version: 66.12
glider: 187
mission: 8
dive: 551
start: 11 15 115 10 39 26
data:
$ID,187
$MISSION,8
$DIVE,551
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,450
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1970
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,151115,102125,4747.5806,-12524.9160,62,1.6,62,16.5,1.2,127.3,8,7.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.7
$GPS2,151115,103857,4747.5396,-12524.6270,2,1.5,4,16.5,0.1,0.0,8,7.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,220.3,149207,-14.8,-7.333,-19.49,2243
$D_GRID,768
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,29,-0.39,-107.1,69,1952,1210,1414,0.0,0.0,0,113,0.00,0.00,-76.62,0.000,16390,0.000,0.000,70,1952,3378,3370,3387,0,0,0,0,0,0,14.49,12.43,14.43
$GC,121,-0.39,-107.1,69,1952,3370,3393,1.5,-2.2,2,146,14.43,2.67,0.00,0.000,2308,0.360,0.102,3251,3388,3381,3371,3391,0,0,0,0,0,0,13.74,14.05,14.11
$GC,301,-0.39,-107.1,3250,3390,3370,3396,43.8,-8.8,35,312,0.00,2.58,0.00,0.000,1030,0.000,0.086,3255,1976,3383,3370,3396,0,0,0,0,0,0,14.14,14.00,14.18
$GC,635,-0.39,-107.1,3250,1976,3368,3401,76.5,-10.0,44,646,0.00,2.60,0.00,0.000,516,0.000,0.099,3251,546,3384,3367,3402,0,0,0,0,0,0,14.54,13.87,14.56
$GC,692,-0.39,-107.1,3250,546,3366,3402,81.6,-8.1,53,703,0.00,2.58,0.00,0.000,1030,0.000,0.087,3250,1967,3384,3366,3402,0,0,0,0,0,0,14.16,14.00,14.21
$GC,1021,-0.39,-107.1,3250,1966,3366,3402,108.8,-8.7,61,1032,0.00,2.62,0.00,0.000,260,0.000,0.102,3252,3391,3385,3368,3402,0,0,0,0,0,0,14.57,13.89,14.59
$GC,1062,-0.39,-107.1,3250,3391,3365,3402,112.4,-8.2,67,1074,0.00,2.58,0.00,0.000,1030,0.000,0.083,3256,1971,3384,3366,3402,0,0,0,0,0,0,14.16,14.01,14.19
$GC,1410,-0.39,-107.1,3250,1972,3366,3402,141.8,-8.8,78,1421,0.00,2.60,0.00,0.000,516,0.000,0.099,3250,547,3382,3365,3400,0,0,0,0,0,0,14.57,13.93,14.59
$GC,1447,-0.39,-107.1,3250,545,3366,3403,145.8,-9.9,83,1458,0.00,2.60,0.00,0.000,1030,0.000,0.087,3251,1984,3382,3366,3398,0,0,0,0,0,0,14.14,14.00,14.19
$GC,1798,-0.39,-107.1,3250,1984,3361,3402,173.8,-7.9,95,1809,0.00,2.58,0.00,0.000,260,0.000,0.103,3250,3376,3383,3365,3402,0,0,0,0,0,0,14.57,13.92,14.58
$GC,1886,-0.39,-107.1,3247,3376,3366,3402,180.2,-6.8,110,1897,0.00,2.58,0.00,0.000,1030,0.000,0.085,3251,1958,3386,3370,3402,0,0,0,0,0,0,14.14,14.01,14.20
$GC,2248,-0.39,-107.1,3250,1957,3359,3402,206.9,-7.6,124,2259,0.00,2.58,0.00,0.000,516,0.000,0.103,3250,562,3385,3363,3407,0,0,0,0,0,0,14.60,13.91,14.62
$GC,2305,-0.39,-107.1,3250,559,3363,3402,212.1,-8.7,133,2317,0.00,2.55,0.00,0.000,1030,0.000,0.089,3251,1971,3383,3363,3403,0,0,0,0,0,0,14.12,13.96,14.17
$GC,2633,-0.39,-107.1,3250,1966,3360,3402,236.6,-7.4,141,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1968,3382,3361,3403,0,0,0,0,0,0,14.62,14.64,14.66
$GC,2935,-0.39,-107.1,3250,1965,3361,3403,259.7,-7.7,146,2946,0.00,2.65,0.00,0.000,260,0.000,0.103,3250,3390,3381,3360,3403,0,0,0,0,0,0,14.61,13.88,14.63
$GC,2970,-0.39,-107.1,3250,3390,3360,3403,262.7,-7.7,151,2982,0.00,2.58,0.00,0.000,1030,0.000,0.085,3250,1975,3381,3360,3402,0,0,0,0,0,0,14.12,13.96,14.18
$GC,3322,-0.39,-107.1,3248,1979,3359,3402,289.3,-7.8,163,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1974,3380,3359,3402,0,0,0,0,0,0,14.59,14.60,14.60
$GC,3619,-0.39,-107.1,3250,1974,3358,3402,309.0,-6.3,168,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1974,3381,3364,3398,0,0,0,0,0,0,14.61,14.62,14.63
$GC,3918,-0.39,-107.1,3250,1974,3357,3402,326.3,-5.7,173,3929,0.00,2.62,0.00,0.000,516,0.000,0.101,3249,546,3379,3356,3402,0,0,0,0,0,0,14.63,13.89,14.65
$GC,3966,-0.39,-107.1,3250,545,3357,3403,329.6,-7.4,180,3977,0.00,2.60,0.00,0.000,1030,0.000,0.090,3250,1967,3379,3356,3402,0,0,0,0,0,0,14.09,13.95,14.16
$GC,4305,-0.39,-107.1,3250,1967,3355,3402,353.2,-6.9,190,4316,0.00,2.65,0.00,0.000,260,0.000,0.104,3250,3391,3381,3355,3407,0,0,0,0,0,0,14.61,13.83,14.62
$GC,4378,-0.39,-107.1,3250,3391,3355,3402,358.1,-6.5,202,4390,0.00,2.62,0.00,0.000,1030,0.000,0.086,3250,1958,3378,3354,3402,0,0,0,0,0,0,14.09,13.94,14.13
$GC,4751,-0.39,-107.1,3246,1961,3354,3402,384.9,-7.4,219,4762,0.00,2.60,0.00,0.000,516,0.000,0.102,3250,560,3378,3354,3402,0,0,0,0,0,0,14.59,13.85,14.61
$GC,4799,-0.39,-107.1,3250,555,3354,3402,388.5,-7.7,226,4810,0.00,2.60,0.00,0.000,1030,0.000,0.091,3251,1982,3377,3353,3402,0,0,0,0,0,0,14.08,13.93,14.14
$GC,5136,-0.39,-107.1,3250,1982,3352,3402,409.8,-6.2,236,5147,0.00,2.62,0.00,0.000,260,0.000,0.106,3255,3387,3377,3352,3402,0,0,0,0,0,0,14.60,13.85,14.62
$GC,5183,-0.39,-107.1,3250,3387,3352,3402,412.7,-6.1,243,5194,0.00,2.60,0.00,0.000,1030,0.000,0.087,3250,1973,3377,3352,3402,0,0,0,0,0,0,14.09,13.93,14.14
$GC,5521,-0.39,-107.1,3250,1973,3351,3402,434.8,-6.8,253,5533,0.00,2.62,0.00,0.000,516,0.000,0.102,3256,554,3378,3355,3402,0,0,0,0,0,0,14.59,13.83,14.61
$GC,5554,-0.39,-107.1,3251,554,3351,3402,437.5,-7.8,257,5566,0.00,2.60,0.00,0.000,1030,0.000,0.089,3250,1973,3376,3351,3402,0,0,0,0,0,0,14.07,13.92,14.12
$GC,5913,-0.39,-107.1,3250,1972,3349,3402,462.9,-7.2,270,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1972,3375,3349,3402,0,0,0,0,0,0,14.56,14.57,14.58
$GC,6207,-0.39,-107.1,3250,1973,3349,3400,481.8,-6.2,275,6220,0.00,2.62,0.00,0.000,260,0.000,0.106,3251,3376,3378,3355,3402,0,0,0,0,0,0,14.59,13.76,14.61
$GC,6267,-0.39,-107.1,3250,3376,3348,3402,485.2,-5.7,284,6278,0.00,2.62,0.00,0.000,1030,0.000,0.091,3251,1957,3375,3349,3402,0,0,0,0,0,0,14.05,13.90,14.12
$GC,6594,-0.39,-107.1,3249,1957,3346,3402,505.0,-6.1,292,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1957,3372,3342,3402,0,0,0,0,0,0,14.60,14.62,14.62
$GC,6894,-0.39,-107.1,3250,1957,3345,3402,525.5,-6.9,297,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1957,3373,3345,3402,0,0,0,0,0,0,14.59,14.61,14.61
$GC,7196,-0.39,-107.1,3249,1957,3344,3402,546.2,-6.8,302,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1957,3373,3344,3402,0,0,0,0,0,0,14.59,14.59,14.59
$GC,7494,-0.39,-107.1,3250,1957,3343,3403,567.3,-7.1,307,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1957,3373,3345,3402,0,0,0,0,0,0,14.59,14.61,14.61
$GC,7795,-0.39,-107.1,3250,1957,3342,3407,589.1,-7.3,312,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1962,3372,3342,3402,0,0,0,0,0,0,14.59,14.60,14.59
$GC,8094,-0.39,-107.1,3250,1957,3341,3402,609.2,-6.6,317,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1957,3371,3341,3402,0,0,0,0,0,0,14.57,14.61,14.59
$GC,8394,-0.39,-107.1,3250,1957,3341,3402,627.3,-6.0,322,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1957,3374,3341,3408,0,0,0,0,0,0,14.57,14.59,14.59
$GC,8695,-0.39,-107.1,3250,1957,3338,3402,645.7,-6.1,327,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1957,3373,3340,3407,0,0,0,0,0,0,14.56,14.58,14.57
$GC,8994,-0.39,-107.1,3250,1957,3339,3407,663.6,-5.9,332,9005,0.00,2.75,0.00,0.000,260,0.000,0.109,3250,3391,3370,3339,3402,0,0,0,0,0,0,14.58,13.71,14.58
$GC,9058,-0.39,-107.1,3250,3391,3345,3400,666.9,-5.3,342,9069,0.00,2.65,0.00,0.000,1030,0.000,0.088,3251,1964,3370,3339,3402,0,0,0,0,0,0,13.99,13.83,14.04
$GC,9381,-0.39,-107.1,3250,1963,3338,3402,683.5,-5.1,349,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1964,3370,3338,3402,0,0,0,0,0,0,14.55,14.57,14.57
$GC,9682,-0.39,-107.1,3250,1964,3338,3402,699.4,-5.2,354,9693,0.00,2.72,0.00,0.000,260,0.000,0.106,3250,3389,3370,3333,3407,0,0,0,0,0,0,14.58,13.73,14.59
$GC,9719,-0.39,-107.1,3246,3388,3338,3401,701.3,-4.9,359,9730,0.00,2.65,0.00,0.000,1030,0.000,0.091,3247,1975,3369,3337,3402,0,0,0,0,0,0,13.99,13.82,14.04
$GC,10071,-0.39,-107.1,3250,1975,3338,3407,719.1,-5.2,371,10082,0.00,2.65,0.00,0.000,516,0.000,0.103,3250,559,3369,3337,3401,0,0,0,0,0,0,14.54,13.75,14.56
$GC,10129,-0.39,-107.1,3250,558,3338,3401,722.7,-6.0,380,10140,0.00,2.62,0.00,0.000,1030,0.000,0.092,3250,1970,3369,3337,3401,0,0,0,0,0,0,14.00,13.83,14.03
$GC,10461,-0.39,-107.1,3246,1971,3337,3401,738.5,-4.7,388,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1971,3370,3340,3401,0,0,0,0,0,0,14.54,14.56,14.56
$GC,10757,-0.39,-107.1,3250,1971,3336,3401,752.2,-4.5,393,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1967,3369,3337,3401,0,0,0,0,0,0,14.54,14.55,14.55
$GC,11057,-0.39,-107.1,3250,1968,3335,3401,766.9,-4.9,398,11068,0.00,2.70,0.00,0.000,260,0.000,0.108,3250,3390,3366,3336,3397,0,0,0,0,0,0,14.59,13.69,14.60
$STATE,11073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11073,begin apogee
$GC,11088,-0.16,0.0,3251,2236,3335,3400,768.1,-5.0,400,11185,0.32,0.00,89.62,1.665,10246,0.149,0.000,3346,2234,2940,2877,3003,0,0,0,0,0,0,13.81,13.82,12.83
$STATE,11188,end apogee,CONTROL_FINISHED_OK
$STATE,11188,begin climb
$GC,11193,0.39,107.1,3344,2238,2872,3004,769.7,0.0,401,11294,0.47,0.00,93.35,1.638,10246,0.093,0.000,3517,2232,2503,2377,2630,0,0,0,0,0,0,13.93,13.64,12.72
$GC,11565,0.41,150.8,3523,2232,2371,2627,754.6,5.3,408,11615,0.00,2.78,37.00,1.605,8452,0.000,0.107,3517,3701,2322,2177,2468,0,0,0,0,0,0,14.45,14.00,13.02
$GC,11655,0.41,150.8,3517,3701,2177,2464,749.6,7.7,424,11666,0.00,2.67,0.00,0.000,1030,0.000,0.093,3517,2256,2318,2171,2466,0,0,0,0,0,0,14.12,13.98,14.15
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$STATE,22391,end climb,SURFACE_DEPTH_REACHED
$STATE,22391,begin surface coast
$FINISH,0.2,1.024284
$STATE,22421,end surface coast,CONTROL_FINISHED_OK
$STATE,22421,begin surface
$SM_CCo,22453,40.50,0.080,0,0,1310,400.08
$SM_GC,0.92,10.00,0.52,40.50,0.035,0.094,0.080,81,1954,1310,-10.27,0.28,400.08,0,0,0,0,0,0,14.21,14.09,14.10
$IRIDIUM_FIX,4729.30,-12523.69,151115,045610
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.74
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3713216
$24V_AH,12.43,154.427
$10V_AH,13.03,0.000
$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,26.050,210.825,333.475,40.500,0.000,0.000,0.000,622.775,0.000,0.000,6.212,2046.092,16967.572,636.382,2763.875,1116.090,0.000,2765.479,0.000,1449.710,0.000,0.537,0.000
$DEVICE_MAMPS,360.315,108.630,1664.640,80.325,0.000,0.000,0.000,152.235,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22508.000,514.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.914,7.551,0.000,0.000
$MEM,286392
$DATA_FILE_SIZE,33387,974
$CAP_FILE_SIZE,218493,0
$CFSIZE,260034560,189562880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,216.04,1
$GPS,151115,165608,4745.758,-12527.978,45,1.7,48,16.5,0.2,0.0,5,8.8