version: 66.13
glider: 171
mission: 11
dive: 218
start: 9 11 119 23 23 10
data:
$ID,171
$MISSION,11
$DIVE,218
$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,57
$R_STBD_OVSHOOT,39
$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
$GPS1,110919,231330,1324.0228,8659.8838,21,0.9,21,-0.9,0.7,274.4,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.1
$GPS2,110919,232224,1324.0122,8659.8564,2,0.7,2,-0.9,0.7,189.2,12,7.6
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,188.3,44471,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-116.8,14,2516,972,877,0.0,0.0,0,103,0.00,0.00,-77.50,0.005,16386,0.000,0.000,1,2517,2793,2794,2792,0,0,0,0,0,0,14.81,28.83,14.85
$GC,106,-0.62,-116.8,1,2517,2794,2792,5.3,-14.9,16,134,9.38,0.00,-11.27,0.013,18950,0.354,0.000,2118,2518,3446,3450,3443,0,0,0,0,0,0,14.28,13.84,14.50
$GC,318,-0.62,-116.8,2118,2517,3451,3443,86.9,-36.1,48,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2517,3446,3451,3442,0,0,0,0,0,0,14.90,14.92,14.92
$GC,508,-0.62,-116.8,2118,2517,3451,3442,129.6,-18.8,67,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2517,3447,3451,3443,0,0,0,0,0,0,14.94,14.96,14.95
$GC,699,-0.62,-116.8,2118,2517,3451,3442,157.7,-13.5,86,704,0.00,2.30,0.00,0.000,516,0.000,0.047,2119,1103,3446,3451,3442,0,0,0,0,0,0,14.95,14.71,14.98
$GC,732,-0.62,-116.8,2118,1103,3451,3442,162.1,-12.6,92,738,0.00,2.33,0.00,0.000,1030,0.000,0.062,2110,2489,3446,3451,3442,0,0,0,0,0,0,14.79,14.70,14.81
$GC,926,-0.62,-116.8,2109,2489,3451,3442,190.1,-14.8,112,931,0.00,2.40,0.00,0.000,260,0.000,0.086,2099,3897,3446,3451,3442,0,0,0,0,0,0,14.97,14.59,15.00
$GC,1016,-0.62,-116.8,2098,3897,3451,3442,203.7,-15.2,129,1023,0.00,2.25,0.00,0.000,1030,0.000,0.036,2099,2507,3446,3450,3442,0,0,0,0,0,0,14.72,14.69,14.75
$GC,1201,-0.62,-116.8,2098,2506,3451,3442,229.6,-13.5,148,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2506,3446,3450,3442,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1402,-0.62,-116.8,2098,2506,3449,3442,256.7,-13.6,166,1408,0.00,2.28,0.00,0.000,516,0.000,0.048,2098,1102,3445,3448,3442,0,0,0,0,0,0,15.01,14.76,15.03
$GC,1426,-0.62,-116.8,2098,1103,3447,3442,260.1,-14.0,170,1433,0.15,2.38,0.00,0.000,3078,0.217,0.059,2124,2506,3444,3447,3442,0,0,0,0,0,0,14.60,14.73,14.78
$GC,1751,-0.62,-116.8,2124,2506,3444,3441,297.0,-10.6,189,1757,0.00,2.35,0.00,0.000,260,0.000,0.086,2115,3893,3443,3445,3442,0,0,0,0,0,0,15.02,14.71,15.05
$GC,1803,-0.62,-116.8,2115,3893,3444,3441,303.1,-11.2,199,1810,0.00,2.22,0.00,0.000,1030,0.000,0.034,2114,2486,3442,3444,3441,0,0,0,0,0,0,14.88,14.83,14.89
$GC,2117,-0.62,-116.8,2115,2486,3443,3437,339.0,-11.4,216,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2486,3440,3443,3437,0,0,0,0,0,0,15.04,15.07,15.06
$GC,2417,-0.62,-116.8,2115,2486,3442,3434,373.5,-11.6,231,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2485,3437,3441,3434,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2718,-0.62,-116.8,2115,2485,3439,3430,407.7,-11.1,246,2726,0.00,2.42,0.00,0.000,260,0.000,0.089,2105,3893,3434,3438,3430,0,0,0,0,0,0,15.04,14.71,15.07
$GC,2760,-0.62,-116.8,2105,3893,3438,3430,412.4,-11.5,254,2765,0.00,2.20,0.00,0.000,1030,0.000,0.034,2105,2499,3434,3438,3430,0,0,0,0,0,0,14.88,14.82,14.90
$GC,3084,-0.62,-116.8,2105,2497,3435,3428,450.2,-11.5,273,3090,0.00,2.25,0.00,0.000,516,0.000,0.049,2105,1109,3431,3435,3427,0,0,0,0,0,0,15.04,14.77,15.07
$GC,3128,-0.62,-116.8,2105,1109,3437,3427,455.3,-11.0,281,3136,0.12,2.35,0.00,0.000,3078,0.221,0.059,2124,2505,3430,3434,3427,0,0,0,0,0,0,14.62,14.75,14.79
$GC,3455,-0.62,-116.8,2124,2505,3432,3424,489.0,-10.5,300,3460,0.00,2.38,0.00,0.000,260,0.000,0.087,2115,3894,3428,3432,3424,0,0,0,0,0,0,15.04,14.69,15.06
$GC,3487,-0.62,-116.8,2114,3894,3432,3424,492.7,-11.2,306,3493,0.00,2.22,0.00,0.000,1030,0.000,0.037,2114,2494,3428,3432,3424,0,0,0,0,0,0,14.88,14.82,14.90
$GC,3801,-0.62,-116.8,2114,2491,3432,3421,526.8,-11.0,323,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2490,3426,3432,3421,0,0,0,0,0,0,15.04,15.07,15.06
$GC,4101,-0.62,-116.8,2114,2491,3429,3421,558.9,-10.6,338,4109,0.00,2.42,0.00,0.000,260,0.000,0.089,2104,3895,3425,3429,3421,0,0,0,0,0,0,15.04,14.68,15.07
$GC,4131,-0.62,-116.8,2104,3894,3430,3421,562.3,-11.2,344,4136,0.00,2.22,0.00,0.000,1030,0.000,0.037,2104,2495,3425,3429,3421,0,0,0,0,0,0,14.87,14.81,14.88
$GC,4444,-0.62,-116.8,2104,2494,3427,3420,596.7,-11.1,361,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2494,3423,3426,3420,0,0,0,0,0,0,15.03,15.07,15.06
$GC,4744,-0.62,-116.8,2104,2494,3426,3418,629.8,-11.0,376,4750,0.00,2.42,0.00,0.000,260,0.000,0.090,2093,3891,3421,3425,3418,0,0,0,0,0,0,15.03,14.67,15.06
$GC,4769,-0.62,-116.8,2093,3891,3424,3417,632.5,-11.0,380,4775,0.12,2.22,0.00,0.000,3078,0.213,0.037,2124,2494,3421,3425,3417,0,0,0,0,0,0,14.59,14.80,14.77
$GC,5093,-0.62,-116.8,2123,2493,3423,3415,663.3,-9.0,399,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2493,3419,3423,3416,0,0,0,0,0,0,15.02,15.06,15.05
$GC,5394,-0.62,-116.8,2123,2493,3422,3414,689.6,-8.7,414,5399,0.00,2.28,0.00,0.000,516,0.000,0.050,2124,1104,3417,3422,3413,0,0,0,0,0,0,15.02,14.73,15.06
$GC,5438,-0.62,-116.8,2123,1103,3422,3413,693.5,-8.9,422,5443,0.00,2.38,0.00,0.000,1030,0.000,0.059,2115,2504,3417,3421,3413,0,0,0,0,0,0,14.81,14.71,14.84
$GC,5761,-0.62,-116.8,2114,2504,3421,3412,724.5,-9.8,441,5768,0.00,2.40,0.00,0.000,260,0.000,0.089,2104,3897,3416,3421,3412,0,0,0,0,0,0,15.02,14.65,15.04
$GC,5826,-0.62,-116.8,2104,3895,3420,3412,731.1,-10.3,453,5832,0.00,2.22,0.00,0.000,1030,0.000,0.036,2104,2504,3416,3420,3412,0,0,0,0,0,0,14.84,14.78,14.86
$GC,6150,-0.62,-116.8,2104,2503,3419,3411,764.6,-10.3,472,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2503,3415,3419,3411,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6451,-0.62,-116.8,2104,2502,3418,3410,796.0,-10.6,487,6456,0.00,2.30,0.00,0.000,516,0.000,0.050,2104,1103,3413,3417,3410,0,0,0,0,0,0,15.01,14.71,15.04
$GC,6488,-0.62,-116.8,2103,1103,3417,3410,800.2,-10.5,494,6496,0.08,2.45,0.00,0.000,3078,0.184,0.059,2129,2504,3413,3416,3410,0,0,0,0,0,0,14.52,14.57,14.73
$GC,6795,-0.62,-116.8,2128,2504,3416,3409,827.8,-9.0,510,6801,0.00,2.40,0.00,0.000,260,0.000,0.090,2120,3893,3412,3415,3409,0,0,0,0,0,0,15.01,14.63,15.04
$GC,6819,-0.62,-116.8,2120,3893,3415,3409,830.0,-9.5,514,6825,0.00,2.22,0.00,0.000,1030,0.000,0.037,2120,2500,3412,3416,3409,0,0,0,0,0,0,14.83,14.76,14.85
$GC,7143,-0.62,-116.8,2120,2499,3414,3408,860.5,-9.5,533,7150,0.00,2.30,0.00,0.000,516,0.000,0.050,2120,1108,3411,3414,3408,0,0,0,0,0,0,15.00,14.69,15.03
$GC,7181,-0.62,-116.8,2120,1108,3414,3408,864.4,-9.3,540,7188,0.00,2.42,0.00,0.000,1030,0.000,0.059,2110,2497,3411,3413,3409,0,0,0,0,0,0,14.62,14.56,14.66
$GC,7489,-0.62,-116.8,2109,2497,3413,3407,895.5,-10.4,556,7498,0.00,2.42,0.00,0.000,260,0.000,0.090,2098,3899,3410,3414,3407,0,0,0,0,0,0,15.00,14.62,15.03
$GC,7544,-0.62,-116.8,2098,3899,3413,3407,901.8,-10.9,567,7551,0.00,2.30,0.00,0.000,1030,0.000,0.038,2098,2510,3410,3413,3407,0,0,0,0,0,0,14.66,14.62,14.68
$GC,7851,-0.62,-116.8,2098,2509,3413,3406,936.0,-11.1,583,7855,0.12,0.00,0.00,0.000,2054,0.224,0.000,2128,2509,3409,3412,3407,0,0,0,0,0,0,14.54,14.77,14.71
$GC,8152,-0.62,-116.8,2127,2509,3412,3405,962.7,-8.5,598,8157,0.00,2.33,0.00,0.000,516,0.000,0.050,2128,1102,3409,3412,3406,0,0,0,0,0,0,15.00,14.68,15.02
$GC,8189,-0.62,-116.8,2128,1102,3411,3405,966.0,-8.4,605,8197,0.00,2.45,0.00,0.000,1030,0.000,0.059,2119,2500,3408,3411,3405,0,0,0,0,0,0,14.61,14.54,14.66
$STATE,8493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8493,begin apogee
$GC,8500,-0.15,0.0,2119,2426,3411,3403,990.9,-7.8,621,8609,0.55,0.00,103.80,2.013,10246,0.166,0.000,2277,2426,2968,2996,2941,0,0,0,0,0,0,14.51,14.16,13.21
$STATE,8612,end apogee,CONTROL_FINISHED_OK
$STATE,8612,begin climb
$GC,8614,0.62,116.8,2279,2426,2993,2941,992.6,0.0,626,8744,0.77,2.45,112.40,2.003,10756,0.099,0.053,2543,1064,2488,2520,2457,0,0,0,0,0,0,14.21,14.03,13.12
$GC,8780,0.62,116.8,2542,1063,2516,2456,985.5,9.6,662,8788,0.00,2.42,0.00,0.000,1030,0.000,0.054,2542,2443,2485,2516,2455,0,0,0,0,0,0,14.28,14.19,14.30
$GC,9101,0.62,116.8,2542,2442,2512,2452,948.1,11.7,681,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2442,2482,2512,2452,0,0,0,0,0,0,14.79,14.82,14.82
$GC,9401,0.62,116.8,2542,2442,2511,2451,913.9,11.3,696,9407,0.00,2.33,0.00,0.000,516,0.000,0.051,2554,1060,2481,2511,2451,0,0,0,0,0,0,14.88,14.64,14.91
$GC,9474,0.62,116.8,2553,1060,2510,2450,905.7,11.0,710,9480,0.00,2.35,0.00,0.000,1030,0.000,0.054,2554,2442,2479,2509,2450,0,0,0,0,0,0,14.72,14.64,14.76
$GC,9788,0.62,116.8,2553,2442,2509,2450,871.2,11.0,727,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2442,2479,2509,2449,0,0,0,0,0,0,14.93,14.96,14.96
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$STATE,19990,end climb,SURFACE_DEPTH_REACHED
$STATE,19990,begin surface coast
$STATE,20022,end surface coast,CONTROL_FINISHED_OK
$STATE,20022,begin surface
$SM_CCo,20047,114.47,0.616,1,0,928,500.17
$SM_GC,1.26,7.30,0.10,114.47,0.056,0.143,0.616,113,2532,928,-6.77,-0.82,500.17,0,0,0,0,1,0,14.71,14.66,14.01
$IRIDIUM_FIX,1324.34,8655.85,110919,171856
$TT8_MAMPS,0.018725,0.444906
$HUMID,41.88
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.90
$XPDR_PINGS,2
$SC_FREEKB,3812448
$PM_FREEKB_00,49233024
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.12,84.460
$10V_AH,13.58,0.000
$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,19.300,178.425,448.775,114.475,0.000,0.000,0.000,295.025,0.500,0.000,15.690,1488.300,13131.240,601.231,4913.591,568.299,0.000,2489.956,0.000,4279.840,0.000,0.541,0.000
$DEVICE_MAMPS,354.195,207.315,2012.715,615.825,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3913.815,0.000,0.000,0.000,0.000,0.000,20028.000,0.000,20041.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.262,0.000,3.410,0.000
$MEM,251916
$DATA_FILE_SIZE,70034,1613
$CAP_FILE_SIZE,283513,0
$CFSIZE,260034560,170184704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.075,156.87,1
$GPS,120919,050038,1321.468,8659.867,18,1.1,18,-0.9,0.6,169.1,6,8.5