version: 66.13
glider: 191
mission: 8
dive: 73
start: 9 13 116 10 35 21
data:
$ID,191
$MISSION,8
$DIVE,73
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,6
$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,420
$T_MISSION,440
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54430
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0087299999
$HD_C,7.1299997e-05
$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,515
$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,165
$PITCH_MAX,3888
$C_PITCH,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2793
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-151.91774
$PRESSURE_SLOPE,0.00010696654
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$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,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,130916,102135,955.3940,-12512.3047,28,0.8,29,9.2,0.9,103.2,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.4
$GPS2,130916,103500,955.4481,-12512.0723,20,0.9,21,9.2,0.0,0.0,9,8.1
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,193.0,16839,-16.6,-7.857,-20.89,1914
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.84,-116.8,163,1881,890,524,0.0,0.0,0,113,0.00,0.00,-80.65,0.000,16390,0.000,0.000,161,1882,3270,3320,3220,0,0,0,0,0,0,14.84,13.88,14.87
$GC,117,-0.84,-116.8,162,1881,3321,3222,8.4,-12.4,3,132,12.23,0.00,0.00,0.000,2054,0.403,0.000,2651,1878,3271,3321,3222,0,0,0,0,0,0,14.47,14.73,14.69
$GC,421,-0.72,-116.8,2651,1879,3324,3223,94.2,-18.3,14,428,0.15,2.28,0.00,0.000,2436,0.301,0.051,2681,3253,3273,3324,3222,0,0,0,0,0,0,14.65,14.78,14.76
$GC,441,-0.64,-116.8,2681,3253,3324,3223,96.8,-14.6,17,449,0.17,2.25,0.00,0.000,3206,0.268,0.036,2721,1888,3273,3324,3222,0,0,0,0,0,0,14.66,14.77,14.80
$GC,785,-0.59,-116.8,2721,1889,3333,3218,125.5,-8.5,25,792,0.00,2.38,0.00,0.000,644,0.000,0.056,2721,467,3275,3332,3219,0,0,0,0,0,0,15.00,14.83,15.02
$GC,1022,-0.55,-116.8,2721,467,3333,3219,151.8,-11.2,59,1030,0.15,2.50,0.00,0.000,3206,0.265,0.034,2746,2006,3275,3332,3218,0,0,0,0,0,0,14.74,14.87,14.89
$GC,1345,-0.55,-116.8,2747,2002,3332,3214,179.9,-8.4,70,1351,0.00,2.58,0.00,0.000,516,0.000,0.056,2752,468,3273,3332,3214,0,0,0,0,0,0,15.04,14.87,15.04
$GC,1457,-0.55,-116.8,2746,467,3333,3214,190.1,-9.1,86,1464,0.00,2.42,0.00,0.000,1030,0.000,0.034,2739,1964,3272,3332,3213,0,0,0,0,0,0,14.93,14.88,14.94
$GC,1793,-0.55,-116.8,2739,1964,3332,3208,221.2,-9.2,99,1800,0.00,2.50,0.00,0.000,516,0.000,0.055,2739,473,3269,3332,3207,0,0,0,0,0,0,15.04,14.88,15.07
$GC,1876,-0.55,-116.8,2739,472,3333,3206,229.6,-10.0,111,1884,0.00,2.33,0.00,0.000,1030,0.000,0.034,2729,1911,3269,3332,3206,0,0,0,0,0,0,14.95,14.92,14.98
$GC,2241,-0.55,-116.8,2729,1911,3332,3199,264.5,-9.6,121,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1911,3267,3336,3199,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2577,-0.55,-116.8,2729,1911,3332,3194,296.1,-9.3,127,2590,0.00,2.42,0.00,0.000,516,0.000,0.057,2728,465,3262,3332,3193,0,0,0,0,0,0,15.09,14.92,15.11
$GC,2732,-0.55,-116.8,2729,464,3332,3191,311.2,-9.9,148,2746,0.12,2.33,0.00,0.000,3078,0.272,0.036,2745,1905,3261,3332,3190,0,0,0,0,0,0,14.83,14.95,14.97
$GC,3095,-0.55,-116.8,2743,1906,3332,3186,342.4,-8.5,157,3108,0.00,2.42,0.00,0.000,516,0.000,0.057,2746,463,3258,3332,3185,0,0,0,0,0,0,15.10,14.93,15.12
$GC,3185,-0.55,-116.8,2746,463,3332,3185,350.5,-8.9,169,3198,0.00,2.30,0.00,0.000,1030,0.000,0.036,2738,1883,3257,3332,3183,0,0,0,0,0,0,15.00,14.95,15.01
$GC,3554,-0.55,-116.8,2739,1883,3332,3179,382.9,-8.8,179,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1883,3254,3332,3177,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3891,-0.55,-116.8,2739,1884,3333,3174,411.9,-8.6,185,3904,0.00,2.38,0.00,0.000,516,0.000,0.058,2739,471,3252,3332,3173,0,0,0,0,0,0,15.11,14.95,15.14
$GC,3953,-0.55,-116.8,2739,472,3331,3171,417.6,-9.3,193,3966,0.00,2.25,0.00,0.000,1030,0.000,0.035,2729,1857,3254,3331,3178,0,0,0,0,0,0,15.02,14.97,15.03
$GC,4295,-0.55,-116.8,2729,1858,3332,3168,448.4,-9.1,206,4308,0.00,2.33,0.00,0.000,516,0.000,0.058,2728,471,3249,3331,3168,0,0,0,0,0,0,15.11,14.94,15.13
$GC,4363,-0.55,-116.8,2730,471,3332,3169,455.0,-9.3,215,4377,0.12,2.20,0.00,0.000,3078,0.275,0.036,2746,1831,3250,3332,3168,0,0,0,0,0,0,14.81,14.97,14.98
$GC,4698,-0.55,-116.8,2747,1832,3332,3163,481.7,-7.9,227,4712,0.00,2.38,0.00,0.000,260,0.000,0.058,2738,3265,3247,3332,3163,0,0,0,0,0,0,15.11,14.93,15.13
$GC,4752,-0.55,-116.8,2739,3265,3332,3163,486.0,-7.9,234,4766,0.00,2.33,0.00,0.000,1030,0.000,0.038,2738,1840,3247,3332,3162,0,0,0,0,0,0,15.01,14.95,15.02
$GC,5097,-0.55,-116.8,2739,1839,3331,3160,514.1,-8.2,241,5110,0.00,2.30,0.00,0.000,516,0.000,0.061,2744,470,3245,3331,3159,0,0,0,0,0,0,15.11,14.93,15.13
$GC,5200,-0.55,-116.8,2738,471,3333,3158,523.6,-9.2,255,5214,0.00,2.17,0.00,0.000,1030,0.000,0.037,2729,1813,3244,3332,3157,0,0,0,0,0,0,15.02,14.97,15.03
$GC,5557,-0.55,-116.8,2729,1815,3334,3155,555.0,-8.9,263,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1813,3243,3331,3155,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5893,-0.55,-116.8,2729,1814,3332,3153,584.8,-8.8,269,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1813,3241,3331,3152,0,0,0,0,0,0,15.11,15.13,15.13
$GC,6228,-0.55,-116.8,2730,1814,3332,3149,614.9,-8.9,275,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1814,3238,3331,3145,0,0,0,0,0,0,15.11,15.13,15.14
$GC,6565,-0.55,-116.8,2729,1813,3332,3147,645.6,-9.2,281,6578,0.00,2.28,0.00,0.000,516,0.000,0.061,2729,469,3238,3331,3146,0,0,0,0,0,0,15.11,14.93,15.13
$GC,6619,-0.55,-116.8,2729,469,3332,3145,651.1,-10.1,288,6633,0.12,2.22,0.00,0.000,3078,0.271,0.038,2746,1825,3238,3331,3145,0,0,0,0,0,0,14.82,14.96,14.97
$GC,6963,-0.55,-116.8,2747,1826,3332,3142,679.5,-8.2,295,6976,0.00,2.40,0.00,0.000,260,0.000,0.060,2738,3263,3236,3331,3142,0,0,0,0,0,0,15.10,14.92,15.13
$GC,7017,-0.55,-116.8,2738,3263,3332,3142,684.0,-8.1,302,7031,0.00,2.38,0.00,0.000,1030,0.000,0.041,2738,1818,3236,3331,3142,0,0,0,0,0,0,15.00,14.95,15.02
$GC,7361,-0.55,-116.8,2738,1819,3332,3139,711.4,-7.9,309,7374,0.00,2.28,0.00,0.000,516,0.000,0.064,2738,470,3235,3331,3139,0,0,0,0,0,0,15.10,14.92,15.11
$GC,7471,-0.55,-116.8,2739,470,3332,3140,720.8,-8.3,324,7485,0.00,2.15,0.00,0.000,1030,0.000,0.037,2729,1793,3235,3332,3138,0,0,0,0,0,0,15.00,14.95,15.01
$GC,7815,-0.55,-116.8,2729,1794,3332,3135,747.9,-7.9,331,7828,0.00,2.45,0.00,0.000,260,0.000,0.060,2718,3262,3233,3331,3135,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7877,-0.55,-116.8,2717,3263,3332,3135,753.1,-8.2,339,7891,0.12,2.40,0.00,0.000,3078,0.263,0.041,2744,1803,3230,3329,3132,0,0,0,0,0,0,14.81,14.93,14.96
$GC,8220,-0.55,-116.8,2745,1804,3332,3132,777.9,-7.2,352,8233,0.00,2.28,0.00,0.000,548,0.000,0.064,2745,460,3232,3332,3132,0,0,0,0,0,0,15.11,14.91,15.11
$GC,8323,-0.55,-116.8,2746,458,3332,3133,786.1,-7.7,366,8336,0.00,2.17,0.00,0.000,1062,0.000,0.039,2739,1782,3231,3331,3132,0,0,0,0,0,0,14.99,14.94,15.00
$GC,8679,-0.55,-116.8,2740,1782,3332,3132,812.0,-7.2,374,8692,0.00,2.47,0.00,0.000,292,0.000,0.061,2728,3261,3231,3331,3131,0,0,0,0,0,0,15.09,14.90,15.11
$GC,8783,-0.55,-116.8,2728,3262,3332,3130,819.5,-7.3,388,8796,0.00,2.42,0.00,0.000,1062,0.000,0.041,2728,1799,3232,3334,3130,0,0,0,0,0,0,14.99,14.92,14.99
$GC,9139,-0.55,-116.8,2728,1800,3333,3128,845.1,-7.1,396,9152,0.00,2.25,0.00,0.000,548,0.000,0.065,2726,473,3229,3330,3128,0,0,0,0,0,0,15.07,14.90,15.09
$GC,9287,-0.55,-116.8,2728,473,3332,3127,857.0,-6.2,416,9300,0.12,2.12,0.00,0.000,3110,0.280,0.039,2745,1776,3229,3331,3127,0,0,0,0,0,0,14.78,14.93,14.95
$GC,9657,-0.55,-116.8,2745,1777,3332,3125,882.6,-6.9,426,9670,0.00,2.53,0.00,0.000,292,0.000,0.061,2737,3267,3228,3327,3130,0,0,0,0,0,0,15.07,14.88,15.10
$GC,9726,-0.55,-116.8,2738,3269,3332,3125,887.6,-7.3,435,9739,0.00,2.47,0.00,0.000,1062,0.000,0.041,2737,1765,3227,3331,3124,0,0,0,0,0,0,14.97,14.91,14.99
$GC,10061,-0.55,-116.8,2737,1765,3332,3123,912.9,-7.6,447,10074,0.00,2.20,0.00,0.000,548,0.000,0.067,2737,473,3227,3331,3124,0,0,0,0,0,0,15.07,14.89,15.09
$GC,10136,-0.55,-116.8,2742,473,3331,3123,918.1,-7.9,457,10149,0.00,2.08,0.00,0.000,1030,0.000,0.040,2727,1745,3227,3331,3123,0,0,0,0,0,0,14.97,14.92,14.98
$GC,10465,-0.55,-116.8,2729,1745,3332,3122,942.7,-7.5,468,10478,0.00,2.55,0.00,0.000,292,0.000,0.061,2717,3260,3226,3331,3121,0,0,0,0,0,0,15.07,14.88,15.09
$GC,10547,-0.55,-116.8,2718,3261,3332,3122,949.0,-7.6,479,10560,0.12,2.53,0.00,0.000,3110,0.267,0.044,2743,1747,3226,3331,3121,0,0,0,0,0,0,14.76,14.90,14.92
$GC,10868,-0.55,-116.8,2744,1747,3332,3120,969.5,-6.3,489,10882,0.00,2.17,0.00,0.000,548,0.000,0.067,2743,473,3223,3327,3120,0,0,0,0,0,0,15.06,14.88,15.08
$GC,10930,-0.55,-116.8,2744,474,3332,3120,973.8,-4.9,497,10944,0.00,2.10,0.00,0.000,1062,0.000,0.041,2738,1750,3225,3331,3120,0,0,0,0,0,0,14.96,14.91,14.97
$STATE,11213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11213,begin apogee
$GC,11221,-0.21,0.0,2738,1657,3331,3118,991.9,-6.3,509,11349,0.45,0.00,118.00,2.199,10244,0.232,0.000,2858,1655,2795,2932,2659,0,0,0,0,0,0,14.76,14.09,13.38
$STATE,11350,end apogee,CONTROL_FINISHED_OK
$STATE,11350,begin climb
$GC,11354,0.84,116.8,2859,1654,2926,2646,995.8,0.0,511,11495,1.17,2.40,123.38,2.162,10756,0.187,0.068,3191,335,2314,2487,2142,0,0,0,0,0,0,14.09,14.14,13.27
$GC,11711,0.84,116.8,3191,335,2477,2107,964.3,10.5,565,11724,0.00,2.28,0.00,0.000,1030,0.000,0.034,3191,1694,2291,2476,2107,0,0,0,0,0,0,14.55,14.50,14.57
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$STATE,23453,end climb,SURFACE_DEPTH_REACHED
$STATE,23453,begin surface coast
$FINISH,0.3,1.020438
$STATE,23485,end surface coast,CONTROL_FINISHED_OK
$STATE,23485,begin surface
$SM_CCo,23511,56.00,0.124,0,0,691,515.13
$SM_GC,1.30,9.20,0.25,56.00,0.064,0.059,0.124,156,1885,691,-8.61,-2.29,515.13,0,0,0,0,0,0,14.78,14.84,14.71
$IRIDIUM_FIX,951.69,-12514.95,130916,033834
$TT8_MAMPS,0.038948,0.435169
$HUMID,51.73
$INTERNAL_PRESSURE,9.15533
$TCM_TEMP,27.40
$XPDR_PINGS,0
$SC_FREEKB,7740320
$PM_FREEKB,59610240
$TM_FREEKB,7137088
$24V_AH,13.27,31.732
$10V_AH,13.14,0.000
$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,25.600,216.825,521.950,56.000,0.000,0.000,0.000,409.700,0.000,0.000,21.999,0.000,18921.348,829.427,3964.330,634.725,0.000,3055.039,0.000,2052.654,0.000,0.548,0.000
$DEVICE_MAMPS,403.155,97.920,2199.375,123.930,0.000,0.000,0.000,175.185,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23538.000,23492.000,2811.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.531,2.106,15.863,0.000
$MEM,311952
$DATA_FILE_SIZE,43363,1200
$CAP_FILE_SIZE,200199,0
$CFSIZE,260034560,245469184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,113.89,1
$GPS,130916,170927,953.198,-12512.369,37,0.7,37,9.2,0.7,49.2,10,9.7