version: 66.13
glider: 527
mission: 5
dive: 51
start: 5 26 119 0 4 35
data:
$ID,527
$MISSION,5
$DIVE,51
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55590
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,180
$PITCH_MAX,3650
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,50
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,30
$C_ROLL_DIVE,2850
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3925
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00065
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$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,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-173.77016
$PRESSURE_SLOPE,0.00010843292
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.38999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.004412075
$SEABIRD_T_H,0.00063827372
$SEABIRD_T_I,2.6317541e-05
$SEABIRD_T_J,3.254017e-06
$SEABIRD_C_G,-9.9840622
$SEABIRD_C_H,1.1688964
$SEABIRD_C_I,-0.0016958674
$SEABIRD_C_J,0.00021397673
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,250519,235503,5927.3906,-2129.2368,76,0.8,85,-12.6,0.4,275.3,8,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-64.9
$GPS2,260519,000354,5927.4390,-2129.3479,8,0.8,18,-12.6,1.3,21.0,8,10.0
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S
$TGT_LATLONG,5920.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,174.4,13955,-18.5,-11.000,-21.07,2319
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.48,-165.5,81,2875,1839,1910,0.0,0.0,0,103,0.00,0.00,-86.25,0.008,16390,0.000,0.000,68,2875,3575,3747,3404,0,0,0,0,0,0,14.62,12.84,14.64
$GC,105,-0.48,-165.5,68,2875,3747,3404,5.0,-9.3,9,122,12.55,1.95,0.00,0.000,2820,0.405,0.073,2566,1779,3576,3748,3405,0,0,0,0,0,0,14.07,14.41,14.38
$GC,149,-0.48,-165.5,2566,1776,3750,3404,20.3,-21.8,17,155,0.00,2.05,0.00,0.000,1030,0.000,0.138,2560,2843,3577,3750,3404,0,0,0,0,0,0,14.45,14.30,14.49
$GC,342,-0.48,-165.5,2559,2844,3751,3405,46.3,-13.4,37,348,0.00,1.95,0.00,0.000,260,0.000,0.164,2553,3847,3577,3751,3404,0,0,0,0,0,0,14.75,14.26,14.77
$GC,408,-0.48,-165.5,2552,3847,3751,3404,54.2,-12.0,50,415,0.00,1.80,0.00,0.000,1030,0.000,0.086,2553,2858,3577,3751,3404,0,0,0,0,0,0,14.54,14.50,14.58
$GC,595,-0.48,-165.5,2552,2858,3751,3405,79.5,-14.1,69,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2858,3577,3751,3404,0,0,0,0,0,0,14.79,14.81,14.81
$GC,775,-0.48,-165.5,2552,2858,3751,3404,105.3,-14.7,87,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2858,3577,3751,3404,0,0,0,0,0,0,14.82,14.84,14.84
$GC,955,-0.48,-165.5,2552,2858,3751,3404,130.9,-14.2,105,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2858,3577,3751,3404,0,0,0,0,0,0,14.84,14.86,14.85
$GC,1135,-0.48,-165.5,2552,2858,3751,3404,156.0,-14.0,123,1140,0.00,1.92,0.00,0.000,260,0.000,0.162,2545,3843,3578,3751,3405,0,0,0,0,0,0,14.85,14.30,14.87
$GC,1181,-0.48,-165.5,2544,3843,3750,3405,163.1,-13.5,132,1190,0.12,1.75,0.00,0.000,3078,0.243,0.084,2572,2842,3578,3751,3405,0,0,0,0,0,0,14.44,14.60,14.63
$GC,1367,-0.48,-165.5,2572,2842,3751,3405,184.2,-11.4,151,1373,0.00,1.83,0.00,0.000,516,0.000,0.084,2572,1782,3578,3751,3405,0,0,0,0,0,0,14.88,14.59,14.90
$GC,1393,-0.48,-165.5,2572,1779,3751,3404,187.1,-9.4,156,1401,0.00,2.03,0.00,0.000,1030,0.000,0.136,2566,2852,3577,3751,3404,0,0,0,0,0,0,14.66,14.50,14.70
$GC,1579,-0.48,-165.5,2565,2852,3750,3404,208.5,-11.6,175,1585,0.00,1.90,0.00,0.000,260,0.000,0.164,2559,3841,3577,3751,3404,0,0,0,0,0,0,14.88,14.38,14.89
$GC,1646,-0.48,-165.5,2558,3840,3750,3404,216.4,-11.2,188,1654,0.00,1.75,0.00,0.000,1030,0.000,0.084,2559,2842,3577,3751,3404,0,0,0,0,0,0,14.67,14.57,14.69
$GC,1832,-0.48,-165.5,2558,2841,3750,3404,239.5,-12.5,207,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2841,3577,3750,3405,0,0,0,0,0,0,14.90,14.92,14.91
$GC,2022,-0.48,-165.5,2558,2841,3750,3405,262.5,-12.2,221,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2841,3577,3751,3404,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2322,-0.48,-165.5,2558,2841,3751,3405,297.8,-11.8,236,2328,0.00,1.95,0.00,0.000,260,0.000,0.164,2551,3841,3577,3750,3405,0,0,0,0,0,0,14.94,14.42,14.95
$GC,2379,-0.48,-165.5,2551,3842,3751,3404,304.5,-11.3,247,2386,0.00,1.73,0.00,0.000,1030,0.000,0.085,2551,2849,3577,3751,3404,0,0,0,0,0,0,14.74,14.66,14.77
$GC,2685,-0.48,-165.5,2550,2848,3750,3404,342.6,-12.8,263,2691,0.00,1.95,0.00,0.000,260,0.000,0.166,2544,3846,3577,3750,3405,0,0,0,0,0,0,14.95,14.38,14.97
$GC,2717,-0.48,-165.5,2543,3846,3751,3404,346.9,-13.8,269,2724,0.12,1.75,0.00,0.000,3078,0.241,0.088,2571,2844,3577,3751,3404,0,0,0,0,0,0,14.52,14.68,14.71
$GC,3030,-0.48,-165.5,2571,2844,3750,3403,382.0,-11.4,286,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2844,3577,3750,3404,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3331,-0.48,-165.5,2570,2844,3750,3404,415.1,-11.0,301,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2844,3577,3750,3405,0,0,0,0,0,0,14.97,14.99,14.98
$GC,3631,-0.48,-165.5,2571,2844,3750,3404,447.2,-10.6,316,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2844,3577,3750,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,3930,-0.48,-165.5,2571,2844,3749,3404,479.1,-10.8,331,3936,0.00,1.95,0.00,0.000,260,0.000,0.168,2566,3842,3576,3749,3404,0,0,0,0,0,0,14.98,14.45,15.00
$GC,3973,-0.48,-165.5,2566,3842,3749,3405,484.0,-11.7,339,3978,0.00,1.73,0.00,0.000,1030,0.000,0.088,2566,2853,3577,3749,3405,0,0,0,0,0,0,14.78,14.69,14.81
$GC,4295,-0.48,-165.5,2566,2852,3749,3404,519.7,-11.0,358,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2852,3577,3749,3406,0,0,0,0,0,0,14.97,14.98,14.99
$GC,4596,-0.48,-165.5,2566,2852,3749,3404,553.3,-11.1,373,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2851,3576,3748,3404,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4895,-0.48,-165.5,2566,2851,3748,3404,585.9,-10.6,388,4901,0.00,1.95,0.00,0.000,260,0.000,0.170,2559,3847,3576,3748,3404,0,0,0,0,0,0,14.98,14.42,15.00
$GC,4947,-0.48,-165.5,2558,3847,3746,3405,591.5,-10.0,398,4953,0.00,1.75,0.00,0.000,1030,0.000,0.090,2559,2845,3576,3748,3404,0,0,0,0,0,0,14.78,14.69,14.81
$GC,5260,-0.48,-165.5,2558,2845,3748,3404,626.8,-11.5,415,5265,0.00,1.83,0.00,0.000,516,0.000,0.088,2558,1783,3575,3747,3404,0,0,0,0,0,0,15.00,14.69,15.01
$GC,5292,-0.48,-165.5,2558,1779,3747,3404,630.6,-11.1,421,5297,0.00,2.03,0.00,0.000,1030,0.000,0.140,2551,2855,3576,3748,3405,0,0,0,0,0,0,14.76,14.57,14.80
$GC,5604,-0.48,-165.5,2550,2855,3747,3404,667.1,-11.7,438,5610,0.00,1.90,0.00,0.000,260,0.000,0.172,2543,3840,3575,3747,3404,0,0,0,0,0,0,14.99,14.41,15.01
$GC,5671,-0.48,-165.5,2543,3840,3746,3405,675.0,-10.7,451,5677,0.12,1.77,0.00,0.000,3078,0.239,0.089,2570,2834,3575,3746,3404,0,0,0,0,0,0,14.54,14.68,14.74
$GC,5989,-0.48,-165.5,2571,2832,3745,3405,705.3,-9.4,469,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2832,3574,3745,3404,0,0,0,0,0,0,15.00,15.02,15.01
$GC,6289,-0.48,-165.5,2571,2832,3745,3404,732.8,-8.9,484,6296,0.00,2.00,0.00,0.000,292,0.000,0.171,2566,3840,3574,3744,3404,0,0,0,0,0,0,15.00,14.45,15.02
$GC,6353,-0.48,-165.5,2565,3840,3744,3404,738.5,-8.6,496,6360,0.00,1.73,0.00,0.000,1062,0.000,0.088,2566,2851,3574,3744,3405,0,0,0,0,0,0,14.79,14.69,14.82
$GC,6676,-0.48,-165.5,2565,2851,3744,3404,768.1,-9.1,515,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2851,3574,3744,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6976,-0.48,-165.5,2565,2851,3743,3404,795.5,-9.3,530,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2851,3573,3743,3404,0,0,0,0,0,0,14.99,15.01,15.01
$GC,7277,-0.48,-165.5,2565,2851,3742,3404,823.7,-9.3,545,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2851,3573,3742,3404,0,0,0,0,0,0,15.01,15.03,15.03
$GC,7576,-0.48,-165.5,2565,2850,3742,3404,852.4,-9.7,560,7583,0.00,1.98,0.00,0.000,260,0.000,0.172,2559,3846,3572,3741,3404,0,0,0,0,0,0,15.01,14.42,15.03
$GC,7609,-0.48,-165.5,2558,3846,3741,3404,855.8,-10.3,566,7614,0.00,1.75,0.00,0.000,1030,0.000,0.091,2559,2845,3572,3741,3404,0,0,0,0,0,0,14.80,14.70,14.83
$GC,7921,-0.48,-165.5,2558,2845,3741,3403,888.0,-10.4,583,7927,0.00,1.83,0.00,0.000,516,0.000,0.090,2559,1787,3572,3741,3404,0,0,0,0,0,0,15.01,14.69,15.02
$GC,7953,-0.48,-165.5,2558,1783,3741,3404,891.2,-9.1,589,7959,0.00,2.03,0.00,0.000,1030,0.000,0.141,2551,2857,3572,3741,3404,0,0,0,0,0,0,14.76,14.57,14.80
$GC,8265,-0.48,-165.5,2551,2857,3741,3404,924.6,-10.8,606,8271,0.00,1.92,0.00,0.000,260,0.000,0.177,2544,3848,3572,3740,3404,0,0,0,0,0,0,15.01,14.40,15.02
$GC,8343,-0.48,-165.5,2543,3848,3740,3404,933.2,-10.8,621,8350,0.12,1.75,0.00,0.000,3078,0.236,0.091,2571,2850,3572,3740,3404,0,0,0,0,0,0,14.54,14.69,14.73
$GC,8649,-0.48,-165.5,2571,2850,3740,3404,961.0,-9.0,637,8650,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2850,3572,3740,3404,0,0,0,0,0,0,15.00,15.02,15.01
$GC,8948,-0.48,-165.5,2571,2849,3739,3404,987.7,-8.9,652,8949,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2850,3571,3739,3404,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,8987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8987,begin apogee
$GC,8991,-0.10,0.0,2572,2603,3739,3404,991.2,-8.9,654,9156,0.43,0.00,161.77,2.349,10246,0.185,0.000,2694,2603,2900,2924,2877,0,0,0,0,0,0,14.56,13.66,12.49
$STATE,9157,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9159,0.48,165.5,2694,2603,2922,2876,995.9,0.0,662,9335,0.62,2.15,167.52,2.293,10756,0.119,0.091,2889,1530,2225,2218,2233,0,0,0,0,0,0,13.74,13.32,12.20
$GC,9403,0.48,165.5,2889,1530,2218,2231,976.3,10.9,709,9410,0.00,2.12,0.00,0.000,1030,0.000,0.123,2890,2597,2223,2217,2230,0,0,0,0,0,0,13.85,13.75,13.87
$GC,9707,0.48,165.5,2889,2597,2217,2224,939.9,11.8,725,9714,0.00,2.08,0.00,0.000,260,0.000,0.156,2889,3669,2221,2218,2225,0,0,0,0,0,0,14.54,14.25,14.56
$GC,9745,0.48,165.5,2889,3669,2218,2224,934.9,13.4,732,9752,0.00,1.92,0.00,0.000,1030,0.000,0.080,2896,2587,2221,2218,2224,0,0,0,0,0,0,14.44,14.35,14.45
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$GC,16877,0.50,165.5,2897,2587,2223,2214,33.7,11.8,1250,16878,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2587,2218,2222,2214,0,0,0,0,0,0,14.88,14.90,14.90
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$STATE,17145,end climb,SURFACE_DEPTH_REACHED
$STATE,17145,begin surface coast
$FINISH,0.2,1.027024
$STATE,17167,end surface coast,CONTROL_FINISHED_OK
$STATE,17167,begin surface
$SM_CCo,17182,91.10,0.870,1,0,1880,250.20
$SM_GC,0.67,7.93,0.55,91.10,0.073,0.115,0.870,168,2865,1880,-7.93,-0.17,250.20,0,0,0,0,1,0,14.67,14.57,13.59
$IRIDIUM_FIX,5929.45,-2124.47,250519,190214
$TT8_MAMPS,0.02247,0.537782
$HUMID,37.87
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3878336
$24V_AH,12.20,0.000
$10V_AH,12.68,23.360
$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,22.475,115.125,329.300,91.100,0.000,0.000,0.000,345.875,0.000,0.000,27.891,3168.142,11611.597,664.470,2277.493,96.744,0.000,2040.715,0.000,1835.162,0.000,0.535,0.000
$DEVICE_MAMPS,405.450,176.715,2348.550,869.805,0.000,0.000,0.000,195.840,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17177.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.300,0.000,0.000,0.000
$MEM,304028
$DATA_FILE_SIZE,46619,1279
$CAP_FILE_SIZE,156642,0
$CFSIZE,2097872896,2085945344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.099,343.69,1
$GPS,260519,045505,5925.907,-2128.522,104,0.8,114,-12.6,0.8,340.6,10,9.8