version: 66.11
glider: 167
mission: 16
dive: 440
start: 9 9 113 12 12 36
data:
$ID,167
$MISSION,16
$DIVE,440
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,320
$T_MISSION,350
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,-1
$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,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975767.69
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2125
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-15.330984
$PRESSURE_SLOPE,0.0001158971
$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,0
$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,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,090913,120305,1936.204,12338.072,41,1.1,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.9
$GPS2,090913,121204,1936.283,12337.932,44,1.6,47,-2.8
$SPEED_LIMITS,0.179,0.233
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$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,155.7,221060,-18.3,-10.312,-23.85,2851
$D_GRID,5142
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.05,-194.6,139,2106,681,659,0.0,0.0,0,117,0.00,0.00,-87.60,0.000,16386,0.000,0.000,139,2106,2881,2856,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.05,-194.6,139,2106,2856,2907,3.4,-3.8,16,161,11.02,2.08,-17.35,0.000,18948,0.243,0.043,2673,717,3764,3760,3768,0,0,0,0,0,0,25.01,26.03,26.50
$GC,176,-1.05,-194.6,2673,717,3761,3769,17.1,-23.1,24,183,0.00,2.10,0.00,0.000,1030,0.000,0.029,2666,2132,3764,3760,3768,0,0,0,0,0,0,28.83,26.05,28.83
$GC,503,-1.05,-194.6,2665,2132,3760,3769,90.5,-20.1,50,509,0.00,2.10,0.00,0.000,260,0.000,0.037,2655,3542,3764,3760,3769,0,0,0,0,0,0,28.83,26.13,28.83
$GC,568,-1.05,-194.6,2655,3542,3760,3769,103.2,-19.2,53,573,0.00,2.05,0.00,0.000,1030,0.000,0.020,2655,2125,3765,3761,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,893,-1.05,-194.6,2655,2124,3761,3770,159.6,-16.7,69,898,0.00,2.03,0.00,0.000,516,0.000,0.031,2655,722,3765,3761,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,958,-1.05,-194.6,2654,721,3761,3770,169.9,-16.1,72,964,0.12,2.05,0.00,0.000,3078,0.178,0.028,2676,2130,3766,3761,3771,0,0,0,0,0,0,25.92,26.28,28.83
$GC,1283,-1.05,-194.6,2675,2129,3761,3771,216.5,-14.0,88,1289,0.00,2.05,0.00,0.000,516,0.000,0.031,2676,726,3765,3760,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1332,-1.05,-194.6,2676,726,3761,3771,222.8,-14.1,90,1337,0.00,2.05,0.00,0.000,1030,0.000,0.028,2668,2128,3766,3761,3771,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1652,-1.05,-194.6,2669,2128,3761,3771,267.3,-13.5,106,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2128,3766,3761,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1955,-1.05,-194.6,2668,2128,3761,3771,311.8,-15.5,121,1960,0.00,2.05,0.00,0.000,516,0.000,0.031,2670,726,3766,3761,3771,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2014,-1.05,-194.6,2668,726,3759,3771,319.6,-16.3,123,2021,0.00,2.08,0.00,0.000,1030,0.000,0.030,2668,2126,3766,3761,3771,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2320,-1.05,-194.6,2668,2126,3760,3771,369.2,-15.0,139,2325,0.00,2.10,0.00,0.000,260,0.000,0.038,2669,3541,3765,3760,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2374,-1.05,-194.6,2668,3539,3760,3770,375.8,-14.6,141,2379,0.00,2.03,0.00,0.000,1030,0.000,0.019,2668,2119,3765,3760,3770,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2689,-1.05,-194.6,2668,2120,3760,3768,414.5,-11.4,157,2694,0.00,2.03,0.00,0.000,516,0.000,0.031,2669,723,3764,3760,3768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2748,-1.05,-194.6,2668,723,3760,3768,419.6,-11.5,159,2755,0.00,2.08,0.00,0.000,1030,0.000,0.029,2668,2136,3763,3760,3767,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3054,-1.05,-194.6,2668,2136,3760,3764,459.7,-13.5,175,3059,0.00,2.08,0.00,0.000,260,0.000,0.039,2669,3529,3762,3760,3764,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3079,-1.05,-194.6,2668,3529,3760,3764,463.3,-13.7,176,3084,0.00,2.03,0.00,0.000,1030,0.000,0.019,2668,2119,3762,3760,3764,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3403,-1.05,-194.6,2668,2118,3760,3760,511.0,-13.8,192,3408,0.00,2.12,0.00,0.000,260,0.000,0.036,2660,3531,3759,3760,3759,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3509,-1.05,-194.6,2659,3532,3760,3758,524.9,-13.3,197,3514,0.00,2.03,0.00,0.000,1030,0.000,0.019,2660,2114,3759,3760,3758,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3834,-1.05,-194.6,2660,2115,3760,3754,565.3,-12.5,213,3839,0.00,2.03,0.00,0.000,516,0.000,0.033,2660,724,3757,3760,3754,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3909,-1.05,-194.6,2660,724,3760,3753,573.7,-13.1,216,3914,0.00,2.08,0.00,0.000,1030,0.000,0.029,2656,2132,3756,3760,3752,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4226,-1.05,-194.6,2656,2132,3760,3748,617.9,-13.9,230,4231,0.00,2.10,0.00,0.000,260,0.000,0.040,2656,3534,3754,3760,3748,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4255,-1.05,-194.6,2656,3534,3760,3747,617.9,-13.9,230,4261,0.00,2.03,0.00,0.000,1030,0.000,0.020,2656,2123,3754,3760,3748,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4562,-1.05,-194.6,2656,2123,3760,3744,664.5,-13.7,241,4567,0.00,2.03,0.00,0.000,516,0.000,0.033,2656,735,3752,3761,3743,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4630,-1.05,-194.6,1632,735,3755,3740,673.5,-13.8,243,4635,0.00,2.08,0.00,0.000,1030,0.000,0.031,2656,2126,3750,3760,3741,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4963,-1.05,-194.6,2656,2127,3759,3735,718.1,-13.4,254,4969,0.00,2.12,0.00,0.000,260,0.000,0.041,2656,3539,3747,3760,3735,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5052,-1.05,-194.6,2656,3539,3760,3733,727.5,-13.6,256,5059,0.00,2.05,0.00,0.000,1030,0.000,0.021,2656,2121,3747,3761,3733,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5359,-1.05,-194.6,2656,2121,3760,3730,771.0,-12.9,267,5364,0.00,2.05,0.00,0.000,516,0.000,0.034,2656,724,3744,3760,3729,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5428,-1.05,-194.6,2656,724,3758,3729,779.3,-12.7,269,5433,0.00,2.10,0.00,0.000,1030,0.000,0.031,2656,2125,3743,3758,3729,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5761,-1.05,-194.6,2656,2124,3756,3725,818.7,-11.4,280,5766,0.00,2.12,0.00,0.000,260,0.000,0.041,2656,3527,3740,3756,3725,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5860,-1.05,-194.6,2656,3529,3754,3725,829.9,-11.4,283,5865,0.00,2.05,0.00,0.000,1030,0.000,0.021,2656,2114,3739,3754,3725,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6193,-1.05,-194.6,2656,2114,3753,3721,868.7,-12.0,294,6199,0.00,2.05,0.00,0.000,516,0.000,0.034,2656,731,3736,3753,3720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6242,-1.05,-194.6,2656,731,3752,3721,873.3,-12.1,295,6248,0.00,2.10,0.00,0.000,1030,0.000,0.032,2652,2130,3736,3752,3720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6565,-1.05,-194.6,2653,2131,3751,3717,915.9,-13.1,306,6570,0.00,2.12,0.00,0.000,260,0.000,0.042,2653,3530,3734,3751,3717,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6631,-1.05,-194.6,2653,3530,3749,3717,925.1,-13.4,308,6636,0.00,2.05,0.00,0.000,1030,0.000,0.022,2653,2125,3733,3749,3717,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6968,-1.05,-194.6,2653,2125,3748,3713,971.2,-13.8,319,6974,0.00,2.05,0.00,0.000,516,0.000,0.035,2653,736,3730,3748,3713,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7034,-1.05,-194.6,2653,736,3747,3713,980.6,-13.8,321,7040,0.12,2.10,0.00,0.000,3078,0.173,0.031,2675,2137,3729,3747,3712,0,0,0,0,0,0,25.86,26.22,28.83
$STATE,7126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7126,begin apogee
$GC,7134,-0.21,0.0,2675,2136,3747,3711,993.5,-13.5,324,7357,0.85,0.00,215.88,1.050,10246,0.128,0.000,2947,2136,2965,3033,2898,0,0,0,0,0,0,25.47,28.83,23.51
$STATE,7359,end apogee,CONTROL_FINISHED_OK
$STATE,7359,begin climb
$GC,7363,1.05,194.6,2947,2136,3027,2885,1010.2,0.0,331,7543,1.12,2.25,171.15,1.171,10500,0.051,0.041,3359,3506,2167,2256,2079,0,0,0,0,0,0,25.09,24.80,23.49
$GC,7619,1.10,226.2,3359,3506,2244,2052,999.1,9.2,339,7653,0.00,2.10,29.15,1.124,9222,0.000,0.025,3368,2117,2044,2138,1951,0,0,0,0,0,0,28.83,25.67,23.90
$GC,7968,1.10,226.2,3368,2117,2118,1916,956.1,12.3,351,7973,0.00,2.17,0.00,0.000,516,0.000,0.040,3379,700,2017,2118,1916,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8057,1.10,226.2,3379,700,2113,1916,947.6,12.8,353,8064,0.00,2.12,0.00,0.000,1030,0.000,0.033,3379,2102,2014,2112,1917,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8364,1.10,226.2,3379,2102,2113,1915,902.6,13.8,364,8369,0.00,2.17,0.00,0.000,260,0.000,0.044,3379,3516,2013,2113,1914,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8418,1.10,226.2,3379,3516,2110,1914,897.3,14.1,365,8423,0.00,2.12,0.00,0.000,1030,0.000,0.026,3389,2090,2012,2110,1914,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8733,1.10,226.2,3388,2089,2110,1912,850.5,13.9,376,8738,0.00,2.10,0.00,0.000,516,0.000,0.041,3399,696,2011,2110,1912,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8822,1.10,226.2,3398,697,2107,1912,841.2,14.0,378,8828,0.00,2.12,0.00,0.000,1030,0.000,0.034,3399,2104,2009,2107,1912,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9129,1.10,226.2,3398,2104,2107,1911,797.3,12.6,389,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2104,2009,2107,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9428,1.10,226.2,3399,2104,2107,1910,763.4,10.8,399,9433,0.00,2.15,0.00,0.000,516,0.000,0.038,3408,695,2009,2108,1910,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9452,1.10,226.2,3407,695,2107,1910,763.4,10.8,399,9458,0.12,2.12,0.00,0.000,5126,0.170,0.033,3380,2104,2008,2107,1910,0,0,0,0,0,0,25.87,26.21,28.83
$GC,9771,1.17,269.5,3380,2104,2107,1910,732.3,8.8,410,9815,0.00,0.00,41.67,1.029,8198,0.000,0.000,3380,2104,1869,1965,1774,0,0,0,0,0,0,28.83,28.83,24.15
$GC,10097,1.17,269.5,3380,2104,1939,1745,698.2,10.6,421,10103,0.00,2.17,0.00,0.000,516,0.000,0.038,3387,694,1841,1939,1744,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10133,1.17,269.5,3387,694,1939,1744,694.1,10.9,422,10138,0.00,2.15,0.00,0.000,1030,0.000,0.033,3387,2099,1841,1939,1744,0,0,0,0,0,0,28.83,26.01,28.83
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$GC,13928,1.25,325.9,3435,2096,1721,1541,263.2,10.2,595,13933,0.00,2.10,0.00,0.000,516,0.000,0.037,3445,698,1630,1721,1540,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,16471,end climb,SURFACE_DEPTH_REACHED
$STATE,16471,begin surface coast
$FINISH,1.3,1.006967
$STATE,16505,end surface coast,CONTROL_FINISHED_OK
$STATE,16505,begin surface
$SM_CCo,16529,27.80,0.120,0,0,664,564.93
$SM_GC,2.18,8.45,2.20,27.80,0.021,0.028,0.120,130,2134,664,-8.94,-1.05,564.93,0,0,0,0,0,0,26.17,26.16,25.47
$IRIDIUM_FIX,1929.80,12337.60,090913,070733
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,27.70
$XPDR_PINGS,2
$SC_FREEKB,7576992
$24V_AH,23.5,71.614
$10V_AH,10.1,44.128
$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,21.950,164.350,622.700,27.800,0.000,0.000,0.000,279.525,0.500,0.000,48.864,2403.159,10952.670,742.550,2340.397,651.854,0.000,2181.367,0.000,2002.236,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,44.370,1171.215,120.105,0.000,0.000,0.000,121.635,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16527.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.181,0.000,0.000,0.000
$MEM,327852
$DATA_FILE_SIZE,30041,768
$CAP_FILE_SIZE,192906,0
$CFSIZE,260034560,211668992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090913,165000,1936.204,12336.542,41,1.0,41,-2.8