version: 66.11
glider: 121
mission: 10
dive: 49
start: 3 7 113 4 30 15
data:
$ID,121
$MISSION,10
$DIVE,49
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51800
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0056599998
$HD_B,0.0135
$HD_C,6.2300001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81338.164
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4069
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,88
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2795
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.938694
$PRESSURE_SLOPE,9.0818496e-05
$AD7714Ch0Gain,128
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042823856
$SEABIRD_T_H,0.00062054652
$SEABIRD_T_I,2.2746239e-05
$SEABIRD_T_J,2.4072633e-06
$SEABIRD_C_G,-9.8275757
$SEABIRD_C_H,1.1041691
$SEABIRD_C_I,-0.0015209455
$SEABIRD_C_J,0.00020302966
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,070313,042222,2010.611,12001.881,38,0.7,38,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-63.2
$GPS2,070313,042947,2010.568,12001.837,16,0.9,16,-2.7
$SPEED_LIMITS,0.159,0.239
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,184.7,130730,-18.4,-9.167,-20.99,2856
$D_GRID,3513
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.11,-170.3,84,1880,731,749,0.0,0.0,0,81,0.00,0.00,-60.92,0.000,16386,0.000,0.000,84,1879,2379,2310,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.11,-170.3,84,1879,2311,2450,3.4,-3.7,8,123,8.43,2.10,-22.73,0.000,18948,0.242,0.053,2124,563,3493,3420,3567,0,0,0,0,0,0,25.89,26.15,26.41
$GC,239,-1.11,-170.3,2124,563,3422,3570,34.7,-18.8,31,245,0.00,2.03,0.00,0.000,1030,0.000,0.015,2116,1990,3496,3422,3570,0,0,0,0,0,0,28.83,26.33,28.83
$GC,553,-1.11,-170.3,2116,1991,3425,3570,88.4,-17.8,51,559,0.00,2.17,0.00,0.000,516,0.000,0.037,2124,568,3497,3425,3570,0,0,0,0,0,0,28.83,26.43,28.83
$GC,782,-1.11,-170.3,2124,568,3427,3571,119.3,-12.6,62,789,0.00,1.98,0.00,0.000,1030,0.000,0.015,2116,1972,3498,3426,3570,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1102,-1.11,-170.3,2117,1973,3428,3571,157.4,-11.2,78,1108,0.00,2.00,0.00,0.000,260,0.000,0.028,2106,3333,3499,3428,3571,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1134,-1.11,-170.3,2105,3333,3428,3571,159.9,-11.1,79,1141,0.00,2.03,0.00,0.000,1030,0.000,0.022,2113,1953,3499,3428,3570,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1449,-1.11,-170.3,2113,1952,3429,3571,194.9,-10.7,95,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1952,3500,3429,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1749,-1.11,-170.3,2113,1952,3428,3570,228.3,-11.4,110,1756,0.00,2.08,0.00,0.000,516,0.000,0.038,2123,570,3499,3429,3570,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1823,-1.11,-170.3,2123,570,3428,3570,235.9,-11.4,113,1829,0.00,1.98,0.00,0.000,1030,0.000,0.015,2114,1986,3499,3429,3570,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2137,-1.11,-170.3,2114,1987,3426,3570,269.3,-9.7,129,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1987,3498,3426,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-1.11,-170.3,2114,1987,3424,3568,297.2,-9.2,144,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1988,3496,3424,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,-1.11,-170.3,2114,1988,3423,3566,326.0,-10.0,159,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1987,3495,3423,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3037,-1.11,-170.3,2114,1988,3421,3563,356.7,-10.6,174,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1988,3492,3421,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3337,-1.11,-170.3,2114,1989,3418,3562,388.1,-10.4,189,3343,0.00,1.98,0.00,0.000,260,0.000,0.030,2105,3335,3489,3418,3561,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3390,-1.11,-170.3,2103,3335,3416,3560,392.6,-10.4,191,3396,0.00,2.00,0.00,0.000,1030,0.000,0.024,2107,1976,3488,3417,3560,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3704,-1.11,-170.3,2106,1977,3415,3558,427.3,-10.7,207,3710,0.00,2.10,0.00,0.000,516,0.000,0.041,2117,578,3486,3415,3558,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3772,-1.11,-170.3,2116,578,3415,3558,434.5,-11.2,210,3778,0.00,1.95,0.00,0.000,1030,0.000,0.016,2109,1968,3486,3414,3558,0,0,0,0,0,0,28.83,26.84,28.83
$GC,4092,-1.11,-170.3,2108,1968,3412,3556,468.8,-10.0,226,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1969,3484,3412,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-1.11,-170.3,2108,1970,3409,3552,496.6,-8.3,241,4398,0.00,2.00,0.00,0.000,260,0.000,0.030,2099,3334,3481,3410,3552,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4450,-1.11,-170.3,2098,3334,3409,3551,500.1,-8.0,243,4458,0.00,2.00,0.00,0.000,1030,0.000,0.024,2101,1975,3481,3410,3552,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4758,-1.11,-170.3,2100,1975,3408,3549,523.2,-7.0,259,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1975,3478,3408,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5057,-1.11,-170.3,2100,1975,3407,3547,544.7,-7.6,274,5063,0.00,2.12,0.00,0.000,516,0.000,0.043,2110,571,3476,3406,3546,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5096,-1.11,-170.3,2110,571,3407,3546,546.7,-7.8,275,5104,0.00,1.98,0.00,0.000,1030,0.000,0.016,2102,1973,3476,3407,3546,0,0,0,0,0,0,28.83,26.85,28.83
$GC,5403,-1.11,-170.3,2102,1973,3404,3545,574.7,-9.3,291,5408,0.00,2.03,0.00,0.000,260,0.000,0.031,2092,3346,3474,3404,3545,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5457,-1.11,-170.3,2092,3346,3403,3544,578.9,-9.1,293,5464,0.10,2.03,0.00,0.000,3078,0.164,0.025,2119,1974,3473,3403,3544,0,0,0,0,0,0,26.67,26.80,28.83
$GC,5782,-1.11,-170.3,2119,1974,3402,3542,608.5,-8.9,308,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,1974,3472,3402,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6082,-1.11,-170.3,2118,1974,3400,3541,634.5,-8.6,318,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,1974,3470,3400,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6382,-1.11,-170.3,2119,1974,3397,3539,658.9,-8.0,328,6388,0.00,2.12,0.00,0.000,516,0.000,0.044,2129,575,3468,3398,3538,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6416,-1.11,-170.3,2129,575,3398,3538,661.7,-7.9,329,6422,0.00,2.00,0.00,0.000,1030,0.000,0.017,2121,1977,3468,3398,3538,0,0,0,0,0,0,28.83,26.84,28.83
$GC,6751,-1.11,-170.3,2121,1978,3396,3536,686.4,-7.3,340,6757,0.00,2.03,0.00,0.000,260,0.000,0.032,2111,3348,3466,3396,3536,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6795,-1.11,-170.3,2111,3348,3396,3536,688.8,-7.4,341,6801,0.00,2.03,0.00,0.000,1030,0.000,0.026,2113,1978,3466,3396,3536,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7118,-1.11,-170.3,2113,1978,3394,3535,715.4,-8.0,352,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1978,3464,3394,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7419,-1.11,-170.3,2113,1978,3393,3534,740.1,-8.2,362,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1978,3463,3393,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7719,-1.11,-170.3,2114,1978,3391,3533,764.5,-8.1,372,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1978,3462,3391,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8019,-1.11,-170.3,2113,1978,3389,3531,788.1,-7.8,382,8025,0.00,2.05,0.00,0.000,260,0.000,0.031,2105,3341,3459,3389,3530,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8057,-1.11,-170.3,2105,3341,3389,3530,790.9,-7.9,383,8064,0.00,2.03,0.00,0.000,1030,0.000,0.026,2110,1976,3459,3389,3530,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8387,-1.11,-170.3,2109,1976,3388,3530,817.0,-7.7,394,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1977,3459,3388,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8687,-1.11,-170.3,2109,1976,3386,3529,840.1,-7.6,404,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1977,3458,3387,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8987,-1.11,-170.3,2109,1976,3385,3528,863.9,-8.2,414,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1976,3456,3385,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9288,-1.11,-170.3,2110,1976,3384,3526,889.7,-8.8,424,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1976,3455,3384,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9587,-1.11,-170.3,2110,1976,3383,3526,915.8,-8.7,434,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1976,3454,3383,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9887,-1.11,-170.3,2110,1976,3383,3525,941.6,-8.5,444,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1976,3454,3382,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10187,-1.11,-170.3,2110,1976,3381,3524,966.5,-8.1,454,10193,0.00,2.08,0.00,0.000,260,0.000,0.032,2102,3347,3452,3381,3523,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10234,-1.11,-170.3,1320,3345,3363,3520,969.4,-8.1,455,10241,0.00,2.05,0.00,0.000,1030,0.000,0.028,2103,1977,3452,3381,3523,0,0,0,0,0,0,28.83,26.80,28.83
$STATE,10492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10492,begin apogee
$GC,10496,-0.19,0.0,2103,2284,3380,3523,992.5,-8.5,464,10662,0.65,0.00,156.30,1.213,10246,0.119,0.000,2319,2285,2790,2754,2827,0,0,0,0,0,0,26.69,28.83,23.97
$STATE,10663,end apogee,CONTROL_FINISHED_OK
$STATE,10663,begin climb
$GC,10665,1.11,170.3,2319,2285,2754,2825,998.8,0.0,469,10838,0.82,2.38,163.52,1.235,10500,0.062,0.036,2610,3673,2095,2061,2129,0,0,0,0,0,0,24.95,24.53,23.68
$GC,10921,1.32,255.5,2611,3673,2055,2120,991.1,6.1,477,11013,0.10,2.17,82.15,1.181,11270,0.103,0.026,2659,2305,1748,1724,1773,0,0,0,0,0,0,25.27,25.31,23.67
$GC,11308,1.32,255.5,2659,2305,1719,1762,952.4,10.2,490,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2305,1740,1718,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11607,1.32,255.5,2659,2305,1718,1760,921.9,10.3,500,11613,0.00,2.25,0.00,0.000,516,0.000,0.046,2670,891,1739,1718,1760,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11651,1.32,255.5,2670,892,1719,1761,918.4,10.3,501,11657,0.12,2.10,0.00,0.000,5126,0.184,0.018,2642,2299,1739,1718,1760,0,0,0,0,0,0,25.98,26.15,28.83
$GC,11975,1.32,255.5,2641,2299,1717,1760,886.6,9.5,512,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2299,1738,1716,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12275,1.32,255.5,2642,2299,1717,1759,859.4,9.2,522,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2300,1738,1717,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12575,1.32,255.5,2641,2300,1716,1758,831.4,9.6,532,12581,0.00,2.22,0.00,0.000,516,0.000,0.044,2650,898,1737,1716,1758,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,20733,end climb,SURFACE_DEPTH_REACHED
$STATE,20733,begin surface coast
$FINISH,1.2,1.020160
$STATE,20761,end surface coast,CONTROL_FINISHED_OK
$STATE,20761,begin surface
$SM_CCo,20837,0.00,0.000,0,0,739,504.34
$SM_GC,1.92,7.12,1.60,0.00,0.034,0.015,0.000,83,1977,739,-10.37,-2.35,504.34,0,0,0,0,0,0,26.30,26.37,28.83
$IRIDIUM_FIX,2008.77,12004.64,060313,222246
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,9.27292
$TCM_TEMP,23.30
$XPDR_PINGS,3
$SC_FREEKB,4000384
$24V_AH,23.7,9.057
$10V_AH,10.1,6.631
$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,18.725,134.650,596.400,0.000,0.000,0.000,0.000,271.850,0.750,0.000,17.672,3679.209,14196.113,742.398,2375.817,259.276,0.000,2150.754,0.000,1982.682,0.000,1.492,0.000
$DEVICE_MAMPS,241.740,161.415,1235.475,0.000,0.000,0.000,0.000,137.700,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20769.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.432,0.000,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,33387,948
$CAP_FILE_SIZE,465956,0
$CFSIZE,260034560,244953088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,221.1,1
$GPS,070313,101834,2006.680,12000.573,26,0.8,26,-2.7