version: 66.13
glider: 171
mission: 11
dive: 68
start: 8 8 119 0 16 27
data:
$ID,171
$MISSION,11
$DIVE,68
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,080819,000509,1327.6837,8659.7148,23,1.0,23,-0.9,0.8,150.4,7,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.1
$GPS2,080819,001536,1327.6554,8659.7861,3,1.0,5,-0.9,1.4,261.8,7,9.6
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,185.9,51219,-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,-146.0,58,2530,632,565,0.0,0.0,0,118,0.00,0.00,-96.85,0.005,16386,0.000,0.000,42,2530,2856,2849,2863,0,0,0,0,0,0,14.84,28.83,14.87
$GC,121,-0.66,-146.0,42,2530,2850,2864,4.2,-10.8,20,155,9.18,2.35,-13.40,0.011,18692,0.370,0.112,2095,3878,3566,3566,3567,0,0,0,0,0,0,14.47,13.72,14.63
$GC,199,-0.66,-146.0,2094,3878,3566,3567,35.1,-35.2,35,206,0.00,2.28,0.00,0.000,1030,0.000,0.050,2095,2507,3566,3566,3567,0,0,0,0,0,0,14.72,14.69,14.75
$GC,389,-0.66,-146.0,2094,2506,3566,3567,89.2,-21.4,58,396,0.00,2.35,0.00,0.000,260,0.000,0.094,2084,3877,3566,3566,3567,0,0,0,0,0,0,14.92,14.71,14.95
$GC,458,-0.66,-146.0,2084,3877,3566,3567,105.7,-22.8,71,466,0.08,2.25,0.00,0.000,3078,0.228,0.043,2106,2485,3566,3566,3566,0,0,0,0,0,0,14.63,14.76,14.73
$GC,644,-0.66,-146.0,2106,2483,3566,3567,136.5,-14.5,90,651,0.00,2.40,0.00,0.000,260,0.000,0.094,2097,3883,3566,3566,3567,0,0,0,0,0,0,14.97,14.76,15.00
$GC,810,-0.66,-146.0,2096,3884,3565,3567,159.5,-14.3,122,817,0.00,2.17,0.00,0.000,1030,0.000,0.044,2097,2510,3566,3565,3567,0,0,0,0,0,0,14.88,14.83,14.90
$GC,1004,-0.66,-146.0,2097,2508,3566,3566,186.6,-13.7,142,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2509,3566,3566,3566,0,0,0,0,0,0,15.00,15.04,15.03
$GC,1194,-0.66,-146.0,2097,2509,3564,3566,210.7,-12.8,161,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2509,3566,3566,3566,0,0,0,0,0,0,15.02,15.05,15.05
$GC,1385,-0.66,-146.0,2097,2509,3566,3564,232.9,-11.9,180,1390,0.00,2.33,0.00,0.000,260,0.000,0.095,2087,3875,3564,3566,3563,0,0,0,0,0,0,15.04,14.82,15.07
$GC,1422,-0.66,-146.0,2086,3877,3566,3563,237.8,-12.8,187,1429,0.00,2.22,0.00,0.000,1030,0.000,0.044,2086,2503,3564,3566,3563,0,0,0,0,0,0,14.88,14.85,14.90
$GC,1618,-0.66,-146.0,2086,2501,3566,3561,263.8,-13.8,202,1625,0.12,2.28,0.00,0.000,2564,0.266,0.054,2114,1092,3563,3565,3561,0,0,0,0,0,0,14.77,14.88,14.90
$GC,1647,-0.66,-146.0,2114,1092,3565,3561,267.7,-12.9,207,1653,0.00,2.33,0.00,0.000,1030,0.000,0.067,2106,2485,3563,3566,3561,0,0,0,0,0,0,14.94,14.85,14.96
$GC,1966,-0.66,-146.0,2105,2486,3565,3556,306.1,-11.7,225,1971,0.00,2.38,0.00,0.000,260,0.000,0.098,2094,3896,3560,3565,3556,0,0,0,0,0,0,15.07,14.85,15.10
$GC,2012,-0.66,-146.0,2094,3896,3565,3556,311.8,-11.9,234,2019,0.00,2.20,0.00,0.000,1030,0.000,0.041,2095,2487,3560,3565,3556,0,0,0,0,0,0,14.97,14.92,14.99
$GC,2332,-0.66,-146.0,2094,2486,3563,3552,349.3,-11.7,252,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2486,3557,3563,3552,0,0,0,0,0,0,15.08,15.12,15.11
$GC,2633,-0.66,-146.0,2094,2486,3561,3551,383.2,-11.0,267,2639,0.00,2.20,0.00,0.000,516,0.000,0.054,2095,1107,3555,3561,3550,0,0,0,0,0,0,15.09,14.91,15.12
$GC,2657,-0.66,-146.0,2094,1106,3560,3550,386.0,-11.2,271,2664,0.12,2.33,0.00,0.000,3078,0.233,0.066,2113,2507,3554,3559,3550,0,0,0,0,0,0,14.83,14.90,14.96
$GC,2982,-0.66,-146.0,2112,2507,3558,3547,419.6,-10.4,290,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2507,3552,3557,3547,0,0,0,0,0,0,15.09,15.13,15.12
$GC,3282,-0.66,-146.0,2113,2507,3555,3545,451.5,-10.6,305,3288,0.00,2.35,0.00,0.000,260,0.000,0.097,2104,3900,3550,3555,3545,0,0,0,0,0,0,15.09,14.88,15.12
$GC,3319,-0.66,-146.0,2104,3900,3555,3545,455.7,-11.0,312,3326,0.00,2.25,0.00,0.000,1030,0.000,0.040,2104,2493,3550,3555,3546,0,0,0,0,0,0,14.94,14.91,14.95
$GC,3625,-0.66,-146.0,2104,2493,3553,3542,489.8,-11.3,328,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2492,3547,3552,3542,0,0,0,0,0,0,15.09,15.13,15.12
$GC,3926,-0.66,-146.0,2103,2492,3552,3539,524.7,-11.8,343,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2492,3546,3552,3540,0,0,0,0,0,0,15.10,15.13,15.12
$GC,4226,-0.66,-146.0,2103,2492,3549,3541,560.4,-11.9,358,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2492,3544,3549,3539,0,0,0,0,0,0,15.09,15.13,15.12
$GC,4525,-0.66,-146.0,2104,2492,3548,3537,594.5,-11.1,373,4531,0.00,2.40,0.00,0.000,260,0.000,0.096,2093,3897,3541,3547,3536,0,0,0,0,0,0,15.09,14.88,15.13
$GC,4569,-0.66,-146.0,2093,3897,3547,3537,599.4,-11.6,381,4575,0.00,2.20,0.00,0.000,1030,0.000,0.041,2091,2497,3541,3547,3536,0,0,0,0,0,0,15.00,14.95,15.01
$GC,4893,-0.66,-146.0,2092,2496,3545,3535,635.2,-10.8,400,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2496,3540,3545,3535,0,0,0,0,0,0,15.09,15.12,15.12
$GC,5193,-0.66,-146.0,2093,2496,3543,3534,667.4,-10.6,415,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3538,3543,3534,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5493,-0.66,-146.0,2094,2496,3542,3533,699.5,-10.6,430,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2496,3537,3541,3533,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5793,-0.66,-146.0,2092,2496,3540,3532,730.0,-9.9,445,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2495,3536,3540,3532,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6093,-0.66,-146.0,2093,2496,3540,3530,758.4,-9.3,460,6098,0.00,2.40,0.00,0.000,260,0.000,0.096,2082,3899,3534,3538,3530,0,0,0,0,0,0,15.09,14.87,15.13
$GC,6139,-0.66,-146.0,2082,3899,3538,3530,763.1,-9.8,469,6146,0.12,2.22,0.00,0.000,3078,0.228,0.042,2112,2492,3534,3538,3530,0,0,0,0,0,0,14.81,14.93,14.95
$GC,6459,-0.66,-146.0,2112,2491,3537,3528,789.5,-8.6,487,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2490,3532,3537,3528,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6759,-0.66,-146.0,2112,2493,3537,3527,816.1,-8.9,502,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3532,3537,3527,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7059,-0.66,-146.0,2111,2491,3536,3526,842.9,-8.9,517,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3531,3536,3527,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7359,-0.66,-146.0,2111,2491,3535,3525,869.8,-9.1,532,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3529,3534,3525,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7660,-0.66,-146.0,2111,2491,3534,3524,897.1,-9.2,547,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2491,3529,3534,3524,0,0,0,0,0,0,15.07,15.11,15.11
$GC,7959,-0.66,-146.0,2111,2491,3533,3522,925.0,-9.2,562,7965,0.00,2.22,0.00,0.000,516,0.000,0.054,2112,1108,3527,3532,3523,0,0,0,0,0,0,15.07,14.88,15.10
$GC,7987,-0.66,-146.0,2112,1108,3532,3524,927.7,-9.9,567,7993,0.00,2.33,0.00,0.000,1030,0.000,0.067,2104,2499,3527,3532,3523,0,0,0,0,0,0,14.95,14.86,14.97
$GC,8305,-0.66,-146.0,2103,2500,3531,3521,958.1,-9.2,585,8312,0.00,2.38,0.00,0.000,260,0.000,0.098,2092,3891,3526,3531,3521,0,0,0,0,0,0,15.07,14.84,15.09
$GC,8339,-0.66,-146.0,2091,3891,3532,3522,961.3,-10.0,591,8345,0.00,2.20,0.00,0.000,1030,0.000,0.043,2092,2506,3526,3531,3521,0,0,0,0,0,0,14.96,14.91,14.98
$STATE,8631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8631,begin apogee
$GC,8637,-0.15,0.0,2092,2440,3530,3520,990.1,-9.6,607,8772,0.62,0.00,126.97,2.027,10246,0.186,0.000,2275,2440,2966,2994,2939,0,0,0,0,0,0,14.78,13.97,13.30
$STATE,8774,end apogee,CONTROL_FINISHED_OK
$STATE,8775,begin climb
$GC,8777,0.66,146.0,2275,2440,2993,2938,993.5,0.0,614,8923,0.85,0.00,134.02,2.019,10246,0.110,0.000,2548,2440,2372,2411,2334,0,0,0,0,0,0,14.21,14.01,13.22
$GC,9215,0.66,146.0,2547,2439,2398,2325,944.6,13.6,636,9221,0.00,2.33,0.00,0.000,516,0.000,0.057,2558,1047,2361,2398,2325,0,0,0,0,0,0,14.76,14.59,14.78
$GC,9242,0.66,146.0,2558,1047,2397,2325,940.3,13.0,641,9248,0.00,2.38,0.00,0.000,1030,0.000,0.060,2558,2445,2362,2397,2327,0,0,0,0,0,0,14.67,14.59,14.70
$GC,9561,0.66,146.0,2558,2445,2397,2323,896.5,13.6,659,9567,0.00,2.33,0.00,0.000,516,0.000,0.057,2570,1047,2360,2397,2324,0,0,0,0,0,0,14.90,14.72,14.93
$GC,9585,0.66,146.0,2569,1047,2395,2324,893.2,13.2,663,9592,0.00,2.35,0.00,0.000,1030,0.000,0.060,2569,2445,2359,2395,2324,0,0,0,0,0,0,14.81,14.72,14.82
$GC,9909,0.66,146.0,2569,2445,2395,2323,847.6,14.0,682,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2445,2358,2394,2323,0,0,0,0,0,0,14.96,15.00,14.99
$GC,10210,0.66,146.0,2569,2445,2394,2323,805.6,13.9,697,10215,0.00,2.33,0.00,0.000,516,0.000,0.057,2581,1041,2358,2394,2323,0,0,0,0,0,0,14.99,14.81,15.03
$GC,10241,0.66,146.0,2580,1041,2393,2323,800.9,14.2,703,10249,0.15,2.35,0.00,0.000,5126,0.236,0.060,2546,2447,2357,2393,2322,0,0,0,0,0,0,14.71,14.81,14.87
$GC,10557,0.66,146.0,2546,2446,2393,2322,760.8,12.9,720,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2446,2357,2393,2322,0,0,0,0,0,0,15.01,15.04,15.04
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$STATE,17342,end climb,SURFACE_DEPTH_REACHED
$STATE,17342,begin surface coast
$STATE,17358,end surface coast,CONTROL_FINISHED_OK
$STATE,17358,begin surface
$SM_CCo,17386,43.70,0.402,1,0,600,580.87
$SM_GC,1.06,7.43,2.53,43.70,0.047,0.050,0.402,126,2503,600,-6.78,-0.71,580.87,0,0,0,0,1,0,14.55,14.51,14.10
$IRIDIUM_FIX,1328.64,8702.50,070819,190400
$TT8_MAMPS,0.017976,0.946736
$HUMID,41.57
$INTERNAL_PRESSURE,9.46823
$TCM_TEMP,24.40
$XPDR_PINGS,3
$SC_FREEKB,3879648
$PM_FREEKB_00,58726208
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.22,27.237
$10V_AH,13.34,0.000
$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,19.375,139.650,595.250,43.700,0.000,0.000,0.000,407.525,0.750,0.000,17.209,1229.544,11443.278,653.095,4282.879,466.686,0.000,2424.522,0.000,3599.636,0.000,0.542,0.000
$DEVICE_MAMPS,370.260,210.375,2027.250,402.390,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3432.485,0.000,0.000,0.000,0.000,0.000,17361.000,0.000,17376.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.344,0.000,3.741,0.000
$MEM,251784
$DATA_FILE_SIZE,56695,1312
$CAP_FILE_SIZE,243028,0
$CFSIZE,260034560,188162048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.020,38.54,1
$GPS,080819,050838,1325.917,8659.605,35,0.9,35,-0.9,1.3,125.4,7,7.0