version: 66.11
glider: 167
mission: 16
dive: 372
start: 8 27 113 12 6 8
data:
$ID,167
$MISSION,16
$DIVE,372
$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,330
$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,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,2
$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,-975662.56
$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,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,63
$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,0.0024999999
$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
$GPS1,270813,115635,1945.417,12330.867,31,1.0,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-63.6
$GPS2,270813,120535,1945.468,12330.840,30,1.1,30,-2.8
$SPEED_LIMITS,0.173,0.226
$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,163.7,241919,-18.3,-10.000,-23.91,2793
$D_GRID,5158
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.19,-184.9,113,2228,692,652,0.0,0.0,0,110,0.00,0.00,-81.43,0.000,16386,0.000,0.000,113,2228,2674,2657,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.19,-184.9,113,2228,2657,2693,3.3,-3.9,14,154,10.88,2.12,-20.23,0.000,18692,0.246,0.048,2611,3589,3726,3723,3730,0,0,0,0,0,0,25.22,26.01,26.47
$GC,291,-1.19,-184.9,2611,3589,3723,3731,52.5,-27.9,35,296,0.00,2.00,0.00,0.000,1030,0.000,0.018,2611,2187,3727,3723,3731,0,0,0,0,0,0,28.83,26.23,28.83
$GC,605,-1.19,-184.9,2611,2186,3724,3731,125.4,-22.5,51,611,0.00,1.98,0.00,0.000,516,0.000,0.026,2611,805,3727,3723,3731,0,0,0,0,0,0,28.83,26.25,28.83
$GC,619,-1.19,-184.9,2611,804,3724,3731,125.4,-22.5,51,624,0.00,2.03,0.00,0.000,1030,0.000,0.024,2602,2202,3727,3724,3731,0,0,0,0,0,0,28.83,26.25,28.83
$GC,934,-1.19,-184.9,2602,2202,3724,3732,193.3,-20.1,67,939,0.00,2.08,0.00,0.000,260,0.000,0.034,2591,3611,3728,3724,3732,0,0,0,0,0,0,28.83,26.25,28.83
$GC,953,-1.19,-184.9,2591,3611,3724,3732,193.3,-20.1,67,961,0.12,2.03,0.00,0.000,3078,0.187,0.017,2619,2186,3728,3724,3732,0,0,0,0,0,0,25.94,26.41,28.83
$GC,1260,-1.19,-184.9,2619,2185,3725,3732,251.4,-16.8,83,1265,0.00,1.95,0.00,0.000,516,0.000,0.028,2619,823,3729,3725,3733,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1338,-1.19,-184.9,2619,823,3725,3733,262.1,-16.4,86,1346,0.00,2.00,0.00,0.000,1030,0.000,0.025,2612,2210,3728,3725,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1646,-1.19,-184.9,2611,2210,3725,3732,316.7,-17.6,102,1652,0.00,2.03,0.00,0.000,516,0.000,0.026,2612,810,3729,3725,3733,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1665,-1.19,-184.9,2611,810,3725,3732,316.7,-17.6,102,1672,0.00,2.00,0.00,0.000,1030,0.000,0.024,2602,2199,3729,3725,3733,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1971,-1.19,-184.9,2602,2200,3725,3732,373.9,-17.9,118,1976,0.00,2.00,0.00,0.000,516,0.000,0.026,2601,817,3728,3725,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1990,-1.19,-184.9,2602,817,3725,3732,373.9,-17.9,118,1998,0.12,2.00,0.00,0.000,3078,0.190,0.025,2621,2202,3728,3725,3732,0,0,0,0,0,0,25.94,26.36,28.83
$GC,2296,-1.19,-184.9,2621,2202,3725,3731,425.1,-15.0,134,2301,0.00,2.00,0.00,0.000,516,0.000,0.026,2622,819,3728,3725,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2325,-1.19,-184.9,2622,819,3725,3731,428.7,-14.9,135,2330,0.00,2.00,0.00,0.000,1030,0.000,0.024,2614,2208,3728,3725,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2645,-1.19,-184.9,2614,2208,3725,3729,480.5,-16.6,151,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2208,3727,3725,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2948,-1.19,-184.9,2614,2208,3725,3725,529.6,-16.2,166,2954,0.00,2.03,0.00,0.000,516,0.000,0.027,2614,816,3724,3725,3724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3010,-1.19,-184.9,2614,816,3725,3723,537.5,-16.5,168,3017,0.00,2.00,0.00,0.000,1030,0.000,0.026,2605,2197,3724,3725,3723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3315,-1.19,-184.9,2605,2195,3725,3719,586.9,-15.0,184,3320,0.00,2.00,0.00,0.000,516,0.000,0.027,2605,821,3722,3725,3719,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3349,-1.19,-184.9,2605,821,3725,3719,590.6,-15.0,185,3354,0.00,2.03,0.00,0.000,1030,0.000,0.026,2601,2209,3721,3725,3718,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3677,-1.19,-184.9,2601,2209,3724,3712,640.8,-15.2,197,3682,0.00,2.08,0.00,0.000,260,0.000,0.038,2600,3599,3718,3724,3712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3706,-1.19,-184.9,2599,3599,3726,3712,640.8,-15.2,197,3713,0.00,2.00,0.00,0.000,1030,0.000,0.018,2601,2188,3718,3725,3712,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4012,-1.19,-184.9,2600,2187,3725,3705,694.3,-15.9,208,4017,0.00,1.98,0.00,0.000,516,0.000,0.029,2600,821,3715,3725,3706,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4081,-1.19,-184.9,2599,821,3725,3706,705.0,-16.4,210,4088,0.15,2.03,0.00,0.000,3078,0.184,0.027,2625,2200,3715,3725,3705,0,0,0,0,0,0,25.82,26.32,28.83
$GC,4415,-1.19,-184.9,2625,2201,3724,3699,754.7,-14.8,221,4420,0.00,2.10,0.00,0.000,260,0.000,0.037,2617,3602,3711,3724,3699,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4552,-1.19,-184.9,2617,3602,3725,3696,775.3,-16.2,225,4558,0.00,2.00,0.00,0.000,1030,0.000,0.020,2617,2204,3710,3724,3696,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4881,-1.19,-184.9,2617,2204,3724,3691,828.1,-15.3,236,4886,0.00,2.03,0.00,0.000,516,0.000,0.030,2617,814,3707,3724,3690,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4916,-1.19,-184.9,2616,814,3724,3690,834.1,-15.4,237,4922,0.00,2.05,0.00,0.000,1030,0.000,0.028,2613,2198,3706,3723,3690,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5255,-1.19,-184.9,2614,2198,3720,3687,887.1,-15.9,248,5261,0.00,2.12,0.00,0.000,260,0.000,0.039,2603,3605,3703,3720,3686,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5413,-1.19,-184.9,2603,3605,3717,3685,915.3,-17.6,253,5418,0.00,2.05,0.00,0.000,1030,0.000,0.021,2603,2194,3701,3717,3685,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5750,-1.19,-184.9,2603,2194,3715,3682,974.1,-17.6,264,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2195,3698,3715,3682,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5864,begin apogee
$GC,5873,-0.20,0.0,2602,2011,3714,3681,995.0,-17.4,268,6101,1.12,0.00,219.18,1.047,10246,0.150,0.000,2941,2011,2966,3033,2900,0,0,0,0,0,0,25.22,28.83,23.87
$STATE,6103,end apogee,CONTROL_FINISHED_OK
$STATE,6103,begin climb
$GC,6107,1.19,184.9,2940,2011,3029,2890,1007.1,0.0,275,6279,1.27,2.42,162.20,1.194,10500,0.057,0.041,3396,3439,2205,2293,2118,0,0,0,0,0,0,25.06,24.61,23.51
$GC,6332,1.19,184.9,3396,3439,2281,2095,990.9,13.0,283,6338,0.00,2.05,0.00,0.000,1030,0.000,0.024,3406,2105,2188,2282,2095,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6649,1.19,184.9,3405,2105,2281,2085,938.9,15.7,294,6654,0.00,2.12,0.00,0.000,516,0.000,0.036,3416,701,2183,2281,2085,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6708,1.19,184.9,3416,701,2276,2086,933.0,15.9,295,6715,0.00,2.03,0.00,0.000,1030,0.000,0.031,3416,2047,2181,2276,2086,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7014,1.19,184.9,3416,2047,2276,2083,882.0,14.7,306,7019,0.00,2.17,0.00,0.000,260,0.000,0.042,3415,3463,2179,2276,2083,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7103,1.19,184.9,3416,3463,2273,2083,872.0,15.1,308,7110,0.12,2.03,0.00,0.000,5126,0.189,0.024,3398,2094,2178,2273,2083,0,0,0,0,0,0,25.86,26.27,28.83
$GC,7413,1.19,184.9,3399,2093,2273,2081,830.2,11.8,319,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2093,2177,2273,2082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,1.19,184.9,3399,2093,2273,2080,794.8,11.7,329,7714,0.00,2.17,0.00,0.000,516,0.000,0.036,3408,648,2176,2273,2079,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7768,1.19,184.9,3407,647,2268,2080,790.5,11.9,330,7775,0.00,2.10,0.00,0.000,1030,0.000,0.031,3408,2050,2174,2268,2080,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8074,1.19,184.9,3407,2050,2268,2079,749.8,12.5,341,8079,0.00,2.15,0.00,0.000,260,0.000,0.043,3407,3460,2174,2269,2079,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8159,1.19,184.9,3408,3460,2266,2079,741.3,12.7,343,8164,0.00,2.10,0.00,0.000,1030,0.000,0.026,3417,2040,2172,2266,2079,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8475,1.19,184.9,3417,2040,2266,2078,700.1,12.0,354,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2040,2172,2266,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8775,1.19,184.9,3417,2040,2266,2077,665.5,11.5,364,8780,0.00,2.08,0.00,0.000,516,0.000,0.037,3427,657,2171,2266,2077,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8849,1.19,184.9,3428,657,2263,2077,657.6,11.8,366,8855,0.12,2.10,0.00,0.000,5126,0.182,0.030,3399,2058,2170,2263,2077,0,0,0,0,0,0,25.83,26.25,28.83
$GC,9177,1.19,184.9,3399,2058,2263,2077,622.0,10.2,377,9183,0.00,2.15,0.00,0.000,260,0.000,0.043,3399,3456,2170,2263,2077,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9293,1.19,184.9,3400,3456,2263,2077,610.9,11.0,380,9299,0.00,2.08,0.00,0.000,1030,0.000,0.026,3407,2051,2170,2263,2077,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9619,1.19,184.9,3407,2050,2263,2076,574.6,10.4,395,9624,0.00,2.10,0.00,0.000,516,0.000,0.037,3418,647,2170,2263,2078,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9693,1.19,184.9,3418,648,2263,2076,567.8,10.2,398,9698,0.00,2.10,0.00,0.000,1030,0.000,0.030,3418,2049,2169,2263,2076,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10009,1.36,252.5,3418,2049,2264,2076,540.1,7.5,414,10080,0.00,2.25,64.05,0.941,8452,0.000,0.043,3418,3465,1929,2025,1833,0,0,0,0,0,0,28.83,25.37,24.30
$GC,10113,1.39,264.9,3419,3465,2007,1817,530.5,9.5,419,10128,0.00,2.17,9.57,0.907,9222,0.000,0.026,3427,2045,1889,1984,1795,0,0,0,0,0,0,28.83,25.63,24.19
$GC,10438,1.39,264.9,3428,2044,1968,1774,494.2,11.3,435,10443,0.00,2.12,0.00,0.000,516,0.000,0.037,3438,646,1871,1968,1774,0,0,0,0,0,0,28.83,25.96,28.83
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$GC,11888,1.39,264.9,3457,2054,1962,1770,328.9,10.5,506,11893,0.00,2.12,0.00,0.000,516,0.000,0.034,3468,651,1866,1962,1770,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,14615,end climb,SURFACE_DEPTH_REACHED
$STATE,14616,begin surface coast
$FINISH,2.6,1.021398
$STATE,14635,end surface coast,CONTROL_FINISHED_OK
$STATE,14635,begin surface
$SM_CCo,14660,65.30,0.123,0,0,666,564.93
$SM_GC,1.85,10.82,0.22,65.30,0.128,0.054,0.123,144,2207,666,-8.90,-1.44,564.93,0,0,0,0,0,0,26.03,26.36,25.62
$IRIDIUM_FIX,1938.95,12333.78,270813,070716
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.90
$XPDR_PINGS,3
$SC_FREEKB,7576992
$24V_AH,23.5,60.173
$10V_AH,10.1,37.303
$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,25.075,133.375,574.800,65.300,0.000,0.000,0.000,307.550,0.750,0.000,31.363,2224.219,9655.562,741.329,2069.492,572.804,0.000,2049.374,0.000,1710.438,0.000,0.542,0.000
$DEVICE_MAMPS,245.565,63.495,1194.165,123.165,0.000,0.000,0.000,118.575,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14655.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.684,0.000,0.000,0.000
$MEM,327860
$DATA_FILE_SIZE,26773,680
$CAP_FILE_SIZE,167983,0
$CFSIZE,260034560,217677824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.121,310.0,1
$GPS,270813,161329,1944.962,12330.570,69,1.9,69,-2.8