version: 66.13
glider: 171
mission: 11
dive: 160
start: 8 28 119 23 31 46
data:
$ID,171
$MISSION,11
$DIVE,160
$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,390
$T_MISSION,440
$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,120
$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,0.019109501
$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,500
$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,45
$R_STBD_OVSHOOT,74
$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
$GPS1,280819,232239,1320.7018,8701.4121,22,1.2,22,-0.9,0.6,249.1,6,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.4
$GPS2,280819,233055,1320.6594,8701.4268,2,0.6,2,-0.9,0.6,340.1,12,9.7
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,337.4,47463,-17.1,-8.462,-27.86,2074
$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
$WARN,HPMAR logging already started
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-116.8,92,2551,974,877,0.0,0.0,0,108,0.00,0.00,-83.07,0.005,16386,0.000,0.000,92,2551,2918,2910,2926,0,0,0,0,0,0,14.85,28.83,14.88
$GC,111,-0.62,-116.8,92,2551,2911,2926,5.6,-16.8,17,140,9.02,2.38,-8.88,0.015,18948,0.363,0.070,2126,1098,3444,3447,3442,0,0,0,0,0,0,14.36,13.90,14.57
$GC,169,-0.62,-116.8,2125,1098,3447,3442,31.3,-33.2,28,175,0.00,2.35,0.00,0.000,1030,0.000,0.065,2117,2449,3444,3447,3442,0,0,0,0,0,0,14.67,14.62,14.71
$GC,364,-0.62,-116.8,2117,2449,3448,3442,89.5,-23.2,52,373,0.00,2.40,0.00,0.000,260,0.000,0.093,2107,3851,3445,3448,3442,0,0,0,0,0,0,14.93,14.67,14.95
$GC,501,-0.62,-116.8,2106,3851,3445,3441,117.6,-18.1,79,507,0.00,2.20,0.00,0.000,1030,0.000,0.040,2107,2499,3445,3448,3442,0,0,0,0,0,0,14.76,14.72,14.77
$GC,687,-0.62,-116.8,2106,2497,3448,3442,147.8,-15.2,98,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3445,3448,3442,0,0,0,0,0,0,14.97,15.01,15.00
$GC,877,-0.62,-116.8,2106,2497,3448,3442,175.9,-14.1,117,882,0.00,2.28,0.00,0.000,516,0.000,0.052,2107,1093,3444,3448,3441,0,0,0,0,0,0,15.00,14.78,15.02
$GC,951,-0.62,-116.8,2106,1093,3449,3442,186.2,-13.5,131,957,0.12,2.28,0.00,0.000,3078,0.237,0.062,2125,2449,3445,3449,3442,0,0,0,0,0,0,14.66,14.76,14.82
$GC,1145,-0.62,-116.8,2124,2451,3448,3442,211.0,-12.7,151,1151,0.00,2.20,0.00,0.000,516,0.000,0.054,2125,1099,3444,3448,3441,0,0,0,0,0,0,15.02,14.80,15.04
$GC,1170,-0.62,-116.8,2124,1098,3448,3442,214.1,-12.6,155,1176,0.00,2.28,0.00,0.000,1030,0.000,0.065,2116,2449,3444,3447,3442,0,0,0,0,0,0,14.87,14.77,14.90
$GC,1364,-0.62,-116.8,2115,2450,3444,3442,238.9,-12.2,175,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2450,3444,3446,3442,0,0,0,0,0,0,15.03,15.06,15.06
$GC,1564,-0.62,-116.8,2116,2450,3445,3442,264.0,-13.2,190,1570,0.00,2.38,0.00,0.000,260,0.000,0.093,2106,3848,3443,3444,3442,0,0,0,0,0,0,15.04,14.77,15.07
$GC,1641,-0.62,-116.8,2105,3848,3444,3442,275.0,-13.7,205,1648,0.00,2.20,0.00,0.000,1030,0.000,0.038,2106,2481,3443,3444,3442,0,0,0,0,0,0,14.84,14.81,14.87
$GC,1949,-0.62,-116.8,2105,2480,3443,3437,311.5,-11.0,221,1957,0.00,2.35,0.00,0.000,260,0.000,0.089,2095,3854,3440,3443,3437,0,0,0,0,0,0,15.06,14.80,15.09
$GC,2019,-0.62,-116.8,2094,3854,3442,3437,319.9,-12.1,235,2026,0.12,2.12,0.00,0.000,3078,0.218,0.036,2125,2501,3439,3442,3437,0,0,0,0,0,0,14.72,14.88,14.88
$GC,2334,-0.62,-116.8,2125,2499,3441,3433,353.2,-10.5,252,2339,0.00,2.25,0.00,0.000,516,0.000,0.049,2125,1102,3437,3441,3433,0,0,0,0,0,0,15.07,14.85,15.09
$GC,2392,-0.62,-116.8,2125,1102,3440,3432,359.3,-10.2,263,2399,0.00,2.33,0.00,0.000,1030,0.000,0.063,2116,2454,3437,3439,3436,0,0,0,0,0,0,14.83,14.77,14.85
$GC,2698,-0.62,-116.8,2116,2454,3438,3428,392.3,-11.1,279,2706,0.00,2.45,0.00,0.000,260,0.000,0.090,2106,3894,3433,3438,3429,0,0,0,0,0,0,15.07,14.80,15.10
$GC,2740,-0.62,-116.8,2105,3894,3438,3428,397.1,-11.9,287,2746,0.00,2.20,0.00,0.000,1030,0.000,0.035,2106,2492,3433,3438,3429,0,0,0,0,0,0,14.95,14.89,14.96
$GC,3064,-0.62,-116.8,2105,2491,3435,3424,435.1,-11.5,306,3071,0.00,2.22,0.00,0.000,516,0.000,0.047,2106,1108,3429,3435,3424,0,0,0,0,0,0,15.07,14.85,15.10
$GC,3092,-0.62,-116.8,2105,1108,3434,3424,438.5,-12.1,311,3101,0.12,2.35,0.00,0.000,3078,0.224,0.062,2124,2506,3429,3434,3424,0,0,0,0,0,0,14.72,14.83,14.89
$GC,3409,-0.62,-116.8,2124,2507,3433,3422,470.6,-9.8,329,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2506,3427,3433,3422,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3709,-0.62,-116.8,2124,2507,3431,3421,501.2,-10.6,344,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2506,3426,3431,3421,0,0,0,0,0,0,15.07,15.10,15.10
$GC,4009,-0.62,-116.8,2124,2507,3430,3419,532.7,-10.1,359,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2506,3424,3430,3419,0,0,0,0,0,0,15.08,15.10,15.10
$GC,4309,-0.62,-116.8,2124,2506,3428,3417,560.7,-9.2,374,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2507,3423,3429,3417,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4609,-0.62,-116.8,2124,2506,3427,3415,590.1,-10.1,389,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2507,3421,3427,3415,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4909,-0.62,-116.8,2124,2506,3425,3413,620.7,-10.2,404,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2507,3419,3425,3413,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5209,-0.62,-116.8,2124,2506,3423,3412,650.0,-9.4,419,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2507,3417,3423,3412,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5509,-0.62,-116.8,2124,2507,3422,3411,676.6,-8.7,434,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2505,3416,3422,3411,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5809,-0.62,-116.8,2124,2507,3421,3410,702.6,-8.7,449,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2507,3415,3421,3410,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6109,-0.62,-116.8,2124,2506,3420,3408,728.9,-9.0,464,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2506,3414,3420,3408,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6409,-0.62,-116.8,2124,2507,3418,3408,757.6,-9.9,479,6415,0.00,2.30,0.00,0.000,516,0.000,0.052,2125,1113,3413,3418,3408,0,0,0,0,0,0,15.06,14.78,15.09
$GC,6441,-0.62,-116.8,2124,1112,3417,3408,761.1,-10.5,485,6447,0.00,2.35,0.00,0.000,1030,0.000,0.064,2115,2501,3412,3417,3408,0,0,0,0,0,0,14.90,14.79,14.92
$GC,6754,-0.62,-116.8,2115,2501,3417,3407,794.3,-10.6,502,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2501,3412,3417,3407,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7054,-0.62,-116.8,2115,2501,3416,3406,824.6,-9.8,517,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2501,3411,3416,3406,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7354,-0.62,-116.8,2115,2501,3415,3405,852.5,-9.0,532,7360,0.00,2.30,0.00,0.000,516,0.000,0.053,2115,1107,3410,3415,3405,0,0,0,0,0,0,15.05,14.81,15.07
$GC,7386,-0.62,-116.8,2115,1106,3414,3405,855.5,-9.1,538,7393,0.00,2.38,0.00,0.000,1030,0.000,0.065,2105,2504,3409,3414,3404,0,0,0,0,0,0,14.88,14.78,14.90
$GC,7701,-0.62,-116.8,2107,2504,3413,3403,883.6,-8.8,555,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2504,3408,3413,3404,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8001,-0.62,-116.8,2105,2504,3413,3402,910.8,-9.2,570,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2503,3407,3413,3402,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8301,-0.62,-116.8,2105,2504,3412,3402,939.0,-9.7,585,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2504,3407,3413,3402,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8601,-0.62,-116.8,2105,2504,3412,3401,968.6,-9.9,600,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2504,3406,3412,3401,0,0,0,0,0,0,15.03,15.07,15.07
$STATE,8819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8821,begin apogee
$GC,8827,-0.15,0.0,2105,2504,3411,3401,990.3,-10.0,611,8935,0.60,0.00,102.43,2.046,10246,0.176,0.000,2279,2504,2969,2999,2940,0,0,0,0,0,0,14.63,14.19,13.26
$STATE,8937,end apogee,CONTROL_FINISHED_OK
$STATE,8937,begin climb
$GC,8940,0.62,116.8,2279,2504,2997,2937,993.3,0.0,616,9064,0.77,0.00,111.68,2.035,10502,0.102,0.000,2532,2503,2491,2527,2455,0,0,0,0,0,0,14.23,14.03,13.16
$GC,9361,0.62,116.8,2532,2504,2514,2450,964.0,9.5,656,9369,0.00,2.45,0.00,0.000,516,0.000,0.053,2543,1056,2481,2513,2450,0,0,0,0,0,0,14.77,14.57,14.80
$GC,9422,0.62,116.8,2543,1056,2512,2450,958.2,9.4,668,9428,0.00,2.38,0.00,0.000,1030,0.000,0.059,2543,2443,2480,2512,2449,0,0,0,0,0,0,14.67,14.59,14.70
$GC,9747,0.62,116.8,2543,2443,2511,2448,925.2,10.5,687,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2443,2479,2511,2448,0,0,0,0,0,0,14.91,14.95,14.94
$GC,10046,0.62,116.8,2543,2443,2510,2447,893.0,10.9,702,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2443,2478,2510,2447,0,0,0,0,0,0,14.95,14.99,14.98
$GC,10346,0.62,116.8,2543,2443,2509,2446,861.7,10.5,717,10351,0.00,2.33,0.00,0.000,516,0.000,0.051,2554,1050,2478,2510,2446,0,0,0,0,0,0,14.97,14.76,15.01
$GC,10409,0.62,116.8,2554,1048,2508,2443,855.3,9.8,729,10415,0.00,2.35,0.00,0.000,1030,0.000,0.056,2554,2442,2476,2508,2445,0,0,0,0,0,0,14.84,14.75,14.87
$GC,10733,0.62,116.8,2554,2442,2508,2445,822.5,9.9,748,10739,0.00,2.33,0.00,0.000,516,0.000,0.051,2566,1051,2476,2508,2445,0,0,0,0,0,0,15.00,14.77,15.02
$GC,10750,0.62,116.8,2565,1052,2507,2445,820.6,10.0,751,10758,0.10,2.40,0.00,0.000,5126,0.214,0.057,2537,2439,2477,2509,2445,0,0,0,0,0,0,14.55,14.69,14.70
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$STATE,20217,end climb,SURFACE_DEPTH_REACHED
$STATE,20217,begin surface coast
$STATE,20239,end surface coast,CONTROL_FINISHED_OK
$STATE,20239,begin surface
$SM_CCo,20263,94.35,0.601,1,0,929,500.17
$SM_GC,1.43,7.38,0.00,94.35,0.063,0.000,0.601,126,2459,929,-6.78,-1.16,500.17,0,0,0,0,1,0,14.69,14.88,14.02
$IRIDIUM_FIX,1317.11,8704.94,280819,174412
$TT8_MAMPS,0.019474,0.715295
$HUMID,42.32
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.90
$XPDR_PINGS,3
$SC_FREEKB,3838432
$PM_FREEKB_00,53685824
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.16,62.390
$10V_AH,13.14,0.000
$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,18.900,167.925,463.350,94.350,0.000,0.000,0.000,267.975,0.750,0.000,15.473,1459.177,13445.710,599.569,4846.911,513.588,0.000,2431.776,0.000,4237.727,0.000,0.541,0.000
$DEVICE_MAMPS,363.375,93.330,2046.375,600.525,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3952.082,0.000,0.000,0.000,0.000,0.000,20244.000,0.000,20258.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.500,0.000,3.484,0.000
$MEM,251856
$DATA_FILE_SIZE,69987,1573
$CAP_FILE_SIZE,280630,0
$CFSIZE,260034560,177319936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.069,60.01,1
$GPS,290819,051230,1322.604,8701.444,18,0.9,18,-0.9,0.4,190.1,8,5.4