version: 66.10
glider: 168
mission: 6
dive: 82
start: 11 27 111 15 41 47
data:
$ID,168
$MISSION,6
$DIVE,82
$N_DIVES,0
$D_SURF,5
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$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,300
$T_MISSION,320
$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,-8
$MAX_BUOY,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,-5677.2495
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,2250
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2954
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.650215
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042821765
$SEABIRD_T_H,0.00061988086
$SEABIRD_T_I,2.2270933e-05
$SEABIRD_T_J,2.2936731e-06
$SEABIRD_C_G,-9.8276911
$SEABIRD_C_H,1.1035888
$SEABIRD_C_I,-0.0012978988
$SEABIRD_C_J,0.0001838774
$GPS1,271111,153454,2016.247,12417.234,34,1.9,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.95
$_SM_ANGLEo,-66.8
$GPS2,271111,154122,2016.259,12417.174,10,2.1,29,-2.5
$SPEED_LIMITS,0.191,0.311
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.237,-0.264
$KALMAN_X,8380907.0,0.0,0.0,5429806.5,-512.0
$KALMAN_Y,1614328.5,0.0,0.0,638238.5,3029.8
$MHEAD_RNG_PITCHd_Wd,140.6,5436,-13.4,-11.000
$D_GRID,5632
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-204.4,0.0,0.0,0,28,0.00,0.00,-7.95,0.000,2,0.000,0.000,100,1983,654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.61,-204.4,4.0,0.0,1,164,6.45,2.15,-119.07,0.000,4,0.170,0.055,2048,614,3789,0,0,0,0,0,0,25.77,26.10,26.44
$GC,254,-0.52,-204.4,35.8,-33.9,38,262,0.12,2.15,0.00,0.000,6,0.135,0.034,2081,2021,3789,0,0,0,0,0,0,25.98,26.18,28.83
$GC,589,-0.48,-204.4,128.8,-21.3,99,596,0.05,2.17,0.00,0.000,4,0.223,0.037,2086,3439,3789,0,0,0,0,0,0,26.36,26.29,28.83
$GC,626,-0.45,-204.4,136.1,-17.3,105,634,0.08,2.15,0.00,0.000,6,0.149,0.034,2110,2016,3789,0,0,0,0,0,0,26.22,26.31,28.83
$GC,957,-0.44,-204.4,173.7,-7.8,166,965,0.00,2.15,0.00,0.000,4,0.000,0.044,2110,622,3789,0,0,0,0,0,0,28.83,26.34,28.83
$GC,990,-0.44,-204.4,176.3,-7.9,171,997,0.00,2.10,0.00,0.000,6,0.000,0.034,2108,2032,3789,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1319,-0.44,-204.4,204.5,-10.7,228,1323,0.00,2.15,0.00,0.000,4,0.000,0.041,2098,3439,3789,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1362,-0.45,-204.4,208.9,-10.3,232,1366,0.00,2.12,0.00,0.000,6,0.000,0.032,2098,2020,3788,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1675,-0.45,-204.4,246.1,-11.5,263,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2019,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1978,-0.45,-204.4,279.6,-10.9,293,1986,0.00,2.17,0.00,0.000,4,0.000,0.043,2091,3428,3786,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2000,-0.45,-204.4,282.2,-10.7,295,2009,0.03,2.10,0.00,0.000,6,0.125,0.034,2111,2025,3786,0,0,0,0,0,0,26.36,26.46,28.83
$GC,2309,-0.46,-204.4,308.7,-7.5,326,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2024,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,-0.47,-204.4,329.0,-6.3,356,2622,0.00,2.12,0.00,0.000,4,0.000,0.045,2111,621,3782,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2645,-0.49,-204.4,331.1,-6.1,359,2654,0.08,2.08,0.00,0.000,6,0.122,0.033,2035,2034,3782,0,0,0,0,0,0,26.44,26.50,28.83
$GC,2955,-0.46,-204.4,374.0,-14.0,390,2960,0.17,2.12,0.00,0.000,4,0.122,0.040,2090,3429,3781,0,0,0,0,0,0,26.39,26.47,28.83
$GC,3008,-0.47,-204.4,378.4,-7.0,395,3017,0.00,2.12,0.00,0.000,6,0.000,0.033,2090,2019,3780,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3320,-0.48,-204.4,398.7,-6.7,426,3329,0.00,2.12,0.00,0.000,4,0.000,0.045,2090,620,3779,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3345,-0.49,-204.4,400.5,-7.0,428,3352,0.00,2.10,0.00,0.000,6,0.000,0.034,2087,2028,3779,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3653,-0.49,-204.4,422.5,-7.3,459,3661,0.00,2.15,0.00,0.000,4,0.000,0.044,2078,3435,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3677,-0.50,-204.4,424.1,-7.0,461,3684,0.00,2.12,0.00,0.000,6,0.000,0.034,2078,2019,3776,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3984,-0.50,-204.4,450.4,-8.7,492,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2018,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4288,-0.50,-204.4,475.5,-7.7,522,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2018,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4597,-0.51,-204.4,497.6,-7.0,553,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2019,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4906,-0.51,-204.4,518.3,-6.7,584,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2018,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5217,-0.52,-204.4,538.7,-6.4,615,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2018,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5526,-0.53,-204.4,560.6,-7.6,646,5534,0.00,2.15,0.00,0.000,4,0.000,0.044,2073,3422,3764,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5558,-0.54,-204.4,563.1,-7.4,649,5567,0.00,2.08,0.00,0.000,6,0.000,0.033,2073,2032,3764,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5869,-0.55,-204.4,588.2,-8.7,680,5878,0.00,2.17,0.00,0.000,4,0.000,0.050,2073,615,3762,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5895,-0.56,-204.4,590.3,-8.9,682,5902,0.00,2.12,0.00,0.000,6,0.000,0.036,2071,2031,3761,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6202,-0.56,-204.4,620.0,-9.8,703,6208,0.00,2.12,0.00,0.000,4,0.000,0.045,2064,3424,3759,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6250,-0.58,-204.4,623.7,-9.7,705,6254,0.00,2.12,0.00,0.000,6,0.000,0.034,2064,2016,3759,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6561,-0.58,-204.4,655.0,-9.0,721,6567,0.00,2.15,0.00,0.000,4,0.000,0.049,2064,622,3757,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6595,-0.58,-204.4,656.8,-9.0,722,6602,0.00,2.12,0.00,0.000,6,0.000,0.037,2064,2031,3756,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6904,-0.58,-204.4,682.0,-7.1,738,6909,0.00,2.10,0.00,0.000,4,0.000,0.045,2056,3424,3754,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6950,-0.59,-204.4,684.6,-6.7,740,6954,0.00,2.12,0.00,0.000,6,0.000,0.035,2055,2024,3754,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7258,-0.59,-204.4,704.8,-6.2,755,7262,0.00,2.17,0.00,0.000,4,0.000,0.049,2055,616,3753,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7282,-0.59,-204.4,706.3,-6.3,756,7286,0.00,2.12,0.00,0.000,6,0.000,0.037,2051,2025,3752,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7595,-0.59,-204.4,727.4,-6.6,772,7600,0.00,2.15,0.00,0.000,4,0.000,0.047,2042,3439,3750,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7635,-0.59,-204.4,729.9,-6.5,774,7641,0.05,2.12,0.00,0.000,6,0.097,0.034,2069,2031,3750,0,0,0,0,0,0,26.33,26.44,28.83
$GC,7956,-0.60,-204.4,746.8,-5.3,790,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2030,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,-0.61,-204.4,764.5,-6.2,805,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2030,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8555,-0.62,-204.4,784.5,-6.9,820,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2030,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,-0.63,-204.4,806.2,-7.2,835,8857,0.08,0.00,0.00,0.000,6,0.125,0.000,1990,2029,3744,0,0,0,0,0,0,26.59,28.83,28.83
$GC,9156,-0.60,-204.4,845.4,-13.6,850,9158,0.22,0.00,0.00,0.000,6,0.121,0.000,2065,2030,3742,0,0,0,0,0,0,26.27,28.83,28.83
$GC,9455,-0.61,-204.4,867.4,-6.8,865,9461,0.00,2.15,0.00,0.000,4,0.000,0.047,2061,3423,3740,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9479,-0.62,-204.4,868.7,-6.8,866,9483,0.00,2.15,0.00,0.000,6,0.000,0.035,2061,2014,3740,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,9610,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9610,begin apogee
$GC,9615,-0.22,0.0,877.9,-6.9,873,9785,0.32,0.00,164.70,1.048,6,0.086,0.000,2185,2013,2953,0,0,0,0,0,0,26.32,28.83,24.12
$STATE,9786,end apogee,CONTROL_FINISHED_OK
$STATE,9786,begin climb
$GC,9789,0.61,204.4,884.7,0.0,881,9974,0.70,2.28,175.43,1.019,4,0.046,0.032,2463,3383,2111,0,0,0,0,0,0,24.95,24.64,23.93
$GC,10041,0.54,204.4,857.8,20.9,893,10048,0.20,2.28,0.00,0.000,6,0.162,0.037,2422,1977,2090,0,0,0,0,0,0,25.04,25.18,28.83
$GC,10347,0.49,204.4,797.8,18.4,909,10353,0.00,2.20,0.00,0.000,4,0.000,0.031,2422,3397,2085,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10375,0.44,204.4,794.0,18.7,910,10381,0.15,2.25,0.00,0.000,6,0.158,0.037,2392,1968,2084,0,0,0,0,0,0,25.62,25.79,28.83
$GC,10684,0.41,204.4,746.0,14.5,925,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1967,2082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10982,0.38,204.4,705.4,12.8,940,10989,0.10,2.20,0.00,0.000,4,0.176,0.047,2375,570,2081,0,0,0,0,0,0,26.04,26.07,28.83
$GC,11003,0.35,204.4,702.8,12.6,941,11008,0.00,2.08,0.00,0.000,6,0.000,0.025,2375,1978,2081,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11322,0.40,265.0,670.4,9.4,957,11385,0.00,2.28,55.08,0.871,4,0.000,0.036,2375,3380,1862,0,0,0,0,0,0,28.83,25.39,24.71
$GC,11418,0.47,325.9,662.8,9.4,961,11484,0.05,2.25,56.03,0.873,6,0.157,0.039,2438,1974,1615,0,0,0,0,0,0,25.48,25.53,24.37
$GC,11783,0.43,325.9,605.3,16.3,980,11789,0.15,2.25,0.00,0.000,4,0.152,0.050,2399,567,1595,0,0,0,0,0,0,25.70,25.78,28.83
$GC,11866,0.46,345.7,595.5,10.5,986,11893,0.00,2.12,17.23,0.816,6,0.000,0.026,2399,1980,1533,0,0,0,0,0,0,28.83,25.93,24.95
$GC,12194,0.45,345.7,553.4,13.4,1019,12197,0.00,2.25,0.00,0.000,4,0.000,0.051,2407,566,1520,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12218,0.44,345.7,550.5,13.3,1021,12225,0.00,2.12,0.00,0.000,6,0.000,0.027,2407,1981,1520,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12527,0.43,345.7,506.3,14.7,1052,12536,0.08,2.20,0.00,0.000,4,0.183,0.050,2398,566,1519,0,0,0,0,0,0,26.11,26.07,28.83
$GC,12572,0.43,345.7,500.3,13.8,1056,12579,0.00,2.10,0.00,0.000,6,0.000,0.028,2398,1973,1519,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12880,0.43,345.7,460.3,12.9,1087,12889,0.00,2.17,0.00,0.000,4,0.000,0.050,2406,565,1518,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12932,0.44,345.7,453.7,12.3,1092,12941,0.00,2.10,0.00,0.000,6,0.000,0.028,2406,1978,1517,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13241,0.43,345.7,413.6,11.8,1123,13251,0.08,2.20,0.00,0.000,4,0.179,0.049,2396,565,1517,0,0,0,0,0,0,26.27,26.21,28.83
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$GC,15403,0.90,763.9,35.0,26.8,1389,15410,0.15,2.22,0.00,0.000,4,0.153,0.046,2553,567,388,0,0,0,0,0,0,25.86,25.96,28.83
$GC,15499,1.04,851.4,18.5,8.6,1406,15508,0.08,2.12,0.00,0.000,6,0.053,0.024,2639,1984,387,0,0,0,0,0,0,26.03,26.09,28.83
$STATE,15563,end climb,SURFACE_DEPTH_REACHED
$STATE,15563,begin surface coast
$FINISH,3.1,1.010869
$STATE,15581,end surface coast,CONTROL_FINISHED_OK
$STATE,15581,begin surface
$SM_CCo,15656,0.00,0.000,0,0,386,629.93
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$IRIDIUM_FIX,2011.07,12417.73,271111,111145
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,23.60
$XPDR_PINGS,3
$24V_AH,23.9,18.076
$10V_AH,10.3,15.477
$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,16.800,133.900,697.800,0.000,0.000,23.527,47.990,177.822,0.750,0.000,31.492,3323.252,8491.612,757.717,3094.480,364.170,0.384,2176.838,0.000,2732.711,0.000,0.538,0.000
$DEVICE_MAMPS,223.380,55.080,1048.050,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,972.213,2201.031,661.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329764
$DATA_FILE_SIZE,96936,1420
$CAP_FILE_SIZE,172929,0
$CFSIZE,260165632,213749760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271111,200401,2014.513,12417.688,42,1.1,42,-2.5