version: 66.03
glider: 120
mission: 9
dive: 678
start: 5 11 109 7 15 56
data:
$ID,120
$MISSION,9
$DIVE,678
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,-32155.652
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,070707,5018.822,-14511.527,36,1.5,36,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.6
$GPS2,071502,5018.789,-14511.518,38,1.6,38,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.035,-0.174
$KALMAN_X,-125280.9,-277.8,29.9,129060.3,1314.4
$KALMAN_Y,139315.3,399.2,359.9,-111746.5,-698.3
$MHEAD_RNG_PITCHd_Wd,173.0,45891,-12.0,-5.000
$D_GRID,1001
$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
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-40.05,0.000,2,0.000,0.000,134,2408,2667
$GC,74,-0.67,-117.3,3.6,-6.2,4,110,14.90,2.65,-14.75,0.000,4,0.278,0.092,3094,3807,3357
$GC,365,-0.52,-117.3,39.8,-9.6,30,370,0.20,2.33,0.00,0.000,6,0.146,0.053,3148,2386,3359
$GC,691,-0.52,-117.3,63.3,-7.1,60,695,0.00,2.53,0.00,0.000,4,0.000,0.067,3148,986,3359
$GC,721,-0.52,-117.3,65.5,-7.5,62,725,0.00,2.42,0.00,0.000,6,0.000,0.060,3148,2406,3359
$GC,1055,-0.52,-117.3,89.3,-7.0,87,1059,0.00,2.50,0.00,0.000,4,0.000,0.078,3143,3812,3359
$GC,1083,-0.52,-117.3,91.3,-7.3,88,1087,0.00,2.35,0.00,0.000,6,0.000,0.051,3143,2391,3359
$GC,1400,-0.52,-117.3,115.6,-8.3,103,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2392,3359
$GC,1710,-0.57,-117.3,138.9,-6.4,118,1715,0.00,2.58,0.00,0.000,4,0.000,0.077,3141,3810,3360
$GC,1739,-0.67,-117.3,140.7,-6.2,119,1744,0.12,2.33,0.00,0.000,6,0.077,0.051,3095,2392,3359
$GC,2075,-0.67,-117.3,163.2,-6.4,132,2080,0.00,2.58,0.00,0.000,4,0.000,0.067,3096,988,3359
$GC,2127,-0.67,-117.3,167.0,-7.0,133,2132,0.00,2.42,0.00,0.000,6,0.000,0.058,3095,2413,3360
$GC,2441,-0.67,-117.3,191.3,-7.9,143,2445,0.00,2.45,0.00,0.000,4,0.000,0.077,3095,3810,3359
$GC,2476,-0.67,-117.3,194.1,-8.0,144,2480,0.00,2.30,0.00,0.000,6,0.000,0.051,3095,2401,3360
$GC,2818,-0.67,-117.3,219.5,-7.2,155,2822,0.00,2.53,0.00,0.000,4,0.000,0.067,3095,992,3359
$GC,2853,-0.67,-117.3,222.3,-8.1,156,2857,0.00,2.40,0.00,0.000,6,0.000,0.058,3095,2399,3360
$GC,3189,-0.67,-117.3,244.8,-6.4,167,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2397,3360
$GC,3495,-0.67,-117.3,264.6,-6.6,177,3499,0.00,2.60,0.00,0.000,4,0.000,0.066,3095,991,3360
$GC,3525,-0.67,-117.3,266.5,-6.8,178,3530,0.00,2.45,0.00,0.000,6,0.000,0.059,3095,2399,3359
$GC,3862,-0.67,-117.3,291.7,-7.7,189,3865,0.00,2.45,0.00,0.000,4,0.000,0.078,3095,3813,3360
$GC,3897,-0.67,-117.3,294.5,-8.1,190,3901,0.00,2.30,0.00,0.000,6,0.000,0.051,3095,2400,3360
$GC,4237,-0.67,-117.3,318.5,-6.8,197,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3359
$GC,4541,-0.67,-117.3,337.1,-6.0,202,4545,0.00,2.47,0.00,0.000,4,0.000,0.069,3095,987,3360
$GC,4563,-0.67,-117.3,338.6,-6.1,202,4567,0.00,2.45,0.00,0.000,6,0.000,0.059,3095,2413,3360
$GC,4901,-0.67,-117.3,359.3,-6.2,208,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2411,3359
$GC,5204,-0.67,-117.3,380.3,-7.0,213,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2412,3359
$GC,5509,-0.67,-117.3,400.4,-6.5,218,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2412,3359
$GC,5810,-0.67,-117.3,418.0,-5.8,223,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2411,3359
$GC,6114,-0.67,-117.3,434.7,-5.5,228,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2412,3359
$GC,6417,-0.67,-117.3,451.7,-5.6,233,6421,0.00,2.70,0.00,0.000,4,0.000,0.067,3095,997,3359
$GC,6452,-0.67,-117.3,453.9,-6.3,233,6457,0.00,2.50,0.00,0.000,6,0.000,0.060,3095,2402,3359
$GC,6781,-0.67,-117.3,470.6,-4.9,239,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3359
$GC,7083,-0.67,-117.3,484.6,-4.6,244,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3359
$GC,7386,-0.67,-117.3,499.8,-5.0,249,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3358
$GC,7689,-0.67,-117.3,516.8,-5.7,254,7694,0.00,2.60,0.00,0.000,4,0.000,0.068,3095,990,3358
$GC,7719,-0.72,-117.3,518.8,-6.2,254,7724,0.00,2.50,0.00,0.000,6,0.000,0.060,3095,2409,3358
$GC,8053,-0.72,-117.3,540.2,-6.5,260,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3358
$GC,8356,-0.72,-117.3,560.2,-6.6,265,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3358
$GC,8659,-0.72,-117.3,578.5,-6.0,270,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3358
$GC,8962,-0.72,-117.3,594.8,-5.3,275,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3358
$GC,9267,-0.77,-117.3,609.8,-5.0,280,9271,0.00,2.65,0.00,0.000,4,0.000,0.068,3095,990,3358
$GC,9307,-0.84,-117.3,611.8,-5.0,280,9312,0.15,2.47,0.00,0.000,6,0.082,0.060,3043,2407,3357
$GC,9629,-0.76,-117.3,630.7,-5.9,286,9633,0.00,2.47,0.00,0.000,4,0.000,0.080,3043,3813,3357
$GC,9698,-0.67,-117.3,635.3,-6.6,287,9703,0.20,2.35,0.00,0.000,6,0.107,0.054,3097,2389,3357
$GC,10059,-0.67,-117.3,653.3,-4.9,293,10063,0.00,2.47,0.00,0.000,4,0.000,0.069,3097,989,3357
$GC,10093,-0.67,-117.3,655.3,-6.1,293,10097,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2400,3357
$GC,10427,-0.86,-117.3,675.2,-6.3,299,10432,0.15,2.53,0.00,0.000,4,0.085,0.068,3039,990,3356
$GC,10562,-0.81,-117.3,684.8,-7.3,301,10566,0.00,2.47,0.00,0.000,6,0.000,0.061,3038,2411,3357
$GC,10930,-0.88,-117.3,713.2,-7.8,307,10934,0.00,2.55,0.00,0.000,4,0.000,0.071,3039,984,3357
$GC,11003,-0.81,-117.3,719.3,-7.9,308,11008,0.00,2.47,0.00,0.000,6,0.000,0.061,3039,2408,3357
$GC,11360,-0.89,-117.3,748.0,-8.2,314,11364,0.00,2.47,0.00,0.000,4,0.000,0.081,3039,3819,3356
$GC,11510,-0.79,-117.3,760.5,-8.0,316,11514,0.00,2.35,0.00,0.000,6,0.000,0.055,3039,2392,3357
$GC,11866,-0.69,-117.3,790.5,-8.5,322,11867,0.20,0.00,0.00,0.000,6,0.141,0.000,3093,2390,3356
$GC,12170,-0.73,-117.3,811.7,-6.8,327,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2390,3356
$GC,12472,-0.77,-117.3,830.5,-6.2,332,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3356
$GC,12775,-0.81,-117.3,848.0,-5.7,337,12780,0.12,2.55,0.00,0.000,4,0.081,0.069,3046,993,3356
$GC,12803,-0.81,-117.3,849.9,-6.8,337,12807,0.00,2.47,0.00,0.000,6,0.000,0.061,3046,2412,3356
$GC,13137,-0.75,-117.3,873.7,-7.2,343,13142,0.12,2.47,0.00,0.000,4,0.139,0.081,3072,3807,3355
$GC,13165,-0.75,-117.3,875.8,-8.0,343,13169,0.00,2.33,0.00,0.000,6,0.000,0.054,3072,2401,3356
$GC,13498,-0.75,-117.3,896.2,-6.1,349,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3356
$GC,13801,-0.75,-117.3,913.2,-5.6,354,13805,0.00,2.67,0.00,0.000,4,0.000,0.069,3072,994,3355
$GC,13830,-0.75,-117.3,914.8,-5.7,354,13834,0.00,2.47,0.00,0.000,6,0.000,0.061,3072,2409,3355
$GC,14162,-0.75,-117.3,932.1,-5.3,360,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2407,3355
$GC,14466,-0.75,-117.3,947.6,-5.2,365,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2407,3355
$GC,14770,-0.75,-117.3,964.0,-5.4,370,14771,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2407,3355
$GC,15072,-0.75,-117.3,981.2,-5.7,375,15074,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2407,3355
$STATE,15249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15250,begin apogee
$GC,15259,-0.22,0.0,991.9,5.9,378,15372,0.60,0.00,108.60,1.493,6,0.134,0.000,3243,2200,2876
$STATE,15373,end apogee,CONTROL_FINISHED_OK
$STATE,15373,begin climb
$GC,15377,0.67,117.3,996.9,0.0,380,15503,0.90,3.00,117.07,1.443,4,0.084,0.076,3527,3609,2396
$GC,15536,0.23,117.3,997.4,5.2,382,15542,0.62,2.72,0.00,0.000,6,0.179,0.058,3400,2204,2395
$GC,15871,0.34,171.5,985.3,3.5,388,15922,0.00,0.00,49.38,1.441,6,0.000,0.000,3400,2205,2176
$GC,16174,0.46,192.2,972.4,4.4,393,16199,0.15,2.53,19.33,1.386,4,0.076,0.077,3476,779,2091
$GC,16229,0.36,192.2,968.9,7.0,393,16234,0.15,2.40,0.00,0.000,6,0.137,0.059,3439,2208,2090
$GC,16540,0.42,192.2,951.0,5.7,398,16545,0.00,2.50,0.00,0.000,4,0.000,0.076,3438,780,2088
$GC,16632,0.61,192.2,945.9,5.2,399,16637,0.22,2.35,0.00,0.000,6,0.077,0.058,3521,2203,2088
$GC,16971,0.49,192.2,921.0,7.6,405,16976,0.17,2.38,0.00,0.000,4,0.143,0.077,3470,3610,2087
$GC,17090,0.41,192.2,912.0,7.4,406,17094,0.00,2.30,0.00,0.000,6,0.000,0.061,3477,2193,2087
$GC,17407,0.47,192.2,889.0,7.3,412,17411,0.00,2.42,0.00,0.000,4,0.000,0.078,3477,3617,2087
$GC,17532,0.51,192.2,879.4,7.7,413,17538,0.00,2.33,0.00,0.000,6,0.000,0.061,3477,2193,2086
$GC,17845,0.58,192.2,857.1,7.3,419,17849,0.00,2.45,0.00,0.000,4,0.000,0.077,3477,3607,2086
$GC,17976,0.58,192.2,847.6,6.8,421,17980,0.00,2.40,0.00,0.000,6,0.000,0.061,3477,2202,2086
$GC,18349,0.65,192.2,823.0,6.5,427,18354,0.15,2.53,0.00,0.000,4,0.085,0.077,3546,3614,2086
$GC,18414,0.39,192.2,818.2,8.4,428,18420,0.38,2.40,0.00,0.000,6,0.164,0.062,3449,2188,2086
$GC,18782,0.53,192.2,798.6,5.1,434,18786,0.12,2.47,0.00,0.000,4,0.083,0.078,3495,3607,2086
$GC,18867,0.44,192.2,793.8,5.3,435,18872,0.17,2.33,0.00,0.000,6,0.150,0.061,3462,2197,2086
$GC,19212,0.56,199.0,777.2,4.8,441,19226,0.12,2.47,6.88,1.152,4,0.081,0.079,3510,3608,2063
$GC,19296,0.43,199.0,772.5,6.0,442,19301,0.22,2.33,0.00,0.000,6,0.159,0.060,3461,2191,2063
$GC,19646,0.55,199.0,754.7,5.2,448,19650,0.00,2.45,0.00,0.000,4,0.000,0.078,3460,3616,2063
$GC,19770,0.60,199.0,747.8,5.3,449,19777,0.15,2.35,0.00,0.000,6,0.077,0.061,3520,2196,2063
$GC,20082,0.60,199.0,728.1,6.5,455,20087,0.00,2.45,0.00,0.000,4,0.000,0.078,3520,3607,2063
$GC,20190,0.44,199.0,719.9,7.4,456,20195,0.22,2.33,0.00,0.000,6,0.161,0.061,3464,2201,2062
$GC,20512,0.55,199.0,698.7,6.5,462,20516,0.00,2.45,0.00,0.000,4,0.000,0.077,3464,3610,2062
$GC,20631,0.60,199.0,690.5,7.1,463,20636,0.15,2.35,0.00,0.000,6,0.075,0.061,3522,2191,2063
$GC,20942,0.60,199.0,667.7,7.4,468,20946,0.00,2.47,0.00,0.000,4,0.000,0.077,3521,3608,2062
$GC,21089,0.44,199.0,656.1,8.2,470,21094,0.25,2.35,0.00,0.000,6,0.160,0.061,3459,2197,2062
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$GC,27212,0.66,224.4,290.3,5.7,570,27216,0.00,2.47,0.00,0.000,4,0.000,0.075,3504,780,1956
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$GC,28191,0.71,229.0,229.8,4.9,601,28201,0.00,2.33,5.22,0.805,6,0.000,0.059,3518,2200,1942
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$GC,28888,0.71,239.0,192.4,4.7,624,28904,0.12,2.42,10.55,0.930,4,0.082,0.075,3548,789,1900
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$STATE,31945,end climb,SURFACE_DEPTH_REACHED
$STATE,31945,begin surface coast
$FINISH,0.7,1.020242
$STATE,32040,end surface coast,CONTROL_FINISHED_OK
$STATE,32040,begin surface
$SM_CCo,32125,0.00,0.000,0,0,1619,308.34
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$IRIDIUM_FIX,5003.11,-14514.02,040898,222215
$TT8_MAMPS,0.026845
$HUMID,2147
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$TCM_TEMP,15.60
$XPDR_PINGS,1150
$24V_AH,20.6,132.027
$10V_AH,10.3,91.844
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,33.825,284.425,402.125,0.000,0.000,27.569,31.918,213.245,287.500,0.000,0.000,38.745,1961.928,25945.107,594.754,3071.104,1011.464,33.383,2079.186,0.000,2989.449,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47499,813
$CAP_FILE_SIZE,217866,0
$CFSIZE,260165632,205950976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110509,161237,5016.805,-14512.637,35,1.8,35,18.5