version: 66.11
glider: 170
mission: 10
dive: 84
start: 11 17 112 21 33 58
data:
$ID,170
$MISSION,10
$DIVE,84
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-143193.09
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,171112,212635,2144.339,12001.498,30,0.9,30,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-74.4
$GPS2,171112,213329,2144.273,12001.533,19,0.8,19,-3.0
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,197.9,304245,-15.6,-10.000,-17.73
$D_GRID,2568
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.43,-194.6,0.0,0.0,0,89,0.00,0.00,-67.38,0.000,2,0.000,0.000,134,2622,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.43,-194.6,3.0,-2.3,12,170,11.05,2.20,-61.08,0.000,4,0.248,0.047,2866,1186,3563,0,0,0,0,0,0,25.92,26.25,26.52
$GC,264,-0.32,-194.6,33.8,-27.1,39,272,0.15,2.20,0.00,0.000,6,0.180,0.053,2905,2580,3564,0,0,0,0,0,0,26.12,26.25,28.83
$GC,461,-0.21,-194.6,93.9,-30.6,52,467,0.12,1.75,0.00,0.000,4,0.183,0.054,2943,3702,3563,0,0,0,0,0,0,26.25,26.36,28.83
$GC,570,-0.18,-194.6,113.7,-16.1,57,575,0.00,1.60,0.00,0.000,6,0.000,0.024,2943,2556,3564,0,0,0,0,0,0,28.83,26.51,28.83
$GC,769,-0.20,-194.6,133.6,-8.1,67,774,0.00,1.90,0.00,0.000,4,0.000,0.033,2943,1245,3564,0,0,0,0,0,0,28.83,26.48,28.83
$GC,856,-0.25,-194.6,140.3,-8.0,71,862,0.00,2.12,0.00,0.000,6,0.000,0.050,2943,2613,3564,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1055,-0.31,-194.6,160.8,-11.2,81,1061,0.00,1.70,0.00,0.000,4,0.000,0.056,2943,3702,3565,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1099,-0.37,-194.6,165.5,-10.7,83,1106,0.17,1.52,0.00,0.000,6,0.071,0.024,2847,2627,3565,0,0,0,0,0,0,26.56,26.63,28.83
$GC,1306,-0.31,-194.6,199.6,-15.6,93,1312,0.17,2.08,0.00,0.000,4,0.155,0.027,2905,1200,3565,0,0,0,0,0,0,26.44,26.60,28.83
$GC,1405,-0.33,-194.6,204.8,-5.9,97,1413,0.00,2.20,0.00,0.000,6,0.000,0.052,2905,2603,3565,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1591,-0.37,-194.6,215.5,-6.9,107,1596,0.00,1.70,0.00,0.000,4,0.000,0.056,2905,3699,3564,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1663,-0.42,-194.6,220.9,-8.4,110,1669,0.00,1.60,0.00,0.000,6,0.000,0.023,2905,2578,3564,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1857,-0.46,-194.6,241.2,-10.3,120,1863,0.12,1.98,0.00,0.000,4,0.091,0.028,2828,1203,3564,0,0,0,0,0,0,26.67,26.65,28.83
$GC,1920,-0.46,-194.6,250.8,-14.0,123,1926,0.12,2.20,0.00,0.000,6,0.163,0.047,2863,2619,3564,0,0,0,0,0,0,26.50,26.60,28.83
$GC,2244,-0.46,-194.6,286.7,-8.9,139,2249,0.00,2.08,0.00,0.000,4,0.000,0.033,2863,1221,3563,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2276,-0.46,-194.6,288.6,-8.5,140,2282,0.00,2.10,0.00,0.000,6,0.000,0.043,2863,2608,3563,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2590,-0.47,-194.6,312.3,-8.1,156,2596,0.00,2.03,0.00,0.000,4,0.000,0.027,2863,1215,3561,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2643,-0.49,-194.6,316.0,-8.4,158,2648,0.00,2.12,0.00,0.000,6,0.000,0.044,2863,2599,3561,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2955,-0.50,-194.6,352.9,-12.5,174,2961,0.00,1.70,0.00,0.000,4,0.000,0.054,2863,3696,3560,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3019,-0.53,-194.6,360.2,-11.7,177,3025,0.00,1.55,0.00,0.000,6,0.000,0.027,2863,2580,3559,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3343,-0.55,-194.6,393.7,-11.2,193,3348,0.00,1.75,0.00,0.000,4,0.000,0.054,2863,3690,3557,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3406,-0.58,-194.6,401.1,-11.7,196,3411,0.12,1.55,0.00,0.000,6,0.090,0.028,2795,2598,3557,0,0,0,0,0,0,26.68,26.75,28.83
$GC,3729,-0.53,-194.6,456.4,-16.7,212,3735,0.12,1.70,0.00,0.000,4,0.165,0.051,2835,3689,3555,0,0,0,0,0,0,26.55,26.65,28.83
$GC,3872,-0.53,-194.6,474.1,-11.5,219,3877,0.00,1.55,0.00,0.000,6,0.000,0.028,2835,2597,3554,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4196,-0.53,-194.6,497.9,-6.2,235,4201,0.00,1.98,0.00,0.000,4,0.000,0.027,2836,1221,3551,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4279,-0.53,-194.6,503.2,-6.4,239,4285,0.00,2.12,0.00,0.000,6,0.000,0.043,2835,2612,3551,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4603,-0.53,-194.6,532.5,-10.8,255,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2612,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4903,-0.53,-194.6,568.5,-11.8,270,4909,0.00,2.05,0.00,0.000,4,0.000,0.028,2836,1217,3547,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4940,-0.53,-194.6,571.1,-11.3,271,4947,0.00,2.12,0.00,0.000,6,0.000,0.043,2836,2601,3547,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5247,-0.53,-194.6,596.7,-5.9,287,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2601,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5568,-0.54,-194.6,614.0,-5.5,299,5573,0.00,1.70,0.00,0.000,4,0.000,0.054,2835,3696,3544,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5602,-0.55,-194.6,616.1,-5.8,300,5608,0.00,1.60,0.00,0.000,6,0.000,0.030,2836,2621,3544,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5937,-0.56,-194.6,638.9,-7.8,311,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2620,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-0.57,-194.6,675.1,-13.5,321,6241,0.00,2.08,0.00,0.000,4,0.000,0.028,2836,1198,3540,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6258,-0.59,-194.6,675.1,-13.5,321,6263,0.00,2.17,0.00,0.000,6,0.000,0.043,2835,2609,3540,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6572,-0.60,-194.6,714.8,-10.5,332,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2609,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6872,-0.62,-194.6,741.2,-8.5,342,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2609,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7172,-0.64,-194.6,767.4,-8.8,352,7177,0.00,1.70,0.00,0.000,4,0.000,0.056,2836,3696,3535,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7214,-0.66,-194.6,770.2,-8.7,353,7220,0.12,1.60,0.00,0.000,6,0.093,0.031,2774,2582,3535,0,0,0,0,0,0,26.68,26.77,28.83
$GC,7539,-0.62,-194.6,816.5,-14.8,364,7546,0.12,2.00,0.00,0.000,4,0.175,0.027,2814,1201,3533,0,0,0,0,0,0,26.55,26.72,28.83
$GC,7598,-0.58,-194.6,821.0,-14.3,365,7605,0.00,2.17,0.00,0.000,6,0.000,0.044,2814,2610,3534,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7903,-0.58,-194.6,852.9,-9.3,376,7908,0.00,1.70,0.00,0.000,4,0.000,0.057,2814,3692,3531,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7945,-0.58,-194.6,856.0,-9.3,377,7951,0.00,1.60,0.00,0.000,6,0.000,0.031,2814,2598,3531,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8269,-0.58,-194.6,884.2,-8.3,388,8275,0.00,1.77,0.00,0.000,4,0.000,0.056,2814,3695,3529,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8303,-0.58,-194.6,887.2,-8.4,389,8308,0.00,1.60,0.00,0.000,6,0.000,0.031,2814,2589,3529,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8638,-0.58,-194.6,916.3,-9.4,400,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2589,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8936,-0.58,-194.6,949.7,-11.7,410,8941,0.00,2.00,0.00,0.000,4,0.000,0.029,2814,1211,3526,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8969,-0.58,-194.6,953.8,-11.8,411,8974,0.00,2.15,0.00,0.000,6,0.000,0.044,2817,2605,3526,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9301,begin apogee
$GC,9307,-0.11,0.0,993.1,-11.7,422,9472,0.45,0.00,157.95,1.486,6,0.122,0.000,2971,1947,2768,0,0,0,0,0,0,26.54,28.83,23.91
$STATE,9474,end apogee,CONTROL_FINISHED_OK
$STATE,9474,begin climb
$GC,9476,0.43,194.6,1001.1,0.0,427,9657,0.47,2.47,172.52,1.450,4,0.065,0.047,3149,3355,1974,0,0,0,0,0,0,24.88,24.13,23.33
$GC,9734,0.46,274.2,989.4,7.3,435,9811,0.00,2.22,70.55,1.414,6,0.000,0.028,3156,1972,1650,0,0,0,0,0,0,28.83,24.98,23.30
$GC,10110,0.49,280.2,951.9,9.8,448,10121,0.00,2.35,5.95,1.076,4,0.000,0.048,3156,3357,1626,0,0,0,0,0,0,28.83,25.45,24.60
$GC,10219,0.51,280.2,941.1,11.2,451,10225,0.00,2.20,0.00,0.000,6,0.000,0.028,3158,1948,1624,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10540,0.55,296.0,907.7,9.5,462,10562,0.00,2.33,15.40,1.326,4,0.000,0.049,3158,3358,1562,0,0,0,0,0,0,28.83,25.66,24.78
$GC,10609,0.59,318.4,901.8,9.2,464,10641,0.12,2.20,21.45,1.353,6,0.093,0.028,3228,1940,1468,0,0,0,0,0,0,25.82,25.84,24.44
$GC,10963,0.56,318.4,846.2,16.1,476,10969,0.12,2.30,0.00,0.000,4,0.152,0.047,3186,3365,1465,0,0,0,0,0,0,25.97,26.03,28.83
$GC,11059,0.54,318.4,832.4,15.2,479,11064,0.00,2.17,0.00,0.000,6,0.000,0.028,3188,1947,1466,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11393,0.54,318.4,789.4,13.2,490,11398,0.00,2.25,0.00,0.000,4,0.000,0.048,3188,3369,1465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11426,0.54,318.4,784.7,13.2,491,11431,0.00,2.15,0.00,0.000,6,0.000,0.029,3188,1950,1465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11760,0.55,318.4,745.9,11.1,502,11765,0.00,2.22,0.00,0.000,4,0.000,0.048,3188,3362,1464,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11806,0.55,318.4,741.8,11.3,503,11812,0.00,2.15,0.00,0.000,6,0.000,0.028,3190,1940,1464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12127,0.57,318.4,703.6,11.6,514,12132,0.00,2.25,0.00,0.000,4,0.000,0.047,3190,3358,1464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12184,0.58,318.4,699.1,11.9,515,12191,0.00,2.12,0.00,0.000,6,0.000,0.028,3196,1943,1464,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12489,0.58,318.4,654.8,13.6,526,12495,0.00,2.25,0.00,0.000,4,0.000,0.048,3197,3364,1463,0,0,0,0,0,0,28.83,26.48,28.83
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$GC,14169,0.66,404.6,450.9,8.6,601,14213,0.00,2.17,36.38,1.099,6,0.000,0.028,3199,1950,1119,0,0,0,0,0,0,28.83,25.91,24.53
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$STATE,17515,end climb,SURFACE_DEPTH_REACHED
$STATE,17515,begin surface coast
$FINISH,1.5,1.009707
$STATE,17547,end surface coast,CONTROL_FINISHED_OK
$STATE,17547,begin surface
$SM_CCo,17626,0.00,0.000,0,0,459,566.64
$SM_GC,2.37,8.27,0.95,0.00,0.040,0.028,0.000,135,2644,459,-8.94,-1.27,566.64,0,0,0,0,0,0,26.25,26.34,28.83
$IRIDIUM_FIX,2134.17,12002.53,171112,161628
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.27
$INTERNAL_PRESSURE,9.45898
$TCM_TEMP,24.20
$XPDR_PINGS,1
$SC_FREEKB,3987872
$24V_AH,23.3,18.168
$10V_AH,9.8,7.009
$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,22.950,181.975,654.325,0.000,0.000,0.000,0.000,254.000,0.250,0.000,21.254,2727.494,11807.373,808.674,2418.441,274.251,0.000,2293.653,0.000,2043.744,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,57.375,1485.630,0.000,0.000,0.000,0.000,126.990,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17568.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.056,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,30053,799
$CAP_FILE_SIZE,215993,0
$CFSIZE,260034560,243630080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.179, 92.6,1
$GPS,181112,022858,2141.276,12002.983,38,0.8,38,-3.0