version: 66.13
glider: 171
mission: 11
dive: 192
start: 9 5 119 17 15 31
data:
$ID,171
$MISSION,11
$DIVE,192
$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,0.0019952599
$HD_B,0.0163117
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,050919,170609,1308.9664,8701.3086,23,1.4,24,-0.9,1.1,82.6,6,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.3
$GPS2,050919,171446,1308.9196,8701.5137,2,0.6,3,-0.9,1.7,78.3,12,4.7
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,337.4,69189,-17.3,-8.462,-25.76,2103
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.62,-116.8,48,2505,964,883,0.0,0.0,0,104,0.00,0.00,-77.38,0.005,16386,0.000,0.000,33,2506,2730,2732,2729,0,0,0,0,0,0,14.85,28.83,14.88
$GC,107,-0.62,-116.8,33,2506,2733,2729,4.4,-11.1,16,139,9.18,2.38,-13.10,0.012,18948,0.355,0.077,2125,1107,3447,3454,3441,0,0,0,0,0,0,14.35,13.36,14.55
$GC,244,-0.62,-116.8,2125,1108,3454,3441,47.1,-23.8,43,251,0.00,2.38,0.00,0.000,1030,0.000,0.057,2117,2493,3446,3452,3441,0,0,0,0,0,0,14.65,14.60,14.68
$GC,439,-0.62,-116.8,2116,2493,3454,3441,98.7,-22.4,63,448,0.00,2.38,0.00,0.000,260,0.000,0.086,2106,3890,3447,3454,3441,0,0,0,0,0,0,14.92,14.66,14.95
$GC,482,-0.62,-116.8,2106,3890,3454,3441,108.3,-22.7,71,488,0.00,2.22,0.00,0.000,1030,0.000,0.036,2106,2495,3447,3454,3441,0,0,0,0,0,0,14.80,14.75,14.83
$GC,677,-0.62,-116.8,2105,2493,3454,3441,145.1,-17.7,91,682,0.00,2.40,0.00,0.000,260,0.000,0.084,2095,3894,3447,3454,3441,0,0,0,0,0,0,14.96,14.69,14.99
$GC,710,-0.62,-116.8,2094,3894,3454,3441,150.9,-17.7,97,717,0.12,2.20,0.00,0.000,3078,0.230,0.033,2123,2490,3447,3454,3441,0,0,0,0,0,0,14.59,14.79,14.77
$GC,905,-0.62,-116.8,2123,2489,3454,3441,177.2,-12.3,117,911,0.00,2.22,0.00,0.000,516,0.000,0.048,2124,1109,3447,3454,3441,0,0,0,0,0,0,14.98,14.69,15.01
$GC,929,-0.62,-116.8,2123,1109,3453,3441,180.1,-12.2,121,935,0.00,2.33,0.00,0.000,1030,0.000,0.057,2114,2505,3447,3454,3441,0,0,0,0,0,0,14.83,14.75,14.85
$GC,1123,-0.62,-116.8,2114,2505,3454,3441,204.2,-13.0,141,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2505,3447,3454,3441,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1313,-0.62,-116.8,2114,2505,3453,3441,226.5,-11.8,160,1318,0.00,2.28,0.00,0.000,516,0.000,0.047,2114,1105,3447,3453,3441,0,0,0,0,0,0,15.01,14.78,15.04
$GC,1376,-0.62,-116.8,2114,1104,3452,3441,234.1,-12.0,172,1382,0.00,2.35,0.00,0.000,1030,0.000,0.058,2104,2509,3447,3454,3441,0,0,0,0,0,0,14.86,14.77,14.88
$GC,1570,-0.62,-116.8,2104,2509,3451,3441,259.4,-13.6,189,1576,0.00,2.35,0.00,0.000,260,0.000,0.087,2092,3897,3445,3450,3441,0,0,0,0,0,0,15.02,14.73,15.05
$GC,1607,-0.62,-116.8,2092,3896,3450,3439,264.5,-13.4,196,1615,0.10,2.25,0.00,0.000,3078,0.187,0.034,2124,2494,3446,3451,3441,0,0,0,0,0,0,14.59,14.77,14.70
$GC,1914,-0.62,-116.8,2124,2493,3447,3441,299.8,-11.5,212,1920,0.00,2.22,0.00,0.000,516,0.000,0.049,2124,1113,3443,3446,3440,0,0,0,0,0,0,15.04,14.81,15.07
$GC,1957,-0.62,-116.8,2124,1114,3446,3440,304.9,-11.3,220,1964,0.00,2.33,0.00,0.000,1030,0.000,0.058,2116,2504,3444,3445,3443,0,0,0,0,0,0,14.88,14.79,14.91
$GC,2282,-0.62,-116.8,2115,2503,3445,3436,344.1,-12.0,239,2290,0.00,2.35,0.00,0.000,260,0.000,0.087,2105,3892,3440,3445,3436,0,0,0,0,0,0,15.05,14.76,15.07
$GC,2363,-0.62,-116.8,2104,3891,3444,3436,354.0,-12.0,255,2369,0.00,2.17,0.00,0.000,1030,0.000,0.034,2104,2504,3440,3444,3436,0,0,0,0,0,0,14.91,14.86,14.93
$GC,2687,-0.62,-116.8,2104,2502,3442,3431,392.3,-11.3,274,2694,0.00,2.25,0.00,0.000,516,0.000,0.050,2105,1110,3436,3442,3431,0,0,0,0,0,0,15.05,14.81,15.08
$GC,2720,-0.62,-116.8,2104,1110,3442,3431,396.2,-11.5,280,2730,0.12,2.35,0.00,0.000,3078,0.223,0.059,2124,2508,3436,3441,3431,0,0,0,0,0,0,14.68,14.79,14.85
$GC,3032,-0.62,-116.8,2123,2508,3439,3428,425.6,-9.5,297,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2508,3433,3439,3428,0,0,0,0,0,0,15.05,15.09,15.09
$GC,3332,-0.62,-116.8,2123,2508,3438,3425,454.3,-9.7,312,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2508,3431,3438,3424,0,0,0,0,0,0,15.05,15.09,15.09
$GC,3632,-0.62,-116.8,2123,2508,3435,3423,483.2,-9.7,327,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2508,3429,3435,3423,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3931,-0.62,-116.8,2123,2508,3431,3421,512.9,-9.9,342,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2508,3427,3433,3421,0,0,0,0,0,0,15.05,15.09,15.07
$GC,4232,-0.62,-116.8,2123,2508,3431,3420,543.1,-10.1,357,4238,0.00,2.30,0.00,0.000,516,0.000,0.050,2122,1108,3425,3431,3420,0,0,0,0,0,0,15.07,14.81,15.08
$GC,4269,-0.62,-116.8,2123,1107,3431,3420,547.1,-10.1,364,4275,0.00,2.40,0.00,0.000,1030,0.000,0.061,2114,2493,3425,3431,3420,0,0,0,0,0,0,14.74,14.69,14.78
$GC,4576,-0.62,-116.8,2114,2493,3430,3419,579.6,-10.7,380,4582,0.00,2.40,0.00,0.000,260,0.000,0.092,2104,3893,3424,3430,3418,0,0,0,0,0,0,15.04,14.73,15.07
$GC,4603,-0.62,-116.8,2104,3893,3429,3418,582.9,-11.8,385,4609,0.00,2.22,0.00,0.000,1030,0.000,0.037,2104,2494,3424,3430,3418,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4922,-0.62,-116.8,2104,2493,3428,3416,619.3,-11.3,403,4928,0.00,2.28,0.00,0.000,516,0.000,0.050,2104,1105,3422,3429,3416,0,0,0,0,0,0,15.04,14.78,15.07
$GC,4959,-0.62,-116.8,2103,1105,3428,3416,623.8,-11.1,410,4968,0.10,2.42,0.00,0.000,3078,0.181,0.063,2125,2499,3422,3428,3416,0,0,0,0,0,0,14.55,14.67,14.66
$GC,5267,-0.62,-116.8,2124,2501,3428,3412,654.9,-10.4,426,5273,0.00,2.40,0.00,0.000,260,0.000,0.092,2115,3893,3421,3429,3413,0,0,0,0,0,0,15.04,14.70,15.07
$GC,5331,-0.62,-116.8,2115,3893,3428,3412,662.0,-11.1,438,5338,0.00,2.22,0.00,0.000,1030,0.000,0.038,2115,2499,3420,3428,3412,0,0,0,0,0,0,14.89,14.83,14.90
$GC,5655,-0.62,-116.8,2115,2497,3426,3412,698.8,-11.4,457,5661,0.00,2.28,0.00,0.000,516,0.000,0.050,2115,1106,3419,3426,3412,0,0,0,0,0,0,15.04,14.77,15.07
$GC,5688,-0.62,-116.8,2114,1106,3424,3413,702.8,-11.6,463,5694,0.00,2.38,0.00,0.000,1030,0.000,0.062,2105,2505,3418,3425,3412,0,0,0,0,0,0,14.85,14.74,14.88
$GC,6001,-0.62,-116.8,2104,2505,3422,3412,740.0,-11.9,480,6007,0.00,2.42,0.00,0.000,260,0.000,0.092,2093,3902,3417,3423,3412,0,0,0,0,0,0,15.04,14.69,15.06
$GC,6045,-0.62,-116.8,2093,3901,3422,3412,745.4,-12.5,488,6052,0.12,2.25,0.00,0.000,3078,0.214,0.038,2124,2493,3417,3422,3412,0,0,0,0,0,0,14.61,14.81,14.79
$GC,6370,-0.62,-116.8,2124,2492,3422,3409,779.1,-10.1,507,6376,0.00,2.28,0.00,0.000,516,0.000,0.050,2125,1103,3415,3422,3408,0,0,0,0,0,0,15.04,14.76,15.06
$GC,6396,-0.62,-116.8,2124,1103,3422,3410,782.0,-10.7,512,6402,0.00,2.38,0.00,0.000,1030,0.000,0.061,2116,2499,3415,3421,3409,0,0,0,0,0,0,14.84,14.73,14.87
$GC,6715,-0.62,-116.8,2115,2499,3421,3408,814.0,-9.8,530,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2499,3414,3421,3408,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7016,-0.62,-116.8,2115,2499,3421,3408,841.3,-8.7,545,7021,0.00,2.42,0.00,0.000,260,0.000,0.093,2105,3898,3414,3421,3408,0,0,0,0,0,0,15.02,14.67,15.05
$GC,7042,-0.62,-116.8,2105,3898,3421,3406,843.8,-9.0,550,7049,0.00,2.25,0.00,0.000,1030,0.000,0.038,2105,2496,3414,3420,3408,0,0,0,0,0,0,14.86,14.80,14.88
$GC,7362,-0.62,-116.8,2105,2495,3419,3407,870.5,-8.1,568,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2495,3413,3419,3407,0,0,0,0,0,0,15.02,15.05,15.05
$GC,7662,-0.62,-116.8,2104,2495,3418,3407,893.8,-7.7,583,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2495,3412,3418,3407,0,0,0,0,0,0,15.02,15.06,15.04
$GC,7961,-0.62,-116.8,2105,2495,3417,3406,918.5,-8.4,598,7968,0.00,2.28,0.00,0.000,516,0.000,0.051,2105,1107,3411,3417,3405,0,0,0,0,0,0,15.02,14.74,15.04
$GC,8005,-0.62,-116.8,2104,1106,3417,3405,922.4,-8.8,606,8014,0.10,2.35,0.00,0.000,3078,0.181,0.061,2125,2496,3411,3417,3405,0,0,0,0,0,0,14.53,14.67,14.65
$GC,8331,-0.62,-116.8,2125,2496,3417,3404,950.5,-9.2,625,8340,0.00,2.42,0.00,0.000,260,0.000,0.093,2117,3891,3410,3416,3404,0,0,0,0,0,0,15.02,14.64,15.04
$GC,8393,-0.62,-116.8,2116,3891,3416,3404,956.6,-10.4,637,8399,0.00,2.25,0.00,0.000,1030,0.000,0.038,2116,2491,3409,3416,3403,0,0,0,0,0,0,14.84,14.78,14.86
$STATE,8714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8714,begin apogee
$GC,8720,-0.15,0.0,2117,2490,3415,3403,991.2,-11.1,656,8829,0.55,0.00,103.80,2.049,10246,0.171,0.000,2276,2490,2967,2998,2937,0,0,0,0,0,0,14.55,14.16,13.24
$STATE,8832,end apogee,CONTROL_FINISHED_OK
$STATE,8832,begin climb
$GC,8835,0.62,116.8,2277,2490,2996,2938,996.2,0.0,661,8967,0.80,2.58,112.07,2.039,10500,0.103,0.088,2536,3853,2489,2522,2457,0,0,0,0,0,0,14.22,14.02,13.13
$GC,8993,0.62,116.8,2536,3853,2517,2455,994.5,8.2,696,9000,0.00,2.42,0.00,0.000,1030,0.000,0.038,2547,2445,2486,2516,2456,0,0,0,0,0,0,14.23,14.21,14.25
$GC,9299,0.62,116.8,2547,2444,2513,2452,968.1,9.0,712,9305,0.00,2.38,0.00,0.000,516,0.000,0.053,2558,1034,2482,2513,2452,0,0,0,0,0,0,14.78,14.57,14.82
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$STATE,19984,end climb,SURFACE_DEPTH_REACHED
$STATE,19984,begin surface coast
$STATE,20044,end surface coast,CONTROL_FINISHED_OK
$STATE,20044,begin surface
$SM_CCo,20071,114.50,0.622,1,0,929,500.17
$SM_GC,1.35,7.05,0.10,114.50,0.049,0.142,0.622,136,2529,929,-6.77,-0.74,500.17,0,0,0,0,1,0,14.71,14.69,14.02
$IRIDIUM_FIX,1303.94,8705.05,050919,120303
$TT8_MAMPS,0.018725,0.935501
$HUMID,41.80
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.90
$XPDR_PINGS,2
$SC_FREEKB,3824096
$PM_FREEKB_00,50705280
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.13,74.526
$10V_AH,13.46,0.000
$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,18.825,192.525,447.550,114.500,0.000,0.000,0.000,281.100,0.500,0.000,15.433,1508.951,13052.569,593.670,5020.458,537.961,0.000,2508.777,0.000,4389.472,0.000,0.541,0.000
$DEVICE_MAMPS,354.960,142.290,2048.670,621.945,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4038.466,0.000,0.000,0.000,0.000,0.000,20050.000,0.000,20069.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.293,0.000,3.408,0.000
$MEM,251916
$DATA_FILE_SIZE,73189,1646
$CAP_FILE_SIZE,291239,0
$CFSIZE,260034560,173350912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.047,103.86,1
$GPS,050919,225338,1310.529,8701.356,34,1.2,34,-0.9,0.7,196.2,6,7.2