version: 66.13
glider: 137
mission: 5
dive: 354
start: 5 20 117 0 24 6
data:
$ID,137
$MISSION,5
$DIVE,354
$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,180
$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,0.0031300001
$HD_B,0.023700001
$HD_C,7.0400001e-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,1960
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,70
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2597
$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
$GPS1,200517,001824,1218.3552,6257.5405,48,0.9,53,-1.1,0.5,2.7,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-70.4
$GPS2,200517,002330,1218.4366,6257.5552,10,0.9,18,-1.1,0.5,350.5,9,9.6
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,125.4,882314,-21.5,-10.000,-28.12,2673
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.65,-175.2,89,1999,329,566,0.0,0.0,0,87,0.00,0.00,-77.72,0.000,16386,0.000,0.000,89,1999,2575,2508,2643,0,0,0,0,0,0,14.84,28.83,14.86
$GC,90,-1.65,-175.2,89,1999,2508,2643,4.3,-4.9,13,123,14.20,0.00,-13.82,0.000,18726,0.414,0.000,2809,1998,3314,3187,3441,0,0,0,0,0,0,14.04,12.95,14.31
$GC,432,-1.71,-175.2,2808,1998,3188,3441,56.2,-12.0,74,441,0.00,2.22,0.00,0.000,388,0.000,0.050,2800,3338,3315,3189,3441,0,0,0,0,0,0,14.96,14.60,14.98
$GC,456,-1.81,-175.2,2799,3338,3188,3441,59.3,-10.7,79,463,0.00,2.28,0.00,0.000,1158,0.000,0.031,2800,1947,3314,3188,3441,0,0,0,0,0,0,14.71,14.65,14.73
$GC,766,-1.91,-175.2,2800,1947,3189,3441,90.9,-11.8,110,775,0.12,2.28,0.00,0.000,4740,0.135,0.047,2741,559,3315,3189,3441,0,0,0,0,0,0,14.68,14.58,14.70
$GC,788,-1.97,-175.2,2740,558,3189,3441,94.1,-13.6,114,797,0.00,2.22,0.00,0.000,1158,0.000,0.031,2730,1946,3315,3189,3441,0,0,0,0,0,0,14.68,14.67,14.69
$GC,1098,-1.97,-175.2,2730,1946,3190,3441,135.2,-11.0,146,1106,0.00,2.33,0.00,0.000,260,0.000,0.050,2719,3363,3315,3190,3441,0,0,0,0,0,0,15.04,14.67,15.07
$GC,1143,-2.00,-175.2,2719,3363,3190,3441,140.1,-9.7,155,1149,0.00,2.28,0.00,0.000,1190,0.000,0.032,2719,1955,3315,3190,3441,0,0,0,0,0,0,14.78,14.72,14.81
$GC,1450,-2.00,-175.2,2719,1955,3191,3441,167.3,-8.8,186,1451,0.00,0.00,0.00,0.000,38,0.000,0.000,2719,1955,3316,3192,3441,0,0,0,0,0,0,15.06,15.08,15.07
$GC,1751,-2.00,-175.2,2719,1955,3193,3441,199.1,-10.3,216,1761,0.00,2.33,0.00,0.000,260,0.000,0.050,2709,3359,3316,3192,3441,0,0,0,0,0,0,15.06,14.61,15.08
$GC,1844,-2.05,-175.2,2709,3358,3192,3441,208.5,-9.0,233,1854,0.00,2.28,0.00,0.000,1190,0.000,0.032,2709,1951,3316,3192,3441,0,0,0,0,0,0,14.81,14.73,14.83
$GC,2153,-2.05,-175.2,2709,1951,3192,3441,236.3,-9.6,264,2160,0.00,2.30,0.00,0.000,548,0.000,0.051,2709,552,3316,3192,3441,0,0,0,0,0,0,15.03,14.67,15.04
$GC,2222,-2.05,-175.2,2709,552,3192,3441,243.4,-10.1,276,2228,0.12,2.28,0.00,0.000,3078,0.262,0.031,2725,1976,3316,3192,3441,0,0,0,0,0,0,14.40,14.73,14.64
$GC,2558,-2.10,-175.2,2724,1975,3192,3441,279.2,-11.1,292,2563,0.00,2.38,0.00,0.000,644,0.000,0.054,2725,567,3316,3192,3441,0,0,0,0,0,0,15.05,14.66,15.07
$GC,2597,-2.15,-175.2,2725,566,3192,3441,283.8,-10.9,299,2602,0.00,2.25,0.00,0.000,1158,0.000,0.032,2717,1961,3316,3192,3441,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2927,-2.19,-175.2,2716,1961,3192,3441,317.8,-10.1,314,2934,0.00,2.38,0.00,0.000,644,0.000,0.057,2716,566,3316,3192,3440,0,0,0,0,0,0,15.05,14.65,15.07
$GC,2957,-2.19,-175.2,2716,565,3192,3441,321.4,-10.8,319,2964,0.00,2.28,0.00,0.000,1030,0.000,0.034,2707,1963,3316,3192,3441,0,0,0,0,0,0,14.81,14.74,14.83
$GC,3262,-2.19,-175.2,2707,1963,3192,3441,354.0,-10.8,330,3269,0.00,2.40,0.00,0.000,516,0.000,0.057,2709,556,3316,3192,3441,0,0,0,0,0,0,15.05,14.65,15.07
$GC,3306,-2.19,-175.2,2709,556,3192,3441,359.1,-11.2,338,3313,0.00,2.30,0.00,0.000,1030,0.000,0.034,2700,1967,3316,3192,3441,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3632,-2.19,-175.2,2700,1968,3191,3439,393.9,-10.9,352,3637,0.00,2.40,0.00,0.000,516,0.000,0.059,2700,566,3314,3190,3439,0,0,0,0,0,0,15.05,14.64,15.07
$GC,3666,-2.19,-175.2,2700,565,3190,3439,397.8,-11.0,358,3673,0.00,2.30,0.00,0.000,1030,0.000,0.034,2692,1966,3315,3190,3440,0,0,0,0,0,0,14.80,14.73,14.82
$GC,4001,-2.19,-175.2,2692,1966,3188,3436,436.4,-11.6,374,4006,0.00,2.42,0.00,0.000,516,0.000,0.063,2692,557,3312,3188,3437,0,0,0,0,0,0,15.04,14.64,15.07
$GC,4051,-2.19,-175.2,2692,556,3188,3436,442.6,-13.2,383,4058,0.00,2.30,0.00,0.000,1030,0.000,0.037,2682,1955,3312,3188,3436,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4372,-2.19,-175.2,2682,1955,3186,3434,480.3,-11.7,396,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1955,3310,3186,3435,0,0,0,0,0,0,15.05,15.07,15.07
$GC,4673,-2.19,-175.2,2682,1955,3185,3431,514.0,-10.9,406,4678,0.00,2.40,0.00,0.000,516,0.000,0.066,2682,571,3308,3185,3431,0,0,0,0,0,0,15.04,14.61,15.06
$GC,4758,-2.19,-175.2,2682,571,3183,3431,523.7,-11.3,422,4764,0.12,2.30,0.00,0.000,3078,0.289,0.038,2695,1962,3306,3182,3431,0,0,0,0,0,0,14.30,14.70,14.58
$GC,5073,-2.19,-175.2,2695,1963,3182,3429,553.9,-9.7,434,5074,0.00,0.00,0.00,0.000,38,0.000,0.000,2696,1962,3305,3182,3429,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5374,-2.19,-175.2,2695,1962,3182,3427,582.8,-9.6,444,5381,0.00,2.42,0.00,0.000,548,0.000,0.069,2696,573,3304,3182,3427,0,0,0,0,0,0,15.04,14.59,15.06
$GC,5425,-2.19,-175.2,2695,573,3182,3427,588.1,-10.3,453,5431,0.00,2.30,0.00,0.000,1030,0.000,0.038,2687,1958,3304,3182,3427,0,0,0,0,0,0,14.76,14.69,14.79
$GC,5745,-2.19,-175.2,2687,1958,3179,3425,619.0,-9.8,466,5750,0.00,2.40,0.00,0.000,548,0.000,0.061,2688,569,3302,3180,3425,0,0,0,0,0,0,15.04,14.59,15.07
$GC,5782,-2.19,-175.2,2687,569,3179,3425,623.3,-10.7,473,5788,0.00,2.33,0.00,0.000,1030,0.000,0.041,2678,1958,3302,3179,3425,0,0,0,0,0,0,14.75,14.67,14.78
$GC,6113,-2.19,-175.2,2677,1959,3177,3423,658.3,-11.0,488,6118,0.00,2.42,0.00,0.000,516,0.000,0.063,2678,562,3300,3177,3423,0,0,0,0,0,0,15.04,14.59,15.06
$GC,6155,-2.19,-175.2,2677,560,3177,3423,663.9,-11.6,496,6161,0.15,2.35,0.00,0.000,3078,0.290,0.039,2704,1977,3300,3177,3423,0,0,0,0,0,0,14.17,14.68,14.36
$GC,6480,-2.22,-175.2,2703,1977,3176,3421,698.9,-11.0,510,6487,0.00,2.45,0.00,0.000,644,0.000,0.066,2704,569,3298,3176,3421,0,0,0,0,0,0,15.04,14.58,15.07
$GC,6518,-2.22,-175.2,2704,568,3175,3421,703.8,-12.2,517,6526,0.00,2.33,0.00,0.000,1030,0.000,0.041,2696,1964,3298,3175,3421,0,0,0,0,0,0,14.75,14.67,14.77
$GC,6849,-2.22,-175.2,2695,1964,3174,3419,741.1,-11.5,532,6854,0.00,2.45,0.00,0.000,516,0.000,0.069,2696,570,3296,3174,3419,0,0,0,0,0,0,15.02,14.54,15.04
$GC,6908,-2.22,-175.2,2695,570,3173,3419,748.6,-12.1,543,6916,0.00,2.33,0.00,0.000,1030,0.000,0.039,2686,1962,3296,3173,3419,0,0,0,0,0,0,14.74,14.66,14.76
$GC,7218,-2.22,-175.2,2686,1962,3172,3418,784.5,-11.8,554,7223,0.00,2.42,0.00,0.000,516,0.000,0.061,2686,563,3294,3172,3417,0,0,0,0,0,0,15.04,14.57,15.07
$GC,7282,-2.22,-175.2,2686,563,3171,3417,792.3,-11.1,566,7286,0.00,2.33,0.00,0.000,1030,0.000,0.040,2676,1960,3294,3171,3417,0,0,0,0,0,0,14.73,14.66,14.76
$GC,7615,-2.22,-175.2,2676,1960,3170,3416,831.0,-11.4,582,7620,0.00,2.45,0.00,0.000,516,0.000,0.067,2676,559,3293,3170,3417,0,0,0,0,0,0,15.03,14.56,15.05
$GC,7652,-2.18,-175.2,2676,558,3170,3416,835.7,-11.2,589,7659,0.15,2.35,0.00,0.000,3206,0.299,0.040,2700,1969,3293,3170,3417,0,0,0,0,0,0,14.09,14.65,14.30
$GC,7983,-2.18,-175.2,2700,1969,3169,3416,869.5,-10.1,604,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1970,3292,3169,3416,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8285,-2.18,-175.2,2700,1970,3168,3415,899.6,-10.0,614,8290,0.00,2.45,0.00,0.000,548,0.000,0.062,2701,563,3291,3168,3415,0,0,0,0,0,0,15.02,14.54,15.04
$GC,8343,-2.18,-175.2,2701,563,3168,3415,906.2,-10.3,625,8351,0.00,2.35,0.00,0.000,1030,0.000,0.041,2693,1961,3292,3168,3416,0,0,0,0,0,0,14.71,14.63,14.74
$GC,8652,-2.18,-175.2,2693,1962,3166,3414,937.3,-10.4,636,8656,0.00,2.45,0.00,0.000,516,0.000,0.070,2693,574,3290,3166,3415,0,0,0,0,0,0,15.03,14.50,15.05
$GC,8700,-2.18,-175.2,2693,574,3166,3414,942.9,-10.7,645,8706,0.00,2.33,0.00,0.000,1030,0.000,0.041,2683,1958,3290,3166,3415,0,0,0,0,0,0,14.70,14.62,14.73
$GC,9020,-2.18,-175.2,2683,1958,3166,3413,977.4,-10.9,658,9027,0.00,2.42,0.00,0.000,516,0.000,0.061,2682,566,3289,3166,3413,0,0,0,0,0,0,15.02,14.53,15.04
$GC,9075,-2.18,-175.2,2683,566,3166,3413,983.9,-12.4,668,9080,0.12,2.35,0.00,0.000,3078,0.309,0.041,2695,1962,3289,3166,3412,0,0,0,0,0,0,14.12,14.61,14.40
$STATE,9147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9147,begin apogee
$GC,9152,-0.33,0.0,2696,1845,3166,3412,991.3,-10.1,672,9316,1.65,0.00,160.00,2.697,10246,0.275,0.000,3097,1844,2596,2474,2719,0,0,0,0,0,0,13.91,13.90,12.58
$STATE,9317,end apogee,CONTROL_FINISHED_OK
$STATE,9318,begin climb
$GC,9320,1.65,175.2,3097,1843,2470,2717,996.7,0.0,677,9492,1.45,2.60,162.62,2.720,10756,0.142,0.076,3542,455,1879,1745,2014,0,0,0,0,0,0,13.93,13.49,12.46
$GC,9549,1.46,175.2,3542,455,1736,2014,975.3,14.5,727,9556,0.22,2.45,0.00,0.000,5254,0.364,0.044,3499,1855,1874,1735,2014,0,0,0,0,0,0,13.90,14.20,14.19
$GC,9865,1.36,175.2,3498,1855,1730,2014,936.0,12.7,740,9867,0.15,0.00,0.00,0.000,4230,0.407,0.000,3473,1856,1872,1730,2014,0,0,0,0,0,0,14.16,14.64,14.57
$GC,10166,1.31,175.2,3473,1855,1728,2014,899.9,12.1,750,10167,0.00,0.00,0.00,0.000,134,0.000,0.000,3473,1856,1871,1728,2014,0,0,0,0,0,0,14.96,15.00,14.99
$GC,10466,1.27,175.2,3473,1855,1727,2014,863.4,12.3,760,10472,0.12,2.40,0.00,0.000,4484,0.405,0.068,3445,3252,1870,1727,2014,0,0,0,0,0,0,14.16,14.56,14.42
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$STATE,18590,end climb,SURFACE_DEPTH_REACHED
$STATE,18590,begin surface coast
$FINISH,1.7,0.997161
$STATE,18622,end surface coast,CONTROL_FINISHED_OK
$STATE,18622,begin surface
$SM_CCo,18642,64.47,0.080,0,0,449,526.65
$SM_CCo,18709,-0.15,0.000,0,0,451,526.65
$SM_CCo,18713,0.30,0.114,0,0,450,526.65
$SM_GC,2.64,10.35,0.17,0.30,0.088,0.080,0.114,93,1977,450,-14.11,-1.55,526.65,0,0,0,0,0,0,14.49,14.64,14.54
$IRIDIUM_FIX,1212.33,6300.44,190517,185742
$TT8_MAMPS,0.023968,0.15729
$HUMID,51.45
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.30
$XPDR_PINGS,8
$24V_AH,12.46,138.382
$10V_AH,12.71,0.000
$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,29.325,205.525,497.725,64.775,0.000,0.000,0.000,196.950,115.750,0.000,19.336,3053.344,12264.460,756.183,2634.227,312.475,0.000,2209.359,0.000,2081.133,0.000,764.601,0.000
$DEVICE_MAMPS,413.865,81.855,2720.340,113.985,0.000,0.000,0.000,189.720,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225620
$DATA_FILE_SIZE,63295,1463
$CAP_FILE_SIZE,224435,0
$CFSIZE,260034560,227676160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.104,305.15,1
$GPS,200517,053738,1218.094,6257.940,52,0.9,59,-1.1,0.5,328.6,10,10.0