version: 66.13
glider: 178
mission: 31
dive: 160
start: 11 9 119 13 4 31
data:
$ID,178
$MISSION,31
$DIVE,160
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$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,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$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,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.45766
$PRESSURE_SLOPE,0.0001061024
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,091119,125200,1417.1760,14410.4590,28,0.9,28,0.3,0.9,196.2,9,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-57.6
$GPS2,091119,130341,1417.1942,14410.5068,2,0.6,3,0.3,0.3,319.4,12,8.3
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,203.0,13355,-18.6,-8.462,-24.20,1753
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.81,-97.3,152,2721,986,867,0.0,0.0,0,109,0.00,0.00,-88.43,0.005,16386,0.000,0.000,153,2721,3219,3245,3194,0,0,0,0,0,0,15.24,28.83,15.26
$GC,112,-0.81,-97.3,152,2721,3244,3195,4.6,-8.6,9,129,8.00,2.20,-2.58,0.046,18948,0.399,0.053,1849,1350,3367,3401,3334,0,0,0,0,0,0,14.81,14.38,15.01
$GC,226,-0.81,-97.3,1848,1351,3401,3334,48.1,-33.6,32,233,0.00,2.35,0.00,0.000,1030,0.000,0.054,1841,2714,3367,3401,3334,0,0,0,0,0,0,15.12,15.07,15.16
$GC,415,-0.81,-97.3,1841,2713,3401,3333,99.5,-20.3,51,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2714,3367,3402,3333,0,0,0,0,0,0,15.35,15.40,15.37
$GC,604,-0.81,-97.3,1841,2714,3401,3333,132.3,-15.0,70,610,0.00,2.08,0.00,0.000,260,0.000,0.073,1832,3953,3367,3401,3334,0,0,0,0,0,0,15.40,15.17,15.42
$GC,840,-0.81,-97.3,1832,3953,3401,3333,175.5,-17.0,116,847,0.12,1.90,0.00,0.000,3078,0.298,0.031,1856,2724,3367,3401,3333,0,0,0,0,0,0,15.06,15.28,15.26
$GC,1035,-0.81,-97.3,1856,2724,3397,3333,202.5,-13.9,136,1042,0.00,2.10,0.00,0.000,260,0.000,0.074,1850,3955,3367,3401,3333,0,0,0,0,0,0,15.43,15.21,15.46
$GC,1272,-0.81,-97.3,1849,3955,3401,3340,238.6,-13.3,182,1277,0.00,1.88,0.00,0.000,1030,0.000,0.032,1849,2737,3367,3402,3333,0,0,0,0,0,0,15.35,15.31,15.35
$GC,1465,-0.81,-97.3,1849,2738,3402,3332,261.5,-11.8,196,1471,0.00,2.08,0.00,0.000,260,0.000,0.077,1847,3956,3366,3401,3331,0,0,0,0,0,0,15.46,15.23,15.47
$GC,1560,-0.81,-97.3,1846,3956,3401,3332,272.8,-12.0,214,1566,0.00,1.88,0.00,0.000,1030,0.000,0.034,1847,2749,3366,3401,3332,0,0,0,0,0,0,15.36,15.33,15.38
$GC,1894,-0.81,-97.3,1847,2749,3401,3332,310.7,-11.7,230,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2749,3365,3402,3329,0,0,0,0,0,0,15.49,15.52,15.51
$GC,2193,-0.81,-97.3,1846,2749,3401,3325,342.7,-10.8,240,2199,0.00,2.22,0.00,0.000,516,0.000,0.041,1847,1370,3362,3401,3324,0,0,0,0,0,0,15.50,15.32,15.52
$GC,2227,-0.81,-97.3,1847,1370,3401,3324,347.0,-12.9,246,2233,0.00,2.33,0.00,0.000,1030,0.000,0.051,1846,2761,3362,3401,3324,0,0,0,0,0,0,15.36,15.27,15.38
$GC,2561,-0.81,-97.3,1846,2761,3401,3320,388.5,-11.5,262,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2767,3360,3401,3319,0,0,0,0,0,0,15.50,15.52,15.52
$GC,2860,-0.81,-97.3,1846,2758,3401,3315,420.0,-10.0,272,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2765,3357,3401,3314,0,0,0,0,0,0,15.50,15.52,15.52
$GC,3161,-0.81,-97.3,1847,2761,3402,3309,447.7,-8.9,282,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2763,3354,3401,3308,0,0,0,0,0,0,15.50,15.52,15.52
$GC,3461,-0.81,-97.3,1847,2762,3400,3305,470.9,-7.6,292,3467,0.00,2.03,0.00,0.000,260,0.000,0.085,1845,3941,3352,3401,3304,0,0,0,0,0,0,15.50,15.25,15.52
$GC,3683,-0.81,-97.3,1847,3942,3401,3301,490.4,-9.3,336,3688,0.00,1.88,0.00,0.000,1030,0.000,0.040,1847,2764,3351,3401,3301,0,0,0,0,0,0,15.38,15.34,15.39
$GC,4007,-0.81,-97.3,1846,2765,3398,3298,518.1,-8.5,350,4013,0.00,2.30,0.00,0.000,516,0.000,0.045,1847,1363,3348,3398,3298,0,0,0,0,0,0,15.50,15.26,15.51
$GC,4239,-0.81,-97.3,1846,1360,3394,3298,538.2,-8.4,396,4245,0.00,2.35,0.00,0.000,1030,0.000,0.055,1846,2747,3345,3394,3297,0,0,0,0,0,0,15.35,15.25,15.37
$GC,4553,-0.81,-97.3,1847,2747,3393,3300,567.0,-9.4,408,4558,0.00,2.30,0.00,0.000,516,0.000,0.045,1847,1358,3343,3393,3293,0,0,0,0,0,0,15.47,15.27,15.49
$GC,4665,-0.81,-97.3,1846,1358,3391,3290,577.5,-9.2,430,4671,0.00,2.38,0.00,0.000,1030,0.000,0.057,1847,2755,3342,3391,3293,0,0,0,0,0,0,15.33,15.24,15.35
$GC,4980,-0.81,-97.3,1846,2755,3390,3290,605.7,-9.1,442,4985,0.00,2.05,0.00,0.000,260,0.000,0.090,1847,3946,3340,3390,3291,0,0,0,0,0,0,15.47,15.21,15.49
$GC,5073,-0.81,-97.3,1846,3946,3390,3290,614.6,-9.3,460,5079,0.00,1.92,0.00,0.000,1030,0.000,0.043,1847,2756,3340,3390,3290,0,0,0,0,0,0,15.35,15.31,15.37
$GC,5407,-0.81,-97.3,1847,2756,3387,3288,642.4,-8.2,476,5412,0.00,2.30,0.00,0.000,516,0.000,0.047,1847,1358,3336,3386,3286,0,0,0,0,0,0,15.47,15.26,15.50
$GC,5549,-0.81,-97.3,1847,1357,3385,3287,654.4,-8.5,504,5559,0.00,2.38,0.00,0.000,1030,0.000,0.058,1847,2749,3336,3385,3287,0,0,0,0,0,0,15.33,15.23,15.35
$GC,5861,-0.81,-97.3,1846,2750,3384,3282,681.4,-9.1,516,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2750,3334,3384,3285,0,0,0,0,0,0,15.47,15.50,15.49
$GC,6161,-0.81,-97.3,1846,2749,3383,3283,708.5,-9.0,526,6166,0.00,2.33,0.00,0.000,516,0.000,0.047,1847,1357,3333,3382,3284,0,0,0,0,0,0,15.47,15.24,15.49
$GC,6257,-0.81,-97.3,1846,1357,3382,3284,717.4,-8.7,545,6263,0.00,2.40,0.00,0.000,1030,0.000,0.058,1846,2760,3332,3381,3283,0,0,0,0,0,0,15.29,15.19,15.31
$GC,6586,-0.81,-97.3,1847,2757,3380,3282,744.1,-7.6,560,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2756,3328,3375,3282,0,0,0,0,0,0,15.46,15.49,15.48
$GC,6886,-0.81,-97.3,1847,2757,3379,3275,765.2,-7.1,570,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2757,3329,3379,3279,0,0,0,0,0,0,15.46,15.48,15.48
$GC,7186,-0.81,-97.3,1846,2757,3378,3279,786.8,-7.2,580,7193,0.00,2.35,0.00,0.000,516,0.000,0.048,1847,1359,3331,3378,3285,0,0,0,0,0,0,15.46,15.21,15.47
$GC,7234,-0.81,-97.3,1846,1358,3377,3278,791.2,-8.1,589,7241,0.00,2.40,0.00,0.000,1030,0.000,0.060,1847,2747,3328,3377,3279,0,0,0,0,0,0,15.30,15.20,15.33
$GC,7557,-0.81,-97.3,1847,2747,3375,3281,814.4,-7.2,602,7562,0.00,2.33,0.00,0.000,516,0.000,0.047,1847,1358,3326,3376,3277,0,0,0,0,0,0,15.44,15.21,15.46
$GC,7608,-0.81,-97.3,1846,1358,3375,3284,818.9,-7.3,612,7614,0.00,2.40,0.00,0.000,1030,0.000,0.060,1847,2751,3326,3375,3278,0,0,0,0,0,0,15.27,15.16,15.29
$GC,7916,-0.81,-97.3,1847,2751,3375,3276,838.7,-6.6,623,7921,0.00,2.08,0.00,0.000,260,0.000,0.094,1847,3943,3325,3375,3276,0,0,0,0,0,0,15.43,15.14,15.45
$GC,8058,-0.81,-97.3,1850,3943,3374,3275,849.7,-7.2,651,8064,0.00,1.95,0.00,0.000,1030,0.000,0.047,1847,2757,3325,3374,3276,0,0,0,0,0,0,15.28,15.24,15.29
$GC,8372,-0.81,-97.3,1846,2757,3374,3274,869.5,-6.3,663,8376,0.00,0.00,0.00,0.000,38,0.000,0.000,1847,2756,3323,3373,3274,0,0,0,0,0,0,15.44,15.46,15.46
$GC,8672,-0.81,-97.3,1846,2757,3372,3273,887.6,-6.0,673,8679,0.00,2.35,0.00,0.000,548,0.000,0.050,1846,1351,3322,3372,3273,0,0,0,0,0,0,15.44,15.21,15.46
$GC,8797,-0.81,-97.3,1846,1350,3371,3274,896.5,-6.8,697,8803,0.00,2.42,0.00,0.000,1030,0.000,0.061,1847,2755,3322,3371,3273,0,0,0,0,0,0,15.27,15.16,15.29
$GC,9131,-0.81,-97.3,1852,2754,3371,3272,918.4,-7.0,713,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2755,3321,3371,3272,0,0,0,0,0,0,15.43,15.46,15.45
$GC,9431,-0.81,-97.3,1846,2755,3370,3272,940.6,-7.4,723,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2755,3320,3368,3272,0,0,0,0,0,0,15.43,15.46,15.45
$GC,9732,-0.81,-97.3,1847,2755,3369,3271,962.3,-7.2,733,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2754,3320,3369,3271,0,0,0,0,0,0,15.42,15.45,15.45
$GC,10031,-0.81,-97.3,1846,2755,3368,3270,983.9,-7.2,743,10037,0.00,2.38,0.00,0.000,516,0.000,0.050,1846,1350,3319,3368,3270,0,0,0,0,0,0,15.43,15.18,15.45
$STATE,10101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10101,begin apogee
$GC,10106,-0.21,0.0,1846,1731,3366,3270,990.0,-7.3,757,10198,0.75,0.00,85.72,2.077,10246,0.212,0.000,2056,1734,2968,3031,2906,0,0,0,0,0,0,15.01,14.59,13.85
$STATE,10200,end apogee,CONTROL_FINISHED_OK
$STATE,10200,begin climb
$GC,10203,0.81,97.3,2056,1732,3031,2904,991.5,0.0,760,10309,1.05,0.00,99.20,2.036,10758,0.115,0.000,2383,1733,2572,2631,2513,0,0,0,0,0,0,14.58,14.37,13.66
$GC,10618,0.81,97.3,2383,1733,2628,2501,956.2,9.9,789,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1733,2565,2629,2501,0,0,0,0,0,0,15.14,15.16,15.19
$GC,10918,0.81,97.3,2383,1733,2628,2500,925.8,10.2,799,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1733,2564,2628,2500,0,0,0,0,0,0,15.26,15.28,15.28
$GC,11218,0.81,97.3,2383,1733,2628,2497,895.3,10.4,809,11224,0.00,2.35,0.00,0.000,260,0.000,0.070,2383,3092,2562,2628,2497,0,0,0,0,0,0,15.32,15.07,15.33
$GC,11290,0.81,97.3,2383,3089,2628,2496,888.0,10.6,823,11296,0.00,2.35,0.00,0.000,1030,0.000,0.049,2384,1717,2562,2628,2497,0,0,0,0,0,0,15.19,15.11,15.21
$GC,11614,0.81,97.3,2384,1717,2628,2490,856.1,9.4,837,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1717,2561,2628,2495,0,0,0,0,0,0,15.33,15.35,15.35
$GC,11914,0.81,97.3,2384,1715,2627,2495,829.2,8.8,847,11921,0.00,2.42,0.00,0.000,260,0.000,0.069,2384,3087,2560,2626,2494,0,0,0,0,0,0,15.35,15.09,15.38
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$STATE,21593,end climb,SURFACE_DEPTH_REACHED
$STATE,21593,begin surface coast
$STATE,21623,end surface coast,CONTROL_FINISHED_OK
$STATE,21623,begin surface
$SM_CCo,21643,149.73,0.666,1,0,928,500.17
$SM_GC,0.45,6.72,1.75,149.73,0.076,0.042,0.666,165,2723,928,-6.08,-1.87,500.17,0,0,0,0,1,0,15.12,15.19,14.47
$IRIDIUM_FIX,1420.13,14410.14,091119,063859
$TT8_MAMPS,0.020223,0.155792
$HUMID,44.48
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.90
$XPDR_PINGS,0
$SC_FREEKB,3798784
$PM_FREEKB_00,58040768
$PM_FREEKB_01,98145792
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.66,66.281
$10V_AH,13.15,0.000
$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,16.850,150.725,384.650,149.725,0.000,0.000,0.000,462.275,0.000,0.000,15.112,1541.362,14682.797,619.057,5274.289,389.407,0.000,2696.934,0.000,4490.416,0.000,0.552,0.000
$DEVICE_MAMPS,398.565,94.095,2076.975,665.550,0.000,0.000,0.000,206.550,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21640.000,21632.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.503,7.038,0.000,0.000
$MEM,270796
$DATA_FILE_SIZE,63253,1791
$CAP_FILE_SIZE,190521,0
$CFSIZE,260034560,231657472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.093,202.78,1
$GPS,091119,190908,1414.365,14409.202,22,1.0,22,0.3,0.2,0.0,7,5.7