version: 66.07
glider: 511
mission: 5
dive: 370
start: 2 10 111 19 15 3
data:
$ID,511
$MISSION,5
$DIVE,370
$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,-50490.012
$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,20
$R_STBD_OVSHOOT,18
$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,369
$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
$GPS1,100211,190236,1830.415,12453.070,41,1.1,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-76.5
$GPS2,100211,191408,1830.446,12452.912,13,1.2,13,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.212,-0.037
$KALMAN_X,-521882.5,-298.0,24.4,239555.1,2971.5
$KALMAN_Y,592932.8,-407.5,-284.8,-825607.4,100.8
$MHEAD_RNG_PITCHd_Wd,262.2,64859,-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,-145.9,0.0,0.0,0,93,0.00,0.00,-64.05,0.000,2,0.000,0.000,44,2053,2720,0,0,0,0,0,0
$GC,97,-0.58,-146.0,3.2,-2.8,7,132,10.43,2.33,-16.45,0.000,4,0.255,0.072,2385,638,3483,0,0,0,0,0,0
$GC,256,-0.58,-146.0,42.9,-23.6,24,262,0.00,2.25,0.00,0.000,6,0.000,0.053,2377,2049,3484,0,0,0,0,0,0
$GC,517,-0.58,-146.0,104.2,-20.9,49,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2053,3485,0,0,0,0,0,0
$GC,772,-0.58,-146.0,157.0,-20.2,73,776,0.00,2.25,0.00,0.000,4,0.000,0.060,2377,635,3485,0,0,1,0,0,0
$GC,800,-0.58,-146.0,162.2,-17.8,75,805,0.00,2.25,0.00,0.000,6,0.000,0.054,2367,2054,3485,0,0,0,0,0,0
$GC,1070,-0.58,-146.0,208.6,-17.1,99,1074,0.00,2.25,0.00,0.000,4,0.000,0.068,2357,3461,3487,0,0,0,0,0,0
$GC,1136,-0.58,-146.0,218.8,-14.9,102,1141,0.12,2.20,0.00,0.000,6,0.156,0.045,2390,2043,3486,0,0,0,0,0,0
$GC,1465,-0.58,-146.0,261.8,-13.1,118,1469,0.00,2.33,0.00,0.000,4,0.000,0.068,2381,3466,3487,0,0,0,0,0,0
$GC,1511,-0.58,-146.0,267.6,-12.1,120,1515,0.00,2.20,0.00,0.000,6,0.000,0.046,2378,2050,3486,0,0,0,0,0,0
$GC,1835,-0.58,-146.0,306.6,-11.5,135,1839,0.00,2.25,0.00,0.000,4,0.000,0.058,2381,635,3487,0,0,0,0,0,0
$GC,1890,-0.58,-146.0,313.0,-11.2,136,1894,0.00,2.22,0.00,0.000,6,0.000,0.053,2375,2053,3486,0,0,0,0,0,0
$GC,2203,-0.58,-146.0,347.8,-10.7,144,2207,0.00,2.28,0.00,0.000,4,0.000,0.064,2364,3472,3485,0,0,0,0,0,0
$GC,2286,-0.58,-146.0,356.4,-9.7,145,2290,0.00,2.20,0.00,0.000,6,0.000,0.046,2364,2048,3485,0,0,0,0,0,0
$GC,2616,-0.58,-146.0,394.7,-12.3,153,2620,0.00,2.20,0.00,0.000,4,0.000,0.054,2364,636,3484,0,0,0,0,0,0
$GC,2672,-0.58,-146.0,401.8,-11.6,154,2677,0.12,2.22,0.00,0.000,6,0.155,0.053,2389,2051,3487,0,0,0,0,0,0
$GC,2990,-0.58,-146.0,430.3,-8.9,162,2994,0.00,2.28,0.00,0.000,4,0.000,0.063,2389,633,3482,0,0,0,0,0,0
$GC,3017,-0.58,-146.0,432.8,-9.2,162,3021,0.00,2.25,0.00,0.000,6,0.000,0.053,2390,2057,3482,0,0,0,0,0,0
$GC,3358,-0.58,-146.0,460.0,-8.0,171,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2057,3479,0,0,0,0,0,0
$GC,3682,-0.58,-146.0,487.0,-8.5,179,3686,0.00,2.28,0.00,0.000,4,0.000,0.066,2389,3461,3476,0,0,0,0,0,0
$GC,3751,-0.58,-146.0,492.6,-7.7,180,3755,0.00,2.20,0.00,0.000,6,0.000,0.045,2390,2042,3475,0,0,0,0,0,0
$GC,4091,-0.58,-146.0,519.7,-8.0,189,4095,0.00,2.33,0.00,0.000,4,0.000,0.072,2388,3461,3475,0,0,0,0,0,0
$GC,4123,-0.58,-146.0,522.7,-8.8,189,4127,0.00,2.17,0.00,0.000,6,0.000,0.041,2389,2050,3475,0,0,0,0,0,0
$GC,4454,-0.58,-146.0,552.3,-9.3,197,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2050,3472,0,0,0,0,0,0
$GC,4779,-0.58,-146.0,579.3,-8.0,205,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2050,3469,0,0,0,0,0,0
$GC,5104,-0.58,-146.0,601.8,-6.9,213,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2049,3467,0,0,0,0,0,0
$GC,5429,-0.58,-146.0,623.8,-6.8,221,5433,0.00,2.28,0.00,0.000,4,0.000,0.066,2380,3457,3465,0,0,0,0,0,0
$GC,5456,-0.58,-146.0,625.9,-7.5,221,5460,0.00,2.17,0.00,0.000,6,0.000,0.041,2380,2045,3464,0,0,0,0,0,0
$GC,5796,-0.58,-146.0,649.8,-7.1,230,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2041,3461,0,0,0,0,0,0
$GC,6120,-0.58,-146.0,673.9,-7.6,238,6124,0.00,2.30,0.00,0.000,4,0.000,0.066,2370,3462,3460,0,0,0,0,0,0
$GC,6143,-0.58,-146.0,675.8,-8.2,238,6147,0.00,2.20,0.00,0.000,6,0.000,0.043,2370,2051,3459,0,0,0,0,0,0
$GC,6483,-0.58,-146.0,703.5,-8.0,247,6487,0.00,2.22,0.00,0.000,4,0.000,0.054,2370,639,3458,0,0,0,0,0,0
$GC,6525,-0.58,-146.0,707.0,-8.7,248,6529,0.00,2.20,0.00,0.000,6,0.000,0.048,2363,2049,3457,0,0,0,0,0,0
$GC,6852,-0.58,-146.0,734.8,-8.8,256,6856,0.00,2.30,0.00,0.000,4,0.000,0.067,2353,3463,3455,0,0,0,0,0,0
$GC,6895,-0.58,-146.0,738.8,-9.2,256,6901,0.15,2.22,0.00,0.000,6,0.146,0.044,2396,2039,3455,0,0,0,0,0,0
$GC,7226,-0.58,-146.0,762.3,-6.8,265,7230,0.00,2.33,0.00,0.000,4,0.000,0.067,2388,3465,3452,0,0,0,0,0,0
$GC,7249,-0.58,-146.0,764.0,-6.3,265,7253,0.00,2.20,0.00,0.000,6,0.000,0.045,2387,2051,3455,0,0,0,0,0,0
$GC,7594,-0.58,-146.0,784.2,-5.6,274,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2045,3450,0,0,0,0,0,0
$GC,7918,-0.58,-146.0,802.3,-5.7,282,7922,0.00,2.30,0.00,0.000,4,0.000,0.065,2378,3458,3449,0,0,0,0,0,0
$GC,7950,-0.58,-146.0,804.3,-6.4,282,7954,0.00,2.22,0.00,0.000,6,0.000,0.044,2378,2037,3448,0,0,0,0,0,0
$GC,8286,-0.58,-146.0,826.9,-6.9,291,8290,0.00,2.33,0.00,0.000,4,0.000,0.065,2368,3458,3447,0,0,0,0,0,0
$GC,8318,-0.58,-146.0,829.1,-6.6,291,8322,0.00,2.17,0.00,0.000,6,0.000,0.044,2368,2051,3444,0,0,0,0,0,0
$GC,8649,-0.58,-146.0,851.6,-6.9,299,8653,0.00,2.22,0.00,0.000,4,0.000,0.056,2369,647,3446,0,0,0,0,0,0
$GC,8672,-0.58,-146.0,853.5,-7.8,299,8677,0.12,2.22,0.00,0.000,6,0.154,0.050,2396,2058,3445,0,0,0,0,0,0
$GC,9013,-0.58,-146.0,873.0,-5.8,308,9017,0.00,2.30,0.00,0.000,4,0.000,0.068,2388,3456,3444,0,0,0,0,0,0
$GC,9045,-0.58,-146.0,875.0,-6.4,308,9049,0.00,2.20,0.00,0.000,6,0.000,0.045,2389,2051,3444,0,0,0,0,0,0
$GC,9376,-0.58,-146.0,896.3,-6.5,316,9380,0.00,2.25,0.00,0.000,4,0.000,0.056,2385,639,3443,0,0,0,0,0,0
$GC,9408,-0.58,-146.0,898.6,-7.8,316,9412,0.00,2.22,0.00,0.000,6,0.000,0.049,2381,2051,3445,0,0,0,0,0,0
$GC,9738,-0.58,-146.0,923.0,-7.6,324,9742,0.00,2.30,0.00,0.000,4,0.000,0.067,2371,3454,3441,0,0,0,0,0,0
$GC,9803,-0.58,-146.0,928.1,-8.1,325,9807,0.00,2.20,0.00,0.000,6,0.000,0.045,2371,2051,3441,0,0,0,0,0,0
$GC,10147,-0.58,-146.0,955.4,-8.0,334,10151,0.00,2.22,0.00,0.000,4,0.000,0.056,2371,646,3441,0,0,0,0,0,0
$GC,10170,-0.58,-146.0,957.5,-9.6,334,10174,0.00,2.22,0.00,0.000,6,0.000,0.050,2365,2048,3442,0,0,0,0,0,0
$GC,10515,-0.58,-146.0,985.8,-8.1,343,10519,0.00,2.30,0.00,0.000,4,0.000,0.067,2354,3457,3439,0,0,0,0,0,0
$GC,10558,-0.58,-146.0,989.3,-8.7,343,10564,0.12,2.22,0.00,0.000,6,0.153,0.045,2389,2044,3439,0,0,0,0,0,0
$STATE,10602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10602,begin apogee
$GC,10608,-0.28,0.0,992.4,7.0,345,10733,0.30,0.00,122.53,1.351,6,0.127,0.000,2487,2104,2892,0,0,0,0,0,0
$STATE,10749,end apogee,CONTROL_FINISHED_OK
$STATE,10749,begin climb
$GC,10752,0.58,146.0,997.1,0.0,348,10894,0.77,2.45,132.95,1.315,4,0.086,0.060,2770,705,2295,0,0,1,0,0,0
$GC,10977,0.58,146.0,985.0,10.6,353,10981,0.00,2.30,0.00,0.000,6,0.000,0.054,2771,2093,2286,0,0,0,0,0,0
$GC,11290,0.58,146.0,950.0,11.1,361,11294,0.00,2.35,0.00,0.000,4,0.000,0.071,2767,3517,2281,0,0,0,0,0,0
$GC,11364,0.58,146.0,940.8,12.9,362,11368,0.00,2.25,0.00,0.000,6,0.000,0.050,2781,2107,2281,0,0,0,0,0,0
$GC,11704,0.58,146.0,903.5,10.9,371,11708,0.00,2.35,0.00,0.000,4,0.000,0.068,2781,3519,2279,0,0,0,0,0,0
$GC,11764,0.58,146.0,896.3,11.8,372,11768,0.00,2.22,0.00,0.000,6,0.000,0.050,2791,2098,2278,0,0,1,0,0,0
$GC,12113,0.58,146.0,855.6,11.9,381,12117,0.00,2.28,0.00,0.000,4,0.000,0.061,2802,687,2278,0,0,0,0,0,0
$GC,12156,0.58,146.0,850.1,13.1,382,12161,0.15,2.28,0.00,0.000,6,0.193,0.053,2766,2107,2276,0,0,0,0,0,0
$GC,12484,0.58,146.0,814.3,10.6,390,12488,0.00,2.30,0.00,0.000,4,0.000,0.071,2766,3509,2276,0,0,0,0,0,0
$GC,12567,0.58,146.0,804.9,11.7,391,12571,0.00,2.25,0.00,0.000,6,0.000,0.051,2775,2101,2276,0,0,0,0,0,0
$GC,12897,0.58,146.0,775.7,8.5,399,12901,0.00,2.35,0.00,0.000,4,0.000,0.068,2775,3512,2276,0,0,0,0,0,0
$GC,12934,0.58,146.0,772.0,10.0,399,12940,0.00,2.25,0.00,0.000,6,0.000,0.051,2785,2100,2275,0,0,0,0,0,0
$GC,13265,0.58,146.0,739.8,10.1,408,13269,0.00,2.33,0.00,0.000,4,0.000,0.067,2785,3506,2272,0,0,0,0,0,0
$GC,13343,0.58,146.0,730.1,12.2,409,13347,0.00,2.22,0.00,0.000,6,0.000,0.051,2795,2099,2273,0,0,0,0,0,0
$GC,13674,0.58,146.0,692.1,11.2,417,13678,0.00,2.25,0.00,0.000,4,0.000,0.063,2803,687,2274,0,0,0,0,0,0
$GC,13729,0.58,146.0,685.9,10.6,418,13734,0.15,2.28,0.00,0.000,6,0.193,0.053,2770,2104,2274,0,0,0,0,0,0
$GC,14043,0.58,146.0,660.7,7.6,426,14047,0.00,2.33,0.00,0.000,4,0.000,0.066,2779,687,2273,0,0,0,0,0,0
$GC,14090,0.58,146.0,657.0,8.3,427,14094,0.00,2.28,0.00,0.000,6,0.000,0.054,2779,2099,2273,0,0,0,0,0,0
$GC,14417,0.58,146.0,629.9,8.6,435,14421,0.00,2.33,0.00,0.000,4,0.000,0.069,2779,3507,2272,0,0,0,0,0,0
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$STATE,23012,end climb,SURFACE_DEPTH_REACHED
$STATE,23012,begin surface coast
$FINISH,0.9,1.006656
$STATE,23057,end surface coast,CONTROL_FINISHED_OK
$STATE,23057,begin surface
$SM_CCo,23076,68.57,0.546,0,0,1055,450.36
$SM_GC,1.72,0.00,0.00,68.57,0.000,0.000,0.546,39,2035,1055,-7.94,-0.42,450.36
$IRIDIUM_FIX,1821.40,12457.66,050812,060625
$TT8_MAMPS,0.057525
$HUMID,1078706442
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.50
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8406761472
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51959824384
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,75.155
$10V_AH,9.8,51.463
$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,20.250,225.950,404.300,68.575,0.000,24.194,36.558,437.491,0.250,0.000,16.959,1816.453,18196.979,612.574,2780.712,424.463,33.367,1904.357,0.000,2245.340,0.000,0.544,0.000
$DEVICE_MAMPS,254.644,113.516,1351.454,546.104,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,602.052,0.000,0.000,0.000,0.000,0.000,0.000,21814.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.359,0.000,0.000
$MEM,354932
$DATA_FILE_SIZE,33467,893
$CAP_FILE_SIZE,200246,0
$CFSIZE,260165632,225943552
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,110211,014336,1829.498,12449.216,103,1.5,115,-2.2