version: 66.11
glider: 615
mission: 5
dive: 143
start: 10 1 115 18 56 8
data:
$ID,615
$MISSION,5
$DIVE,143
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,360
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-19010.172
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,011015,184833,1802.383,8933.296,26,0.9,26,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.7
$GPS2,011015,185542,1802.367,8933.241,5,0.9,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$TGT_RADIUS,3000.000
$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,8.4,7968,-21.4,-9.167,-25.88,2022
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-126.5,177,2191,547,488,0.0,0.0,0,65,0.00,0.00,-48.20,0.000,16386,0.000,0.000,177,2192,1888,1895,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.82,-126.5,177,2192,1896,1881,3.6,-8.8,7,120,10.75,2.40,-30.17,0.000,18692,0.353,0.077,2663,3617,3391,3404,3378,0,0,0,0,0,0,14.24,14.54,14.76
$GC,174,-0.82,-126.5,2664,3617,3404,3378,39.1,-31.1,25,182,0.08,2.28,0.00,0.000,3078,0.305,0.037,2675,2185,3391,3404,3378,0,0,0,0,0,0,14.38,14.59,28.83
$GC,366,-0.82,-126.5,2675,2181,3404,3378,92.0,-23.6,62,373,0.00,2.28,0.00,0.000,516,0.000,0.053,2675,805,3392,3405,3379,0,0,0,0,0,0,28.83,14.55,28.83
$GC,456,-0.82,-126.5,2675,805,3404,3379,109.3,-17.5,79,462,0.00,2.22,0.00,0.000,1030,0.000,0.040,2666,2216,3392,3405,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,645,-0.82,-126.5,2666,2217,3405,3381,138.1,-13.1,116,653,0.00,2.30,0.00,0.000,260,0.000,0.057,2656,3604,3393,3405,3381,0,0,0,0,0,0,28.83,14.60,28.83
$GC,710,-0.82,-126.5,1668,3603,3391,3380,147.6,-15.3,128,718,0.08,2.25,0.00,0.000,3078,0.229,0.036,2677,2193,3393,3405,3382,0,0,0,0,0,0,14.44,14.64,28.83
$GC,901,-0.82,-126.5,2677,2190,3405,3383,173.7,-13.2,165,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2191,3394,3405,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1089,-0.82,-126.5,2677,2191,3405,3383,199.7,-14.6,202,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2191,3394,3405,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-0.82,-126.5,2677,2190,3405,3383,227.4,-14.9,221,1286,0.00,2.20,0.00,0.000,516,0.000,0.057,2677,819,3394,3405,3383,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1361,-0.82,-126.5,2677,819,3405,3383,239.8,-13.1,238,1371,0.00,2.25,0.00,0.000,1030,0.000,0.044,2669,2199,3393,3405,3382,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1670,-0.82,-126.5,2668,2200,3405,3379,284.7,-15.2,269,1679,0.00,2.30,0.00,0.000,260,0.000,0.066,2658,3609,3392,3405,3379,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1694,-0.82,-126.5,2658,3610,3405,3378,288.9,-15.5,274,1703,0.05,2.25,0.00,0.000,3078,0.220,0.038,2673,2211,3392,3405,3379,0,0,0,0,0,0,14.40,14.61,28.83
$GC,2002,-0.82,-126.5,2673,2210,3404,3376,332.9,-14.1,305,2013,0.00,2.25,0.00,0.000,516,0.000,0.059,2673,809,3390,3405,3375,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2078,-0.82,-126.5,2673,809,3404,3374,343.6,-14.0,319,2088,0.03,2.22,0.00,0.000,3078,0.308,0.046,2672,2212,3389,3404,3374,0,0,0,0,0,0,14.43,14.69,28.83
$GC,2387,-0.82,-126.5,2672,2212,3404,3371,388.3,-14.3,338,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3387,3404,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2686,-0.82,-126.5,2672,2212,3404,3367,431.1,-14.2,353,2693,0.00,2.28,0.00,0.000,516,0.000,0.060,2672,807,3385,3404,3367,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2727,-0.82,-126.5,2672,807,3404,3367,436.9,-13.8,361,2734,0.08,2.22,0.00,0.000,3078,0.306,0.048,2677,2201,3385,3404,3366,0,0,0,0,0,0,14.57,14.77,28.83
$GC,3047,-0.82,-126.5,2677,2201,3404,3361,480.8,-13.7,380,3053,0.00,2.28,0.00,0.000,516,0.000,0.062,2677,803,3382,3403,3361,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3074,-0.82,-126.5,2677,802,3404,3361,485.1,-13.9,386,3079,0.00,2.25,0.00,0.000,1030,0.000,0.050,2669,2200,3382,3403,3361,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3396,-0.82,-126.5,2669,2201,3404,3357,528.9,-13.6,400,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3380,3404,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3696,-0.82,-126.5,2669,2201,3403,3353,569.2,-13.3,410,3700,0.00,2.28,0.00,0.000,516,0.000,0.063,2669,810,3378,3403,3353,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3760,-0.82,-126.5,2669,811,3402,3352,578.0,-12.7,423,3765,0.10,2.25,0.00,0.000,3078,0.276,0.051,2681,2208,3378,3403,3353,0,0,0,0,0,0,14.58,14.78,28.83
$GC,4083,-0.82,-126.5,2681,2208,3402,3351,619.2,-12.8,437,4089,0.00,2.28,0.00,0.000,516,0.000,0.063,2681,811,3376,3402,3351,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4106,-0.82,-126.5,2681,810,3401,3351,622.6,-13.4,442,4113,0.00,2.30,0.00,0.000,1030,0.000,0.050,2673,2202,3376,3401,3351,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4413,-0.82,-126.5,2673,2203,3400,3348,663.5,-13.7,453,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3375,3401,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4713,-0.82,-126.5,2673,2204,3399,3347,705.3,-14.1,463,4719,0.00,2.30,0.00,0.000,516,0.000,0.064,2673,803,3373,3399,3347,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4751,-0.82,-126.5,2673,802,3399,3346,711.1,-13.7,471,4756,0.08,2.28,0.00,0.000,3078,0.301,0.053,2676,2210,3372,3399,3346,0,0,0,0,0,0,14.59,14.78,28.83
$GC,5074,-0.82,-126.5,2676,2210,3397,3345,753.9,-13.2,485,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2210,3371,3398,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5374,-0.82,-126.5,2676,2210,3396,3344,792.6,-12.7,495,5380,0.00,2.30,0.00,0.000,516,0.000,0.063,2676,807,3369,3396,3343,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5421,-0.82,-126.5,2676,806,3396,3343,799.0,-12.4,505,5425,0.00,2.25,0.00,0.000,1030,0.000,0.051,2668,2201,3370,3396,3344,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5734,-0.82,-126.5,2668,2202,3394,3342,837.1,-12.2,517,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3368,3394,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,-0.82,-126.5,2669,2203,3394,3341,873.3,-11.9,527,6038,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,813,3367,3394,3341,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6058,-0.82,-126.5,2668,813,3394,3341,876.6,-12.4,532,6067,0.05,2.30,0.00,0.000,3078,0.235,0.055,2674,2196,3367,3394,3341,0,0,0,0,0,0,14.45,14.61,28.83
$GC,6366,-0.82,-126.5,2674,2196,3393,3340,912.4,-11.6,543,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2196,3366,3393,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6666,-0.82,-126.5,2674,2197,3391,3338,948.0,-12.0,553,6670,0.00,2.30,0.00,0.000,516,0.000,0.067,2674,804,3364,3391,3338,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6728,-0.82,-126.5,2674,804,3391,3338,955.5,-11.7,565,6734,0.00,2.28,0.00,0.000,1030,0.000,0.054,2666,2211,3364,3391,3338,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,7026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7026,begin apogee
$GC,7030,-0.16,0.0,2666,2145,3390,3337,993.0,-12.6,580,7181,0.73,0.00,144.38,1.768,10246,0.213,0.000,2879,2144,2870,2916,2825,0,0,0,0,0,0,14.51,28.83,13.47
$STATE,7182,end apogee,CONTROL_FINISHED_OK
$STATE,7182,begin climb
$GC,7183,0.82,126.5,2879,2144,2912,2820,998.5,0.0,611,7299,1.02,0.00,108.12,2.117,10758,0.132,0.000,3205,2143,2350,2407,2293,0,0,0,0,0,0,14.07,28.83,13.20
$GC,7598,0.82,126.5,3205,2144,2403,2285,963.7,10.6,629,7604,0.00,2.38,0.00,0.000,516,0.000,0.075,3215,750,2344,2403,2286,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7659,0.82,126.5,3214,749,2402,2286,957.2,10.7,641,7665,0.00,2.30,0.00,0.000,1030,0.000,0.050,3215,2143,2344,2403,2286,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7989,0.82,126.5,3215,2144,2402,2284,921.1,10.9,657,7995,0.00,2.35,0.00,0.000,516,0.000,0.075,3225,749,2343,2402,2285,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8050,0.82,126.5,3225,749,2402,2285,913.9,11.5,670,8055,0.00,2.33,0.00,0.000,1030,0.000,0.050,3225,2141,2343,2402,2284,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8379,0.82,126.5,3225,2141,2400,2284,877.8,10.9,685,8385,0.00,2.35,0.00,0.000,516,0.000,0.074,3235,743,2341,2399,2284,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8426,0.82,126.5,3235,743,2399,2284,872.3,11.0,695,8430,0.00,2.28,0.00,0.000,1030,0.000,0.050,3235,2142,2341,2399,2284,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8739,0.82,126.5,3235,2142,2398,2283,837.3,11.2,707,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2142,2340,2398,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9039,0.82,126.5,3235,2142,2397,2283,803.9,11.2,717,9045,0.00,2.35,0.00,0.000,516,0.000,0.074,3245,740,2340,2397,2283,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9101,0.82,126.5,3246,741,2397,2283,796.7,11.0,730,9106,0.00,2.33,0.00,0.000,1030,0.000,0.052,3245,2141,2340,2397,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9430,0.82,126.5,3245,2141,2396,2282,760.5,11.1,745,9436,0.00,2.33,0.00,0.000,516,0.000,0.073,3256,745,2339,2396,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9507,0.82,126.5,3256,745,2396,2283,751.4,11.3,761,9511,0.00,2.28,0.00,0.000,1030,0.000,0.051,3255,2141,2339,2396,2283,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9819,0.82,126.5,3255,2141,2396,2282,716.9,10.9,773,9821,0.08,0.00,0.00,0.000,4102,0.304,0.000,3243,2142,2339,2396,2282,0,0,0,0,0,0,14.64,28.83,28.83
$GC,10120,0.82,126.5,3243,2142,2395,2282,686.6,10.0,783,10126,0.00,2.33,0.00,0.000,516,0.000,0.074,3251,749,2339,2396,2282,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10182,0.82,126.5,3251,749,2396,2282,680.1,9.9,796,10186,0.00,2.30,0.00,0.000,1030,0.000,0.054,3252,2132,2338,2395,2282,0,0,0,0,0,0,28.83,14.68,28.83
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$GC,14018,0.84,135.0,3254,2146,2394,2282,298.8,8.7,1063,14026,0.00,0.00,2.25,0.409,8198,0.000,0.000,3254,2146,2325,2382,2268,0,0,0,0,0,0,28.83,28.83,13.75
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$GC,17058,1.35,549.7,3374,2129,1005,898,24.5,5.3,1562,17109,0.00,2.30,44.22,0.205,8708,0.000,0.059,3385,737,636,699,573,0,0,0,0,0,0,28.83,14.52,14.33
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$STATE,17253,end climb,SURFACE_DEPTH_REACHED
$STATE,17253,begin surface coast
$FINISH,0.2,1.019542
$STATE,17275,end surface coast,CONTROL_FINISHED_OK
$STATE,17276,begin surface
$SM_CCo,17291,18.67,0.138,0,0,509,579.63
$SM_CCo,17312,0.00,0.000,0,0,510,579.63
$SM_CCo,17315,0.20,0.541,0,0,509,579.63
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$IRIDIUM_FIX,1751.90,8937.32,280708,030359
$TT8_MAMPS,0.017976,0.017976
$HUMID,45.43
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,59.786
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,22.600,160.975,533.575,18.875,0.000,25.593,41.672,253.026,0.000,0.000,6.131,3314.670,10359.960,702.273,3201.873,156.603,0.000,2046.024,0.000,2349.542,0.000,0.552,0.000
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$SENSOR_SECS,900.986,597.315,1582.666,967.016,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,130740,1601
$CAP_FILE_SIZE,173379,0
$CFSIZE,2097086464,2070839296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,204.8,1
$GPS,011015,234557,1803.843,8933.422,37,0.9,37,-0.9