version: 66.13
glider: 171
mission: 11
dive: 238
start: 9 16 119 19 19 58
data:
$ID,171
$MISSION,11
$DIVE,238
$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,63
$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
$GPS1,160919,191039,1320.8119,8702.7266,21,0.9,21,-0.9,0.4,136.4,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.9
$GPS2,160919,191911,1320.6838,8702.8770,2,0.7,3,-0.9,1.1,107.9,12,5.7
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,319.8,47630,-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,-116.8,79,2534,967,885,0.0,0.0,0,98,0.00,0.00,-72.90,0.005,16386,0.000,0.000,72,2535,2642,2644,2640,0,0,0,0,0,0,14.80,28.83,14.83
$GC,101,-0.62,-116.8,72,2535,2645,2640,4.4,-11.2,15,134,9.23,2.35,-14.90,0.011,18948,0.353,0.060,2120,1097,3446,3454,3438,0,0,0,0,0,0,14.24,13.75,14.45
$GC,207,-0.62,-116.8,2120,1097,3454,3438,40.2,-26.4,36,214,0.00,2.38,0.00,0.000,1030,0.000,0.060,2112,2460,3445,3453,3438,0,0,0,0,0,0,14.59,14.53,14.62
$GC,403,-0.62,-116.8,2111,2461,3455,3438,92.7,-21.8,58,409,0.00,2.20,0.00,0.000,516,0.000,0.044,2112,1100,3446,3454,3438,0,0,0,0,0,0,14.89,14.66,14.92
$GC,416,-0.62,-116.8,2111,1100,3454,3438,95.7,-21.3,60,422,0.00,2.38,0.00,0.000,1030,0.000,0.056,2101,2509,3446,3454,3438,0,0,0,0,0,0,14.68,14.58,14.71
$GC,610,-0.62,-116.8,2099,2509,3454,3438,134.6,-18.2,80,620,0.00,2.35,0.00,0.000,260,0.000,0.083,2090,3895,3446,3454,3438,0,0,0,0,0,0,14.92,14.62,14.94
$GC,717,-0.62,-116.8,2089,3894,3454,3438,154.2,-17.5,101,726,0.10,2.28,0.00,0.000,3078,0.203,0.033,2120,2483,3446,3454,3438,0,0,0,0,0,0,14.42,14.64,14.54
$GC,904,-0.62,-116.8,2119,2481,3454,3438,181.9,-13.8,120,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2481,3445,3453,3438,0,0,0,0,0,0,14.95,14.98,14.98
$GC,1094,-0.62,-116.8,2119,2481,3454,3438,208.4,-13.8,139,1100,0.00,2.42,0.00,0.000,260,0.000,0.083,2111,3900,3446,3454,3438,0,0,0,0,0,0,14.96,14.64,14.99
$GC,1168,-0.62,-116.8,2110,3900,3454,3438,219.6,-14.8,153,1175,0.00,2.22,0.00,0.000,1030,0.000,0.033,2110,2497,3446,3455,3438,0,0,0,0,0,0,14.82,14.76,14.83
$GC,1363,-0.62,-116.8,2110,2496,3453,3438,247.1,-13.6,173,1370,0.00,2.25,0.00,0.000,516,0.000,0.049,2110,1105,3445,3452,3438,0,0,0,0,0,0,14.99,14.72,15.01
$GC,1460,-0.62,-116.8,2110,1105,3451,3438,259.2,-12.5,191,1465,0.00,2.35,0.00,0.000,1030,0.000,0.058,2100,2506,3444,3451,3438,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1774,-0.62,-116.8,2099,2506,3448,3438,301.5,-13.1,208,1782,0.00,2.35,0.00,0.000,260,0.000,0.083,2088,3894,3443,3448,3438,0,0,0,0,0,0,15.01,14.69,15.04
$GC,1855,-0.62,-116.8,2088,3895,3447,3438,312.3,-12.9,224,1862,0.15,2.20,0.00,0.000,3078,0.205,0.034,2126,2495,3442,3447,3438,0,0,0,0,0,0,14.58,14.80,14.76
$GC,2179,-0.62,-116.8,2125,2494,3444,3437,347.3,-10.6,243,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2494,3440,3444,3437,0,0,0,0,0,0,15.02,15.05,15.05
$GC,2481,-0.62,-116.8,2126,2494,3442,3433,377.7,-10.0,258,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2494,3438,3443,3433,0,0,0,0,0,0,15.02,15.06,15.05
$GC,2779,-0.62,-116.8,2125,2494,3439,3429,407.1,-9.8,273,2786,0.00,2.25,0.00,0.000,516,0.000,0.049,2126,1110,3433,3438,3429,0,0,0,0,0,0,15.02,14.74,15.05
$GC,2808,-0.62,-116.8,2126,1109,3440,3429,410.0,-10.4,278,2814,0.00,2.35,0.00,0.000,1030,0.000,0.057,2118,2506,3434,3439,3429,0,0,0,0,0,0,14.82,14.72,14.85
$GC,3127,-0.62,-116.8,2117,2506,3437,3427,442.2,-10.1,296,3133,0.00,2.38,0.00,0.000,260,0.000,0.086,2107,3897,3432,3437,3427,0,0,0,0,0,0,15.02,14.66,15.04
$GC,3160,-0.62,-116.8,2107,3897,3437,3426,445.6,-10.3,302,3166,0.00,2.22,0.00,0.000,1030,0.000,0.035,2107,2498,3431,3436,3426,0,0,0,0,0,0,14.85,14.79,14.87
$GC,3474,-0.62,-116.8,2107,2496,3434,3424,478.9,-10.7,319,3480,0.00,2.28,0.00,0.000,516,0.000,0.050,2107,1108,3429,3434,3424,0,0,0,0,0,0,15.02,14.73,15.04
$GC,3501,-0.62,-116.8,2106,1108,3433,3424,482.0,-11.3,324,3511,0.12,2.35,0.00,0.000,3078,0.216,0.060,2125,2501,3428,3432,3424,0,0,0,0,0,0,14.57,14.71,14.75
$GC,3819,-0.62,-116.8,2125,2501,3431,3422,514.3,-10.4,342,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2501,3426,3431,3422,0,0,0,0,0,0,15.02,15.06,15.05
$GC,4119,-0.62,-116.8,2125,2501,3430,3421,546.1,-10.5,357,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2501,3425,3430,3421,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4419,-0.62,-116.8,2125,2502,3430,3417,576.4,-9.9,372,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2502,3423,3430,3417,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4719,-0.62,-116.8,2125,2502,3428,3417,603.7,-8.6,387,4724,0.00,2.33,0.00,0.000,516,0.000,0.052,2126,1103,3422,3428,3417,0,0,0,0,0,0,15.02,14.70,15.04
$GC,4758,-0.62,-116.8,2125,1103,3430,3417,607.1,-8.5,394,4765,0.00,2.42,0.00,0.000,1030,0.000,0.060,2117,2495,3422,3427,3417,0,0,0,0,0,0,14.62,14.57,14.66
$GC,5063,-0.62,-116.8,2115,2495,3424,3416,633.7,-8.8,410,5069,0.00,2.40,0.00,0.000,260,0.000,0.087,2106,3890,3420,3424,3416,0,0,0,0,0,0,15.02,14.62,15.04
$GC,5116,-0.62,-116.8,2106,3890,3424,3416,638.7,-9.4,420,5122,0.00,2.25,0.00,0.000,1030,0.000,0.037,2106,2497,3420,3424,3416,0,0,0,0,0,0,14.82,14.76,14.84
$GC,5430,-0.62,-116.8,2106,2496,3422,3414,668.5,-9.6,437,5437,0.00,2.28,0.00,0.000,516,0.000,0.050,2106,1109,3418,3422,3414,0,0,0,0,0,0,15.01,14.69,15.04
$GC,5464,-0.62,-116.8,2106,1108,3422,3414,672.0,-10.3,443,5473,0.12,2.38,0.00,0.000,3078,0.216,0.061,2123,2504,3418,3422,3414,0,0,0,0,0,0,14.52,14.67,14.71
$GC,5775,-0.62,-116.8,2124,2504,3422,3412,698.8,-8.6,460,5780,0.00,2.40,0.00,0.000,260,0.000,0.087,2115,3894,3416,3421,3412,0,0,0,0,0,0,15.00,14.60,15.03
$GC,5808,-0.62,-116.8,2115,3894,3421,3412,701.8,-9.1,466,5814,0.00,2.25,0.00,0.000,1030,0.000,0.038,2116,2494,3416,3420,3412,0,0,0,0,0,0,14.81,14.74,14.83
$GC,6121,-0.62,-116.8,2115,2493,3421,3411,730.5,-9.1,483,6127,0.00,2.30,0.00,0.000,516,0.000,0.051,2116,1103,3416,3421,3411,0,0,0,0,0,0,14.99,14.68,15.01
$GC,6154,-0.62,-116.8,2115,1103,3420,3411,733.5,-9.0,489,6161,0.00,2.40,0.00,0.000,1030,0.000,0.060,2105,2507,3415,3420,3411,0,0,0,0,0,0,14.77,14.66,14.80
$GC,6470,-0.62,-116.8,2105,2507,3419,3409,764.5,-10.1,506,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2507,3414,3420,3408,0,0,0,0,0,0,15.00,15.03,15.02
$GC,6769,-0.62,-116.8,2105,2506,3418,3408,795.3,-10.4,521,6776,0.00,2.40,0.00,0.000,260,0.000,0.090,2094,3890,3413,3418,3409,0,0,0,0,0,0,15.00,14.59,15.02
$GC,6802,-0.62,-116.8,2094,3890,3417,3408,799.0,-11.4,527,6809,0.10,2.22,0.00,0.000,3078,0.170,0.038,2126,2494,3413,3418,3408,0,0,0,0,0,0,14.46,14.71,14.58
$GC,7118,-0.62,-116.8,2125,2493,3417,3408,828.2,-9.2,544,7123,0.00,2.30,0.00,0.000,516,0.000,0.050,2126,1099,3412,3417,3408,0,0,0,0,0,0,14.99,14.66,15.02
$GC,7162,-0.62,-116.8,2125,1099,3417,3407,832.4,-9.4,552,7167,0.00,2.40,0.00,0.000,1030,0.000,0.060,2117,2506,3411,3416,3407,0,0,0,0,0,0,14.76,14.64,14.78
$GC,7485,-0.62,-116.8,2116,2509,3416,3407,863.5,-9.7,571,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2506,3411,3416,3407,0,0,0,0,0,0,14.99,15.02,15.02
$GC,7786,-0.62,-116.8,2116,2506,3414,3406,892.0,-9.4,586,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2507,3410,3414,3406,0,0,0,0,0,0,14.99,15.02,15.02
$GC,8086,-0.62,-116.8,2116,2506,3413,3406,919.9,-9.2,601,8093,0.00,2.42,0.00,0.000,260,0.000,0.090,2106,3898,3409,3413,3406,0,0,0,0,0,0,14.98,14.55,15.01
$GC,8124,-0.62,-116.8,2106,3899,3413,3407,923.6,-9.5,608,8130,0.00,2.33,0.00,0.000,1030,0.000,0.037,2106,2500,3409,3413,3405,0,0,0,0,0,0,14.60,14.57,14.63
$GC,8431,-0.62,-116.8,2106,2498,3412,3406,953.9,-10.0,624,8437,0.00,2.33,0.00,0.000,516,0.000,0.051,2106,1098,3408,3412,3405,0,0,0,0,0,0,14.97,14.64,15.00
$GC,8488,-0.62,-116.8,2106,1098,3412,3405,960.0,-10.4,635,8496,0.08,2.47,0.00,0.000,3078,0.183,0.062,2132,2498,3408,3412,3405,0,0,0,0,0,0,14.43,14.49,14.64
$GC,8795,-0.62,-116.8,2132,2498,3411,3403,985.7,-8.4,651,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2498,3407,3411,3403,0,0,0,0,0,0,14.97,15.00,15.00
$STATE,8853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8853,begin apogee
$GC,8858,-0.15,0.0,2132,2498,3411,3403,990.4,-8.2,654,8974,0.50,0.00,106.32,2.024,10246,0.163,0.000,2278,2498,2967,2993,2941,0,0,0,0,0,0,14.48,14.13,13.21
$STATE,8976,end apogee,CONTROL_FINISHED_OK
$STATE,8976,begin climb
$GC,8979,0.62,116.8,2278,2498,2992,2941,994.1,0.0,660,9112,0.77,2.45,115.72,2.015,10500,0.091,0.084,2535,3847,2488,2520,2457,0,0,0,0,0,0,14.21,13.81,13.08
$GC,9148,0.62,116.8,2534,3848,2514,2458,990.5,9.4,685,9155,0.00,2.38,0.00,0.000,1030,0.000,0.037,2545,2434,2486,2514,2459,0,0,0,0,0,0,14.27,14.21,14.28
$GC,9463,0.62,116.8,2545,2433,2510,2453,958.5,10.1,702,9469,0.00,2.35,0.00,0.000,516,0.000,0.053,2556,1048,2481,2510,2453,0,0,0,0,0,0,14.78,14.53,14.81
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$STATE,20494,end climb,SURFACE_DEPTH_REACHED
$STATE,20494,begin surface coast
$STATE,20526,end surface coast,CONTROL_FINISHED_OK
$STATE,20526,begin surface
$SM_CCo,20554,149.40,0.652,1,0,928,500.17
$SM_GC,1.27,7.22,2.53,149.40,0.042,0.060,0.652,127,2501,928,-6.79,-0.96,500.17,0,0,0,0,1,0,14.64,14.60,13.93
$IRIDIUM_FIX,1317.60,8704.82,160919,132755
$TT8_MAMPS,0.018725,0.438165
$HUMID,41.21
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.60
$XPDR_PINGS,1
$SC_FREEKB,3803488
$PM_FREEKB_00,48096896
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.08,92.125
$10V_AH,13.17,0.000
$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,19.550,226.100,417.125,149.400,0.000,0.000,0.000,267.450,0.250,0.000,16.417,1594.411,13286.445,659.514,5087.832,595.691,0.000,2595.057,0.000,4462.269,0.000,0.541,0.000
$DEVICE_MAMPS,353.430,90.270,2024.190,651.780,0.000,0.000,0.000,191.250,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,4054.888,0.000,0.000,0.000,0.000,0.000,20533.000,0.000,20546.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.260,0.000,3.428,0.000
$MEM,251848
$DATA_FILE_SIZE,73285,1689
$CAP_FILE_SIZE,301483,0
$CFSIZE,260034560,167739392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.104,113.97,1
$GPS,170919,010630,1321.568,8702.834,19,0.8,19,-0.9,0.7,26.4,9,3.3