version: 66.13
glider: 171
mission: 11
dive: 193
start: 9 5 119 23 5 30
data:
$ID,171
$MISSION,11
$DIVE,193
$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,52
$R_STBD_OVSHOOT,51
$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
$GPS1,050919,225338,1310.5286,8701.3564,34,1.2,34,-0.9,0.7,196.2,6,7.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.6
$GPS2,050919,230445,1310.4529,8701.5000,3,1.2,5,-0.9,0.5,314.7,6,10.0
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,343.6,66351,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.62,-116.8,13,2531,968,881,0.0,0.0,0,102,0.00,0.00,-77.15,0.005,16386,0.000,0.000,3,2532,2744,2740,2748,0,0,0,0,0,0,14.84,28.83,14.87
$GC,105,-0.62,-116.8,3,2532,2743,2747,4.4,-11.3,16,136,9.30,2.40,-12.75,0.012,18948,0.355,0.071,2116,1108,3447,3453,3441,0,0,0,0,0,0,14.33,13.37,14.54
$GC,236,-0.62,-116.8,2115,1106,3453,3441,46.2,-22.7,42,243,0.00,2.38,0.00,0.000,1030,0.000,0.062,2107,2478,3447,3453,3441,0,0,0,0,0,0,14.62,14.55,14.65
$GC,427,-0.62,-116.8,2107,2478,3452,3441,97.2,-23.3,62,437,0.00,2.40,0.00,0.000,260,0.000,0.080,2096,3899,3447,3453,3441,0,0,0,0,0,0,14.93,14.67,14.96
$GC,516,-0.62,-116.8,2095,3899,3453,3441,116.7,-19.8,79,524,0.10,2.28,0.00,0.000,3078,0.212,0.034,2124,2483,3447,3453,3441,0,0,0,0,0,0,14.45,14.64,14.57
$GC,703,-0.62,-116.8,2124,2481,3453,3441,146.6,-15.0,98,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2482,3447,3453,3442,0,0,0,0,0,0,14.97,15.00,14.99
$GC,892,-0.62,-116.8,2124,2481,3453,3441,172.6,-13.4,117,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2481,3447,3453,3441,0,0,0,0,0,0,14.98,15.01,15.00
$GC,1083,-0.62,-116.8,2124,2481,3453,3441,196.5,-12.6,136,1089,0.00,2.42,0.00,0.000,260,0.000,0.090,2115,3895,3446,3452,3441,0,0,0,0,0,0,14.99,14.72,15.02
$GC,1137,-0.62,-116.8,2115,3896,3452,3441,203.0,-11.2,146,1143,0.00,2.17,0.00,0.000,1030,0.000,0.033,2116,2501,3446,3452,3441,0,0,0,0,0,0,14.87,14.82,14.89
$GC,1330,-0.62,-116.8,2115,2500,3450,3441,227.0,-13.0,166,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2500,3446,3451,3441,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1520,-0.62,-116.8,2115,2500,3449,3441,251.0,-12.6,185,1527,0.00,2.38,0.00,0.000,260,0.000,0.085,2105,3896,3444,3448,3441,0,0,0,0,0,0,15.02,14.74,15.05
$GC,1547,-0.62,-116.8,2105,3896,3448,3441,254.7,-13.3,190,1553,0.00,2.17,0.00,0.000,1030,0.000,0.033,2105,2501,3444,3447,3441,0,0,0,0,0,0,14.90,14.84,14.91
$GC,1866,-0.62,-116.8,2105,2500,3445,3438,295.8,-12.6,208,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3441,3445,3438,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2166,-0.62,-116.8,2104,2500,3443,3435,333.1,-12.3,223,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3439,3443,3435,0,0,0,0,0,0,15.05,15.09,15.08
$GC,2466,-0.62,-116.8,2104,2499,3442,3431,368.3,-11.5,238,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3436,3442,3431,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2766,-0.62,-116.8,2104,2500,3439,3429,402.8,-11.5,253,2771,0.00,2.40,0.00,0.000,260,0.000,0.087,2094,3902,3433,3439,3428,0,0,0,0,0,0,15.06,14.76,15.09
$GC,2792,-0.62,-116.8,2093,3902,3439,3428,406.1,-12.1,258,2798,0.12,2.20,0.00,0.000,3078,0.216,0.035,2124,2496,3433,3439,3428,0,0,0,0,0,0,14.69,14.87,14.85
$GC,3111,-0.62,-116.8,2124,2494,3436,3424,440.0,-10.6,276,3117,0.00,2.22,0.00,0.000,516,0.000,0.047,2124,1115,3430,3436,3424,0,0,0,0,0,0,15.06,14.82,15.09
$GC,3156,-0.62,-116.8,2124,1115,3435,3424,444.6,-10.3,284,3162,0.00,2.33,0.00,0.000,1030,0.000,0.060,2116,2502,3429,3435,3423,0,0,0,0,0,0,14.89,14.80,14.92
$GC,3480,-0.62,-116.8,2115,2501,3433,3422,480.6,-11.2,303,3486,0.00,2.38,0.00,0.000,260,0.000,0.089,2105,3896,3427,3433,3422,0,0,0,0,0,0,15.04,14.75,15.06
$GC,3545,-0.62,-116.8,2104,3895,3432,3422,488.1,-11.7,315,3552,0.00,2.20,0.00,0.000,1030,0.000,0.036,2105,2513,3427,3432,3422,0,0,0,0,0,0,14.91,14.85,14.93
$GC,3869,-0.62,-116.8,2103,2512,3431,3420,526.0,-11.6,334,3875,0.00,2.30,0.00,0.000,516,0.000,0.049,2105,1098,3425,3430,3420,0,0,0,0,0,0,15.06,14.80,15.08
$GC,3913,-0.62,-116.8,2104,1098,3430,3420,531.0,-11.0,342,3923,0.12,2.38,0.00,0.000,3078,0.222,0.062,2123,2503,3425,3430,3420,0,0,0,0,0,0,14.66,14.78,14.83
$GC,4236,-0.62,-116.8,2123,2503,3429,3418,564.4,-10.5,361,4244,0.00,2.38,0.00,0.000,260,0.000,0.090,2114,3893,3423,3430,3417,0,0,0,0,0,0,15.05,14.73,15.08
$GC,4286,-0.62,-116.8,2115,3893,3429,3417,569.9,-10.9,371,4293,0.00,2.22,0.00,0.000,1030,0.000,0.037,2114,2491,3423,3429,3418,0,0,0,0,0,0,14.90,14.85,14.92
$GC,4601,-0.62,-116.8,2114,2490,3427,3415,604.2,-10.9,388,4607,0.00,2.28,0.00,0.000,516,0.000,0.050,2114,1106,3421,3427,3415,0,0,0,0,0,0,15.05,14.79,15.07
$GC,4634,-0.62,-116.8,2114,1108,3426,3415,608.0,-11.1,394,4640,0.00,2.35,0.00,0.000,1030,0.000,0.061,2103,2499,3420,3427,3414,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4948,-0.62,-116.8,2103,2499,3425,3413,643.1,-11.2,411,4955,0.00,2.40,0.00,0.000,260,0.000,0.091,2092,3893,3419,3425,3413,0,0,0,0,0,0,15.04,14.71,15.07
$GC,5012,-0.62,-116.8,2093,3892,3424,3413,650.7,-11.8,423,5020,0.12,2.22,0.00,0.000,3078,0.216,0.037,2124,2491,3418,3424,3413,0,0,0,0,0,0,14.64,14.83,14.82
$GC,5339,-0.62,-116.8,2122,2490,3423,3412,682.4,-9.4,442,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2490,3417,3422,3412,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5638,-0.62,-116.8,2123,2490,3421,3410,711.2,-9.7,457,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2490,3415,3421,3410,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5938,-0.62,-116.8,2123,2490,3421,3409,739.3,-9.3,472,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2490,3415,3421,3409,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6238,-0.62,-116.8,2123,2489,3419,3407,767.0,-9.1,487,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2490,3413,3419,3407,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6538,-0.62,-116.8,2123,2490,3418,3406,793.3,-8.5,502,6546,0.00,2.45,0.00,0.000,260,0.000,0.092,2114,3908,3413,3419,3407,0,0,0,0,0,0,15.03,14.67,15.07
$GC,6580,-0.62,-116.8,2114,3908,3417,3407,797.0,-8.8,510,6585,0.00,2.25,0.00,0.000,1030,0.000,0.037,2114,2500,3412,3417,3407,0,0,0,0,0,0,14.87,14.81,14.89
$GC,6904,-0.62,-116.8,2114,2499,3416,3406,825.7,-8.8,529,6909,0.00,2.28,0.00,0.000,516,0.000,0.050,2114,1111,3411,3416,3406,0,0,0,0,0,0,15.03,14.75,15.06
$GC,6942,-0.62,-116.8,2114,1109,3416,3406,829.1,-8.7,536,6948,0.00,2.42,0.00,0.000,1030,0.000,0.063,2103,2498,3410,3416,3405,0,0,0,0,0,0,14.69,14.63,14.73
$GC,7248,-0.62,-116.8,2103,2498,3415,3405,857.9,-9.6,552,7255,0.00,2.42,0.00,0.000,260,0.000,0.092,2092,3901,3410,3415,3405,0,0,0,0,0,0,15.03,14.68,15.06
$GC,7310,-0.62,-116.8,2092,3902,3414,3405,864.1,-10.2,564,7316,0.12,2.25,0.00,0.000,3078,0.213,0.039,2123,2497,3409,3414,3405,0,0,0,0,0,0,14.59,14.80,14.78
$GC,7635,-0.62,-116.8,2123,2496,3414,3402,893.0,-9.1,583,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2496,3408,3414,3403,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7934,-0.62,-116.8,2123,2496,3413,3402,921.7,-9.8,598,7940,0.00,2.30,0.00,0.000,516,0.000,0.051,2124,1100,3407,3413,3402,0,0,0,0,0,0,15.02,14.73,15.04
$GC,7972,-0.62,-116.8,2123,1101,3413,3400,925.6,-10.1,605,7979,0.00,2.45,0.00,0.000,1030,0.000,0.062,2114,2498,3407,3413,3402,0,0,0,0,0,0,14.67,14.60,14.73
$GC,8278,-0.62,-116.8,2114,2498,3412,3401,957.9,-10.7,621,8286,0.00,2.42,0.00,0.000,260,0.000,0.093,2104,3894,3407,3413,3401,0,0,0,0,0,0,15.00,14.66,15.03
$GC,8319,-0.62,-116.8,2104,3894,3412,3401,962.4,-11.1,629,8325,0.00,2.25,0.00,0.000,1030,0.000,0.039,2104,2493,3406,3412,3401,0,0,0,0,0,0,14.85,14.78,14.87
$STATE,8580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8580,begin apogee
$GC,8586,-0.15,0.0,2104,2493,3412,3401,991.3,-10.7,645,8695,0.60,0.00,103.12,2.038,10246,0.176,0.000,2277,2492,2968,2997,2939,0,0,0,0,0,0,14.56,14.19,13.26
$STATE,8697,end apogee,CONTROL_FINISHED_OK
$STATE,8697,begin climb
$GC,8700,0.62,116.8,2278,2493,2995,2939,994.9,0.0,650,8827,0.77,2.50,112.07,2.029,10500,0.100,0.090,2530,3854,2489,2524,2455,0,0,0,0,0,0,14.23,13.87,13.15
$GC,8849,0.65,116.8,2530,3852,2516,2456,991.1,7.2,683,8856,0.00,2.38,0.00,0.000,1094,0.000,0.038,2543,2441,2486,2517,2456,0,0,0,0,0,0,14.26,14.22,14.28
$GC,9165,0.65,116.8,2543,2441,2512,2453,958.0,11.1,700,9171,0.00,2.38,0.00,0.000,516,0.000,0.053,2554,1037,2482,2513,2452,0,0,0,0,0,0,14.79,14.58,14.82
$GC,9230,0.65,116.8,2554,1037,2510,2451,950.9,10.3,712,9238,0.00,2.42,0.00,0.000,1030,0.000,0.057,2554,2453,2481,2510,2452,0,0,0,0,0,0,14.67,14.59,14.71
$GC,9551,0.65,116.8,2554,2453,2510,2450,912.9,12.0,731,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2453,2480,2510,2450,0,0,0,0,0,0,14.90,14.94,14.94
$GC,9851,0.65,116.8,2553,2453,2509,2449,877.0,12.0,746,9857,0.00,2.38,0.00,0.000,516,0.000,0.051,2565,1039,2479,2509,2449,0,0,0,0,0,0,14.95,14.71,14.97
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$STATE,19745,end climb,SURFACE_DEPTH_REACHED
$STATE,19745,begin surface coast
$STATE,19787,end surface coast,CONTROL_FINISHED_OK
$STATE,19787,begin surface
$SM_CCo,19812,120.15,0.634,1,0,929,500.17
$SM_GC,1.20,7.12,0.10,120.15,0.040,0.155,0.634,133,2511,929,-6.77,-0.68,500.17,0,0,0,0,1,0,14.67,14.63,14.00
$IRIDIUM_FIX,1308.65,8704.94,050919,225731
$TT8_MAMPS,0.018725,0.946736
$HUMID,41.45
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.90
$XPDR_PINGS,1
$SC_FREEKB,3823648
$PM_FREEKB_00,50648832
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.15,74.908
$10V_AH,13.45,0.000
$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,18.750,188.550,436.400,120.150,0.000,0.000,0.000,371.300,0.250,0.000,16.504,1439.205,13057.483,607.631,4946.543,556.107,0.000,2563.732,0.000,4236.937,0.000,0.541,0.000
$DEVICE_MAMPS,354.960,154.530,2037.960,634.185,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3929.090,0.000,0.000,0.000,0.000,0.000,19793.000,0.000,19805.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.354,0.000,3.444,0.000
$MEM,251832
$DATA_FILE_SIZE,69928,1578
$CAP_FILE_SIZE,283391,0
$CFSIZE,260034560,173236224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.036,87.64,1
$GPS,060919,043909,1312.199,8701.451,16,0.9,17,-0.9,0.6,202.1,8,6.7