version: 66.13
glider: 171
mission: 11
dive: 198
start: 9 7 119 3 40 40
data:
$ID,171
$MISSION,11
$DIVE,198
$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,70
$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
$GPS1,070919,033110,1319.5334,8701.5645,34,1.2,35,-0.9,1.0,161.4,5,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.1
$GPS2,070919,033953,1319.4908,8701.5527,4,1.4,4,-0.9,0.1,0.0,5,10.0
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,350.1,49637,-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,18,-0.62,-116.8,1,2553,970,878,0.0,0.0,0,102,0.00,0.00,-77.72,0.005,16386,0.000,0.000,1,2554,2788,2789,2788,0,0,0,0,0,0,14.83,28.83,14.85
$GC,105,-0.62,-116.8,1,2554,2790,2787,5.2,-14.1,16,136,9.45,2.35,-11.62,0.013,18948,0.356,0.060,2120,1101,3446,3451,3442,0,0,0,0,0,0,14.31,13.83,14.52
$GC,210,-0.62,-116.8,2119,1100,3451,3441,44.9,-31.7,37,217,0.00,2.33,0.00,0.000,1030,0.000,0.054,2111,2458,3446,3451,3441,0,0,0,0,0,0,14.64,14.59,14.67
$GC,400,-0.62,-116.8,2110,2458,3450,3442,93.1,-22.0,57,406,0.00,2.45,0.00,0.000,260,0.000,0.086,2100,3895,3446,3451,3442,0,0,0,0,0,0,14.91,14.63,14.94
$GC,485,-0.62,-116.8,2100,3896,3451,3441,110.4,-19.0,73,491,0.00,2.22,0.00,0.000,1030,0.000,0.037,2100,2497,3446,3451,3441,0,0,0,0,0,0,14.72,14.67,14.74
$GC,678,-0.62,-116.8,2099,2496,3451,3442,146.9,-16.5,93,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2496,3446,3451,3442,0,0,0,0,0,0,14.95,14.97,14.97
$GC,869,-0.62,-116.8,2099,2495,3451,3441,176.3,-15.0,112,878,0.00,2.40,0.00,0.000,260,0.000,0.086,2089,3898,3446,3451,3442,0,0,0,0,0,0,14.97,14.69,14.99
$GC,901,-0.62,-116.8,2088,3899,3451,3442,181.3,-15.7,118,908,0.15,2.20,0.00,0.000,3078,0.226,0.033,2125,2490,3446,3451,3441,0,0,0,0,0,0,14.59,14.79,14.77
$GC,1095,-0.62,-116.8,2124,2488,3451,3442,207.9,-13.3,138,1101,0.00,2.40,0.00,0.000,260,0.000,0.083,2116,3891,3446,3451,3441,0,0,0,0,0,0,14.98,14.69,15.02
$GC,1132,-0.62,-116.8,2116,3891,3451,3441,212.9,-13.1,145,1138,0.00,2.22,0.00,0.000,1030,0.000,0.033,2116,2501,3446,3451,3442,0,0,0,0,0,0,14.78,14.76,14.81
$GC,1320,-0.62,-116.8,2116,2500,3451,3442,237.6,-13.2,164,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2500,3445,3450,3441,0,0,0,0,0,0,15.00,15.03,15.03
$GC,1519,-0.62,-116.8,2115,2500,3448,3441,264.3,-13.7,179,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2500,3444,3448,3441,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1819,-0.62,-116.8,2116,2500,3444,3441,302.4,-12.4,194,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2500,3441,3442,3441,0,0,0,0,0,0,15.03,15.07,15.06
$GC,2119,-0.62,-116.8,2116,2500,3443,3437,337.8,-11.5,209,2125,0.00,2.25,0.00,0.000,516,0.000,0.049,2116,1108,3440,3444,3436,0,0,0,0,0,0,15.04,14.80,15.07
$GC,2146,-0.62,-116.8,2116,1108,3443,3435,341.1,-11.6,214,2152,0.00,2.35,0.00,0.000,1030,0.000,0.059,2106,2508,3440,3443,3438,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2465,-0.62,-116.8,2105,2508,3441,3433,379.9,-12.4,232,2471,0.00,2.38,0.00,0.000,260,0.000,0.088,2094,3894,3436,3441,3432,0,0,0,0,0,0,15.05,14.74,15.07
$GC,2502,-0.62,-116.8,2094,3894,3441,3433,384.8,-12.6,239,2511,0.10,2.25,0.00,0.000,3078,0.181,0.036,2125,2497,3436,3441,3432,0,0,0,0,0,0,14.57,14.76,14.69
$GC,2809,-0.62,-116.8,2125,2496,3438,3429,416.2,-10.0,255,2816,0.00,2.25,0.00,0.000,516,0.000,0.050,2126,1109,3433,3438,3429,0,0,0,0,0,0,15.03,14.80,15.06
$GC,2842,-0.62,-116.8,2127,1109,3438,3429,419.8,-10.1,261,2848,0.00,2.35,0.00,0.000,1030,0.000,0.061,2117,2503,3433,3438,3428,0,0,0,0,0,0,14.88,14.78,14.90
$GC,3156,-0.62,-116.8,2117,2504,3435,3425,453.1,-11.0,278,3162,0.00,2.40,0.00,0.000,260,0.000,0.090,2107,3899,3431,3437,3425,0,0,0,0,0,0,15.05,14.73,15.08
$GC,3220,-0.62,-116.8,2106,3899,3435,3425,460.3,-11.2,290,3226,0.00,2.20,0.00,0.000,1030,0.000,0.037,2107,2508,3430,3435,3425,0,0,0,0,0,0,14.90,14.84,14.92
$GC,3544,-0.62,-116.8,2106,2509,3432,3423,497.9,-11.5,309,3550,0.00,2.28,0.00,0.000,516,0.000,0.050,2107,1106,3427,3432,3423,0,0,0,0,0,0,15.04,14.79,15.07
$GC,3596,-0.62,-116.8,2106,1106,3431,3423,504.0,-11.1,319,3604,0.12,2.35,0.00,0.000,3078,0.220,0.061,2125,2499,3427,3431,3424,0,0,0,0,0,0,14.64,14.78,14.82
$GC,3912,-0.62,-116.8,2125,2500,3430,3421,536.4,-10.4,336,3918,0.00,2.40,0.00,0.000,260,0.000,0.091,2116,3891,3426,3431,3421,0,0,0,0,0,0,15.04,14.71,15.07
$GC,3949,-0.62,-116.8,2116,3891,3431,3421,540.7,-11.0,343,3957,0.00,2.28,0.00,0.000,1030,0.000,0.037,2116,2497,3425,3430,3421,0,0,0,0,0,0,14.77,14.73,14.79
$GC,4257,-0.62,-116.8,2116,2497,3429,3420,573.7,-10.6,359,4264,0.00,2.28,0.00,0.000,516,0.000,0.050,2116,1102,3424,3429,3420,0,0,0,0,0,0,15.04,14.78,15.07
$GC,4295,-0.62,-116.8,2116,1102,3428,3420,578.0,-10.5,366,4302,0.00,2.42,0.00,0.000,1030,0.000,0.063,2106,2497,3424,3429,3420,0,0,0,0,0,0,14.72,14.66,14.76
$GC,4603,-0.62,-116.8,2106,2497,3427,3417,611.0,-10.6,382,4611,0.00,2.40,0.00,0.000,260,0.000,0.090,2095,3896,3422,3427,3417,0,0,0,0,0,0,15.04,14.70,15.06
$GC,4673,-0.62,-116.8,2094,3896,3427,3417,618.9,-10.8,396,4679,0.12,2.22,0.00,0.000,3078,0.211,0.037,2125,2498,3421,3425,3417,0,0,0,0,0,0,14.63,14.82,14.81
$GC,4988,-0.62,-116.8,2125,2496,3425,3415,646.4,-8.4,413,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2496,3419,3425,3414,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5288,-0.62,-116.8,2125,2494,3424,3414,670.9,-8.1,428,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2494,3418,3425,3412,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5587,-0.62,-116.8,2125,2494,3422,3413,695.1,-8.0,443,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2494,3416,3421,3412,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5887,-0.62,-116.8,2125,2494,3421,3412,719.9,-8.4,458,5893,0.00,2.28,0.00,0.000,516,0.000,0.052,2126,1109,3416,3421,3411,0,0,0,0,0,0,15.02,14.74,15.06
$GC,5914,-0.62,-116.8,2125,1109,3421,3411,722.4,-8.9,463,5921,0.00,2.38,0.00,0.000,1030,0.000,0.063,2117,2504,3416,3421,3412,0,0,0,0,0,0,14.83,14.72,14.86
$GC,6234,-0.62,-116.8,2116,2504,3419,3410,752.3,-9.8,481,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2504,3414,3419,3410,0,0,0,0,0,0,15.02,15.06,15.05
$GC,6534,-0.62,-116.8,2116,2504,3418,3408,782.8,-10.3,496,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2504,3413,3418,3409,0,0,0,0,0,0,15.02,15.06,15.04
$GC,6834,-0.62,-116.8,2115,2504,3418,3408,814.1,-10.4,511,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2504,3412,3417,3408,0,0,0,0,0,0,15.02,15.06,15.05
$GC,7134,-0.62,-116.8,2116,2504,3416,3408,845.0,-10.2,526,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2504,3411,3415,3407,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7434,-0.62,-116.8,2116,2504,3415,3407,876.2,-10.4,541,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2504,3411,3415,3407,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7734,-0.62,-116.8,2116,2504,3414,3406,908.0,-10.5,556,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2504,3409,3413,3406,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8034,-0.62,-116.8,2116,2504,3413,3405,939.0,-10.2,571,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2504,3409,3413,3405,0,0,0,0,0,0,15.01,15.04,15.04
$GC,8334,-0.62,-116.8,2116,2504,3413,3404,968.6,-9.7,586,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2504,3408,3413,3404,0,0,0,0,0,0,15.01,15.04,15.04
$STATE,8574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8574,begin apogee
$GC,8579,-0.15,0.0,2117,2504,3412,3403,991.5,-9.4,598,8689,0.55,0.00,104.18,2.032,10246,0.172,0.000,2275,2504,2968,2996,2940,0,0,0,0,0,0,14.54,14.16,13.21
$STATE,8691,end apogee,CONTROL_FINISHED_OK
$STATE,8691,begin climb
$GC,8693,0.62,116.8,2276,2504,2994,2940,994.8,0.0,603,8820,0.80,0.00,114.20,2.020,10246,0.103,0.000,2535,2504,2491,2525,2458,0,0,0,0,0,0,14.21,14.00,13.10
$GC,9116,0.62,116.8,2534,2504,2513,2452,965.0,9.9,625,9124,0.00,2.47,0.00,0.000,516,0.000,0.053,2546,1051,2482,2512,2452,0,0,0,0,0,0,14.76,14.54,14.78
$GC,9185,0.62,116.8,2546,1050,2511,2452,957.6,9.5,639,9197,0.00,2.40,0.00,0.000,1030,0.000,0.058,2546,2444,2481,2511,2452,0,0,0,0,0,0,14.64,14.56,14.68
$GC,9496,0.62,116.8,2546,2445,2511,2450,924.9,10.6,656,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2444,2480,2510,2450,0,0,0,0,0,0,14.89,14.92,14.92
$GC,9796,0.62,116.8,2546,2444,2510,2450,892.5,10.8,671,9805,0.00,2.35,0.00,0.000,516,0.000,0.051,2557,1046,2479,2509,2450,0,0,0,0,0,0,14.93,14.69,14.96
$GC,9827,0.62,116.8,2557,1046,2508,2449,889.0,10.9,677,9833,0.00,2.38,0.00,0.000,1030,0.000,0.055,2557,2443,2478,2508,2449,0,0,0,0,0,0,14.78,14.68,14.81
$GC,10141,0.62,116.8,2557,2442,2508,2449,853.9,11.2,694,10146,0.00,2.33,0.00,0.000,516,0.000,0.050,2568,1052,2479,2510,2449,0,0,0,0,0,0,14.95,14.71,14.99
$GC,10174,0.62,116.8,2567,1051,2507,2448,850.1,11.1,700,10182,0.15,2.35,0.00,0.000,5126,0.243,0.055,2535,2438,2477,2507,2448,0,0,0,0,0,0,14.49,14.69,14.73
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$STATE,20071,end climb,SURFACE_DEPTH_REACHED
$STATE,20071,begin surface coast
$STATE,20100,end surface coast,CONTROL_FINISHED_OK
$STATE,20100,begin surface
$SM_CCo,20128,94.93,0.592,1,0,928,500.17
$SM_GC,1.26,7.18,2.25,94.93,0.041,0.047,0.592,124,2497,928,-6.78,1.50,500.17,0,0,0,0,1,0,14.60,14.59,13.98
$IRIDIUM_FIX,1317.55,8700.40,060919,214633
$TT8_MAMPS,0.018725,0.731024
$HUMID,41.61
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,3821408
$PM_FREEKB_00,50366592
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.10,76.818
$10V_AH,13.27,0.000
$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,19.300,178.475,469.850,94.925,0.000,0.000,0.000,285.775,0.250,0.000,17.521,1455.439,13188.252,636.046,4898.456,574.556,0.000,2498.509,0.000,4285.735,0.000,0.542,0.000
$DEVICE_MAMPS,356.490,91.035,2031.840,592.110,0.000,0.000,0.000,188.955,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4006.993,0.000,0.000,0.000,0.000,0.000,20109.000,0.000,20119.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.238,0.000,3.409,0.000
$MEM,251916
$DATA_FILE_SIZE,69870,1590
$CAP_FILE_SIZE,283270,0
$CFSIZE,260034560,172617728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.020,61.36,1
$GPS,070919,091908,1321.364,8701.479,17,0.9,17,-0.9,1.0,208.1,8,8.3