version: 66.13
glider: 191
mission: 8
dive: 80
start: 9 15 116 10 17 46
data:
$ID,191
$MISSION,8
$DIVE,80
$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,0.029999999
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,73
$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
$GPS1,150916,100304,947.6945,-12506.0176,33,0.9,34,9.2,0.5,191.3,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.5
$GPS2,150916,101725,947.7350,-12505.9570,19,0.8,21,9.2,0.5,164.8,10,8.2
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,87.1,35967,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.84,-116.8,151,1892,894,519,0.0,0.0,0,115,0.00,0.00,-79.55,0.000,16390,0.000,0.000,151,1893,3271,3316,3226,0,0,0,0,0,0,14.83,14.09,14.85
$GC,119,-0.84,-116.8,151,1894,3317,3226,9.4,-14.4,3,137,12.20,2.28,0.00,0.000,2308,0.405,0.044,2643,3248,3275,3317,3233,0,0,0,0,0,0,14.44,14.66,14.67
$GC,220,-0.40,-116.8,2644,3249,3322,3227,53.2,-30.2,18,228,0.60,2.25,0.00,0.000,3206,0.298,0.038,2794,1866,3274,3321,3227,0,0,0,0,0,0,14.53,14.70,14.71
$GC,536,-0.40,-116.8,2793,1867,3332,3220,91.2,-9.1,30,542,0.00,2.35,0.00,0.000,516,0.000,0.060,2798,468,3275,3331,3220,0,0,0,0,0,0,14.95,14.77,14.97
$GC,640,-0.40,-116.8,2794,469,3332,3220,100.4,-8.1,45,649,0.00,2.47,0.00,0.000,1030,0.000,0.034,2786,1979,3276,3331,3221,0,0,0,0,0,0,14.86,14.81,14.88
$GC,984,-0.40,-116.8,2786,1981,3331,3220,124.6,-7.2,52,990,0.00,2.08,0.00,0.000,292,0.000,0.057,2777,3244,3275,3331,3220,0,0,0,0,0,0,15.00,14.83,15.01
$GC,1081,-0.40,-116.8,2777,3246,3331,3220,131.8,-7.8,66,1087,0.00,2.03,0.00,0.000,1062,0.000,0.036,2777,1985,3273,3330,3217,0,0,0,0,0,0,14.91,14.85,14.92
$GC,1432,-0.40,-116.8,2777,1985,3332,3221,160.2,-8.2,74,1438,0.00,2.55,0.00,0.000,516,0.000,0.059,2776,465,3275,3330,3220,0,0,0,0,0,0,15.03,14.84,15.05
$GC,1640,-0.40,-116.8,2777,464,3330,3218,178.2,-8.7,104,1648,0.12,2.33,0.00,0.000,3078,0.262,0.034,2794,1903,3272,3329,3216,0,0,0,0,0,0,14.76,14.88,14.90
$GC,1992,-0.49,-116.8,2794,1906,3330,3210,204.7,-7.6,112,1998,0.00,2.25,0.00,0.000,420,0.000,0.056,2786,3268,3272,3335,3209,0,0,0,0,0,0,15.04,14.88,15.07
$GC,2026,-0.60,-116.8,2787,3269,3331,3209,207.2,-7.3,117,2033,0.15,2.17,0.00,0.000,5286,0.119,0.035,2725,1912,3269,3330,3208,0,0,0,0,0,0,14.88,14.89,14.94
$GC,2384,-0.60,-116.8,2722,1913,3331,3204,240.7,-9.4,126,2390,0.00,2.42,0.00,0.000,516,0.000,0.058,2726,471,3267,3330,3204,0,0,0,0,0,0,15.04,14.87,15.07
$GC,2599,-0.60,-116.8,2726,471,3330,3202,262.7,-10.4,157,2614,0.00,2.25,0.00,0.000,1030,0.000,0.034,2715,1854,3264,3330,3199,0,0,0,0,0,0,14.97,14.92,14.97
$GC,2944,-0.60,-116.8,2716,1857,3331,3194,298.6,-10.6,164,2957,0.00,2.33,0.00,0.000,260,0.000,0.056,2705,3262,3262,3330,3194,0,0,0,0,0,0,15.08,14.90,15.10
$GC,3033,-0.60,-116.8,2705,3262,3331,3192,308.7,-11.0,176,3047,0.12,2.22,0.00,0.000,3078,0.262,0.037,2733,1878,3261,3330,3192,0,0,0,0,0,0,14.81,14.94,14.96
$GC,3404,-0.60,-116.8,2733,1879,3330,3186,345.6,-9.9,186,3417,0.00,2.35,0.00,0.000,516,0.000,0.060,2733,474,3258,3330,3186,0,0,0,0,0,0,15.09,14.92,15.12
$GC,3535,-0.60,-116.8,2733,474,3330,3186,359.1,-10.2,204,3548,0.00,2.22,0.00,0.000,1030,0.000,0.035,2726,1848,3257,3330,3185,0,0,0,0,0,0,15.00,14.95,15.02
$GC,3863,-0.60,-116.8,2726,1852,3330,3181,391.1,-9.7,215,3876,0.00,2.33,0.00,0.000,516,0.000,0.058,2726,471,3255,3330,3180,0,0,0,0,0,0,15.10,14.93,15.12
$GC,3910,-0.60,-116.8,2726,472,3331,3180,395.9,-10.0,221,3923,0.00,2.20,0.00,0.000,1030,0.000,0.036,2717,1831,3254,3330,3179,0,0,0,0,0,0,15.00,14.95,15.01
$GC,4266,-0.60,-116.8,2716,1832,3331,3175,429.0,-9.2,229,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1831,3253,3330,3176,0,0,0,0,0,0,15.11,15.13,15.13
$GC,4602,-0.60,-116.8,2717,1832,3330,3170,459.8,-9.2,235,4615,0.00,2.30,0.00,0.000,516,0.000,0.060,2717,469,3249,3329,3170,0,0,0,0,0,0,15.11,14.93,15.14
$GC,4636,-0.60,-116.8,2717,468,3330,3170,463.3,-10.3,239,4649,0.00,2.17,0.00,0.000,1030,0.000,0.037,2708,1814,3249,3330,3169,0,0,0,0,0,0,15.00,14.96,15.02
$GC,5006,-0.60,-116.8,2708,1815,3330,3167,500.6,-10.2,249,5020,0.12,2.42,0.00,0.000,2308,0.301,0.056,2729,3269,3248,3330,3167,0,0,0,0,0,0,14.81,14.93,14.92
$GC,5040,-0.60,-116.8,2730,3270,3330,3167,504.1,-9.8,253,5053,0.00,2.35,0.00,0.000,1030,0.000,0.039,2729,1824,3248,3330,3166,0,0,0,0,0,0,15.01,14.95,15.02
$GC,5411,-0.60,-116.8,2729,1824,3332,3163,539.3,-9.5,263,5424,0.00,2.25,0.00,0.000,516,0.000,0.060,2729,473,3245,3329,3161,0,0,0,0,0,0,15.11,14.92,15.13
$GC,5542,-0.60,-116.8,2729,474,3331,3167,552.5,-9.9,281,5555,0.00,2.12,0.00,0.000,1030,0.000,0.036,2720,1791,3244,3329,3160,0,0,0,0,0,0,15.01,14.96,15.02
$GC,5870,-0.60,-116.8,2721,1794,3330,3157,582.8,-9.0,292,5883,0.00,2.47,0.00,0.000,260,0.000,0.057,2709,3268,3242,3329,3156,0,0,0,0,0,0,15.10,14.92,15.12
$GC,5918,-0.60,-116.8,2709,3268,3330,3157,587.0,-9.0,298,5931,0.00,2.40,0.00,0.000,1030,0.000,0.038,2709,1796,3242,3329,3156,0,0,0,0,0,0,15.00,14.95,15.02
$GC,6274,-0.60,-116.8,2709,1797,3330,3154,620.3,-9.5,306,6287,0.00,2.25,0.00,0.000,516,0.000,0.063,2709,463,3241,3329,3154,0,0,0,0,0,0,15.10,14.91,15.12
$GC,6457,-0.60,-116.8,2709,463,3330,3154,638.4,-10.0,331,6470,0.15,2.12,0.00,0.000,3078,0.278,0.037,2733,1770,3240,3329,3152,0,0,0,0,0,0,14.79,14.95,14.94
$GC,6792,-0.60,-116.8,2733,1771,3330,3149,666.6,-8.3,343,6805,0.00,2.50,0.00,0.000,260,0.000,0.059,2724,3265,3239,3330,3149,0,0,0,0,0,0,15.12,14.91,15.11
$GC,6860,-0.60,-116.8,2724,3267,3330,3149,672.4,-8.3,352,6874,0.00,2.42,0.00,0.000,1030,0.000,0.039,2724,1782,3239,3329,3149,0,0,0,0,0,0,15.00,14.93,15.00
$GC,7195,-0.60,-116.8,2724,1782,3330,3142,700.8,-8.6,364,7209,0.00,2.22,0.00,0.000,516,0.000,0.063,2721,466,3237,3329,3146,0,0,0,0,0,0,15.09,14.91,15.11
$GC,7299,-0.60,-116.8,2724,462,3330,3146,710.2,-8.9,378,7312,0.00,2.15,0.00,0.000,1030,0.000,0.037,2715,1782,3237,3329,3145,0,0,0,0,0,0,14.99,14.94,15.00
$GC,7655,-0.60,-116.8,2716,1782,3330,3143,741.2,-8.7,386,7668,0.00,2.47,0.00,0.000,260,0.000,0.060,2704,3260,3235,3329,3142,0,0,0,0,0,0,15.09,14.90,15.11
$GC,7702,-0.60,-116.8,2704,3261,3330,3141,745.5,-8.9,392,7715,0.12,2.45,0.00,0.000,3078,0.264,0.041,2730,1767,3235,3329,3141,0,0,0,0,0,0,14.78,14.92,14.95
$GC,8059,-0.60,-116.8,2730,1770,3330,3139,774.9,-8.2,400,8072,0.00,2.20,0.00,0.000,516,0.000,0.065,2735,471,3234,3329,3140,0,0,0,0,0,0,15.09,14.90,15.11
$GC,8169,-0.60,-116.8,2736,471,3330,3139,784.6,-8.5,415,8183,0.00,2.10,0.00,0.000,1030,0.000,0.038,2730,1756,3233,3329,3137,0,0,0,0,0,0,14.98,14.93,15.00
$GC,8513,-0.60,-116.8,2729,1757,3330,3135,813.2,-8.4,422,8526,0.00,2.53,0.00,0.000,260,0.000,0.060,2717,3259,3232,3329,3135,0,0,0,0,0,0,15.08,14.89,15.10
$GC,8602,-0.60,-116.8,2718,3259,3330,3135,820.9,-8.5,434,8615,0.00,2.45,0.00,0.000,1030,0.000,0.041,2717,1770,3231,3329,3134,0,0,0,0,0,0,14.97,14.91,14.99
$GC,8973,-0.60,-116.8,2717,1771,3330,3132,852.2,-8.4,444,8986,0.00,2.22,0.00,0.000,516,0.000,0.066,2722,460,3231,3330,3132,0,0,0,0,0,0,15.07,14.88,15.10
$GC,9104,-0.60,-116.8,2718,463,3330,3132,864.4,-9.1,462,9117,0.00,2.08,0.00,0.000,1030,0.000,0.040,2709,1734,3230,3329,3132,0,0,0,0,0,0,14.97,14.92,14.98
$GC,9432,-0.60,-116.8,2709,1735,3330,3130,893.6,-8.9,473,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1734,3229,3329,3130,0,0,0,0,0,0,15.07,15.09,15.09
$GC,9768,-0.60,-116.8,2709,1734,3330,3129,923.2,-8.8,479,9782,0.00,2.58,0.00,0.000,260,0.000,0.062,2697,3260,3229,3329,3129,0,0,0,0,0,0,15.07,14.88,15.09
$GC,9858,-0.60,-116.8,2697,3261,3330,3128,931.3,-9.0,491,9871,0.15,2.47,0.00,0.000,3078,0.260,0.043,2730,1760,3228,3329,3128,0,0,0,0,0,0,14.75,14.90,14.92
$GC,10228,-0.60,-116.8,2731,1760,3332,3126,960.6,-7.6,501,10241,0.00,2.20,0.00,0.000,548,0.000,0.066,2732,470,3227,3329,3126,0,0,0,0,0,0,15.07,14.88,15.09
$GC,10347,-0.60,-116.8,2732,470,3329,3127,970.4,-8.3,517,10360,0.00,2.10,0.00,0.000,1030,0.000,0.040,2726,1748,3227,3329,3126,0,0,0,0,0,0,14.96,14.91,14.97
$STATE,10630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10630,begin apogee
$GC,10637,-0.21,0.0,2726,1748,3330,3124,993.2,-7.9,529,10765,0.50,0.00,117.75,2.222,10244,0.236,0.000,2860,1748,2793,2926,2660,0,0,0,0,0,0,14.74,14.09,13.40
$STATE,10766,end apogee,CONTROL_FINISHED_OK
$STATE,10766,begin climb
$GC,10770,0.84,116.8,2860,1750,2921,2644,998.2,0.0,531,10912,1.08,2.50,121.85,2.175,10756,0.177,0.063,3188,402,2308,2482,2134,0,0,0,0,0,0,14.09,14.15,13.31
$GC,11100,0.84,116.8,3189,403,2477,2110,972.8,9.7,581,11113,0.00,2.35,0.00,0.000,1030,0.000,0.034,3188,1805,2293,2476,2110,0,0,0,0,0,0,14.53,14.48,14.54
$GC,11429,0.84,116.8,3189,1804,2477,2107,941.5,9.6,592,11442,0.00,2.45,0.00,0.000,516,0.000,0.063,3199,403,2291,2476,2106,0,0,0,0,0,0,14.82,14.64,14.84
$GC,11630,0.73,116.8,3199,404,2477,2106,921.0,10.0,620,11644,0.15,2.35,0.00,0.000,5254,0.270,0.035,3167,1824,2291,2476,2107,0,0,0,0,0,0,14.59,14.73,14.76
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$STATE,23166,end climb,SURFACE_DEPTH_REACHED
$STATE,23166,begin surface coast
$FINISH,0.2,1.009860
$STATE,23195,end surface coast,CONTROL_FINISHED_OK
$STATE,23195,begin surface
$SM_CCo,23224,65.20,0.124,0,0,692,515.13
$SM_GC,1.32,9.27,0.00,65.20,0.068,0.000,0.124,161,1904,692,-8.61,0.96,515.13,0,0,0,0,0,0,14.77,15.00,14.71
$IRIDIUM_FIX,940.75,-12508.85,150916,030726
$TT8_MAMPS,0.038948,0.442659
$HUMID,52.95
$INTERNAL_PRESSURE,9.12603
$TCM_TEMP,26.70
$XPDR_PINGS,2
$SC_FREEKB,7737632
$PM_FREEKB,59522496
$TM_FREEKB,7083680
$24V_AH,13.31,34.157
$10V_AH,13.19,0.000
$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,25.950,228.450,518.700,65.200,0.000,0.000,0.000,444.275,0.500,0.000,22.045,0.000,18641.871,827.289,4004.466,653.023,0.000,3085.237,0.000,2060.602,0.000,0.548,0.000
$DEVICE_MAMPS,404.685,67.320,2222.325,123.930,0.000,0.000,0.000,175.185,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23250.000,23202.000,3150.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.529,2.099,16.281,0.000
$MEM,311912
$DATA_FILE_SIZE,43335,1210
$CAP_FILE_SIZE,200544,0
$CFSIZE,260034560,244441088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042,53.13,1
$GPS,150916,164704,947.957,-12503.521,25,0.7,26,9.2,0.5,80.2,11,6.5