version: 66.13
glider: 171
mission: 11
dive: 69
start: 8 8 119 5 17 30
data:
$ID,171
$MISSION,11
$DIVE,69
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,080819,050838,1325.9167,8659.6055,35,0.9,35,-0.9,1.3,125.4,7,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-62.0
$GPS2,080819,051639,1325.9303,8659.7012,4,0.9,5,-0.9,0.5,173.8,7,7.2
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,184.0,48026,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.66,-146.0,94,2505,635,562,0.0,0.0,0,119,0.00,0.00,-97.88,0.005,16386,0.000,0.000,78,2506,2893,2885,2902,0,0,0,0,0,0,14.85,28.83,14.88
$GC,122,-0.66,-146.0,78,2506,2885,2902,4.6,-12.1,20,155,8.93,2.35,-12.52,0.012,18692,0.364,0.099,2093,3894,3563,3563,3564,0,0,0,0,0,0,14.47,14.05,14.64
$GC,209,-0.66,-146.0,2094,3894,3563,3564,35.8,-31.1,37,216,0.00,2.28,0.00,0.000,1030,0.000,0.044,2095,2501,3563,3563,3564,0,0,0,0,0,0,14.73,14.70,14.75
$GC,398,-0.66,-146.0,2095,2500,3563,3566,89.8,-19.8,60,404,0.00,2.38,0.00,0.000,260,0.000,0.093,2085,3894,3563,3563,3564,0,0,0,0,0,0,14.92,14.71,14.95
$GC,503,-0.66,-146.0,2085,3894,3563,3565,111.0,-19.3,80,509,0.12,2.22,0.00,0.000,3078,0.256,0.041,2112,2489,3564,3564,3564,0,0,0,0,0,0,14.65,14.79,14.81
$GC,697,-0.66,-146.0,2112,2488,3563,3565,144.6,-15.8,100,703,0.00,2.22,0.00,0.000,516,0.000,0.050,2112,1094,3563,3563,3564,0,0,0,0,0,0,14.97,14.80,15.00
$GC,741,-0.66,-146.0,2112,1093,3563,3564,150.7,-13.4,108,747,0.00,2.35,0.00,0.000,1030,0.000,0.063,2103,2508,3563,3563,3564,0,0,0,0,0,0,14.87,14.78,14.88
$GC,935,-0.66,-146.0,2103,2508,3563,3564,174.8,-11.8,128,941,0.00,2.35,0.00,0.000,260,0.000,0.091,2092,3894,3563,3563,3564,0,0,0,0,0,0,15.00,14.76,15.02
$GC,999,-0.66,-146.0,2091,3894,3563,3564,182.5,-12.7,140,1005,0.00,2.17,0.00,0.000,1030,0.000,0.037,2092,2496,3564,3563,3566,0,0,0,0,0,0,14.90,14.85,14.91
$GC,1193,-0.66,-146.0,2091,2494,3563,3563,207.8,-12.7,160,1198,0.00,2.22,0.00,0.000,516,0.000,0.050,2092,1099,3563,3563,3564,0,0,0,0,0,0,15.02,14.83,15.04
$GC,1226,-0.66,-146.0,2091,1099,3563,3565,212.3,-13.2,166,1234,0.12,2.33,0.00,0.000,3078,0.241,0.060,2109,2506,3563,3563,3564,0,0,0,0,0,0,14.75,14.83,14.89
$GC,1422,-0.66,-146.0,2110,2506,3564,3562,234.7,-11.5,186,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2507,3562,3563,3561,0,0,0,0,0,0,15.03,15.07,15.06
$GC,1622,-0.66,-146.0,2109,2507,3563,3560,258.2,-12.0,203,1628,0.00,2.25,0.00,0.000,516,0.000,0.051,2110,1107,3561,3563,3559,0,0,0,0,0,0,15.05,14.87,15.08
$GC,1639,-0.66,-146.0,2110,1105,3563,3559,260.5,-12.1,206,1647,0.00,2.35,0.00,0.000,1030,0.000,0.061,2101,2500,3561,3563,3559,0,0,0,0,0,0,14.88,14.83,14.90
$GC,1946,-0.66,-146.0,2100,2499,3563,3556,298.1,-12.3,222,1953,0.00,2.35,0.00,0.000,260,0.000,0.092,2089,3897,3559,3563,3556,0,0,0,0,0,0,15.07,14.85,15.09
$GC,1984,-0.66,-146.0,2089,3897,3562,3558,303.1,-12.8,229,1990,0.00,2.22,0.00,0.000,1030,0.000,0.038,2089,2503,3559,3563,3555,0,0,0,0,0,0,14.91,14.88,14.93
$GC,2290,-0.66,-146.0,2089,2501,3562,3552,341.0,-12.0,245,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3557,3562,3552,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2590,-0.66,-146.0,2089,2501,3559,3549,376.5,-11.5,260,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3554,3559,3549,0,0,0,0,0,0,15.08,15.12,15.12
$GC,2891,-0.66,-146.0,2089,2502,3556,3547,409.7,-10.8,275,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2501,3551,3556,3546,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3190,-0.66,-146.0,2089,2502,3554,3545,442.5,-11.4,290,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3549,3554,3545,0,0,0,0,0,0,15.09,15.12,15.12
$GC,3490,-0.66,-146.0,2089,2501,3552,3542,476.8,-11.5,305,3496,0.00,2.38,0.00,0.000,260,0.000,0.095,2079,3898,3547,3552,3542,0,0,0,0,0,0,15.09,14.88,15.12
$GC,3517,-0.66,-146.0,2080,3899,3552,3542,480.2,-12.4,310,3525,0.15,2.20,0.00,0.000,3078,0.220,0.041,2116,2493,3547,3552,3542,0,0,0,0,0,0,14.82,14.94,14.96
$GC,3837,-0.66,-146.0,2116,2493,3550,3539,512.4,-10.1,328,3843,0.00,2.22,0.00,0.000,516,0.000,0.055,2117,1108,3545,3551,3539,0,0,0,0,0,0,15.09,14.91,15.12
$GC,3875,-0.66,-146.0,2116,1108,3550,3539,516.4,-10.2,335,3882,0.00,2.38,0.00,0.000,1030,0.000,0.066,2107,2505,3544,3550,3539,0,0,0,0,0,0,14.92,14.86,14.93
$GC,4182,-0.66,-146.0,2107,2505,3548,3538,548.3,-10.3,351,4188,0.00,2.35,0.00,0.000,260,0.000,0.094,2096,3900,3542,3547,3538,0,0,0,0,0,0,15.09,14.88,15.12
$GC,4214,-0.66,-146.0,2096,3900,3547,3538,552.0,-11.0,357,4220,0.00,2.20,0.00,0.000,1030,0.000,0.041,2096,2500,3542,3547,3538,0,0,0,0,0,0,14.99,14.94,15.00
$GC,4528,-0.66,-146.0,2096,2499,3545,3536,585.2,-10.5,374,4535,0.00,2.22,0.00,0.000,516,0.000,0.054,2096,1105,3540,3545,3536,0,0,0,0,0,0,15.09,14.90,15.11
$GC,4554,-0.66,-146.0,2096,1105,3545,3536,587.9,-11.0,378,4561,0.12,2.33,0.00,0.000,3078,0.234,0.067,2114,2503,3540,3545,3536,0,0,0,0,0,0,14.81,14.90,14.95
$GC,4879,-0.66,-146.0,2115,2502,3543,3534,617.8,-9.1,397,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2502,3538,3543,3534,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5179,-0.66,-146.0,2117,2502,3542,3533,644.8,-9.0,412,5185,0.00,2.28,0.00,0.000,516,0.000,0.054,2115,1099,3537,3542,3533,0,0,0,0,0,0,15.09,14.90,15.11
$GC,5205,-0.66,-146.0,2114,1099,3543,3533,647.4,-9.7,417,5211,0.00,2.35,0.00,0.000,1030,0.000,0.066,2106,2504,3537,3542,3533,0,0,0,0,0,0,14.97,14.88,14.99
$GC,5524,-0.66,-146.0,2105,2504,3540,3532,678.6,-10.0,435,5530,0.00,2.35,0.00,0.000,260,0.000,0.096,2094,3895,3534,3537,3531,0,0,0,0,0,0,15.09,14.86,15.11
$GC,5568,-0.66,-146.0,2094,3896,3539,3531,683.3,-10.7,443,5574,0.00,2.20,0.00,0.000,1030,0.000,0.041,2094,2497,3536,3540,3532,0,0,0,0,0,0,14.98,14.92,15.00
$GC,5892,-0.66,-146.0,2094,2496,3538,3530,719.1,-11.2,462,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2495,3533,3538,3529,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6192,-0.66,-146.0,2094,2496,3537,3528,752.3,-11.0,477,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2496,3532,3537,3528,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6492,-0.66,-146.0,2094,2496,3536,3527,784.3,-10.4,492,6498,0.00,2.40,0.00,0.000,260,0.000,0.096,2084,3898,3531,3536,3526,0,0,0,0,0,0,15.07,14.85,15.10
$GC,6524,-0.66,-146.0,2084,3899,3536,3527,788.0,-11.3,498,6531,0.12,2.22,0.00,0.000,3078,0.226,0.043,2113,2491,3531,3535,3527,0,0,0,0,0,0,14.80,14.92,14.94
$GC,6840,-0.66,-146.0,2113,2492,3535,3526,817.7,-9.2,515,6846,0.00,2.22,0.00,0.000,516,0.000,0.056,2114,1106,3530,3535,3526,0,0,0,0,0,0,15.07,14.89,15.11
$GC,6885,-0.66,-146.0,2113,1106,3534,3526,821.9,-9.6,523,6891,0.00,2.33,0.00,0.000,1030,0.000,0.066,2104,2502,3530,3534,3526,0,0,0,0,0,0,14.96,14.88,14.97
$GC,7209,-0.66,-146.0,2104,2502,3533,3525,853.0,-9.6,542,7215,0.00,2.38,0.00,0.000,260,0.000,0.098,2093,3894,3528,3533,3524,0,0,0,0,0,0,15.07,14.85,15.10
$GC,7261,-0.66,-146.0,2092,3894,3533,3525,858.4,-9.9,552,7267,0.00,2.20,0.00,0.000,1030,0.000,0.043,2093,2501,3529,3533,3525,0,0,0,0,0,0,14.97,14.91,14.98
$GC,7575,-0.66,-146.0,2092,2500,3531,3524,888.6,-9.5,569,7581,0.00,2.25,0.00,0.000,516,0.000,0.056,2093,1107,3527,3531,3524,0,0,0,0,0,0,15.07,14.88,15.10
$GC,7608,-0.66,-146.0,2092,1106,3531,3524,891.8,-10.1,575,7618,0.12,2.33,0.00,0.000,3078,0.235,0.066,2111,2499,3527,3531,3524,0,0,0,0,0,0,14.78,14.87,14.92
$GC,7919,-0.66,-146.0,2111,2500,3531,3522,917.2,-8.2,592,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2500,3526,3531,3522,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8219,-0.66,-146.0,2111,2499,3530,3521,941.3,-8.2,607,8225,0.00,2.38,0.00,0.000,260,0.000,0.098,2103,3893,3525,3530,3521,0,0,0,0,0,0,15.07,14.83,15.09
$GC,8251,-0.66,-146.0,2102,3893,3530,3521,944.3,-9.3,613,8257,0.00,2.20,0.00,0.000,1030,0.000,0.042,2103,2501,3525,3530,3521,0,0,0,0,0,0,14.96,14.90,14.97
$GC,8565,-0.66,-146.0,2102,2500,3529,3520,972.5,-9.2,630,8572,0.00,2.28,0.00,0.000,516,0.000,0.057,2103,1105,3524,3529,3519,0,0,0,0,0,0,15.07,14.88,15.09
$GC,8610,-0.66,-146.0,2102,1105,3528,3520,976.8,-9.5,638,8617,0.00,2.35,0.00,0.000,1030,0.000,0.067,2091,2505,3524,3528,3520,0,0,0,0,0,0,14.94,14.85,14.95
$STATE,8752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8752,begin apogee
$GC,8759,-0.15,0.0,2090,2438,3529,3516,991.2,-10.1,648,8895,0.62,0.00,127.32,2.030,10246,0.184,0.000,2275,2439,2967,2994,2940,0,0,0,0,0,0,14.78,13.95,13.28
$STATE,8897,end apogee,CONTROL_FINISHED_OK
$STATE,8897,begin climb
$GC,8900,0.66,146.0,2275,2439,2993,2939,995.1,0.0,655,9048,0.82,2.42,133.00,2.017,10756,0.109,0.060,2549,1051,2372,2411,2333,0,0,0,0,0,0,14.21,14.03,13.18
$GC,9070,0.66,146.0,2551,1050,2406,2330,984.3,10.9,690,9078,0.00,2.50,0.00,0.000,1030,0.000,0.063,2551,2438,2366,2406,2327,0,0,0,0,0,0,14.20,14.14,14.24
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$STATE,17757,end climb,SURFACE_DEPTH_REACHED
$STATE,17757,begin surface coast
$STATE,17782,end surface coast,CONTROL_FINISHED_OK
$STATE,17782,begin surface
$SM_CCo,17807,117.57,0.633,1,0,600,580.87
$SM_GC,1.07,7.10,0.12,117.57,0.042,0.130,0.633,134,2531,600,-6.76,-0.65,580.87,0,0,0,0,1,0,14.68,14.66,14.02
$IRIDIUM_FIX,1328.61,8700.28,080819,000845
$TT8_MAMPS,0.018725,0.942991
$HUMID,40.74
$INTERNAL_PRESSURE,9.46823
$TCM_TEMP,24.70
$XPDR_PINGS,5
$SC_FREEKB,3879200
$PM_FREEKB_00,58675136
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.18,27.632
$10V_AH,13.54,0.000
$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,19.225,171.850,517.500,117.575,0.000,0.000,0.000,275.175,1.250,0.000,18.113,1319.403,11601.083,661.116,4374.581,471.660,0.000,2392.889,0.000,3777.769,0.000,0.541,0.000
$DEVICE_MAMPS,364.140,163.710,2029.545,632.655,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3527.074,0.000,0.000,0.000,0.000,0.000,17783.000,0.000,17801.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.408,0.000,3.732,0.000
$MEM,251916
$DATA_FILE_SIZE,60012,1408
$CAP_FILE_SIZE,259142,0
$CFSIZE,260034560,188030976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.061,50.14,1
$GPS,080819,101738,1324.439,8659.966,15,1.5,15,-0.9,0.8,154.7,6,8.8