version: 66.13
glider: 171
mission: 11
dive: 179
start: 9 2 119 14 47 45
data:
$ID,171
$MISSION,11
$DIVE,179
$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,64
$R_STBD_OVSHOOT,39
$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
$GPS1,020919,143839,1326.1616,8700.3096,26,1.7,26,-0.9,1.6,77.8,5,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.7
$GPS2,020919,144654,1326.1497,8700.4229,3,0.6,4,-0.9,0.4,161.9,12,3.6
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,193.1,48435,-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,-116.8,6,2522,968,879,0.0,0.0,0,101,0.00,0.00,-76.97,0.005,16386,0.000,0.000,1,2522,2725,2722,2729,0,0,0,0,0,0,14.83,28.83,14.87
$GC,104,-0.62,-116.8,1,2522,2722,2730,4.4,-11.0,16,137,9.23,2.33,-13.20,0.012,18692,0.349,0.092,2108,3876,3447,3453,3442,0,0,0,0,0,0,14.33,13.35,14.54
$GC,286,-0.62,-116.8,2108,3877,3454,3442,63.0,-29.3,52,291,0.00,2.20,0.00,0.000,1030,0.000,0.041,2108,2514,3447,3453,3442,0,0,0,0,0,0,14.73,14.66,14.75
$GC,479,-0.62,-116.8,2107,2512,3455,3442,109.0,-20.4,72,485,0.00,2.33,0.00,0.000,260,0.000,0.082,2098,3883,3447,3453,3442,0,0,0,0,0,0,14.92,14.68,14.95
$GC,604,-0.62,-116.8,2097,3883,3453,3442,131.7,-15.7,96,610,0.12,2.22,0.00,0.000,3078,0.235,0.037,2125,2489,3447,3453,3442,0,0,0,0,0,0,14.54,14.75,14.73
$GC,799,-0.62,-116.8,2125,2487,3453,3443,157.9,-12.5,116,804,0.00,2.28,0.00,0.000,516,0.000,0.054,2126,1090,3448,3454,3442,0,0,0,0,0,0,14.97,14.74,14.99
$GC,842,-0.62,-116.8,2125,1091,3454,3442,163.8,-13.3,124,848,0.00,2.35,0.00,0.000,1030,0.000,0.065,2117,2488,3447,3453,3442,0,0,0,0,0,0,14.83,14.74,14.85
$GC,1037,-0.62,-116.8,2116,2488,3454,3442,189.2,-13.4,144,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2488,3448,3454,3442,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1227,-0.62,-116.8,2116,2488,3454,3442,215.6,-13.6,163,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2488,3447,3453,3442,0,0,0,0,0,0,15.01,15.04,15.04
$GC,1416,-0.62,-116.8,2116,2488,3452,3442,239.8,-12.5,182,1422,0.00,2.38,0.00,0.000,260,0.000,0.086,2106,3894,3447,3452,3442,0,0,0,0,0,0,15.02,14.75,15.04
$GC,1451,-0.62,-116.8,2106,3894,3451,3442,244.2,-13.3,188,1456,0.00,2.22,0.00,0.000,1030,0.000,0.034,2106,2485,3447,3452,3442,0,0,0,0,0,0,14.89,14.83,14.90
$GC,1644,-0.62,-116.8,2105,2483,3450,3442,268.7,-12.2,201,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2483,3446,3450,3442,0,0,0,0,0,0,15.03,15.07,15.06
$GC,1944,-0.62,-116.8,2105,2483,3447,3442,305.6,-12.2,216,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2483,3443,3446,3441,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2245,-0.62,-116.8,2105,2483,3445,3437,341.2,-11.4,231,2250,0.00,2.42,0.00,0.000,260,0.000,0.090,2095,3898,3442,3447,3437,0,0,0,0,0,0,15.06,14.77,15.09
$GC,2276,-0.62,-116.8,2094,3900,3445,3436,345.3,-12.6,237,2283,0.12,2.22,0.00,0.000,3078,0.214,0.037,2125,2497,3441,3445,3437,0,0,0,0,0,0,14.68,14.83,14.85
$GC,2591,-0.62,-116.8,2124,2496,3443,3434,376.4,-9.6,254,2598,0.00,2.28,0.00,0.000,516,0.000,0.053,2125,1095,3438,3443,3434,0,0,0,0,0,0,15.06,14.83,15.09
$GC,2620,-0.62,-116.8,2125,1095,3443,3433,379.4,-10.3,259,2626,0.00,2.38,0.00,0.000,1030,0.000,0.064,2116,2501,3439,3444,3434,0,0,0,0,0,0,14.90,14.81,14.92
$GC,2939,-0.62,-116.8,2116,2501,3441,3430,411.5,-10.4,277,2944,0.00,2.38,0.00,0.000,260,0.000,0.088,2105,3902,3435,3441,3430,0,0,0,0,0,0,15.06,14.77,15.09
$GC,2971,-0.62,-116.8,2105,3901,3440,3430,415.2,-11.4,283,2977,0.00,2.22,0.00,0.000,1030,0.000,0.036,2106,2500,3434,3440,3428,0,0,0,0,0,0,14.92,14.86,14.95
$GC,3285,-0.62,-116.8,2105,2498,3438,3428,451.4,-11.7,300,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2499,3433,3438,3428,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3585,-0.62,-116.8,2105,2498,3435,3425,486.1,-11.5,315,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2498,3429,3435,3424,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3885,-0.62,-116.8,2105,2498,3433,3423,519.8,-11.1,330,3891,0.00,2.30,0.00,0.000,516,0.000,0.054,2107,1093,3428,3433,3423,0,0,0,0,0,0,15.06,14.81,15.09
$GC,3909,-0.62,-116.8,2107,1093,3434,3423,522.6,-11.6,334,3917,0.12,2.40,0.00,0.000,3078,0.220,0.067,2124,2506,3428,3433,3423,0,0,0,0,0,0,14.68,14.79,14.85
$GC,4235,-0.62,-116.8,2123,2507,3431,3421,555.8,-10.4,353,4240,0.00,2.38,0.00,0.000,260,0.000,0.090,2115,3899,3426,3431,3421,0,0,0,0,0,0,15.06,14.76,15.09
$GC,4278,-0.62,-116.8,2115,3900,3431,3421,560.4,-10.7,361,4284,0.00,2.22,0.00,0.000,1030,0.000,0.036,2115,2494,3426,3431,3421,0,0,0,0,0,0,14.92,14.85,14.93
$GC,4602,-0.62,-116.8,2115,2493,3430,3420,595.7,-10.7,380,4608,0.00,2.28,0.00,0.000,516,0.000,0.054,2115,1102,3425,3430,3420,0,0,0,0,0,0,15.06,14.81,15.08
$GC,4647,-0.62,-116.8,2115,1102,3429,3420,600.4,-10.5,388,4652,0.00,2.38,0.00,0.000,1030,0.000,0.064,2105,2505,3425,3430,3420,0,0,0,0,0,0,14.88,14.78,14.91
$GC,4971,-0.62,-116.8,2104,2505,3427,3418,635.5,-10.9,407,4977,0.00,2.38,0.00,0.000,260,0.000,0.090,2093,3894,3423,3429,3418,0,0,0,0,0,0,15.06,14.73,15.08
$GC,5029,-0.62,-116.8,2093,3894,3428,3417,642.2,-11.1,418,5037,0.10,2.28,0.00,0.000,3078,0.180,0.037,2125,2496,3423,3428,3418,0,0,0,0,0,0,14.58,14.76,14.69
$GC,5335,-0.62,-116.8,2125,2494,3427,3416,671.1,-9.5,434,5342,0.00,2.28,0.00,0.000,516,0.000,0.054,2126,1105,3420,3426,3414,0,0,0,0,0,0,15.05,14.79,15.08
$GC,5360,-0.62,-116.8,2125,1105,3426,3415,673.5,-9.7,438,5367,0.00,2.38,0.00,0.000,1030,0.000,0.064,2116,2502,3421,3427,3415,0,0,0,0,0,0,14.87,14.78,14.90
$GC,5685,-0.62,-116.8,2115,2502,3424,3414,706.6,-10.3,457,5690,0.00,2.38,0.00,0.000,260,0.000,0.092,2108,3891,3419,3424,3414,0,0,0,0,0,0,15.04,14.72,15.07
$GC,5729,-0.62,-116.8,2106,3891,3424,3414,711.2,-10.7,465,5735,0.00,2.20,0.00,0.000,1030,0.000,0.037,2106,2503,3419,3425,3414,0,0,0,0,0,0,14.90,14.85,14.92
$GC,6053,-0.62,-116.8,2106,2501,3423,3413,745.5,-10.3,484,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3417,3423,3412,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6353,-0.62,-116.8,2104,2501,3421,3412,775.6,-9.8,499,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3416,3421,3412,0,0,0,0,0,0,15.04,15.08,15.07
$GC,6652,-0.62,-116.8,2105,2501,3421,3411,805.4,-10.0,514,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3415,3421,3410,0,0,0,0,0,0,15.04,15.08,15.07
$GC,6952,-0.62,-116.8,2106,2501,3420,3410,835.2,-10.0,529,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3414,3420,3409,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7252,-0.62,-116.8,2105,2501,3418,3408,865.2,-10.0,544,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3413,3418,3409,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7553,-0.62,-116.8,2106,2502,3417,3408,895.2,-10.1,559,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3412,3417,3408,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7852,-0.62,-116.8,2106,2501,3417,3408,926.1,-10.5,574,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3412,3417,3407,0,0,0,0,0,0,15.04,15.07,15.06
$GC,8152,-0.62,-116.8,2106,2501,3415,3407,957.5,-10.5,589,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3411,3415,3407,0,0,0,0,0,0,15.03,15.07,15.06
$GC,8452,-0.62,-116.8,2106,2501,3414,3406,989.0,-10.4,604,8461,0.00,2.42,0.00,0.000,260,0.000,0.093,2095,3892,3410,3414,3406,0,0,0,0,0,0,15.02,14.67,15.05
$STATE,8465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8465,begin apogee
$GC,8473,-0.15,0.0,2095,2435,3414,3406,990.5,-10.4,607,8588,0.62,0.00,105.12,2.052,10246,0.179,0.000,2276,2434,2967,2996,2939,0,0,0,0,0,0,14.59,14.16,13.20
$STATE,8590,end apogee,CONTROL_FINISHED_OK
$STATE,8590,begin climb
$GC,8593,0.62,116.8,2276,2434,2995,2939,995.0,0.0,613,8723,0.80,2.50,112.45,2.042,10756,0.101,0.054,2548,1039,2489,2523,2456,0,0,0,0,0,0,14.23,14.05,13.14
$GC,8751,0.62,116.8,2547,1039,2518,2455,990.5,8.0,645,8759,0.00,2.50,0.00,0.000,1030,0.000,0.061,2548,2449,2486,2518,2455,0,0,0,0,0,0,14.28,14.21,14.31
$GC,9073,0.62,116.8,2547,2449,2513,2452,959.4,9.8,664,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2449,2483,2514,2452,0,0,0,0,0,0,14.80,14.83,14.83
$GC,9372,0.62,116.8,2547,2449,2512,2451,930.7,9.5,679,9378,0.00,2.40,0.00,0.000,516,0.000,0.054,2558,1027,2481,2512,2450,0,0,0,0,0,0,14.90,14.68,14.92
$GC,9405,0.62,116.8,2558,1027,2511,2450,927.5,9.3,685,9414,0.00,2.42,0.00,0.000,1030,0.000,0.058,2558,2449,2480,2511,2449,0,0,0,0,0,0,14.77,14.67,14.79
$GC,9716,0.62,116.8,2558,2449,2510,2449,898.1,9.5,702,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2450,2479,2510,2449,0,0,0,0,0,0,14.95,14.98,14.97
$GC,10017,0.62,116.8,2558,2449,2509,2448,870.0,9.3,717,10023,0.00,2.38,0.00,0.000,516,0.000,0.054,2570,1033,2478,2509,2448,0,0,0,0,0,0,14.97,14.73,15.00
$GC,10060,0.62,116.8,2569,1033,2508,2448,865.8,9.5,725,10069,0.15,2.40,0.00,0.000,5126,0.244,0.057,2536,2450,2478,2508,2448,0,0,0,0,0,0,14.54,14.73,14.77
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$STATE,19710,end climb,SURFACE_DEPTH_REACHED
$STATE,19710,begin surface coast
$STATE,19721,end surface coast,CONTROL_FINISHED_OK
$STATE,19721,begin surface
$SM_CCo,19808,0.00,0.000,0,0,764,540.64
$SM_GC,1.18,7.32,2.20,0.00,0.038,0.034,0.000,133,2537,764,-6.76,2.06,540.64,0,0,0,0,0,0,14.50,14.47,14.56
$IRIDIUM_FIX,1328.64,8702.50,020919,085823
$TT8_MAMPS,0.025466,0.904792
$HUMID,42.63
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,25.30
$XPDR_PINGS,2
$SC_FREEKB,3829920
$PM_FREEKB_00,52590592
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.14,69.579
$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,19.675,169.800,574.600,0.000,0.000,0.000,0.000,265.550,0.500,0.000,16.994,1451.151,12929.818,545.468,4852.596,529.722,0.000,2428.617,0.000,4260.453,0.000,0.541,0.000
$DEVICE_MAMPS,348.840,92.565,2051.730,0.000,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3951.935,0.000,0.000,0.000,0.000,0.000,19728.000,0.000,19740.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.498,0.000,3.414,0.000
$MEM,251872
$DATA_FILE_SIZE,69950,1591
$CAP_FILE_SIZE,277608,0
$CFSIZE,260034560,174981120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,149.28,1
$GPS,020919,201955,1323.935,8700.308,43,0.6,63,-0.9,0.8,349.5,12,3.5