version: 66.11
glider: 169
mission: 8
dive: 153
start: 4 17 113 2 2 15
data:
$ID,169
$MISSION,8
$DIVE,153
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$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,400
$T_MISSION,410
$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,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21411.619
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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,20
$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,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170413,014905,1957.242,12422.438,31,1.1,31,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-70.5
$GPS2,170413,020145,1957.260,12422.701,13,3.3,32,-2.5
$SPEED_LIMITS,0.143,0.238
$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,190.3,236681,-3.2,-8.250,-19.13,2990
$D_GRID,5577
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.48,-160.6,122,2531,1253,950,0.0,0.0,0,109,0.00,0.00,-83.60,0.000,16386,0.000,0.000,122,2531,3275,3164,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.48,-160.6,121,2531,3164,3386,4.4,-11.6,11,132,8.65,2.60,-3.85,0.000,18948,0.245,0.050,2218,1047,3510,3380,3640,0,0,0,0,0,0,25.77,26.17,26.47
$GC,195,-0.48,-160.6,2219,1046,3384,3640,41.1,-30.9,20,202,0.00,2.47,0.00,0.000,1030,0.000,0.038,2212,2510,3512,3384,3640,0,0,0,0,0,0,28.83,26.22,28.83
$GC,524,-0.48,-160.6,2212,2508,3385,3639,117.4,-22.0,38,529,0.00,2.30,0.00,0.000,260,0.000,0.049,2206,3822,3512,3384,3640,0,0,0,0,0,0,28.83,26.37,28.83
$GC,570,-0.48,-160.6,2206,3822,3385,3639,128.2,-22.2,40,576,0.00,2.28,0.00,0.000,1030,0.000,0.026,2207,2464,3512,3385,3639,0,0,0,0,0,0,28.83,26.46,28.83
$GC,898,-0.48,-160.6,2206,2463,3385,3639,195.8,-19.6,56,904,0.00,2.33,0.00,0.000,516,0.000,0.031,2207,1024,3512,3385,3640,0,0,0,0,0,0,28.83,26.52,28.83
$GC,974,-0.48,-160.6,2207,1022,3385,3640,206.5,-16.2,59,981,0.00,2.45,0.00,0.000,1030,0.000,0.034,2206,2515,3512,3385,3640,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1291,-0.48,-160.6,2206,2513,3385,3639,258.0,-16.3,75,1297,0.00,2.42,0.00,0.000,516,0.000,0.031,2207,1043,3512,3385,3639,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1349,-0.48,-160.6,2207,1043,3384,3639,265.8,-16.6,77,1355,0.00,2.45,0.00,0.000,1030,0.000,0.036,2207,2515,3512,3385,3639,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1664,-0.48,-160.6,2206,2512,3385,3639,318.7,-15.6,93,1671,0.00,2.28,0.00,0.000,260,0.000,0.050,2206,3837,3511,3385,3638,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1736,-0.48,-160.6,1320,3837,3372,3637,328.8,-14.9,96,1742,0.00,2.22,0.00,0.000,1030,0.000,0.024,2204,2475,3512,3385,3639,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2058,-0.48,-160.6,2206,2473,3385,3638,369.2,-11.7,112,2064,0.00,2.38,0.00,0.000,260,0.000,0.048,2206,3829,3511,3385,3638,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2140,-0.48,-160.6,2206,3829,3385,3638,377.1,-11.2,115,2148,0.00,2.22,0.00,0.000,1030,0.000,0.025,2206,2469,3511,3385,3638,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2446,-0.48,-160.6,2206,2469,3385,3634,411.5,-10.7,131,2452,0.00,2.35,0.00,0.000,516,0.000,0.034,2206,1025,3509,3385,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2513,-0.48,-160.6,1328,1024,3372,3632,418.6,-10.6,134,2519,0.00,2.45,0.00,0.000,1030,0.000,0.031,2206,2522,3509,3385,3634,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2841,-0.48,-160.6,2206,2520,3385,3630,452.8,-10.2,150,2847,0.00,2.22,0.00,0.000,260,0.000,0.044,2197,3836,3507,3385,3629,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2931,-0.48,-160.6,2197,3837,3384,3628,462.5,-10.5,154,2937,0.00,2.25,0.00,0.000,1030,0.000,0.024,2197,2468,3506,3384,3628,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3258,-0.48,-160.6,2197,2466,3386,3624,496.7,-10.5,170,3265,0.00,2.40,0.00,0.000,260,0.000,0.047,2194,3822,3503,3384,3623,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3349,-0.48,-160.6,2194,3822,3385,3622,507.3,-11.5,174,3355,0.00,2.25,0.00,0.000,1030,0.000,0.025,2194,2464,3503,3385,3622,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3677,-0.48,-160.6,2194,2464,3385,3617,545.2,-11.2,190,3683,0.00,2.42,0.00,0.000,260,0.000,0.048,2194,3837,3500,3384,3617,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3744,-0.48,-160.6,2194,3837,3385,3615,552.8,-10.8,193,3750,0.00,2.28,0.00,0.000,1030,0.000,0.024,2194,2467,3499,3384,3615,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4072,-0.48,-160.6,2193,2464,3384,3611,584.6,-9.7,209,4078,0.10,2.42,0.00,0.000,2308,0.142,0.048,2220,3831,3497,3384,3611,0,0,0,0,0,0,26.60,26.56,28.83
$GC,4109,-0.48,-160.6,2219,3831,3384,3610,587.2,-9.5,210,4116,0.00,2.25,0.00,0.000,1030,0.000,0.026,2220,2465,3497,3384,3610,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4445,-0.48,-160.6,2220,2465,3384,3604,614.7,-7.9,224,4451,0.00,2.42,0.00,0.000,260,0.000,0.048,2218,3834,3494,3384,3604,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4506,-0.48,-160.6,2217,3835,3384,3604,617.6,-8.0,225,4514,0.00,2.28,0.00,0.000,1030,0.000,0.025,2218,2455,3494,3384,3604,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4817,-0.48,-160.6,2217,2455,3384,3600,644.8,-8.1,236,4822,0.00,2.45,0.00,0.000,260,0.000,0.050,2210,3834,3492,3384,3600,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4893,-0.48,-160.6,2210,3834,3384,3599,650.7,-8.2,238,4900,0.00,2.28,0.00,0.000,1030,0.000,0.026,2210,2460,3491,3384,3599,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5219,-0.48,-160.6,2210,2460,3384,3594,679.1,-8.3,249,5225,0.00,2.42,0.00,0.000,260,0.000,0.050,2207,3829,3488,3384,3593,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5311,-0.48,-160.6,2206,3829,3382,3593,684.7,-8.3,251,5319,0.00,2.28,0.00,0.000,1030,0.000,0.028,2206,2463,3487,3382,3593,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5619,-0.48,-160.6,2206,2464,3381,3590,713.6,-8.9,262,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2464,3485,3382,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5917,-0.48,-160.6,2206,2464,3381,3587,741.9,-9.8,272,5923,0.00,2.42,0.00,0.000,260,0.000,0.050,2206,3838,3483,3380,3587,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6045,-0.48,-160.6,2206,3839,3379,3587,754.8,-10.1,276,6051,0.00,2.28,0.00,0.000,1030,0.000,0.026,2206,2463,3483,3380,3587,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6380,-0.48,-160.6,2206,2463,3379,3583,787.3,-9.6,287,6386,0.00,2.40,0.00,0.000,260,0.000,0.048,2195,3826,3480,3379,3582,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6479,-0.48,-160.6,2195,3826,3377,3582,796.8,-9.8,290,6485,0.00,2.28,0.00,0.000,1030,0.000,0.028,2195,2461,3479,3377,3582,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6815,-0.48,-160.6,2194,2461,3377,3580,828.6,-8.7,301,6821,0.00,2.42,0.00,0.000,260,0.000,0.050,2189,3834,3478,3377,3579,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6862,-0.48,-160.6,2189,3834,3377,3579,831.8,-8.6,302,6868,0.12,2.28,0.00,0.000,3078,0.125,0.027,2228,2463,3477,3376,3579,0,0,0,0,0,0,26.46,26.65,28.83
$GC,7188,-0.48,-160.6,2227,2462,3376,3577,853.2,-6.5,313,7194,0.00,2.42,0.00,0.000,260,0.000,0.049,2220,3833,3476,3376,3577,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7270,-0.48,-160.6,2220,3833,3374,3577,858.8,-7.3,315,7276,0.00,2.28,0.00,0.000,1030,0.000,0.027,2220,2458,3476,3375,3577,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7590,-0.48,-160.6,2220,2459,3375,3574,881.4,-6.5,326,7596,0.00,2.45,0.00,0.000,260,0.000,0.052,2217,3837,3474,3375,3574,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7677,-0.48,-160.6,2217,3837,3373,3574,885.7,-6.5,328,7683,0.00,2.28,0.00,0.000,1030,0.000,0.027,2217,2460,3471,3373,3570,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7995,-0.48,-160.6,2217,2460,3373,3572,904.8,-5.6,339,8001,0.00,2.42,0.00,0.000,260,0.000,0.049,2206,3837,3472,3373,3571,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8087,-0.48,-160.6,2206,3836,3372,3571,909.2,-5.9,341,8095,0.00,2.28,0.00,0.000,1030,0.000,0.027,2207,2461,3471,3372,3571,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8395,-0.48,-160.6,2207,2461,3371,3570,931.4,-6.9,352,8401,0.00,2.42,0.00,0.000,260,0.000,0.051,2206,3834,3470,3371,3570,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8472,-0.48,-160.6,2206,3834,3370,3570,936.4,-7.1,354,8478,0.00,2.28,0.00,0.000,1030,0.000,0.027,2206,2460,3470,3370,3570,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8798,-0.48,-160.6,2206,2460,3371,3568,961.0,-7.1,365,8804,0.00,2.42,0.00,0.000,260,0.000,0.049,2195,3838,3468,3369,3567,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8874,-0.48,-160.6,2195,3838,3369,3567,966.0,-7.1,367,8880,0.00,2.30,0.00,0.000,1030,0.000,0.027,2195,2462,3468,3369,3567,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9197,begin apogee
$GC,9204,-0.12,0.0,2194,2609,3369,3565,990.3,-7.0,378,9354,0.40,0.00,140.90,1.034,10246,0.099,0.000,2337,2609,2843,2853,2833,0,0,0,0,0,0,26.37,28.83,24.36
$STATE,9356,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9359,0.48,160.6,2337,2609,2850,2823,993.8,0.0,382,9525,0.52,2.83,153.65,0.988,10756,0.047,0.025,2556,1127,2183,2307,2059,0,0,1,0,0,0,25.18,24.81,24.15
$GC,9555,0.48,160.6,2555,1127,2297,2050,980.2,9.0,388,9561,0.00,2.70,0.00,0.000,1030,0.000,0.025,2545,2606,2173,2297,2050,0,0,0,0,0,0,28.83,25.21,28.83
$GC,9886,0.48,160.6,2545,2603,2290,2046,941.4,11.4,399,9892,0.00,2.05,0.00,0.000,260,0.000,0.044,2535,3832,2168,2290,2046,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9977,0.48,160.6,2535,3832,2287,2046,933.7,11.4,401,9985,0.00,2.00,0.00,0.000,1030,0.000,0.017,2545,2565,2166,2287,2046,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10286,0.48,160.6,2545,2564,2284,2046,899.2,9.9,412,10292,0.00,2.17,0.00,0.000,260,0.000,0.042,2535,3834,2165,2284,2046,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10348,0.48,160.6,2535,3834,2283,2046,895.4,9.9,413,10357,0.00,1.98,0.00,0.000,1030,0.000,0.016,2545,2564,2164,2283,2046,0,0,0,0,0,0,28.83,26.36,28.83
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$GC,18110,0.69,243.0,2604,2562,2002,1775,164.0,8.1,741,18121,0.00,2.17,5.50,0.537,8452,0.000,0.038,2602,3851,1863,1980,1746,0,0,0,0,0,0,28.83,26.48,25.84
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$STATE,19751,end climb,SURFACE_DEPTH_REACHED
$STATE,19751,begin surface coast
$FINISH,-0.5,1.022499
$STATE,19781,end surface coast,CONTROL_FINISHED_OK
$STATE,19781,begin surface
$SM_CCo,19799,57.12,0.126,0,0,1097,430.01
$SM_GC,-0.04,6.35,0.20,57.12,0.031,0.046,0.126,141,2450,1097,-6.94,0.31,430.01,0,0,0,0,0,0,26.40,26.53,26.09
$IRIDIUM_FIX,1950.41,12420.83,160413,212107
$TT8_MAMPS,0.021721,0.021721
$HUMID,45.03
$INTERNAL_PRESSURE,9.33985
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3944000
$24V_AH,24.2,20.127
$10V_AH,10.2,16.170
$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
$DEVICE_SECS,16.700,205.875,445.100,57.125,0.000,0.000,0.000,455.825,0.000,0.000,36.341,3918.733,12212.999,774.482,2862.220,818.332,0.000,2495.041,0.000,2238.215,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19863.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.342,0.000,0.000,0.000
$MEM,329116
$DATA_FILE_SIZE,33387,856
$CAP_FILE_SIZE,488193,0
$CFSIZE,260034560,230723584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$CURRENT,0.061,135.2,1
$GPS,170413,073424,1955.098,12423.014,37,1.7,37,-2.5