version: 66.07
glider: 511
mission: 5
dive: 347
start: 2 4 111 3 35 10
data:
$ID,511
$MISSION,5
$DIVE,347
$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,-49826.676
$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,2586
$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,2050
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,38
$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,346
$AR_SAMPLENUM,1
$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
$GPS1,040211,030315,1816.999,12600.308,53,3.0,72,-2.1
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-69.7
$GPS2,040211,033416,1816.864,12600.553,12,3.0,31,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.200,0.079
$KALMAN_X,-546553.8,-82.1,35.5,381248.6,2039.4
$KALMAN_Y,606985.3,115.6,-304.4,-865335.9,-2394.8
$MHEAD_RNG_PITCHd_Wd,293.5,181564,-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,-146.0,0.0,0.0,0,118,0.00,0.00,-89.90,0.000,2,0.000,0.000,0,2063,2913,0,0,0,0,0,0
$GC,122,-0.58,-146.0,3.7,-3.7,9,149,10.10,2.28,-11.75,0.000,4,0.240,0.074,2384,3444,3491,0,0,0,0,0,0
$GC,317,-0.58,-146.0,51.3,-21.4,30,321,0.00,2.17,0.00,0.000,6,0.000,0.045,2383,2040,3491,0,0,0,0,0,0
$GC,582,-0.58,-146.0,107.5,-21.2,55,586,0.00,2.20,0.00,0.000,4,0.000,0.058,2384,634,3490,0,0,0,0,0,0
$GC,600,-0.58,-146.0,111.9,-23.0,56,606,0.00,2.17,0.00,0.000,6,0.000,0.050,2374,2032,3491,0,0,0,0,0,0
$GC,861,-0.58,-146.0,170.4,-22.5,81,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2032,3491,0,0,0,0,0,0
$GC,1125,-0.58,-146.0,217.5,-16.7,101,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2029,3493,0,0,0,0,0,0
$GC,1432,-0.58,-146.0,265.4,-14.7,116,1436,0.00,2.20,0.00,0.000,4,0.000,0.058,2374,640,3491,0,0,0,0,0,0
$GC,1506,-0.58,-146.0,275.5,-12.6,119,1511,0.12,2.20,0.00,0.000,6,0.155,0.048,2397,2050,3491,0,0,0,0,0,0
$GC,1825,-0.58,-146.0,310.8,-12.0,133,1829,0.00,2.28,0.00,0.000,4,0.000,0.067,2393,3465,3491,0,0,0,0,0,0
$GC,1852,-0.58,-146.0,314.2,-12.2,133,1856,0.00,2.17,0.00,0.000,6,0.000,0.043,2393,2050,3488,0,0,0,0,0,0
$GC,2192,-0.58,-146.0,349.5,-9.7,142,2196,0.00,2.22,0.00,0.000,4,0.000,0.060,2393,637,3489,0,0,0,0,0,0
$GC,2238,-0.58,-146.0,353.9,-8.8,143,2242,0.00,2.22,0.00,0.000,6,0.000,0.048,2385,2060,3489,0,0,0,0,0,0
$GC,2560,-0.58,-146.0,383.6,-9.1,151,2564,0.00,2.25,0.00,0.000,4,0.000,0.067,2376,3459,3487,0,0,0,0,0,0
$GC,2624,-0.58,-146.0,389.8,-9.3,152,2628,0.00,2.17,0.00,0.000,6,0.000,0.043,2374,2047,3485,0,0,0,0,0,0
$GC,2974,-0.58,-146.0,427.8,-11.4,161,2978,0.00,2.20,0.00,0.000,4,0.000,0.060,2375,642,3485,0,0,0,0,0,0
$GC,3034,-0.58,-146.0,435.0,-11.5,162,3038,0.12,2.22,0.00,0.000,6,0.148,0.050,2402,2058,3488,0,0,0,0,0,0
$GC,3384,-0.58,-146.0,462.1,-6.8,171,3388,0.00,2.28,0.00,0.000,4,0.000,0.070,2394,3456,3482,0,0,0,0,0,0
$GC,3429,-0.58,-146.0,465.0,-6.5,172,3433,0.00,2.12,0.00,0.000,6,0.000,0.044,2394,2051,3482,0,0,1,0,0,0
$GC,3751,-0.58,-146.0,487.1,-7.2,180,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2051,3480,0,0,0,0,0,0
$GC,4077,-0.58,-146.0,511.0,-7.4,188,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2050,3477,0,0,0,0,0,0
$GC,4401,-0.58,-146.0,536.3,-8.0,196,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2051,3475,0,0,0,0,0,0
$GC,4726,-0.58,-146.0,564.1,-8.8,204,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2049,3473,0,0,0,0,0,0
$GC,5051,-0.58,-146.0,591.0,-8.1,212,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2051,3469,0,0,0,0,0,0
$GC,5377,-0.58,-146.0,614.0,-6.8,220,5381,0.00,2.33,0.00,0.000,4,0.000,0.070,2386,3459,3467,0,0,1,0,0,0
$GC,5406,-0.58,-146.0,616.0,-6.9,220,5410,0.00,2.22,0.00,0.000,6,0.000,0.048,2386,2046,3468,0,0,0,0,0,0
$GC,5741,-0.58,-146.0,639.7,-7.0,229,5745,0.00,2.22,0.00,0.000,4,0.000,0.055,2386,630,3468,0,0,0,0,0,0
$GC,5783,-0.58,-146.0,642.6,-6.9,230,5788,0.00,2.28,0.00,0.000,6,0.000,0.054,2381,2053,3464,0,0,0,0,0,0
$GC,6110,-0.58,-146.0,662.5,-6.0,238,6114,0.00,2.28,0.00,0.000,4,0.000,0.067,2371,3461,3462,0,0,0,0,0,0
$GC,6157,-0.58,-146.0,665.5,-6.5,239,6161,0.00,2.20,0.00,0.000,6,0.000,0.049,2371,2050,3460,0,0,0,0,0,0
$GC,6484,-0.58,-146.0,688.0,-6.8,247,6488,0.00,2.25,0.00,0.000,4,0.000,0.055,2371,634,3459,0,0,0,0,0,0
$GC,6527,-0.58,-146.0,691.1,-7.7,248,6532,0.12,2.28,0.00,0.000,6,0.153,0.054,2399,2061,3459,0,0,0,0,0,0
$GC,6855,-0.58,-146.0,709.1,-5.5,256,6859,0.00,2.28,0.00,0.000,4,0.000,0.066,2390,3460,3454,0,0,0,0,0,0
$GC,6897,-0.58,-146.0,711.8,-6.4,257,6901,0.00,2.17,0.00,0.000,6,0.000,0.043,2390,2040,3456,0,0,0,0,0,0
$GC,7224,-0.58,-146.0,734.6,-7.5,265,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2034,3454,0,0,0,0,0,0
$GC,7550,-0.58,-146.0,760.2,-7.8,273,7554,0.00,2.33,0.00,0.000,4,0.000,0.067,2381,3453,3452,0,0,0,0,0,0
$GC,7582,-0.58,-146.0,762.8,-7.4,273,7586,0.00,2.17,0.00,0.000,6,0.000,0.044,2380,2051,3451,0,0,0,0,0,0
$GC,7912,-0.58,-146.0,786.3,-6.8,281,7916,0.00,2.20,0.00,0.000,4,0.000,0.055,2380,644,3450,0,0,0,0,0,0
$GC,7949,-0.58,-146.0,788.8,-6.3,281,7955,0.00,2.25,0.00,0.000,6,0.000,0.055,2378,2046,3450,0,0,0,0,0,0
$GC,8280,-0.58,-146.0,808.6,-5.8,290,8285,0.00,2.28,0.00,0.000,4,0.000,0.067,2368,3457,3445,0,0,0,0,0,0
$GC,8332,-0.58,-146.0,811.8,-6.0,291,8337,0.12,2.17,0.00,0.000,6,0.146,0.044,2403,2052,3448,0,0,0,0,0,0
$GC,8651,-0.58,-146.0,827.5,-5.2,299,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2047,3447,0,0,0,0,0,0
$GC,8975,-0.58,-146.0,846.5,-6.0,307,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2047,3444,0,0,0,0,0,0
$GC,9300,-0.58,-146.0,865.9,-6.0,315,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2046,3443,0,0,0,0,0,0
$GC,9625,-0.58,-146.0,884.2,-5.7,323,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2046,3447,0,0,0,0,0,0
$GC,9951,-0.58,-146.0,902.4,-5.4,331,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2046,3440,0,0,0,0,0,0
$GC,10275,-0.58,-146.0,918.4,-4.8,339,10279,0.00,2.25,0.00,0.000,4,0.000,0.057,2404,640,3441,0,0,0,0,0,0
$GC,10298,-0.58,-146.0,919.4,-5.7,339,10303,0.00,2.25,0.00,0.000,6,0.000,0.050,2404,2056,3441,0,0,0,0,0,0
$GC,10644,-0.58,-146.0,936.6,-5.1,348,10648,0.00,2.30,0.00,0.000,4,0.000,0.068,2393,3455,3440,0,0,0,0,0,0
$GC,10690,-0.58,-146.0,939.3,-5.7,349,10694,0.00,2.20,0.00,0.000,6,0.000,0.046,2396,2043,3440,0,0,0,0,0,0
$GC,11012,-0.58,-146.0,959.3,-6.4,357,11016,0.00,2.33,0.00,0.000,4,0.000,0.067,2387,3461,3439,0,0,0,0,0,0
$GC,11058,-0.58,-146.0,962.5,-7.3,358,11062,0.00,2.22,0.00,0.000,6,0.000,0.046,2387,2050,3439,0,0,0,0,0,0
$GC,11380,-0.58,-146.0,985.3,-7.3,366,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2045,3439,0,0,0,0,0,0
$STATE,11459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11459,begin apogee
$GC,11466,-0.28,0.0,991.0,7.1,368,11590,0.32,0.00,121.78,1.355,6,0.114,0.000,2495,2127,2892,0,0,0,0,0,0
$STATE,11594,end apogee,CONTROL_FINISHED_OK
$STATE,11594,begin climb
$GC,11596,0.58,146.0,998.0,0.0,371,11738,0.75,2.53,133.50,1.323,4,0.071,0.068,2768,3521,2294,0,0,0,0,0,0
$GC,11956,0.58,146.0,969.4,11.9,379,11961,0.00,2.22,0.00,0.000,6,0.000,0.048,2779,2123,2284,0,0,1,0,0,0
$GC,12275,0.58,146.0,932.7,11.6,387,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2115,2281,0,0,0,0,0,0
$GC,12599,0.58,146.0,895.6,11.6,395,12603,0.00,2.25,0.00,0.000,4,0.000,0.060,2789,709,2277,0,0,0,0,0,0
$GC,12645,0.58,146.0,889.9,12.0,396,12649,0.00,2.28,0.00,0.000,6,0.000,0.054,2790,2123,2276,0,0,0,0,0,0
$GC,12968,0.58,146.0,850.9,12.4,404,12971,0.00,2.28,0.00,0.000,4,0.000,0.061,2800,707,2276,0,0,0,0,0,0
$GC,13009,0.58,146.0,845.5,11.7,404,13014,0.00,2.28,0.00,0.000,6,0.000,0.054,2800,2123,2275,0,0,0,0,0,0
$GC,13340,0.58,146.0,803.2,12.9,413,13344,0.00,2.30,0.00,0.000,4,0.000,0.071,2800,3525,2275,0,0,0,0,0,0
$GC,13395,0.58,146.0,795.2,13.6,414,13399,0.15,2.22,0.00,0.000,6,0.204,0.052,2775,2119,2275,0,0,1,0,0,0
$GC,13713,0.58,146.0,760.5,10.4,422,13714,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2115,2278,0,0,0,0,0,0
$GC,14038,0.58,146.0,727.8,10.0,430,14042,0.00,2.28,0.00,0.000,4,0.000,0.065,2784,705,2271,0,0,0,0,0,0
$GC,14121,0.58,146.0,719.3,9.2,431,14127,0.00,2.25,0.00,0.000,6,0.000,0.055,2784,2117,2273,0,0,0,0,0,0
$GC,14452,0.58,146.0,687.0,9.7,440,14456,0.00,2.33,0.00,0.000,4,0.000,0.070,2786,3531,2272,0,0,0,0,0,0
$GC,14517,0.58,146.0,679.6,11.5,441,14521,0.00,2.22,0.00,0.000,6,0.000,0.051,2794,2123,2273,0,0,1,0,0,0
$GC,14865,0.58,146.0,642.9,10.5,450,14870,0.00,2.28,0.00,0.000,4,0.000,0.064,2805,707,2269,0,0,0,0,0,0
$GC,14983,0.58,146.0,629.7,11.2,452,14988,0.12,2.28,0.00,0.000,6,0.198,0.054,2777,2123,2269,0,0,0,0,0,0
$GC,15323,0.58,146.0,598.2,9.1,461,15327,0.00,2.33,0.00,0.000,4,0.000,0.066,2786,708,2270,0,0,0,0,0,0
$GC,15383,0.58,146.0,592.8,8.7,462,15387,0.00,2.25,0.00,0.000,6,0.000,0.054,2785,2120,2269,0,0,0,0,0,0
$GC,15732,0.58,146.0,561.4,9.1,471,15737,0.00,2.30,0.00,0.000,4,0.000,0.065,2796,702,2271,0,0,0,0,0,0
$GC,15760,0.58,146.0,558.6,8.8,471,15764,0.00,2.28,0.00,0.000,6,0.000,0.055,2796,2123,2271,0,0,0,0,0,0
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$STATE,23127,end climb,SURFACE_DEPTH_REACHED
$STATE,23127,begin surface coast
$FINISH,0.9,1.009889
$STATE,23160,end surface coast,CONTROL_FINISHED_OK
$STATE,23160,begin surface
$SM_CCo,23192,87.20,0.554,0,0,1056,450.36
$SM_GC,1.57,0.00,0.00,87.20,0.000,0.000,0.554,45,2028,1056,-7.94,-0.62,450.36
$IRIDIUM_FIX,1810.04,12601.81,290712,212108
$TT8_MAMPS,0.057525
$HUMID,1078688377
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.50
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8433106944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52141129728
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,70.662
$10V_AH,9.8,48.316
$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,19.925,239.500,364.375,87.200,0.000,92.911,107.479,1286.391,0.250,0.000,34.648,1808.373,18461.904,637.095,3700.567,523.443,33.385,1924.582,0.000,2260.180,0.000,0.544,0.000
$DEVICE_MAMPS,240.071,101.244,1354.522,553.774,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,589.172,0.000,0.000,0.000,0.000,0.000,0.000,23061.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.244,0.000,0.000
$MEM,354864
$DATA_FILE_SIZE,30097,872
$CAP_FILE_SIZE,220252,0
$CFSIZE,260165632,227971072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,040211,100514,1817.092,12557.654,51,2.2,70,-2.1