version: 66.07
glider: 511
mission: 5
dive: 262
start: 1 11 111 4 41 33
data:
$ID,511
$MISSION,5
$DIVE,262
$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,400
$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,-47253.215
$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,2160
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,24
$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,261
$AR_SAMPLENUM,0
$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
$GPS1,110111,043237,1804.457,12736.232,77,1.0,77,-2.0
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.0
$GPS2,110111,044038,1804.518,12736.244,27,1.8,27,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.211,0.039
$KALMAN_X,-588590.1,107.7,1562.8,587428.8,-13297.7
$KALMAN_Y,574239.8,-45.9,478.3,-856025.1,2981.8
$MHEAD_RNG_PITCHd_Wd,81.5,57709,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-70.20,0.000,2,0.000,0.000,35,2160,2745,0,0,0,0,0,0
$GC,101,-0.58,-146.0,3.6,-4.0,7,130,10.43,0.00,-15.43,0.000,6,0.251,0.000,2455,2157,3487,0,0,0,0,0,0
$GC,322,-0.58,-146.0,46.2,-15.4,28,326,0.00,2.22,0.00,0.000,4,0.000,0.057,2455,744,3489,0,0,0,0,0,0
$GC,373,-0.58,-146.0,54.7,-15.2,33,377,0.00,2.22,0.00,0.000,6,0.000,0.052,2449,2158,3489,0,0,0,0,0,0
$GC,633,-0.58,-146.0,99.0,-14.7,57,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2158,3489,0,0,0,0,0,0
$GC,889,-0.58,-146.0,134.0,-12.4,81,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2158,3490,0,0,0,0,0,0
$GC,1143,-0.58,-146.0,164.8,-11.5,105,1147,0.00,2.20,0.00,0.000,4,0.000,0.057,2449,753,3490,0,0,0,0,0,0
$GC,1280,-0.58,-146.0,179.0,-9.3,119,1286,0.00,2.22,0.00,0.000,6,0.000,0.051,2447,2167,3491,0,0,0,0,0,0
$GC,1540,-0.58,-146.0,202.5,-8.8,143,1544,0.00,2.25,0.00,0.000,4,0.000,0.067,2439,3569,3491,0,0,0,0,0,0
$GC,1606,-0.58,-146.0,207.7,-7.7,146,1610,0.00,2.15,0.00,0.000,6,0.000,0.041,2437,2152,3489,0,0,0,0,0,0
$GC,1934,-0.58,-146.0,236.0,-8.9,162,1938,0.00,2.17,0.00,0.000,4,0.000,0.053,2439,755,3490,0,0,0,0,0,0
$GC,2030,-0.58,-146.0,245.0,-9.0,166,2035,0.00,2.22,0.00,0.000,6,0.000,0.052,2436,2164,3490,0,0,0,0,0,0
$GC,2350,-0.58,-146.0,273.2,-8.6,182,2354,0.10,2.25,0.00,0.000,4,0.164,0.065,2456,3572,3490,0,0,0,0,0,0
$GC,2377,-0.58,-146.0,275.4,-7.0,183,2381,0.00,2.15,0.00,0.000,6,0.000,0.043,2458,2167,3490,0,0,0,0,0,0
$GC,2697,-0.58,-146.0,295.9,-6.6,199,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2167,3490,0,0,0,0,0,0
$GC,3023,-0.58,-146.0,315.5,-5.9,209,3027,0.00,2.20,0.00,0.000,4,0.000,0.054,2456,750,3489,0,0,0,0,0,0
$GC,3045,-0.58,-146.0,316.9,-6.2,209,3049,0.00,2.22,0.00,0.000,6,0.000,0.051,2456,2161,3488,0,0,0,0,0,0
$GC,3390,-0.58,-146.0,334.0,-4.8,218,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2163,3487,0,0,0,0,0,0
$GC,3714,-0.58,-146.0,357.2,-7.9,226,3718,0.00,2.25,0.00,0.000,4,0.000,0.061,2456,744,3485,0,0,0,0,0,0
$GC,3862,-0.58,-146.0,369.9,-10.0,229,3866,0.00,2.22,0.00,0.000,6,0.000,0.055,2456,2158,3484,0,0,0,0,0,0
$GC,4174,-0.58,-146.0,395.6,-8.1,237,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2158,3481,0,0,0,0,0,0
$GC,4499,-0.58,-146.0,420.6,-7.8,245,4503,0.00,2.25,0.00,0.000,4,0.000,0.064,2456,3573,3479,0,0,0,0,0,0
$GC,4766,-0.58,-146.0,444.6,-9.7,250,4773,0.00,2.20,-0.10,0.000,6,0.000,0.048,2456,2148,3498,0,0,0,0,0,0
$GC,5097,-0.58,-146.0,472.9,-8.7,259,5101,0.00,2.15,0.00,0.000,4,0.000,0.054,2456,754,3498,0,0,0,0,0,0
$GC,5139,-0.58,-146.0,476.8,-9.8,260,5143,0.00,2.22,0.00,0.000,6,0.000,0.057,2461,2166,3497,0,0,0,0,0,0
$GC,5466,-0.58,-146.0,507.3,-9.4,268,5470,0.00,2.25,0.00,0.000,4,0.000,0.065,2456,3574,3495,0,0,0,0,0,0
$GC,5587,-0.58,-146.0,518.5,-9.7,270,5591,0.00,2.17,0.00,0.000,6,0.000,0.048,2455,2152,3493,0,0,1,0,0,0
$GC,5921,-0.58,-146.0,544.0,-7.2,279,5925,0.00,2.17,0.00,0.000,4,0.000,0.055,2456,753,3492,0,0,0,0,0,0
$GC,5949,-0.58,-146.0,546.1,-7.4,279,5953,0.00,2.20,0.00,0.000,6,0.000,0.050,2456,2160,3491,0,0,0,0,0,0
$GC,6284,-0.58,-146.0,569.8,-7.4,288,6288,0.00,2.30,0.00,0.000,4,0.000,0.067,2456,3569,3490,0,0,0,0,0,0
$GC,6444,-0.58,-146.0,583.6,-9.2,291,6448,0.00,2.15,0.00,0.000,6,0.000,0.043,2456,2163,3488,0,0,0,0,0,0
$GC,6784,-0.58,-146.0,612.9,-8.8,300,6788,0.00,2.20,0.00,0.000,4,0.000,0.054,2456,748,3486,0,0,0,0,0,0
$GC,6834,-0.58,-146.0,617.5,-8.5,301,6838,0.00,2.22,0.00,0.000,6,0.000,0.050,2455,2158,3483,0,0,0,0,0,0
$GC,7156,-0.58,-146.0,643.7,-8.0,309,7160,0.00,2.28,0.00,0.000,4,0.000,0.067,2455,3573,3485,0,0,0,0,0,0
$GC,7206,-0.58,-146.0,647.9,-8.0,310,7210,0.00,2.17,0.00,0.000,6,0.000,0.044,2455,2160,3483,0,0,0,0,0,0
$GC,7523,-0.58,-146.0,670.7,-7.1,318,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2153,3482,0,0,0,0,0,0
$GC,7848,-0.58,-146.0,694.4,-7.4,326,7852,0.00,2.22,0.00,0.000,4,0.000,0.055,2455,756,3479,0,0,0,0,0,0
$GC,7899,-0.58,-146.0,698.4,-8.3,327,7903,0.00,2.22,0.00,0.000,6,0.000,0.051,2455,2162,3482,0,0,0,0,0,0
$GC,8216,-0.58,-146.0,724.2,-8.3,335,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2162,3478,0,0,0,0,0,0
$GC,8541,-0.58,-146.0,750.0,-7.7,343,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2162,3479,0,0,0,0,0,0
$GC,8867,-0.58,-146.0,774.2,-7.6,351,8871,0.00,2.25,0.00,0.000,4,0.000,0.057,2456,754,3474,0,0,0,0,0,0
$GC,8955,-0.58,-146.0,781.5,-7.4,353,8959,0.00,2.22,0.00,0.000,6,0.000,0.051,2456,2165,3474,0,0,0,0,0,0
$GC,9281,-0.58,-146.0,811.0,-9.6,361,9285,0.00,2.28,0.00,0.000,4,0.000,0.068,2456,3569,3472,0,0,0,0,0,0
$GC,9326,-0.58,-146.0,815.6,-11.1,362,9330,0.00,2.20,0.00,0.000,6,0.000,0.046,2455,2151,3472,0,0,0,0,0,0
$GC,9648,-0.58,-146.0,847.1,-9.8,370,9652,0.00,2.20,0.00,0.000,4,0.000,0.056,2456,753,3470,0,0,0,0,0,0
$GC,9707,-0.58,-146.0,852.9,-9.4,371,9711,0.00,2.22,0.00,0.000,6,0.000,0.051,2456,2159,3470,0,0,0,0,0,0
$GC,10020,-0.58,-146.0,880.7,-8.7,379,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2159,3468,0,0,0,0,0,0
$GC,10345,-0.58,-146.0,907.5,-8.0,387,10349,0.00,2.33,0.00,0.000,4,0.000,0.069,2455,3573,3467,0,0,0,0,0,0
$GC,10390,-0.58,-146.0,911.0,-7.8,388,10394,0.00,2.22,0.00,0.000,6,0.000,0.048,2456,2159,3467,0,0,0,0,0,0
$GC,10712,-0.58,-146.0,934.2,-7.1,396,10716,0.00,2.22,0.00,0.000,4,0.000,0.057,2454,751,3469,0,0,0,0,0,0
$GC,10754,-0.58,-146.0,937.2,-6.7,397,10759,0.00,2.22,0.00,0.000,6,0.000,0.052,2455,2159,3466,0,0,0,0,0,0
$GC,11081,-0.58,-146.0,958.7,-6.6,405,11085,0.00,2.25,0.00,0.000,4,0.000,0.057,2455,756,3466,0,0,1,0,0,0
$GC,11164,-0.58,-146.0,964.5,-7.5,406,11170,0.00,2.22,0.00,0.000,6,0.000,0.053,2458,2158,3465,0,0,0,0,0,0
$GC,11494,-0.58,-146.0,988.1,-7.4,415,11498,0.00,2.25,0.00,0.000,4,0.000,0.057,2455,755,3464,0,0,0,0,0,0
$STATE,11515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11515,begin apogee
$GC,11522,-0.28,0.0,990.1,8.5,415,11651,0.28,0.00,125.22,1.354,6,0.081,0.000,2568,2035,2887,0,0,0,0,0,0
$STATE,11654,end apogee,CONTROL_FINISHED_OK
$STATE,11654,begin climb
$GC,11656,0.58,146.0,995.7,0.0,418,11795,0.73,2.47,130.95,1.315,4,0.055,0.067,2841,3437,2293,0,0,0,0,0,0
$GC,11981,0.58,146.0,959.9,18.4,425,11985,0.00,2.22,0.00,0.000,6,0.000,0.048,2851,2034,2283,0,0,1,0,0,0
$GC,12325,0.58,146.0,905.7,15.6,434,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2029,2279,0,0,0,0,0,0
$GC,12650,0.58,146.0,854.6,15.7,442,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2029,2277,0,0,0,0,0,0
$GC,12975,0.58,146.0,804.8,15.4,450,12979,0.00,2.33,0.00,0.000,4,0.000,0.071,2851,3445,2276,0,0,0,0,0,0
$GC,13034,0.58,146.0,794.5,16.9,451,13039,0.00,2.22,0.00,0.000,6,0.000,0.050,2861,2033,2277,0,0,0,0,0,0
$GC,13383,0.58,146.0,743.3,14.4,460,13387,0.00,2.33,0.00,0.000,4,0.000,0.069,2861,3444,2275,0,0,0,0,0,0
$GC,13457,0.58,146.0,731.6,16.6,461,13462,0.15,2.22,0.00,0.000,6,0.220,0.051,2839,2021,2275,0,0,1,0,0,0
$GC,13797,0.58,146.0,688.7,12.2,470,13801,0.00,2.25,0.00,0.000,4,0.000,0.061,2847,618,2270,0,0,0,0,0,0
$GC,13829,0.58,146.0,684.6,12.6,470,13833,0.00,2.25,0.00,0.000,6,0.000,0.054,2844,2028,2272,0,0,0,0,0,0
$GC,14159,0.58,146.0,643.5,12.4,478,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2031,2272,0,0,0,0,0,0
$GC,14484,0.58,146.0,601.4,12.5,486,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2032,2270,0,0,0,0,0,0
$GC,14809,0.58,146.0,560.6,12.1,494,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2032,2271,0,0,0,0,0,0
$GC,15134,0.58,146.0,524.7,11.1,502,15138,0.00,2.35,0.00,0.000,4,0.000,0.070,2844,3448,2269,0,0,0,0,0,0
$GC,15286,0.58,146.0,505.4,12.7,505,15290,0.00,2.25,0.00,0.000,6,0.000,0.050,2852,2017,2271,0,0,0,0,0,0
$GC,15634,0.58,146.0,464.3,11.5,514,15638,0.00,2.38,0.00,0.000,4,0.000,0.069,2853,3444,2271,0,0,0,0,0,0
$GC,15754,0.58,146.0,450.1,11.3,516,15758,0.00,2.22,0.00,0.000,6,0.000,0.049,2863,2030,2270,0,0,0,0,0,0
$GC,16093,0.58,146.0,417.1,9.3,525,16097,0.00,2.25,0.00,0.000,4,0.000,0.058,2874,624,2270,0,0,0,0,0,0
$GC,16153,0.58,146.0,410.8,10.2,526,16158,0.15,2.25,0.00,0.000,6,0.209,0.054,2840,2035,2269,0,0,0,0,0,0
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$STATE,21611,end climb,SURFACE_DEPTH_REACHED
$STATE,21611,begin surface coast
$FINISH,0.9,1.002277
$STATE,21643,end surface coast,CONTROL_FINISHED_OK
$STATE,21643,begin surface
$SM_CCo,21663,91.80,0.546,0,0,1257,400.08
$SM_GC,1.50,0.00,0.00,91.80,0.000,0.000,0.546,52,2151,1257,-8.12,-0.25,400.08
$IRIDIUM_FIX,1754.17,12737.99,050712,161636
$TT8_MAMPS,0.056758
$HUMID,1078659990
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,26.10
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8435466240
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52731805696
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,55.078
$10V_AH,9.9,37.395
$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,19.500,178.700,312.875,91.800,0.000,28.944,41.344,255.981,0.250,0.000,29.170,1819.465,16759.484,541.119,2841.606,271.261,33.362,1852.242,0.000,2430.964,0.000,0.545,0.000
$DEVICE_MAMPS,250.809,71.331,1353.755,546.104,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,600.210,0.000,0.000,0.000,0.000,0.000,0.000,20504.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.760,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,30078,891
$CAP_FILE_SIZE,183345,0
$CFSIZE,260165632,235479040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,110111,104536,1805.152,12737.666,36,0.9,36,-2.0