version: 66.13
glider: 137
mission: 5
dive: 381
start: 5 26 117 4 52 58
data:
$ID,137
$MISSION,5
$DIVE,381
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$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,330
$T_MISSION,450
$T_ABORT,720
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031300001
$HD_B,0.023700001
$HD_C,7.0400001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$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,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,12
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2597
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$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,1
$ALTIM_PING_DEPTH,200
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,260517,044638,1209.9091,6310.9453,51,0.8,58,-1.1,0.4,80.3,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-68.4
$GPS2,260517,045223,1209.9447,6310.9678,14,0.8,26,-1.1,0.6,94.0,11,9.4
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.9,853194,-21.5,-10.000,-28.12,2673
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-2.00,-175.2,95,1998,328,566,0.0,0.0,0,88,0.00,0.00,-78.25,0.000,16386,0.000,0.000,95,1999,2583,2511,2655,0,0,0,0,0,0,14.85,28.83,14.88
$GC,91,-2.00,-175.2,95,1999,2512,2654,4.2,-4.6,13,125,12.93,2.60,-14.38,0.000,18724,0.396,2.000,2648,3320,3313,3191,3436,0,0,0,0,0,0,14.00,12.86,14.46
$GC,223,-1.88,-175.2,2647,3320,3193,3436,33.6,-20.2,37,231,0.20,2.25,0.00,0.000,3206,0.296,0.031,2688,1933,3314,3193,3436,0,0,0,0,0,0,14.14,14.61,14.47
$GC,534,-1.77,-175.2,2688,1932,3193,3436,87.2,-17.0,76,545,0.12,2.35,0.00,0.000,2436,0.330,0.044,2709,3336,3314,3193,3436,0,0,0,0,0,0,14.28,14.56,14.45
$GC,577,-1.77,-175.2,2709,3336,3193,3436,93.4,-14.5,84,581,0.00,2.25,0.00,0.000,1030,0.000,0.031,2709,1953,3314,3193,3436,0,0,0,0,0,0,14.74,14.69,14.76
$GC,889,-1.74,-175.2,2709,1953,3194,3436,135.7,-12.2,116,899,0.00,2.28,0.00,0.000,644,0.000,0.050,2709,564,3315,3194,3436,0,0,0,0,0,0,15.03,14.56,15.05
$GC,925,-1.71,-175.2,2709,564,3194,3436,141.0,-13.9,123,932,0.12,2.20,0.00,0.000,3206,0.266,0.028,2725,1941,3315,3194,3436,0,0,0,0,0,0,14.38,14.73,14.62
$GC,1232,-1.71,-175.2,2725,1942,3196,3436,175.8,-11.0,154,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1942,3316,3196,3436,0,0,0,0,0,0,15.05,15.07,15.07
$GC,1534,-1.75,-175.2,2725,1942,3197,3436,205.8,-9.0,184,1539,0.00,2.33,0.00,0.000,676,0.000,0.050,2726,553,3316,3197,3436,0,0,0,0,0,0,15.04,14.67,15.06
$GC,1569,-1.78,-175.2,2726,552,3197,3436,209.1,-9.3,190,1576,0.00,2.25,0.00,0.000,1190,0.000,0.030,2717,1962,3316,3197,3436,0,0,0,0,0,0,14.81,14.75,14.82
$GC,1886,-1.83,-175.2,2717,1962,3197,3436,238.2,-9.7,222,1891,0.00,2.35,0.00,0.000,676,0.000,0.054,2717,565,3316,3196,3436,0,0,0,0,0,0,15.03,14.61,15.05
$GC,1901,-1.87,-175.2,2717,565,3196,3436,239.7,-10.2,224,1906,0.00,2.25,0.00,0.000,1158,0.000,0.034,2707,1956,3316,3197,3436,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2216,-1.90,-175.2,2707,1956,3197,3436,274.4,-11.6,242,2221,0.00,2.30,0.00,0.000,388,0.000,0.050,2697,3363,3316,3196,3436,0,0,0,0,0,0,15.04,14.69,15.06
$GC,2285,-1.95,-175.2,2697,3363,3196,3436,282.8,-10.8,255,2292,0.00,2.28,0.00,0.000,1158,0.000,0.031,2697,1956,3316,3197,3436,0,0,0,0,0,0,14.81,14.73,14.82
$GC,2616,-1.95,-175.2,2697,1956,3196,3436,317.3,-10.1,270,2620,0.00,2.33,0.00,0.000,516,0.000,0.058,2697,564,3316,3197,3436,0,0,0,0,0,0,15.04,14.65,15.07
$GC,2682,-1.95,-175.2,2697,564,3196,3436,324.3,-9.9,282,2687,0.00,2.28,0.00,0.000,1062,0.000,0.035,2687,1966,3316,3196,3436,0,0,0,0,0,0,14.80,14.73,14.83
$GC,3017,-1.95,-175.2,2686,1966,3194,3436,357.1,-10.1,298,3021,0.00,2.40,0.00,0.000,516,0.000,0.060,2687,563,3315,3194,3436,0,0,0,0,0,0,15.04,14.64,15.06
$GC,3043,-1.95,-175.2,2686,563,3194,3436,360.4,-10.9,303,3053,0.00,2.30,0.00,0.000,1030,0.000,0.038,2677,1963,3315,3194,3436,0,0,0,0,0,0,14.79,14.73,14.82
$GC,3351,-1.95,-175.2,2677,1964,3192,3436,393.7,-10.9,314,3355,0.00,2.40,0.00,0.000,516,0.000,0.060,2677,560,3314,3192,3436,0,0,0,0,0,0,15.04,14.65,15.06
$GC,3388,-1.95,-175.2,2677,560,3192,3436,398.5,-11.7,321,3393,0.00,2.30,0.00,0.000,1030,0.000,0.034,2667,1969,3313,3191,3436,0,0,0,0,0,0,14.79,14.73,14.81
$GC,3718,-1.95,-175.2,2667,1969,3190,3436,433.7,-10.8,336,3723,0.00,2.40,0.00,0.000,516,0.000,0.055,2667,559,3312,3190,3435,0,0,0,0,0,0,15.04,14.64,15.07
$GC,3767,-1.91,-175.2,2667,558,3189,3435,439.7,-11.7,345,3773,0.12,2.30,0.00,0.000,3206,0.295,0.036,2679,1969,3312,3189,3435,0,0,0,0,0,0,14.31,14.72,14.59
$GC,4087,-1.91,-175.2,2679,1969,3187,3433,473.9,-10.9,358,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1969,3310,3187,3434,0,0,0,0,0,0,15.04,15.07,15.06
$GC,4390,-1.91,-175.2,2679,1969,3185,3431,507.0,-11.1,368,4394,0.00,2.42,0.00,0.000,516,0.000,0.060,2680,555,3307,3184,3431,0,0,0,0,0,0,15.04,14.62,15.06
$GC,4447,-1.91,-175.2,2680,554,3184,3430,514.4,-11.7,379,4455,0.00,2.30,0.00,0.000,1030,0.000,0.035,2672,1955,3307,3184,3430,0,0,0,0,0,0,14.78,14.71,14.80
$GC,4754,-1.91,-175.2,2672,1955,3182,3429,549.7,-11.7,390,4761,0.00,2.40,0.00,0.000,516,0.000,0.061,2672,558,3305,3182,3428,0,0,0,0,0,0,15.04,14.62,15.06
$GC,4789,-1.87,-175.2,2672,559,3182,3428,554.0,-12.7,396,4795,0.15,2.30,0.00,0.000,3206,0.289,0.037,2691,1963,3305,3182,3428,0,0,0,0,0,0,14.24,14.71,14.56
$GC,5123,-1.87,-175.2,2690,1963,3182,3426,590.0,-10.6,412,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1963,3304,3182,3426,0,0,0,0,0,0,15.03,15.06,15.05
$GC,5425,-1.87,-175.2,2691,1963,3181,3424,621.2,-10.4,422,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1963,3302,3181,3424,0,0,0,0,0,0,15.03,15.05,15.05
$GC,5726,-1.87,-175.2,2690,1963,3178,3422,652.2,-10.3,432,5731,0.00,2.42,0.00,0.000,516,0.000,0.063,2692,564,3300,3178,3422,0,0,0,0,0,0,15.04,14.59,15.06
$GC,5799,-1.87,-175.2,2691,564,3178,3422,660.4,-10.4,446,5806,0.00,2.30,0.00,0.000,1030,0.000,0.037,2683,1959,3299,3177,3422,0,0,0,0,0,0,14.68,14.64,14.71
$GC,6126,-1.87,-175.2,2683,1959,3177,3420,692.9,-10.1,460,6131,0.00,2.45,0.00,0.000,516,0.000,0.067,2683,556,3298,3176,3420,0,0,0,0,0,0,15.04,14.57,15.06
$GC,6167,-1.87,-175.2,2683,556,3176,3420,697.9,-10.8,468,6172,0.00,2.35,0.00,0.000,1030,0.000,0.039,2673,1964,3298,3177,3420,0,0,0,0,0,0,14.74,14.66,14.76
$GC,6491,-1.87,-175.2,2673,1965,3175,3418,731.6,-10.5,482,6498,0.00,2.42,0.00,0.000,516,0.000,0.063,2674,566,3296,3175,3418,0,0,0,0,0,0,15.03,14.57,15.05
$GC,6536,-1.87,-175.2,2673,566,3174,3418,736.9,-11.4,490,6542,0.15,2.38,0.00,0.000,3078,0.284,0.041,2692,1975,3296,3174,3418,0,0,0,0,0,0,14.19,14.64,14.50
$GC,6860,-1.87,-175.2,2692,1975,3172,3417,768.1,-9.5,504,6861,0.00,0.00,0.00,0.000,38,0.000,0.000,2692,1975,3294,3172,3417,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7163,-1.87,-175.2,2692,1975,3171,3416,796.2,-9.2,514,7169,0.00,2.47,0.00,0.000,548,0.000,0.067,2693,556,3293,3171,3416,0,0,0,0,0,0,15.02,14.57,15.04
$GC,7232,-1.87,-175.2,2692,556,3170,3416,803.4,-8.9,527,7237,0.00,2.35,0.00,0.000,1062,0.000,0.041,2685,1963,3293,3171,3416,0,0,0,0,0,0,14.73,14.65,14.75
$GC,7561,-1.87,-175.2,2684,1963,3170,3415,833.9,-9.4,542,7568,0.00,2.45,0.00,0.000,548,0.000,0.063,2685,556,3292,3170,3415,0,0,0,0,0,0,15.02,14.54,15.05
$GC,7591,-1.87,-175.2,2684,556,3170,3415,837.1,-9.9,547,7598,0.00,2.35,0.00,0.000,1062,0.000,0.042,2675,1959,3292,3170,3415,0,0,0,0,0,0,14.70,14.62,14.73
$GC,7899,-1.87,-175.2,2675,1959,3169,3413,866.5,-9.7,558,7903,0.00,2.40,0.00,0.000,292,0.000,0.063,2664,3371,3291,3169,3413,0,0,0,0,0,0,15.03,14.56,15.06
$GC,7920,-1.87,-175.2,2664,3371,3169,3412,869.0,-10.6,562,7926,0.12,2.38,0.00,0.000,3078,0.276,0.044,2687,1956,3290,3169,3412,0,0,0,0,0,0,14.20,14.61,14.43
$GC,8236,-1.87,-175.2,2687,1956,3169,3411,898.4,-9.3,574,8240,0.00,2.42,0.00,0.000,548,0.000,0.066,2688,544,3290,3169,3411,0,0,0,0,0,0,15.02,14.53,15.04
$GC,8321,-1.87,-175.2,2688,544,3169,3411,907.1,-10.0,590,8325,0.00,2.38,0.00,0.000,1062,0.000,0.041,2679,1962,3290,3169,3411,0,0,0,0,0,0,14.70,14.62,14.73
$GC,8634,-1.87,-175.2,2679,1962,3168,3409,936.6,-9.5,602,8639,0.00,2.45,0.00,0.000,548,0.000,0.063,2679,556,3288,3168,3409,0,0,0,0,0,0,15.02,14.53,15.04
$GC,8690,-1.87,-175.2,2679,556,3168,3409,942.2,-10.9,612,8696,0.12,2.38,0.00,0.000,3078,0.292,0.041,2697,1973,3288,3168,3409,0,0,0,0,0,0,14.09,14.61,14.27
$GC,9006,-1.90,-175.2,2696,1973,3167,3408,970.5,-9.1,624,9011,0.00,2.47,0.00,0.000,676,0.000,0.063,2698,546,3287,3167,3408,0,0,0,0,0,0,15.02,14.50,15.04
$GC,9074,-1.93,-175.2,2697,545,3167,3408,977.3,-9.4,637,9080,0.00,2.38,0.00,0.000,1190,0.000,0.042,2689,1958,3287,3166,3408,0,0,0,0,0,0,14.68,14.59,14.71
$STATE,9225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9225,begin apogee
$GC,9231,-0.42,0.0,2689,1700,3166,3408,991.0,-9.4,646,9396,1.30,0.00,161.10,2.707,10246,0.267,0.000,3007,1697,2596,2474,2718,0,0,0,0,0,0,13.90,13.91,12.52
$STATE,9397,end apogee,CONTROL_FINISHED_OK
$STATE,9397,begin climb
$GC,9399,2.00,175.2,3007,1697,2471,2716,996.8,0.0,651,9573,1.88,2.62,163.57,2.722,10500,0.183,0.063,3532,3108,1878,1741,2016,0,0,0,0,0,0,13.90,13.53,12.44
$GC,9619,1.84,175.2,3531,3108,1741,2006,978.0,13.0,700,9624,0.20,2.50,0.00,0.000,5254,0.356,0.054,3505,1708,1873,1741,2006,0,0,0,0,0,0,13.90,14.21,14.23
$GC,9937,1.74,175.2,3505,1708,1734,2006,942.0,11.1,713,9942,0.12,2.45,0.00,0.000,4740,0.377,0.068,3490,289,1870,1734,2006,0,0,0,0,0,0,14.19,14.54,14.42
$GC,9978,1.66,175.2,3489,289,1732,2006,937.3,11.0,721,9984,0.12,2.38,0.00,0.000,5254,0.343,0.038,3461,1715,1869,1732,2006,0,0,0,0,0,0,14.22,14.64,14.59
$GC,10302,1.68,189.0,3461,1715,1731,2006,906.2,9.5,735,10319,0.00,2.38,12.73,2.353,8484,0.000,0.060,3457,3099,1822,1681,1964,0,0,0,0,0,0,14.98,14.20,13.11
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$STATE,18857,end climb,SURFACE_DEPTH_REACHED
$STATE,18857,begin surface coast
$FINISH,1.6,1.009960
$STATE,18891,end surface coast,CONTROL_FINISHED_OK
$STATE,18891,begin surface
$SM_CCo,18913,57.62,0.080,0,0,449,526.65
$SM_CCo,18973,-0.17,0.000,0,0,450,526.65
$SM_CCo,18977,0.20,0.129,0,0,450,526.65
$SM_GC,2.61,10.30,2.83,0.20,0.073,0.031,0.129,96,1979,450,-13.75,-1.05,526.65,0,0,0,0,0,0,14.52,14.65,14.57
$IRIDIUM_FIX,1203.50,6313.27,250517,232023
$TT8_MAMPS,0.023968,0.15729
$HUMID,51.49
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.30
$XPDR_PINGS,9
$24V_AH,12.44,149.951
$10V_AH,12.65,0.000
$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,28.600,197.050,527.300,57.825,0.000,0.000,0.000,222.925,119.500,0.000,29.088,2984.899,12667.065,771.139,2573.936,322.719,0.000,2202.251,0.000,1982.434,0.000,793.297,0.000
$DEVICE_MAMPS,395.505,1999.710,2721.870,129.285,0.000,0.000,0.000,188.190,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,658.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225660
$DATA_FILE_SIZE,60026,1393
$CAP_FILE_SIZE,224224,0
$CFSIZE,260034560,225075200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.087,272.48,1
$GPS,260517,101036,1209.323,6311.540,37,0.8,42,-1.1,0.0,24.5,10,9.3