version: 66.13
glider: 171
mission: 11
dive: 185
start: 9 4 119 1 27 42
data:
$ID,171
$MISSION,11
$DIVE,185
$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,50
$R_STBD_OVSHOOT,47
$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
$GPS1,040919,011810,1312.5885,8700.5166,23,1.7,24,-0.9,1.2,200.4,6,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.7
$GPS2,040919,012651,1312.5547,8700.6963,2,0.8,3,-0.9,2.3,73.3,12,8.5
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,201.2,23285,-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,-116.8,6,2529,968,877,0.0,0.0,0,107,0.00,0.00,-82.28,0.005,16386,0.000,0.000,1,2529,2892,2882,2903,0,0,0,0,0,0,14.82,28.83,14.86
$GC,110,-0.62,-116.8,1,2529,2883,2903,5.5,-16.0,17,138,9.45,2.35,-9.40,0.015,19204,0.360,0.102,2108,3872,3447,3451,3443,0,0,0,0,0,0,14.33,13.38,14.53
$GC,156,-0.62,-116.8,2107,3872,3451,3443,27.6,-44.3,26,164,0.00,2.25,0.00,0.000,1030,0.000,0.041,2108,2514,3447,3452,3443,0,0,0,0,0,0,14.63,14.59,14.66
$GC,352,-0.62,-116.8,2107,2511,3452,3443,83.9,-23.6,51,358,0.00,2.33,0.00,0.000,260,0.000,0.084,2099,3874,3447,3452,3443,0,0,0,0,0,0,14.90,14.64,14.92
$GC,590,-0.62,-116.8,2099,3874,3453,3443,132.9,-17.2,97,596,0.00,2.20,0.00,0.000,1030,0.000,0.033,2099,2473,3447,3452,3443,0,0,0,0,0,0,14.82,14.76,14.84
$GC,785,-0.62,-116.8,2099,2471,3452,3443,163.2,-15.6,117,794,0.12,2.40,0.00,0.000,2308,0.250,0.079,2118,3881,3447,3452,3443,0,0,0,0,0,0,14.60,14.64,14.74
$GC,810,-0.62,-116.8,2117,3881,3452,3443,167.2,-14.1,122,817,0.00,2.22,0.00,0.000,1030,0.000,0.032,2118,2497,3447,3452,3443,0,0,0,0,0,0,14.78,14.75,14.80
$GC,998,-0.62,-116.8,2118,2496,3452,3443,191.6,-12.5,141,1005,0.00,2.33,0.00,0.000,260,0.000,0.082,2108,3871,3447,3452,3443,0,0,0,0,0,0,14.98,14.69,15.00
$GC,1024,-0.62,-116.8,2108,3871,3453,3443,194.8,-12.8,145,1029,0.00,2.15,0.00,0.000,1030,0.000,0.033,2108,2497,3447,3452,3443,0,0,0,0,0,0,14.86,14.81,14.88
$GC,1218,-0.62,-116.8,2108,2496,3452,3443,219.7,-12.9,165,1224,0.00,2.35,0.00,0.000,260,0.000,0.083,2097,3878,3447,3452,3443,0,0,0,0,0,0,15.00,14.73,15.03
$GC,1293,-0.62,-116.8,2097,3878,3452,3443,229.9,-14.1,179,1300,0.12,2.17,0.00,0.000,3078,0.221,0.033,2126,2495,3446,3451,3442,0,0,0,0,0,0,14.64,14.83,14.82
$GC,1487,-0.62,-116.8,2126,2494,3450,3442,253.4,-11.8,198,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2494,3446,3450,3443,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1788,-0.62,-116.8,2126,2494,3447,3442,288.8,-11.7,213,1794,0.00,2.35,0.00,0.000,260,0.000,0.085,2118,3874,3444,3446,3442,0,0,0,0,0,0,15.04,14.76,15.07
$GC,1815,-0.62,-116.8,2118,3874,3447,3442,292.3,-12.5,218,1821,0.00,2.15,0.00,0.000,1030,0.000,0.033,2118,2501,3444,3446,3442,0,0,0,0,0,0,14.90,14.85,14.92
$GC,2134,-0.62,-116.8,2118,2499,3445,3438,330.5,-11.6,236,2140,0.00,2.25,0.00,0.000,516,0.000,0.049,2118,1104,3441,3445,3438,0,0,0,0,0,0,15.04,14.82,15.08
$GC,2151,-0.62,-116.8,2118,1104,3445,3437,332.7,-11.3,239,2158,0.00,2.35,0.00,0.000,1030,0.000,0.060,2108,2476,3441,3444,3438,0,0,0,0,0,0,14.78,14.72,14.81
$GC,2458,-0.62,-116.8,2107,2475,3443,3435,365.5,-10.3,255,2464,0.00,2.40,0.00,0.000,260,0.000,0.086,2097,3890,3439,3443,3435,0,0,0,0,0,0,15.05,14.76,15.08
$GC,2502,-0.62,-116.8,2096,3890,3443,3435,370.1,-10.7,263,2508,0.12,2.17,0.00,0.000,3078,0.214,0.034,2126,2499,3439,3443,3435,0,0,0,0,0,0,14.69,14.86,14.85
$GC,2826,-0.62,-116.8,2126,2497,3441,3431,399.6,-9.2,282,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2497,3436,3441,3432,0,0,0,0,0,0,15.06,15.09,15.10
$GC,3126,-0.62,-116.8,2127,2497,3439,3429,428.6,-9.8,297,3132,0.00,2.40,0.00,0.000,260,0.000,0.089,2118,3892,3434,3439,3429,0,0,0,0,0,0,15.06,14.76,15.09
$GC,3158,-0.62,-116.8,2118,3891,3438,3428,432.1,-10.8,303,3164,0.00,2.20,0.00,0.000,1030,0.000,0.035,2118,2495,3433,3438,3429,0,0,0,0,0,0,14.92,14.86,14.93
$GC,3472,-0.62,-116.8,2118,2495,3436,3425,465.0,-10.6,320,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2496,3430,3436,3425,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3772,-0.62,-116.8,2117,2495,3434,3424,496.4,-10.3,335,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2495,3429,3434,3424,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4072,-0.62,-116.8,2117,2495,3432,3422,528.0,-10.7,350,4077,0.00,2.40,0.00,0.000,260,0.000,0.090,2109,3888,3427,3432,3422,0,0,0,0,0,0,15.05,14.74,15.07
$GC,4129,-0.62,-116.8,2107,3888,3432,3422,534.5,-11.0,361,4136,0.00,2.25,0.00,0.000,1030,0.000,0.037,2107,2507,3426,3432,3421,0,0,0,0,0,0,14.79,14.76,14.82
$GC,4436,-0.62,-116.8,2107,2506,3431,3421,568.6,-11.2,377,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2506,3425,3430,3421,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4735,-0.62,-116.8,2107,2506,3430,3420,601.9,-11.0,392,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2506,3424,3430,3419,0,0,0,0,0,0,15.05,15.09,15.08
$GC,5035,-0.62,-116.8,2105,2504,3430,3415,633.6,-10.3,407,5041,0.00,2.40,0.00,0.000,260,0.000,0.093,2096,3889,3422,3429,3415,0,0,0,0,0,0,15.05,14.73,15.08
$GC,5068,-0.62,-116.8,2096,3889,3430,3415,637.1,-10.5,413,5075,0.12,2.22,0.00,0.000,3078,0.213,0.038,2126,2493,3422,3430,3415,0,0,0,0,0,0,14.66,14.84,14.83
$GC,5382,-0.62,-116.8,2126,2491,3428,3415,663.8,-8.2,430,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2491,3421,3428,3415,0,0,0,0,0,0,15.04,15.09,15.07
$GC,5683,-0.62,-116.8,2126,2491,3425,3415,689.4,-8.6,445,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2491,3420,3426,3415,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5982,-0.62,-116.8,2126,2491,3424,3413,716.1,-9.0,460,5989,0.00,2.42,0.00,0.000,260,0.000,0.093,2118,3889,3418,3424,3413,0,0,0,0,0,0,15.04,14.71,15.07
$GC,6007,-0.62,-116.8,2117,3889,3424,3412,718.3,-9.4,464,6014,0.00,2.22,0.00,0.000,1030,0.000,0.037,2118,2494,3418,3424,3413,0,0,0,0,0,0,14.89,14.83,14.90
$GC,6332,-0.62,-116.8,2117,2493,3422,3411,748.7,-9.0,483,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2493,3417,3422,3412,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6631,-0.62,-116.8,2117,2493,3422,3411,775.3,-8.8,498,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2492,3416,3421,3411,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6932,-0.62,-116.8,2117,2493,3421,3410,801.9,-8.8,513,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2493,3415,3421,3410,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7232,-0.62,-116.8,2117,2493,3419,3409,829.1,-9.2,528,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2493,3414,3419,3409,0,0,0,0,0,0,15.03,15.07,15.06
$GC,7531,-0.62,-116.8,2117,2493,3418,3408,857.4,-9.7,543,7537,0.00,2.42,0.00,0.000,260,0.000,0.093,2108,3888,3413,3417,3409,0,0,0,0,0,0,15.04,14.68,15.06
$GC,7555,-0.62,-116.8,2107,3888,3418,3409,859.8,-10.5,547,7561,0.00,2.22,0.00,0.000,1030,0.000,0.037,2107,2498,3413,3418,3409,0,0,0,0,0,0,14.87,14.81,14.89
$GC,7879,-0.62,-116.8,2107,2498,3417,3408,895.1,-11.0,566,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2498,3412,3417,3408,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8179,-0.62,-116.8,2106,2498,3416,3407,928.1,-10.9,581,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2498,3412,3416,3408,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8479,-0.62,-116.8,2107,2498,3416,3407,959.9,-10.4,596,8486,0.00,2.45,0.00,0.000,260,0.000,0.093,2098,3896,3410,3415,3406,0,0,0,0,0,0,15.02,14.66,15.04
$GC,8507,-0.62,-116.8,2096,3897,3415,3406,963.2,-11.2,601,8514,0.12,2.25,0.00,0.000,3078,0.213,0.039,2126,2496,3411,3415,3407,0,0,0,0,0,0,14.59,14.79,14.77
$STATE,8824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8825,begin apogee
$GC,8831,-0.15,0.0,2126,2495,3414,3406,991.5,-8.7,619,8938,0.52,0.00,101.80,2.052,10246,0.171,0.000,2281,2494,2968,2997,2939,0,0,0,0,0,0,14.59,14.17,13.27
$STATE,8940,end apogee,CONTROL_FINISHED_OK
$STATE,8940,begin climb
$GC,8942,0.62,116.8,2282,2495,2995,2938,994.4,0.0,624,9070,0.77,2.47,109.50,2.030,10500,0.098,0.088,2536,3845,2489,2522,2456,0,0,0,0,0,0,14.23,13.86,13.16
$GC,9082,0.65,116.8,2535,3845,2519,2456,991.9,6.8,655,9089,0.00,2.40,0.00,0.000,1094,0.000,0.037,2546,2448,2487,2518,2456,0,0,0,0,0,0,14.18,14.15,14.20
$GC,9388,0.65,116.8,2547,2448,2513,2452,963.0,9.5,671,9394,0.00,2.38,0.00,0.000,516,0.000,0.055,2558,1041,2481,2513,2450,0,0,0,0,0,0,14.78,14.56,14.80
$GC,9452,0.65,116.8,2558,1042,2511,2450,957.1,9.2,683,9458,0.00,2.40,0.00,0.000,1030,0.000,0.057,2558,2440,2479,2509,2450,0,0,0,0,0,0,14.66,14.58,14.70
$GC,9776,0.65,116.8,2557,2440,2510,2449,927.4,8.8,702,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2440,2479,2510,2449,0,0,0,0,0,0,14.90,14.94,14.93
$GC,10076,0.65,116.8,2558,2440,2510,2448,901.2,8.9,717,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2440,2479,2510,2448,0,0,0,0,0,0,14.95,14.97,14.97
$GC,10376,0.65,116.8,2557,2440,2509,2447,874.5,9.1,732,10381,0.00,2.35,0.00,0.000,516,0.000,0.053,2569,1042,2478,2509,2447,0,0,0,0,0,0,14.97,14.73,15.00
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$STATE,19991,end climb,SURFACE_DEPTH_REACHED
$STATE,19991,begin surface coast
$STATE,20006,end surface coast,CONTROL_FINISHED_OK
$STATE,20007,begin surface
$SM_CCo,20032,99.05,0.612,1,0,928,500.17
$SM_GC,1.12,7.32,0.10,99.05,0.054,0.153,0.612,115,2509,928,-6.78,-0.82,500.17,0,0,0,0,1,0,14.65,14.59,13.99
$IRIDIUM_FIX,1312.83,8700.51,030919,193418
$TT8_MAMPS,0.017227,0.559503
$HUMID,42.79
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,24.30
$XPDR_PINGS,2
$SC_FREEKB,3827232
$PM_FREEKB_00,51098112
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.16,71.855
$10V_AH,13.16,0.000
$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,19.550,173.350,449.575,99.050,0.000,0.000,0.000,288.725,0.500,0.000,16.882,1496.707,13174.414,575.546,4884.378,534.151,0.000,2452.455,0.000,4267.452,0.000,0.541,0.000
$DEVICE_MAMPS,359.550,153.000,2051.730,612.000,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3885.856,0.000,0.000,0.000,0.000,0.000,20013.000,0.000,20026.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.444,0.000,3.427,0.000
$MEM,251872
$DATA_FILE_SIZE,70016,1616
$CAP_FILE_SIZE,280260,0
$CFSIZE,260034560,174231552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.074,147.80,1
$GPS,040919,070441,1310.406,8700.519,17,1.9,20,-0.9,0.2,0.0,5,9.5