version: 66.07
glider: 511
mission: 5
dive: 331
start: 1 30 111 10 46 58
data:
$ID,511
$MISSION,5
$DIVE,331
$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,450
$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,-49351.941
$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,2589
$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,2060
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,13
$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,330
$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
$GPS1,300111,103327,1747.790,12628.275,80,2.5,99,-2.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.6
$GPS2,300111,104604,1747.758,12628.168,11,2.2,30,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.134,0.168
$KALMAN_X,-559568.3,-140.3,-955.4,443180.8,4171.2
$KALMAN_Y,638989.4,-34.5,515.2,-951902.1,-5483.6
$MHEAD_RNG_PITCHd_Wd,323.5,238076,-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,-146.0,0.0,0.0,0,89,0.00,0.00,-60.78,0.000,2,0.000,0.000,45,2032,2666,0,0,0,0,0,0
$GC,92,-0.58,-146.0,3.7,-4.1,6,127,10.20,2.38,-17.62,0.000,4,0.251,0.080,2385,3478,3489,0,0,0,0,0,0
$GC,206,-0.58,-146.0,31.4,-20.4,18,212,0.00,2.17,0.00,0.000,6,0.000,0.048,2385,2084,3490,0,0,0,0,0,0
$GC,466,-0.58,-146.0,92.5,-23.6,43,470,0.00,2.28,0.00,0.000,4,0.000,0.060,2385,647,3489,0,0,0,0,0,0
$GC,574,-0.58,-146.0,113.8,-18.3,54,578,0.00,2.25,0.00,0.000,6,0.000,0.051,2376,2070,3490,0,0,0,0,0,0
$GC,835,-0.58,-146.0,168.0,-17.6,78,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2070,3489,0,0,0,0,0,0
$GC,1098,-0.58,-146.0,210.2,-15.0,100,1102,0.00,2.25,0.00,0.000,4,0.000,0.058,2381,648,3491,0,0,0,0,0,0
$GC,1140,-0.58,-146.0,216.9,-15.0,102,1145,0.12,2.22,0.00,0.000,6,0.157,0.051,2402,2060,3490,0,0,0,0,0,0
$GC,1470,-0.58,-146.0,253.1,-11.3,118,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2061,3491,0,0,0,0,0,0
$GC,1781,-0.58,-146.0,287.1,-10.4,133,1785,0.00,2.22,0.00,0.000,4,0.000,0.064,2399,3470,3491,0,0,0,0,0,0
$GC,1813,-0.58,-146.0,290.5,-9.9,134,1817,0.00,2.17,0.00,0.000,6,0.000,0.044,2392,2049,3492,0,0,1,0,0,0
$GC,2145,-0.58,-146.0,326.1,-10.3,144,2149,0.00,2.20,0.00,0.000,4,0.000,0.055,2394,639,3491,0,0,0,0,0,0
$GC,2182,-0.58,-146.0,330.1,-10.8,144,2187,0.00,2.25,0.00,0.000,6,0.000,0.051,2392,2067,3490,0,0,0,0,0,0
$GC,2512,-0.58,-146.0,362.4,-9.5,153,2516,0.00,2.22,0.00,0.000,4,0.000,0.064,2387,3470,3489,0,0,0,0,0,0
$GC,2544,-0.58,-146.0,365.4,-9.6,153,2549,0.00,2.15,0.00,0.000,6,0.000,0.042,2383,2056,3492,0,0,0,0,0,0
$GC,2875,-0.58,-146.0,397.0,-9.5,161,2879,0.00,2.17,0.00,0.000,4,0.000,0.054,2384,647,3491,0,0,0,0,0,0
$GC,2912,-0.58,-146.0,400.4,-8.7,161,2916,0.00,2.22,0.00,0.000,6,0.000,0.051,2381,2066,3487,0,0,1,0,0,0
$GC,3242,-0.58,-146.0,429.9,-9.2,169,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2066,3486,0,0,0,0,0,0
$GC,3568,-0.58,-146.0,462.0,-9.8,177,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2066,3483,0,0,0,0,0,0
$GC,3892,-0.58,-146.0,492.2,-9.1,185,3896,0.00,2.25,0.00,0.000,4,0.000,0.065,2374,3473,3480,0,0,0,0,0,0
$GC,3938,-0.58,-146.0,496.5,-8.6,186,3942,0.00,2.17,0.00,0.000,6,0.000,0.046,2374,2061,3480,0,0,0,0,0,0
$GC,4260,-0.58,-146.0,526.5,-9.4,194,4264,0.00,2.20,0.00,0.000,4,0.000,0.054,2374,642,3477,0,0,0,0,0,0
$GC,4310,-0.58,-146.0,531.5,-8.3,195,4314,0.00,2.25,0.00,0.000,6,0.000,0.048,2374,2062,3477,0,0,0,0,0,0
$GC,4632,-0.58,-146.0,560.4,-8.9,203,4636,0.00,2.25,0.00,0.000,4,0.000,0.067,2374,3467,3475,0,0,0,0,0,0
$GC,4675,-0.58,-146.0,564.1,-8.8,204,4679,0.00,2.22,0.00,0.000,6,0.000,0.048,2373,2053,3474,0,0,0,0,0,0
$GC,5002,-0.58,-146.0,595.1,-9.5,212,5006,0.10,2.20,0.00,0.000,4,0.158,0.054,2402,645,3472,0,0,0,0,0,0
$GC,5057,-0.58,-146.0,600.2,-9.1,213,5061,0.00,2.28,0.00,0.000,6,0.000,0.055,2398,2061,3469,0,0,0,0,0,0
$GC,5370,-0.58,-146.0,624.0,-7.4,221,5374,0.00,2.25,0.00,0.000,4,0.000,0.066,2388,3471,3468,0,0,0,0,0,0
$GC,5416,-0.58,-146.0,627.3,-6.3,222,5420,0.00,2.22,0.00,0.000,6,0.000,0.048,2388,2051,3467,0,0,0,0,0,0
$GC,5739,-0.58,-146.0,650.1,-7.0,230,5742,0.00,2.35,0.00,0.000,4,0.000,0.073,2387,3472,3467,0,0,0,0,0,0
$GC,5775,-0.58,-146.0,652.6,-6.6,230,5779,0.00,2.20,0.00,0.000,6,0.000,0.048,2387,2062,3465,0,0,0,0,0,0
$GC,6110,-0.58,-146.0,676.6,-7.1,239,6113,0.00,2.22,0.00,0.000,4,0.000,0.055,2387,648,3463,0,0,0,0,0,0
$GC,6132,-0.58,-146.0,678.5,-7.7,239,6136,0.00,2.28,0.00,0.000,6,0.000,0.057,2387,2061,3465,0,0,0,0,0,0
$GC,6476,-0.58,-146.0,704.1,-7.6,248,6480,0.00,2.28,0.00,0.000,4,0.000,0.065,2378,3470,3461,0,0,0,0,0,0
$GC,6513,-0.58,-146.0,707.0,-8.1,248,6517,0.00,2.20,0.00,0.000,6,0.000,0.043,2378,2051,3460,0,0,0,0,0,0
$GC,6848,-0.58,-146.0,732.8,-7.5,257,6851,0.00,2.20,0.00,0.000,4,0.000,0.054,2378,653,3458,0,0,0,0,0,0
$GC,6875,-0.58,-146.0,734.8,-7.5,257,6880,0.12,2.25,0.00,0.000,6,0.146,0.050,2406,2068,3457,0,0,0,0,0,0
$GC,7216,-0.58,-146.0,751.2,-4.5,266,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2068,3456,0,0,0,0,0,0
$GC,7541,-0.58,-146.0,766.4,-4.9,274,7545,0.00,2.28,0.00,0.000,4,0.000,0.068,2398,3472,3454,0,0,0,0,0,0
$GC,7588,-0.58,-146.0,769.0,-5.7,275,7592,0.00,2.20,0.00,0.000,6,0.000,0.048,2398,2066,3453,0,0,0,0,0,0
$GC,7910,-0.58,-146.0,788.4,-6.3,283,7914,0.00,2.25,0.00,0.000,4,0.000,0.057,2398,653,3451,0,0,0,0,0,0
$GC,7942,-0.58,-146.0,790.7,-7.3,283,7946,0.00,2.25,0.00,0.000,6,0.000,0.051,2393,2060,3451,0,0,0,0,0,0
$GC,8277,-0.58,-146.0,814.5,-7.3,292,8281,0.00,2.28,0.00,0.000,4,0.000,0.067,2383,3469,3449,0,0,0,0,0,0
$GC,8323,-0.58,-146.0,818.0,-7.8,293,8327,0.00,2.22,0.00,0.000,6,0.000,0.045,2383,2047,3450,0,0,0,0,0,0
$GC,8645,-0.58,-146.0,842.7,-7.6,301,8649,0.00,2.20,0.00,0.000,4,0.000,0.056,2383,660,3449,0,0,0,0,0,0
$GC,8677,-0.58,-146.0,845.5,-8.3,301,8681,0.00,2.25,0.00,0.000,6,0.000,0.051,2379,2063,3448,0,0,0,0,0,0
$GC,9012,-0.58,-146.0,869.7,-7.0,310,9016,0.00,2.28,0.00,0.000,4,0.000,0.067,2369,3469,3447,0,0,0,0,0,0
$GC,9054,-0.58,-146.0,872.8,-7.7,311,9059,0.12,2.20,0.00,0.000,6,0.146,0.046,2404,2063,3446,0,0,0,0,0,0
$GC,9382,-0.58,-146.0,889.6,-4.9,319,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2058,3446,0,0,0,0,0,0
$GC,9707,-0.58,-146.0,904.7,-4.7,327,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2058,3446,0,0,0,0,0,0
$GC,10032,-0.58,-146.0,921.5,-5.5,335,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2058,3444,0,0,0,0,0,0
$GC,10357,-0.58,-146.0,940.6,-6.0,343,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2058,3443,0,0,0,0,0,0
$GC,10682,-0.58,-146.0,959.6,-5.8,351,10686,0.00,2.33,0.00,0.000,4,0.000,0.071,2396,3470,3443,0,0,0,0,0,0
$GC,10709,-0.58,-146.0,961.3,-6.6,351,10713,0.00,2.22,0.00,0.000,6,0.000,0.048,2396,2060,3440,0,0,0,0,0,0
$GC,11045,-0.58,-146.0,981.0,-5.9,360,11049,0.00,2.28,0.00,0.000,4,0.000,0.058,2396,644,3442,0,0,0,0,0,0
$GC,11068,-0.58,-146.0,982.7,-5.9,360,11072,0.00,2.30,0.00,0.000,6,0.000,0.054,2393,2066,3441,0,0,0,0,0,0
$STATE,11202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11202,begin apogee
$GC,11208,-0.28,0.0,990.8,6.1,364,11333,0.32,0.00,122.47,1.354,6,0.123,0.000,2498,2131,2891,0,0,0,0,0,0
$STATE,11334,end apogee,CONTROL_FINISHED_OK
$STATE,11334,begin climb
$GC,11337,0.58,146.0,995.5,0.0,367,11479,0.80,2.50,133.80,1.317,4,0.083,0.063,2787,724,2293,0,0,1,0,0,0
$GC,11603,0.58,146.0,977.7,12.7,373,11608,0.00,2.35,0.00,0.000,6,0.000,0.061,2787,2140,2283,0,0,1,0,0,0
$GC,11921,0.58,146.0,937.1,12.9,381,11925,0.00,2.30,0.00,0.000,4,0.000,0.071,2789,3536,2279,0,0,0,0,0,0
$GC,11976,0.58,146.0,928.9,15.5,382,11980,0.00,2.25,0.00,0.000,6,0.000,0.051,2797,2122,2279,0,0,1,0,0,0
$GC,12294,0.58,146.0,884.4,14.3,390,12298,0.00,2.25,0.00,0.000,4,0.000,0.064,2809,725,2277,0,0,0,0,0,0
$GC,12363,0.58,146.0,874.3,13.7,391,12368,0.12,2.28,0.00,0.000,6,0.203,0.056,2780,2130,2276,0,0,0,0,0,0
$GC,12703,0.58,146.0,832.6,11.8,400,12707,0.00,2.33,0.00,0.000,4,0.000,0.071,2776,3538,2275,0,0,0,0,0,0
$GC,12777,0.58,146.0,823.5,12.1,401,12781,0.00,2.25,0.00,0.000,6,0.000,0.054,2789,2125,2275,0,0,1,0,0,0
$GC,13113,0.58,146.0,787.6,10.3,410,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2122,2274,0,0,0,0,0,0
$GC,13437,0.58,146.0,755.0,10.0,418,13441,0.00,2.35,0.00,0.000,4,0.000,0.070,2788,3536,2274,0,0,0,0,0,0
$GC,13469,0.58,146.0,751.4,10.5,418,13473,0.00,2.28,0.00,0.000,6,0.000,0.054,2798,2125,2278,0,0,0,0,0,0
$GC,13800,0.58,146.0,716.2,10.7,426,13804,0.00,2.28,0.00,0.000,4,0.000,0.065,2810,718,2273,0,0,0,0,0,0
$GC,13906,0.58,146.0,704.5,10.3,428,13911,0.12,2.30,0.00,0.000,6,0.200,0.057,2781,2133,2272,0,0,0,0,0,0
$GC,14256,0.58,146.0,671.5,9.5,437,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2137,2269,0,0,0,0,0,0
$GC,14580,0.58,146.0,640.5,9.5,445,14581,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2137,2271,0,0,0,0,0,0
$GC,14905,0.58,146.0,610.3,9.3,453,14909,0.00,2.33,0.00,0.000,4,0.000,0.071,2780,3547,2271,0,0,0,0,0,0
$GC,14988,0.58,146.0,601.6,11.7,454,14994,0.00,2.28,0.00,0.000,6,0.000,0.054,2789,2120,2271,0,0,1,0,0,0
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$STATE,23071,end climb,SURFACE_DEPTH_REACHED
$STATE,23071,begin surface coast
$FINISH,1.0,1.022900
$STATE,23100,end surface coast,CONTROL_FINISHED_OK
$STATE,23100,begin surface
$SM_CCo,23119,41.70,0.545,0,0,1055,450.12
$SM_GC,1.80,0.00,0.00,41.70,0.000,0.000,0.545,58,2046,1055,-7.91,-0.42,450.12
$IRIDIUM_FIX,1742.84,12627.28,250712,040422
$TT8_MAMPS,0.056758
$HUMID,1078680635
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.50
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8433500160
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52259782656
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,67.601
$10V_AH,9.8,46.144
$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,20.000,217.275,433.375,41.700,0.000,48.901,88.707,379.648,0.750,0.000,33.121,1797.843,18360.320,589.585,2822.990,342.788,33.361,1877.369,0.000,2245.644,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,118.118,1353.755,545.337,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,592.965,0.000,0.000,0.000,0.000,0.000,0.000,21928.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.339,0.000,0.000
$MEM,354512
$DATA_FILE_SIZE,30023,878
$CAP_FILE_SIZE,198631,0
$CFSIZE,260165632,229376000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,300111,171631,1749.551,12626.118,158,1.3,158,-2.0