version: 66.07
glider: 511
mission: 5
dive: 275
start: 1 14 111 19 18 27
data:
$ID,511
$MISSION,5
$DIVE,275
$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,440
$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,-47639.809
$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,2595
$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,25
$R_STBD_OVSHOOT,20
$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,274
$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
$GPS1,140111,190226,1756.339,12754.829,29,1.5,48,-2.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.4
$GPS2,140111,191732,1756.257,12754.713,15,1.3,15,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.107,-0.187
$KALMAN_X,-608630.9,-74.9,158.6,641090.1,-1240.3
$KALMAN_Y,615686.4,8.6,-1742.1,-910611.3,12046.1
$MHEAD_RNG_PITCHd_Wd,152.2,22745,-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,-61.00,0.000,2,0.000,0.000,44,2167,2871,0,0,0,0,0,0
$GC,93,-0.58,-146.0,4.0,-4.5,6,123,10.30,2.30,-12.32,0.000,4,0.254,0.070,2401,753,3487,0,0,0,0,0,0
$GC,202,-0.58,-146.0,33.8,-20.9,18,206,0.00,2.22,0.00,0.000,6,0.000,0.053,2392,2159,3489,0,0,0,0,0,0
$GC,467,-0.58,-146.0,98.9,-24.5,43,471,0.00,2.22,0.00,0.000,4,0.000,0.056,2397,751,3490,0,0,1,0,0,0
$GC,527,-0.58,-146.0,113.1,-22.4,49,531,0.00,2.22,0.00,0.000,6,0.000,0.053,2381,2165,3491,0,0,0,0,0,0
$GC,787,-0.58,-146.0,173.5,-20.3,73,791,0.00,2.22,0.00,0.000,4,0.000,0.056,2382,752,3491,0,0,0,0,0,0
$GC,856,-0.58,-146.0,187.1,-17.1,80,862,0.12,2.20,0.00,0.000,6,0.169,0.050,2404,2160,3493,0,0,0,0,0,0
$GC,1111,-0.58,-146.0,222.2,-12.9,97,1115,0.00,2.22,0.00,0.000,4,0.000,0.056,2410,748,3493,0,0,1,0,0,0
$GC,1171,-0.58,-146.0,229.3,-11.3,99,1176,0.00,2.20,0.00,0.000,6,0.000,0.051,2398,2160,3493,0,0,0,0,0,0
$GC,1485,-0.58,-146.0,268.9,-12.4,115,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2160,3493,0,0,0,0,0,0
$GC,1795,-0.58,-146.0,300.4,-10.3,130,1799,0.00,2.20,0.00,0.000,4,0.000,0.058,2398,752,3493,0,0,1,0,0,0
$GC,1883,-0.58,-146.0,309.2,-9.5,132,1887,0.00,2.20,0.00,0.000,6,0.000,0.052,2391,2161,3492,0,0,0,0,0,0
$GC,2210,-0.58,-146.0,342.4,-10.1,140,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2161,3492,0,0,0,0,0,0
$GC,2535,-0.58,-146.0,373.5,-9.3,148,2539,0.00,2.25,0.00,0.000,4,0.000,0.059,2392,750,3489,0,0,0,0,0,0
$GC,2585,-0.58,-146.0,378.5,-9.4,149,2590,0.00,2.22,0.00,0.000,6,0.000,0.054,2388,2168,3491,0,0,0,0,0,0
$GC,2903,-0.58,-146.0,408.9,-9.2,157,2907,0.00,2.25,0.00,0.000,4,0.000,0.061,2388,751,3486,0,0,0,0,0,0
$GC,2967,-0.58,-146.0,415.1,-9.9,158,2971,0.00,2.22,0.00,0.000,6,0.000,0.054,2380,2163,3488,0,0,0,0,0,0
$GC,3316,-0.58,-146.0,448.4,-9.5,167,3320,0.00,2.25,0.00,0.000,4,0.000,0.061,2380,750,3485,0,0,0,0,0,0
$GC,3352,-0.58,-146.0,452.0,-9.4,167,3356,0.12,2.22,0.00,0.000,6,0.150,0.054,2413,2161,3484,0,0,0,0,0,0
$GC,3688,-0.58,-146.0,477.0,-7.3,176,3692,0.00,2.25,0.00,0.000,4,0.000,0.060,2408,742,3482,0,0,0,0,0,0
$GC,3710,-0.58,-146.0,478.7,-7.8,176,3714,0.00,2.25,0.00,0.000,6,0.000,0.058,2405,2160,3481,0,0,0,0,0,0
$GC,4054,-0.58,-146.0,501.1,-6.2,185,4058,0.00,2.22,0.00,0.000,4,0.000,0.058,2405,748,3478,0,0,0,0,0,0
$GC,4118,-0.58,-146.0,505.3,-6.1,186,4123,0.00,2.22,0.00,0.000,6,0.000,0.054,2405,2163,3478,0,0,0,0,0,0
$GC,4467,-0.58,-146.0,526.5,-6.2,195,4471,0.00,2.28,0.00,0.000,4,0.000,0.067,2405,3566,3475,0,0,0,0,0,0
$GC,4510,-0.58,-146.0,529.3,-7.1,195,4515,0.00,2.17,0.00,0.000,6,0.000,0.046,2405,2159,3475,0,0,1,0,0,0
$GC,4840,-0.58,-146.0,554.6,-8.1,204,4844,0.00,2.20,0.00,0.000,4,0.000,0.054,2404,741,3472,0,0,0,0,0,0
$GC,4914,-0.58,-146.0,561.4,-9.2,205,4918,0.00,2.28,0.00,0.000,6,0.000,0.054,2404,2162,3472,0,0,0,0,0,0
$GC,5253,-0.58,-146.0,588.2,-7.7,214,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2164,3468,0,0,0,0,0,0
$GC,5579,-0.58,-146.0,609.7,-6.2,222,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2164,3466,0,0,0,0,0,0
$GC,5903,-0.58,-146.0,628.8,-5.7,230,5907,0.00,2.22,0.00,0.000,4,0.000,0.054,2404,750,3464,0,0,0,0,0,0
$GC,5963,-0.58,-146.0,632.6,-6.3,231,5967,0.00,2.22,0.00,0.000,6,0.000,0.051,2404,2161,3464,0,0,0,0,0,0
$GC,6312,-0.58,-146.0,652.7,-5.9,240,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2163,3462,0,0,0,0,0,0
$GC,6636,-0.58,-146.0,673.5,-6.6,248,6640,0.00,2.22,0.00,0.000,4,0.000,0.054,2404,749,3460,0,0,0,0,0,0
$GC,6663,-0.58,-146.0,675.5,-8.1,248,6668,0.00,2.22,0.00,0.000,6,0.000,0.052,2404,2162,3459,0,0,0,0,0,0
$GC,6998,-0.58,-146.0,699.8,-7.4,257,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2162,3457,0,0,0,0,0,0
$GC,7324,-0.58,-146.0,724.5,-7.7,265,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2162,3456,0,0,0,0,0,0
$GC,7648,-0.58,-146.0,747.8,-7.0,273,7652,0.00,2.25,0.00,0.000,4,0.000,0.054,2404,749,3453,0,0,0,0,0,0
$GC,7698,-0.58,-146.0,751.7,-7.2,274,7702,0.00,2.25,0.00,0.000,6,0.000,0.052,2405,2166,3453,0,0,0,0,0,0
$GC,8016,-0.58,-146.0,770.1,-5.6,282,8020,0.00,2.30,0.00,0.000,4,0.000,0.071,2404,3567,3452,0,0,0,0,0,0
$GC,8039,-0.58,-146.0,771.3,-5.3,282,8043,0.00,2.22,0.00,0.000,6,0.000,0.044,2407,2143,3451,0,0,0,0,0,0
$GC,8384,-0.58,-146.0,790.4,-5.7,291,8388,0.00,2.20,0.00,0.000,4,0.000,0.054,2404,757,3450,0,0,0,0,0,0
$GC,8421,-0.58,-146.0,792.7,-6.4,291,8425,0.00,2.25,0.00,0.000,6,0.000,0.053,2405,2167,3449,0,0,0,0,0,0
$GC,8756,-0.58,-146.0,812.3,-5.8,300,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2168,3452,0,0,0,0,0,0
$GC,9081,-0.58,-146.0,831.6,-6.0,308,9085,0.00,2.30,0.00,0.000,4,0.000,0.072,2401,3567,3448,0,0,0,0,0,0
$GC,9104,-0.58,-146.0,833.1,-6.1,308,9108,0.00,2.20,0.00,0.000,6,0.000,0.047,2405,2164,3447,0,0,0,0,0,0
$GC,9443,-0.58,-146.0,852.9,-5.8,317,9447,0.00,2.25,0.00,0.000,4,0.000,0.055,2405,754,3447,0,0,0,0,0,0
$GC,9475,-0.58,-146.0,854.9,-6.9,317,9479,0.00,2.25,0.00,0.000,6,0.000,0.054,2404,2163,3447,0,0,0,0,0,0
$GC,9806,-0.58,-146.0,875.1,-6.2,325,9810,0.00,2.33,0.00,0.000,4,0.000,0.073,2404,3575,3445,0,0,0,0,0,0
$GC,9835,-0.58,-146.0,876.9,-6.4,325,9839,0.00,2.22,0.00,0.000,6,0.000,0.048,2404,2150,3445,0,0,0,0,0,0
$GC,10170,-0.58,-146.0,897.7,-6.1,334,10174,0.00,2.22,0.00,0.000,4,0.000,0.058,2405,764,3445,0,0,0,0,0,0
$GC,10207,-0.58,-146.0,900.1,-6.3,334,10212,0.00,2.28,0.00,0.000,6,0.000,0.056,2405,2163,3446,0,0,0,0,0,0
$GC,10538,-0.58,-146.0,919.2,-5.6,343,10542,0.00,2.33,0.00,0.000,4,0.000,0.073,2404,3570,3443,0,0,0,0,0,0
$GC,10556,-0.58,-146.0,920.5,-6.6,343,10560,0.00,2.20,0.00,0.000,6,0.000,0.048,2404,2162,3443,0,0,0,0,0,0
$GC,10901,-0.58,-146.0,940.4,-5.8,352,10905,0.00,2.38,0.00,0.000,4,0.000,0.071,2404,3577,3443,0,0,0,0,0,0
$GC,11099,-0.58,-146.0,951.6,-6.4,356,11103,0.00,2.22,0.00,0.000,6,0.000,0.050,2404,2165,3445,0,0,0,0,0,0
$GC,11413,-0.58,-146.0,968.0,-5.2,364,11417,0.00,2.25,0.00,0.000,4,0.000,0.058,2400,749,3441,0,0,0,0,0,0
$GC,11681,-0.58,-146.0,982.8,-5.8,369,11687,0.00,2.30,0.00,0.000,6,0.000,0.055,2404,2163,3441,0,0,0,0,0,0
$STATE,11806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11806,begin apogee
$GC,11812,-0.28,0.0,990.1,5.9,373,11936,0.30,0.00,121.43,1.358,6,0.095,0.000,2511,2026,2892,0,0,0,0,0,0
$STATE,11937,end apogee,CONTROL_FINISHED_OK
$STATE,11937,begin climb
$GC,11939,0.58,146.0,996.7,0.0,376,12082,0.75,2.47,133.75,1.322,4,0.068,0.061,2793,621,2295,0,0,1,0,0,0
$GC,12123,0.58,146.0,988.9,11.4,380,12127,0.00,2.40,0.00,0.000,6,0.000,0.054,2794,2029,2287,0,0,1,0,0,0
$GC,12473,0.58,146.0,947.6,11.7,389,12477,0.00,2.35,0.00,0.000,4,0.000,0.071,2792,3447,2281,0,0,0,0,0,0
$GC,12574,0.58,146.0,934.4,11.7,391,12578,0.00,2.22,0.00,0.000,6,0.000,0.051,2803,2038,2281,0,0,1,0,0,0
$GC,12887,0.58,146.0,895.0,12.7,399,12891,0.00,2.33,0.00,0.000,4,0.000,0.073,2802,3441,2278,0,0,0,0,0,0
$GC,12933,0.58,146.0,888.4,13.7,400,12938,0.12,2.28,0.00,0.000,6,0.219,0.051,2786,2026,2279,0,0,0,0,0,0
$GC,13256,0.58,146.0,851.0,11.4,408,13260,0.00,2.35,0.00,0.000,4,0.000,0.071,2786,3442,2278,0,0,0,0,0,0
$GC,13283,0.58,146.0,847.5,12.4,408,13287,0.00,2.28,0.00,0.000,6,0.000,0.052,2795,2022,2277,0,0,0,0,0,0
$GC,13623,0.58,146.0,809.2,11.2,417,13627,0.00,2.35,0.00,0.000,4,0.000,0.071,2795,3447,2277,0,0,0,0,0,0
$GC,13706,0.58,146.0,798.6,12.5,418,13711,0.00,2.28,0.00,0.000,6,0.000,0.051,2806,2024,2276,0,0,0,0,0,0
$GC,14036,0.58,146.0,759.4,12.0,427,14040,0.00,2.35,0.00,0.000,4,0.000,0.071,2805,3444,2275,0,0,0,0,0,0
$GC,14078,0.58,146.0,753.7,13.6,428,14083,0.15,2.25,0.00,0.000,6,0.211,0.051,2782,2024,2276,0,0,0,0,0,0
$GC,14406,0.58,146.0,717.8,11.0,436,14410,0.00,2.38,0.00,0.000,4,0.000,0.072,2781,3441,2275,0,0,0,0,0,0
$GC,14457,0.58,146.0,711.6,11.2,437,14461,0.00,2.28,0.00,0.000,6,0.000,0.051,2790,2021,2275,0,0,0,0,0,0
$GC,14774,0.58,146.0,678.5,9.9,445,14778,0.00,2.38,0.00,0.000,4,0.000,0.071,2787,3443,2274,0,0,0,0,0,0
$GC,14848,0.58,146.0,670.6,10.8,446,14852,0.00,2.25,0.00,0.000,6,0.000,0.052,2801,2026,2275,0,0,0,0,0,0
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$STATE,23338,end climb,SURFACE_DEPTH_REACHED
$STATE,23338,begin surface coast
$FINISH,0.9,1.011669
$STATE,23402,end surface coast,CONTROL_FINISHED_OK
$STATE,23402,begin surface
$SM_CCo,23423,85.82,0.549,0,0,1093,440.06
$SM_GC,1.59,0.00,0.00,85.82,0.000,0.000,0.549,46,2168,1093,-7.98,0.23,440.06
$IRIDIUM_FIX,1749.63,12756.08,090712,131328
$TT8_MAMPS,0.057525
$HUMID,1078598055
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.20
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8435040256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52570750976
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,57.692
$10V_AH,9.9,39.144
$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,19.825,235.650,358.550,85.825,0.000,95.914,101.916,425.176,0.500,0.000,17.167,1860.600,18565.895,578.295,3059.873,346.418,33.361,1932.955,0.000,2387.960,0.000,0.544,0.000
$DEVICE_MAMPS,253.877,74.399,1358.357,549.172,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,596.669,0.000,0.000,0.000,0.000,0.000,0.000,22339.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.462,0.000,0.000
$MEM,354636
$DATA_FILE_SIZE,29999,884
$CAP_FILE_SIZE,209123,0
$CFSIZE,260165632,234237952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,150111,015314,1754.975,12756.163,105,2.2,124,-2.0