version: 66.13
glider: 171
mission: 11
dive: 62
start: 8 6 119 17 39 24
data:
$ID,171
$MISSION,11
$DIVE,62
$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,0.00177828
$HD_B,0.0163117
$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,43
$R_STBD_OVSHOOT,40
$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
$GPS1,060819,173008,1339.0134,8659.8525,23,1.3,23,-0.9,0.5,66.0,5,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.5
$GPS2,060819,173834,1338.9437,8659.9150,3,0.6,4,-0.9,0.5,52.3,12,3.9
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,177.6,72124,-17.5,-10.000,-26.22,2202
$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,-0.66,-146.0,1,2517,631,567,0.0,0.0,0,116,0.00,0.00,-94.20,0.005,16386,0.000,0.000,1,2517,2813,2810,2817,0,0,0,0,0,0,14.85,28.83,14.89
$GC,119,-0.66,-146.0,1,2517,2811,2817,4.6,-11.6,19,151,9.25,2.33,-14.15,0.011,18692,0.361,0.109,2097,3887,3564,3565,3564,0,0,0,0,0,0,14.47,14.09,14.64
$GC,175,-0.66,-146.0,2097,3887,3566,3565,25.8,-37.4,30,182,0.00,2.28,0.00,0.000,1030,0.000,0.051,2101,2515,3564,3565,3564,0,0,0,0,0,0,14.71,14.66,14.72
$GC,367,-0.66,-146.0,2100,2514,3566,3564,87.5,-25.0,55,372,0.00,2.33,0.00,0.000,260,0.000,0.093,2091,3878,3565,3566,3564,0,0,0,0,0,0,14.93,14.71,14.95
$GC,592,-0.66,-146.0,2091,3878,3565,3564,129.3,-16.3,99,598,0.00,2.20,0.00,0.000,1030,0.000,0.043,2091,2481,3565,3566,3564,0,0,0,0,0,0,14.88,14.82,14.89
$GC,785,-0.66,-146.0,2091,2479,3566,3564,160.0,-15.8,119,791,0.00,2.38,0.00,0.000,260,0.000,0.095,2081,3877,3565,3566,3564,0,0,0,0,0,0,15.00,14.75,15.02
$GC,829,-0.66,-146.0,2081,3877,3568,3564,167.4,-17.4,127,836,0.12,2.17,0.00,0.000,3078,0.242,0.043,2110,2500,3565,3566,3564,0,0,0,0,0,0,14.72,14.85,14.87
$GC,1023,-0.66,-146.0,2109,2496,3565,3564,194.1,-12.2,147,1029,0.00,2.22,0.00,0.000,516,0.000,0.052,2110,1101,3564,3565,3564,0,0,0,0,0,0,15.02,14.83,15.04
$GC,1109,-0.66,-146.0,2109,1101,3565,3564,203.4,-11.1,163,1115,0.00,2.30,0.00,0.000,1030,0.000,0.067,2100,2483,3564,3565,3564,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1303,-0.66,-146.0,2100,2484,3565,3562,227.0,-12.7,183,1309,0.00,2.38,0.00,0.000,260,0.000,0.095,2089,3895,3563,3565,3562,0,0,0,0,0,0,15.03,14.81,15.06
$GC,1349,-0.66,-146.0,2089,3894,3565,3562,233.2,-13.1,192,1357,0.00,2.22,0.00,0.000,1030,0.000,0.039,2089,2499,3563,3565,3562,0,0,0,0,0,0,14.88,14.85,14.90
$GC,1547,-0.66,-146.0,2089,2497,3565,3560,258.6,-12.6,209,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3562,3565,3560,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1847,-0.66,-146.0,2089,2497,3564,3556,295.8,-12.4,224,1852,0.00,2.38,0.00,0.000,260,0.000,0.094,2079,3899,3560,3564,3556,0,0,0,0,0,0,15.07,14.86,15.10
$GC,1873,-0.66,-146.0,2078,3899,3564,3556,299.4,-13.3,229,1880,0.15,2.20,0.00,0.000,3078,0.223,0.038,2115,2489,3560,3564,3557,0,0,0,0,0,0,14.81,14.92,14.94
$GC,2193,-0.66,-146.0,2115,2487,3562,3551,334.8,-11.1,247,2199,0.00,2.38,0.00,0.000,260,0.000,0.092,2108,3896,3557,3563,3552,0,0,0,0,0,0,15.09,14.88,15.11
$GC,2231,-0.66,-146.0,2106,3895,3562,3552,339.3,-11.7,254,2237,0.00,2.22,0.00,0.000,1030,0.000,0.039,2109,2506,3556,3561,3552,0,0,0,0,0,0,14.92,14.90,14.94
$GC,2537,-0.66,-146.0,2106,2504,3560,3548,375.1,-11.6,270,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2504,3554,3560,3548,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2836,-0.66,-146.0,2106,2505,3558,3546,408.0,-10.6,285,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2504,3551,3557,3546,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3137,-0.66,-146.0,2106,2504,3554,3543,440.2,-10.8,300,3142,0.00,2.35,0.00,0.000,260,0.000,0.093,2096,3896,3548,3554,3543,0,0,0,0,0,0,15.09,14.89,15.12
$GC,3160,-0.66,-146.0,2095,3896,3554,3543,442.8,-11.0,304,3166,0.00,2.20,0.00,0.000,1030,0.000,0.041,2096,2497,3548,3554,3543,0,0,0,0,0,0,15.00,14.95,15.01
$GC,3484,-0.66,-146.0,2095,2496,3552,3541,478.8,-11.1,323,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2496,3546,3552,3540,0,0,0,0,0,0,15.10,15.14,15.13
$GC,3784,-0.66,-146.0,2095,2496,3550,3539,511.9,-11.0,338,3790,0.00,2.25,0.00,0.000,516,0.000,0.057,2096,1093,3544,3550,3539,0,0,0,0,0,0,15.11,14.92,15.13
$GC,3816,-0.66,-146.0,2095,1093,3549,3539,515.6,-11.3,344,3827,0.12,2.35,0.00,0.000,3078,0.236,0.067,2113,2505,3544,3549,3539,0,0,0,0,0,0,14.84,14.90,14.97
$GC,4128,-0.66,-146.0,2113,2505,3547,3536,545.2,-9.2,361,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2505,3541,3547,3536,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4428,-0.66,-146.0,2113,2505,3545,3534,572.9,-9.3,376,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2505,3539,3545,3534,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4728,-0.66,-146.0,2113,2505,3543,3533,601.9,-9.8,391,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2505,3538,3544,3533,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5028,-0.66,-146.0,2113,2507,3542,3534,631.5,-10.0,406,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2505,3537,3542,3532,0,0,0,0,0,0,15.10,15.14,15.13
$GC,5328,-0.66,-146.0,2113,2505,3540,3529,661.5,-10.0,421,5334,0.00,2.30,0.00,0.000,516,0.000,0.057,2114,1091,3534,3540,3529,0,0,0,0,0,0,15.09,14.92,15.12
$GC,5360,-0.66,-146.0,2114,1091,3540,3529,665.0,-10.2,427,5366,0.00,2.35,0.00,0.000,1030,0.000,0.068,2105,2500,3534,3540,3529,0,0,0,0,0,0,14.98,14.90,15.00
$GC,5674,-0.66,-146.0,2104,2500,3538,3528,697.0,-10.1,444,5680,0.00,2.35,0.00,0.000,260,0.000,0.095,2094,3893,3533,3538,3528,0,0,0,0,0,0,15.09,14.88,15.12
$GC,5701,-0.66,-146.0,2093,3893,3538,3528,700.0,-10.7,449,5708,0.00,2.20,0.00,0.000,1030,0.000,0.041,2093,2496,3530,3534,3527,0,0,0,0,0,0,15.00,14.94,15.01
$GC,6021,-0.66,-146.0,2093,2494,3537,3527,733.0,-10.4,467,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2494,3532,3537,3527,0,0,0,0,0,0,15.09,15.13,15.11
$GC,6322,-0.66,-146.0,2093,2494,3536,3526,764.0,-10.3,482,6327,0.00,2.25,0.00,0.000,516,0.000,0.060,2094,1104,3529,3535,3524,0,0,0,0,0,0,15.09,14.90,15.11
$GC,6366,-0.66,-146.0,2093,1104,3534,3525,768.7,-10.4,490,6374,0.12,2.35,0.00,0.000,3078,0.233,0.073,2112,2503,3530,3535,3525,0,0,0,0,0,0,14.81,14.89,14.95
$GC,6688,-0.66,-146.0,2112,2503,3534,3524,799.6,-9.7,509,6694,0.00,2.35,0.00,0.000,260,0.000,0.096,2103,3893,3529,3534,3524,0,0,0,0,0,0,15.08,14.87,15.11
$GC,6716,-0.66,-146.0,2102,3893,3534,3524,802.6,-10.3,514,6721,0.00,2.20,0.00,0.000,1030,0.000,0.044,2103,2503,3529,3534,3524,0,0,0,0,0,0,14.98,14.92,15.00
$GC,7034,-0.66,-146.0,2103,2501,3533,3522,835.7,-10.6,532,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2502,3527,3533,3521,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7334,-0.66,-146.0,2103,2502,3531,3521,867.2,-10.5,547,7340,0.00,2.28,0.00,0.000,516,0.000,0.060,2103,1101,3526,3532,3521,0,0,0,0,0,0,15.06,14.89,15.09
$GC,7372,-0.66,-146.0,2103,1101,3532,3522,871.3,-10.6,554,7379,0.00,2.40,0.00,0.000,1030,0.000,0.070,2092,2499,3526,3531,3522,0,0,0,0,0,0,14.90,14.85,14.92
$GC,7678,-0.66,-146.0,2091,2498,3530,3521,903.5,-10.3,570,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2499,3525,3530,3521,0,0,0,0,0,0,15.08,15.11,15.10
$GC,7978,-0.66,-146.0,2091,2498,3530,3519,934.0,-10.1,585,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2498,3524,3530,3519,0,0,0,0,0,0,15.07,15.11,15.10
$GC,8278,-0.66,-146.0,2091,2499,3529,3518,964.1,-10.0,600,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2498,3523,3529,3518,0,0,0,0,0,0,15.08,15.11,15.10
$STATE,8537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8537,begin apogee
$GC,8544,-0.15,0.0,2092,2438,3527,3518,990.2,-10.1,613,8677,0.62,0.00,126.53,2.039,10246,0.182,0.000,2276,2437,2966,2994,2939,0,0,0,0,0,0,14.80,13.96,13.28
$STATE,8679,end apogee,CONTROL_FINISHED_OK
$STATE,8679,begin climb
$GC,8682,0.66,146.0,2276,2437,2994,2938,994.2,0.0,620,8828,0.82,0.00,133.25,2.033,10502,0.109,0.000,2540,2437,2372,2411,2334,0,0,0,0,0,0,14.20,14.01,13.20
$GC,9118,0.66,146.0,2539,2437,2399,2326,951.1,12.0,663,9123,0.00,2.35,0.00,0.000,516,0.000,0.063,2551,1044,2362,2399,2325,0,0,0,0,0,0,14.76,14.58,14.79
$GC,9162,0.66,146.0,2550,1043,2397,2325,945.7,12.1,671,9168,0.00,2.40,0.00,0.000,1030,0.000,0.062,2551,2449,2361,2397,2325,0,0,0,0,0,0,14.68,14.61,14.71
$GC,9486,0.66,146.0,2551,2449,2396,2324,903.8,13.1,690,9492,0.00,2.35,0.00,0.000,516,0.000,0.060,2563,1043,2360,2397,2324,0,0,0,0,0,0,14.90,14.73,14.93
$GC,9523,0.66,146.0,2562,1043,2396,2323,898.7,13.4,697,9531,0.00,2.40,0.00,0.000,1030,0.000,0.061,2562,2440,2359,2396,2323,0,0,0,0,0,0,14.75,14.71,14.78
$GC,9830,0.66,146.0,2562,2440,2396,2323,856.7,13.9,713,9836,0.00,2.33,0.00,0.000,516,0.000,0.060,2573,1044,2360,2396,2325,0,0,0,0,0,0,14.97,14.78,15.00
$GC,9863,0.66,146.0,2573,1044,2394,2323,851.9,14.2,719,9868,0.00,2.35,0.00,0.000,1030,0.000,0.061,2573,2449,2358,2394,2323,0,0,0,0,0,0,14.86,14.78,14.88
$GC,10176,0.66,146.0,2573,2449,2394,2322,808.1,14.0,736,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2449,2358,2394,2323,0,0,0,0,0,0,15.00,15.03,15.03
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$STATE,17482,end climb,SURFACE_DEPTH_REACHED
$STATE,17482,begin surface coast
$STATE,17554,end surface coast,CONTROL_FINISHED_OK
$STATE,17554,begin surface
$SM_CCo,17579,116.95,0.621,1,0,601,580.87
$SM_GC,1.08,7.12,0.12,116.95,0.050,0.161,0.621,121,2521,601,-6.77,-0.59,580.87,0,0,0,0,1,0,14.75,14.68,14.07
$IRIDIUM_FIX,1341.75,8657.95,060819,122501
$TT8_MAMPS,0.018725,0.467376
$HUMID,40.11
$INTERNAL_PRESSURE,9.48776
$TCM_TEMP,25.30
$XPDR_PINGS,2
$SC_FREEKB,3882336
$PM_FREEKB_00,59029568
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.20,24.865
$10V_AH,13.49,0.000
$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,19.525,148.500,520.400,116.950,0.000,0.000,0.000,300.950,0.500,0.000,15.500,1286.631,11455.891,665.452,4328.096,486.307,0.000,2366.232,0.000,3740.280,0.000,0.541,0.000
$DEVICE_MAMPS,361.080,214.200,2038.725,621.180,0.000,0.000,0.000,178.245,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3518.041,0.000,0.000,0.000,0.000,0.000,17554.000,0.000,17571.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.565,0.000,3.716,0.000
$MEM,251824
$DATA_FILE_SIZE,59954,1385
$CAP_FILE_SIZE,251178,0
$CFSIZE,260034560,188813312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.054,223.99,1
$GPS,060819,223604,1336.714,8659.562,35,1.0,35,-0.9,1.5,227.1,7,8.0