version: 66.11
glider: 167
mission: 14
dive: 372
start: 1 11 113 22 41 34
data:
$ID,167
$MISSION,14
$DIVE,372
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,370
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,400
$N_FILEKB,4
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-971280.62
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$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,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110113,223306,2150.710,12245.436,28,0.9,28,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-57.8
$GPS2,110113,224107,2150.727,12245.395,6,0.9,6,-3.2
$SPEED_LIMITS,0.154,0.278
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,312.1,191290,-14.5,-8.919,-17.77
$D_GRID,4905
$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,20,-0.59,-185.7,0.0,0.0,0,94,0.00,0.00,-71.53,0.000,2,0.000,0.000,108,2457,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-185.7,3.3,-4.1,7,140,9.48,2.12,-24.02,0.000,4,0.219,0.067,2466,3761,3728,0,0,0,0,0,0,25.12,26.01,26.73
$GC,345,-0.54,-185.7,40.2,-14.2,31,351,0.00,1.90,0.00,0.000,6,0.000,0.020,2466,2427,3728,0,0,0,0,0,0,28.83,26.46,28.83
$GC,659,-0.50,-185.7,85.7,-14.4,50,665,0.12,1.95,0.00,0.000,4,0.147,0.025,2505,1059,3729,0,0,0,0,0,0,26.32,26.37,28.83
$GC,683,-0.47,-185.7,89.0,-14.1,51,688,0.00,2.10,0.00,0.000,6,0.000,0.031,2505,2454,3729,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1006,-0.47,-185.7,125.9,-11.3,67,1011,0.00,2.00,0.00,0.000,4,0.000,0.047,2505,3761,3729,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1058,-0.48,-185.7,130.8,-11.3,69,1064,0.00,1.85,0.00,0.000,6,0.000,0.020,2505,2446,3728,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1373,-0.49,-185.7,169.3,-11.7,85,1378,0.00,2.03,0.00,0.000,4,0.000,0.046,2505,3759,3728,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1457,-0.52,-185.7,178.7,-11.1,89,1462,0.00,1.88,0.00,0.000,6,0.000,0.021,2505,2439,3729,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1780,-0.58,-185.7,207.6,-8.1,105,1787,0.00,2.08,0.00,0.000,4,0.000,0.048,2505,3768,3729,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1881,-0.67,-185.7,213.8,-7.3,109,1889,0.17,1.85,0.00,0.000,6,0.063,0.018,2411,2445,3729,0,0,0,0,0,0,26.41,26.52,28.83
$GC,2185,-0.63,-185.7,246.8,-10.9,125,2191,0.12,2.05,0.00,0.000,4,0.152,0.044,2452,3766,3729,0,0,0,0,0,0,26.32,26.13,28.83
$GC,2264,-0.61,-185.7,253.0,-9.9,128,2271,0.00,1.88,0.00,0.000,6,0.000,0.019,2452,2445,3729,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2569,-0.61,-185.7,286.6,-11.0,144,2574,0.00,2.03,0.00,0.000,4,0.000,0.035,2451,1065,3729,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2592,-0.61,-185.7,289.3,-11.0,145,2597,0.00,2.10,0.00,0.000,6,0.000,0.038,2452,2452,3729,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2915,-0.61,-185.7,323.6,-10.5,161,2920,0.00,2.00,0.00,0.000,4,0.000,0.047,2452,3761,3728,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2992,-0.61,-185.7,330.5,-10.7,164,2999,0.00,1.85,0.00,0.000,6,0.000,0.019,2452,2444,3728,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3298,-0.61,-185.7,362.5,-9.3,180,3304,0.00,1.98,0.00,0.000,4,0.000,0.029,2452,1071,3727,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3342,-0.61,-185.7,366.5,-9.1,182,3347,0.00,2.08,0.00,0.000,6,0.000,0.034,2452,2461,3727,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3666,-0.62,-185.7,393.2,-8.5,198,3671,0.00,2.00,0.00,0.000,4,0.000,0.047,2452,3768,3726,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3764,-0.64,-185.7,401.0,-9.4,202,3771,0.00,1.88,0.00,0.000,6,0.000,0.019,2452,2434,3725,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4070,-0.65,-185.7,430.2,-9.1,218,4075,0.00,1.95,0.00,0.000,4,0.000,0.028,2452,1074,3724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4110,-0.67,-185.7,432.3,-9.2,219,4116,0.00,2.08,0.00,0.000,6,0.000,0.034,2451,2459,3724,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4413,-0.69,-185.7,463.4,-9.9,235,4419,0.00,2.00,0.00,0.000,4,0.000,0.047,2452,3763,3723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4471,-0.70,-185.7,467.7,-9.8,237,4479,0.00,1.88,0.00,0.000,6,0.000,0.019,2452,2428,3722,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4777,-0.72,-185.7,497.8,-9.2,253,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2428,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5080,-0.75,-185.7,523.3,-7.8,268,5085,0.00,2.08,0.00,0.000,4,0.000,0.046,2452,3762,3719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5123,-0.77,-185.7,526.9,-7.8,270,5129,0.12,1.85,0.00,0.000,6,0.080,0.021,2379,2452,3718,0,0,0,0,0,0,26.37,26.49,28.83
$GC,5447,-0.74,-185.7,562.3,-11.9,286,5453,0.12,2.00,0.00,0.000,4,0.153,0.027,2419,1075,3713,0,0,0,0,0,0,26.29,26.30,28.83
$GC,5480,-0.71,-185.7,564.9,-11.5,287,5487,0.00,2.10,0.00,0.000,6,0.000,0.034,2419,2458,3716,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5795,-0.71,-185.7,594.3,-8.9,303,5801,0.00,2.00,0.00,0.000,4,0.000,0.048,2419,3758,3714,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5839,-0.71,-185.7,598.3,-8.9,305,5844,0.00,1.85,0.00,0.000,6,0.000,0.020,2419,2449,3713,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6165,-0.71,-185.7,626.6,-8.6,316,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2449,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6463,-0.71,-185.7,649.0,-7.1,326,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2448,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6763,-0.71,-185.7,673.3,-9.1,336,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2449,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7063,-0.71,-185.7,705.4,-11.1,346,7068,0.00,2.05,0.00,0.000,4,0.000,0.047,2414,3758,3704,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7090,-0.71,-185.7,705.4,-11.1,346,7098,0.00,1.88,0.00,0.000,6,0.000,0.021,2414,2449,3704,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7398,-0.71,-185.7,742.6,-10.7,357,7403,0.00,2.08,0.00,0.000,4,0.000,0.049,2414,3758,3703,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7430,-0.71,-185.7,746.2,-10.6,358,7436,0.00,1.90,0.00,0.000,6,0.000,0.022,2414,2437,3702,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7765,-0.71,-185.7,777.8,-9.0,369,7770,0.00,2.10,0.00,0.000,4,0.000,0.048,2414,3757,3699,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7802,-0.71,-185.7,780.8,-8.9,370,7808,0.00,1.88,0.00,0.000,6,0.000,0.022,2414,2441,3698,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8133,-0.71,-185.7,808.1,-7.8,381,8138,0.00,2.03,0.00,0.000,4,0.000,0.034,2414,1069,3698,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8177,-0.71,-185.7,811.2,-8.1,382,8182,0.00,2.12,0.00,0.000,6,0.000,0.036,2414,2457,3697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8503,-0.72,-185.7,837.0,-7.7,393,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2457,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8802,-0.72,-185.7,859.9,-7.6,403,8807,0.00,2.05,0.00,0.000,4,0.000,0.050,2414,3759,3693,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8879,-0.72,-185.7,864.7,-7.5,405,8885,0.00,1.88,0.00,0.000,6,0.000,0.023,2414,2443,3692,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9202,-0.73,-185.7,889.8,-7.9,416,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2442,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9499,-0.73,-185.7,915.3,-8.5,426,9504,0.00,2.10,0.00,0.000,4,0.000,0.050,2414,3764,3690,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9536,-0.74,-185.7,918.2,-8.4,427,9541,0.00,1.88,0.00,0.000,6,0.000,0.024,2414,2452,3689,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9868,-0.75,-185.7,944.2,-7.4,438,9874,0.00,2.08,0.00,0.000,4,0.000,0.050,2414,3758,3688,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9916,-0.76,-185.7,947.0,-7.5,439,9921,0.00,1.88,0.00,0.000,6,0.000,0.024,2413,2450,3688,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10237,-0.77,-185.7,973.7,-8.3,450,10242,0.00,2.08,0.00,0.000,4,0.000,0.050,2413,3756,3686,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10271,-0.78,-185.7,976.9,-8.3,451,10276,0.00,1.90,0.00,0.000,6,0.000,0.025,2413,2443,3686,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,10451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10451,begin apogee
$GC,10459,-0.20,0.0,992.5,-8.6,457,10643,0.55,0.00,178.05,1.236,6,0.112,0.000,2594,2191,2963,0,0,0,0,0,0,25.43,28.83,23.14
$STATE,10645,end apogee,CONTROL_FINISHED_OK
$STATE,10645,begin climb
$GC,10648,0.59,185.7,1000.1,0.0,463,10847,0.73,2.45,183.70,1.252,4,0.064,0.047,2854,3606,2191,0,0,0,0,0,0,25.08,24.53,22.81
$GC,10922,0.57,203.0,986.0,8.4,472,10943,0.00,2.10,14.95,1.157,6,0.000,0.028,2859,2232,2139,0,0,0,0,0,0,28.83,25.89,23.80
$GC,11242,0.54,203.0,956.5,9.0,483,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2233,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11541,0.52,203.0,926.9,10.5,493,11546,0.00,2.17,0.00,0.000,4,0.000,0.047,2859,3604,2116,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11578,0.49,203.0,922.7,11.0,494,11584,0.17,2.10,0.00,0.000,6,0.142,0.028,2818,2188,2115,0,0,0,0,0,0,25.91,26.34,28.83
$GC,11908,0.50,203.0,891.7,9.1,505,11913,0.00,2.08,0.00,0.000,4,0.000,0.037,2819,808,2115,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11935,0.51,203.0,891.7,9.1,505,11942,0.00,2.12,0.00,0.000,6,0.000,0.031,2819,2211,2113,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12244,0.53,213.8,861.5,8.6,516,12254,0.00,2.22,2.20,0.340,4,0.000,0.047,2819,3597,2093,0,0,0,0,0,0,28.83,26.04,23.50
$GC,12353,0.53,213.8,852.2,9.4,519,12358,0.00,2.08,0.00,0.000,6,0.000,0.027,2826,2200,2103,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12674,0.54,225.7,823.2,8.5,530,12703,0.00,2.20,18.48,1.008,4,0.000,0.037,2828,801,2043,0,0,0,0,1,0,28.83,26.00,24.10
$GC,12726,0.56,233.7,820.5,8.7,531,12737,0.00,2.12,4.18,0.910,6,0.000,0.031,2828,2205,2013,0,0,0,0,0,0,28.83,26.06,23.97
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$GC,15501,0.72,367.4,552.4,12.8,630,15507,0.12,2.17,0.00,0.000,4,0.139,0.044,2887,3603,1446,0,0,0,0,0,0,26.15,25.97,28.83
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$STATE,20740,end climb,SURFACE_DEPTH_REACHED
$STATE,20740,begin surface coast
$FINISH,0.9,1.010896
$STATE,20765,end surface coast,CONTROL_FINISHED_OK
$STATE,20765,begin surface
$SM_CCo,20844,0.00,0.000,0,0,744,545.79
$SM_GC,1.65,7.50,0.35,0.00,0.031,0.054,0.000,109,2445,744,-7.89,-1.41,545.79,0,0,0,0,0,0,26.23,26.36,28.83
$IRIDIUM_FIX,2141.13,12247.32,110113,161647
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.51
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.50
$XPDR_PINGS,40
$24V_AH,22.7,80.131
$10V_AH,9.9,52.057
$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,20.600,194.100,707.225,0.000,0.000,0.000,0.000,264.275,10.000,0.000,8.316,3022.656,14368.458,848.532,2581.823,472.477,0.000,2438.131,0.000,2242.116,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,66.555,1533.825,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20775.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.314,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,33432,908
$CAP_FILE_SIZE,236962,0
$CFSIZE,260165632,212287488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.121,154.0,1
$GPS,120113,043023,2151.430,12243.710,42,1.3,42,-3.2