version: 66.13
glider: 178
mission: 31
dive: 179
start: 11 14 119 11 56 52
data:
$ID,178
$MISSION,31
$DIVE,179
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,141119,114325,1413.2197,14410.5703,31,1.2,31,0.3,0.3,97.6,7,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-60.1
$GPS2,141119,115602,1413.2083,14410.5400,2,0.6,3,0.3,0.5,253.9,12,6.6
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,354.6,14463,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.81,-97.3,155,2723,986,869,0.0,0.0,0,115,0.00,0.00,-88.62,0.005,16386,0.000,0.000,153,2724,3250,3274,3227,0,0,0,0,0,0,15.24,28.83,15.26
$GC,118,-0.81,-97.3,154,2724,3275,3227,4.9,-9.4,9,136,7.95,2.10,-1.92,0.059,18692,0.393,0.094,1850,3937,3366,3398,3335,0,0,0,0,0,0,14.78,14.33,14.99
$GC,365,-0.81,-97.3,1844,3937,3398,3334,93.4,-21.8,58,372,0.00,1.98,0.00,0.000,1030,0.000,0.031,1845,2703,3365,3398,3333,0,0,0,0,0,0,15.20,15.17,15.20
$GC,552,-0.81,-97.3,1844,2697,3398,3333,128.8,-19.3,77,559,0.00,2.15,0.00,0.000,260,0.000,0.080,1838,3940,3368,3398,3338,0,0,0,0,0,0,15.39,15.13,15.40
$GC,787,-0.81,-97.3,1837,3940,3398,3333,170.6,-16.9,123,793,0.00,1.85,0.00,0.000,1030,0.000,0.031,1838,2773,3365,3398,3333,0,0,0,0,0,0,15.30,15.26,15.31
$GC,981,-0.81,-97.3,1837,2765,3399,3333,194.7,-11.9,143,987,0.00,2.28,0.00,0.000,516,0.000,0.043,1837,1360,3366,3399,3333,0,0,0,0,0,0,15.43,15.21,15.45
$GC,1135,-0.81,-97.3,1837,1360,3399,3333,214.5,-13.2,173,1145,0.00,2.35,0.00,0.000,1030,0.000,0.054,1838,2753,3366,3399,3333,0,0,0,0,0,0,15.28,15.19,15.30
$GC,1333,-0.81,-97.3,1837,2753,3399,3332,238.9,-14.0,193,1339,0.00,2.03,0.00,0.000,260,0.000,0.083,1838,3944,3366,3399,3333,0,0,0,0,0,0,15.45,15.19,15.45
$GC,1566,-0.81,-97.3,1837,3943,3398,3331,273.2,-13.9,239,1571,0.00,1.90,0.00,0.000,1030,0.000,0.032,1838,2723,3365,3399,3331,0,0,0,0,0,0,15.34,15.30,15.35
$GC,1879,-0.81,-97.3,1838,2717,3395,3328,308.4,-10.2,251,1885,0.00,2.12,0.00,0.000,260,0.000,0.084,1837,3945,3363,3398,3328,0,0,0,0,0,0,15.47,15.21,15.50
$GC,1946,-0.81,-97.3,1837,3946,3399,3327,315.5,-10.5,264,1954,0.00,1.88,0.00,0.000,1030,0.000,0.033,1837,2743,3360,3394,3327,0,0,0,0,0,0,15.34,15.33,15.35
$GC,2278,-0.81,-97.3,1837,2735,3398,3319,347.4,-10.0,279,2284,0.00,2.10,0.00,0.000,260,0.000,0.086,1837,3943,3361,3399,3323,0,0,0,0,0,0,15.47,15.21,15.48
$GC,2510,-0.81,-97.3,1837,3943,3399,3320,374.8,-13.0,325,2520,0.00,1.88,0.00,0.000,1030,0.000,0.034,1838,2750,3359,3399,3319,0,0,0,0,0,0,15.36,15.33,15.38
$GC,2828,-0.81,-97.3,1837,2744,3399,3314,411.4,-11.5,337,2834,0.00,2.10,0.00,0.000,260,0.000,0.088,1837,3950,3356,3399,3314,0,0,0,0,0,0,15.48,15.22,15.50
$GC,2922,-0.81,-97.3,1837,3950,3399,3312,422.8,-11.9,355,2928,0.00,1.88,0.00,0.000,1030,0.000,0.034,1837,2750,3355,3399,3312,0,0,0,0,0,0,15.37,15.33,15.38
$GC,3256,-0.81,-97.3,1837,2749,3398,3307,458.5,-10.1,371,3261,0.00,2.08,0.00,0.000,260,0.000,0.089,1838,3943,3353,3399,3307,0,0,0,0,0,0,15.48,15.21,15.50
$GC,3323,-0.81,-97.3,1837,3943,3398,3306,465.8,-11.0,384,3330,0.00,1.88,0.00,0.000,1030,0.000,0.037,1838,2759,3351,3398,3305,0,0,0,0,0,0,15.34,15.30,15.35
$GC,3652,-0.81,-97.3,1837,2756,3398,3300,498.6,-9.4,399,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2756,3349,3398,3300,0,0,0,0,0,0,15.48,15.50,15.50
$GC,3953,-0.81,-97.3,1837,2756,3403,3297,529.2,-10.1,409,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2756,3346,3396,3297,0,0,0,0,0,0,15.48,15.50,15.50
$GC,4252,-0.81,-97.3,1837,2756,3393,3294,557.8,-9.2,419,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2756,3343,3393,3294,0,0,0,0,0,0,15.48,15.50,15.50
$GC,4552,-0.81,-97.3,1837,2756,3391,3293,585.4,-9.7,429,4560,0.00,2.30,0.00,0.000,516,0.000,0.047,1837,1373,3341,3391,3292,0,0,0,0,0,0,15.47,15.22,15.50
$GC,4752,-0.81,-97.3,1837,1373,3388,3292,604.9,-9.6,468,4757,0.00,2.35,0.00,0.000,1030,0.000,0.058,1837,2746,3340,3389,3292,0,0,0,0,0,0,15.31,15.21,15.33
$GC,5072,-0.81,-97.3,1837,2747,3387,3290,631.4,-7.8,481,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2752,3336,3385,3288,0,0,0,0,0,0,15.45,15.47,15.48
$GC,5373,-0.81,-97.3,1837,2747,3385,3287,654.3,-7.7,491,5378,0.00,2.30,0.00,0.000,516,0.000,0.046,1837,1369,3338,3388,3288,0,0,0,0,0,0,15.45,15.22,15.47
$GC,5439,-0.81,-97.3,1837,1369,3384,3286,660.5,-8.6,504,5444,0.00,2.38,0.00,0.000,1030,0.000,0.060,1837,2750,3333,3383,3283,0,0,0,0,0,0,15.30,15.19,15.32
$GC,5763,-0.81,-97.3,1837,2752,3382,3285,690.2,-9.7,518,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2752,3333,3382,3284,0,0,0,0,0,0,15.45,15.47,15.46
$GC,6063,-0.81,-97.3,1837,2752,3381,3283,721.0,-10.5,528,6068,0.00,2.08,0.00,0.000,260,0.000,0.093,1837,3943,3332,3381,3283,0,0,0,0,0,0,15.45,15.16,15.47
$GC,6150,-0.81,-97.3,1835,3943,3380,3282,730.7,-10.9,545,6157,0.00,1.98,0.00,0.000,1030,0.000,0.044,1834,2762,3331,3381,3282,0,0,0,0,0,0,15.26,15.23,15.28
$GC,6457,-0.81,-97.3,1837,2762,3379,3280,760.5,-9.3,556,6462,0.00,2.35,0.00,0.000,516,0.000,0.049,1838,1349,3326,3379,3273,0,0,0,0,0,0,15.45,15.20,15.47
$GC,6569,-0.81,-97.3,1838,1349,3378,3280,770.9,-8.9,578,6575,0.00,2.45,0.00,0.000,1030,0.000,0.060,1838,2751,3329,3378,3280,0,0,0,0,0,0,15.28,15.16,15.28
$GC,6883,-0.81,-97.3,1837,2751,3376,3280,796.5,-8.1,590,6889,0.00,2.08,0.00,0.000,260,0.000,0.093,1837,3944,3327,3376,3279,0,0,0,0,0,0,15.44,15.14,15.46
$GC,6956,-0.81,-97.3,1837,3946,3376,3278,803.0,-8.7,604,6964,0.00,1.98,0.00,0.000,1030,0.000,0.044,1838,2740,3327,3376,3278,0,0,0,0,0,0,15.31,15.23,15.29
$GC,7282,-0.81,-97.3,1837,2740,3375,3277,826.8,-7.1,618,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2740,3326,3375,3277,0,0,0,0,0,0,15.44,15.46,15.46
$GC,7581,-0.81,-97.3,1837,2740,3373,3275,847.9,-6.9,628,7590,0.00,2.30,0.00,0.000,516,0.000,0.048,1837,1357,3324,3373,3276,0,0,0,0,0,0,15.37,15.19,15.42
$GC,7657,-0.81,-97.3,1837,1357,3372,3276,854.1,-7.3,642,7665,0.00,2.42,0.00,0.000,1030,0.000,0.061,1837,2757,3324,3372,3276,0,0,0,0,0,0,15.26,15.15,15.28
$GC,7979,-0.81,-97.3,1837,2757,3371,3274,877.4,-7.9,656,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2758,3322,3371,3274,0,0,0,0,0,0,15.41,15.42,15.42
$GC,8278,-0.81,-97.3,1837,2757,3370,3274,901.1,-7.9,666,8284,0.00,2.08,0.00,0.000,260,0.000,0.094,1837,3943,3322,3370,3274,0,0,0,0,0,0,15.41,15.10,15.42
$GC,8335,-0.81,-97.3,1837,3943,3370,3273,906.7,-8.9,677,8346,0.00,2.00,0.00,0.000,1030,0.000,0.045,1838,2758,3320,3367,3273,0,0,0,0,0,0,15.19,15.16,15.19
$GC,8642,-0.81,-97.3,1837,2758,3370,3272,930.2,-7.9,688,8648,0.00,2.12,0.00,0.000,260,0.000,0.094,1837,3947,3321,3370,3272,0,0,0,0,0,0,15.42,15.09,15.42
$GC,8745,-0.81,-97.3,1837,3948,3370,3271,939.6,-8.2,708,8751,0.00,1.98,0.00,0.000,1030,0.000,0.045,1837,2746,3320,3370,3271,0,0,0,0,0,0,15.27,15.22,15.28
$GC,9070,-0.81,-97.3,1837,2746,3368,3272,964.2,-8.3,722,9075,0.00,2.33,0.00,0.000,516,0.000,0.049,1838,1354,3318,3367,3270,0,0,0,0,0,0,15.41,15.16,15.43
$GC,9133,-0.81,-97.3,1837,1354,3367,3270,970.7,-9.0,734,9141,0.00,2.45,0.00,0.000,1030,0.000,0.063,1837,2756,3319,3368,3271,0,0,0,0,0,0,15.23,15.11,15.25
$STATE,9371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9372,begin apogee
$GC,9379,-0.21,0.0,1837,1710,3367,3270,991.2,-8.8,747,9471,0.77,0.00,85.62,2.067,10246,0.210,0.000,2054,1710,2968,3031,2905,0,0,0,0,0,0,14.97,14.59,13.85
$STATE,9479,end apogee,CONTROL_FINISHED_OK
$STATE,9479,begin climb
$GC,9482,0.81,97.3,2054,1710,3031,2902,994.9,0.0,750,9587,1.05,0.00,99.88,2.026,10246,0.111,0.000,2383,1710,2572,2632,2512,0,0,0,0,0,0,14.61,14.38,13.67
$GC,9886,0.81,97.3,2389,1710,2629,2501,964.3,9.2,764,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1715,2565,2629,2501,0,0,0,0,0,0,15.14,15.16,15.16
$GC,10184,0.81,97.3,2383,1710,2628,2498,936.5,9.3,774,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1710,2562,2628,2497,0,0,0,0,0,0,15.27,15.29,15.29
$GC,10484,0.81,97.3,2383,1710,2628,2496,909.8,8.9,784,10490,0.00,2.50,0.00,0.000,260,0.000,0.069,2383,3122,2562,2628,2496,0,0,0,0,0,0,15.32,15.07,15.34
$GC,10541,0.81,97.3,2383,3122,2632,2495,904.9,9.4,795,10548,0.00,2.47,0.00,0.000,1030,0.000,0.048,2384,1708,2561,2628,2495,0,0,0,0,0,0,15.11,15.07,15.14
$GC,10848,0.81,97.3,2383,1708,2628,2493,875.1,9.6,806,10856,0.00,2.47,0.00,0.000,260,0.000,0.068,2384,3115,2561,2628,2494,0,0,0,0,0,0,15.33,15.09,15.37
$GC,10917,0.81,97.3,2383,3115,2628,2493,868.8,9.7,820,10929,0.00,2.42,0.00,0.000,1030,0.000,0.048,2383,1700,2560,2628,2493,0,0,0,0,0,0,15.18,15.09,15.20
$GC,11243,0.81,97.3,2383,1700,2628,2491,838.0,9.2,834,11252,0.00,1.88,0.00,0.000,516,0.000,0.079,2383,638,2560,2628,2492,0,0,0,0,0,0,15.36,15.06,15.38
$GC,11400,0.81,97.3,2383,638,2625,2492,823.5,9.5,864,11406,0.00,1.80,0.00,0.000,1030,0.000,0.044,2384,1724,2559,2625,2493,0,0,0,0,0,0,15.19,15.13,15.22
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$STATE,21122,end climb,SURFACE_DEPTH_REACHED
$STATE,21122,begin surface coast
$STATE,21143,end surface coast,CONTROL_FINISHED_OK
$STATE,21143,begin surface
$SM_CCo,21162,149.25,0.665,1,0,930,500.66
$SM_GC,0.50,6.93,1.73,149.25,0.079,0.048,0.665,159,2717,930,-6.09,-1.81,500.66,0,0,0,0,1,0,15.11,15.13,14.46
$IRIDIUM_FIX,1411.28,14411.44,141119,051319
$TT8_MAMPS,0.020223,0.156541
$HUMID,44.99
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.00
$XPDR_PINGS,0
$SC_FREEKB,3788448
$PM_FREEKB_00,58040768
$PM_FREEKB_01,87712896
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.67,74.097
$10V_AH,13.12,0.000
$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,17.075,167.700,384.900,149.250,0.000,0.000,0.000,503.350,0.000,0.000,14.749,1560.883,13967.333,623.361,5499.223,431.707,0.000,2861.947,0.000,4619.644,0.000,0.553,0.000
$DEVICE_MAMPS,393.210,94.095,2067.030,664.785,0.000,0.000,0.000,205.785,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21175.000,21165.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.363,7.992,0.000,0.000
$MEM,270868
$DATA_FILE_SIZE,66516,1873
$CAP_FILE_SIZE,194694,0
$CFSIZE,260034560,228548608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.040,81.56,1
$GPS,141119,175330,1415.260,14410.786,24,0.8,24,0.3,0.4,110.2,10,3.3