version: 66.14
glider: 527
mission: 10
dive: 86
start: 10 18 120 9 59 12
data:
$ID,527
$MISSION,10
$DIVE,86
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,370
$T_MISSION,410
$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,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56352
$MASS_COMP,0
$NAV_MODE,0
$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,400
$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,2220
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,43
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,2525
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2980
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.001
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,310
$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,-173.88152
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0044153966
$SEABIRD_T_H,0.00064440304
$SEABIRD_T_I,2.7248538e-05
$SEABIRD_T_J,3.4282193e-06
$SEABIRD_C_G,-10.077963
$SEABIRD_C_H,1.1533748
$SEABIRD_C_I,-0.0022050336
$SEABIRD_C_J,0.00023474717
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,181020,094539,5855.9351,-2130.1440,38,0.7,47,-12.4,0.3,61.2,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.9
$GPS2,181020,095829,5855.9951,-2129.9248,8,0.8,19,-12.4,0.0,82.5,10,9.9
$SPEED_LIMITS,0.154,0.252
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5857.110,-2124.777
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,79.6,5333,-17.4,-8.919,-20.37,2267
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-0.54,-131.7,0,2536,1275,1403,0.0,0.0,0,111,0.00,0.00,-94.07,0.008,16390,0.000,0.000,0,2533,3518,3459,3578,0,0,0,0,0,0,14.64,12.73,14.65
$GC,114,-0.55,-146.0,1,2533,3460,3580,4.0,-7.8,18,133,10.02,2.47,-1.27,0.070,18980,0.396,0.076,2037,1094,3580,3533,3627,0,0,0,0,0,0,14.01,13.43,14.41
$GC,325,-0.55,-146.0,2037,1094,3540,3627,36.3,-12.1,59,332,0.00,2.50,0.00,0.000,1030,0.000,0.064,2031,2532,3583,3539,3627,0,0,0,0,0,0,14.50,14.41,14.54
$GC,514,-0.55,-146.0,2030,2532,3540,3627,60.6,-12.4,96,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2532,3583,3540,3627,0,0,0,0,0,0,14.80,14.82,14.82
$GC,701,-0.55,-146.0,2030,2532,3540,3627,83.3,-11.6,133,707,0.00,2.47,0.00,0.000,516,0.000,0.067,2031,1107,3583,3540,3627,0,0,0,0,0,0,14.81,14.43,14.83
$GC,724,-0.55,-146.0,2030,1107,3540,3627,86.2,-13.0,137,731,0.00,2.45,0.00,0.000,1030,0.000,0.060,2024,2533,3584,3541,3627,0,0,0,0,0,0,14.62,14.52,14.64
$GC,912,-0.55,-146.0,2021,2531,3540,3627,109.1,-12.4,167,918,0.00,2.28,0.00,0.000,260,0.000,0.080,2012,3844,3583,3540,3627,0,0,0,0,0,0,14.83,14.50,14.85
$GC,1018,-0.55,-146.0,2012,3844,3540,3626,122.0,-11.5,188,1025,0.00,2.28,0.00,0.000,1030,0.000,0.052,2012,2514,3583,3540,3626,0,0,0,0,0,0,14.65,14.57,14.67
$GC,1325,-0.55,-146.0,2011,2514,3540,3626,158.9,-12.4,219,1330,0.00,2.38,0.00,0.000,516,0.000,0.067,2012,1111,3582,3539,3626,0,0,0,0,0,0,14.88,14.54,14.90
$GC,1431,-0.55,-146.0,2011,1110,3540,3626,172.3,-12.1,240,1438,0.15,2.45,0.00,0.000,3078,0.246,0.062,2036,2529,3583,3540,3626,0,0,0,0,0,0,14.23,14.45,14.46
$GC,1737,-0.55,-146.0,2035,2529,3540,3626,205.2,-11.0,271,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2529,3583,3540,3626,0,0,0,0,0,0,14.88,14.90,14.89
$GC,2038,-0.55,-146.0,2036,2529,3540,3626,238.6,-11.2,301,2043,0.00,2.45,0.00,0.000,516,0.000,0.068,2037,1114,3583,3540,3626,0,0,0,0,0,0,14.89,14.56,14.90
$GC,2074,-0.55,-146.0,2036,1114,3541,3626,243.1,-11.5,308,2080,0.00,2.42,0.00,0.000,1030,0.000,0.061,2030,2525,3583,3540,3626,0,0,0,0,0,0,14.68,14.58,14.71
$GC,2380,-0.55,-146.0,2030,2525,3540,3626,279.3,-11.7,339,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2525,3583,3541,3626,0,0,0,0,0,0,14.91,14.93,14.93
$GC,2681,-0.55,-146.0,2030,2525,3540,3626,314.3,-11.3,369,2686,0.00,2.45,0.00,0.000,516,0.000,0.067,2030,1111,3582,3540,3625,0,0,0,0,0,0,14.91,14.50,14.93
$GC,2707,-0.55,-146.0,2030,1111,3540,3626,317.6,-11.4,374,2713,0.00,2.45,0.00,0.000,1030,0.000,0.061,2021,2529,3582,3540,3625,0,0,0,0,0,0,14.64,14.54,14.67
$GC,3013,-0.55,-146.0,2021,2530,3540,3626,353.6,-11.8,405,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2530,3583,3540,3626,0,0,0,0,0,0,14.91,14.93,14.92
$GC,3314,-0.55,-146.0,2021,2530,3540,3625,388.8,-11.6,435,3319,0.00,2.45,0.00,0.000,516,0.000,0.067,2021,1113,3582,3540,3625,0,0,0,0,0,0,14.90,14.57,14.92
$GC,3360,-0.55,-146.0,2021,1113,3540,3625,394.6,-11.8,444,3366,0.00,2.45,0.00,0.000,1030,0.000,0.062,2013,2535,3582,3540,3625,0,0,0,0,0,0,14.68,14.58,14.70
$GC,3666,-0.55,-146.0,2012,2535,3540,3624,430.5,-11.6,475,3671,0.00,2.47,0.00,0.000,516,0.000,0.066,2012,1107,3582,3540,3624,0,0,0,0,0,0,14.95,14.51,14.95
$GC,3698,-0.55,-146.0,2012,1107,3540,3624,434.5,-12.6,481,3704,0.15,2.47,0.00,0.000,3078,0.239,0.062,2037,2536,3581,3540,3623,0,0,0,0,0,0,14.29,14.52,14.50
$GC,4011,-0.55,-146.0,2036,2536,3540,3623,465.8,-9.8,513,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2536,3581,3540,3623,0,0,0,0,0,0,14.95,14.97,14.97
$GC,4312,-0.55,-146.0,2036,2536,3540,3623,494.8,-9.9,543,4317,0.00,2.50,0.00,0.000,516,0.000,0.073,2037,1109,3581,3540,3623,0,0,0,0,0,0,14.95,14.52,14.96
$GC,4364,-0.55,-146.0,2037,1109,3540,3622,500.2,-9.5,553,4370,0.00,2.45,0.00,0.000,1030,0.000,0.063,2031,2530,3581,3540,3623,0,0,0,0,0,0,14.69,14.59,14.72
$GC,4676,-0.55,-146.0,2030,2530,3540,3621,534.3,-10.8,585,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2530,3580,3540,3621,0,0,0,0,0,0,14.92,14.94,14.94
$GC,4979,-0.55,-146.0,2030,2530,3540,3621,567.3,-11.2,615,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2530,3580,3541,3620,0,0,0,0,0,0,14.94,14.96,14.95
$GC,5287,-0.55,-146.0,2030,2532,3542,3618,601.2,-10.8,646,5293,0.00,2.47,0.00,0.000,516,0.000,0.073,2030,1112,3579,3541,3618,0,0,0,0,0,0,14.95,14.52,14.97
$GC,5363,-0.55,-146.0,2030,1112,3542,3618,609.6,-10.5,661,5370,0.00,2.45,0.00,0.000,1030,0.000,0.063,2022,2522,3580,3542,3618,0,0,0,0,0,0,14.63,14.53,14.64
$GC,5670,-0.55,-146.0,2021,2522,3542,3617,642.6,-10.8,692,5675,0.00,2.42,0.00,0.000,516,0.000,0.063,2021,1116,3579,3542,3617,0,0,0,0,0,0,14.95,14.57,14.97
$GC,5706,-0.55,-146.0,2021,1116,3542,3617,646.6,-10.9,699,5713,0.00,2.45,0.00,0.000,1030,0.000,0.060,2013,2531,3579,3542,3617,0,0,0,0,0,0,14.63,14.53,14.66
$GC,6012,-0.55,-146.0,2013,2531,3542,3616,680.6,-11.2,730,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2531,3579,3542,3616,0,0,0,0,0,0,14.92,14.95,14.94
$GC,6313,-0.55,-146.0,2013,2531,3542,3615,715.8,-12.3,760,6318,0.00,2.45,0.00,0.000,516,0.000,0.067,2013,1114,3578,3542,3615,0,0,0,0,0,0,14.92,14.57,14.94
$GC,6345,-0.55,-146.0,2013,1114,3542,3615,720.1,-13.4,766,6351,0.15,2.45,0.00,0.000,3078,0.239,0.060,2038,2535,3578,3542,3615,0,0,0,0,0,0,14.33,14.57,14.57
$GC,6658,-0.55,-146.0,2038,2536,3542,3614,755.3,-11.2,798,6663,0.00,2.47,0.00,0.000,516,0.000,0.064,2038,1107,3578,3542,3614,0,0,0,0,0,0,14.91,14.55,14.92
$GC,6694,-0.55,-146.0,2038,1106,3542,3615,759.4,-11.1,805,6701,0.00,2.45,0.00,0.000,1030,0.000,0.062,2032,2523,3578,3541,3615,0,0,0,0,0,0,14.67,14.57,14.70
$GC,7000,-0.55,-146.0,2031,2523,3542,3613,793.2,-10.8,836,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2523,3577,3542,3613,0,0,0,0,0,0,14.92,14.95,14.95
$GC,7302,-0.55,-146.0,2031,2523,3542,3612,825.2,-10.5,866,7307,0.00,2.45,0.00,0.000,516,0.000,0.065,2032,1110,3577,3542,3612,0,0,0,0,0,0,14.92,14.55,14.94
$GC,7344,-0.55,-146.0,2033,1113,3542,3612,830.0,-10.8,874,7350,0.00,2.47,0.00,0.000,1030,0.000,0.061,2023,2534,3577,3542,3612,0,0,0,0,0,0,14.67,14.57,14.71
$GC,7657,-0.55,-146.0,2023,2534,3542,3611,864.0,-10.6,906,7662,0.00,2.47,0.00,0.000,516,0.000,0.067,2023,1116,3576,3542,3611,0,0,0,0,0,0,14.95,14.50,14.96
$GC,7689,-0.55,-146.0,2023,1116,3542,3611,867.5,-11.3,912,7694,0.00,2.45,0.00,0.000,1030,0.000,0.060,2015,2529,3576,3541,3611,0,0,0,0,0,0,14.67,14.57,14.71
$GC,8002,-0.55,-146.0,2014,2529,3542,3611,901.3,-10.8,944,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2529,3576,3542,3611,0,0,0,0,0,0,14.94,14.96,14.96
$GC,8302,-0.55,-146.0,2014,2528,3543,3610,933.3,-10.9,974,8307,0.00,2.47,0.00,0.000,516,0.000,0.063,2015,1108,3576,3542,3610,0,0,0,0,0,0,14.92,14.50,14.94
$GC,8345,-0.55,-146.0,2015,1108,3542,3610,938.0,-10.4,982,8351,0.15,2.45,0.00,0.000,3078,0.242,0.061,2040,2525,3576,3542,3610,0,0,0,0,0,0,14.27,14.56,14.50
$GC,8658,-0.55,-146.0,2039,2524,3542,3609,966.8,-8.9,1014,8663,0.00,2.45,0.00,0.000,548,0.000,0.070,2040,1112,3575,3541,3609,0,0,0,0,0,0,14.94,14.54,14.96
$GC,8684,-0.55,-146.0,2040,1112,3542,3609,969.4,-9.7,1019,8690,0.00,2.45,0.00,0.000,1030,0.000,0.060,2033,2530,3575,3542,3609,0,0,0,0,0,0,14.67,14.57,14.70
$STATE,8909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8909,begin apogee
$GC,8914,-0.12,0.0,2033,1849,3542,3608,990.9,-9.8,1042,9071,0.50,0.00,148.27,2.338,10246,0.181,0.000,2181,1851,2980,2960,3001,0,0,0,0,0,0,14.33,13.76,12.53
$STATE,9073,end apogee,CONTROL_FINISHED_OK
$STATE,9073,begin climb
$GC,9075,0.55,146.0,2179,1849,2959,2996,995.8,0.0,1058,9238,0.70,2.78,152.52,2.297,10756,0.105,0.098,2408,456,2383,2363,2403,0,0,0,0,0,0,13.89,13.52,12.28
$GC,9285,0.55,146.0,2409,455,2354,2400,982.5,10.2,1100,9290,0.00,2.58,0.00,0.000,1030,0.000,0.065,2408,1855,2377,2354,2400,0,0,0,0,0,0,14.00,13.90,14.02
$GC,9597,0.55,146.0,2408,1855,2354,2392,949.7,10.5,1132,9603,0.00,2.50,0.00,0.000,260,0.000,0.080,2409,3267,2373,2354,2392,0,0,0,0,0,0,14.64,14.33,14.66
$GC,9623,0.55,146.0,2408,3267,2354,2392,946.5,11.1,1137,9630,0.00,2.55,0.00,0.000,1030,0.000,0.076,2417,1857,2373,2354,2392,0,0,0,0,0,0,14.47,14.35,14.50
$GC,9930,0.55,146.0,2417,1856,2353,2391,913.2,10.7,1168,9935,0.00,2.60,0.00,0.000,516,0.000,0.099,2428,431,2371,2353,2390,0,0,0,0,0,0,14.78,14.42,14.81
$GC,10057,0.55,146.0,2428,431,2350,2390,898.7,10.8,1193,10064,0.12,2.53,0.00,0.000,5126,0.278,0.068,2404,1861,2370,2350,2390,0,0,0,0,0,0,14.24,14.49,14.54
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$STATE,18757,end climb,SURFACE_DEPTH_REACHED
$STATE,18758,begin surface coast
$FINISH,0.5,1.026881
$STATE,18779,end surface coast,CONTROL_FINISHED_OK
$STATE,18779,begin surface
$WARN,HTMICL missed fuel gauge read
$SM_CCo,18797,157.25,0.909,1,0,1347,400.08
$SM_GC,0.72,6.65,1.15,157.25,0.066,0.066,0.909,164,2538,1347,-6.34,-0.93,400.08,0,0,0,0,1,0,14.45,14.43,13.22
$IRIDIUM_FIX,5859.06,-2140.33,181020,041344
$TT8_MAMPS,0.023219,0.610435
$HUMID,43.93
$INTERNAL_PRESSURE,7.87076
$TCM_TEMP,19.00
$XPDR_PINGS,7
$SC_FREEKB,3838624
$TM_FREEKB,7072832
$24V_AH,12.28,0.000
$10V_AH,12.88,65.041
$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,19.425,210.650,381.450,157.250,0.000,0.000,0.000,548.050,1.750,0.000,30.626,4906.946,9410.982,807.198,4333.466,263.765,0.000,3099.782,0.000,3601.407,0.000,0.538,0.000
$DEVICE_MAMPS,395.505,98.685,2337.840,908.820,0.000,0.000,0.000,224.145,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18817.000,2529.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.197,14.927,0.000,0.000
$MEM,324064
$DATA_FILE_SIZE,83113,2311
$CAP_FILE_SIZE,221435,0
$CFSIZE,2097872896,2073231360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,8306.05,0x2147e8,0,24
$GPS,181020,151636,5857.596,-2121.312,34,0.8,40,-12.4,0.5,39.1,10,9.2