version: 66.12
glider: 187
mission: 4
dive: 91
start: 7 8 114 14 23 9
data:
$ID,187
$MISSION,4
$DIVE,91
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-1593311.1
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,080714,141429,4719.388,-12621.226,50,1.4,50,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-73.0
$GPS2,080714,142242,4719.413,-12621.251,10,1.4,15,18.6
$SPEED_LIMITS,0.136,0.232
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,55.4,106791,-14.0,-7.857,-18.69,2568
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.68,-131.4,388,2422,1454,1202,0.0,0.0,0,90,0.00,0.00,-58.17,0.000,16386,0.000,0.000,388,2424,2864,2923,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.68,-131.4,388,2425,2924,2806,3.7,-3.9,6,130,12.55,2.53,-8.98,0.000,18948,0.412,0.111,3083,1004,3396,3434,3358,0,0,0,0,0,0,14.19,14.36,14.57
$GC,360,-0.68,-131.4,3083,1005,3437,3363,64.8,-16.5,33,371,0.00,2.47,0.00,0.000,1030,0.000,0.085,3080,2435,3400,3437,3363,0,0,0,0,0,0,28.83,14.44,28.83
$GC,611,-0.68,-131.4,3084,2434,3440,3363,105.3,-14.4,58,620,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2435,3401,3440,3363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,861,-0.68,-131.4,3083,2434,3440,3364,139.7,-13.2,83,872,0.00,2.45,0.00,0.000,260,0.000,0.106,3084,3844,3401,3440,3363,0,0,0,0,0,0,28.83,14.51,28.83
$GC,923,-0.68,-131.4,3083,3845,3440,3363,148.5,-14.5,89,934,0.00,2.42,0.00,0.000,1030,0.000,0.076,3079,2411,3401,3440,3363,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1173,-0.68,-131.4,3083,2407,3440,3363,181.2,-12.7,114,1184,0.00,2.38,0.00,0.000,516,0.000,0.092,3083,1025,3400,3440,3360,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1224,-0.68,-131.4,3083,1021,3442,3363,187.5,-13.1,119,1234,0.00,2.42,0.00,0.000,1030,0.000,0.088,3084,2431,3401,3440,3363,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1474,-0.68,-131.4,3083,2431,3439,3363,216.7,-11.1,144,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2431,3399,3440,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-0.68,-131.4,3084,2435,3440,3363,245.2,-11.5,169,1735,0.00,2.45,0.00,0.000,516,0.000,0.093,3084,1016,3401,3439,3363,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1774,-0.68,-131.4,3084,1016,3440,3365,251.3,-12.0,174,1785,0.00,2.42,0.00,0.000,1030,0.000,0.091,3083,2422,3401,3440,3363,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2088,-0.68,-131.4,3083,2418,3440,3363,285.7,-11.1,185,2098,0.00,2.40,0.00,0.000,516,0.000,0.093,3084,1021,3405,3447,3363,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2168,-0.68,-131.4,3084,1021,3440,3362,295.4,-11.8,193,2179,0.00,2.42,0.00,0.000,1030,0.000,0.092,3081,2428,3400,3439,3362,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2481,-0.68,-131.4,3083,2429,3439,3361,329.9,-11.3,204,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2426,3399,3439,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2778,-0.68,-131.4,3080,2429,3438,3360,363.4,-11.2,214,2788,0.00,2.42,0.00,0.000,516,0.000,0.099,3083,1022,3399,3439,3360,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2827,-0.68,-131.4,3083,1022,3439,3360,369.1,-12.1,219,2838,0.00,2.42,0.00,0.000,1030,0.000,0.093,3084,2431,3399,3438,3360,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3141,-0.68,-131.4,3083,2427,3438,3358,402.1,-10.5,230,3151,0.00,2.45,0.00,0.000,260,0.000,0.112,3083,3832,3401,3438,3364,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3201,-0.68,-131.4,3083,3831,3438,3358,409.0,-11.2,236,3211,0.00,2.40,0.00,0.000,1030,0.000,0.089,3083,2427,3398,3438,3358,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3531,-0.68,-131.4,3080,2427,3433,3357,443.6,-10.6,249,3542,0.00,2.45,0.00,0.000,516,0.000,0.104,3083,1018,3397,3437,3357,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3600,-0.68,-131.4,3083,1022,3437,3357,451.3,-11.1,256,3611,0.00,2.42,0.00,0.000,1030,0.000,0.095,3084,2422,3396,3436,3357,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3924,-0.68,-131.4,3083,2421,3436,3356,483.4,-9.8,268,3934,0.00,2.47,0.00,0.000,260,0.000,0.112,3083,3844,3396,3436,3356,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3973,-0.68,-131.4,3083,3844,3436,3356,488.6,-9.8,273,3984,0.00,2.42,0.00,0.000,1030,0.000,0.087,3083,2425,3399,3436,3362,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4287,-0.68,-131.4,3083,2424,3436,3355,517.9,-9.5,284,4297,0.00,2.42,0.00,0.000,516,0.000,0.101,3083,1020,3395,3435,3355,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4347,-0.68,-131.4,3083,1019,3430,3355,524.1,-10.2,290,4357,0.00,2.45,0.00,0.000,1030,0.000,0.097,3083,2435,3398,3435,3361,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4676,-0.68,-131.4,3083,2435,3435,3353,556.6,-10.1,303,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2439,3394,3435,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.68,-131.4,3083,2435,3434,3353,587.7,-10.4,313,4987,0.00,2.47,0.00,0.000,516,0.000,0.104,3083,1010,3393,3434,3353,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5026,-0.68,-131.4,3084,1010,3434,3353,593.3,-11.4,318,5037,0.00,2.45,0.00,0.000,1030,0.000,0.096,3084,2423,3393,3433,3353,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5341,-0.68,-131.4,3083,2423,3433,3352,625.1,-10.1,329,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2421,3393,3434,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5637,-0.68,-131.4,3084,2422,3433,3357,654.8,-9.8,339,5648,0.00,2.45,0.00,0.000,516,0.000,0.102,3083,1006,3392,3433,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5676,-0.68,-131.4,3083,1007,3432,3351,659.0,-10.5,343,5687,0.00,2.47,0.00,0.000,1030,0.000,0.096,3083,2421,3391,3432,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5997,-0.68,-131.4,3083,2422,3432,3350,690.9,-9.8,355,6007,0.00,2.50,0.00,0.000,260,0.000,0.115,3083,3849,3391,3431,3351,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6078,-0.68,-131.4,3083,3849,3431,3350,698.9,-10.0,363,6089,0.00,2.45,0.00,0.000,1030,0.000,0.089,3087,2417,3390,3431,3350,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6391,-0.68,-131.4,3083,2417,3432,3350,728.2,-9.5,374,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2417,3388,3431,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6688,-0.68,-131.4,3083,2417,3431,3349,756.2,-9.3,384,6698,0.00,2.45,0.00,0.000,516,0.000,0.106,3083,1006,3389,3430,3349,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6748,-0.68,-131.4,3089,1006,3430,3349,762.2,-10.0,390,6758,0.00,2.47,0.00,0.000,1030,0.000,0.098,3083,2430,3389,3430,3349,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7078,-0.68,-131.4,3084,2433,3430,3347,792.1,-8.8,403,7088,0.00,2.50,0.00,0.000,516,0.000,0.114,3083,1024,3388,3430,3347,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7147,-0.68,-131.4,3083,1023,3430,3347,798.5,-9.7,410,7157,0.00,2.47,0.00,0.000,1030,0.000,0.099,3083,2435,3388,3430,3347,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7471,-0.68,-131.4,3083,2433,3430,3346,826.4,-8.5,422,7481,0.00,2.47,0.00,0.000,260,0.000,0.119,3083,3834,3387,3429,3345,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7530,-0.68,-131.4,3083,3834,3429,3345,832.1,-9.1,428,7541,0.00,2.45,0.00,0.000,1030,0.000,0.100,3083,2429,3387,3429,3345,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7861,-0.68,-131.4,3081,2428,3429,3345,861.5,-8.9,441,7871,0.00,2.50,0.00,0.000,516,0.000,0.118,3083,1022,3387,3429,3345,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7940,-0.68,-131.4,3083,1022,3429,3345,869.0,-9.6,449,7951,0.00,2.45,0.00,0.000,1030,0.000,0.099,3083,2425,3390,3436,3345,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8255,-0.68,-131.4,3083,2425,3429,3344,895.9,-8.7,460,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2425,3386,3429,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8551,-0.68,-131.4,3083,2425,3429,3343,920.9,-8.2,470,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2425,3386,3429,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8854,-0.68,-131.4,3083,2425,3429,3343,944.2,-7.6,480,8864,0.00,2.47,0.00,0.000,516,0.000,0.105,3083,1006,3385,3428,3342,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8914,-0.68,-131.4,3083,1008,3428,3343,949.3,-8.7,486,8924,0.00,2.47,0.00,0.000,1030,0.000,0.099,3085,2426,3385,3428,3343,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9244,-0.68,-131.4,3088,2425,3428,3342,976.0,-8.2,499,9254,0.00,2.50,0.00,0.000,260,0.000,0.119,3083,3847,3385,3428,3343,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9304,-0.68,-131.4,3083,3846,3427,3342,981.2,-8.7,505,9314,0.00,2.47,0.00,0.000,1030,0.000,0.096,3083,2417,3386,3427,3346,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,9420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9420,begin apogee
$GC,9429,-0.29,0.0,3089,2316,3427,3342,991.4,-8.4,511,9549,0.45,0.00,112.28,1.926,10246,0.225,0.000,3212,2316,2859,2935,2784,0,0,0,0,0,0,14.54,28.83,13.19
$STATE,9551,end apogee,CONTROL_FINISHED_OK
$STATE,9551,begin climb
$GC,9555,0.68,131.4,3212,2316,2934,2779,996.1,0.0,515,9691,1.02,2.83,121.45,1.884,10500,0.168,0.117,3515,3746,2318,2475,2162,0,0,0,0,0,0,13.83,13.64,13.05
$GC,9740,0.68,131.4,3520,3746,2472,2161,984.3,10.6,534,9751,0.00,2.62,0.00,0.000,1030,0.000,0.107,3519,2342,2317,2472,2162,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10054,0.68,131.4,3519,2340,2478,2157,954.4,9.4,545,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2343,2314,2472,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10354,0.68,131.4,3519,2343,2469,2153,925.9,9.5,555,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2343,2314,2471,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10654,0.68,131.4,3520,2342,2470,2156,896.9,9.8,565,10664,0.00,2.55,0.00,0.000,516,0.000,0.118,3526,915,2312,2470,2154,0,0,0,0,0,0,28.83,14.43,28.83
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$STATE,21036,end climb,SURFACE_DEPTH_REACHED
$STATE,21036,begin surface coast
$FINISH,1.0,1.009170
$STATE,21086,end surface coast,CONTROL_FINISHED_OK
$STATE,21086,begin surface
$SM_CCo,21112,27.30,0.103,0,0,1328,375.06
$SM_GC,1.76,9.27,0.22,27.30,0.090,0.144,0.103,392,2439,1328,-9.07,-0.48,375.06,0,0,0,0,0,0,14.45,14.48,14.46
$IRIDIUM_FIX,4700.70,-12635.70,080714,080825
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.50
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3908896
$PM_FREEKB,60039680
$24V_AH,13.0,21.158
$10V_AH,13.0,0.000
$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,23.425,208.825,376.750,27.300,0.000,0.000,0.000,254.225,0.000,0.000,16.191,2809.764,14736.196,708.398,2623.818,741.149,0.000,2487.886,0.000,1827.496,0.000,0.535,0.000
$DEVICE_MAMPS,411.570,143.820,1925.505,103.275,0.000,0.000,0.000,169.065,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21108.000,338.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.817,5.695,0.000,0.000
$MEM,290796
$DATA_FILE_SIZE,43298,1185
$CAP_FILE_SIZE,252139,0
$CFSIZE,260034560,249405440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,21505.14,0x2378ba,7,5
$CURRENT,0.081,  4.7,1
$GPS,080714,201759,4721.243,-12617.622,99,0.9,99,18.6