version: 66.13
glider: 171
mission: 11
dive: 217
start: 9 11 119 17 24 28
data:
$ID,171
$MISSION,11
$DIVE,217
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,110919,171448,1326.6462,8700.1484,30,0.8,30,-0.9,0.4,228.7,9,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.2
$GPS2,110919,172341,1326.6014,8700.0996,2,0.6,3,-0.9,0.6,159.5,11,5.2
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,194.1,49266,-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,-116.8,84,2487,968,884,0.0,0.0,0,102,0.00,0.00,-77.55,0.005,16386,0.000,0.000,72,2488,2793,2793,2794,0,0,0,0,0,0,14.82,28.83,14.85
$GC,105,-0.62,-116.8,72,2488,2792,2794,5.3,-15.3,16,132,9.18,0.00,-11.25,0.013,18950,0.362,0.000,2118,2488,3446,3451,3442,0,0,0,0,0,0,14.28,13.86,14.50
$GC,317,-0.62,-116.8,2117,2488,3451,3442,81.1,-31.5,49,323,0.00,2.40,0.00,0.000,260,0.000,0.077,2109,3896,3446,3451,3442,0,0,0,0,0,0,14.90,14.62,14.92
$GC,344,-0.62,-116.8,2109,3896,3451,3442,88.0,-23.8,54,351,0.00,2.28,0.00,0.000,1030,0.000,0.037,2109,2512,3446,3451,3442,0,0,0,0,0,0,14.65,14.62,14.67
$GC,530,-0.62,-116.8,2108,2510,3451,3442,131.2,-21.2,73,536,0.00,2.38,0.00,0.000,260,0.000,0.088,2098,3889,3446,3451,3442,0,0,0,0,0,0,14.91,14.64,14.94
$GC,547,-0.62,-116.8,2098,3890,3451,3442,134.4,-17.9,76,555,0.08,2.28,0.00,0.000,3078,0.213,0.035,2120,2484,3446,3451,3442,0,0,0,0,0,0,14.46,14.66,14.58
$GC,735,-0.62,-116.8,2120,2483,3451,3442,165.0,-14.9,95,741,0.00,2.22,0.00,0.000,516,0.000,0.047,2121,1106,3446,3451,3442,0,0,0,0,0,0,14.96,14.64,14.98
$GC,789,-0.62,-116.8,2120,1106,3451,3442,172.4,-13.4,105,795,0.00,2.35,0.00,0.000,1030,0.000,0.065,2112,2495,3446,3451,3442,0,0,0,0,0,0,14.78,14.68,14.81
$GC,983,-0.62,-116.8,2112,2495,3451,3442,198.4,-12.7,125,989,0.00,2.40,0.00,0.000,260,0.000,0.088,2099,3902,3446,3451,3442,0,0,0,0,0,0,14.97,14.67,15.00
$GC,1057,-0.62,-116.8,2101,3902,3451,3442,208.0,-13.0,139,1063,0.00,2.22,0.00,0.000,1030,0.000,0.037,2101,2494,3446,3451,3442,0,0,0,0,0,0,14.84,14.78,14.85
$GC,1252,-0.62,-116.8,2100,2493,3450,3442,231.9,-12.6,159,1257,0.00,2.22,0.00,0.000,516,0.000,0.046,2101,1106,3446,3450,3442,0,0,0,0,0,0,14.98,14.76,15.00
$GC,1285,-0.62,-116.8,2101,1105,3450,3442,236.4,-12.5,165,1297,0.15,2.35,0.00,0.000,3078,0.219,0.059,2126,2506,3445,3450,3441,0,0,0,0,0,0,14.60,14.73,14.78
$GC,1475,-0.62,-116.8,2126,2505,3450,3442,257.8,-11.1,182,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2505,3444,3448,3441,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1775,-0.62,-116.8,2126,2507,3444,3442,289.7,-10.6,197,1781,0.00,2.35,0.00,0.000,260,0.000,0.086,2117,3891,3443,3444,3442,0,0,0,0,0,0,15.02,14.72,15.05
$GC,1822,-0.62,-116.8,2117,3893,3443,3441,295.1,-11.1,206,1830,0.00,2.20,0.00,0.000,1030,0.000,0.034,2118,2496,3442,3444,3441,0,0,0,0,0,0,14.88,14.83,14.91
$GC,2142,-0.62,-116.8,2117,2494,3443,3437,330.7,-10.9,224,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2494,3440,3443,3437,0,0,0,0,0,0,15.03,15.07,15.06
$GC,2443,-0.62,-116.8,2117,2494,3441,3433,364.7,-11.4,239,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2494,3437,3441,3433,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2742,-0.62,-116.8,2117,2493,3438,3430,397.6,-11.0,254,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2494,3434,3438,3430,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3042,-0.62,-116.8,2117,2494,3436,3428,430.1,-10.8,269,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2494,3432,3436,3428,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3342,-0.62,-116.8,2117,2494,3433,3424,461.2,-10.0,284,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2495,3428,3433,3424,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3643,-0.62,-116.8,2117,2494,3431,3423,491.3,-10.1,299,3651,0.00,2.22,0.00,0.000,516,0.000,0.048,2118,1115,3426,3431,3422,0,0,0,0,0,0,15.04,14.74,15.07
$GC,3669,-0.62,-116.8,2117,1115,3430,3422,494.0,-10.7,303,3675,0.00,2.35,0.00,0.000,1030,0.000,0.061,2107,2506,3427,3431,3423,0,0,0,0,0,0,14.85,14.75,14.88
$GC,3993,-0.62,-116.8,2107,2507,3430,3420,530.3,-11.5,322,3999,0.00,2.38,0.00,0.000,260,0.000,0.089,2096,3891,3425,3430,3420,0,0,0,0,0,0,15.03,14.69,15.06
$GC,4025,-0.62,-116.8,2096,3891,3430,3420,534.5,-12.5,328,4032,0.12,2.22,0.00,0.000,3078,0.210,0.037,2126,2491,3425,3430,3420,0,0,0,0,0,0,14.61,14.81,14.78
$GC,4340,-0.62,-116.8,2126,2489,3427,3420,566.5,-10.0,345,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2490,3424,3428,3420,0,0,0,0,0,0,15.04,15.07,15.06
$GC,4640,-0.62,-116.8,2126,2490,3426,3418,593.9,-8.7,360,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2490,3421,3426,3417,0,0,0,0,0,0,15.03,15.07,15.05
$GC,4940,-0.62,-116.8,2126,2490,3424,3415,619.8,-9.0,375,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2490,3420,3424,3416,0,0,0,0,0,0,15.03,15.06,15.06
$GC,5240,-0.62,-116.8,2126,2490,3422,3414,647.3,-9.2,390,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2490,3418,3422,3414,0,0,0,0,0,0,15.03,15.07,15.05
$GC,5540,-0.62,-116.8,2126,2490,3421,3413,675.0,-9.3,405,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2490,3417,3421,3413,0,0,0,0,0,0,15.02,15.06,15.05
$GC,5840,-0.62,-116.8,2126,2491,3420,3412,703.0,-9.3,420,5848,0.00,2.45,0.00,0.000,260,0.000,0.092,2118,3894,3415,3420,3411,0,0,0,0,0,0,15.02,14.65,15.06
$GC,5864,-0.62,-116.8,2117,3894,3419,3411,705.4,-10.0,425,5870,0.00,2.22,0.00,0.000,1030,0.000,0.037,2118,2503,3415,3420,3411,0,0,0,0,0,0,14.84,14.78,14.87
$GC,6183,-0.62,-116.8,2117,2501,3418,3410,736.3,-9.6,443,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2501,3414,3418,3410,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6482,-0.62,-116.8,2117,2501,3417,3409,765.3,-9.5,458,6489,0.00,2.30,0.00,0.000,516,0.000,0.051,2118,1105,3413,3417,3409,0,0,0,0,0,0,15.02,14.71,15.04
$GC,6527,-0.62,-116.8,2118,1105,3417,3409,769.6,-9.5,466,6533,0.00,2.38,0.00,0.000,1030,0.000,0.060,2107,2501,3412,3416,3409,0,0,0,0,0,0,14.80,14.69,14.83
$GC,6851,-0.62,-116.8,2107,2501,3416,3408,801.5,-9.9,485,6857,0.00,2.40,0.00,0.000,260,0.000,0.088,2096,3893,3411,3415,3408,0,0,0,0,0,0,15.01,14.63,15.04
$GC,6894,-0.62,-116.8,2096,3893,3415,3408,806.1,-10.5,493,6901,0.12,2.25,0.00,0.000,3078,0.210,0.040,2127,2493,3411,3415,3408,0,0,0,0,0,0,14.55,14.76,14.73
$GC,7218,-0.62,-116.8,2126,2491,3413,3408,834.8,-8.7,512,7224,0.00,2.28,0.00,0.000,516,0.000,0.051,2127,1107,3410,3413,3408,0,0,0,0,0,0,15.00,14.69,15.03
$GC,7251,-0.62,-116.8,2127,1108,3413,3407,837.8,-9.2,518,7258,0.00,2.38,0.00,0.000,1030,0.000,0.060,2118,2499,3410,3413,3408,0,0,0,0,0,0,14.79,14.68,14.82
$GC,7566,-0.62,-116.8,2117,2501,3413,3406,866.5,-9.1,535,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2499,3409,3413,3406,0,0,0,0,0,0,15.00,15.04,15.03
$GC,7866,-0.62,-116.8,2117,2499,3412,3406,893.7,-9.1,550,7872,0.00,2.42,0.00,0.000,260,0.000,0.091,2107,3897,3409,3412,3406,0,0,0,0,0,0,15.00,14.62,15.02
$GC,7898,-0.62,-116.8,2107,3898,3412,3406,896.9,-10.1,556,7904,0.00,2.25,0.00,0.000,1030,0.000,0.037,2106,2500,3409,3412,3406,0,0,0,0,0,0,14.81,14.75,14.83
$GC,8212,-0.62,-116.8,2107,2499,3412,3404,927.7,-9.9,573,8218,0.00,2.30,0.00,0.000,516,0.000,0.051,2107,1108,3408,3412,3404,0,0,0,0,0,0,15.00,14.68,15.02
$GC,8235,-0.62,-116.8,2107,1108,3411,3404,930.0,-9.9,577,8245,0.12,2.38,0.00,0.000,3078,0.218,0.060,2126,2499,3407,3411,3404,0,0,0,0,0,0,14.52,14.66,14.71
$GC,8559,-0.62,-116.8,2126,2499,3410,3403,958.1,-8.5,596,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2500,3407,3411,3403,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8859,-0.62,-116.8,2126,2499,3410,3402,983.5,-8.5,611,8864,0.00,2.42,0.00,0.000,260,0.000,0.091,2118,3896,3406,3410,3402,0,0,0,0,0,0,15.00,14.59,15.02
$GC,8897,-0.62,-116.8,2116,3896,3410,3402,987.0,-8.1,618,8905,0.00,2.30,0.00,0.000,1030,0.000,0.038,2117,2507,3406,3410,3402,0,0,0,0,0,0,14.64,14.60,14.66
$STATE,8941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8941,begin apogee
$GC,8947,-0.15,0.0,2117,2426,3410,3402,991.1,-9.1,621,9057,0.55,0.00,103.88,2.025,10246,0.171,0.000,2277,2425,2967,2994,2941,0,0,0,0,0,0,14.52,14.15,13.24
$STATE,9060,end apogee,CONTROL_FINISHED_OK
$STATE,9060,begin climb
$GC,9063,0.62,116.8,2277,2425,2992,2940,994.0,0.0,626,9188,0.80,0.00,114.20,2.016,10246,0.100,0.000,2536,2425,2490,2523,2458,0,0,0,0,0,0,14.21,14.00,13.12
$GC,9486,0.62,116.8,2537,2425,2511,2453,963.6,9.9,648,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2425,2482,2511,2453,0,0,0,0,0,0,14.76,14.78,14.78
$GC,9784,0.62,116.8,2537,2425,2510,2451,934.0,9.7,663,9791,0.00,2.28,0.00,0.000,516,0.000,0.052,2548,1062,2480,2510,2451,0,0,0,0,0,0,14.87,14.62,14.89
$GC,9808,0.62,116.8,2548,1062,2509,2451,931.6,9.4,667,9815,0.00,2.35,0.00,0.000,1030,0.000,0.054,2548,2443,2480,2509,2451,0,0,0,0,0,0,14.70,14.62,14.73
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$STATE,20707,end climb,SURFACE_DEPTH_REACHED
$STATE,20707,begin surface coast
$STATE,20728,end surface coast,CONTROL_FINISHED_OK
$STATE,20728,begin surface
$SM_CCo,20754,100.07,0.595,1,0,927,500.17
$SM_GC,1.31,7.47,0.10,100.07,0.061,0.156,0.595,112,2513,927,-6.79,-0.85,500.17,0,0,0,0,1,0,14.70,14.62,14.02
$IRIDIUM_FIX,1324.34,8655.85,110919,112158
$TT8_MAMPS,0.018725,0.885318
$HUMID,41.77
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.90
$XPDR_PINGS,3
$SC_FREEKB,3812896
$PM_FREEKB_00,49289600
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.12,84.081
$10V_AH,13.24,0.000
$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,19.375,182.700,466.075,100.075,0.000,0.000,0.000,293.350,0.750,0.000,16.385,1508.767,13707.958,637.735,4975.961,564.378,0.000,2522.590,0.000,4334.008,0.000,0.543,0.000
$DEVICE_MAMPS,361.845,205.020,2024.955,595.170,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4031.507,0.000,0.000,0.000,0.000,0.000,20736.000,0.000,20747.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.230,0.000,3.377,0.000
$MEM,251848
$DATA_FILE_SIZE,69924,1607
$CAP_FILE_SIZE,290379,0
$CFSIZE,260034560,170303488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.075,161.55,1
$GPS,110919,231330,1324.023,8659.884,21,0.9,21,-0.9,0.7,274.4,11,4.1