version: 66.11
glider: 129
mission: 4
dive: 332
start: 1 23 113 2 21 10
data:
$ID,129
$MISSION,4
$DIVE,332
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$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,350
$T_MISSION,380
$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,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,30
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3135.2864
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,85
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,230113,021235,1941.032,12356.189,27,1.2,27,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-62.8
$GPS2,230113,022043,1940.798,12356.365,14,1.3,14,-2.4
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,HEADING
$TGT_LATLONG,1950.151,12402.105
$TGT_RADIUS,1852.000
$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,32.4,20000,-15.3,-9.429,-18.41
$D_GRID,5352
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,19,-0.58,-184.9,0.0,0.0,0,88,0.00,0.00,-66.65,0.000,2,0.000,0.000,53,1881,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.2,-5.0,12,144,8.00,2.15,-34.80,0.000,4,0.242,0.044,1959,3292,3164,0,0,0,0,0,0,24.96,26.09,26.55
$GC,164,-0.53,-184.9,13.3,-22.2,24,172,0.12,1.95,0.00,0.000,6,0.166,0.021,1991,1904,3165,0,0,0,0,0,0,25.84,26.25,28.83
$GC,480,-0.48,-184.9,92.3,-20.3,50,486,0.00,1.95,0.00,0.000,4,0.000,0.028,1991,542,3164,0,0,0,0,0,0,28.83,26.25,28.83
$GC,599,-0.44,-184.9,113.0,-19.5,55,607,0.08,1.98,0.00,0.000,6,0.137,0.020,2024,1920,3165,0,0,0,0,0,0,25.92,26.34,28.83
$GC,904,-0.43,-184.9,163.8,-13.7,71,909,0.00,1.98,0.00,0.000,4,0.000,0.027,2024,542,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,936,-0.42,-184.9,166.9,-13.4,72,942,0.00,1.95,0.00,0.000,6,0.000,0.020,2016,1947,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1250,-0.41,-184.9,211.2,-13.0,88,1255,0.00,2.03,0.00,0.000,4,0.000,0.027,2015,550,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1342,-0.41,-184.9,221.9,-12.9,92,1347,0.00,1.92,0.00,0.000,6,0.000,0.020,2006,1932,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1654,-0.41,-184.9,262.8,-12.1,108,1660,0.00,2.03,0.00,0.000,4,0.000,0.028,2006,541,3164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1691,-0.41,-184.9,265.6,-12.2,109,1699,0.12,1.98,0.00,0.000,6,0.147,0.021,2033,1933,3164,0,0,0,0,0,0,26.03,26.36,28.83
$GC,1998,-0.41,-184.9,297.6,-9.2,125,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1934,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2300,-0.42,-184.9,323.4,-8.0,140,2306,0.00,2.05,0.00,0.000,4,0.000,0.034,2033,3336,3162,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2318,-0.43,-184.9,323.4,-8.0,140,2325,0.00,1.98,0.00,0.000,6,0.000,0.018,2033,1917,3163,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2625,-0.44,-184.9,350.7,-8.8,156,2630,0.00,1.95,0.00,0.000,4,0.000,0.028,2033,556,3163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2773,-0.46,-184.9,364.5,-9.4,163,2779,0.00,1.95,0.00,0.000,6,0.000,0.020,2032,1937,3162,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3092,-0.48,-184.9,393.1,-9.5,179,3097,0.00,2.00,0.00,0.000,4,0.000,0.028,2029,552,3161,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3119,-0.49,-184.9,395.5,-9.6,180,3124,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1931,3161,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3438,-0.51,-184.9,425.7,-8.8,196,3440,0.12,0.00,0.00,0.000,6,0.096,0.000,1970,1935,3160,0,0,0,0,0,0,26.43,28.83,28.83
$GC,3739,-0.50,-184.9,461.6,-11.2,211,3744,0.00,2.00,0.00,0.000,4,0.000,0.028,1970,554,3158,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3823,-0.49,-184.9,471.3,-11.4,215,3829,0.12,1.98,0.00,0.000,6,0.119,0.021,2021,1917,3156,0,0,0,0,0,0,25.89,26.37,28.83
$GC,4148,-0.50,-184.9,495.2,-7.3,231,4153,0.00,2.05,0.00,0.000,4,0.000,0.033,2013,3309,3156,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4206,-0.52,-184.9,498.6,-7.5,233,4213,0.00,1.95,0.00,0.000,6,0.000,0.020,2013,1940,3156,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4513,-0.53,-184.9,524.4,-8.5,249,4518,0.00,2.00,0.00,0.000,4,0.000,0.028,2012,544,3154,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4627,-0.55,-184.9,533.9,-9.2,254,4632,0.00,1.98,0.00,0.000,6,0.000,0.021,2004,1937,3153,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4940,-0.55,-184.9,560.0,-7.3,270,4946,0.00,2.03,0.00,0.000,4,0.000,0.029,2004,544,3151,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4967,-0.55,-184.9,561.9,-7.4,271,4972,0.00,1.98,0.00,0.000,6,0.000,0.021,1995,1936,3151,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5285,-0.55,-184.9,586.2,-7.5,287,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1936,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.55,-184.9,609.8,-8.0,300,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1936,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5886,-0.55,-184.9,633.8,-8.0,310,5891,0.00,2.05,0.00,0.000,4,0.000,0.030,1995,547,3145,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5958,-0.55,-184.9,639.3,-8.3,312,5963,0.00,1.98,0.00,0.000,6,0.000,0.021,1987,1932,3145,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6284,-0.55,-184.9,666.9,-8.4,323,6289,0.00,2.05,0.00,0.000,4,0.000,0.030,1987,540,3143,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6336,-0.55,-184.9,670.1,-8.5,324,6341,0.00,1.95,0.00,0.000,6,0.000,0.021,1978,1924,3143,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6649,-0.55,-184.9,701.5,-9.6,335,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1925,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6949,-0.55,-184.9,730.2,-9.5,345,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1925,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7249,-0.55,-184.9,757.5,-8.9,355,7254,0.00,2.03,0.00,0.000,4,0.000,0.031,1977,541,3138,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7332,-0.55,-184.9,763.4,-9.0,357,7338,0.00,2.00,0.00,0.000,6,0.000,0.022,1969,1928,3137,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7648,-0.55,-184.9,792.2,-8.4,368,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1928,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7946,-0.55,-184.9,818.8,-8.9,378,7952,0.00,2.03,0.00,0.000,4,0.000,0.031,1969,549,3134,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7994,-0.55,-184.9,822.1,-9.1,379,7999,0.00,1.98,0.00,0.000,6,0.000,0.023,1960,1936,3134,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8312,-0.55,-184.9,853.5,-9.3,390,8317,0.00,2.08,0.00,0.000,4,0.000,0.031,1960,538,3132,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8406,-0.55,-184.9,863.0,-10.1,393,8411,0.12,2.03,0.00,0.000,6,0.154,0.023,1985,1935,3132,0,0,0,0,0,0,25.93,26.28,28.83
$GC,8742,-0.56,-184.9,888.1,-7.2,404,8748,0.00,2.05,0.00,0.000,4,0.000,0.037,1976,3311,3130,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8765,-0.57,-184.9,888.1,-7.2,404,8770,0.00,1.98,0.00,0.000,6,0.000,0.022,1976,1928,3130,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9080,-0.57,-184.9,914.2,-7.8,415,9085,0.00,2.05,0.00,0.000,4,0.000,0.031,1976,531,3129,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9163,-0.57,-184.9,919.7,-8.2,417,9168,0.00,2.03,0.00,0.000,6,0.000,0.023,1968,1933,3128,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9477,-0.57,-184.9,948.0,-8.6,428,9482,0.00,2.05,0.00,0.000,4,0.000,0.031,1968,544,3128,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9530,-0.57,-184.9,951.3,-9.0,429,9535,0.00,2.00,0.00,0.000,6,0.000,0.023,1959,1929,3128,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9843,-0.57,-184.9,983.5,-9.7,440,9848,0.00,2.05,0.00,0.000,4,0.000,0.031,1958,537,3127,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,9903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9903,begin apogee
$GC,9912,-0.17,0.0,990.2,-10.2,442,10071,0.45,0.00,153.38,1.415,6,0.120,0.000,2099,1907,2410,0,0,0,0,0,0,25.53,28.83,22.31
$STATE,10073,end apogee,CONTROL_FINISHED_OK
$STATE,10073,begin climb
$GC,10075,0.58,184.9,998.6,0.0,447,10255,0.73,2.30,170.62,1.362,4,0.087,0.031,2350,528,1654,0,0,0,0,0,0,24.22,23.66,21.90
$GC,10302,0.64,317.3,993.1,4.9,455,10434,0.00,2.10,121.30,1.343,6,0.000,0.020,2350,1905,1115,0,0,0,0,0,0,28.83,24.80,21.96
$GC,10752,0.69,389.3,963.0,7.0,470,10825,0.00,2.20,64.75,1.348,4,0.000,0.035,2350,3275,821,0,0,0,0,0,0,28.83,25.00,23.30
$GC,10884,0.75,458.9,954.2,7.0,474,10953,0.12,2.03,63.08,1.330,6,0.102,0.023,2405,1901,538,0,0,0,0,0,0,25.66,25.78,23.19
$GC,11267,0.76,458.9,912.3,11.1,487,11272,0.00,2.08,0.00,0.000,4,0.000,0.034,2413,512,533,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11309,0.78,458.9,908.4,11.2,488,11315,0.00,2.03,0.00,0.000,6,0.000,0.021,2410,1914,533,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11635,0.79,458.9,868.8,11.9,499,11640,0.00,2.03,0.00,0.000,4,0.000,0.035,2413,3276,532,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11703,0.81,458.9,860.5,12.5,501,11708,0.00,1.98,0.00,0.000,6,0.000,0.024,2413,1900,532,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12033,0.82,458.9,818.0,13.0,512,12039,0.00,2.08,0.00,0.000,4,0.000,0.035,2413,505,531,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12091,0.84,458.9,813.3,13.0,513,12097,0.00,1.98,0.00,0.000,6,0.000,0.021,2413,1890,531,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12398,0.85,458.9,769.7,13.3,524,12403,0.00,2.05,0.00,0.000,4,0.000,0.034,2413,3286,531,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12462,0.87,458.9,760.9,13.4,526,12467,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1893,531,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12798,0.89,458.9,716.2,13.5,537,12804,0.00,2.05,0.00,0.000,4,0.000,0.035,2413,514,530,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12843,0.90,458.9,711.4,13.4,538,12849,0.12,2.00,0.00,0.000,6,0.105,0.021,2462,1917,531,0,0,0,0,0,0,26.16,26.35,28.83
$GC,13168,0.90,458.9,655.9,16.5,549,13173,0.00,2.00,0.00,0.000,4,0.000,0.035,2462,3279,530,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13293,0.90,458.9,636.7,15.4,553,13298,0.00,2.03,0.00,0.000,6,0.000,0.024,2468,1892,530,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,14716,0.91,458.9,417.9,14.5,619,14721,0.00,1.98,0.00,0.000,6,0.000,0.024,2456,1896,530,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,17966,end climb,SURFACE_DEPTH_REACHED
$STATE,17966,begin surface coast
$FINISH,1.1,1.009801
$STATE,17982,end surface coast,CONTROL_FINISHED_OK
$STATE,17983,begin surface
$SM_CCo,18059,0.00,0.000,0,0,207,540.15
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$IRIDIUM_FIX,1932.09,12354.10,220113,202010
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.07
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3892864
$24V_AH,21.9,67.276
$10V_AH,9.8,46.072
$FG_AHR_24Vo,120.571
$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,16.800,157.350,640.275,0.000,0.000,0.000,0.000,283.000,0.000,0.000,15.323,2557.152,12412.824,710.180,2424.065,433.541,0.000,2203.431,0.000,2061.990,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,44.370,1415.250,0.000,0.000,0.000,0.000,137.700,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18011.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.919,0.000,0.000,0.000
$MEM,329060
$DATA_FILE_SIZE,30083,820
$CAP_FILE_SIZE,203911,0
$CFSIZE,260034560,218144768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230113,072329,1940.512,12357.543,41,1.2,41,-2.4