version: 66.10
glider: 169
mission: 5
dive: 408
start: 1 26 112 15 44 52
data:
$ID,169
$MISSION,5
$DIVE,408
$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,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-11392.469
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-76.737366
$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,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
$DEVICE1,2
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,260112,153625,2326.072,12254.718,43,1.7,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.8
$GPS2,260112,154431,2326.135,12254.788,39,1.4,39,-3.2
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$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,69.8,111167,-15.4,-9.167
$D_GRID,3687
$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,17,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.38,0.000,2,0.000,0.000,118,2676,2961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.2,-5.7,14,131,7.07,1.88,-14.73,0.000,4,0.230,0.056,1798,3824,3696,0,0,0,0,0,0,24.80,26.01,26.55
$GC,138,-0.32,-175.2,19.1,-43.8,20,145,0.35,1.83,0.00,0.000,6,0.184,0.022,1898,2547,3696,0,0,0,0,0,0,25.18,26.22,28.83
$GC,451,-0.28,-175.2,91.1,-18.0,81,458,0.00,2.03,0.00,0.000,4,0.000,0.025,1907,1158,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,512,-0.35,-175.2,98.4,-7.3,92,518,0.00,2.33,0.00,0.000,6,0.000,0.036,1897,2658,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,823,-0.35,-175.2,141.7,-12.2,153,830,0.00,1.80,0.00,0.000,4,0.000,0.044,1888,3816,3696,0,0,0,0,0,0,28.83,26.11,28.83
$GC,843,-0.35,-175.2,144.3,-12.6,156,850,0.00,1.80,0.00,0.000,6,0.000,0.021,1888,2568,3696,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1154,-0.35,-175.2,183.0,-11.5,217,1160,0.00,1.98,0.00,0.000,4,0.000,0.044,1878,3815,3696,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1188,-0.36,-175.2,187.1,-11.5,223,1195,0.00,1.80,0.00,0.000,6,0.000,0.024,1878,2561,3697,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1498,-0.36,-175.2,221.6,-10.6,265,1507,0.00,1.95,0.00,0.000,4,0.000,0.041,1869,3819,3697,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1542,-0.38,-175.2,225.7,-10.1,269,1549,0.00,1.83,0.00,0.000,6,0.000,0.022,1869,2561,3696,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1850,-0.38,-175.2,260.1,-12.5,300,1859,0.00,2.00,0.00,0.000,4,0.000,0.025,1869,1167,3696,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1894,-0.39,-175.2,265.0,-11.7,304,1901,0.00,2.28,0.00,0.000,6,0.000,0.036,1864,2657,3696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2201,-0.39,-175.2,299.9,-10.2,335,2210,0.00,2.20,0.00,0.000,4,0.000,0.026,1864,1175,3696,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2247,-0.43,-175.2,303.3,-8.5,339,2254,0.00,2.25,0.00,0.000,6,0.000,0.037,1860,2652,3696,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2553,-0.43,-175.2,333.7,-10.3,370,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2651,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2855,-0.45,-175.2,362.9,-8.4,400,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2651,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3167,-0.47,-175.2,386.0,-7.0,431,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2651,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-0.49,-175.2,409.0,-7.7,462,3483,0.00,2.17,0.00,0.000,4,0.000,0.028,1860,1179,3693,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3516,-0.53,-175.2,412.3,-7.7,466,3525,0.00,2.25,0.00,0.000,6,0.000,0.037,1852,2651,3693,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3826,-0.55,-175.2,437.3,-7.5,497,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2651,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4129,-0.58,-175.2,459.2,-6.8,527,4138,0.00,2.17,0.00,0.000,4,0.000,0.028,1852,1172,3689,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4181,-0.63,-175.2,462.9,-6.3,532,4190,0.08,2.30,0.00,0.000,6,0.048,0.037,1780,2658,3689,0,0,0,0,0,0,26.14,26.16,28.83
$GC,4490,-0.58,-175.2,512.0,-17.4,563,4500,0.12,1.77,0.00,0.000,4,0.153,0.043,1812,3820,3687,0,0,0,0,0,0,26.22,26.09,28.83
$GC,4542,-0.58,-175.2,520.2,-15.0,568,4546,0.00,1.80,0.00,0.000,6,0.000,0.024,1812,2573,3686,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4848,-0.58,-175.2,560.0,-12.8,598,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2571,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5148,-0.58,-175.2,595.3,-11.2,628,5157,0.00,1.98,0.00,0.000,4,0.000,0.045,1803,3809,3682,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5180,-0.58,-175.2,598.8,-10.9,631,5184,0.00,1.80,0.00,0.000,6,0.000,0.024,1803,2576,3682,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5502,-0.56,-175.2,633.9,-10.8,648,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2568,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5802,-0.55,-175.2,664.9,-10.2,663,5807,0.00,2.00,0.00,0.000,4,0.000,0.047,1794,3818,3677,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5846,-0.55,-175.2,668.9,-10.2,665,5850,0.08,1.85,0.00,0.000,6,0.099,0.025,1839,2561,3676,0,0,0,0,0,0,26.03,26.35,28.83
$GC,6165,-0.57,-175.2,690.6,-6.6,681,6170,0.00,1.95,0.00,0.000,4,0.000,0.045,1830,3808,3675,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6192,-0.60,-175.2,692.0,-6.7,682,6196,0.00,1.80,0.00,0.000,6,0.000,0.024,1830,2560,3675,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6498,-0.62,-175.2,716.3,-8.2,697,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2559,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6801,-0.64,-175.2,740.9,-8.2,712,6807,0.00,2.00,0.00,0.000,4,0.000,0.044,1822,3809,3671,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6834,-0.66,-175.2,742.7,-8.3,713,6841,0.00,1.80,0.00,0.000,6,0.000,0.024,1822,2561,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7140,-0.68,-175.2,771.1,-9.0,729,7145,0.00,2.05,0.00,0.000,4,0.000,0.028,1822,1177,3668,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7168,-0.70,-175.2,772.9,-9.0,730,7172,0.00,2.30,0.00,0.000,6,0.000,0.039,1813,2653,3668,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7476,-0.71,-175.2,803.9,-9.9,745,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2652,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7777,-0.71,-175.2,831.8,-9.0,760,7780,0.00,1.77,0.00,0.000,4,0.000,0.046,1804,3815,3665,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7802,-0.72,-175.2,833.9,-9.0,761,7806,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2577,3664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8119,-0.72,-175.2,861.6,-8.2,777,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2577,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8419,-0.72,-175.2,885.4,-7.6,792,8425,0.00,1.98,0.00,0.000,4,0.000,0.047,1796,3818,3661,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8463,-0.72,-175.2,888.7,-7.9,794,8467,0.00,1.83,0.00,0.000,6,0.000,0.024,1796,2565,3661,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8774,-0.72,-175.2,916.3,-9.6,810,8780,0.00,2.08,0.00,0.000,4,0.000,0.031,1796,1171,3660,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8794,-0.72,-175.2,918.4,-9.9,811,8800,0.00,2.30,0.00,0.000,6,0.000,0.041,1786,2649,3660,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9116,-0.71,-175.2,952.4,-10.8,827,9119,0.00,1.80,0.00,0.000,4,0.000,0.048,1776,3817,3659,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9137,-0.70,-175.2,954.8,-10.8,828,9141,0.00,1.85,0.00,0.000,6,0.000,0.024,1777,2568,3659,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,9456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9456,begin apogee
$GC,9463,-0.20,0.0,990.2,-10.8,844,9627,0.47,0.12,156.32,1.178,6,0.102,0.050,1940,2538,2973,0,0,0,0,0,0,25.63,24.81,23.28
$STATE,9628,end apogee,CONTROL_FINISHED_OK
$STATE,9628,begin climb
$GC,9630,0.60,175.2,997.1,0.0,852,9808,0.70,2.17,168.32,1.181,4,0.046,0.048,2212,3816,2256,0,0,0,0,0,0,25.14,24.80,23.28
$GC,9844,0.50,175.2,980.7,16.9,863,9849,0.20,2.12,0.00,0.000,6,0.181,0.028,2173,2462,2239,0,0,0,0,0,0,25.03,25.42,28.83
$GC,10152,0.45,175.2,934.7,13.5,878,10158,0.00,2.15,0.00,0.000,4,0.000,0.044,2172,3812,2232,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10174,0.40,175.2,931.7,13.7,879,10179,0.17,2.08,0.00,0.000,6,0.166,0.028,2137,2453,2231,0,0,0,0,0,0,25.61,26.06,28.83
$GC,10487,0.38,175.2,896.0,11.0,895,10492,0.00,2.10,0.00,0.000,4,0.000,0.034,2147,1050,2229,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10511,0.36,175.2,893.7,11.1,896,10515,0.00,2.28,0.00,0.000,6,0.000,0.038,2147,2527,2228,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10824,0.33,175.2,854.9,12.4,912,10829,0.00,1.98,0.00,0.000,4,0.000,0.046,2147,3810,2228,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10916,0.29,175.2,843.5,14.2,916,10924,0.20,2.05,0.00,0.000,6,0.155,0.028,2103,2452,2227,0,0,0,0,0,0,25.64,26.17,28.83
$GC,11225,0.35,215.9,815.6,7.7,932,11266,0.00,2.17,29.77,1.042,4,0.000,0.035,2113,1064,2097,0,0,0,0,1,0,28.83,25.76,23.80
$GC,11305,0.43,265.0,809.5,7.4,936,11364,0.10,2.28,47.67,1.215,6,0.091,0.038,2194,2529,1899,0,0,0,0,1,0,25.81,25.79,23.42
$GC,11664,0.38,265.0,752.8,16.5,954,11671,0.17,2.08,1.42,0.184,4,0.155,0.044,2139,3817,1896,0,0,0,0,0,0,25.70,25.86,25.19
$GC,11725,0.36,265.0,744.5,14.6,957,11730,0.00,2.00,0.00,0.000,6,0.000,0.027,2149,2469,1902,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12043,0.36,265.0,707.7,12.0,973,12047,0.00,2.12,0.00,0.000,4,0.000,0.034,2160,1060,1903,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12067,0.36,265.0,705.2,11.9,974,12072,0.12,2.28,0.00,0.000,6,0.138,0.037,2125,2530,1903,0,0,0,0,0,0,25.79,26.00,28.83
$GC,12386,0.38,265.0,674.1,9.2,990,12392,0.00,2.00,0.00,0.000,4,0.000,0.044,2126,3815,1903,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12413,0.39,265.0,672.2,9.2,991,12417,0.00,2.05,0.00,0.000,6,0.000,0.027,2136,2454,1903,0,0,0,0,0,0,28.83,26.17,28.83
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$GC,15528,0.49,303.2,333.7,10.2,1260,15537,0.00,2.25,0.00,0.000,6,0.000,0.035,2181,2526,1748,0,0,0,0,0,0,28.83,26.03,28.83
$GC,15837,0.49,303.2,300.7,11.2,1291,15846,0.00,2.20,0.00,0.000,4,0.000,0.033,2193,1058,1748,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,18619,end climb,SURFACE_DEPTH_REACHED
$STATE,18619,begin surface coast
$FINISH,0.3,1.022715
$STATE,18636,end surface coast,CONTROL_FINISHED_OK
$STATE,18636,begin surface
$SM_CCo,18712,0.00,0.000,0,0,1156,447.18
$SM_GC,1.36,5.35,0.17,0.00,0.022,0.066,0.000,126,2665,1156,-5.78,-0.51,447.18,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12253.85,260112,101006
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.66
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.3,85.295
$10V_AH,10.0,50.890
$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,16.075,173.900,586.975,0.000,0.000,29.643,16.797,271.519,0.000,0.000,40.718,4075.618,10558.124,747.084,3352.103,434.054,0.000,2351.949,0.000,2852.825,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,75.735,1214.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1180.842,2184.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324696
$DATA_FILE_SIZE,113951,1741
$CAP_FILE_SIZE,206068,0
$CFSIZE,260165632,185548800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260112,205737,2326.419,12258.465,25,1.2,25,-3.2