version: 66.13
glider: 171
mission: 11
dive: 54
start: 8 5 119 0 58 47
data:
$ID,171
$MISSION,11
$DIVE,54
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$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,390
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281838
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,580.87036
$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,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,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$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_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,050819,005009,1357.7852,8700.3945,23,1.5,23,-0.9,0.7,332.2,5,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-61.9
$GPS2,050819,005800,1357.7069,8700.4199,2,0.6,2,-0.9,1.5,104.2,12,8.8
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,WP01
$TGT_LATLONG,1200.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,173.5,217994,-18.3,-10.000,-22.55,2234
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-146.0,69,2508,634,563,0.0,0.0,0,120,0.00,0.00,-97.85,0.005,16386,0.000,0.000,63,2508,2912,2906,2919,0,0,0,0,0,0,14.85,28.83,14.87
$GC,123,-0.68,-146.0,62,2508,2906,2919,4.7,-11.8,20,156,9.18,2.35,-12.02,0.013,18692,0.372,0.108,2091,3890,3564,3563,3565,0,0,0,0,0,0,14.49,14.09,14.64
$GC,204,-0.68,-146.0,2090,3890,3563,3566,34.3,-30.8,36,211,0.00,2.28,0.00,0.000,1030,0.000,0.044,2091,2497,3564,3563,3566,0,0,0,0,0,0,14.74,14.71,14.76
$GC,394,-0.68,-146.0,2091,2496,3563,3566,93.8,-24.3,59,400,0.00,2.38,0.00,0.000,260,0.000,0.096,2081,3887,3564,3562,3566,0,0,0,0,0,0,14.93,14.70,14.96
$GC,630,-0.68,-146.0,2080,3887,3563,3566,142.4,-16.0,105,636,0.00,2.20,0.00,0.000,1030,0.000,0.044,2081,2500,3564,3563,3566,0,0,0,0,0,0,14.87,14.81,14.88
$GC,824,-0.68,-146.0,2080,2498,3564,3566,172.4,-15.4,125,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2499,3564,3562,3566,0,0,0,0,0,0,15.00,15.03,15.02
$GC,1014,-0.68,-146.0,2080,2499,3563,3566,197.5,-12.9,144,1020,0.00,2.28,0.00,0.000,516,0.000,0.060,2081,1089,3564,3563,3566,0,0,0,0,0,0,15.01,14.83,15.04
$GC,1089,-0.68,-146.0,2080,1089,3563,3565,206.2,-11.8,158,1096,0.15,2.35,0.00,0.000,3078,0.246,0.070,2104,2495,3564,3563,3566,0,0,0,0,0,0,14.73,14.82,14.88
$GC,1284,-0.68,-146.0,2104,2495,3563,3564,230.5,-12.7,178,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2495,3563,3563,3564,0,0,0,0,0,0,15.02,15.06,15.05
$GC,1475,-0.68,-146.0,2104,2494,3563,3562,252.6,-11.5,196,1480,0.00,2.38,0.00,0.000,260,0.000,0.098,2095,3900,3562,3563,3562,0,0,0,0,0,0,15.04,14.82,15.07
$GC,1512,-0.68,-146.0,2095,3901,3563,3562,257.2,-12.0,203,1519,0.00,2.28,0.00,0.000,1030,0.000,0.045,2095,2499,3562,3563,3562,0,0,0,0,0,0,14.88,14.85,14.90
$GC,1819,-0.68,-146.0,2094,2498,3563,3558,292.9,-11.8,219,1825,0.00,2.38,0.00,0.000,260,0.000,0.099,2084,3891,3560,3563,3557,0,0,0,0,0,0,15.07,14.85,15.09
$GC,1863,-0.68,-146.0,2084,3891,3563,3557,298.2,-12.5,227,1869,0.00,2.20,0.00,0.000,1030,0.000,0.044,2084,2491,3560,3563,3557,0,0,0,0,0,0,14.97,14.92,14.98
$GC,2186,-0.68,-146.0,2084,2490,3562,3552,338.3,-12.5,246,2193,0.00,2.22,0.00,0.000,516,0.000,0.054,2084,1101,3557,3562,3553,0,0,0,0,0,0,15.09,14.90,15.11
$GC,2204,-0.68,-146.0,2085,1101,3563,3552,340.8,-12.4,249,2212,0.10,2.38,0.00,0.000,3078,0.208,0.068,2104,2497,3557,3562,3552,0,0,0,0,0,0,14.79,14.86,14.88
$GC,2511,-0.68,-146.0,2103,2497,3561,3550,373.6,-10.3,265,2517,0.00,2.38,0.00,0.000,260,0.000,0.098,2094,3900,3554,3560,3549,0,0,0,0,0,0,15.09,14.88,15.11
$GC,2543,-0.68,-146.0,2094,3900,3560,3549,377.2,-10.9,271,2549,0.00,2.20,0.00,0.000,1030,0.000,0.041,2094,2500,3555,3560,3550,0,0,0,0,0,0,14.99,14.94,15.00
$GC,2857,-0.68,-146.0,2094,2499,3557,3547,409.4,-10.1,288,2862,0.00,2.25,0.00,0.000,516,0.000,0.055,2095,1095,3552,3557,3547,0,0,0,0,0,0,15.09,14.92,15.12
$GC,2894,-0.68,-146.0,2094,1094,3556,3546,413.5,-10.4,295,2901,0.00,2.38,0.00,0.000,1030,0.000,0.066,2084,2493,3551,3556,3547,0,0,0,0,0,0,14.92,14.88,14.95
$GC,3201,-0.68,-146.0,2083,2493,3554,3544,447.2,-11.3,311,3206,0.00,2.38,0.00,0.000,260,0.000,0.097,2073,3900,3548,3554,3543,0,0,0,0,0,0,15.10,14.88,15.13
$GC,3232,-0.68,-146.0,2073,3900,3554,3543,451.3,-12.5,317,3239,0.15,2.22,0.00,0.000,3078,0.225,0.042,2110,2488,3549,3554,3544,0,0,0,0,0,0,14.83,14.95,14.97
$GC,3547,-0.68,-146.0,2109,2487,3552,3540,484.0,-10.8,334,3553,0.00,2.22,0.00,0.000,516,0.000,0.055,2110,1101,3546,3553,3540,0,0,0,0,0,0,15.10,14.92,15.13
$GC,3580,-0.68,-146.0,2109,1101,3552,3540,487.8,-11.4,340,3586,0.00,2.33,0.00,0.000,1030,0.000,0.067,2101,2500,3546,3552,3540,0,0,0,0,0,0,14.99,14.91,15.00
$GC,3893,-0.68,-146.0,2100,2500,3550,3538,523.6,-11.5,357,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3544,3550,3539,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4193,-0.68,-146.0,2100,2500,3549,3536,556.9,-10.9,372,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3542,3548,3536,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4494,-0.68,-146.0,2100,2500,3546,3535,588.7,-10.2,387,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3540,3546,3535,0,0,0,0,0,0,15.10,15.14,15.13
$GC,4793,-0.68,-146.0,2100,2500,3544,3534,618.5,-9.9,402,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3538,3544,3533,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5093,-0.68,-146.0,2100,2499,3542,3532,648.1,-10.0,417,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3537,3542,3532,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5393,-0.68,-146.0,2100,2500,3541,3530,678.3,-10.0,432,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3535,3542,3528,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5694,-0.68,-146.0,2100,2500,3539,3529,707.5,-9.7,447,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3534,3540,3529,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5993,-0.68,-146.0,2100,2500,3536,3528,736.3,-9.6,462,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3532,3538,3527,0,0,0,0,0,0,15.09,15.13,15.12
$GC,6293,-0.68,-146.0,2100,2500,3537,3527,764.8,-9.5,477,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3531,3537,3526,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6593,-0.68,-146.0,2100,2500,3536,3526,793.3,-9.5,492,6599,0.00,2.30,0.00,0.000,516,0.000,0.057,2100,1094,3530,3536,3525,0,0,0,0,0,0,15.09,14.90,15.11
$GC,6625,-0.68,-146.0,2100,1093,3535,3525,796.7,-10.0,498,6632,0.00,2.38,0.00,0.000,1030,0.000,0.070,2089,2502,3530,3535,3525,0,0,0,0,0,0,14.97,14.89,15.00
$GC,6940,-0.68,-146.0,2089,2502,3535,3525,828.1,-10.0,515,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3530,3536,3524,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7239,-0.68,-146.0,2089,2501,3533,3523,857.6,-9.7,530,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3528,3534,3523,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7539,-0.68,-146.0,2089,2502,3532,3522,886.6,-9.6,545,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3527,3532,3522,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7840,-0.68,-146.0,2088,2503,3532,3521,915.7,-9.8,560,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3527,3533,3522,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8140,-0.68,-146.0,2089,2502,3530,3520,945.4,-10.0,575,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3525,3530,3521,0,0,0,0,0,0,15.08,15.11,15.10
$GC,8439,-0.68,-146.0,2089,2502,3530,3519,976.3,-10.7,590,8446,0.00,2.30,0.00,0.000,516,0.000,0.058,2089,1099,3524,3529,3519,0,0,0,0,0,0,15.07,14.89,15.09
$GC,8464,-0.68,-146.0,2088,1099,3529,3519,979.0,-11.2,594,8471,0.12,2.38,0.00,0.000,3078,0.238,0.073,2108,2504,3524,3529,3519,0,0,0,0,0,0,14.80,14.87,14.94
$STATE,8587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8587,begin apogee
$GC,8594,-0.15,0.0,2108,2438,3529,3518,991.4,-9.9,603,8728,0.57,0.00,126.72,2.044,10246,0.174,0.000,2279,2437,2966,2996,2937,0,0,0,0,0,0,14.81,13.96,13.31
$STATE,8731,end apogee,CONTROL_FINISHED_OK
$STATE,8731,begin climb
$GC,8733,0.68,146.0,2279,2437,2995,2935,996.5,0.0,610,8883,0.85,2.45,133.32,2.033,10756,0.099,0.063,2566,1051,2371,2412,2330,0,0,0,0,0,0,14.21,14.03,13.23
$GC,8904,0.68,146.0,2566,1049,2407,2327,986.2,11.9,645,8910,0.00,2.53,0.00,0.000,1030,0.000,0.070,2566,2440,2366,2406,2327,0,0,0,0,0,0,14.21,14.16,14.28
$GC,9210,0.68,146.0,2567,2440,2400,2324,945.2,13.7,661,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2440,2363,2401,2325,0,0,0,0,0,0,14.78,14.81,14.81
$GC,9511,0.68,146.0,2566,2440,2400,2323,903.4,14.0,676,9517,0.00,2.35,0.00,0.000,516,0.000,0.063,2577,1043,2361,2399,2323,0,0,0,0,0,0,14.90,14.72,14.93
$GC,9555,0.68,146.0,2577,1043,2398,2322,897.1,14.0,684,9561,0.00,2.38,0.00,0.000,1030,0.000,0.064,2577,2448,2360,2399,2322,0,0,0,0,0,0,14.81,14.73,14.83
$GC,9879,0.68,146.0,2577,2448,2398,2321,850.6,14.2,703,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2448,2360,2398,2322,0,0,0,0,0,0,14.96,15.00,15.00
$GC,10179,0.68,146.0,2577,2448,2397,2321,807.9,14.2,718,10185,0.00,2.35,0.00,0.000,516,0.000,0.060,2588,1037,2359,2398,2321,0,0,0,0,0,0,15.00,14.81,15.02
$GC,10216,0.68,146.0,2588,1037,2397,2320,802.2,14.5,725,10223,0.12,2.40,0.00,0.000,5126,0.219,0.062,2553,2440,2358,2397,2320,0,0,0,0,0,0,14.71,14.78,14.83
$GC,10523,0.68,146.0,2552,2440,2397,2319,763.1,12.9,741,10528,0.00,2.33,0.00,0.000,516,0.000,0.063,2562,1044,2358,2397,2320,0,0,0,0,0,0,15.01,14.83,15.04
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$STATE,17508,end climb,SURFACE_DEPTH_REACHED
$STATE,17508,begin surface coast
$STATE,17528,end surface coast,CONTROL_FINISHED_OK
$STATE,17528,begin surface
$SM_CCo,17555,103.88,0.604,1,0,599,580.87
$SM_GC,1.24,7.55,2.22,103.88,0.057,0.037,0.604,121,2495,599,-6.77,1.33,580.87,0,0,0,0,1,0,14.57,14.55,14.03
$IRIDIUM_FIX,1357.56,8659.93,040819,195835
$TT8_MAMPS,0.019474,0.936999
$HUMID,39.72
$INTERNAL_PRESSURE,9.478
$TCM_TEMP,25.60
$XPDR_PINGS,5
$SC_FREEKB,3885920
$PM_FREEKB_00,59432064
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.23,21.704
$10V_AH,13.55,0.000
$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,19.475,140.050,528.875,103.875,0.000,0.000,0.000,268.075,1.250,0.000,15.525,1249.072,11512.407,627.377,4307.919,448.822,0.000,2318.514,0.000,3747.695,0.000,0.541,0.000
$DEVICE_MAMPS,371.790,159.885,2044.080,604.350,0.000,0.000,0.000,179.010,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3549.324,0.000,0.000,0.000,0.000,0.000,17529.000,0.000,17547.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.596,0.000,3.750,0.000
$MEM,251868
$DATA_FILE_SIZE,60021,1378
$CAP_FILE_SIZE,248834,0
$CFSIZE,260034560,189702144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.030,224.83,1
$GPS,050819,055439,1355.373,8700.350,24,0.9,24,-0.9,1.2,270.8,8,6.2