version: 66.13
glider: 190
mission: 9
dive: 15
start: 8 28 116 13 17 8
data:
$ID,190
$MISSION,9
$DIVE,15
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$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,360
$T_MISSION,420
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53220
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.012
$HD_C,1.09e-05
$HEADING,0
$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,627.47742
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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
$PITCH_MIN,225
$PITCH_MAX,3920
$C_PITCH,2280
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2908
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-163.98293
$PRESSURE_SLOPE,0.00010649362
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$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
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043932092
$SEABIRD_T_H,0.00063312391
$SEABIRD_T_I,2.6030159e-05
$SEABIRD_T_J,3.2258831e-06
$SEABIRD_C_G,-9.8128548
$SEABIRD_C_H,1.1245126
$SEABIRD_C_I,-0.00070758193
$SEABIRD_C_J,0.00013654788
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,280816,125803,1014.5929,-12459.7441,26,1.0,26,9.2,0.8,245.0,8,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.7
$GPS2,280816,131647,1014.5496,-12459.8652,14,0.9,15,9.2,0.0,336.5,9,8.3
$SPEED_LIMITS,0.159,0.231
$TGT_NAME,HEADING
$TGT_LATLONG,1025.349,-12459.865
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,349.2,20000,-17.2,-9.167,-21.61,2420
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.77,-146.0,207,2205,398,362,0.0,0.0,0,112,0.00,0.00,-91.12,0.000,16386,0.000,0.000,207,2205,2684,2688,2680,0,0,0,0,0,0,14.72,28.83,14.73
$GC,117,-0.77,-146.0,207,2207,2695,2678,3.2,-3.1,6,149,9.02,2.55,-14.48,0.000,18980,0.433,2.129,2023,811,3505,3666,3345,0,0,0,0,0,0,14.39,13.87,14.56
$GC,233,-0.62,-146.0,2023,812,3667,3346,43.2,-29.1,28,240,0.25,2.47,0.00,0.000,3206,0.297,0.067,2073,2241,3505,3665,3345,0,0,0,0,0,0,14.48,14.58,14.63
$GC,550,-0.62,-146.0,2073,2243,3668,3346,96.1,-10.6,50,556,0.00,2.42,0.00,0.000,516,0.000,0.054,2073,801,3505,3666,3345,0,0,0,0,0,0,14.87,14.69,14.89
$GC,671,-0.66,-146.0,2073,801,3669,3346,107.3,-8.6,73,680,0.00,2.53,0.00,0.000,1190,0.000,0.063,2068,2284,3507,3667,3348,0,0,0,0,0,0,14.78,14.71,14.83
$GC,974,-0.72,-146.0,2069,2289,3668,3346,132.3,-8.4,84,980,0.00,2.33,0.00,0.000,420,0.000,0.082,2066,3648,3506,3667,3345,0,0,0,0,0,0,14.94,14.75,14.96
$GC,1008,-0.79,-146.0,2066,3648,3667,3345,135.1,-8.4,90,1014,0.12,2.30,0.00,0.000,5286,0.136,0.044,2010,2233,3506,3667,3345,0,0,0,0,0,0,14.78,14.81,14.84
$GC,1341,-0.79,-146.0,2010,2233,3668,3345,171.8,-11.2,106,1348,0.00,2.33,0.00,0.000,516,0.000,0.056,2010,836,3506,3667,3345,0,0,0,0,0,0,14.98,14.81,15.00
$GC,1439,-0.79,-146.0,2010,835,3668,3345,182.4,-10.2,125,1446,0.00,2.42,0.00,0.000,1030,0.000,0.063,2001,2262,3505,3666,3345,0,0,0,0,0,0,14.88,14.80,14.89
$GC,1769,-0.79,-146.0,2001,2260,3665,3341,218.6,-11.1,140,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2266,3502,3664,3341,0,0,0,0,0,0,15.00,15.02,15.02
$GC,2068,-0.79,-146.0,2001,2263,3660,3340,252.8,-11.3,150,2075,0.00,2.42,0.00,0.000,516,0.000,0.057,2001,832,3499,3659,3339,0,0,0,0,0,0,15.01,14.84,15.03
$GC,2122,-0.79,-146.0,2001,833,3659,3340,258.9,-10.9,160,2128,0.00,2.42,0.00,0.000,1030,0.000,0.064,1998,2248,3498,3658,3339,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2435,-0.79,-146.0,1999,2249,3657,3337,294.5,-11.5,172,2441,0.00,2.40,0.00,0.000,260,0.000,0.086,1995,3648,3500,3657,3343,0,0,0,0,0,0,15.01,14.83,15.03
$GC,2477,-0.79,-146.0,1995,3649,3656,3337,299.4,-11.2,180,2484,0.12,2.28,0.00,0.000,3078,0.246,0.047,2025,2246,3496,3655,3337,0,0,0,0,0,0,14.77,14.86,14.89
$GC,2802,-0.83,-146.0,2025,2248,3653,3334,331.0,-9.7,194,2808,0.00,2.35,0.00,0.000,644,0.000,0.060,2025,841,3493,3652,3335,0,0,0,0,0,0,15.01,14.85,15.04
$GC,2889,-0.89,-146.0,2025,841,3652,3335,339.5,-9.2,211,2897,0.00,2.42,0.00,0.000,1190,0.000,0.067,2025,2245,3492,3651,3334,0,0,0,0,0,0,14.91,14.83,14.92
$GC,3195,-0.93,-146.0,2025,2245,3649,3333,367.9,-9.3,222,3198,0.15,0.00,0.00,0.000,4230,0.130,0.000,1967,2249,3488,3645,3332,0,0,0,0,0,0,14.85,14.93,14.91
$GC,3495,-0.89,-146.0,1967,2249,3643,3333,405.5,-12.7,232,3501,0.00,2.38,0.00,0.000,644,0.000,0.060,1966,844,3486,3644,3328,0,0,0,0,0,0,15.02,14.85,15.04
$GC,3568,-0.89,-146.0,1967,840,3645,3332,414.7,-12.2,246,3574,0.12,2.40,0.00,0.000,3078,0.301,0.068,1986,2237,3487,3644,3331,0,0,0,0,0,0,14.76,14.84,14.90
$GC,3891,-0.89,-146.0,1986,2237,3643,3328,451.1,-11.2,260,3898,0.00,2.42,0.00,0.000,260,0.000,0.090,1976,3642,3488,3649,3328,0,0,0,0,0,0,15.02,14.83,15.04
$GC,3939,-0.89,-146.0,1975,3642,3641,3328,456.6,-11.3,269,3946,0.00,2.30,0.00,0.000,1030,0.000,0.049,1976,2236,3484,3640,3328,0,0,0,0,0,0,14.92,14.86,14.92
$GC,4259,-0.89,-146.0,1972,2237,3636,3327,495.2,-12.5,282,4265,0.00,2.35,0.00,0.000,516,0.000,0.064,1976,836,3482,3639,3326,0,0,0,0,0,0,15.02,14.84,15.03
$GC,4366,-0.89,-146.0,1976,838,3638,3326,508.3,-11.8,303,4379,0.00,2.42,0.00,0.000,1030,0.000,0.070,1971,2234,3484,3643,3326,0,0,0,0,0,0,14.92,14.84,14.94
$GC,4692,-0.89,-146.0,1971,2235,3639,3324,548.3,-12.5,316,4705,0.00,2.42,0.00,0.000,260,0.000,0.092,1961,3638,3480,3636,3324,0,0,0,0,0,0,15.04,14.84,15.06
$GC,4736,-0.89,-146.0,1961,3638,3637,3324,554.0,-12.5,323,4749,0.12,2.30,0.00,0.000,3078,0.265,0.049,1990,2231,3480,3637,3324,0,0,0,0,0,0,14.78,14.88,14.90
$GC,5072,-0.89,-146.0,1989,2231,3639,3323,590.2,-10.4,338,5085,0.00,2.35,0.00,0.000,516,0.000,0.065,1990,833,3478,3634,3322,0,0,0,0,0,0,15.04,14.87,15.06
$GC,5189,-0.89,-146.0,1990,833,3635,3323,602.1,-10.0,359,5202,0.00,2.40,0.00,0.000,1030,0.000,0.071,1984,2222,3477,3634,3321,0,0,0,0,0,0,14.93,14.85,14.95
$GC,5514,-0.89,-146.0,1985,2222,3633,3319,635.0,-10.0,372,5528,0.00,2.45,0.00,0.000,260,0.000,0.092,1974,3639,3475,3632,3318,0,0,0,0,0,0,15.04,14.85,15.06
$GC,5574,-0.89,-146.0,1975,3640,3631,3319,641.2,-10.6,382,5587,0.00,2.33,0.00,0.000,1030,0.000,0.050,1974,2221,3474,3630,3318,0,0,0,0,0,0,14.95,14.89,14.96
$GC,5894,-0.89,-146.0,1974,2215,3637,3319,674.9,-10.7,394,5907,0.00,2.35,0.00,0.000,516,0.000,0.064,1973,823,3473,3628,3319,0,0,0,0,0,0,15.05,14.90,15.07
$GC,5974,-0.89,-146.0,1975,823,3628,3318,683.4,-9.9,408,5987,0.00,2.42,0.00,0.000,1030,0.000,0.075,1971,2213,3473,3628,3318,0,0,0,0,0,0,14.94,14.86,14.95
$GC,6305,-0.89,-146.0,1970,2214,3629,3315,719.6,-11.1,422,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2214,3471,3628,3314,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6604,-0.89,-146.0,1972,2214,3625,3310,753.5,-11.4,432,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2214,3466,3620,3313,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6905,-0.89,-146.0,1971,2214,3625,3313,787.2,-11.2,442,6918,0.00,2.35,0.00,0.000,516,0.000,0.067,1971,836,3468,3624,3312,0,0,0,0,0,0,15.04,14.87,15.07
$GC,6949,-0.89,-146.0,1972,835,3625,3312,792.2,-9.3,449,6962,0.00,2.40,0.00,0.000,1030,0.000,0.075,1964,2214,3468,3624,3313,0,0,0,0,0,0,14.94,14.86,14.95
$GC,7284,-0.89,-146.0,1965,2215,3621,3312,829.6,-11.0,464,7298,0.00,2.50,0.00,0.000,260,0.000,0.098,1954,3647,3466,3621,3311,0,0,0,0,0,0,15.04,14.85,15.06
$GC,7314,-0.89,-146.0,1954,3647,3622,3311,832.8,-10.4,468,7327,0.15,2.38,0.00,0.000,3078,0.258,0.056,1989,2211,3465,3621,3310,0,0,0,0,0,0,14.78,14.89,14.92
$GC,7637,-0.89,-146.0,1990,2211,3626,3310,862.5,-9.2,480,7650,0.00,2.35,0.00,0.000,548,0.000,0.068,1990,824,3465,3621,3309,0,0,0,0,0,0,15.03,14.86,15.06
$GC,7717,-0.94,-146.0,1990,823,3620,3310,870.1,-8.8,494,7730,0.00,2.40,0.00,0.000,1190,0.000,0.077,1984,2199,3464,3619,3310,0,0,0,0,0,0,14.93,14.85,14.95
$GC,8048,-0.94,-146.0,1985,2200,3619,3309,901.2,-9.6,508,8061,0.00,2.53,0.00,0.000,260,0.000,0.099,1975,3647,3463,3618,3309,0,0,0,0,0,0,15.04,14.85,15.05
$GC,8123,-0.98,-146.0,1975,3647,3617,3309,908.8,-6.9,521,8136,0.00,2.40,0.00,0.000,1190,0.000,0.057,1975,2202,3463,3617,3309,0,0,0,0,0,0,14.93,14.88,14.95
$GC,8458,-0.98,-146.0,1975,2197,3618,3308,944.4,-10.7,536,8471,0.00,2.33,0.00,0.000,516,0.000,0.068,1975,828,3462,3617,3308,0,0,0,0,0,0,15.02,14.85,15.05
$GC,8508,-0.98,-146.0,1975,829,3618,3308,949.8,-9.3,544,8521,0.00,2.40,0.00,0.000,1030,0.000,0.080,1972,2201,3462,3617,3308,0,0,0,0,0,0,14.92,14.83,14.94
$GC,8838,-0.98,-146.0,1972,2202,3616,3308,985.9,-11.0,558,8851,0.00,2.53,0.00,0.000,260,0.000,0.099,1962,3647,3461,3615,3307,0,0,0,0,0,0,15.02,14.83,15.04
$STATE,8875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8875,begin apogee
$GC,8885,-0.20,0.0,1962,2336,3614,3308,990.5,-9.7,564,9067,0.88,0.00,167.43,2.592,10244,0.232,0.000,2211,2334,2907,3060,2754,0,0,0,0,1,0,14.76,13.82,12.94
$STATE,9069,end apogee,CONTROL_FINISHED_OK
$STATE,9069,begin climb
$GC,9073,0.77,146.0,2212,2334,3063,2756,1001.1,0.0,570,9280,0.95,2.75,191.68,1.956,10500,0.099,0.109,2527,3761,2312,2375,2249,0,0,0,0,0,0,13.95,13.93,13.39
$GC,9366,0.54,146.0,2527,3761,2342,2224,981.7,17.0,631,9380,0.35,2.50,0.00,0.000,5254,0.345,0.076,2462,2373,2282,2341,2223,0,0,0,0,0,0,14.12,14.23,14.30
$GC,9700,0.42,146.0,2462,2373,2342,2211,940.0,12.4,645,9713,0.15,2.58,0.00,0.000,4484,0.344,0.110,2426,3762,2275,2341,2210,0,0,0,0,0,0,14.44,14.53,14.55
$GC,9861,0.32,146.0,2427,3763,2340,2211,920.7,12.9,675,9874,0.20,2.50,0.00,0.000,5254,0.311,0.076,2391,2337,2275,2340,2210,0,0,0,0,0,0,14.51,14.61,14.67
$GC,10204,0.32,150.1,2391,2337,2340,2207,890.5,9.0,691,10217,0.00,2.47,0.00,0.000,548,0.000,0.089,2401,942,2272,2339,2206,0,0,0,0,0,0,14.86,14.68,14.88
$GC,10278,0.32,150.1,2401,942,2339,2205,882.8,9.4,704,10292,0.00,2.47,0.00,0.000,1030,0.000,0.084,2401,2332,2271,2338,2204,0,0,0,0,0,0,14.77,14.69,14.79
$GC,10614,0.29,152.3,2401,2332,2339,2204,852.6,9.1,719,10627,0.00,2.58,0.00,0.000,420,0.000,0.112,2401,3760,2271,2339,2203,0,0,0,0,0,0,14.92,14.71,14.93
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$STATE,19026,end climb,SURFACE_DEPTH_REACHED
$STATE,19027,begin surface coast
$FINISH,0.1,1.020671
$STATE,19039,end surface coast,CONTROL_FINISHED_OK
$STATE,19039,begin surface
$SM_CCo,19066,55.33,0.311,1,0,348,627.48
$SM_GC,0.99,6.97,0.17,55.33,0.080,0.097,0.311,213,2222,348,-6.39,0.65,627.48,0,0,0,0,1,0,14.64,14.63,14.16
$IRIDIUM_FIX,1004.83,-12524.11,280816,072303
$TT8_MAMPS,0.038199,0.312333
$HUMID,55.07
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.40
$XPDR_PINGS,25
$SC_FREEKB,7764032
$PM_FREEKB,61942848
$TM_FREEKB,7672288
$24V_AH,12.94,9.152
$10V_AH,13.16,0.000
$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,21.100,206.400,694.850,55.325,0.000,0.000,0.000,594.925,6.250,0.000,16.446,0.000,14442.948,932.506,4142.628,708.999,0.000,3083.832,0.000,2311.097,0.000,0.543,0.000
$DEVICE_MAMPS,432.990,2128.995,2591.820,311.355,0.000,0.000,0.000,195.075,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19127.000,19045.000,9719.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.898,2.904,11.520,0.000
$MEM,334864
$DATA_FILE_SIZE,46566,1268
$CAP_FILE_SIZE,190631,0
$CFSIZE,260034560,251973632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.062,178.14,1
$GPS,280816,183707,1016.008,-12459.914,27,0.8,30,9.2,0.0,188.4,10,9.9