version: 66.13
glider: 171
mission: 11
dive: 162
start: 8 29 119 11 13 28
data:
$ID,171
$MISSION,11
$DIVE,162
$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,53
$R_STBD_OVSHOOT,32
$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
$GPS1,290819,110400,1324.2313,8700.7539,31,0.7,31,-0.9,0.6,227.2,11,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.6
$GPS2,290819,111236,1324.1779,8700.7246,2,0.6,3,-0.9,0.8,286.9,12,8.4
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,1.2,40898,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-116.8,101,2502,970,878,0.0,0.0,0,101,0.00,0.00,-77.00,0.005,16386,0.000,0.000,98,2501,2758,2755,2761,0,0,0,0,0,0,14.84,28.83,14.88
$GC,104,-0.62,-116.8,98,2502,2756,2760,5.0,-13.9,16,136,8.98,2.28,-12.02,0.012,19204,0.364,0.063,2129,1099,3446,3451,3442,0,0,0,0,0,0,14.36,13.92,14.57
$GC,226,-0.62,-116.8,2128,1098,3451,3442,47.6,-29.1,40,233,0.00,2.40,0.00,0.000,1030,0.000,0.063,2120,2485,3446,3450,3442,0,0,0,0,0,0,14.69,14.63,14.71
$GC,421,-0.62,-116.8,2120,2486,3451,3442,99.7,-22.0,60,430,0.00,2.40,0.00,0.000,260,0.000,0.084,2109,3907,3447,3452,3442,0,0,0,0,0,0,14.93,14.69,14.95
$GC,537,-0.62,-116.8,2109,3905,3451,3442,121.3,-19.3,83,543,0.00,2.28,0.00,0.000,1030,0.000,0.036,2112,2501,3446,3450,3442,0,0,0,0,0,0,14.76,14.73,14.78
$GC,723,-0.62,-116.8,2109,2500,3451,3442,151.3,-15.8,102,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2500,3446,3451,3442,0,0,0,0,0,0,14.98,15.01,15.00
$GC,913,-0.62,-116.8,2109,2500,3451,3442,178.4,-13.8,121,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2500,3446,3451,3442,0,0,0,0,0,0,15.00,15.02,15.03
$GC,1103,-0.62,-116.8,2109,2500,3451,3442,203.7,-12.7,140,1109,0.00,2.25,0.00,0.000,516,0.000,0.049,2109,1103,3446,3450,3442,0,0,0,0,0,0,15.01,14.79,15.04
$GC,1137,-0.62,-116.8,2109,1103,3451,3442,207.8,-11.8,146,1144,0.12,2.35,0.00,0.000,3078,0.231,0.059,2127,2513,3446,3451,3442,0,0,0,0,0,0,14.68,14.79,14.83
$GC,1332,-0.62,-116.8,2127,2513,3448,3442,227.8,-10.3,166,1339,0.00,2.33,0.00,0.000,260,0.000,0.087,2119,3893,3446,3450,3442,0,0,0,0,0,0,15.02,14.77,15.06
$GC,1387,-0.62,-116.8,2118,3893,3450,3442,233.9,-11.5,176,1393,0.00,2.20,0.00,0.000,1030,0.000,0.035,2118,2488,3446,3450,3442,0,0,0,0,0,0,14.91,14.85,14.92
$GC,1591,-0.62,-116.8,2117,2487,3447,3442,257.8,-11.6,194,1597,0.00,2.22,0.00,0.000,516,0.000,0.049,2119,1105,3444,3447,3441,0,0,0,0,0,0,15.04,14.82,15.07
$GC,1676,-0.62,-116.8,2118,1105,3446,3442,267.6,-11.3,210,1682,0.00,2.33,0.00,0.000,1030,0.000,0.058,2108,2502,3443,3445,3441,0,0,0,0,0,0,14.90,14.82,14.92
$GC,2001,-0.62,-116.8,2108,2503,3444,3437,307.3,-12.5,229,2006,0.00,2.35,0.00,0.000,260,0.000,0.087,2097,3897,3440,3444,3437,0,0,0,0,0,0,15.06,14.79,15.09
$GC,2087,-0.62,-116.8,2097,3897,3443,3437,318.7,-12.7,246,2094,0.12,2.20,0.00,0.000,3078,0.216,0.037,2126,2495,3440,3443,3437,0,0,0,0,0,0,14.73,14.88,14.89
$GC,2408,-0.62,-116.8,2127,2494,3442,3434,352.8,-10.6,264,2414,0.00,2.22,0.00,0.000,516,0.000,0.050,2128,1108,3437,3442,3433,0,0,0,0,0,0,15.07,14.85,15.09
$GC,2460,-0.62,-116.8,2127,1109,3441,3433,358.7,-10.6,274,2466,0.00,2.33,0.00,0.000,1030,0.000,0.060,2119,2498,3437,3441,3433,0,0,0,0,0,0,14.92,14.83,14.95
$GC,2775,-0.62,-116.8,2118,2498,3439,3429,393.9,-11.3,291,2783,0.00,2.38,0.00,0.000,260,0.000,0.091,2108,3896,3433,3438,3429,0,0,0,0,0,0,15.07,14.81,15.10
$GC,2799,-0.62,-116.8,2108,3896,3439,3429,397.0,-11.9,296,2805,0.00,2.20,0.00,0.000,1030,0.000,0.036,2108,2501,3433,3438,3429,0,0,0,0,0,0,14.95,14.88,14.96
$GC,3118,-0.62,-116.8,2108,2500,3437,3425,432.3,-10.6,314,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3431,3437,3425,0,0,0,0,0,0,15.07,15.11,15.09
$GC,3418,-0.62,-116.8,2108,2500,3434,3423,462.8,-10.2,329,3427,0.00,2.40,0.00,0.000,260,0.000,0.090,2097,3899,3428,3434,3423,0,0,0,0,0,0,15.07,14.80,15.10
$GC,3463,-0.62,-116.8,2096,3899,3433,3423,468.0,-11.1,338,3471,0.12,2.22,0.00,0.000,3078,0.212,0.037,2128,2492,3429,3434,3424,0,0,0,0,0,0,14.73,14.88,14.89
$GC,3784,-0.62,-116.8,2127,2491,3432,3421,498.0,-9.5,356,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2491,3426,3431,3421,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4084,-0.62,-116.8,2127,2491,3430,3420,527.7,-10.1,371,4090,0.00,2.25,0.00,0.000,516,0.000,0.051,2128,1107,3425,3430,3420,0,0,0,0,0,0,15.07,14.84,15.10
$GC,4122,-0.62,-116.8,2128,1107,3430,3420,531.8,-10.2,378,4130,0.00,2.40,0.00,0.000,1030,0.000,0.061,2119,2501,3425,3430,3420,0,0,0,0,0,0,14.81,14.76,14.84
$GC,4428,-0.62,-116.8,2118,2501,3429,3417,564.7,-10.9,394,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2501,3423,3429,3417,0,0,0,0,0,0,15.07,15.11,15.11
$GC,4728,-0.62,-116.8,2118,2501,3428,3415,598.1,-11.0,409,4740,0.00,2.38,0.00,0.000,260,0.000,0.093,2109,3890,3420,3426,3415,0,0,0,0,0,0,15.07,14.77,15.09
$GC,4781,-0.62,-116.8,2108,3890,3427,3415,604.3,-11.6,419,4788,0.00,2.22,0.00,0.000,1030,0.000,0.037,2109,2500,3421,3427,3415,0,0,0,0,0,0,14.93,14.88,14.95
$GC,5095,-0.62,-116.8,2107,2497,3426,3413,641.3,-11.6,436,5101,0.00,2.28,0.00,0.000,516,0.000,0.053,2107,1105,3419,3426,3412,0,0,0,0,0,0,15.07,14.82,15.09
$GC,5139,-0.62,-116.8,2107,1105,3426,3413,646.3,-11.2,444,5147,0.12,2.35,0.00,0.000,3078,0.220,0.063,2127,2500,3420,3428,3412,0,0,0,0,0,0,14.69,14.81,14.84
$GC,5461,-0.62,-116.8,2127,2500,3422,3413,676.9,-9.1,463,5469,0.00,2.38,0.00,0.000,260,0.000,0.092,2118,3891,3417,3422,3412,0,0,0,0,0,0,15.07,14.76,15.09
$GC,5496,-0.62,-116.8,2118,3891,3422,3412,680.3,-9.3,470,5504,0.00,2.28,0.00,0.000,1030,0.000,0.039,2118,2497,3417,3422,3412,0,0,0,0,0,0,14.81,14.78,14.83
$GC,5802,-0.62,-116.8,2118,2496,3422,3410,708.7,-9.3,486,5808,0.00,2.28,0.00,0.000,516,0.000,0.051,2118,1102,3416,3422,3410,0,0,0,0,0,0,15.06,14.81,15.09
$GC,5850,-0.62,-116.8,2118,1102,3421,3410,713.3,-9.3,495,5856,0.00,2.38,0.00,0.000,1030,0.000,0.063,2108,2504,3415,3421,3410,0,0,0,0,0,0,14.89,14.79,14.92
$GC,6169,-0.62,-116.8,2108,2504,3421,3409,743.7,-9.2,513,6178,0.00,2.38,0.00,0.000,260,0.000,0.092,2097,3891,3415,3421,3409,0,0,0,0,0,0,15.05,14.74,15.07
$GC,6214,-0.62,-116.8,2097,3891,3419,3408,748.1,-9.6,522,6222,0.12,2.22,0.00,0.000,3078,0.214,0.038,2127,2493,3415,3421,3409,0,0,0,0,0,0,14.67,14.85,14.84
$GC,6536,-0.62,-116.8,2127,2493,3419,3408,773.1,-7.8,540,6542,0.00,2.28,0.00,0.000,516,0.000,0.051,2128,1101,3413,3419,3408,0,0,0,0,0,0,15.05,14.81,15.08
$GC,6579,-0.62,-116.8,2127,1101,3418,3408,776.7,-7.8,548,6588,0.00,2.38,0.00,0.000,1030,0.000,0.062,2119,2505,3413,3418,3408,0,0,0,0,0,0,14.88,14.78,14.91
$GC,6901,-0.62,-116.8,2118,2505,3417,3407,804.7,-9.0,567,6909,0.00,2.38,0.00,0.000,260,0.000,0.093,2108,3891,3412,3417,3407,0,0,0,0,0,0,15.04,14.73,15.08
$GC,6935,-0.62,-116.8,2108,3892,3417,3407,808.2,-10.0,574,6943,0.00,2.28,0.00,0.000,1030,0.000,0.038,2108,2500,3411,3416,3407,0,0,0,0,0,0,14.78,14.76,14.81
$GC,7243,-0.62,-116.8,2108,2499,3419,3406,838.6,-10.1,590,7249,0.00,2.28,0.00,0.000,516,0.000,0.052,2108,1108,3411,3416,3406,0,0,0,0,0,0,15.04,14.79,15.07
$GC,7287,-0.62,-116.8,2108,1108,3416,3406,843.2,-10.0,598,7295,0.12,2.38,0.00,0.000,3078,0.224,0.063,2126,2507,3411,3416,3406,0,0,0,0,0,0,14.64,14.77,14.83
$GC,7613,-0.62,-116.8,2126,2507,3415,3404,871.8,-8.7,617,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2507,3409,3415,3404,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7912,-0.62,-116.8,2126,2507,3414,3402,896.8,-8.1,632,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2507,3408,3414,3403,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8213,-0.62,-116.8,2126,2507,3413,3402,921.4,-8.5,647,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2507,3407,3413,3402,0,0,0,0,0,0,15.04,15.08,15.07
$GC,8512,-0.62,-116.8,2126,2508,3413,3402,947.3,-8.9,662,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2508,3407,3413,3401,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8812,-0.62,-116.8,2126,2508,3412,3401,974.4,-9.1,677,8818,0.00,2.33,0.00,0.000,516,0.000,0.053,2127,1106,3407,3413,3401,0,0,0,0,0,0,15.04,14.77,15.07
$GC,8845,-0.62,-116.8,2126,1106,3412,3401,977.5,-9.6,683,8855,0.00,2.38,0.00,0.000,1030,0.000,0.063,2118,2501,3406,3412,3401,0,0,0,0,0,0,14.85,14.75,14.88
$STATE,8994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8994,begin apogee
$GC,9000,-0.15,0.0,2118,2501,3410,3401,991.7,-9.5,692,9109,0.55,0.00,103.22,2.059,10246,0.172,0.000,2278,2501,2967,2999,2936,0,0,0,0,0,0,14.62,14.18,13.28
$STATE,9111,end apogee,CONTROL_FINISHED_OK
$STATE,9111,begin climb
$GC,9114,0.62,116.8,2278,2501,2997,2936,995.0,0.0,697,9239,0.77,0.00,113.53,2.042,10246,0.099,0.000,2532,2501,2490,2527,2454,0,0,0,0,0,0,14.24,14.03,13.19
$GC,9539,0.62,116.8,2531,2501,2514,2450,966.9,9.4,719,9547,0.00,2.47,0.00,0.000,516,0.000,0.054,2543,1044,2481,2513,2449,0,0,0,0,0,0,14.77,14.57,14.80
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$STATE,20784,end climb,SURFACE_DEPTH_REACHED
$STATE,20784,begin surface coast
$STATE,20799,end surface coast,CONTROL_FINISHED_OK
$STATE,20799,begin surface
$SM_CCo,20825,44.67,0.411,1,0,928,500.17
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$IRIDIUM_FIX,1323.94,8704.82,290819,051613
$TT8_MAMPS,0.019474,0.627662
$HUMID,43.58
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.60
$XPDR_PINGS,2
$SC_FREEKB,3837536
$PM_FREEKB_00,53569088
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.19,63.151
$10V_AH,13.17,0.000
$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,19.975,191.550,516.150,44.675,0.000,0.000,0.000,282.950,0.500,0.000,16.650,1521.273,13602.018,620.110,5065.858,586.286,0.000,2578.656,0.000,4437.984,0.000,0.542,0.000
$DEVICE_MAMPS,364.140,182.070,2058.615,410.805,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4018.866,0.000,0.000,0.000,0.000,0.000,20805.000,0.000,20818.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.453,0.000,3.462,0.000
$MEM,251916
$DATA_FILE_SIZE,73251,1696
$CAP_FILE_SIZE,292796,0
$CFSIZE,260034560,177057792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,4732.06,0x235770,0,24
$CURRENT,0.074,17.28,1
$GPS,290819,170239,1326.598,8701.074,13,1.8,13,-0.9,0.4,266.4,5,8.1