,0,14.78,14.76,14.82
$GC,895,-1.30,-146.0,2870,2042,3281,3494,117.9,-10.9,128,897,0.10,0.00,0.00,0.000,2054,0.276,0.000,2889,2042,3387,3281,3494,0,0,0,0,0,0,14.65,14.87,14.83
$GC,1196,-1.36,-146.0,2888,2042,3282,3494,149.9,-9.4,158,1205,0.00,2.35,0.00,0.000,420,0.000,0.057,2880,3454,3388,3282,3494,0,0,0,0,0,0,15.07,14.78,15.09
$GC,1231,-1.48,-146.0,2879,3454,3282,3494,153.2,-8.2,165,1239,0.12,2.30,0.00,0.000,5286,0.120,0.038,2821,2040,3388,3282,3494,0,0,0,0,0,0,14.85,14.85,14.90
$GC,1537,-1.48,-146.0,2821,2041,3282,3494,188.5,-13.9,196,1542,0.12,2.30,0.00,0.000,2564,0.252,0.057,2853,644,3388,3282,3494,0,0,0,0,0,0,14.69,14.83,14.81
$GC,1646,-1.48,-146.0,2852,644,3282,3494,202.0,-11.4,217,1651,0.00,2.28,0.00,0.000,1030,0.000,0.038,2844,2052,3388,3282,3494,0,0,0,0,0,0,14.92,14.86,14.94
$GC,1960,-1.52,-146.0,2844,2052,3282,3494,233.8,-10.8,249,1965,0.00,2.30,0.00,0.000,388,0.000,0.059,2833,3450,3388,3282,3494,0,0,0,0,0,0,15.07,14.84,15.09
$GC,2009,-1.57,-146.0,2833,3450,3282,3494,239.4,-12.2,258,2017,0.00,2.28,0.00,0.000,1158,0.000,0.038,2833,2053,3388,3282,3495,0,0,0,0,0,0,14.92,14.86,14.95
$GC,2316,-1.57,-146.0,2833,2052,3282,3494,275.9,-12.3,275,2320,0.00,2.33,0.00,0.000,516,0.000,0.061,2834,648,3388,3282,3494,0,0,0,0,0,0,15.09,14.84,15.11
$GC,2357,-1.57,-146.0,2833,648,3282,3494,281.7,-12.7,283,2361,0.00,2.30,0.00,0.000,1030,0.000,0.041,2824,2057,3388,3282,3494,0,0,0,0,0,0,14.94,14.87,14.95
$GC,2679,-1.57,-146.0,2823,2057,3282,3494,317.6,-10.4,297,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2057,3388,3282,3494,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2980,-1.57,-146.0,2823,2057,3280,3494,349.4,-11.1,307,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2057,3387,3280,3494,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3281,-1.57,-146.0,2823,2058,3278,3494,383.1,-11.0,317,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2058,3386,3278,3494,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3580,-1.57,-146.0,2823,2057,3278,3493,416.1,-11.3,327,3585,0.00,2.40,0.00,0.000,516,0.000,0.064,2823,651,3385,3278,3493,0,0,0,0,0,0,15.11,14.85,15.13
$GC,3617,-1.57,-146.0,2823,651,3278,3492,421.0,-11.8,334,3622,0.00,2.30,0.00,0.000,1030,0.000,0.046,2814,2050,3384,3277,3492,0,0,0,0,0,0,14.95,14.88,14.97
$GC,3946,-1.57,-146.0,2814,2050,3275,3490,459.4,-11.6,349,3951,0.00,2.35,0.00,0.000,260,0.000,0.068,2804,3451,3382,3275,3490,0,0,0,0,0,0,15.11,14.85,15.14
$GC,3979,-1.57,-146.0,2804,3451,3275,3489,463.3,-11.3,355,3986,0.12,2.30,0.00,0.000,3078,0.238,0.044,2831,2050,3382,3275,3489,0,0,0,0,0,0,14.69,14.88,14.89
$GC,4315,-1.61,-146.0,2830,2050,3273,3487,495.2,-8.9,371,4320,0.00,2.35,0.00,0.000,676,0.000,0.065,2832,648,3380,3273,3487,0,0,0,0,0,0,15.11,14.83,15.14
$GC,4370,-1.61,-146.0,2831,647,3272,3487,500.3,-9.4,381,4376,0.00,2.33,0.00,0.000,1062,0.000,0.047,2823,2053,3379,3272,3487,0,0,0,0,0,0,14.94,14.86,14.96
$GC,4685,-1.61,-146.0,2823,2053,3271,3486,527.5,-8.6,393,4690,0.00,2.40,0.00,0.000,548,0.000,0.066,2823,646,3378,3271,3486,0,0,0,0,0,0,15.11,14.83,15.14
$GC,4713,-1.61,-146.0,2823,645,3271,3486,530.5,-9.7,398,4720,0.00,2.35,0.00,0.000,1062,0.000,0.047,2813,2060,3378,3271,3486,0,0,0,0,0,0,14.94,14.85,14.96
$GC,5019,-1.61,-146.0,2813,2060,3270,3485,562.1,-11.2,409,5025,0.00,2.35,0.00,0.000,260,0.000,0.067,2803,3458,3377,3270,3484,0,0,0,0,0,0,15.11,14.83,15.14
$GC,5061,-1.61,-146.0,2802,3458,3269,3484,567.6,-12.1,417,5067,0.00,2.33,0.00,0.000,1030,0.000,0.045,2803,2056,3376,3269,3484,0,0,0,0,0,0,14.94,14.86,14.95
$GC,5385,-1.61,-146.0,2803,2055,3268,3482,608.9,-13.1,431,5391,0.00,2.38,0.00,0.000,516,0.000,0.067,2805,642,3375,3268,3482,0,0,0,0,0,0,15.10,14.82,15.12
$GC,5413,-1.61,-146.0,2805,642,3268,3482,613.1,-13.7,436,5421,0.12,2.35,0.00,0.000,3078,0.276,0.046,2821,2063,3374,3267,3481,0,0,0,0,0,0,14.63,14.85,14.86
$GC,5721,-1.64,-146.0,2821,2063,3267,3481,647.9,-10.7,447,5722,0.00,0.00,0.00,0.000,134,0.000,0.000,2821,2062,3373,3267,3480,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6021,-1.68,-146.0,2821,2062,3266,3480,677.4,-9.6,457,6027,0.00,2.35,0.00,0.000,420,0.000,0.071,2813,3447,3372,3266,3479,0,0,0,0,0,0,15.11,14.81,15.13
$GC,6049,-1.72,-146.0,2812,3447,3266,3479,680.6,-10.2,462,6059,0.00,2.33,0.00,0.000,1158,0.000,0.044,2813,2047,3372,3266,3479,0,0,0,0,0,0,14.93,14.85,14.95
$GC,6355,-1.72,-146.0,2812,2048,3265,3478,712.2,-10.6,473,6360,0.00,2.35,0.00,0.000,516,0.000,0.067,2814,651,3371,3265,3478,0,0,0,0,0,0,15.10,14.81,15.12
$GC,6392,-1.72,-146.0,2813,651,3265,3478,716.8,-10.7,480,6397,0.00,2.33,0.00,0.000,1030,0.000,0.046,2804,2053,3371,3264,3479,0,0,0,0,0,0,14.92,14.85,14.95
$GC,6721,-1.72,-146.0,2804,2053,3264,3477,752.1,-10.7,495,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2053,3370,3264,3477,0,0,0,0,0,0,15.11,15.14,15.12
$GC,7020,-1.72,-146.0,2804,2053,3262,3477,784.4,-10.9,505,7026,0.00,2.38,0.00,0.000,260,0.000,0.070,2794,3454,3369,3262,3477,0,0,0,0,0,0,15.10,14.80,15.12
$GC,7055,-1.72,-146.0,2794,3454,3262,3477,788.2,-10.7,511,7060,0.00,2.35,0.00,0.000,1030,0.000,0.045,2794,2043,3369,3262,3477,0,0,0,0,0,0,14.92,14.84,14.95
$GC,7390,-1.72,-146.0,2794,2041,3261,3477,825.6,-10.9,527,7394,0.00,2.42,0.00,0.000,260,0.000,0.068,2785,3450,3368,3261,3476,0,0,0,0,0,0,15.11,14.80,15.12
$GC,7436,-1.72,-146.0,2784,3450,3261,3475,831.2,-11.3,536,7441,0.00,2.35,0.00,0.000,1030,0.000,0.046,2785,2042,3368,3261,3475,0,0,0,0,0,0,14.92,14.83,14.94
$GC,7754,-1.72,-146.0,2784,2041,3261,3475,865.1,-10.8,549,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2042,3367,3260,3475,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8056,-1.72,-146.0,2784,2041,3260,3474,898.7,-11.5,559,8061,0.00,2.42,0.00,0.000,260,0.000,0.068,2775,3447,3366,3259,3474,0,0,0,0,0,0,15.10,14.79,15.12
$GC,8103,-1.72,-146.0,2775,3447,3259,3473,904.7,-12.1,568,8109,0.10,2.35,0.00,0.000,3078,0.271,0.047,2797,2037,3366,3259,3473,0,0,0,0,0,0,14.59,14.83,14.83
$GC,8421,-1.72,-146.0,2797,2037,3259,3472,939.2,-11.0,581,8429,0.00,2.33,0.00,0.000,516,0.000,0.062,2798,651,3365,3259,3472,0,0,0,0,0,0,15.09,14.80,15.11
$GC,8465,-1.72,-146.0,2798,651,3258,3472,944.3,-11.3,589,8471,0.00,2.35,0.00,0.000,1030,0.000,0.044,2790,2056,3365,3258,3472,0,0,0,0,0,0,14.90,14.83,14.93
$GC,8789,-1.72,-146.0,2789,2056,3258,3471,978.6,-10.7,603,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2057,3364,3258,3471,0,0,0,0,0,0,15.09,15.11,15.11
$STATE,8907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8907,begin apogee
$GC,8912,-0.33,0.0,2789,1789,3258,3470,992.0,-11.2,607,9045,1.20,0.00,128.93,2.697,10246,0.269,0.000,3097,1787,2789,2677,2902,0,0,0,0,0,0,14.51,14.03,13.04
$STATE,9046,end apogee,CONTROL_FINISHED_OK
$STATE,9046,begin climb
$GC,9048,1.30,146.0,3098,1788,2672,2898,994.5,0.0,611,9191,1.27,0.00,139.10,2.614,10246,0.181,0.000,3456,1787,2192,2063,2322,0,0,0,0,0,0,14.00,13.88,12.97
$GC,9480,1.11,146.0,3455,1788,2043,2320,951.1,12.9,626,9486,0.15,2.40,0.00,0.000,4740,0.329,0.070,3433,408,2181,2042,2320,0,0,0,0,0,0,14.29,14.50,14.47
$GC,9573,0.95,146.0,3433,408,2039,2320,939.9,11.9,645,9578,0.20,2.38,0.00,0.000,5254,0.337,0.045,3385,1808,2179,2039,2320,0,0,0,0,0,0,14.33,14.59,14.62
$GC,9900,0.90,152.0,3385,1809,2037,2320,908.0,9.7,660,9905,0.00,0.00,3.08,1.220,8358,0.000,0.000,3386,1809,2170,2028,2312,0,0,0,0,0,0,14.95,14.69,13.50
$GC,10201,0.84,152.0,3385,1809,2029,2313,878.2,10.1,670,10203,0.15,0.00,0.00,0.000,4230,0.383,0.000,3358,1812,2170,2029,2312,0,0,0,0,0,0,14.46,14.80,14.75
$GC,10500,0.85,159.7,3358,1812,2029,2312,849.4,9.6,680,10518,0.00,2.55,10.23,2.274,8740,0.000,0.077,3367,400,2133,1991,2276,0,0,0,0,0,0,15.03,14.69,13.75
$GC,10553,0.85,159.7,3367,400,1987,2276,843.8,11.0,691,10560,0.00,2.38,0.00,0.000,1030,0.000,0.047,3362,1806,2131,1986,2276,0,0,0,0,0,0,14.77,14.71,14.79
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$GC,14119,0.93,225.4,3358,3202,1732,2028,474.0,10.0,901,14130,0.00,2.40,3.12,1.053,9254,0.000,0.052,3368,1789,1871,1724,2018,0,0,0,0,0,0,14.78,14.71,13.69
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$STATE,18708,end climb,SURFACE_DEPTH_REACHED
$STATE,18708,begin surface coast
$FINISH,1.4,1.009690
$STATE,18736,end surface coast,CONTROL_FINISHED_OK
$STATE,18736,begin surface
$SM_CCo,18753,95.38,0.080,0,0,450,573.99
$SM_GC,2.35,9.98,0.45,95.38,0.089,0.052,0.080,96,2075,450,-14.09,-1.05,573.99,0,0,0,0,0,0,14.66,14.75,14.64
$IRIDIUM_FIX,1334.19,6113.10,300317,071903
$TT8_MAMPS,0.024717,0.156541
$HUMID,47.48
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.00
$XPDR_PINGS,11
$24V_AH,12.97,45.987
$10V_AH,13.60,0.000
$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,27.900,181.900,451.900,95.375,0.000,0.000,0.000,188.775,101.250,0.000,25.388,2965.603,12814.820,784.348,2403.408,187.677,0.000,2091.489,0.000,1899.607,0.000,661.310,0.000
$DEVICE_MAMPS,401.625,2096.100,2697.390,80.325,0.000,0.000,0.000,185.130,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225116
$DATA_FILE_SIZE,56643,1334
$CAP_FILE_SIZE,210500,0
$CFSIZE,260034560,248348672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,191.39,1
$GPS,300317,175306,1334.575,6106.696,49,0.8,54,-0.7,0.4,280.9,11,8.6