version: 66.07
glider: 511
mission: 5
dive: 368
start: 2 10 111 5 16 40
data:
$ID,511
$MISSION,5
$DIVE,368
$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,-50439.031
$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,2579
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,367
$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
$GPS1,100211,045045,1830.329,12459.703,60,2.7,79,-2.2
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-75.5
$GPS2,100211,051546,1830.283,12459.501,12,3.4,31,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.215,0.004
$KALMAN_X,-523887.6,-24.7,-470.6,253206.8,4075.1
$KALMAN_Y,593513.9,241.1,-7.9,-827406.4,-848.5
$MHEAD_RNG_PITCHd_Wd,273.4,76015,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-70.80,0.000,2,0.000,0.000,40,2034,2920,0,0,0,0,0,0
$GC,103,-0.58,-146.0,4.0,-4.1,7,130,10.48,2.28,-11.23,0.000,4,0.257,0.070,2376,3458,3487,0,0,0,0,0,0
$GC,316,-0.58,-146.0,56.3,-20.3,30,320,0.00,2.15,0.00,0.000,6,0.000,0.043,2376,2051,3488,0,0,0,0,0,0
$GC,577,-0.58,-146.0,117.2,-23.3,54,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2044,3488,0,0,0,0,0,0
$GC,832,-0.58,-146.0,171.1,-19.8,78,836,0.00,2.22,0.00,0.000,4,0.000,0.056,2376,627,3488,0,0,0,0,0,0
$GC,897,-0.58,-146.0,183.0,-16.9,84,902,0.00,2.22,0.00,0.000,6,0.000,0.050,2367,2046,3488,0,0,0,0,0,0
$GC,1163,-0.58,-146.0,228.7,-15.7,102,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2043,3491,0,0,0,0,0,0
$GC,1472,-0.58,-146.0,275.1,-15.7,117,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2046,3489,0,0,0,0,0,0
$GC,1779,-0.58,-146.0,318.3,-13.6,129,1783,0.00,2.22,0.00,0.000,4,0.000,0.060,2357,3465,3488,0,0,0,0,0,0
$GC,1869,-0.58,-146.0,329.7,-11.6,131,1873,0.12,2.17,0.00,0.000,6,0.150,0.044,2392,2038,3489,0,0,1,0,0,0
$GC,2196,-0.58,-146.0,362.6,-10.1,139,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2038,3488,0,0,0,0,0,0
$GC,2521,-0.58,-146.0,396.9,-10.7,147,2525,0.00,2.30,0.00,0.000,4,0.000,0.066,2383,3466,3485,0,0,0,0,0,0
$GC,2564,-0.58,-146.0,401.3,-10.0,148,2568,0.00,2.20,0.00,0.000,6,0.000,0.044,2383,2047,3487,0,0,0,0,0,0
$GC,2891,-0.58,-146.0,432.9,-9.2,156,2895,0.00,2.28,0.00,0.000,4,0.000,0.067,2373,3457,3483,0,0,0,0,0,0
$GC,2933,-0.58,-146.0,436.8,-9.7,157,2937,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,2039,3483,0,0,0,0,0,0
$GC,3261,-0.58,-146.0,467.7,-9.4,165,3265,0.00,2.30,0.00,0.000,4,0.000,0.064,2365,3460,3478,0,0,0,0,0,0
$GC,3329,-0.58,-146.0,474.2,-8.9,166,3334,0.10,2.20,0.00,0.000,6,0.155,0.046,2392,2049,3483,0,0,0,0,0,0
$GC,3671,-0.58,-146.0,499.6,-7.5,175,3674,0.00,2.20,0.00,0.000,4,0.000,0.051,2392,633,3478,0,0,0,0,0,0
$GC,3721,-0.58,-146.0,503.4,-7.7,176,3725,0.00,2.25,0.00,0.000,6,0.000,0.050,2388,2061,3478,0,0,0,0,0,0
$GC,4038,-0.58,-146.0,526.6,-7.3,184,4042,0.00,2.22,0.00,0.000,4,0.000,0.061,2377,3461,3475,0,0,0,0,0,0
$GC,4086,-0.58,-146.0,530.1,-7.9,185,4090,0.00,2.17,0.00,0.000,6,0.000,0.040,2377,2039,3475,0,0,0,0,0,0
$GC,4413,-0.58,-146.0,556.2,-8.1,193,4417,0.00,2.17,0.00,0.000,4,0.000,0.052,2378,642,3472,0,0,0,0,0,0
$GC,4435,-0.58,-146.0,558.3,-9.4,193,4440,0.00,2.20,0.00,0.000,6,0.000,0.046,2369,2056,3472,0,0,0,0,0,0
$GC,4776,-0.58,-146.0,584.9,-7.8,202,4780,0.00,2.25,0.00,0.000,4,0.000,0.063,2360,3454,3468,0,0,0,0,0,0
$GC,4826,-0.58,-146.0,588.8,-7.2,203,4831,0.12,2.15,0.00,0.000,6,0.148,0.041,2395,2042,3467,0,0,0,0,0,0
$GC,5144,-0.58,-146.0,608.2,-6.3,211,5148,0.00,2.28,0.00,0.000,4,0.000,0.063,2387,3453,3466,0,0,0,0,0,0
$GC,5188,-0.58,-146.0,611.0,-6.7,211,5193,0.00,2.15,0.00,0.000,6,0.000,0.041,2387,2044,3466,0,0,0,0,0,0
$GC,5518,-0.58,-146.0,636.0,-7.7,220,5522,0.00,2.28,0.00,0.000,4,0.000,0.063,2378,3458,3463,0,0,0,0,0,0
$GC,5583,-0.58,-146.0,641.0,-7.3,221,5587,0.00,2.17,0.00,0.000,6,0.000,0.041,2374,2049,3462,0,0,0,0,0,0
$GC,5927,-0.58,-146.0,666.7,-7.3,230,5931,0.00,2.28,0.00,0.000,4,0.000,0.063,2368,3461,3460,0,0,0,0,0,0
$GC,5982,-0.58,-146.0,670.7,-6.8,231,5986,0.00,2.17,0.00,0.000,6,0.000,0.041,2368,2050,3460,0,0,0,0,0,0
$GC,6300,-0.58,-146.0,693.6,-7.2,239,6304,0.00,2.20,0.00,0.000,4,0.000,0.053,2368,645,3458,0,0,0,0,0,0
$GC,6323,-0.58,-146.0,695.5,-8.3,239,6328,0.12,2.20,0.00,0.000,6,0.156,0.047,2397,2047,3458,0,0,0,0,0,0
$GC,6664,-0.58,-146.0,715.6,-5.9,248,6668,0.00,2.28,0.00,0.000,4,0.000,0.064,2388,3455,3455,0,0,0,0,0,0
$GC,6701,-0.58,-146.0,717.9,-6.3,248,6706,0.00,2.15,0.00,0.000,6,0.000,0.042,2388,2047,3455,0,0,0,0,0,0
$GC,7031,-0.58,-146.0,739.4,-6.5,257,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2043,3451,0,0,0,0,0,0
$GC,7357,-0.58,-146.0,759.0,-5.8,265,7361,0.00,2.28,0.00,0.000,4,0.000,0.064,2379,3458,3451,0,0,0,0,0,0
$GC,7399,-0.58,-146.0,761.6,-6.3,265,7405,0.00,2.20,0.00,0.000,6,0.000,0.043,2379,2049,3450,0,0,0,0,0,0
$GC,7731,-0.58,-146.0,781.2,-6.0,274,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2044,3447,0,0,0,0,0,0
$GC,8055,-0.58,-146.0,802.4,-6.5,282,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2045,3448,0,0,0,0,0,0
$GC,8380,-0.58,-146.0,821.2,-5.7,290,8384,0.00,2.30,0.00,0.000,4,0.000,0.064,2372,3458,3445,0,0,0,0,0,0
$GC,8431,-0.58,-146.0,824.4,-6.1,291,8436,0.00,2.20,0.00,0.000,6,0.000,0.044,2371,2041,3448,0,0,0,0,0,0
$GC,8753,-0.58,-146.0,845.2,-6.6,299,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2037,3444,0,0,0,0,0,0
$GC,9078,-0.58,-146.0,868.1,-7.2,307,9082,0.00,2.33,0.00,0.000,4,0.000,0.066,2363,3463,3443,0,0,0,0,0,0
$GC,9130,-0.58,-146.0,872.0,-7.1,308,9134,0.12,2.20,0.00,0.000,6,0.150,0.045,2397,2048,3443,0,0,1,0,0,0
$GC,9453,-0.58,-146.0,891.1,-5.8,316,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2043,3443,0,0,0,0,0,0
$GC,9778,-0.58,-146.0,908.9,-5.4,324,9782,0.00,2.30,0.00,0.000,4,0.000,0.065,2388,3455,3439,0,0,0,0,0,0
$GC,9806,-0.58,-146.0,910.3,-4.4,324,9810,0.00,2.20,0.00,0.000,6,0.000,0.045,2389,2045,3440,0,0,1,0,0,0
$GC,10141,-0.58,-146.0,928.6,-5.4,333,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2040,3440,0,0,0,0,0,0
$GC,10466,-0.58,-146.0,947.2,-5.6,341,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2040,3440,0,0,0,0,0,0
$GC,10792,-0.58,-146.0,965.3,-5.6,349,10796,0.00,2.35,0.00,0.000,4,0.000,0.066,2380,3468,3439,0,0,0,0,0,0
$GC,10829,-0.58,-146.0,967.9,-6.8,349,10834,0.00,2.22,0.00,0.000,6,0.000,0.047,2380,2049,3439,0,0,0,0,0,0
$GC,11159,-0.58,-146.0,988.9,-6.4,358,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2049,3438,0,0,0,0,0,0
$STATE,11198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11198,begin apogee
$GC,11204,-0.28,0.0,991.5,6.4,359,11330,0.32,0.00,122.62,1.354,6,0.133,0.000,2484,2100,2890,0,0,0,0,0,0
$STATE,11333,end apogee,CONTROL_FINISHED_OK
$STATE,11333,begin climb
$GC,11335,0.58,146.0,995.9,0.0,362,11477,0.80,2.47,133.68,1.317,4,0.089,0.061,2769,697,2293,0,0,1,0,0,0
$GC,11584,0.58,146.0,981.1,10.7,367,11588,0.00,2.33,0.00,0.000,6,0.000,0.054,2769,2106,2283,0,0,0,0,0,0
$GC,11915,0.58,146.0,943.9,11.2,375,11919,0.00,2.30,0.00,0.000,4,0.000,0.069,2772,3511,2279,0,0,0,0,0,0
$GC,11975,0.58,146.0,936.2,12.9,376,11979,0.00,2.25,0.00,0.000,6,0.000,0.051,2780,2105,2279,0,0,0,0,0,0
$GC,12324,0.58,146.0,894.2,12.4,385,12328,0.00,2.33,0.00,0.000,4,0.000,0.069,2779,3513,2277,0,0,0,0,0,0
$GC,12367,0.58,146.0,888.5,13.4,385,12372,0.00,2.25,0.00,0.000,6,0.000,0.051,2790,2099,2277,0,0,0,0,0,0
$GC,12697,0.58,146.0,846.7,12.4,394,12701,0.00,2.28,0.00,0.000,4,0.000,0.061,2801,689,2276,0,0,0,0,0,0
$GC,12720,0.58,146.0,843.7,12.5,394,12725,0.15,2.25,0.00,0.000,6,0.196,0.052,2765,2103,2275,0,0,0,0,0,0
$GC,13061,0.58,146.0,809.0,9.9,403,13065,0.00,2.30,0.00,0.000,4,0.000,0.070,2770,3512,2272,0,0,0,0,0,0
$GC,13178,0.58,146.0,796.6,11.1,405,13182,0.00,2.25,0.00,0.000,6,0.000,0.051,2774,2097,2274,0,0,0,0,0,0
$GC,13517,0.58,146.0,764.6,9.5,414,13521,0.00,2.28,0.00,0.000,4,0.000,0.061,2784,688,2273,0,0,0,0,0,0
$GC,13554,0.58,146.0,760.8,9.9,414,13560,0.00,2.28,0.00,0.000,6,0.000,0.052,2785,2101,2273,0,0,0,0,0,0
$GC,13885,0.58,146.0,725.5,10.9,423,13889,0.00,2.30,0.00,0.000,4,0.000,0.068,2784,3513,2273,0,0,0,0,0,0
$GC,13927,0.58,146.0,720.1,13.9,424,13932,0.12,2.25,0.00,0.000,6,0.207,0.050,2767,2100,2273,0,0,0,0,0,0
$GC,14255,0.58,146.0,686.2,9.9,432,14259,0.00,2.28,0.00,0.000,4,0.000,0.061,2775,692,2272,0,0,0,0,0,0
$GC,14306,0.58,146.0,681.1,9.5,433,14310,0.00,2.28,0.00,0.000,6,0.000,0.054,2776,2102,2271,0,0,0,0,0,0
$GC,14624,0.58,146.0,652.3,8.7,441,14628,0.00,2.30,0.00,0.000,4,0.000,0.063,2782,689,2271,0,0,0,0,0,0
$GC,14646,0.58,146.0,650.1,9.1,441,14651,0.00,2.28,0.00,0.000,6,0.000,0.054,2786,2109,2272,0,0,1,0,0,0
$GC,14987,0.58,146.0,619.1,9.3,450,14991,0.00,2.30,0.00,0.000,4,0.000,0.066,2786,3511,2271,0,0,0,0,0,0
$GC,15024,0.58,146.0,615.0,10.5,450,15030,0.12,2.25,0.00,0.000,6,0.203,0.050,2768,2098,2271,0,0,0,0,0,0
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$STATE,23603,end climb,SURFACE_DEPTH_REACHED
$STATE,23603,begin surface coast
$FINISH,0.8,1.022497
$STATE,23647,end surface coast,CONTROL_FINISHED_OK
$STATE,23647,begin surface
$SM_CCo,23666,83.97,0.545,0,0,1054,450.12
$SM_GC,1.82,0.00,0.00,83.97,0.000,0.000,0.545,41,2040,1054,-7.93,-0.31,450.12
$IRIDIUM_FIX,1823.67,12458.96,040812,232352
$TT8_MAMPS,0.056758
$HUMID,1078684506
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.40
$XPDR_PINGS,4
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8432484352
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51959824384
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,74.791
$10V_AH,9.8,51.214
$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,20.375,215.900,384.500,83.975,0.000,90.804,111.573,946.630,1.000,0.000,34.302,1854.462,18802.223,612.020,3381.801,593.290,33.363,1938.144,0.000,2333.580,0.000,0.544,0.000
$DEVICE_MAMPS,256.945,122.720,1353.755,544.570,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,610.847,0.000,0.000,0.000,0.000,0.000,0.000,23147.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.418,0.000,0.000
$MEM,354960
$DATA_FILE_SIZE,33390,905
$CAP_FILE_SIZE,216067,0
$CFSIZE,260165632,226119680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,100211,115627,1830.376,12456.124,163,2.8,182,-2.2