version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 389
start: 7 18 123 2 4 37
data:
$ID,626
$MISSION,4
$DIVE,389
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,760
$D_NO_BLEED,50
$D_BOOST,20
$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,200
$T_MISSION,500
$T_ABORT,450
$T_TURN,500
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54664
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003548
$HD_B,0.0112
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3921
$C_PITCH,2650
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00041499999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-176.0238
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,51
$DEVICE5,70
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044069826
$SEABIRD_T_H,0.00063813623
$SEABIRD_T_I,2.8130115e-05
$SEABIRD_T_J,3.650594e-06
$SEABIRD_C_G,-10.07238
$SEABIRD_C_H,1.1361538
$SEABIRD_C_I,-0.0036773519
$SEABIRD_C_J,0.00034109052
$GPS1,180723,015625,2245.0327,-15823.2285,23,0.8,42,9.8,1.1,302.6,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.6
$GPS2,180723,020410,2245.0974,-15823.3789,7,0.8,18,9.8,0.6,328.2,10,9.8
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,BNW
$TGT_LATLONG,2258.560,-15814.580
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.226868,0.101422
$KALMAN_X,-46186.734375,-289.141022,-68.734070,33427.839844,-3058.819336
$KALMAN_Y,-1435.737915,318.780579,613.695496,4410.187012,-1998.821777
$MHEAD_RNG_PITCHd_Wd,66.2,29099,-18.7,-10.000,-21.92,2240
$D_GRID,600
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.59,-146.0,127,2061,674,514,0.0,0.0,0,92,0.00,0.00,-71.50,0.000,16386,0.000,0.000,127,2062,2673,2667,2679,0,0,0,0,0,0,15.13,28.83,15.14
$GC,96,-0.59,-146.0,127,2062,2667,2679,3.7,-8.0,10,119,8.23,2.35,-6.80,0.000,18692,0.472,0.079,2440,3455,3096,3091,3102,0,0,0,0,0,0,14.38,13.98,14.66
$GC,138,-0.59,-146.0,2439,3456,3095,3102,18.9,-30.8,16,149,0.05,2.40,0.00,0.000,3078,0.296,0.047,2459,2048,3098,3097,3100,0,0,0,0,0,0,14.59,14.82,14.76
$GC,397,-0.59,-146.0,2459,2047,3098,3099,56.3,-14.2,47,402,0.00,2.35,0.00,0.000,516,0.000,0.059,2460,643,3097,3098,3097,0,0,0,0,0,0,15.22,14.88,15.22
$GC,443,-0.59,-146.0,2459,643,3100,3098,62.2,-12.7,51,449,0.00,2.35,0.00,0.000,3078,0.000,0.050,2451,2044,3098,3100,3097,0,0,0,0,0,0,15.04,14.91,15.05
$GC,700,-0.59,-146.0,2450,2045,3100,3096,93.1,-11.9,76,706,0.00,2.38,0.00,0.000,2308,0.000,0.064,2439,3460,3098,3100,3096,0,0,0,0,0,0,15.25,14.90,15.25
$GC,729,-0.59,-146.0,2439,3459,3100,3096,96.1,-11.5,78,738,0.05,2.38,0.00,0.000,3078,0.341,0.042,2460,2045,3098,3100,3096,0,0,0,0,0,0,14.71,14.88,14.94
$GC,981,-0.59,-146.0,2459,2043,3100,3096,123.3,-11.4,103,986,0.00,2.33,0.00,0.000,516,0.000,0.058,2460,636,3098,3101,3095,0,0,0,0,0,0,15.26,14.92,15.27
$GC,1017,-0.59,-146.0,2460,635,3102,3095,127.8,-11.3,106,1022,0.00,2.35,0.00,0.000,3078,0.000,0.049,2451,2051,3098,3102,3095,0,0,0,0,0,0,15.08,14.95,15.10
$GC,1274,-0.59,-146.0,2451,2052,3102,3094,149.5,-6.7,131,1279,0.00,2.38,0.00,0.000,2564,0.000,0.057,2451,644,3098,3102,3094,0,0,0,0,0,0,15.28,14.94,15.28
$GC,1330,-0.59,-146.0,2450,643,3103,3094,153.6,-7.2,136,1336,0.05,2.35,0.00,0.000,3078,0.381,0.047,2459,2062,3098,3102,3094,0,0,0,0,0,0,14.69,14.96,14.93
$GC,1587,-0.59,-146.0,2458,2062,3103,3094,170.9,-7.6,161,1592,0.00,2.38,0.00,0.000,516,0.000,0.059,2459,642,3098,3102,3094,0,0,0,0,0,0,15.29,14.94,15.29
$GC,1664,-0.59,-146.0,2459,641,3104,3094,177.5,-8.6,168,1669,0.00,2.33,0.00,0.000,3078,0.000,0.047,2450,2048,3098,3102,3094,0,0,0,0,0,0,15.09,14.96,15.11
$GC,1922,-0.59,-146.0,2450,2048,3103,3093,199.9,-8.4,193,1928,0.00,2.35,0.00,0.000,2308,0.000,0.065,2439,3457,3097,3103,3092,0,0,0,0,0,0,15.28,14.93,15.28
$GC,1973,-0.59,-146.0,2439,3457,3103,3093,204.1,-8.3,197,1979,0.05,2.30,0.00,0.000,3078,0.302,0.043,2464,2047,3098,3103,3093,0,0,0,0,0,0,14.78,14.99,14.97
$GC,2230,-0.59,-146.0,2464,2044,3103,3093,222.9,-7.1,222,2235,0.00,2.35,0.00,0.000,4612,0.000,0.059,2464,634,3097,3103,3092,0,0,0,0,0,0,15.30,14.94,15.31
$GC,2280,-0.59,-146.0,2463,634,3103,3092,226.3,-7.4,226,2287,0.00,2.35,0.00,0.000,1030,0.000,0.044,2456,2049,3097,3103,3092,0,0,0,0,0,0,15.08,14.97,15.10
$GC,2528,-0.59,-146.0,2456,2049,3103,3091,245.8,-7.9,251,2534,0.00,2.35,0.00,0.000,516,0.000,0.057,2456,640,3097,3103,3091,0,0,0,0,0,0,15.29,14.95,15.30
$GC,2604,-0.59,-146.0,2456,641,3102,3091,251.9,-7.3,258,2610,0.00,2.33,0.00,0.000,3078,0.000,0.044,2451,2051,3096,3102,3090,0,0,0,0,0,0,15.09,14.97,15.11
$GC,2862,-0.59,-146.0,2450,2051,3103,3087,271.3,-7.5,283,2867,0.00,2.38,0.00,0.000,2564,0.000,0.057,2450,634,3095,3103,3087,0,0,0,0,0,0,15.30,14.94,15.30
$GC,3013,-0.59,-146.0,2450,634,3102,3087,282.4,-7.0,297,3018,0.00,2.35,0.00,0.000,3078,0.000,0.047,2449,2049,3094,3102,3087,0,0,0,0,0,0,15.09,14.96,15.11
$GC,3271,-0.59,-146.0,2448,2049,3103,3085,298.8,-6.3,322,3277,0.00,0.00,0.00,0.000,2054,0.000,0.000,2449,2049,3094,3103,3085,0,0,0,0,0,0,15.29,15.30,15.30
$GC,3517,-0.59,-146.0,2448,2049,3102,3084,315.1,-6.9,347,3522,0.00,2.35,0.00,0.000,2308,0.000,0.066,2438,3457,3093,3102,3084,0,0,0,0,0,0,15.30,14.92,15.31
$GC,3572,-0.59,-146.0,2438,3457,3102,3083,319.0,-7.2,352,3578,0.00,2.30,0.00,0.000,3078,0.000,0.041,2438,2038,3093,3103,3083,0,0,0,0,0,0,15.09,14.98,15.11
$GC,3830,-0.59,-146.0,2437,2037,3102,3081,337.9,-7.5,377,3835,0.05,2.40,0.00,0.000,2308,0.269,0.061,2453,3460,3091,3103,3080,0,0,0,0,0,0,14.92,14.92,15.02
$GC,3855,-0.59,-146.0,2453,3460,3102,3081,339.8,-7.3,379,3860,0.00,2.30,0.00,0.000,3078,0.000,0.040,2453,2045,3091,3102,3080,0,0,0,0,0,0,15.08,14.99,15.11
$GC,4112,-0.59,-146.0,2453,2044,3102,3077,355.7,-5.5,404,4118,0.00,2.40,0.00,0.000,2308,0.000,0.063,2451,3459,3089,3102,3077,0,0,0,0,0,0,15.30,14.92,15.30
$GC,4161,-0.59,-146.0,2451,3458,3102,3077,358.5,-5.8,408,4169,0.00,2.40,0.00,0.000,3078,0.000,0.046,2451,2030,3089,3102,3077,0,0,0,0,0,0,15.07,14.92,15.09
$GC,4411,-0.59,-146.0,2451,2030,3103,3074,374.0,-7.0,433,4420,0.00,2.33,0.00,0.000,2564,0.000,0.061,2451,635,3087,3100,3075,0,0,0,0,0,0,15.30,14.92,15.30
$GC,4475,-0.59,-146.0,2451,635,3100,3075,378.8,-7.9,438,4484,0.00,2.45,0.00,0.000,3078,0.000,0.048,2450,2056,3087,3100,3075,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4727,-0.59,-146.0,2451,2056,3100,3071,399.5,-8.0,463,4732,0.00,2.40,0.00,0.000,2564,0.000,0.059,2452,643,3085,3100,3071,0,0,0,0,0,0,15.28,14.92,15.29
$GC,4792,-0.59,-146.0,2450,643,3099,3072,403.8,-8.6,465,4797,0.00,2.35,0.00,0.000,3078,0.000,0.051,2451,2049,3085,3099,3071,0,0,0,0,0,0,15.08,14.95,15.10
$GC,5057,-0.59,-146.0,2450,2049,3099,3069,424.8,-6.5,472,5063,0.00,2.38,0.00,0.000,2564,0.000,0.060,2451,645,3084,3099,3069,0,0,0,0,0,0,15.33,14.92,15.33
$GC,5091,-0.59,-146.0,2451,644,3098,3070,424.8,-6.5,472,5097,0.00,2.35,0.00,0.000,3078,0.000,0.048,2451,2059,3083,3099,3068,0,0,0,0,0,0,15.09,14.95,15.11
$GC,5346,-0.59,-146.0,2450,2061,3098,3065,440.7,-5.3,479,5351,0.00,2.40,0.00,0.000,2564,0.000,0.061,2451,641,3081,3098,3065,0,0,0,0,0,0,15.34,14.92,15.34
$GC,5414,-0.59,-146.0,2451,641,3098,3065,443.3,-5.4,480,5420,0.00,2.35,0.00,0.000,3078,0.000,0.049,2451,2050,3081,3097,3065,0,0,0,0,0,0,15.09,14.97,15.11
$GC,5675,-0.59,-146.0,2450,2051,3098,3062,461.2,-6.6,487,5681,0.00,2.40,0.00,0.000,2564,0.000,0.062,2451,644,3079,3097,3062,0,0,0,0,0,0,15.33,14.92,15.33
$GC,5769,-0.59,-146.0,2451,643,3096,3063,468.0,-7.5,489,5774,0.00,2.35,0.00,0.000,3078,0.000,0.050,2451,2046,3079,3096,3062,0,0,0,0,0,0,15.09,14.95,15.11
$GC,6044,-0.59,-146.0,2450,2047,3096,3060,492.3,-8.7,496,6050,0.00,2.38,0.00,0.000,2308,0.000,0.063,2444,3458,3078,3096,3060,0,0,0,0,0,0,15.33,14.90,15.33
$GC,6332,-0.59,-146.0,2444,3458,3095,3058,520.0,-9.8,503,6338,0.00,2.33,0.00,0.000,3078,0.000,0.045,2444,2050,3076,3095,3057,0,0,0,0,0,0,15.07,14.95,15.09
$GC,6617,-0.59,-146.0,2444,2049,3096,3055,538.2,-5.8,510,6622,0.00,2.38,0.00,0.000,2564,0.000,0.060,2444,642,3075,3095,3056,0,0,0,0,0,0,15.33,14.89,15.33
$GC,6848,-0.59,-146.0,2444,642,3094,3056,551.9,-6.9,515,6854,0.00,2.38,0.00,0.000,3078,0.000,0.050,2444,2059,3074,3094,3055,0,0,0,0,0,0,15.06,14.93,15.08
$GC,7108,-0.59,-146.0,2444,2061,3094,3053,571.0,-6.6,522,7113,0.00,2.35,0.00,0.000,2308,0.000,0.062,2444,3454,3073,3093,3054,0,0,0,0,0,0,15.33,14.88,15.33
$GC,7256,-0.59,-146.0,2444,3454,3093,3052,581.3,-7.9,525,7261,0.00,2.33,0.00,0.000,3078,0.000,0.044,2444,2050,3071,3093,3050,0,0,0,0,0,0,15.06,14.94,15.08
$STATE,7477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7477,begin apogee
$GC,7485,-0.14,0.0,2444,1605,3093,3050,600.8,-7.6,531,7616,0.38,0.00,127.38,1.773,10246,0.133,0.000,2605,1604,2499,2602,2396,0,0,0,0,0,0,14.78,14.52,13.78
$STATE,7617,end apogee,CONTROL_FINISHED_OK
$STATE,7617,begin climb
$GC,7620,0.59,146.0,2605,1604,2602,2396,608.5,0.0,534,7764,0.55,2.45,127.10,1.742,11012,0.081,0.068,2886,233,1900,1985,1815,0,0,0,0,0,0,14.56,14.45,13.81
$GC,7902,0.59,146.0,2885,233,1966,1818,591.1,12.8,541,7909,0.12,2.35,0.00,0.000,5126,0.360,0.048,2843,1619,1891,1966,1817,0,0,0,0,0,0,14.48,14.84,14.84
$GC,8173,0.59,146.0,2843,1622,1966,1812,557.5,11.7,548,8178,0.00,2.35,0.00,0.000,4356,0.000,0.060,2844,3026,1889,1966,1812,0,0,0,0,0,0,15.25,14.92,15.26
$GC,8313,0.59,146.0,2843,3028,1966,1812,543.0,11.7,551,8318,0.00,2.35,0.00,0.000,5126,0.000,0.057,2853,1640,1889,1966,1812,0,0,0,0,0,0,15.06,14.92,15.09
$GC,8583,0.59,146.0,2852,1640,1966,1810,510.4,11.2,558,8588,0.00,2.35,0.00,0.000,4356,0.000,0.057,2853,3030,1888,1966,1810,0,0,0,0,0,0,15.30,14.93,15.30
$GC,8656,0.59,146.0,2853,3031,1966,1810,505.1,11.3,559,8662,0.08,2.40,0.00,0.000,5126,0.393,0.057,2840,1614,1888,1966,1810,0,0,0,0,0,0,14.55,14.93,14.91
$GC,8911,0.60,146.8,2840,1610,1966,1809,475.9,10.0,566,8917,0.00,2.40,0.00,0.000,260,0.000,0.060,2840,3026,1887,1965,1809,0,0,0,0,0,0,15.30,14.92,15.32
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$GC,11631,0.65,273.1,2863,1620,1501,1286,197.2,9.9,773,11638,0.00,0.00,0.00,0.000,4102,0.000,0.000,2864,1620,1393,1501,1286,0,0,0,0,0,0,15.18,15.19,15.19
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$STATE,13635,end climb,SURFACE_DEPTH_REACHED
$STATE,13635,begin surface coast
$FINISH,-0.0,1.023031
$STATE,13663,end surface coast,CONTROL_FINISHED_OK
$STATE,13664,begin surface
$SM_CCo,13743,0.00,0.000,0,0,592,468.02
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$IRIDIUM_FIX,2234.68,-15822.33,180723,015824
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.42
$INTERNAL_PRESSURE,8.87693
$TCM_TEMP,21.20
$XPDR_PINGS,3
$24V_AH,13.78,113.338
$10V_AH,13.30,0.000
$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,16.175,177.500,505.300,0.000,0.000,24.935,49.229,220.118,0.750,0.000,19.662,3216.685,6720.854,645.465,3177.889,438.434,0.000,1888.162,0.000,2623.904,0.000,0.551,0.000
$DEVICE_MAMPS,472.770,78.795,1772.505,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,676.672,1247.991,1210.562,941.790,1098.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338496
$DATA_FILE_SIZE,94282,996
$CAP_FILE_SIZE,171572,0
$CFSIZE,1023623168,983302144
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,3,59
$INTR,0,4411.38,0x2360a0,0,24
$INTR,1,8660.38,0x2131ca,1,24
$CURRENT,0.313,262.81,1
$GPS,180723,055504,2246.152,-15823.907,43,0.9,47,9.8,0.0,271.0,9,9.9