version: 66.11
glider: 181
mission: 11
dive: 391
start: 7 16 113 4 35 10
data:
$ID,181
$MISSION,11
$DIVE,391
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,-8
$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,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00189915
$HD_B,0.015333
$HD_C,1.4612e-05
$HEADING,210
$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,475
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-96268.867
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2660
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,1.5
$PITCH_ADJ_DBAND,0.0049999999
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3093
$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,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,2
$XPDR_VALID,2
$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,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,160713,042205,2246.308,12229.523,31,1.1,32,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-72.4
$GPS2,160713,043442,2246.733,12229.637,11,1.8,16,-3.0
$SPEED_LIMITS,0.173,0.227
$TGT_NAME,HEADING
$TGT_LATLONG,2237.381,12223.787
$TGT_RADIUS,1852.000
$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,213.0,20000,-14.5,-10.000,-23.75,2762
$D_GRID,5252
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.15,-194.6,218,2699,1165,1160,0.0,0.0,0,100,0.00,0.00,-76.38,0.000,16386,0.000,0.000,219,2699,3151,3201,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-1.15,-194.6,218,2699,3201,3102,4.2,-14.9,14,135,9.45,2.22,-12.90,0.000,18948,0.378,0.059,2284,1293,3889,3958,3821,0,0,0,0,0,0,14.22,14.65,14.86
$GC,174,-1.15,-194.6,2284,1293,3959,3822,26.1,-24.5,26,181,0.00,2.35,0.00,0.000,1030,0.000,0.055,2276,2710,3890,3958,3822,0,0,0,0,0,0,28.83,14.57,28.83
$GC,490,-1.15,-194.6,2276,2710,3958,3823,96.3,-22.4,47,495,0.00,2.25,0.00,0.000,516,0.000,0.037,2275,1293,3890,3958,3823,0,0,0,0,0,0,28.83,14.68,28.83
$GC,514,-1.15,-194.6,2276,1293,3958,3822,101.4,-22.4,48,519,0.00,2.33,0.00,0.000,1030,0.000,0.057,2266,2701,3890,3958,3822,0,0,0,0,0,0,28.83,14.57,28.83
$GC,837,-1.15,-194.6,2266,2701,3958,3824,162.5,-18.6,64,843,0.00,2.20,0.00,0.000,516,0.000,0.036,2266,1300,3891,3958,3824,0,0,0,0,0,0,28.83,14.73,28.83
$GC,901,-1.15,-194.6,2265,1298,3959,3825,173.9,-18.0,67,907,0.15,2.30,0.00,0.000,3078,0.282,0.055,2288,2703,3891,3958,3825,0,0,0,0,0,0,14.35,14.69,28.83
$GC,1226,-1.15,-194.6,2288,2703,3958,3825,231.7,-17.3,83,1231,0.00,1.77,0.00,0.000,260,0.000,0.074,2282,3782,3891,3958,3825,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1253,-1.15,-194.6,2282,3782,3958,3825,236.2,-17.9,84,1258,0.00,1.67,0.00,0.000,1030,0.000,0.033,2282,2632,3891,3958,3825,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1572,-1.15,-194.6,2282,2633,3958,3825,292.0,-16.9,100,1577,0.00,1.90,0.00,0.000,260,0.000,0.071,2273,3777,3891,3958,3825,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1664,-1.15,-194.6,2273,3777,3958,3830,306.7,-17.7,104,1669,0.00,1.65,0.00,0.000,1030,0.000,0.033,2272,2642,3891,3958,3825,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1978,-1.15,-194.6,2273,2642,3958,3823,360.9,-16.2,120,1983,0.00,1.90,0.00,0.000,260,0.000,0.072,2265,3783,3890,3958,3822,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2010,-1.15,-194.6,2264,3784,3958,3822,364.8,-16.3,121,2016,0.00,1.67,0.00,0.000,1030,0.000,0.033,2265,2648,3890,3958,3822,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2324,-1.15,-194.6,2264,2647,3959,3820,420.0,-17.5,137,2329,0.00,1.90,0.00,0.000,260,0.000,0.074,2256,3782,3888,3958,3819,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2402,-1.15,-194.6,2256,3782,3958,3819,432.1,-19.0,140,2409,0.15,1.67,0.00,0.000,3078,0.267,0.034,2288,2655,3888,3958,3819,0,0,0,0,0,0,14.40,14.85,28.83
$GC,2707,-1.15,-194.6,2289,2655,3957,3816,483.3,-14.9,156,2713,0.00,2.05,0.00,0.000,516,0.000,0.039,2289,1342,3887,3959,3816,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2735,-1.15,-194.6,2289,1341,3958,3816,486.6,-14.5,157,2741,0.00,2.22,0.00,0.000,1030,0.000,0.057,2282,2698,3887,3958,3816,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3054,-1.15,-194.6,2283,2698,3958,3813,531.1,-13.8,173,3059,0.00,1.80,0.00,0.000,260,0.000,0.080,2273,3777,3885,3957,3813,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3138,-1.15,-194.6,2273,3778,3950,3813,543.8,-15.3,177,3143,0.00,1.62,0.00,0.000,1030,0.000,0.037,2273,2691,3884,3956,3813,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3462,-1.15,-194.6,2273,2690,3955,3809,595.9,-16.7,193,3467,0.00,1.85,0.00,0.000,260,0.000,0.079,2265,3782,3880,3953,3808,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3505,-1.15,-194.6,2265,3782,3954,3808,601.9,-17.4,195,3510,0.00,1.62,0.00,0.000,1030,0.000,0.037,2265,2703,3880,3953,3808,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3831,-1.15,-194.6,2263,2701,3948,3806,661.5,-17.8,206,3836,0.00,2.17,0.00,0.000,516,0.000,0.042,2263,1334,3877,3948,3806,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3859,-1.15,-194.6,2263,1333,3948,3806,661.5,-17.8,206,3866,0.15,2.28,0.00,0.000,3078,0.278,0.062,2288,2697,3876,3948,3805,0,0,0,0,0,0,14.27,14.58,28.83
$GC,4168,-1.15,-194.6,2288,2698,3948,3800,715.8,-15.5,217,4173,0.00,2.20,0.00,0.000,516,0.000,0.043,2289,1332,3873,3947,3799,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4202,-1.15,-194.6,2289,1332,3948,3800,721.8,-15.3,218,4207,0.00,2.30,0.00,0.000,1030,0.000,0.063,2281,2701,3874,3948,3800,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4538,-1.15,-194.6,2281,2701,3945,3797,771.6,-14.8,229,4543,0.00,1.85,0.00,0.000,260,0.000,0.088,2273,3782,3870,3944,3797,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4611,-1.15,-194.6,2272,3782,3943,3797,781.9,-15.2,231,4616,0.00,1.70,0.00,0.000,1030,0.000,0.041,2272,2718,3870,3943,3797,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4939,-1.15,-194.6,2273,2717,3942,3792,833.2,-15.1,242,4945,0.00,1.85,0.00,0.000,260,0.000,0.086,2264,3784,3867,3942,3792,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5017,-1.15,-194.6,2264,3785,3939,3792,844.4,-15.9,244,5022,0.00,1.70,0.00,0.000,1030,0.000,0.041,2264,2690,3866,3940,3792,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5338,-1.15,-194.6,2264,2689,3937,3789,898.0,-16.1,255,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2690,3863,3937,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5636,-1.15,-194.6,2268,2689,3934,3785,948.6,-17.3,265,5641,0.00,1.95,0.00,0.000,260,0.000,0.090,2256,3804,3859,3934,3785,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5685,-1.15,-194.6,2256,3804,3933,3785,954.8,-17.5,266,5691,0.08,1.77,0.00,0.000,3078,0.264,0.042,2283,2702,3859,3933,3785,0,0,0,0,0,0,14.21,14.69,28.83
$STATE,5881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5881,begin apogee
$GC,5889,-0.23,0.0,2284,2097,3933,3782,990.1,-15.9,273,6070,1.02,0.00,174.60,1.840,10246,0.216,0.000,2575,2094,3090,3134,3046,0,0,0,0,0,0,14.21,28.83,13.35
$STATE,6072,end apogee,CONTROL_FINISHED_OK
$STATE,6072,begin climb
$GC,6075,1.15,194.6,2575,2094,3131,3042,1002.7,0.0,279,6263,1.33,2.40,179.07,1.829,11012,0.090,0.063,3035,724,2294,2320,2269,0,0,0,0,0,0,14.17,14.07,13.31
$GC,6396,1.15,194.6,2080,724,2270,2242,982.3,11.9,290,6402,0.00,2.38,0.00,0.000,1030,0.000,0.063,3036,2103,2283,2313,2253,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6728,1.15,194.6,3036,2103,2313,2244,940.7,12.3,301,6733,0.00,2.47,0.00,0.000,260,0.000,0.095,3035,3517,2278,2313,2244,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6786,1.15,194.6,3036,3517,2313,2244,935.8,12.6,302,6792,0.00,2.28,0.00,0.000,1030,0.000,0.042,3045,2119,2278,2317,2239,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7094,1.15,194.6,3045,2120,2313,2241,893.7,12.3,313,7100,0.00,2.38,0.00,0.000,516,0.000,0.063,3056,697,2277,2313,2241,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7273,1.15,194.6,3056,697,2312,2240,874.2,12.3,318,7280,0.00,2.38,0.00,0.000,1030,0.000,0.060,3057,2109,2276,2312,2240,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7581,1.15,194.6,3057,2109,2312,2237,831.8,12.9,329,7587,0.00,2.38,0.00,0.000,516,0.000,0.058,3066,693,2274,2312,2237,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7604,1.15,194.6,3066,693,2312,2238,831.8,12.9,329,7610,0.15,2.35,0.00,0.000,5126,0.309,0.058,3034,2100,2274,2312,2237,0,0,0,0,0,0,14.27,14.64,28.83
$GC,7921,1.15,194.6,3035,2100,2312,2235,791.0,11.7,340,7926,0.00,2.42,0.00,0.000,260,0.000,0.088,3034,3508,2273,2312,2234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7994,1.15,194.6,3034,3508,2311,2235,782.4,12.3,342,7999,0.00,2.28,0.00,0.000,1030,0.000,0.040,3043,2091,2273,2311,2235,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8320,1.15,194.6,3043,2091,2311,2233,744.3,11.1,353,8325,0.00,2.30,0.00,0.000,516,0.000,0.059,3053,706,2272,2311,2233,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8449,1.15,194.6,2064,706,2266,2220,729.7,11.6,357,8454,0.00,2.35,0.00,0.000,1030,0.000,0.056,3053,2113,2272,2311,2233,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8780,1.15,194.6,3053,2113,2307,2232,693.0,11.3,368,8785,0.00,2.35,0.00,0.000,516,0.000,0.054,3063,702,2270,2310,2231,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8844,1.15,194.6,3063,702,2310,2231,684.9,12.0,370,8850,0.15,2.35,0.00,0.000,5126,0.306,0.054,3033,2100,2271,2310,2232,0,0,0,0,0,0,14.19,14.60,28.83
$GC,9178,1.15,194.6,3033,2104,2317,2230,644.8,12.2,381,9184,0.00,2.35,0.00,0.000,516,0.000,0.054,3041,699,2270,2310,2230,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9315,1.15,194.6,3040,698,2310,2230,629.6,12.2,385,9320,0.00,2.35,0.00,0.000,1030,0.000,0.056,3040,2097,2269,2309,2230,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9641,1.15,196.8,3040,2100,2309,2229,592.8,9.9,397,9646,0.00,2.45,0.00,0.000,260,0.000,0.086,3040,3516,2269,2309,2229,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9751,1.15,196.8,2048,3515,2262,2218,581.8,10.6,402,9756,0.00,2.30,0.00,0.000,1030,0.000,0.038,3051,2087,2269,2308,2230,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10071,1.28,247.4,3051,2092,2308,2229,553.6,8.1,418,10123,0.00,2.35,47.28,1.284,8708,0.000,0.057,3061,709,2079,2112,2047,0,0,0,0,0,0,28.83,14.59,13.89
$GC,10176,1.28,247.4,3061,709,2105,2037,543.5,10.2,423,10182,0.00,2.35,0.00,0.000,1030,0.000,0.055,3061,2107,2070,2105,2036,0,0,0,0,0,0,28.83,14.50,28.83
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$GC,12561,1.30,254.0,3081,3502,2105,2024,277.9,11.7,540,12567,0.00,2.25,0.00,0.000,1030,0.000,0.035,3092,2095,2064,2105,2024,0,0,0,0,0,0,28.83,14.67,28.83
$GC,12875,1.33,267.6,3092,2094,2106,2024,245.1,9.5,556,12899,0.00,2.40,16.92,1.021,8452,0.000,0.077,3092,3505,1995,2036,1955,0,0,0,0,0,0,28.83,14.71,14.12
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$STATE,15208,end climb,SURFACE_DEPTH_REACHED
$STATE,15208,begin surface coast
$FINISH,-0.3,1.021334
$STATE,15225,end surface coast,CONTROL_FINISHED_OK
$STATE,15225,begin surface
$SM_CCo,15305,0.00,0.000,0,0,958,523.72
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$IRIDIUM_FIX,2230.01,12234.72,150713,232328
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.52
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.20
$XPDR_PINGS,2
$SC_FREEKB,3779840
$24V_AH,13.3,132.438
$10V_AH,13.1,0.000
$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
$DEVICE_SECS,21.875,164.050,554.800,0.000,0.000,30.254,46.982,389.615,0.500,0.000,18.796,2332.737,10142.361,645.092,2484.080,452.661,0.000,1752.370,0.000,1892.448,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15294.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.979,0.000,0.000,0.000
$MEM,323192
$DATA_FILE_SIZE,26718,707
$CAP_FILE_SIZE,195996,0
$CFSIZE,260034560,216592384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160713,085135,2248.978,12229.722,35,0.9,36,-3.0