version: 66.13
glider: 171
mission: 11
dive: 175
start: 9 1 119 15 28 1
data:
$ID,171
$MISSION,11
$DIVE,175
$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,48
$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
$GPS1,010919,151638,1335.0833,8700.4629,15,1.5,15,-0.9,1.3,162.5,5,7.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.3
$GPS2,010919,152712,1334.9943,8700.5547,4,1.5,6,-0.9,1.3,183.3,5,7.9
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,188.8,64817,-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,-116.8,57,2496,969,881,0.0,0.0,0,98,0.00,0.00,-72.90,0.005,16386,0.000,0.000,49,2496,2660,2664,2657,0,0,0,0,0,0,14.85,28.83,14.88
$GC,101,-0.62,-116.8,48,2496,2665,2658,4.7,-11.9,15,133,9.23,2.40,-14.15,0.011,18692,0.364,0.099,2109,3901,3447,3454,3440,0,0,0,0,0,0,14.35,13.88,14.56
$GC,162,-0.62,-116.8,2107,3901,3454,3440,27.8,-31.0,27,168,0.00,2.28,0.00,0.000,1030,0.000,0.035,2108,2497,3447,3454,3440,0,0,0,0,0,0,14.70,14.66,14.72
$GC,357,-0.62,-116.8,2108,2496,3454,3440,86.7,-23.6,52,363,0.00,2.40,0.00,0.000,260,0.000,0.081,2098,3894,3447,3454,3440,0,0,0,0,0,0,14.92,14.63,14.95
$GC,595,-0.62,-116.8,2098,3894,3454,3440,134.4,-17.8,98,602,0.12,2.20,0.00,0.000,3078,0.226,0.035,2126,2489,3447,3454,3440,0,0,0,0,0,0,14.56,14.78,14.73
$GC,790,-0.62,-116.8,2126,2488,3454,3440,161.2,-13.6,118,796,0.00,2.20,0.00,0.000,516,0.000,0.045,2127,1109,3446,3453,3440,0,0,0,0,0,0,14.98,14.78,15.01
$GC,847,-0.62,-116.8,2126,1109,3454,3440,168.5,-11.9,129,855,0.00,2.38,0.00,0.000,1030,0.000,0.060,2118,2499,3447,3454,3440,0,0,0,0,0,0,14.75,14.70,14.78
$GC,1034,-0.62,-116.8,2117,2499,3454,3440,192.1,-12.7,148,1040,0.00,2.35,0.00,0.000,260,0.000,0.085,2107,3894,3447,3454,3440,0,0,0,0,0,0,15.00,14.73,15.03
$GC,1060,-0.62,-116.8,2107,3894,3454,3440,195.7,-12.9,153,1068,0.00,2.22,0.00,0.000,1030,0.000,0.034,2107,2504,3447,3454,3440,0,0,0,0,0,0,14.79,14.76,14.82
$GC,1248,-0.62,-116.8,2107,2503,3453,3440,219.7,-12.9,172,1253,0.00,2.25,0.00,0.000,516,0.000,0.047,2107,1102,3446,3452,3440,0,0,0,0,0,0,15.02,14.80,15.04
$GC,1272,-0.62,-116.8,2107,1102,3452,3440,222.8,-12.8,176,1278,0.12,2.33,0.00,0.000,3078,0.225,0.058,2126,2500,3446,3452,3440,0,0,0,0,0,0,14.67,14.78,14.83
$GC,1466,-0.62,-116.8,2126,2500,3451,3440,244.2,-11.0,196,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2500,3444,3450,3438,0,0,0,0,0,0,15.03,15.06,15.05
$GC,1666,-0.62,-116.8,2125,2500,3449,3439,265.8,-10.8,209,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2500,3445,3449,3441,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1967,-0.62,-116.8,2126,2500,3446,3437,298.2,-10.9,224,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2499,3441,3446,3437,0,0,0,0,0,0,15.05,15.09,15.08
$GC,2266,-0.62,-116.8,2126,2500,3444,3433,329.5,-10.2,239,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2500,3438,3444,3433,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2567,-0.62,-116.8,2125,2500,3442,3430,359.4,-9.9,254,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2500,3436,3442,3430,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2867,-0.62,-116.8,2126,2500,3439,3427,388.9,-9.8,269,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2500,3433,3439,3427,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3166,-0.62,-116.8,2125,2500,3437,3424,418.8,-10.1,284,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2500,3430,3437,3424,0,0,0,0,0,0,15.08,15.10,15.09
$GC,3466,-0.62,-116.8,2126,2500,3434,3422,449.9,-10.5,299,3473,0.00,2.35,0.00,0.000,260,0.000,0.090,2118,3886,3428,3434,3422,0,0,0,0,0,0,15.07,14.75,15.10
$GC,3519,-0.62,-116.8,2117,3887,3434,3422,455.7,-10.7,309,3526,0.00,2.22,0.00,0.000,1030,0.000,0.037,2117,2492,3428,3434,3422,0,0,0,0,0,0,14.93,14.88,14.95
$GC,3834,-0.62,-116.8,2117,2493,3432,3421,489.1,-10.4,326,3840,0.00,2.25,0.00,0.000,516,0.000,0.050,2115,1105,3426,3431,3421,0,0,0,0,0,0,15.07,14.83,15.10
$GC,3867,-0.62,-116.8,2117,1105,3431,3421,492.6,-10.5,332,3872,0.00,2.35,0.00,0.000,1030,0.000,0.062,2107,2500,3425,3430,3421,0,0,0,0,0,0,14.90,14.81,14.93
$GC,4180,-0.62,-116.8,2106,2500,3430,3419,526.0,-10.6,349,4186,0.00,2.38,0.00,0.000,260,0.000,0.090,2096,3897,3424,3430,3419,0,0,0,0,0,0,15.07,14.76,15.09
$GC,4204,-0.62,-116.8,2096,3896,3430,3419,528.7,-10.6,353,4211,0.12,2.20,0.00,0.000,3078,0.213,0.037,2126,2499,3424,3430,3419,0,0,0,0,0,0,14.69,14.87,14.86
$GC,4529,-0.62,-116.8,2126,2495,3428,3416,559.2,-9.3,372,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2496,3422,3429,3416,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4830,-0.62,-116.8,2126,2496,3428,3414,586.8,-9.1,387,4835,0.00,2.40,0.00,0.000,260,0.000,0.093,2117,3890,3420,3427,3414,0,0,0,0,0,0,15.07,14.75,15.10
$GC,4857,-0.62,-116.8,2117,3890,3427,3414,589.5,-9.6,392,4863,0.00,2.20,0.00,0.000,1030,0.000,0.037,2117,2500,3420,3427,3414,0,0,0,0,0,0,14.92,14.86,14.94
$GC,5176,-0.62,-116.8,2117,2499,3424,3413,619.7,-9.5,410,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3419,3425,3413,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5475,-0.62,-116.8,2117,2499,3423,3412,648.9,-9.8,425,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3417,3423,3412,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5775,-0.62,-116.8,2117,2499,3422,3411,678.0,-9.7,440,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3416,3422,3411,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6076,-0.62,-116.8,2117,2499,3421,3409,707.7,-10.1,455,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3414,3420,3409,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6376,-0.62,-116.8,2117,2499,3420,3408,738.1,-10.2,470,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3414,3420,3408,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6675,-0.62,-116.8,2117,2499,3418,3408,768.4,-10.1,485,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3413,3419,3407,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6975,-0.62,-116.8,2117,2499,3417,3407,798.1,-9.8,500,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3412,3418,3407,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7275,-0.62,-116.8,2117,2499,3416,3406,827.0,-9.4,515,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3411,3416,3406,0,0,0,0,0,0,15.04,15.08,15.07
$GC,7576,-0.62,-116.8,2117,2499,3415,3406,854.5,-9.0,530,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3410,3415,3406,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7875,-0.62,-116.8,2117,2499,3413,3404,881.6,-9.0,545,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3409,3415,3404,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8175,-0.62,-116.8,2117,2499,3413,3403,908.6,-8.9,560,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3408,3414,3402,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8475,-0.62,-116.8,2117,2499,3413,3402,934.7,-8.6,575,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2499,3407,3413,3402,0,0,0,0,0,0,15.03,15.07,15.06
$GC,8776,-0.62,-116.8,2117,2498,3413,3401,960.0,-8.4,590,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2499,3406,3412,3401,0,0,0,0,0,0,15.03,15.07,15.06
$GC,9075,-0.62,-116.8,2117,2499,3412,3401,985.6,-8.6,605,9082,0.00,2.30,0.00,0.000,516,0.000,0.053,2117,1106,3406,3412,3401,0,0,0,0,0,0,15.02,14.74,15.06
$GC,9108,-0.62,-116.8,2117,1106,3412,3401,988.6,-8.7,611,9114,0.00,2.38,0.00,0.000,1030,0.000,0.063,2107,2498,3406,3412,3401,0,0,0,0,0,0,14.83,14.71,14.85
$STATE,9140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9140,begin apogee
$GC,9146,-0.15,0.0,2107,2498,3412,3401,991.5,-8.9,614,9255,0.60,0.00,104.15,2.036,10246,0.175,0.000,2281,2498,2968,2997,2939,0,0,0,0,0,0,14.57,14.17,13.19
$STATE,9258,end apogee,CONTROL_FINISHED_OK
$STATE,9258,begin climb
$GC,9260,0.62,116.8,2281,2498,2995,2939,994.1,0.0,619,9385,0.77,0.00,113.60,2.026,10246,0.095,0.000,2538,2498,2490,2524,2457,0,0,0,0,0,0,14.23,14.02,13.11
$GC,9683,0.62,116.8,2537,2498,2512,2452,964.1,10.2,641,9690,0.00,2.45,0.00,0.000,516,0.000,0.053,2550,1053,2482,2512,2452,0,0,0,0,0,0,14.76,14.56,14.80
$GC,9768,0.62,116.8,2549,1052,2510,2452,955.4,10.2,657,9775,0.00,2.38,0.00,0.000,1030,0.000,0.058,2549,2442,2480,2510,2451,0,0,0,0,0,0,14.68,14.59,14.71
$GC,10093,0.62,116.8,2549,2442,2509,2450,921.5,10.6,676,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2442,2479,2509,2450,0,0,0,0,0,0,14.91,14.94,14.94
$GC,10393,0.62,116.8,2549,2442,2508,2449,889.6,10.9,691,10399,0.00,2.33,0.00,0.000,516,0.000,0.052,2560,1050,2478,2508,2449,0,0,0,0,0,0,14.95,14.72,14.99
$GC,10425,0.62,116.8,2560,1050,2507,2449,885.9,10.8,697,10433,0.12,2.38,0.00,0.000,5126,0.248,0.057,2534,2450,2478,2507,2449,0,0,0,0,0,0,14.54,14.71,14.76
$GC,10741,0.62,116.8,2534,2450,2507,2448,852.8,10.6,714,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2450,2477,2507,2448,0,0,0,0,0,0,14.97,15.01,15.01
$GC,11040,0.62,116.8,2534,2450,2507,2448,821.2,10.4,729,11047,0.00,2.35,0.00,0.000,516,0.000,0.052,2545,1043,2477,2507,2447,0,0,0,0,0,0,14.99,14.75,15.02
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$STATE,20644,end climb,SURFACE_DEPTH_REACHED
$STATE,20644,begin surface coast
$STATE,20665,end surface coast,CONTROL_FINISHED_OK
$STATE,20665,begin surface
$SM_CCo,20691,91.72,0.597,1,0,928,500.17
$SM_GC,1.16,7.20,0.10,91.72,0.043,0.150,0.597,125,2520,928,-6.78,-0.90,500.17,0,0,0,0,1,0,14.67,14.62,14.00
$IRIDIUM_FIX,1337.56,8700.17,010919,093714
$TT8_MAMPS,0.018725,0.938497
$HUMID,42.20
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.70
$XPDR_PINGS,3
$SC_FREEKB,3831712
$PM_FREEKB_00,52819136
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.11,68.067
$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,18.950,145.250,470.600,91.725,0.000,0.000,0.000,340.750,0.750,0.000,17.412,1483.730,13801.709,620.292,4974.529,546.708,0.000,2480.841,0.000,4308.279,0.000,0.542,0.000
$DEVICE_MAMPS,364.140,149.940,2035.665,596.700,0.000,0.000,0.000,178.245,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4061.048,0.000,0.000,0.000,0.000,0.000,20671.000,0.000,20684.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.466,0.000,3.377,0.000
$MEM,251856
$DATA_FILE_SIZE,69846,1583
$CAP_FILE_SIZE,281176,0
$CFSIZE,260034560,175460352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.077,142.51,1
$GPS,010919,211600,1332.654,8700.752,28,0.7,28,-0.9,1.1,182.5,10,3.1