version: 66.07
glider: 511
mission: 5
dive: 238
start: 1 4 111 17 20 31
data:
$ID,511
$MISSION,5
$DIVE,238
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,586.50275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-46557.551
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,237
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,040111,164821,1804.308,12707.804,74,7.0,93,-2.0
$_CALLS,5
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.2
$GPS2,040111,171937,1804.217,12707.650,34,0.8,34,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,0.050
$KALMAN_X,-504394.3,-157.4,261.3,455233.8,-9096.9
$KALMAN_Y,537232.8,498.2,-1199.8,-818460.2,-933.2
$MHEAD_RNG_PITCHd_Wd,78.6,103359,-9.9,-6.000
$D_GRID,990
$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
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,115,0.00,0.00,-85.80,0.000,2,0.000,0.000,36,2152,2800,0,0,0,0,0,0
$GC,118,-0.58,-146.0,3.1,-2.3,17,151,10.38,2.25,-15.50,0.000,4,0.248,0.068,2454,744,3488,0,0,1,0,0,0
$GC,185,-0.58,-146.0,17.3,-17.6,31,191,0.00,2.20,0.00,0.000,6,0.000,0.053,2446,2140,3489,0,0,0,0,0,0
$GC,391,-0.58,-146.0,51.9,-16.6,57,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2140,3489,0,0,0,0,0,0
$GC,646,-0.58,-146.0,95.8,-15.5,81,650,0.00,2.22,0.00,0.000,4,0.000,0.054,2446,729,3489,0,0,0,0,0,0
$GC,669,-0.58,-146.0,99.4,-15.7,83,674,0.00,2.22,0.00,0.000,6,0.000,0.054,2444,2147,3489,0,0,0,0,0,0
$GC,929,-0.58,-146.0,137.2,-13.8,108,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2151,3489,0,0,0,0,0,0
$GC,1184,-0.58,-146.0,168.7,-10.0,132,1188,0.00,2.22,0.00,0.000,4,0.000,0.054,2444,727,3489,0,0,0,0,0,0
$GC,1217,-0.58,-146.0,172.0,-9.8,135,1221,0.00,2.20,0.00,0.000,6,0.000,0.051,2444,2141,3489,0,0,0,0,0,0
$GC,1478,-0.58,-146.0,194.9,-8.1,159,1482,0.00,2.20,0.00,0.000,4,0.000,0.054,2444,738,3489,0,0,0,0,0,0
$GC,1556,-0.58,-146.0,201.1,-7.7,166,1560,0.00,2.20,0.00,0.000,6,0.000,0.053,2444,2149,3489,0,0,0,0,0,0
$GC,1871,-0.58,-146.0,224.0,-7.2,181,1875,0.00,2.25,0.00,0.000,4,0.000,0.065,2444,3558,3490,0,0,0,0,0,0
$GC,1907,-0.58,-146.0,226.5,-6.8,182,1913,0.00,2.17,0.00,0.000,6,0.000,0.041,2446,2136,3489,0,0,0,0,0,0
$GC,2222,-0.58,-146.0,252.3,-8.5,198,2226,0.00,2.15,0.00,0.000,4,0.000,0.051,2444,735,3488,0,0,0,0,0,0
$GC,2286,-0.58,-146.0,257.8,-8.0,200,2291,0.00,2.22,0.00,0.000,6,0.000,0.054,2443,2146,3488,0,0,0,0,0,0
$GC,2601,-0.58,-146.0,279.1,-6.2,216,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2146,3486,0,0,0,0,0,0
$GC,2910,-0.58,-146.0,299.5,-7.2,231,2914,0.00,2.22,0.00,0.000,4,0.000,0.058,2444,741,3483,0,0,0,0,0,0
$GC,2942,-0.58,-146.0,301.9,-7.8,232,2946,0.00,2.20,0.00,0.000,6,0.000,0.055,2444,2143,3486,0,0,0,0,0,0
$GC,3272,-0.58,-146.0,326.2,-7.3,240,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2143,3482,0,0,0,0,0,0
$GC,3597,-0.58,-146.0,344.3,-4.9,248,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2143,3482,0,0,0,0,0,0
$GC,3922,-0.58,-146.0,359.1,-4.9,256,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2143,3480,0,0,0,0,0,0
$GC,4247,-0.58,-146.0,379.9,-6.6,264,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2143,3479,0,0,0,0,0,0
$GC,4572,-0.58,-146.0,402.7,-7.1,272,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2143,3477,0,0,0,0,0,0
$GC,4898,-0.58,-146.0,423.6,-5.9,280,4902,0.00,2.30,-0.10,0.000,4,0.000,0.080,2444,3562,3496,0,0,0,0,0,0
$GC,4921,-0.58,-146.0,424.9,-5.1,280,4925,0.00,2.20,0.00,0.000,6,0.000,0.043,2444,2135,3496,0,0,0,0,0,0
$GC,5261,-0.58,-146.0,441.1,-4.8,289,5265,0.00,2.15,0.00,0.000,4,0.000,0.051,2444,742,3496,0,0,0,0,0,0
$GC,5293,-0.58,-146.0,442.8,-5.6,289,5298,0.00,2.20,0.00,0.000,6,0.000,0.051,2444,2151,3494,0,0,0,0,0,0
$GC,5624,-0.58,-146.0,461.7,-5.8,297,5628,0.00,2.22,0.00,0.000,4,0.000,0.064,2444,3554,3491,0,0,0,0,0,0
$GC,5891,-0.58,-146.0,482.0,-8.7,302,5897,0.00,2.15,0.00,0.000,6,0.000,0.044,2444,2146,3489,0,0,0,0,0,0
$GC,6222,-0.58,-146.0,509.8,-8.7,311,6226,0.00,2.28,0.00,0.000,4,0.000,0.066,2444,3559,3488,0,0,0,0,0,0
$GC,6332,-0.58,-146.0,520.1,-10.0,313,6336,0.00,2.15,0.00,0.000,6,0.000,0.041,2443,2145,3487,0,0,0,0,0,0
$GC,6680,-0.58,-146.0,543.6,-6.1,322,6685,0.00,2.30,0.00,0.000,4,0.000,0.064,2444,3562,3485,0,0,0,0,0,0
$GC,6915,-0.58,-146.0,560.3,-8.2,327,6920,0.00,2.17,0.00,0.000,6,0.000,0.042,2444,2138,3484,0,0,0,0,0,0
$GC,7233,-0.58,-146.0,584.3,-7.8,335,7237,0.00,2.17,0.00,0.000,4,0.000,0.054,2444,745,3482,0,0,0,0,0,0
$GC,7348,-0.58,-146.0,593.8,-8.3,337,7352,0.00,2.17,0.00,0.000,6,0.000,0.049,2444,2150,3481,0,0,0,0,0,0
$GC,7692,-0.58,-146.0,620.3,-7.8,346,7696,0.00,2.30,0.00,0.000,4,0.000,0.066,2443,3554,3479,0,0,0,0,0,0
$GC,7822,-0.58,-146.0,631.0,-8.8,348,7827,0.00,2.15,0.00,0.000,6,0.000,0.044,2444,2144,3478,0,0,0,0,0,0
$GC,8152,-0.58,-146.0,656.4,-7.7,357,8156,0.00,2.28,0.00,0.000,4,0.000,0.067,2444,3553,3476,0,0,0,0,0,0
$GC,8198,-0.58,-146.0,660.0,-8.2,358,8202,0.00,2.17,0.00,0.000,6,0.000,0.044,2444,2146,3477,0,0,0,0,0,0
$GC,8521,-0.58,-146.0,683.6,-7.4,366,8525,0.00,2.20,0.00,0.000,4,0.000,0.054,2444,740,3475,0,0,0,0,0,0
$GC,8553,-0.58,-146.0,686.2,-7.4,366,8557,0.00,2.20,0.00,0.000,6,0.000,0.051,2444,2143,3475,0,0,1,0,0,0
$GC,8888,-0.58,-146.0,711.8,-7.9,375,8892,0.00,2.28,0.00,0.000,4,0.000,0.067,2444,3555,3474,0,0,0,0,0,0
$GC,9104,-0.58,-146.0,731.0,-8.8,379,9108,0.00,2.17,0.00,0.000,6,0.000,0.046,2444,2147,3472,0,0,0,0,0,0
$GC,9435,-0.58,-146.0,761.8,-9.5,387,9439,0.00,2.22,0.00,0.000,4,0.000,0.055,2444,742,3470,0,0,0,0,0,0
$GC,9499,-0.58,-146.0,768.1,-9.3,388,9503,0.00,2.20,0.00,0.000,6,0.000,0.052,2440,2145,3470,0,0,0,0,0,0
$GC,9842,-0.58,-146.0,798.4,-8.5,397,9846,0.00,2.33,0.00,0.000,4,0.000,0.068,2444,3561,3468,0,0,0,0,0,0
$GC,9998,-0.58,-146.0,811.8,-8.6,400,10002,0.00,2.20,0.00,0.000,6,0.000,0.045,2444,2138,3467,0,0,0,0,0,0
$GC,10347,-0.58,-146.0,835.2,-6.3,409,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2135,3467,0,0,0,0,0,0
$GC,10672,-0.58,-146.0,854.3,-5.9,417,10677,0.00,2.30,0.00,0.000,4,0.000,0.067,2444,3555,3466,0,0,0,0,0,0
$GC,10732,-0.58,-146.0,858.1,-7.1,418,10736,0.00,2.20,0.00,0.000,6,0.000,0.048,2447,2139,3465,0,0,0,0,0,0
$GC,11080,-0.58,-146.0,881.9,-7.4,427,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2135,3465,0,0,0,0,0,0
$GC,11406,-0.58,-146.0,910.2,-9.3,435,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2135,3464,0,0,0,0,0,0
$GC,11730,-0.58,-146.0,942.6,-10.2,443,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2135,3462,0,0,0,0,0,0
$GC,12055,-0.58,-146.0,972.5,-8.7,451,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2135,3461,0,0,0,0,0,0
$STATE,12297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12297,begin apogee
$GC,12303,-0.28,0.0,990.5,7.2,457,12429,0.32,0.00,123.68,1.353,6,0.064,0.000,2582,2039,2890,0,0,0,0,0,0
$STATE,12432,end apogee,CONTROL_FINISHED_OK
$STATE,12432,begin climb
$GC,12434,0.58,146.0,995.6,0.0,460,12572,0.68,2.45,129.57,1.315,4,0.052,0.056,2851,654,2294,0,0,0,0,0,0
$GC,12795,0.58,146.0,947.6,17.6,468,12799,0.00,2.28,0.00,0.000,6,0.000,0.058,2855,2045,2282,0,0,0,0,0,0
$GC,13113,0.58,146.0,892.3,17.3,476,13117,0.00,2.30,0.00,0.000,4,0.000,0.067,2851,3456,2278,0,0,0,0,0,0
$GC,13172,0.58,146.0,881.0,19.7,477,13176,0.00,2.22,0.00,0.000,6,0.000,0.048,2862,2054,2279,0,0,0,0,0,0
$GC,13485,0.58,146.0,828.0,16.4,485,13489,0.00,2.30,0.00,0.000,4,0.000,0.067,2861,3456,2278,0,0,0,0,0,0
$GC,13508,0.58,146.0,824.0,15.9,485,13512,0.15,2.22,0.00,0.000,6,0.229,0.048,2839,2036,2278,0,0,0,0,0,0
$GC,13848,0.58,146.0,775.6,13.8,494,13849,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2030,2276,0,0,0,0,0,0
$GC,14173,0.58,146.0,732.6,13.1,502,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2030,2275,0,0,0,0,0,0
$GC,14498,0.58,146.0,690.0,13.2,510,14502,0.00,2.35,0.00,0.000,4,0.000,0.071,2839,3457,2275,0,0,0,0,0,0
$GC,14609,0.58,146.0,673.8,14.4,512,14614,0.00,2.22,0.00,0.000,6,0.000,0.050,2848,2045,2275,0,0,0,0,0,0
$GC,14954,0.58,146.0,626.4,13.7,521,14958,0.00,2.25,0.00,0.000,4,0.000,0.059,2858,627,2274,0,0,0,0,0,0
$GC,15027,0.58,146.0,616.3,12.6,522,15031,0.00,2.28,0.00,0.000,6,0.000,0.056,2857,2048,2273,0,0,0,0,0,0
$GC,15362,0.58,146.0,571.4,13.2,531,15366,0.00,2.30,0.00,0.000,4,0.000,0.069,2859,3455,2273,0,0,0,0,0,0
$GC,15478,0.58,146.0,554.4,14.9,533,15483,0.12,2.25,0.00,0.000,6,0.229,0.049,2841,2037,2273,0,0,0,0,0,0
$GC,15819,0.58,146.0,514.2,11.8,542,15823,0.00,2.33,0.00,0.000,4,0.000,0.070,2840,3456,2274,0,0,0,0,0,0
$GC,15999,0.58,146.0,490.0,12.3,546,16003,0.00,2.20,0.00,0.000,6,0.000,0.050,2849,2038,2273,0,0,1,0,0,0
$GC,16326,0.58,146.0,451.7,11.9,554,16330,0.00,2.35,0.00,0.000,4,0.000,0.069,2849,3462,2272,0,0,0,0,0,0
$GC,16348,0.58,146.0,448.6,13.9,554,16352,0.00,2.22,0.00,0.000,6,0.000,0.050,2859,2047,2272,0,0,0,0,0,0
$GC,16692,0.58,146.0,410.6,10.6,563,16696,0.00,2.33,0.00,0.000,4,0.000,0.068,2859,3460,2271,0,0,0,0,0,0
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$STATE,21745,end climb,SURFACE_DEPTH_REACHED
$STATE,21745,begin surface coast
$FINISH,0.7,1.012395
$STATE,21780,end surface coast,CONTROL_FINISHED_OK
$STATE,21780,begin surface
$SM_CCo,21799,215.68,0.560,0,0,500,586.50
$SM_GC,1.65,0.00,0.00,215.68,0.000,0.000,0.560,42,2139,500,-8.15,-0.17,586.50
$IRIDIUM_FIX,1756.43,12705.79,290612,111148
$TT8_MAMPS,0.056758
$HUMID,1078663861
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,25.40
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8384970752
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53736833024
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,50.247
$10V_AH,9.9,33.279
$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,19.475,174.450,302.850,215.675,0.000,156.239,187.220,1039.383,0.250,0.000,36.664,1878.900,16986.328,663.222,3834.094,523.684,33.364,2014.835,0.000,2519.526,0.000,0.544,0.000
$DEVICE_MAMPS,247.741,92.040,1352.988,559.910,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,636.639,0.000,0.000,0.000,0.000,0.000,0.000,22082.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.684,0.000,0.000
$MEM,354956
$DATA_FILE_SIZE,33357,946
$CAP_FILE_SIZE,208887,0
$CFSIZE,260165632,237846528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,040111,232931,1805.021,12708.917,73,1.0,73,-2.0