version: 66.13
glider: 171
mission: 11
dive: 237
start: 9 16 119 13 33 43
data:
$ID,171
$MISSION,11
$DIVE,237
$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,54
$R_STBD_OVSHOOT,58
$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
$GPS1,160919,132352,1319.8992,8702.5059,18,0.8,32,-0.9,1.2,78.6,12,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.5
$GPS2,160919,133256,1319.7799,8702.7578,2,0.5,2,-0.9,1.5,146.5,12,5.5
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,318.4,49273,-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,16,begin dive
$GC,19,-0.62,-116.8,98,2534,971,880,0.0,0.0,0,97,0.00,0.00,-72.22,0.005,16386,0.000,0.000,96,2534,2649,2646,2652,0,0,0,0,0,0,14.81,28.83,14.84
$GC,100,-0.62,-116.8,96,2534,2649,2652,4.7,-12.2,15,133,9.12,2.35,-15.00,0.011,18948,0.356,0.060,2127,1096,3447,3455,3440,0,0,0,0,0,0,14.25,13.75,14.46
$GC,147,-0.62,-116.8,2126,1096,3456,3440,20.9,-31.2,24,154,0.00,2.38,0.00,0.000,1030,0.000,0.056,2117,2469,3447,3455,3440,0,0,0,0,0,0,14.59,14.52,14.62
$GC,340,-0.62,-116.8,2117,2469,3455,3440,80.7,-28.3,51,345,0.00,2.40,0.00,0.000,260,0.000,0.075,2107,3895,3448,3456,3440,0,0,0,0,0,0,14.88,14.59,14.90
$GC,363,-0.62,-116.8,2107,3896,3455,3441,86.9,-25.0,55,369,0.00,2.22,0.00,0.000,1030,0.000,0.033,2107,2489,3447,3455,3440,0,0,0,0,0,0,14.72,14.66,14.73
$GC,557,-0.62,-116.8,2107,2488,3455,3440,127.8,-19.1,75,563,0.00,2.40,0.00,0.000,260,0.000,0.080,2096,3893,3448,3456,3440,0,0,0,0,0,0,14.92,14.62,14.95
$GC,621,-0.62,-116.8,2096,3894,3455,3440,138.9,-18.9,87,627,0.12,2.20,0.00,0.000,3078,0.228,0.033,2125,2494,3448,3456,3440,0,0,0,0,0,0,14.50,14.73,14.69
$GC,815,-0.62,-116.8,2124,2492,3455,3440,166.7,-13.7,107,821,0.00,2.40,0.00,0.000,260,0.000,0.081,2116,3897,3448,3456,3440,0,0,0,0,0,0,14.95,14.56,14.98
$GC,848,-0.62,-116.8,2116,3897,3455,3440,171.2,-13.4,113,855,0.00,2.20,0.00,0.000,1030,0.000,0.032,2116,2499,3447,3455,3440,0,0,0,0,0,0,14.81,14.75,14.82
$GC,1043,-0.62,-116.8,2115,2498,3455,3439,195.5,-12.0,133,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2498,3448,3456,3440,0,0,0,0,0,0,14.96,15.00,14.99
$GC,1233,-0.62,-116.8,2115,2498,3455,3440,219.5,-13.6,152,1239,0.00,2.40,0.00,0.000,260,0.000,0.082,2105,3904,3447,3455,3440,0,0,0,0,0,0,14.98,14.66,15.00
$GC,1269,-0.62,-116.8,2105,3905,3455,3440,224.7,-13.7,159,1276,0.00,2.28,0.00,0.000,1030,0.000,0.035,2105,2509,3447,3454,3440,0,0,0,0,0,0,14.69,14.66,14.72
$GC,1458,-0.62,-116.8,2105,2507,3453,3440,249.1,-12.5,178,1463,0.00,2.30,0.00,0.000,516,0.000,0.049,2105,1088,3446,3453,3440,0,0,0,0,0,0,15.00,14.73,15.02
$GC,1502,-0.62,-116.8,2105,1088,3454,3440,254.4,-11.7,186,1511,0.12,2.38,0.00,0.000,3078,0.221,0.058,2123,2501,3446,3452,3440,0,0,0,0,0,0,14.57,14.69,14.75
$GC,1824,-0.62,-116.8,2123,2501,3449,3440,287.8,-10.1,205,1830,0.00,2.38,0.00,0.000,260,0.000,0.087,2115,3896,3444,3449,3439,0,0,0,0,0,0,15.01,14.68,15.04
$GC,1882,-0.62,-116.8,2114,3896,3448,3439,294.0,-10.2,216,1889,0.00,2.30,0.00,0.000,1030,0.000,0.037,2114,2498,3443,3448,3439,0,0,0,0,0,0,14.71,14.66,14.73
$GC,2188,-0.62,-116.8,2113,2497,3444,3438,325.7,-10.6,232,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2497,3441,3444,3438,0,0,0,0,0,0,15.02,15.05,15.05
$GC,2488,-0.62,-116.8,2114,2497,3443,3434,357.7,-10.7,247,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2498,3438,3443,3434,0,0,0,0,0,0,15.02,15.06,15.05
$GC,2789,-0.62,-116.8,2114,2497,3440,3432,388.5,-10.0,262,2795,0.00,2.30,0.00,0.000,516,0.000,0.052,2115,1092,3435,3440,3431,0,0,0,0,0,0,15.03,14.74,15.06
$GC,2821,-0.62,-116.8,2114,1092,3440,3432,392.0,-10.1,268,2827,0.00,2.40,0.00,0.000,1030,0.000,0.061,2104,2507,3435,3440,3431,0,0,0,0,0,0,14.78,14.68,14.81
$GC,3135,-0.62,-116.8,2103,2506,3438,3429,425.2,-10.9,285,3142,0.00,2.38,0.00,0.000,260,0.000,0.088,2093,3894,3433,3438,3428,0,0,0,0,0,0,15.02,14.67,15.04
$GC,3184,-0.62,-116.8,2092,3894,3437,3429,431.0,-11.6,294,3191,0.12,2.25,0.00,0.000,3078,0.210,0.040,2123,2494,3433,3437,3429,0,0,0,0,0,0,14.57,14.78,14.76
$GC,3504,-0.62,-116.8,2122,2493,3434,3425,462.6,-9.7,312,3510,0.00,2.30,0.00,0.000,516,0.000,0.053,2122,1093,3429,3434,3425,0,0,0,0,0,0,15.02,14.73,15.05
$GC,3541,-0.62,-116.8,2123,1093,3433,3425,466.4,-9.6,319,3547,0.00,2.45,0.00,0.000,1030,0.000,0.062,2114,2497,3429,3433,3425,0,0,0,0,0,0,14.66,14.59,14.71
$GC,3848,-0.62,-116.8,2114,2498,3432,3423,497.8,-10.3,335,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2498,3427,3432,3423,0,0,0,0,0,0,15.02,15.05,15.05
$GC,4148,-0.62,-116.8,2114,2498,3431,3421,528.7,-10.4,350,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2498,3425,3430,3421,0,0,0,0,0,0,15.02,15.06,15.05
$GC,4448,-0.62,-116.8,2114,2498,3429,3421,559.5,-10.3,365,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2498,3424,3429,3420,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4748,-0.62,-116.8,2112,2498,3428,3417,590.1,-10.2,380,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2498,3422,3428,3417,0,0,0,0,0,0,15.02,15.05,15.04
$GC,5048,-0.62,-116.8,2112,2498,3426,3417,621.7,-10.7,395,5053,0.00,2.35,0.00,0.000,516,0.000,0.058,2112,1096,3421,3426,3417,0,0,0,0,0,0,15.02,14.69,15.04
$GC,5092,-0.62,-116.8,2112,1096,3425,3417,626.5,-10.9,403,5098,0.00,2.40,0.00,0.000,1030,0.000,0.062,2103,2500,3421,3425,3417,0,0,0,0,0,0,14.79,14.68,14.82
$GC,5416,-0.62,-116.8,2103,2501,3424,3414,663.3,-11.4,422,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2501,3419,3424,3414,0,0,0,0,0,0,15.02,15.04,15.04
$GC,5715,-0.62,-116.8,2103,2501,3423,3413,697.6,-11.3,437,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2501,3418,3423,3413,0,0,0,0,0,0,15.01,15.04,15.04
$GC,6015,-0.62,-116.8,2103,2501,3421,3412,730.8,-10.9,452,6022,0.00,2.33,0.00,0.000,516,0.000,0.060,2103,1108,3416,3421,3412,0,0,0,0,0,0,15.01,14.64,15.04
$GC,6048,-0.62,-116.8,2102,1108,3421,3412,734.6,-11.3,458,6058,0.12,2.38,0.00,0.000,3078,0.218,0.061,2123,2501,3416,3421,3412,0,0,0,0,0,0,14.51,14.67,14.70
$GC,6359,-0.62,-116.8,2123,2501,3421,3411,764.4,-9.5,475,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2501,3416,3421,3411,0,0,0,0,0,0,15.00,15.04,15.03
$GC,6660,-0.62,-116.8,2123,2501,3420,3410,792.1,-9.1,490,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2501,3415,3420,3410,0,0,0,0,0,0,15.00,15.04,15.03
$GC,6959,-0.62,-116.8,2122,2501,3418,3408,818.7,-8.8,505,6966,0.00,2.35,0.00,0.000,516,0.000,0.054,2124,1096,3413,3418,3408,0,0,0,0,0,0,15.00,14.66,15.02
$GC,6997,-0.62,-116.8,2123,1096,3418,3408,822.3,-8.9,512,7003,0.00,2.47,0.00,0.000,1030,0.000,0.060,2114,2505,3413,3418,3408,0,0,0,0,0,0,14.60,14.52,14.66
$GC,7303,-0.62,-116.8,2113,2505,3417,3408,850.3,-9.3,528,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2505,3412,3417,3408,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7603,-0.62,-116.8,2114,2504,3417,3406,878.2,-9.3,543,7609,0.00,2.35,0.00,0.000,516,0.000,0.052,2115,1104,3411,3416,3407,0,0,0,0,0,0,14.99,14.64,15.02
$GC,7635,-0.62,-116.8,2113,1104,3416,3407,881.4,-9.5,549,7643,0.00,2.40,0.00,0.000,1030,0.000,0.063,2103,2501,3411,3416,3407,0,0,0,0,0,0,14.74,14.64,14.78
$GC,7951,-0.62,-116.8,2103,2501,3415,3406,913.7,-10.6,566,7957,0.00,2.42,0.00,0.000,260,0.000,0.088,2092,3894,3411,3415,3407,0,0,0,0,0,0,14.99,14.57,15.02
$GC,7988,-0.62,-116.8,2092,3894,3414,3406,918.1,-11.5,573,7997,0.10,2.33,0.00,0.000,3078,0.174,0.038,2124,2491,3410,3414,3406,0,0,0,0,0,0,14.35,14.57,14.47
$GC,8295,-0.62,-116.8,2123,2490,3413,3406,948.8,-10.1,589,8301,0.00,2.30,0.00,0.000,516,0.000,0.053,2124,1109,3409,3413,3406,0,0,0,0,0,0,14.98,14.63,15.01
$GC,8353,-0.62,-116.8,2124,1109,3413,3406,955.1,-10.8,600,8360,0.00,2.45,0.00,0.000,1030,0.000,0.060,2115,2499,3409,3413,3406,0,0,0,0,0,0,14.55,14.48,14.59
$GC,8659,-0.62,-116.8,2115,2499,3415,3405,986.8,-10.4,616,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2499,3408,3413,3404,0,0,0,0,0,0,14.97,15.01,15.00
$STATE,8697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8697,begin apogee
$GC,8703,-0.15,0.0,2115,2499,3413,3404,990.9,-10.1,618,8817,0.57,0.00,105.30,2.022,10246,0.168,0.000,2281,2499,2967,2993,2942,0,0,0,0,0,0,14.47,14.14,13.20
$STATE,8820,end apogee,CONTROL_FINISHED_OK
$STATE,8820,begin climb
$GC,8823,0.62,116.8,2281,2499,2992,2941,995.6,0.0,624,8955,0.77,2.50,113.88,2.011,10500,0.090,0.084,2538,3846,2489,2519,2459,0,0,0,0,0,0,14.21,13.98,13.08
$GC,8983,0.62,116.8,2538,3846,2514,2459,993.6,8.4,653,8990,0.00,2.35,0.00,0.000,1030,0.000,0.037,2551,2447,2485,2514,2457,0,0,0,0,0,0,14.26,14.20,14.27
$GC,9308,0.62,116.8,2551,2446,2509,2454,959.2,11.2,672,9317,0.00,2.38,0.00,0.000,516,0.000,0.057,2562,1046,2481,2509,2453,0,0,0,0,0,0,14.78,14.52,14.81
$GC,9391,0.62,116.8,2561,1046,2507,2452,949.9,11.6,688,9401,0.12,2.40,0.00,0.000,5126,0.243,0.054,2535,2448,2480,2508,2453,0,0,0,0,0,0,14.37,14.55,14.60
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$STATE,19901,end climb,SURFACE_DEPTH_REACHED
$STATE,19901,begin surface coast
$STATE,19932,end surface coast,CONTROL_FINISHED_OK
$STATE,19932,begin surface
$SM_CCo,19958,167.88,0.669,1,0,928,500.17
$SM_GC,1.23,7.35,0.12,167.88,0.059,0.124,0.669,123,2532,928,-6.78,-1.10,500.17,0,0,0,0,1,0,14.68,14.65,13.91
$IRIDIUM_FIX,1317.60,8704.82,160919,073201
$TT8_MAMPS,0.018725,0.193242
$HUMID,42.12
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,25.40
$XPDR_PINGS,2
$SC_FREEKB,3803936
$PM_FREEKB_00,48155008
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.08,91.739
$10V_AH,13.55,0.000
$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,19.125,175.100,396.075,167.875,0.000,0.000,0.000,301.925,0.500,0.000,15.824,1469.623,13120.515,635.581,4888.201,563.776,0.000,2482.321,0.000,4241.522,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,123.930,2021.895,668.610,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3938.467,0.000,0.000,0.000,0.000,0.000,19939.000,0.000,19951.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.296,0.000,3.434,0.000
$MEM,251832
$DATA_FILE_SIZE,69998,1579
$CAP_FILE_SIZE,281052,0
$CFSIZE,260034560,167882752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.109,106.53,1
$GPS,160919,191039,1320.812,8702.727,21,0.9,21,-0.9,0.4,136.4,7,4.8