version: 66.07
glider: 511
mission: 5
dive: 263
start: 1 11 111 11 7 33
data:
$ID,511
$MISSION,5
$DIVE,263
$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,-47269.129
$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,28
$R_STBD_OVSHOOT,22
$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,262
$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
$GPS1,110111,104536,1805.152,12737.666,36,0.9,36,-2.0
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-73.7
$GPS2,110111,110638,1805.314,12737.675,13,1.5,13,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.186,-0.108
$KALMAN_X,-593004.8,1018.8,1318.4,593642.6,-14501.1
$KALMAN_Y,576022.8,438.6,-1876.1,-854482.4,1148.9
$MHEAD_RNG_PITCHd_Wd,122.3,56486,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.58,-146.0,0.0,0.0,0,90,0.00,0.00,-61.17,0.000,2,0.000,0.000,35,2150,2869,0,0,0,0,0,0
$GC,94,-0.58,-146.0,3.5,-3.8,6,124,10.50,2.28,-12.32,0.000,4,0.252,0.070,2455,756,3489,0,0,0,0,0,0
$GC,203,-0.58,-146.0,31.8,-19.8,18,207,0.00,2.22,0.00,0.000,6,0.000,0.051,2449,2155,3490,0,0,0,0,0,0
$GC,468,-0.58,-146.0,76.0,-17.0,43,472,0.00,2.22,0.00,0.000,4,0.000,0.058,2449,756,3490,0,0,0,0,0,0
$GC,510,-0.58,-146.0,82.9,-15.7,47,514,0.00,2.20,0.00,0.000,6,0.000,0.053,2443,2162,3490,0,0,0,0,0,0
$GC,772,-0.58,-146.0,125.1,-16.5,71,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2163,3490,0,0,0,0,0,0
$GC,1025,-0.58,-146.0,157.1,-10.8,95,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2164,3491,0,0,0,0,0,0
$GC,1280,-0.58,-146.0,181.6,-8.5,119,1284,0.00,2.22,0.00,0.000,4,0.000,0.055,2443,749,3490,0,0,0,0,0,0
$GC,1313,-0.58,-146.0,184.5,-8.4,122,1318,0.00,2.22,0.00,0.000,6,0.000,0.053,2442,2172,3491,0,0,0,0,0,0
$GC,1582,-0.58,-146.0,207.2,-8.4,143,1586,0.00,2.22,0.00,0.000,4,0.000,0.068,2428,3569,3490,0,0,0,0,0,0
$GC,1624,-0.58,-146.0,211.0,-8.4,145,1629,0.12,2.15,0.00,0.000,6,0.131,0.042,2471,2152,3490,0,0,0,0,0,0
$GC,1955,-0.58,-146.0,230.6,-5.6,161,1959,0.00,2.17,0.00,0.000,4,0.000,0.058,2468,752,3490,0,0,0,0,0,0
$GC,1997,-0.58,-146.0,232.9,-5.7,163,2001,0.00,2.20,0.00,0.000,6,0.000,0.051,2471,2160,3490,0,0,0,0,0,0
$GC,2326,-0.58,-146.0,249.0,-4.6,179,2330,0.00,2.28,0.00,0.000,4,0.000,0.066,2471,3574,3489,0,0,0,0,0,0
$GC,2353,-0.58,-146.0,250.5,-5.0,180,2358,0.00,2.15,0.00,0.000,6,0.000,0.042,2471,2165,3490,0,0,0,0,0,0
$GC,2673,-0.58,-146.0,271.5,-7.7,196,2677,0.00,2.30,0.00,0.000,4,0.000,0.071,2471,3573,3489,0,0,0,0,0,0
$GC,2907,-0.58,-146.0,293.5,-9.4,206,2912,0.00,2.17,0.00,0.000,6,0.000,0.044,2471,2154,3487,0,0,0,0,0,0
$GC,3244,-0.58,-146.0,322.3,-8.3,217,3248,0.00,2.30,0.00,0.000,4,0.000,0.069,2471,3570,3485,0,0,0,0,0,0
$GC,3299,-0.58,-146.0,326.8,-7.8,218,3303,0.00,2.17,0.00,0.000,6,0.000,0.044,2472,2164,3486,0,0,0,0,0,0
$GC,3616,-0.58,-146.0,352.5,-8.6,226,3620,0.00,2.20,0.00,0.000,4,0.000,0.054,2471,748,3484,0,0,0,0,0,0
$GC,3648,-0.58,-146.0,355.7,-9.7,226,3652,0.00,2.25,0.00,0.000,6,0.000,0.055,2471,2162,3482,0,0,0,0,0,0
$GC,3978,-0.58,-146.0,386.5,-9.1,234,3982,0.00,2.25,0.00,0.000,4,0.000,0.064,2471,3573,3482,0,0,0,0,0,0
$GC,4029,-0.58,-146.0,391.0,-8.9,235,4033,0.00,2.22,0.00,0.000,6,0.000,0.048,2471,2150,3481,0,0,0,0,0,0
$GC,4346,-0.58,-146.0,414.6,-7.3,243,4350,0.00,2.17,0.00,0.000,4,0.000,0.054,2471,747,3479,0,0,0,0,0,0
$GC,4378,-0.58,-146.0,417.1,-7.4,243,4382,0.00,2.25,0.00,0.000,6,0.000,0.055,2472,2165,3479,0,0,0,0,0,0
$GC,4713,-0.58,-146.0,441.9,-7.5,252,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2166,3478,0,0,0,0,0,0
$GC,5038,-0.58,-146.0,466.5,-7.5,260,5040,0.00,0.00,-0.10,0.000,6,0.000,0.000,2471,2166,3498,0,0,0,0,0,0
$GC,5363,-0.58,-146.0,491.9,-8.1,268,5367,0.00,2.25,0.00,0.000,4,0.000,0.066,2471,3568,3496,0,0,0,0,0,0
$GC,5394,-0.58,-146.0,494.6,-8.9,268,5399,0.00,2.17,0.00,0.000,6,0.000,0.043,2471,2141,3496,0,0,0,0,0,0
$GC,5730,-0.58,-146.0,524.7,-9.3,277,5734,0.00,2.12,0.00,0.000,4,0.000,0.053,2471,761,3492,0,0,0,0,0,0
$GC,5780,-0.58,-146.0,529.8,-10.0,278,5784,0.00,2.20,0.00,0.000,6,0.000,0.050,2472,2163,3495,0,0,0,0,0,0
$GC,6101,-0.58,-146.0,558.0,-8.7,286,6105,0.00,2.20,0.00,0.000,4,0.000,0.054,2471,753,3491,0,0,0,0,0,0
$GC,6144,-0.58,-146.0,561.4,-8.4,287,6148,0.00,2.22,0.00,0.000,6,0.000,0.048,2471,2169,3490,0,0,0,0,0,0
$GC,6470,-0.58,-146.0,587.7,-8.0,295,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2170,3488,0,0,0,0,0,0
$GC,6795,-0.58,-146.0,612.5,-7.5,303,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2169,3486,0,0,0,0,0,0
$GC,7121,-0.58,-146.0,636.6,-7.5,311,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2166,3483,0,0,0,0,0,0
$GC,7445,-0.58,-146.0,664.0,-8.8,319,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2169,3482,0,0,0,0,0,0
$GC,7770,-0.58,-146.0,694.3,-9.4,327,7774,0.00,2.22,0.00,0.000,4,0.000,0.054,2471,752,3479,0,0,0,0,0,0
$GC,7813,-0.58,-146.0,698.4,-9.6,328,7817,0.00,2.22,0.00,0.000,6,0.000,0.050,2471,2157,3479,0,0,0,0,0,0
$GC,8139,-0.58,-146.0,728.0,-9.2,336,8143,0.00,2.30,0.00,0.000,4,0.000,0.067,2471,3569,3478,0,0,0,0,0,0
$GC,8172,-0.58,-146.0,731.1,-9.8,336,8176,0.00,2.17,0.00,0.000,6,0.000,0.044,2471,2157,3477,0,0,0,0,0,0
$GC,8507,-0.58,-146.0,761.0,-9.1,345,8511,0.00,2.17,0.00,0.000,4,0.000,0.054,2467,764,3475,0,0,0,0,0,0
$GC,8549,-0.58,-146.0,764.9,-9.5,346,8553,0.00,2.22,0.00,0.000,6,0.000,0.051,2467,2163,3476,0,0,0,0,0,0
$GC,8875,-0.58,-146.0,793.4,-8.7,354,8879,0.00,2.22,0.00,0.000,4,0.000,0.054,2471,764,3475,0,0,0,0,0,0
$GC,8935,-0.58,-146.0,798.6,-8.3,355,8939,0.00,2.22,0.00,0.000,6,0.000,0.051,2470,2161,3477,0,0,0,0,0,0
$GC,9284,-0.58,-146.0,826.2,-7.8,364,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2161,3471,0,0,0,0,0,0
$GC,9609,-0.58,-146.0,850.5,-7.3,372,9613,0.00,2.20,0.00,0.000,4,0.000,0.055,2471,764,3469,0,0,0,0,0,0
$GC,9664,-0.58,-146.0,854.4,-6.9,373,9668,0.00,2.20,0.00,0.000,6,0.000,0.051,2472,2162,3469,0,0,0,0,0,0
$GC,9981,-0.58,-146.0,875.6,-6.8,381,9985,0.00,2.22,0.00,0.000,4,0.000,0.056,2471,765,3467,0,0,0,0,0,0
$GC,10018,-0.58,-146.0,878.4,-7.6,381,10023,0.00,2.22,0.00,0.000,6,0.000,0.051,2471,2159,3467,0,0,0,0,0,0
$GC,10348,-0.58,-146.0,900.6,-7.0,390,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2160,3464,0,0,0,0,0,0
$GC,10673,-0.58,-146.0,926.6,-8.4,398,10677,0.00,2.30,0.00,0.000,4,0.000,0.071,2471,3569,3466,0,0,0,0,0,0
$GC,10695,-0.58,-146.0,928.6,-9.3,398,10700,0.00,2.15,0.00,0.000,6,0.000,0.047,2471,2163,3465,0,0,1,0,0,0
$GC,11035,-0.58,-146.0,958.7,-9.2,407,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2162,3464,0,0,0,0,0,0
$GC,11360,-0.58,-146.0,988.7,-9.2,415,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2162,3463,0,0,0,0,0,0
$STATE,11399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11399,begin apogee
$GC,11404,-0.28,0.0,992.4,9.2,416,11531,0.25,0.00,124.65,1.350,6,0.080,0.000,2573,2014,2890,0,0,0,0,0,0
$STATE,11534,end apogee,CONTROL_FINISHED_OK
$STATE,11535,begin climb
$GC,11537,0.58,146.0,999.5,0.0,419,11675,0.70,2.40,130.23,1.317,4,0.055,0.057,2849,624,2293,0,0,0,0,0,0
$GC,11924,0.58,146.0,956.0,15.5,427,11929,0.00,2.28,0.00,0.000,6,0.000,0.054,2849,2028,2280,0,0,0,0,0,0
$GC,12255,0.58,146.0,904.3,15.6,435,12259,0.00,2.30,0.00,0.000,4,0.000,0.069,2849,3442,2274,0,0,0,0,0,0
$GC,12273,0.58,146.0,901.2,17.8,435,12277,0.00,2.20,0.00,0.000,6,0.000,0.048,2859,2036,2277,0,0,1,0,0,0
$GC,12621,0.58,146.0,846.3,15.2,444,12625,0.00,2.30,0.00,0.000,4,0.000,0.070,2858,3441,2275,0,0,0,0,0,0
$GC,12732,0.58,146.0,827.4,17.1,446,12737,0.12,2.25,0.00,0.000,6,0.232,0.050,2842,2024,2273,0,0,0,0,0,0
$GC,13081,0.58,146.0,776.8,14.1,455,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2021,2272,0,0,0,0,0,0
$GC,13406,0.58,146.0,731.9,13.8,463,13410,0.00,2.33,0.00,0.000,4,0.000,0.069,2838,3446,2275,0,0,0,0,0,0
$GC,13471,0.58,146.0,722.1,15.6,464,13475,0.00,2.22,0.00,0.000,6,0.000,0.049,2851,2030,2273,0,0,1,0,0,0
$GC,13815,0.58,146.0,675.3,13.6,473,13819,0.00,2.33,0.00,0.000,4,0.000,0.067,2851,3447,2272,0,0,0,0,0,0
$GC,13851,0.58,146.0,670.0,14.3,473,13857,0.00,2.25,0.00,0.000,6,0.000,0.049,2861,2027,2273,0,0,0,0,0,0
$GC,14182,0.58,146.0,625.0,13.5,482,14186,0.00,2.22,0.00,0.000,4,0.000,0.059,2872,619,2271,0,0,0,0,0,0
$GC,14270,0.58,146.0,613.4,11.8,484,14275,0.15,2.25,0.00,0.000,6,0.208,0.054,2838,2029,2272,0,0,0,0,0,0
$GC,14598,0.58,146.0,576.0,11.3,492,14602,0.00,2.33,0.00,0.000,4,0.000,0.070,2837,3444,2270,0,0,0,0,0,0
$GC,14846,0.58,146.0,545.4,12.2,497,14850,0.00,2.22,0.00,0.000,6,0.000,0.050,2842,2027,2270,0,0,1,0,0,0
$GC,15195,0.58,146.0,506.7,11.2,506,15199,0.00,2.30,0.00,0.000,4,0.000,0.068,2846,3439,2269,0,0,0,0,0,0
$GC,15307,0.58,146.0,492.8,12.4,508,15311,0.00,2.22,0.00,0.000,6,0.000,0.049,2856,2024,2269,0,0,1,0,0,0
$GC,15651,0.58,146.0,451.8,11.9,517,15656,0.00,2.22,0.00,0.000,4,0.000,0.058,2867,621,2269,0,0,0,0,0,0
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$STATE,21123,end climb,SURFACE_DEPTH_REACHED
$STATE,21123,begin surface coast
$FINISH,0.7,1.022604
$STATE,21146,end surface coast,CONTROL_FINISHED_OK
$STATE,21146,begin surface
$SM_CCo,21164,78.65,0.553,0,0,1258,400.08
$SM_GC,1.81,0.00,0.00,78.65,0.000,0.000,0.553,53,2174,1258,-8.13,0.40,400.08
$IRIDIUM_FIX,1800.97,12729.83,060712,050549
$TT8_MAMPS,0.057525
$HUMID,1078725797
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,25.90
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8435433472
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52731805696
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,55.258
$10V_AH,9.9,37.500
$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,19.675,183.675,328.000,78.650,0.000,91.130,156.291,745.899,0.250,0.000,15.284,1755.240,16594.451,523.067,3221.954,407.499,33.366,1782.281,0.000,2283.472,0.000,0.544,0.000
$DEVICE_MAMPS,251.576,79.768,1349.920,553.007,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,574.263,0.000,0.000,0.000,0.000,0.000,0.000,20772.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.361,0.000,0.000
$MEM,354952
$DATA_FILE_SIZE,30038,852
$CAP_FILE_SIZE,192608,0
$CFSIZE,260165632,235388928
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,110111,170427,1804.814,12738.521,99,6.8,118,-2.0