version: 66.13
glider: 527
mission: 5
dive: 81
start: 6 1 119 2 36 6
data:
$ID,527
$MISSION,5
$DIVE,81
$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,24
$R_STBD_OVSHOOT,13
$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
$GPS1,010619,022908,5920.4263,-2200.0957,63,0.8,77,-12.8,0.2,151.2,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-75.0
$GPS2,010619,023524,5920.4590,-2200.0200,5,0.8,19,-12.8,1.0,59.7,9,9.9
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,207.7,19370,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-0.48,-165.5,95,2848,1823,1920,0.0,0.0,0,103,0.00,0.00,-87.15,0.008,16390,0.000,0.000,87,2847,3575,3745,3405,0,0,0,0,0,0,14.63,13.51,14.65
$GC,105,-0.48,-165.5,87,2846,3745,3405,4.7,-8.9,9,122,12.20,1.95,0.00,0.000,2852,0.400,0.138,2559,3842,3575,3746,3405,0,0,0,0,0,0,14.10,14.25,14.40
$GC,253,-0.48,-165.5,2558,3842,3747,3404,34.5,-13.1,38,260,0.00,1.75,0.00,0.000,1030,0.000,0.083,2559,2850,3576,3747,3405,0,0,0,0,0,0,14.56,14.47,14.58
$GC,440,-0.48,-165.5,2557,2851,3747,3405,59.7,-13.1,57,446,0.00,1.95,0.00,0.000,260,0.000,0.160,2551,3844,3576,3747,3405,0,0,0,0,0,0,14.77,14.30,14.79
$GC,472,-0.48,-165.5,2551,3844,3747,3405,64.7,-14.0,63,478,0.00,1.73,0.00,0.000,1030,0.000,0.078,2552,2849,3576,3747,3406,0,0,0,0,0,0,14.62,14.53,14.64
$GC,665,-0.48,-165.5,2551,2849,3747,3405,91.8,-14.5,83,670,0.00,1.95,0.00,0.000,260,0.000,0.160,2544,3846,3576,3747,3405,0,0,0,0,0,0,14.83,14.25,14.84
$GC,691,-0.48,-165.5,2543,3846,3747,3405,96.2,-16.4,88,699,0.12,1.75,0.00,0.000,3078,0.243,0.079,2571,2839,3576,3748,3405,0,0,0,0,0,0,14.40,14.57,14.59
$GC,877,-0.48,-165.5,2570,2840,3748,3405,118.8,-12.0,107,883,0.00,1.80,0.00,0.000,516,0.000,0.074,2570,1776,3576,3748,3405,0,0,0,0,0,0,14.86,14.59,14.88
$GC,903,-0.48,-165.5,2571,1772,3747,3405,121.9,-10.6,112,911,0.00,2.05,0.00,0.000,1030,0.000,0.133,2565,2859,3576,3747,3405,0,0,0,0,0,0,14.64,14.47,14.68
$GC,1090,-0.48,-165.5,2565,2859,3747,3405,144.9,-12.6,131,1095,0.00,1.90,0.00,0.000,260,0.000,0.164,2558,3846,3576,3747,3405,0,0,0,0,0,0,14.85,14.33,14.86
$GC,1172,-0.48,-165.5,2557,3846,3748,3405,155.6,-12.0,147,1178,0.00,1.73,0.00,0.000,1030,0.000,0.080,2558,2848,3576,3748,3405,0,0,0,0,0,0,14.69,14.60,14.71
$GC,1365,-0.48,-165.5,2557,2847,3748,3405,179.7,-12.7,167,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2848,3576,3747,3405,0,0,0,0,0,0,14.86,14.89,14.88
$GC,1545,-0.48,-165.5,2557,2847,3747,3405,202.4,-12.4,185,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2847,3576,3748,3405,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1725,-0.48,-165.5,2557,2847,3747,3405,225.1,-12.5,203,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2847,3576,3747,3405,0,0,0,0,0,0,14.89,14.90,14.90
$GC,1905,-0.48,-165.5,2557,2847,3748,3405,246.9,-12.2,221,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2847,3576,3747,3405,0,0,0,0,0,0,14.90,14.91,14.91
$GC,2095,-0.48,-165.5,2557,2847,3748,3405,270.0,-12.4,232,2101,0.00,1.95,0.00,0.000,260,0.000,0.163,2550,3845,3576,3747,3405,0,0,0,0,0,0,14.91,14.35,14.92
$GC,2127,-0.48,-165.5,2550,3846,3748,3405,274.2,-12.8,238,2133,0.00,1.73,0.00,0.000,1030,0.000,0.082,2550,2850,3576,3747,3405,0,0,0,0,0,0,14.72,14.64,14.74
$GC,2439,-0.48,-165.5,2550,2851,3748,3405,312.8,-12.5,255,2445,0.00,1.95,0.00,0.000,260,0.000,0.165,2543,3847,3576,3747,3406,0,0,0,0,0,0,14.92,14.38,14.94
$GC,2486,-0.48,-165.5,2542,3847,3747,3405,318.9,-13.1,264,2493,0.12,1.75,0.00,0.000,3078,0.241,0.082,2570,2841,3576,3748,3405,0,0,0,0,0,0,14.49,14.66,14.69
$GC,2805,-0.48,-165.5,2569,2840,3747,3405,353.4,-10.7,282,2811,0.00,1.95,0.00,0.000,260,0.000,0.164,2565,3841,3576,3747,3405,0,0,0,0,0,0,14.95,14.38,14.97
$GC,2848,-0.48,-165.5,2564,3841,3747,3405,358.1,-11.3,290,2853,0.00,1.73,0.00,0.000,1030,0.000,0.081,2565,2841,3576,3747,3405,0,0,0,0,0,0,14.76,14.67,14.78
$GC,3171,-0.48,-165.5,2564,2841,3747,3405,394.0,-10.7,309,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2840,3576,3747,3405,0,0,0,0,0,0,14.97,14.99,14.98
$GC,3470,-0.48,-165.5,2564,2841,3747,3404,426.2,-10.7,324,3477,0.00,1.95,0.00,0.000,260,0.000,0.163,2557,3842,3576,3747,3405,0,0,0,0,0,0,14.97,14.44,15.00
$GC,3498,-0.48,-165.5,2557,3842,3747,3405,429.3,-11.5,329,3503,0.00,1.73,0.00,0.000,1030,0.000,0.081,2557,2844,3576,3747,3405,0,0,0,0,0,0,14.77,14.69,14.80
$GC,3815,-0.48,-165.5,2557,2844,3747,3405,463.6,-10.8,347,3821,0.00,1.95,0.00,0.000,260,0.000,0.164,2550,3843,3576,3747,3405,0,0,0,0,0,0,14.97,14.38,14.99
$GC,3841,-0.48,-165.5,2550,3843,3747,3405,466.8,-11.7,352,3847,0.00,1.73,0.00,0.000,1030,0.000,0.083,2550,2849,3576,3747,3405,0,0,0,0,0,0,14.78,14.68,14.80
$GC,4159,-0.48,-165.5,2549,2849,3747,3405,506.0,-12.9,370,4165,0.00,1.95,0.00,0.000,260,0.000,0.167,2543,3846,3575,3746,3405,0,0,0,0,0,0,14.95,14.40,14.97
$GC,4222,-0.48,-165.5,2542,3845,3747,3405,514.4,-13.9,382,4228,0.12,1.73,0.00,0.000,3078,0.236,0.083,2571,2848,3576,3747,3405,0,0,0,0,0,0,14.50,14.67,14.70
$GC,4545,-0.48,-165.5,2570,2848,3747,3405,547.3,-9.1,401,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2848,3576,3747,3405,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4845,-0.48,-165.5,2570,2848,3747,3405,575.4,-9.9,416,4851,0.00,1.95,0.00,0.000,260,0.000,0.168,2565,3845,3576,3747,3405,0,0,0,0,0,0,14.99,14.41,15.00
$GC,4922,-0.48,-165.5,2565,3845,3746,3405,583.5,-10.3,431,4929,0.00,1.73,0.00,0.000,1030,0.000,0.083,2565,2846,3575,3746,3405,0,0,0,0,0,0,14.78,14.68,14.80
$GC,5228,-0.48,-165.5,2565,2846,3746,3405,616.3,-10.9,447,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2846,3575,3746,3405,0,0,0,0,0,0,15.00,15.02,15.01
$GC,5528,-0.48,-165.5,2565,2845,3745,3405,649.3,-11.0,462,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2845,3575,3745,3405,0,0,0,0,0,0,15.01,15.02,15.02
$GC,5829,-0.48,-165.5,2565,2845,3745,3405,681.1,-10.4,477,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2845,3575,3745,3405,0,0,0,0,0,0,15.02,15.04,15.03
$GC,6128,-0.48,-165.5,2565,2845,3745,3405,710.0,-9.4,492,6134,0.00,1.95,0.00,0.000,260,0.000,0.170,2558,3842,3574,3744,3405,0,0,0,0,0,0,15.02,14.44,15.04
$GC,6171,-0.48,-165.5,2558,3842,3743,3405,714.2,-9.6,500,6178,0.00,1.73,0.00,0.000,1030,0.000,0.084,2558,2846,3574,3744,3405,0,0,0,0,0,0,14.80,14.70,14.83
$GC,6494,-0.48,-165.5,2558,2846,3744,3405,746.9,-10.4,519,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2846,3574,3743,3405,0,0,0,0,0,0,15.01,15.02,15.02
$GC,6794,-0.48,-165.5,2558,2845,3742,3405,776.0,-9.8,534,6800,0.00,1.98,0.00,0.000,260,0.000,0.172,2551,3847,3573,3742,3405,0,0,0,0,0,0,15.01,14.35,15.02
$GC,6857,-0.48,-165.5,2551,3847,3742,3405,782.3,-9.7,546,6862,0.00,1.75,0.00,0.000,1030,0.000,0.085,2551,2843,3573,3741,3405,0,0,0,0,0,0,14.78,14.69,14.81
$GC,7180,-0.48,-165.5,2550,2842,3742,3405,816.1,-11.0,565,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2842,3573,3742,3405,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7479,-0.48,-165.5,2550,2842,3741,3405,849.0,-11.0,580,7486,0.00,1.98,0.00,0.000,260,0.000,0.171,2543,3842,3573,3741,3405,0,0,0,0,0,0,14.99,14.40,15.01
$GC,7512,-0.48,-165.5,2543,3842,3741,3405,852.8,-11.3,586,7518,0.12,1.73,0.00,0.000,3078,0.232,0.085,2572,2853,3573,3741,3405,0,0,0,0,0,0,14.51,14.67,14.71
$GC,7825,-0.48,-165.5,2571,2853,3741,3405,882.0,-9.3,603,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2853,3573,3741,3405,0,0,0,0,0,0,15.00,15.02,15.01
$GC,8125,-0.48,-165.5,2571,2853,3741,3405,908.9,-8.9,618,8127,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2853,3573,3741,3405,0,0,0,0,0,0,14.98,15.00,15.00
$GC,8426,-0.48,-165.5,2571,2853,3741,3404,934.9,-8.6,633,8427,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2853,3572,3740,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8725,-0.48,-165.5,2571,2853,3740,3405,960.9,-8.7,648,8727,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2853,3572,3740,3405,0,0,0,0,0,0,14.99,15.01,15.00
$GC,9025,-0.48,-165.5,2571,2853,3739,3405,987.1,-8.9,663,9027,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2853,3572,3739,3405,0,0,0,0,0,0,14.98,15.00,15.00
$STATE,9064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9064,begin apogee
$GC,9068,-0.10,0.0,2572,2591,3739,3405,990.6,-8.9,665,9233,0.43,0.00,160.90,2.372,10246,0.185,0.000,2694,2590,2900,2923,2877,0,0,0,0,0,0,14.51,13.66,12.50
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9236,0.48,165.5,2694,2591,2922,2877,995.3,0.0,673,9414,0.62,2.05,166.95,2.313,10756,0.120,0.088,2891,1533,2226,2214,2238,0,0,0,0,0,0,13.71,13.33,12.26
$GC,9486,0.48,165.5,2890,1533,2214,2235,975.2,10.5,721,9492,0.00,2.10,0.00,0.000,1030,0.000,0.122,2891,2597,2223,2213,2234,0,0,0,0,0,0,13.93,13.81,13.95
$GC,9808,0.48,165.5,2891,2597,2214,2229,937.6,11.8,740,9814,0.00,2.08,0.00,0.000,260,0.000,0.158,2891,3670,2221,2214,2229,0,0,0,0,0,0,14.60,14.28,14.62
$GC,9846,0.48,165.5,2890,3670,2214,2229,932.6,13.6,747,9853,0.00,1.92,0.00,0.000,1030,0.000,0.078,2898,2583,2221,2214,2229,0,0,0,0,0,0,14.47,14.38,14.49
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$GC,17042,0.48,165.5,2908,2589,2220,2219,25.0,12.0,1293,17048,0.00,1.80,0.00,0.000,516,0.000,0.072,2915,1526,2219,2220,2219,0,0,0,0,0,0,14.91,14.62,14.93
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$STATE,17253,end climb,SURFACE_DEPTH_REACHED
$STATE,17254,begin surface coast
$FINISH,0.7,1.026965
$STATE,17275,end surface coast,CONTROL_FINISHED_OK
$STATE,17275,begin surface
$SM_CCo,17291,91.65,0.872,1,0,1879,250.20
$SM_GC,0.73,7.88,0.47,91.65,0.075,0.129,0.872,175,2856,1879,-7.92,-0.51,250.20,0,0,0,0,1,0,14.62,14.53,13.62
$IRIDIUM_FIX,5924.59,-2157.51,310519,221851
$TT8_MAMPS,0.023219,0.834386
$HUMID,38.62
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3866816
$24V_AH,12.26,0.000
$10V_AH,12.61,33.862
$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,22.250,125.400,327.850,91.650,0.000,0.000,0.000,248.200,0.000,0.000,28.359,3238.707,11511.184,672.743,2239.724,113.289,0.000,1982.328,0.000,1892.179,0.000,0.535,0.000
$DEVICE_MAMPS,400.095,172.125,2371.500,872.100,0.000,0.000,0.000,189.720,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17286.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.157,0.000,0.000,0.000
$MEM,303036
$DATA_FILE_SIZE,46646,1319
$CAP_FILE_SIZE,159366,0
$CFSIZE,2097872896,2080047104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.106,43.41,1
$GPS,010619,072737,5918.796,-2159.985,52,0.8,65,-12.8,1.6,71.8,9,9.9