version: 66.13
glider: 171
mission: 11
dive: 206
start: 9 9 119 2 5 51
data:
$ID,171
$MISSION,11
$DIVE,206
$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,55
$R_STBD_OVSHOOT,46
$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
$GPS1,090919,015624,1333.7841,8701.1885,29,1.4,29,-0.9,0.7,234.9,5,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.6
$GPS2,090919,020504,1333.7578,8701.1318,2,0.9,3,-0.9,0.6,217.0,10,6.3
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,343.7,23225,-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,-116.8,48,2524,970,879,0.0,0.0,0,102,0.00,0.00,-77.57,0.005,16386,0.000,0.000,45,2524,2806,2803,2810,0,0,0,0,0,0,14.83,28.83,14.87
$GC,105,-0.62,-116.8,44,2524,2803,2810,5.5,-15.5,16,133,9.20,2.35,-10.88,0.014,18948,0.357,0.068,2127,1105,3447,3452,3442,0,0,0,0,0,0,14.31,13.84,14.52
$GC,227,-0.62,-116.8,2127,1104,3452,3442,50.2,-29.8,40,234,0.00,2.38,0.00,0.000,1030,0.000,0.061,2118,2477,3447,3452,3442,0,0,0,0,0,0,14.67,14.62,14.71
$GC,422,-0.62,-116.8,2118,2477,3452,3442,101.3,-20.8,60,431,0.00,2.40,0.00,0.000,260,0.000,0.083,2108,3897,3447,3452,3442,0,0,0,0,0,0,14.92,14.65,14.95
$GC,595,-0.62,-116.8,2107,3897,3452,3442,133.6,-18.0,94,602,0.00,2.22,0.00,0.000,1030,0.000,0.038,2107,2496,3447,3452,3442,0,0,0,0,0,0,14.74,14.69,14.76
$GC,791,-0.62,-116.8,2107,2494,3452,3442,163.6,-16.3,114,798,0.00,2.25,0.00,0.000,516,0.000,0.045,2108,1093,3447,3452,3442,0,0,0,0,0,0,14.97,14.75,15.00
$GC,815,-0.62,-116.8,2107,1093,3452,3442,167.6,-15.6,118,823,0.12,2.38,0.00,0.000,3078,0.239,0.057,2124,2511,3447,3452,3442,0,0,0,0,0,0,14.54,14.65,14.73
$GC,1012,-0.62,-116.8,2124,2511,3452,3442,195.6,-12.8,138,1019,0.00,2.30,0.00,0.000,516,0.000,0.048,2125,1098,3447,3452,3442,0,0,0,0,0,0,14.98,14.75,15.00
$GC,1036,-0.62,-116.8,2124,1098,3451,3442,198.9,-13.2,142,1044,0.00,2.33,0.00,0.000,1030,0.000,0.057,2115,2497,3446,3451,3442,0,0,0,0,0,0,14.76,14.71,14.80
$GC,1232,-0.62,-116.8,2115,2498,3451,3444,224.7,-13.1,162,1238,0.00,2.35,0.00,0.000,260,0.000,0.082,2105,3896,3446,3451,3442,0,0,0,0,0,0,15.00,14.72,15.03
$GC,1289,-0.62,-116.8,2104,3896,3450,3442,233.1,-14.4,173,1296,0.00,2.25,0.00,0.000,1030,0.000,0.033,2105,2496,3446,3451,3442,0,0,0,0,0,0,14.77,14.73,14.79
$GC,1477,-0.62,-116.8,2104,2494,3449,3442,258.6,-13.1,189,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2494,3445,3449,3442,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1776,-0.62,-116.8,2105,2494,3445,3442,293.9,-11.7,204,1782,0.00,2.25,0.00,0.000,516,0.000,0.050,2105,1103,3443,3444,3442,0,0,0,0,0,0,15.03,14.80,15.06
$GC,1803,-0.62,-116.8,2104,1102,3444,3442,297.3,-11.8,209,1813,0.12,2.35,0.00,0.000,3078,0.222,0.056,2123,2511,3442,3444,3441,0,0,0,0,0,0,14.65,14.78,14.83
$GC,2122,-0.62,-116.8,2123,2511,3444,3437,332.6,-11.2,227,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2511,3440,3444,3437,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2421,-0.62,-116.8,2123,2511,3442,3433,364.0,-9.9,242,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2511,3436,3440,3433,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2721,-0.62,-116.8,2123,2511,3439,3430,393.1,-9.9,257,2730,0.00,2.35,0.00,0.000,260,0.000,0.086,2114,3896,3434,3438,3430,0,0,0,0,0,0,15.05,14.73,15.08
$GC,2776,-0.62,-116.8,2114,3896,3439,3429,398.9,-10.2,268,2783,0.00,2.28,0.00,0.000,1030,0.000,0.037,2114,2494,3433,3438,3429,0,0,0,0,0,0,14.78,14.75,14.81
$GC,3083,-0.62,-116.8,2114,2493,3436,3427,431.8,-10.8,284,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2493,3431,3436,3427,0,0,0,0,0,0,15.05,15.08,15.08
$GC,3383,-0.62,-116.8,2114,2493,3433,3424,465.3,-11.2,299,3389,0.00,2.25,0.00,0.000,516,0.000,0.050,2114,1108,3428,3433,3424,0,0,0,0,0,0,15.05,14.78,15.08
$GC,3415,-0.62,-116.8,2114,1108,3433,3424,469.1,-11.1,305,3421,0.00,2.35,0.00,0.000,1030,0.000,0.059,2104,2505,3428,3432,3424,0,0,0,0,0,0,14.87,14.77,14.90
$GC,3728,-0.62,-116.8,2103,2503,3431,3422,505.6,-11.8,322,3735,0.00,2.38,0.00,0.000,260,0.000,0.086,2093,3899,3426,3431,3422,0,0,0,0,0,0,15.05,14.73,15.07
$GC,3766,-0.62,-116.8,2092,3899,3431,3422,510.4,-12.3,329,3773,0.10,2.28,0.00,0.000,3078,0.177,0.037,2125,2504,3426,3431,3422,0,0,0,0,0,0,14.54,14.73,14.66
$GC,4074,-0.62,-116.8,2124,2502,3430,3421,542.1,-10.2,345,4079,0.00,2.28,0.00,0.000,516,0.000,0.049,2125,1106,3425,3429,3421,0,0,0,0,0,0,15.04,14.78,15.07
$GC,4106,-0.62,-116.8,2125,1106,3429,3420,545.7,-10.4,351,4112,0.00,2.35,0.00,0.000,1030,0.000,0.060,2117,2499,3425,3429,3421,0,0,0,0,0,0,14.85,14.75,14.88
$GC,4420,-0.62,-116.8,2115,2499,3428,3419,577.7,-10.5,368,4428,0.00,2.38,0.00,0.000,260,0.000,0.087,2106,3890,3423,3428,3419,0,0,0,0,0,0,15.04,14.71,15.07
$GC,4481,-0.62,-116.8,2105,3890,3427,3419,584.4,-11.0,380,4487,0.00,2.22,0.00,0.000,1030,0.000,0.037,2105,2487,3423,3427,3419,0,0,0,0,0,0,14.88,14.83,14.90
$GC,4805,-0.62,-116.8,2105,2486,3425,3417,620.7,-11.3,399,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2486,3420,3425,3416,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5105,-0.62,-116.8,2105,2486,3423,3415,654.0,-10.9,414,5112,0.00,2.25,0.00,0.000,516,0.000,0.051,2105,1110,3418,3422,3415,0,0,0,0,0,0,15.04,14.76,15.07
$GC,5133,-0.62,-116.8,2105,1109,3422,3415,657.1,-11.4,419,5141,0.12,2.35,0.00,0.000,3078,0.218,0.059,2124,2501,3418,3422,3415,0,0,0,0,0,0,14.61,14.75,14.79
$GC,5450,-0.62,-116.8,2124,2501,3421,3412,687.8,-9.7,437,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2501,3417,3421,3413,0,0,0,0,0,0,15.03,15.06,15.06
$GC,5749,-0.62,-116.8,2124,2501,3421,3412,716.8,-9.6,452,5755,0.00,2.30,0.00,0.000,516,0.000,0.053,2125,1109,3415,3420,3411,0,0,0,0,0,0,15.03,14.76,15.06
$GC,5777,-0.62,-116.8,2124,1109,3421,3412,719.6,-9.8,457,5783,0.00,2.35,0.00,0.000,1030,0.000,0.059,2116,2498,3415,3420,3411,0,0,0,0,0,0,14.84,14.73,14.87
$GC,6096,-0.62,-116.8,2115,2499,3419,3410,751.2,-9.8,475,6102,0.00,2.40,0.00,0.000,260,0.000,0.090,2105,3893,3414,3418,3410,0,0,0,0,0,0,15.03,14.68,15.05
$GC,6141,-0.62,-116.8,2105,3893,3420,3410,755.8,-10.1,483,6147,0.00,2.22,0.00,0.000,1030,0.000,0.038,2105,2501,3414,3418,3410,0,0,0,0,0,0,14.86,14.80,14.88
$GC,6465,-0.62,-116.8,2104,2500,3417,3409,790.5,-10.9,502,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3413,3417,3409,0,0,0,0,0,0,15.01,15.04,15.04
$GC,6765,-0.62,-116.8,2105,2500,3416,3407,824.0,-11.3,517,6771,0.00,2.30,0.00,0.000,516,0.000,0.050,2105,1105,3411,3415,3408,0,0,0,0,0,0,15.01,14.73,15.04
$GC,6808,-0.62,-116.8,2104,1105,3415,3408,829.1,-11.4,525,6818,0.15,2.38,0.00,0.000,3078,0.210,0.059,2131,2502,3411,3415,3408,0,0,0,0,0,0,14.57,14.71,14.76
$GC,7131,-0.62,-116.8,2130,2502,3415,3407,860.6,-9.5,544,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2502,3411,3415,3407,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7432,-0.62,-116.8,2130,2502,3413,3406,887.9,-8.8,559,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2502,3409,3413,3406,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7732,-0.62,-116.8,2129,2502,3413,3405,912.7,-8.0,574,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2503,3409,3413,3405,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8031,-0.62,-116.8,2130,2502,3412,3403,936.6,-8.0,589,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2502,3408,3413,3404,0,0,0,0,0,0,15.01,15.04,15.04
$GC,8331,-0.62,-116.8,2130,2503,3412,3403,959.8,-7.8,604,8337,0.00,2.33,0.00,0.000,516,0.000,0.050,2131,1105,3407,3412,3402,0,0,0,0,0,0,15.00,14.71,15.04
$GC,8375,-0.62,-116.8,2131,1105,3411,3402,963.4,-7.6,612,8381,0.00,2.40,0.00,0.000,1030,0.000,0.059,2122,2509,3406,3411,3402,0,0,0,0,0,0,14.79,14.68,14.82
$STATE,8697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8697,begin apogee
$GC,8703,-0.15,0.0,2122,2432,3410,3402,990.1,-8.3,631,8813,0.52,0.00,103.62,2.026,10246,0.166,0.000,2277,2432,2968,2995,2941,0,0,0,0,0,0,14.54,14.16,13.26
$STATE,8815,end apogee,CONTROL_FINISHED_OK
$STATE,8815,begin climb
$GC,8818,0.62,116.8,2276,2432,2992,2941,992.7,0.0,636,8948,0.80,2.47,112.45,2.015,10756,0.099,0.053,2547,1052,2489,2520,2458,0,0,0,0,0,0,14.22,14.04,13.14
$GC,8970,0.64,116.8,2548,1053,2516,2456,988.0,7.5,670,8977,0.00,2.45,0.00,0.000,1094,0.000,0.055,2549,2440,2486,2516,2456,0,0,0,0,0,0,14.25,14.18,14.27
$GC,9285,0.64,116.8,2549,2440,2511,2453,955.1,10.6,687,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2440,2482,2511,2453,0,0,0,0,0,0,14.79,14.82,14.81
$GC,9584,0.64,116.8,2548,2440,2510,2452,925.0,9.9,702,9591,0.00,2.35,0.00,0.000,516,0.000,0.052,2559,1048,2481,2510,2452,0,0,0,0,0,0,14.88,14.64,14.91
$GC,9637,0.64,116.8,2559,1048,2508,2451,919.6,10.1,712,9643,0.00,2.38,0.00,0.000,1030,0.000,0.054,2558,2443,2479,2508,2451,0,0,0,0,0,0,14.73,14.64,14.76
$GC,9951,0.64,116.8,2559,2443,2508,2450,888.2,10.2,729,9959,0.00,2.35,0.00,0.000,516,0.000,0.051,2570,1044,2478,2507,2450,0,0,0,0,0,0,14.93,14.69,14.97
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$STATE,19849,end climb,SURFACE_DEPTH_REACHED
$STATE,19850,begin surface coast
$STATE,19870,end surface coast,CONTROL_FINISHED_OK
$STATE,19871,begin surface
$SM_CCo,19897,72.62,0.548,1,0,928,500.17
$SM_GC,1.19,7.40,0.10,72.62,0.057,0.143,0.548,122,2531,928,-6.79,-0.85,500.17,0,0,0,0,1,0,14.66,14.61,14.04
$IRIDIUM_FIX,1328.64,8702.50,080919,200927
$TT8_MAMPS,0.019474,0.931756
$HUMID,43.66
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.80
$XPDR_PINGS,3
$SC_FREEKB,3817824
$PM_FREEKB_00,49910400
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.14,79.865
$10V_AH,13.43,0.000
$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,19.875,202.525,490.275,72.625,0.000,0.000,0.000,283.475,0.750,0.000,16.854,1465.524,13043.464,594.719,4850.270,542.439,0.000,2495.204,0.000,4231.090,0.000,0.541,0.000
$DEVICE_MAMPS,357.255,149.175,2026.485,547.740,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3831.807,0.000,0.000,0.000,0.000,0.000,19879.000,0.000,19889.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.254,0.000,3.417,0.000
$MEM,251872
$DATA_FILE_SIZE,69989,1606
$CAP_FILE_SIZE,284938,0
$CFSIZE,260034560,171634688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.028,148.23,1
$GPS,090919,074008,1335.149,8700.793,21,1.3,21,-0.9,1.3,227.6,6,9.2