version: 66.13
glider: 171
mission: 11
dive: 191
start: 9 5 119 12 9 10
data:
$ID,171
$MISSION,11
$DIVE,191
$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,57
$R_STBD_OVSHOOT,37
$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
$GPS1,050919,115908,1307.0226,8701.1162,30,1.0,30,-0.9,0.7,15.9,7,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.6
$GPS2,050919,120819,1306.9851,8701.3652,3,1.0,6,-0.9,1.4,81.2,7,8.0
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,337.4,72760,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-116.8,1,2509,965,884,0.0,0.0,0,100,0.00,0.00,-74.43,0.005,16386,0.000,0.000,1,2510,2722,2721,2724,0,0,0,0,0,0,14.85,28.83,14.88
$GC,103,-0.62,-116.8,1,2510,2722,2725,4.8,-12.0,15,134,9.38,2.38,-12.95,0.012,18948,0.358,0.079,2116,1115,3448,3455,3441,0,0,0,0,0,0,14.33,13.38,14.54
$GC,217,-0.62,-116.8,2116,1115,3455,3441,44.1,-27.0,38,224,0.00,2.35,0.00,0.000,1030,0.000,0.057,2108,2484,3448,3455,3441,0,0,0,0,0,0,14.63,14.59,14.67
$GC,413,-0.62,-116.8,2107,2485,3455,3441,96.7,-23.0,59,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2484,3448,3455,3441,0,0,0,0,0,0,14.90,14.94,14.93
$GC,603,-0.62,-116.8,2107,2483,3455,3441,133.4,-17.9,78,609,0.00,2.40,0.00,0.000,260,0.000,0.091,2098,3891,3448,3455,3441,0,0,0,0,0,0,14.95,14.69,14.98
$GC,640,-0.62,-116.8,2097,3892,3455,3441,140.5,-18.0,85,647,0.08,2.25,0.00,0.000,3078,0.208,0.036,2119,2493,3448,3455,3441,0,0,0,0,0,0,14.53,14.71,14.65
$GC,828,-0.62,-116.8,2119,2492,3455,3441,168.8,-14.8,104,834,0.00,2.25,0.00,0.000,516,0.000,0.044,2119,1100,3448,3455,3441,0,0,0,0,0,0,14.98,14.77,15.00
$GC,896,-0.62,-116.8,2119,1100,3455,3441,178.2,-12.8,117,903,0.00,2.42,0.00,0.000,1030,0.000,0.064,2111,2500,3448,3455,3441,0,0,0,0,0,0,14.66,14.60,14.70
$GC,1081,-0.62,-116.8,2110,2501,3455,3441,203.2,-13.7,136,1087,0.00,2.35,0.00,0.000,260,0.000,0.084,2100,3897,3448,3455,3441,0,0,0,0,0,0,15.00,14.72,15.02
$GC,1115,-0.62,-116.8,2099,3897,3454,3441,208.0,-15.0,142,1123,0.00,2.17,0.00,0.000,1030,0.000,0.033,2099,2503,3447,3454,3441,0,0,0,0,0,0,14.85,14.83,14.87
$GC,1310,-0.62,-116.8,2099,2503,3453,3440,235.2,-13.0,162,1317,0.00,2.25,0.00,0.000,516,0.000,0.047,2100,1105,3445,3451,3440,0,0,0,0,0,0,15.02,14.79,15.04
$GC,1355,-0.62,-116.8,2099,1105,3452,3440,240.7,-11.9,170,1363,0.15,2.35,0.00,0.000,3078,0.232,0.062,2124,2504,3446,3452,3440,0,0,0,0,0,0,14.64,14.77,14.81
$GC,1551,-0.62,-116.8,2124,2504,3450,3439,260.9,-10.2,185,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2504,3445,3451,3440,0,0,0,0,0,0,15.03,15.07,15.06
$GC,1851,-0.62,-116.8,2124,2504,3446,3440,292.3,-10.2,200,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2504,3443,3446,3440,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2152,-0.62,-116.8,2124,2504,3444,3436,322.3,-10.0,215,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2504,3440,3445,3436,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2451,-0.62,-116.8,2124,2504,3443,3433,352.1,-10.2,230,2457,0.00,2.35,0.00,0.000,260,0.000,0.087,2116,3891,3438,3443,3433,0,0,0,0,0,0,15.06,14.76,15.09
$GC,2504,-0.62,-116.8,2115,3891,3442,3433,357.8,-10.5,240,2510,0.00,2.20,0.00,0.000,1030,0.000,0.035,2116,2505,3437,3442,3433,0,0,0,0,0,0,14.92,14.86,14.94
$GC,2818,-0.62,-116.8,2115,2504,3439,3429,392.7,-11.3,257,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2504,3434,3440,3429,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3118,-0.62,-116.8,2115,2504,3435,3426,427.6,-11.8,272,3124,0.00,2.28,0.00,0.000,516,0.000,0.051,2116,1102,3431,3437,3426,0,0,0,0,0,0,15.06,14.82,15.09
$GC,3170,-0.62,-116.8,2115,1102,3436,3426,433.9,-11.5,282,3177,0.00,2.38,0.00,0.000,1030,0.000,0.061,2106,2507,3430,3435,3426,0,0,0,0,0,0,14.89,14.79,14.91
$GC,3485,-0.62,-116.8,2105,2508,3434,3423,473.2,-13.0,299,3491,0.00,2.38,0.00,0.000,260,0.000,0.088,2094,3896,3428,3434,3423,0,0,0,0,0,0,15.06,14.76,15.09
$GC,3522,-0.62,-116.8,2093,3896,3432,3423,478.5,-13.6,306,3531,0.10,2.28,0.00,0.000,3078,0.179,0.037,2125,2491,3428,3433,3423,0,0,0,0,0,0,14.59,14.76,14.70
$GC,3829,-0.62,-116.8,2125,2490,3431,3421,513.0,-11.1,322,3836,0.00,2.25,0.00,0.000,516,0.000,0.051,2126,1109,3426,3431,3421,0,0,0,0,0,0,15.05,14.81,15.08
$GC,3862,-0.62,-116.8,2126,1109,3431,3421,516.9,-10.9,328,3868,0.00,2.35,0.00,0.000,1030,0.000,0.062,2117,2501,3426,3432,3421,0,0,0,0,0,0,14.88,14.78,14.91
$GC,4175,-0.62,-116.8,2116,2501,3430,3420,551.9,-11.0,345,4181,0.00,2.38,0.00,0.000,260,0.000,0.089,2106,3893,3426,3430,3422,0,0,0,0,0,0,15.05,14.74,15.08
$GC,4213,-0.62,-116.8,2106,3893,3430,3420,556.3,-11.4,352,4219,0.00,2.28,0.00,0.000,1030,0.000,0.039,2106,2504,3425,3430,3420,0,0,0,0,0,0,14.78,14.75,14.81
$GC,4519,-0.62,-116.8,2106,2502,3428,3418,591.4,-11.4,368,4524,0.00,2.30,0.00,0.000,516,0.000,0.051,2106,1093,3423,3429,3418,0,0,0,0,0,0,15.05,14.80,15.08
$GC,4565,-0.62,-116.8,2106,1093,3428,3417,596.9,-11.0,377,4572,0.12,2.40,0.00,0.000,3078,0.219,0.063,2125,2497,3423,3430,3417,0,0,0,0,0,0,14.65,14.76,14.83
$GC,4886,-0.62,-116.8,2124,2498,3426,3416,626.0,-8.5,395,4891,0.00,2.40,0.00,0.000,260,0.000,0.092,2116,3896,3421,3427,3415,0,0,0,0,0,0,15.05,14.72,15.08
$GC,4918,-0.62,-116.8,2115,3896,3426,3416,628.9,-8.9,401,4924,0.00,2.22,0.00,0.000,1030,0.000,0.037,2116,2495,3421,3426,3416,0,0,0,0,0,0,14.90,14.83,14.91
$GC,5231,-0.62,-116.8,2116,2493,3424,3414,655.1,-8.1,418,5238,0.00,2.28,0.00,0.000,516,0.000,0.050,2116,1105,3419,3424,3414,0,0,0,0,0,0,15.04,14.78,15.07
$GC,5265,-0.62,-116.8,2116,1104,3424,3414,658.0,-8.5,424,5272,0.00,2.40,0.00,0.000,1030,0.000,0.065,2105,2501,3418,3424,3413,0,0,0,0,0,0,14.85,14.75,14.88
$GC,5579,-0.62,-116.8,2105,2501,3422,3412,685.9,-9.6,441,5588,0.00,2.40,0.00,0.000,260,0.000,0.091,2094,3896,3417,3422,3412,0,0,0,0,0,0,15.04,14.71,15.06
$GC,5636,-0.62,-116.8,2094,3896,3421,3412,691.6,-10.3,452,5643,0.10,2.28,0.00,0.000,3078,0.179,0.039,2127,2504,3417,3422,3412,0,0,0,0,0,0,14.54,14.73,14.66
$GC,5941,-0.62,-116.8,2126,2503,3421,3411,719.7,-9.6,468,5947,0.00,2.30,0.00,0.000,516,0.000,0.052,2127,1100,3416,3421,3411,0,0,0,0,0,0,15.04,14.78,15.06
$GC,5973,-0.62,-116.8,2124,1099,3421,3411,723.1,-10.1,474,5981,0.00,2.40,0.00,0.000,1030,0.000,0.064,2117,2506,3416,3421,3411,0,0,0,0,0,0,14.85,14.74,14.88
$GC,6290,-0.62,-116.8,2119,2506,3420,3410,756.6,-11.0,491,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2507,3415,3420,3410,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6588,-0.62,-116.8,2115,2508,3421,3407,790.4,-11.4,506,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2508,3414,3421,3407,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6888,-0.62,-116.8,2114,2508,3418,3407,824.4,-11.2,521,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2508,3413,3419,3407,0,0,0,0,0,0,15.04,15.06,15.06
$GC,7188,-0.62,-116.8,2115,2508,3417,3406,855.8,-10.0,536,7194,0.00,2.40,0.00,0.000,260,0.000,0.094,2106,3894,3410,3415,3406,0,0,0,0,0,0,15.02,14.67,15.05
$GC,7221,-0.62,-116.8,2106,3894,3416,3406,859.2,-10.4,542,7228,0.00,2.22,0.00,0.000,1030,0.000,0.037,2106,2498,3412,3417,3407,0,0,0,0,0,0,14.86,14.81,14.88
$GC,7536,-0.62,-116.8,2106,2498,3415,3407,891.0,-9.9,559,7542,0.00,2.30,0.00,0.000,516,0.000,0.051,2106,1106,3410,3415,3406,0,0,0,0,0,0,15.03,14.74,15.05
$GC,7569,-0.62,-116.8,2106,1106,3415,3406,894.3,-10.1,565,7581,0.12,2.40,0.00,0.000,3078,0.218,0.064,2125,2510,3410,3414,3406,0,0,0,0,0,0,14.59,14.71,14.77
$GC,7881,-0.62,-116.8,2124,2511,3415,3404,920.9,-8.4,582,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2511,3409,3415,3404,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8180,-0.62,-116.8,2124,2511,3413,3403,946.8,-8.9,597,8189,0.00,2.40,0.00,0.000,260,0.000,0.094,2116,3895,3408,3413,3403,0,0,0,0,0,0,15.02,14.66,15.04
$GC,8231,-0.62,-116.8,2115,3894,3413,3403,951.7,-9.6,607,8238,0.00,2.22,0.00,0.000,1030,0.000,0.037,2116,2496,3408,3413,3403,0,0,0,0,0,0,14.80,14.78,14.82
$GC,8546,-0.62,-116.8,2116,2496,3412,3402,982.9,-10.1,624,8552,0.00,2.30,0.00,0.000,516,0.000,0.052,2116,1106,3408,3415,3402,0,0,0,0,0,0,15.02,14.72,15.04
$GC,8584,-0.62,-116.8,2116,1106,3413,3402,986.9,-10.1,631,8591,0.00,2.45,0.00,0.000,1030,0.000,0.063,2105,2502,3407,3412,3402,0,0,0,0,0,0,14.65,14.59,14.70
$STATE,8627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8627,begin apogee
$GC,8633,-0.15,0.0,2105,2502,3412,3402,991.6,-10.4,634,8742,0.60,0.00,103.28,2.045,10246,0.174,0.000,2279,2502,2968,2996,2940,0,0,0,0,0,0,14.56,14.16,13.22
$STATE,8744,end apogee,CONTROL_FINISHED_OK
$STATE,8744,begin climb
$GC,8746,0.62,116.8,2279,2502,2993,2940,995.4,0.0,639,8876,0.77,2.55,112.40,2.036,10756,0.101,0.052,2543,1050,2489,2521,2457,0,0,0,0,0,0,14.21,14.05,13.14
$GC,8888,0.69,181.5,2543,1050,2517,2456,993.8,5.3,655,8957,0.00,2.53,60.90,2.005,9254,0.000,0.060,2543,2441,2228,2276,2180,0,0,0,0,0,0,14.18,14.13,13.14
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$STATE,17565,end climb,SURFACE_DEPTH_REACHED
$STATE,17565,begin surface coast
$STATE,17597,end surface coast,CONTROL_FINISHED_OK
$STATE,17598,begin surface
$SM_CCo,17623,104.10,0.617,1,0,928,500.17
$SM_GC,1.30,7.07,0.10,104.10,0.045,0.169,0.617,126,2504,928,-6.77,-0.93,500.17,0,0,0,0,1,0,14.70,14.61,14.00
$IRIDIUM_FIX,1303.91,8702.84,050919,061459
$TT8_MAMPS,0.018725,0.939246
$HUMID,42.32
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,25.10
$XPDR_PINGS,3
$SC_FREEKB,3824544
$PM_FREEKB_00,50762496
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.14,74.144
$10V_AH,13.26,0.000
$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,19.125,174.125,464.250,104.100,0.000,0.000,0.000,312.125,0.750,0.000,19.404,1331.067,11403.396,608.789,4426.825,517.452,0.000,2365.459,0.000,3809.837,0.000,0.541,0.000
$DEVICE_MAMPS,358.020,169.065,2044.845,616.590,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3555.484,0.000,0.000,0.000,0.000,0.000,17604.000,0.000,17617.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.379,0.000,3.473,0.000
$MEM,251872
$DATA_FILE_SIZE,63363,1411
$CAP_FILE_SIZE,257454,0
$CFSIZE,260034560,173510656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.075,55.97,1
$GPS,050919,170609,1308.966,8701.309,23,1.4,24,-0.9,1.1,82.6,6,5.8