version: 66.13
glider: 171
mission: 11
dive: 190
start: 9 5 119 6 20 53
data:
$ID,171
$MISSION,11
$DIVE,190
$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,78
$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
$GPS1,050919,061108,1305.7482,8700.9121,46,1.2,47,-0.9,1.0,32.8,6,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-60.3
$GPS2,050919,062002,1305.7501,8701.1260,2,1.1,6,-0.9,1.4,60.8,7,10.0
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,332.7,75033,-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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.62,-116.8,41,2557,968,879,0.0,0.0,0,102,0.00,0.00,-77.40,0.005,16386,0.000,0.000,22,2558,2755,2759,2751,0,0,0,0,0,0,14.83,28.83,14.86
$GC,105,-0.62,-116.8,21,2557,2758,2752,4.9,-13.1,16,138,9.20,2.47,-12.82,0.012,18948,0.352,0.076,2125,1100,3449,3457,3442,0,0,0,0,0,0,14.35,13.35,14.54
$GC,262,-0.62,-116.8,2125,1100,3459,3442,52.1,-29.3,47,269,0.00,2.35,0.00,0.000,1030,0.000,0.071,2117,2437,3449,3457,3442,0,0,0,0,0,0,14.63,14.57,14.66
$GC,447,-0.62,-116.8,2117,2437,3457,3442,95.6,-21.5,66,453,0.00,2.40,0.00,0.000,260,0.000,0.086,2106,3846,3450,3458,3442,0,0,0,0,0,0,14.93,14.66,14.95
$GC,545,-0.62,-116.8,2106,3846,3457,3443,115.0,-17.6,85,552,0.00,2.17,0.00,0.000,1030,0.000,0.035,2106,2507,3450,3458,3442,0,0,0,0,0,0,14.70,14.67,14.72
$GC,734,-0.62,-116.8,2106,2506,3458,3442,146.6,-16.9,104,740,0.00,2.30,0.00,0.000,516,0.000,0.052,2107,1093,3450,3458,3442,0,0,0,0,0,0,14.96,14.73,14.99
$GC,752,-0.62,-116.8,2105,1093,3458,3442,149.6,-15.2,107,759,0.10,2.35,0.00,0.000,3078,0.200,0.064,2125,2449,3450,3458,3442,0,0,0,0,0,0,14.54,14.65,14.65
$GC,938,-0.62,-116.8,2125,2450,3458,3442,173.6,-12.0,126,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2450,3450,3458,3442,0,0,0,0,0,0,14.97,15.01,15.00
$GC,1128,-0.62,-116.8,2125,2450,3458,3442,195.3,-11.4,145,1134,0.00,2.38,0.00,0.000,260,0.000,0.093,2116,3841,3450,3458,3442,0,0,0,0,0,0,14.98,14.71,15.02
$GC,1152,-0.62,-116.8,2116,3841,3457,3442,198.1,-11.4,149,1158,0.00,2.12,0.00,0.000,1030,0.000,0.036,2116,2491,3449,3457,3441,0,0,0,0,0,0,14.86,14.81,14.88
$GC,1346,-0.62,-116.8,2116,2490,3456,3442,220.9,-11.6,169,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2490,3449,3456,3442,0,0,0,0,0,0,15.00,15.04,15.03
$GC,1536,-0.62,-116.8,2117,2490,3454,3442,242.5,-11.2,188,1542,0.00,2.22,0.00,0.000,516,0.000,0.047,2117,1105,3447,3453,3442,0,0,0,0,0,0,15.01,14.78,15.04
$GC,1569,-0.62,-116.8,2116,1104,3453,3442,246.3,-11.2,194,1577,0.00,2.28,0.00,0.000,1030,0.000,0.063,2106,2456,3447,3453,3442,0,0,0,0,0,0,14.85,14.76,14.88
$GC,1764,-0.62,-116.8,2106,2456,3450,3442,269.8,-12.3,206,1771,0.00,2.45,0.00,0.000,260,0.000,0.087,2095,3897,3446,3451,3442,0,0,0,0,0,0,15.03,14.74,15.05
$GC,1802,-0.62,-116.8,2094,3897,3451,3442,274.8,-12.9,213,1809,0.10,2.25,0.00,0.000,3078,0.181,0.034,2126,2492,3446,3450,3442,0,0,0,0,0,0,14.59,14.76,14.71
$GC,2109,-0.62,-116.8,2126,2491,3448,3439,310.5,-11.9,229,2114,0.00,2.22,0.00,0.000,516,0.000,0.048,2127,1109,3444,3449,3439,0,0,0,0,0,0,15.04,14.80,15.07
$GC,2145,-0.62,-116.8,2126,1109,3447,3439,315.1,-11.7,236,2152,0.00,2.40,0.00,0.000,1030,0.000,0.061,2119,2504,3442,3447,3438,0,0,0,0,0,0,14.77,14.71,14.80
$GC,2452,-0.62,-116.8,2117,2502,3446,3436,351.8,-12.0,252,2458,0.00,2.35,0.00,0.000,260,0.000,0.088,2107,3892,3440,3445,3436,0,0,0,0,0,0,15.05,14.76,15.07
$GC,2496,-0.62,-116.8,2107,3893,3445,3435,357.1,-12.2,260,2502,0.00,2.20,0.00,0.000,1030,0.000,0.035,2107,2504,3440,3445,3435,0,0,0,0,0,0,14.91,14.85,14.92
$GC,2821,-0.62,-116.8,2107,2504,3443,3432,396.9,-12.1,279,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2503,3437,3443,3432,0,0,0,0,0,0,15.05,15.09,15.08
$GC,3120,-0.62,-116.8,2107,2503,3442,3429,432.4,-11.5,294,3127,0.00,2.28,0.00,0.000,516,0.000,0.052,2107,1102,3435,3442,3429,0,0,0,0,0,0,15.05,14.81,15.08
$GC,3164,-0.62,-116.8,2107,1102,3441,3429,437.5,-11.2,302,3172,0.12,2.38,0.00,0.000,3078,0.222,0.065,2125,2502,3435,3441,3429,0,0,0,0,0,0,14.66,14.78,14.84
$GC,3490,-0.62,-116.8,2125,2502,3438,3425,470.9,-10.4,321,3496,0.00,2.38,0.00,0.000,260,0.000,0.090,2117,3895,3432,3439,3425,0,0,0,0,0,0,15.04,14.74,15.07
$GC,3527,-0.62,-116.8,2116,3894,3438,3425,475.1,-11.0,328,3534,0.00,2.25,0.00,0.000,1030,0.000,0.035,2117,2510,3431,3437,3425,0,0,0,0,0,0,14.79,14.76,14.81
$GC,3834,-0.62,-116.8,2116,2509,3436,3423,508.7,-11.0,344,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2508,3429,3436,3423,0,0,0,0,0,0,15.05,15.08,15.08
$GC,4134,-0.62,-116.8,2116,2508,3434,3422,540.2,-10.4,359,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2509,3428,3434,3422,0,0,0,0,0,0,15.05,15.09,15.08
$GC,4434,-0.62,-116.8,2116,2508,3433,3421,571.0,-10.3,374,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2509,3426,3432,3421,0,0,0,0,0,0,15.04,15.08,15.08
$GC,4734,-0.62,-116.8,2116,2509,3431,3420,602.2,-10.4,389,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2509,3425,3431,3420,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5034,-0.62,-116.8,2116,2509,3430,3418,634.5,-11.0,404,5039,0.00,2.30,0.00,0.000,516,0.000,0.051,2117,1104,3424,3430,3418,0,0,0,0,0,0,15.04,14.78,15.07
$GC,5097,-0.62,-116.8,2116,1103,3429,3418,641.4,-10.9,416,5103,0.00,2.38,0.00,0.000,1030,0.000,0.064,2106,2501,3423,3429,3418,0,0,0,0,0,0,14.87,14.76,14.89
$GC,5421,-0.62,-116.8,2106,2501,3429,3416,679.2,-11.8,435,5429,0.00,2.40,0.00,0.000,260,0.000,0.093,2095,3895,3422,3429,3416,0,0,0,0,0,0,15.04,14.71,15.07
$GC,5475,-0.62,-116.8,2094,3896,3428,3416,686.0,-12.0,446,5484,0.10,2.30,0.00,0.000,3078,0.177,0.039,2126,2489,3422,3428,3416,0,0,0,0,0,0,14.54,14.73,14.65
$GC,5782,-0.62,-116.8,2126,2487,3427,3414,718.9,-10.8,462,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2487,3421,3429,3414,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6083,-0.62,-116.8,2126,2487,3426,3413,752.0,-10.9,477,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2487,3419,3426,3413,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6382,-0.62,-116.8,2126,2486,3425,3412,784.1,-10.5,492,6388,0.00,2.45,0.00,0.000,260,0.000,0.093,2118,3891,3418,3424,3412,0,0,0,0,0,0,15.04,14.69,15.06
$GC,6426,-0.62,-116.8,2117,3891,3424,3412,788.8,-10.8,500,6432,0.00,2.22,0.00,0.000,1030,0.000,0.037,2118,2496,3418,3424,3412,0,0,0,0,0,0,14.88,14.81,14.89
$GC,6751,-0.62,-116.8,2117,2495,3423,3411,821.7,-9.8,519,6756,0.00,2.28,0.00,0.000,516,0.000,0.050,2118,1106,3416,3422,3411,0,0,0,0,0,0,15.03,14.75,15.07
$GC,6818,-0.62,-116.8,2117,1106,3422,3411,828.4,-9.3,532,6824,0.00,2.38,0.00,0.000,1030,0.000,0.063,2107,2498,3416,3422,3411,0,0,0,0,0,0,14.83,14.73,14.86
$GC,7136,-0.62,-116.8,2107,2499,3421,3410,858.7,-9.5,550,7143,0.00,2.42,0.00,0.000,260,0.000,0.093,2096,3899,3415,3421,3410,0,0,0,0,0,0,15.02,14.68,15.05
$GC,7190,-0.62,-116.8,2096,3899,3421,3409,864.0,-10.1,560,7196,0.12,2.25,0.00,0.000,3078,0.211,0.038,2126,2501,3415,3421,3409,0,0,0,0,0,0,14.60,14.79,14.78
$GC,7505,-0.62,-116.8,2126,2500,3421,3409,889.4,-8.1,577,7511,0.00,2.30,0.00,0.000,516,0.000,0.050,2127,1101,3414,3420,3408,0,0,0,0,0,0,15.02,14.74,15.04
$GC,7532,-0.62,-116.8,2126,1100,3420,3409,891.9,-9.1,582,7539,0.00,2.40,0.00,0.000,1030,0.000,0.063,2119,2505,3414,3420,3408,0,0,0,0,0,0,14.83,14.72,14.85
$GC,7852,-0.62,-116.8,2118,2506,3419,3408,919.9,-8.8,600,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2505,3413,3419,3408,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8152,-0.62,-116.8,2117,2505,3418,3407,946.1,-8.6,615,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2505,3412,3418,3407,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8452,-0.62,-116.8,2117,2505,3417,3407,971.1,-8.1,630,8458,0.00,2.40,0.00,0.000,260,0.000,0.094,2107,3893,3411,3417,3406,0,0,0,0,0,0,15.02,14.65,15.04
$GC,8506,-0.62,-116.8,2107,3893,3417,3407,975.7,-8.5,640,8512,0.00,2.25,0.00,0.000,1030,0.000,0.038,2107,2493,3412,3417,3407,0,0,0,0,0,0,14.85,14.78,14.86
$STATE,8677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8677,begin apogee
$GC,8685,-0.15,0.0,2107,2491,3417,3406,990.0,-8.1,650,8793,0.57,0.00,103.43,2.043,10246,0.172,0.000,2275,2491,2968,2998,2938,0,0,0,0,0,0,14.57,14.17,13.27
$STATE,8796,end apogee,CONTROL_FINISHED_OK
$STATE,8796,begin climb
$GC,8798,0.62,116.8,2275,2491,2996,2938,991.7,0.0,655,8928,0.80,2.47,110.53,2.033,10500,0.102,0.087,2535,3848,2488,2521,2456,0,0,0,0,0,0,14.22,13.87,13.14
$GC,8955,0.62,116.8,2535,3848,2517,2456,982.9,11.3,690,8962,0.00,2.40,0.00,0.000,1030,0.000,0.037,2545,2447,2486,2516,2456,0,0,0,0,0,0,14.23,14.20,14.24
$GC,9261,0.62,116.8,2547,2447,2513,2452,945.6,12.1,706,9268,0.00,2.38,0.00,0.000,516,0.000,0.053,2558,1037,2482,2513,2452,0,0,0,0,0,0,14.79,14.57,14.82
$GC,9299,0.62,116.8,2557,1037,2511,2451,940.9,12.1,713,9306,0.00,2.47,0.00,0.000,1030,0.000,0.056,2558,2449,2481,2511,2451,0,0,0,0,0,0,14.57,14.51,14.61
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$STATE,19986,end climb,SURFACE_DEPTH_REACHED
$STATE,19986,begin surface coast
$STATE,20022,end surface coast,CONTROL_FINISHED_OK
$STATE,20022,begin surface
$SM_CCo,20048,148.48,0.651,1,0,928,500.17
$SM_GC,1.39,7.07,0.10,148.48,0.047,0.160,0.651,134,2507,928,-6.76,-1.02,500.17,0,0,0,0,1,0,14.71,14.67,13.98
$IRIDIUM_FIX,1306.00,8700.63,050919,002009
$TT8_MAMPS,0.019474,0.804426
$HUMID,40.70
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,26.20
$XPDR_PINGS,3
$SC_FREEKB,3824992
$PM_FREEKB_00,50813568
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.14,73.760
$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,18.875,207.500,406.825,148.475,0.000,0.000,0.000,295.925,0.750,0.000,19.847,1593.898,12809.748,613.538,5161.561,563.720,0.000,2589.971,0.000,4513.320,0.000,0.541,0.000
$DEVICE_MAMPS,351.900,159.885,2043.315,651.015,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4095.048,0.000,0.000,0.000,0.000,0.000,20029.000,0.000,20042.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.311,0.000,3.445,0.000
$MEM,251832
$DATA_FILE_SIZE,73286,1716
$CAP_FILE_SIZE,298067,0
$CFSIZE,260034560,173588480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.062,105.70,1
$GPS,050919,115908,1307.023,8701.116,30,1.0,30,-0.9,0.7,15.9,7,6.3