version: 66.07
glider: 23
mission: 5
dive: 164
start: 12 19 110 22 31 53
data:
$ID,23
$MISSION,5
$DIVE,164
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$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,471
$T_MISSION,720
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54671.273
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2680
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$AR_DIVENUM,163
$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
$GPS1,191210,222207,1920.582,12518.975,38,1.9,39,-2.4
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-54.1
$GPS2,191210,223101,1920.523,12518.892,30,1.7,36,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,-0.196
$KALMAN_X,-273549.7,954.5,284.3,199719.2,-5203.7
$KALMAN_Y,90856.4,-457.9,165.0,-314442.9,2500.8
$MHEAD_RNG_PITCHd_Wd,160.0,154336,-12.7,-7.006
$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,-1.00,-146.0,0.0,0.0,0,105,0.00,0.00,-76.10,0.000,2,0.000,0.000,361,2710,2777,0,0,0,0,0,0
$GC,107,-1.00,-146.0,3.2,-1.3,15,158,10.15,2.28,-32.05,0.000,4,0.160,0.048,2131,1615,3669,0,0,0,0,0,0
$GC,354,-1.00,-146.0,46.3,-19.2,53,360,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2680,3669,0,0,0,0,0,0
$GC,615,-1.00,-146.0,96.2,-18.8,78,619,0.00,1.70,0.00,0.000,4,0.000,0.037,2131,3741,3669,0,0,0,0,0,0
$GC,874,-1.00,-146.0,137.0,-13.8,101,878,0.00,1.70,0.00,0.000,6,0.000,0.024,2130,2661,3669,0,0,0,0,0,0
$GC,1140,-1.00,-146.0,170.0,-12.5,126,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2660,3670,0,0,0,0,0,0
$GC,1394,-1.00,-146.0,201.2,-12.0,150,1398,0.00,2.08,0.00,0.000,4,0.000,0.038,2131,1627,3670,0,0,0,0,0,0
$GC,1416,-1.00,-146.0,203.8,-11.6,151,1420,0.00,2.05,0.00,0.000,6,0.000,0.028,2131,2678,3671,0,0,0,0,0,0
$GC,1747,-1.00,-146.0,242.0,-11.6,167,1751,0.00,2.10,0.00,0.000,4,0.000,0.037,2130,1625,3671,0,0,0,0,0,0
$GC,1824,-1.00,-146.0,250.7,-10.8,170,1831,0.00,2.10,0.00,0.000,6,0.000,0.028,2131,2672,3671,0,0,0,0,0,0
$GC,2140,-1.00,-146.0,286.5,-10.2,186,2144,0.00,1.75,0.00,0.000,4,0.000,0.043,2131,3732,3670,0,0,0,0,0,0
$GC,2211,-1.00,-146.0,294.3,-11.0,189,2216,0.00,1.73,0.00,0.000,6,0.000,0.025,2131,2658,3670,0,0,0,0,0,0
$GC,2535,-1.00,-146.0,321.1,-7.5,199,2539,0.00,2.05,0.00,0.000,4,0.000,0.038,2130,1622,3669,0,0,0,0,0,0
$GC,2550,-1.00,-146.0,322.5,-7.4,199,2555,0.00,2.10,0.00,0.000,6,0.000,0.029,2130,2666,3669,0,0,0,0,0,0
$GC,2897,-1.00,-146.0,356.0,-10.8,208,2901,0.00,2.10,0.00,0.000,4,0.000,0.038,2130,1618,3666,0,0,0,0,0,0
$GC,3008,-1.00,-146.0,368.6,-10.2,210,3013,0.00,2.10,0.00,0.000,6,0.000,0.030,2131,2660,3666,0,0,0,0,0,0
$GC,3351,-1.00,-146.0,399.7,-8.0,219,3354,0.00,2.10,0.00,0.000,4,0.000,0.038,2131,1623,3665,0,0,0,0,0,0
$GC,3467,-1.00,-146.0,408.2,-7.5,221,3471,0.00,2.10,0.00,0.000,6,0.000,0.031,2131,2658,3664,0,0,0,0,0,0
$GC,3804,-1.00,-146.0,430.1,-6.6,230,3808,0.00,2.08,0.00,0.000,4,0.000,0.038,2131,1624,3662,0,0,0,0,0,0
$GC,4039,-1.00,-146.0,446.7,-7.3,235,4043,0.00,2.10,0.00,0.000,6,0.000,0.032,2130,2656,3660,0,0,0,0,0,0
$GC,4352,-1.00,-146.0,472.2,-8.3,243,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2656,3658,0,0,0,0,0,0
$GC,4677,-1.00,-146.0,495.2,-6.7,251,4681,0.00,2.10,0.00,0.000,4,0.000,0.039,2131,1621,3657,0,0,0,0,0,0
$GC,4771,-1.00,-146.0,501.2,-6.1,253,4775,0.00,2.10,0.00,0.000,6,0.000,0.032,2131,2651,3655,0,0,0,0,0,0
$GC,5090,-1.00,-146.0,521.3,-6.3,261,5093,0.00,2.10,0.00,0.000,4,0.000,0.039,2131,1618,3652,0,0,0,0,0,0
$GC,5206,-1.00,-146.0,528.3,-6.1,263,5211,0.00,2.10,0.00,0.000,6,0.000,0.034,2131,2644,3652,0,0,0,0,0,0
$GC,5543,-1.00,-146.0,548.5,-5.9,272,5547,0.00,2.05,0.00,0.000,4,0.000,0.040,2130,1625,3649,0,0,0,0,0,0
$GC,5778,-1.00,-146.0,561.0,-5.6,277,5782,0.00,2.05,0.00,0.000,6,0.000,0.035,2130,2652,3647,0,0,0,0,0,0
$GC,6091,-1.00,-146.0,576.5,-4.9,285,6095,0.00,2.10,0.00,0.000,4,0.000,0.041,2131,1622,3645,0,0,0,0,0,0
$GC,6243,-1.00,-146.0,584.2,-5.8,288,6247,0.00,2.05,0.00,0.000,6,0.000,0.035,2130,2644,3644,0,0,0,0,0,0
$GC,6584,-1.00,-146.0,605.1,-6.6,297,6588,0.00,2.08,0.00,0.000,4,0.000,0.041,2130,1629,3642,0,0,0,0,0,0
$GC,6639,-1.00,-146.0,609.3,-7.9,298,6644,0.00,2.08,0.00,0.000,6,0.000,0.035,2131,2640,3642,0,0,0,0,0,0
$GC,6952,-1.00,-146.0,632.7,-7.5,306,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2640,3639,0,0,0,0,0,0
$GC,7277,-1.00,-146.0,652.9,-5.5,314,7281,0.00,2.08,0.00,0.000,4,0.000,0.042,2130,1627,3638,0,0,0,0,0,0
$GC,7427,-1.00,-146.0,660.2,-4.6,317,7431,0.00,2.05,0.00,0.000,6,0.000,0.037,2130,2633,3637,0,0,0,0,0,0
$GC,7740,-1.00,-146.0,673.6,-4.3,325,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2633,3634,0,0,0,0,0,0
$GC,8065,-1.00,-146.0,690.0,-5.3,333,8069,0.00,2.08,0.00,0.000,4,0.000,0.044,2131,1625,3633,0,0,0,0,0,0
$GC,8182,-1.00,-146.0,696.7,-6.2,335,8186,0.00,2.08,0.00,0.000,6,0.000,0.039,2131,2625,3632,0,0,0,0,0,0
$GC,8518,-1.00,-146.0,716.0,-5.7,344,8522,0.00,2.05,0.00,0.000,4,0.000,0.043,2131,1619,3630,0,0,0,0,0,0
$GC,8589,-1.00,-146.0,720.2,-6.1,345,8594,0.00,2.08,0.00,0.000,6,0.000,0.039,2132,2620,3629,0,0,0,0,0,0
$GC,8926,-1.00,-146.0,740.2,-5.8,354,8930,0.00,2.05,0.00,0.000,4,0.000,0.043,2130,1620,3628,0,0,0,0,0,0
$GC,9133,-1.00,-146.0,752.3,-5.6,358,9137,0.00,2.08,0.00,0.000,6,0.000,0.039,2130,2616,3627,0,0,0,0,0,0
$GC,9476,-1.00,-146.0,772.1,-5.6,367,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2616,3626,0,0,0,0,0,0
$GC,9800,-1.00,-146.0,786.6,-3.9,375,9804,0.00,2.03,0.00,0.000,4,0.000,0.042,2130,1625,3625,0,0,0,0,0,0
$GC,10058,-1.00,-146.0,794.8,-2.7,380,10062,0.00,2.03,0.00,0.000,6,0.000,0.039,2130,2625,3624,0,0,0,0,0,0
$GC,10394,-1.00,-146.0,805.8,-3.4,389,10398,0.00,2.05,0.00,0.000,4,0.000,0.042,2130,1628,3623,0,0,0,0,0,0
$GC,10505,-1.00,-146.0,810.4,-4.7,391,10509,0.00,2.05,0.00,0.000,6,0.000,0.039,2130,2610,3623,0,0,0,0,0,0
$GC,10853,-1.00,-146.0,826.5,-4.9,400,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3621,0,0,0,0,0,0
$GC,11178,-1.00,-146.0,842.9,-5.1,408,11182,0.00,2.03,0.00,0.000,4,0.000,0.042,2131,1619,3620,0,0,0,0,0,0
$GC,11435,-1.00,-146.0,855.9,-4.7,413,11440,0.00,2.05,0.00,0.000,6,0.000,0.040,2130,2600,3619,0,0,0,0,0,0
$GC,11772,-1.00,-146.0,873.9,-5.4,422,11776,0.00,2.00,0.00,0.000,4,0.000,0.041,2130,1621,3618,0,0,0,0,0,0
$GC,12029,-1.00,-146.0,886.5,-5.0,427,12034,0.00,2.05,0.00,0.000,6,0.000,0.040,2131,2598,3617,0,0,0,0,0,0
$GC,12366,-1.00,-146.0,902.6,-4.7,436,12370,0.00,2.03,0.00,0.000,4,0.000,0.041,2131,1618,3617,0,0,0,0,0,0
$GC,12584,-1.00,-146.0,913.2,-5.1,440,12590,0.00,2.05,0.00,0.000,6,0.000,0.040,2131,2592,3616,0,0,0,0,0,0
$GC,12915,-1.00,-146.0,929.2,-4.8,449,12919,0.00,2.00,0.00,0.000,4,0.000,0.041,2131,1627,3616,0,0,0,0,0,0
$GC,12976,-1.00,-146.0,932.2,-4.8,450,12980,0.00,2.03,0.00,0.000,6,0.000,0.040,2130,2586,3616,0,0,0,0,0,0
$GC,13289,-1.00,-146.0,947.1,-4.8,458,13292,0.00,1.98,0.00,0.000,4,0.000,0.041,2131,1626,3615,0,0,0,0,0,0
$GC,13361,-1.00,-146.0,950.7,-4.5,459,13365,0.00,2.03,0.00,0.000,6,0.000,0.040,2131,2587,3615,0,0,0,0,0,0
$GC,13703,-1.00,-146.0,967.5,-5.0,468,13706,0.00,1.98,0.00,0.000,4,0.000,0.041,2131,1625,3614,0,0,0,0,0,0
$GC,13774,-1.00,-146.0,970.9,-4.8,469,13779,0.00,2.03,0.00,0.000,6,0.000,0.040,2131,2584,3614,0,0,0,0,0,0
$GC,14117,-1.00,-146.0,986.3,-4.4,478,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2583,3614,0,0,0,0,0,0
$STATE,14237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14237,begin apogee
$GC,14242,-0.33,0.0,991.1,4.0,481,14361,0.75,0.00,115.20,1.503,6,0.096,0.000,2283,1940,3072,0,0,0,0,0,0
$STATE,14364,end apogee,CONTROL_FINISHED_OK
$STATE,14364,begin climb
$GC,14366,1.00,146.0,989.4,0.0,484,14497,1.38,0.00,126.32,1.442,6,0.065,0.000,2576,1939,2475,0,0,0,0,0,0
$GC,14811,1.00,146.0,949.2,9.2,495,14815,0.00,2.33,0.00,0.000,4,0.000,0.051,2576,870,2468,0,0,0,0,0,0
$GC,15000,1.00,146.0,928.8,11.1,499,15005,0.00,2.25,0.00,0.000,6,0.000,0.030,2576,1946,2468,0,0,0,0,0,0
$GC,15314,1.00,146.0,897.9,9.9,507,15318,0.00,2.30,0.00,0.000,4,0.000,0.051,2576,877,2467,0,0,0,0,0,0
$GC,15334,1.00,146.0,895.8,9.8,507,15339,0.00,2.22,0.00,0.000,6,0.000,0.030,2576,1926,2467,0,0,0,0,0,0
$GC,15676,1.00,146.0,862.9,9.5,516,15680,0.00,2.28,0.00,0.000,4,0.000,0.051,2576,870,2467,0,0,0,0,0,0
$GC,15713,1.00,146.0,859.1,10.0,516,15719,0.00,2.25,0.00,0.000,6,0.000,0.030,2576,1941,2467,0,0,0,0,0,0
$GC,16044,1.00,146.0,829.7,8.7,525,16048,0.00,2.28,0.00,0.000,4,0.000,0.050,2576,879,2467,0,0,0,0,0,0
$GC,16070,1.00,146.0,827.3,9.4,525,16075,0.00,2.17,0.00,0.000,6,0.000,0.029,2576,1909,2467,0,0,0,0,0,0
$GC,16407,1.00,146.0,798.4,8.6,534,16410,0.00,2.12,0.00,0.000,4,0.000,0.042,2576,3017,2466,0,0,0,0,0,0
$GC,16450,1.00,146.0,794.6,9.5,535,16455,0.00,2.12,0.00,0.000,6,0.000,0.035,2576,1922,2466,0,0,0,0,0,0
$GC,16774,1.00,146.0,766.9,8.4,543,16778,0.00,2.22,0.00,0.000,4,0.000,0.052,2576,884,2466,0,0,0,0,0,0
$GC,16834,1.00,146.0,761.3,10.3,544,16839,0.00,2.20,0.00,0.000,6,0.000,0.029,2576,1926,2466,0,0,0,0,0,0
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$STATE,26011,end climb,SURFACE_DEPTH_REACHED
$STATE,26011,begin surface coast
$FINISH,1.7,1.013691
$STATE,26040,end surface coast,CONTROL_FINISHED_OK
$STATE,26041,begin surface
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$IRIDIUM_FIX,1916.08,12522.17,130612,090943
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$HUMID,1078803216
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$XPDR_PINGS,416
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$AR_CDRIVE_FREE,2093154304
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59516682240
$AR_DDRIVE_SIZE,59996930048
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$10V_AH,10.0,14.340
$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
$DEVICE_SECS,22.425,200.075,494.650,37.675,0.000,24.841,37.124,331.186,104.000,0.000,38.173,1991.115,20610.725,701.756,3108.919,216.123,33.370,2145.487,0.000,2626.133,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,669.017,0.000,0.000,0.000,0.000,0.000,0.000,22804.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.259,0.000,0.000
$MEM,354956
$DATA_FILE_SIZE,36675,984
$CAP_FILE_SIZE,209652,0
$CFSIZE,260034560,246702080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201210,054807,1918.675,12518.407,24,1.4,25,-2.4