version: 66.11
glider: 167
mission: 14
dive: 297
start: 12 22 112 18 15 18
data:
$ID,167
$MISSION,14
$DIVE,297
$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,390
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$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,1
$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,-969197.38
$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
$PITCH_ADJ_DBAND,0
$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,85
$R_STBD_OVSHOOT,62
$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
$GPS1,221212,180723,2316.658,12349.488,38,1.7,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-50.7
$GPS2,221212,181452,2316.702,12349.293,4,1.8,4,-3.7
$SPEED_LIMITS,0.147,0.264
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,139.8,198472,-14.4,-8.462,-17.80
$D_GRID,5189
$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,19,-0.57,-171.1,0.0,0.0,0,94,0.00,0.00,-71.78,0.000,2,0.000,0.000,108,2472,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.57,-171.1,3.4,-4.2,7,134,9.50,2.08,-21.25,0.000,4,0.218,0.041,2472,1079,3668,0,0,0,0,0,0,24.97,26.12,26.67
$GC,234,-0.57,-171.1,24.2,-14.3,20,240,0.00,2.05,0.00,0.000,6,0.000,0.038,2472,2422,3667,0,0,0,0,0,0,28.83,26.12,28.83
$GC,548,-0.57,-171.1,71.5,-14.6,44,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2423,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-0.57,-171.1,114.7,-13.8,59,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2423,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1151,-0.57,-171.1,149.7,-10.5,74,1157,0.00,2.05,0.00,0.000,4,0.000,0.047,2468,3765,3670,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1169,-0.57,-171.1,149.7,-10.5,74,1175,0.00,1.85,0.00,0.000,6,0.000,0.018,2468,2438,3670,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1475,-0.57,-171.1,181.5,-10.8,90,1480,0.00,1.95,0.00,0.000,4,0.000,0.027,2468,1070,3670,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1572,-0.57,-171.1,190.8,-11.1,94,1579,0.00,2.08,0.00,0.000,6,0.000,0.033,2467,2462,3670,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1878,-0.57,-171.1,224.9,-10.7,110,1884,0.00,1.98,0.00,0.000,4,0.000,0.047,2467,3759,3670,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1956,-0.57,-171.1,231.6,-10.7,113,1962,0.00,1.83,0.00,0.000,6,0.000,0.019,2467,2442,3670,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2262,-0.57,-171.1,262.2,-9.0,129,2268,0.00,1.95,0.00,0.000,4,0.000,0.026,2467,1077,3669,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2359,-0.57,-171.1,269.9,-9.2,133,2367,0.00,2.05,0.00,0.000,6,0.000,0.032,2466,2450,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2666,-0.57,-171.1,299.9,-10.0,149,2672,0.00,2.00,0.00,0.000,4,0.000,0.028,2466,1071,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2714,-0.57,-171.1,304.6,-10.3,151,2720,0.00,2.08,0.00,0.000,6,0.000,0.033,2466,2463,3669,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3033,-0.57,-171.1,338.4,-10.4,167,3038,0.00,2.00,0.00,0.000,4,0.000,0.026,2466,1078,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3066,-0.57,-171.1,340.7,-10.2,168,3071,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2455,3667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3379,-0.57,-171.1,367.6,-7.5,184,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2454,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3683,-0.57,-171.1,391.7,-8.5,199,3688,0.00,2.00,0.00,0.000,4,0.000,0.029,2466,1082,3665,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3735,-0.57,-171.1,395.7,-8.5,201,3740,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2455,3665,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4048,-0.57,-171.1,424.2,-9.0,217,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2455,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4350,-0.57,-171.1,449.9,-8.6,232,4355,0.00,2.00,0.00,0.000,4,0.000,0.047,2466,3764,3663,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4374,-0.57,-171.1,452.0,-8.6,233,4379,0.00,1.85,0.00,0.000,6,0.000,0.020,2466,2442,3663,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4697,-0.57,-171.1,478.5,-7.5,249,4702,0.00,2.05,0.00,0.000,4,0.000,0.045,2466,3758,3662,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4736,-0.57,-171.1,480.1,-7.3,250,4743,0.00,1.85,0.00,0.000,6,0.000,0.021,2466,2444,3661,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5041,-0.57,-171.1,500.5,-6.2,266,5046,0.00,1.95,0.00,0.000,4,0.000,0.028,2466,1084,3659,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5170,-0.57,-171.1,509.0,-6.9,272,5175,0.00,2.08,0.00,0.000,6,0.000,0.034,2466,2457,3659,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5489,-0.57,-171.1,531.8,-7.6,288,5495,0.00,2.03,0.00,0.000,4,0.000,0.029,2466,1080,3657,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5522,-0.57,-171.1,533.8,-7.7,289,5527,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2450,3657,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5835,-0.57,-171.1,558.6,-7.7,305,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2449,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6138,-0.57,-171.1,581.8,-7.8,320,6143,0.00,2.03,0.00,0.000,4,0.000,0.054,2466,3755,3654,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6215,-0.57,-171.1,587.1,-8.2,323,6222,0.00,1.85,0.00,0.000,6,0.000,0.021,2466,2447,3653,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6533,-0.57,-171.1,613.3,-7.9,337,6538,0.00,2.00,0.00,0.000,4,0.000,0.029,2466,1071,3652,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6567,-0.57,-171.1,616.1,-7.8,338,6572,0.00,2.10,0.00,0.000,6,0.000,0.034,2466,2459,3652,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6905,-0.57,-171.1,639.5,-6.8,349,6910,0.00,2.00,0.00,0.000,4,0.000,0.048,2466,3760,3650,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6952,-0.57,-171.1,642.1,-6.8,350,6958,0.00,1.88,0.00,0.000,6,0.000,0.022,2466,2446,3650,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7274,-0.57,-171.1,665.7,-7.4,361,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2446,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,-0.57,-171.1,693.2,-9.8,371,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2446,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,-0.57,-171.1,721.8,-9.1,381,7877,0.00,2.08,0.00,0.000,4,0.000,0.050,2466,3756,3644,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7914,-0.57,-171.1,724.7,-8.8,382,7919,0.00,1.90,0.00,0.000,6,0.000,0.023,2466,2432,3643,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8240,-0.57,-171.1,749.0,-7.0,393,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2431,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8538,-0.57,-171.1,770.7,-7.2,403,8544,0.00,2.10,0.00,0.000,4,0.000,0.049,2466,3756,3639,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8602,-0.57,-171.1,775.5,-7.3,405,8607,0.00,1.88,0.00,0.000,6,0.000,0.024,2466,2451,3639,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8937,-0.57,-171.1,799.5,-7.1,416,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2450,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9235,-0.57,-171.1,820.3,-7.0,426,9241,0.00,2.08,0.00,0.000,4,0.000,0.050,2466,3765,3637,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9278,-0.57,-171.1,822.7,-7.1,427,9283,0.00,1.90,0.00,0.000,6,0.000,0.024,2466,2444,3636,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9604,-0.57,-171.1,846.8,-7.4,438,9609,0.00,2.10,0.00,0.000,4,0.000,0.055,2466,3762,3635,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9671,-0.57,-171.1,851.8,-7.4,440,9677,0.00,1.90,0.00,0.000,6,0.000,0.024,2466,2441,3635,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10002,-0.57,-171.1,875.2,-6.7,451,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2439,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10300,-0.57,-171.1,893.2,-5.8,461,10306,0.00,2.10,0.00,0.000,4,0.000,0.050,2466,3763,3632,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10338,-0.57,-171.1,895.1,-5.8,462,10344,0.00,1.90,0.00,0.000,6,0.000,0.025,2466,2440,3631,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10668,-0.57,-171.1,913.6,-5.6,473,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2438,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10968,-0.57,-171.1,931.9,-6.3,483,10973,0.00,2.10,0.00,0.000,4,0.000,0.057,2466,3754,3628,0,0,0,0,0,0,28.83,25.03,28.83
$GC,11005,-0.57,-171.1,934.1,-6.4,484,11011,0.00,1.88,0.00,0.000,6,0.000,0.026,2466,2444,3629,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11338,-0.57,-171.1,958.5,-7.6,495,11343,0.00,2.10,0.00,0.000,4,0.000,0.051,2466,3765,3628,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11372,-0.57,-171.1,961.4,-7.7,496,11377,0.00,1.92,0.00,0.000,6,0.000,0.026,2466,2445,3628,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11707,-0.57,-171.1,987.4,-7.8,507,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2444,3627,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11762,begin apogee
$GC,11769,-0.20,0.0,992.0,-7.7,509,11930,0.38,0.00,150.73,1.293,6,0.099,0.000,2594,2199,2963,0,0,0,0,0,0,25.86,28.83,22.61
$STATE,11931,end apogee,CONTROL_FINISHED_OK
$STATE,11931,begin climb
$GC,11935,0.57,171.1,999.7,0.0,514,12111,0.73,2.50,164.07,1.333,4,0.070,0.047,2845,3594,2261,0,0,0,0,0,0,24.62,23.79,22.06
$GC,12129,0.67,258.0,993.7,5.6,521,12219,0.00,2.20,84.22,1.311,6,0.000,0.027,2853,2231,1915,0,0,0,0,0,0,28.83,24.51,22.09
$GC,12518,0.67,258.0,957.8,9.8,534,12524,0.00,2.17,0.00,0.000,4,0.000,0.039,2854,805,1897,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12545,0.67,258.0,957.8,9.8,534,12552,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,2212,1897,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12852,0.67,258.0,923.3,10.5,545,12857,0.00,2.17,0.00,0.000,4,0.000,0.049,2854,3603,1895,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12939,0.67,258.0,915.9,11.1,547,12946,0.00,2.10,0.00,0.000,6,0.000,0.028,2854,2189,1894,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13246,0.67,258.0,881.8,10.2,558,13247,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2189,1894,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15969,0.69,276.7,621.0,10.9,648,15970,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2199,1839,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22645,end climb,SURFACE_DEPTH_REACHED
$STATE,22645,begin surface coast
$FINISH,1.3,1.023582
$STATE,22664,end surface coast,CONTROL_FINISHED_OK
$STATE,22664,begin surface
$SM_CCo,22742,0.00,0.000,0,0,905,505.81
$SM_GC,1.74,7.28,0.35,0.00,0.029,0.047,0.000,120,2463,905,-7.87,-1.30,505.81,0,0,0,0,0,0,26.28,26.46,28.83
$IRIDIUM_FIX,2312.13,12348.56,221212,111142
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.62
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.90
$XPDR_PINGS,13
$24V_AH,22.1,64.829
$10V_AH,10.0,42.169
$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,18.650,182.225,578.300,0.000,0.000,0.000,0.000,257.925,3.250,0.000,5.415,3144.799,16224.336,740.108,2609.084,462.218,0.000,2305.596,0.000,2270.638,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,56.610,1333.395,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22679.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.833,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,36613,994
$CAP_FILE_SIZE,232732,0
$CFSIZE,260165632,220262400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.178,284.5,1
$GPS,231212,003536,2314.929,12349.191,32,1.3,32,-3.7