version: 66.12
glider: 187
mission: 4
dive: 129
start: 7 16 114 7 48 35
data:
$ID,187
$MISSION,4
$DIVE,129
$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,450
$T_MISSION,510
$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,120
$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,-1593368
$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,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$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,28
$R_STBD_OVSHOOT,13
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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
$GPS1,160714,073700,4743.991,-12530.441,93,1.0,93,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-71.2
$GPS2,160714,074806,4743.896,-12530.551,16,1.7,21,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,204.3,139188,-14.0,-7.333,-18.81,2445
$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,-0.59,-116.8,397,2425,1446,1216,0.0,0.0,0,91,0.00,0.00,-59.80,0.000,16386,0.000,0.000,397,2426,2912,2966,2859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,397,2426,2965,2860,3.5,-3.4,6,131,12.65,2.58,-7.32,0.000,18692,0.405,0.125,3119,3845,3337,3382,3292,0,0,0,0,0,0,14.14,14.32,14.59
$GC,361,-0.59,-116.8,3123,3845,3385,3294,53.8,-14.8,33,372,0.00,2.42,0.00,0.000,1030,0.000,0.069,3123,2425,3339,3385,3294,0,0,0,0,0,0,28.83,14.45,28.83
$GC,613,-0.59,-116.8,3123,2426,3390,3295,86.8,-12.4,58,623,0.00,2.47,0.00,0.000,260,0.000,0.098,3124,3844,3341,3388,3295,0,0,0,0,0,0,28.83,14.45,28.83
$GC,853,-0.59,-116.8,3123,3843,3387,3296,117.2,-12.6,82,864,0.00,2.40,0.00,0.000,1030,0.000,0.071,3123,2425,3341,3387,3296,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1104,-0.59,-116.8,3124,2427,3392,3296,144.8,-10.2,107,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2424,3341,3388,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1354,-0.59,-116.8,3123,2424,3387,3295,168.2,-9.1,132,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2424,3341,3388,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,-0.59,-116.8,3123,2424,3386,3295,190.6,-9.0,157,1615,0.00,2.40,0.00,0.000,516,0.000,0.083,3123,1013,3341,3388,3295,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1696,-0.59,-116.8,3123,1013,3388,3295,199.5,-9.7,166,1706,0.00,2.45,0.00,0.000,1030,0.000,0.080,3129,2439,3341,3387,3295,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1946,-0.59,-116.8,3124,2442,3387,3294,222.8,-8.9,191,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2442,3340,3387,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2196,-0.59,-116.8,3124,2442,3387,3294,245.6,-8.8,216,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2442,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2458,-0.59,-116.8,3124,2442,3388,3293,270.2,-9.7,228,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2443,3339,3387,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-0.59,-116.8,3127,2442,3387,3291,298.6,-9.5,238,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2442,3339,3387,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3056,-0.59,-116.8,3124,2442,3387,3290,327.6,-9.8,248,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2438,3338,3387,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3357,-0.59,-116.8,3123,2442,3387,3289,354.3,-8.5,258,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2442,3338,3387,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.59,-116.8,3123,2442,3387,3288,379.9,-8.5,268,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2442,3337,3387,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-0.59,-116.8,3123,2442,3386,3287,407.0,-9.2,278,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2442,3337,3387,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4256,-0.59,-116.8,3123,2442,3387,3286,434.7,-9.2,288,4266,0.00,2.45,0.00,0.000,516,0.000,0.085,3129,1010,3336,3386,3286,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4376,-0.59,-116.8,3123,1015,3385,3286,446.4,-9.8,300,4386,0.00,2.45,0.00,0.000,1030,0.000,0.085,3123,2437,3335,3385,3286,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4706,-0.59,-116.8,3120,2436,3385,3285,476.3,-8.9,313,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2436,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5006,-0.59,-116.8,3124,2436,3384,3285,502.4,-8.6,323,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2436,3335,3385,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5306,-0.59,-116.8,3125,2436,3387,3284,527.5,-8.2,333,5316,0.00,2.45,0.00,0.000,516,0.000,0.090,3123,1016,3334,3383,3285,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5356,-0.59,-116.8,3123,1016,3384,3284,531.6,-8.3,338,5367,0.00,2.42,0.00,0.000,1030,0.000,0.087,3123,2422,3333,3383,3284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5669,-0.59,-116.8,3126,2421,3383,3283,554.1,-7.0,349,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2421,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5966,-0.59,-116.8,3123,2421,3383,3282,574.1,-6.6,359,5976,0.00,2.42,0.00,0.000,516,0.000,0.090,3123,1011,3332,3383,3282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6036,-0.59,-116.8,3123,1012,3382,3281,579.2,-7.2,366,6046,0.00,2.45,0.00,0.000,1030,0.000,0.086,3123,2426,3330,3379,3282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6356,-0.59,-116.8,3123,2427,3382,3281,601.3,-7.1,378,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2427,3335,3389,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6656,-0.59,-116.8,3123,2427,3382,3281,625.4,-8.2,388,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2427,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6957,-0.59,-116.8,3123,2426,3382,3280,649.1,-7.7,398,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2426,3331,3383,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7256,-0.59,-116.8,3123,2427,3382,3276,672.3,-7.8,408,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2426,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.59,-116.8,3124,2427,3382,3278,696.1,-8.1,418,7567,0.00,2.45,0.00,0.000,516,0.000,0.095,3124,1021,3329,3381,3278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7626,-0.59,-116.8,3123,1021,3381,3278,702.3,-9.0,425,7637,0.00,2.45,0.00,0.000,1030,0.000,0.090,3124,2427,3330,3381,3279,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7950,-0.59,-116.8,3123,2427,3381,3278,729.4,-8.4,437,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2427,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8247,-0.59,-116.8,3123,2427,3381,3277,753.8,-8.0,447,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2425,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8547,-0.59,-116.8,3123,2426,3380,3277,777.9,-7.9,457,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2427,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8847,-0.59,-116.8,3123,2427,3380,3283,800.9,-7.6,467,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2432,3328,3380,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-0.59,-116.8,3123,2424,3380,3276,822.9,-7.1,477,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2427,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9447,-0.59,-116.8,3123,2431,3380,3275,843.8,-7.0,487,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2427,3327,3380,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9747,-0.59,-116.8,3124,2427,3379,3275,865.5,-7.3,497,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2427,3327,3380,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10049,-0.59,-116.8,3124,2427,3379,3274,885.7,-6.4,507,10060,0.00,2.45,0.00,0.000,516,0.000,0.099,3123,1022,3326,3379,3274,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10170,-0.59,-116.8,3119,1023,3379,3274,894.4,-7.7,519,10180,0.00,2.45,0.00,0.000,1030,0.000,0.092,3123,2428,3326,3379,3274,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10499,-0.59,-116.8,3123,2427,3380,3273,916.3,-6.5,532,10510,0.00,2.50,0.00,0.000,260,0.000,0.112,3123,3845,3326,3378,3274,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10599,-0.59,-116.8,3123,3846,3378,3273,923.1,-6.8,542,10609,0.00,2.45,0.00,0.000,1030,0.000,0.085,3123,2422,3325,3378,3273,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10920,-0.59,-116.8,3124,2421,3378,3273,944.7,-6.6,554,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2421,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11222,-0.59,-116.8,3124,2421,3379,3272,964.0,-6.4,564,11232,0.00,2.45,0.00,0.000,516,0.000,0.099,3124,1010,3323,3374,3272,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,11378,end dive,NO_VERTICAL_VELOCITY
$STATE,11378,begin apogee
$GC,11388,-0.25,0.0,3123,2333,3377,3272,964.0,0.0,580,11495,0.38,0.00,99.32,1.887,10246,0.161,0.000,3241,2331,2859,2936,2782,0,0,0,0,0,0,14.53,28.83,13.28
$STATE,11497,end apogee,CONTROL_FINISHED_OK
$STATE,11497,begin climb
$GC,11501,0.59,116.8,3241,2333,2934,2778,963.8,0.0,583,11627,0.85,2.72,107.47,1.852,10500,0.144,0.109,3505,3736,2378,2522,2234,0,0,0,0,0,0,13.90,13.70,13.12
$GC,11807,0.59,116.8,3504,3736,2518,2234,940.7,10.3,616,11817,0.00,2.55,0.00,0.000,1030,0.000,0.093,3508,2326,2376,2518,2234,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12137,0.59,116.8,3508,2325,2518,2229,911.0,8.7,629,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2326,2373,2518,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12440,0.59,116.8,3508,2326,2518,2227,885.5,8.6,639,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2326,2372,2518,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12740,0.59,116.8,3508,2326,2518,2227,859.0,8.9,649,12749,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2326,2371,2517,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13040,0.59,116.8,3508,2326,2516,2225,833.6,8.3,659,13050,0.00,2.55,0.00,0.000,260,0.000,0.112,3509,3743,2371,2516,2226,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13100,0.59,116.8,3508,3743,2515,2226,827.5,9.9,665,13110,0.00,2.50,0.00,0.000,1030,0.000,0.096,3508,2323,2370,2515,2226,0,0,0,0,0,0,28.83,14.50,28.83
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$STATE,23989,end climb,SURFACE_DEPTH_REACHED
$STATE,23989,begin surface coast
$FINISH,0.8,1.024135
$STATE,24034,end surface coast,CONTROL_FINISHED_OK
$STATE,24034,begin surface
$SM_CCo,24060,33.00,0.103,0,0,1328,375.06
$SM_GC,1.76,9.40,0.20,33.00,0.080,0.130,0.103,396,2429,1328,-9.10,-0.59,375.06,0,0,0,0,0,0,14.43,14.45,14.42
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$TT8_MAMPS,0.023968,0.023968
$HUMID,47.67
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3896736
$PM_FREEKB,59170688
$24V_AH,13.1,29.222
$10V_AH,13.1,0.000
$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,23.525,138.775,326.900,33.000,0.000,0.000,0.000,352.425,0.000,0.000,22.814,3183.636,17173.678,610.744,3027.270,750.427,0.000,2610.665,0.000,2043.121,0.000,0.536,0.000
$DEVICE_MAMPS,405.450,130.050,1887.255,103.275,0.000,0.000,0.000,172.890,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24059.000,428.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.833,5.647,0.000,0.000
$MEM,290856
$DATA_FILE_SIZE,46722,1330
$CAP_FILE_SIZE,260925,0
$CFSIZE,260034560,245895168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,22840.16,0x2378ba,7,5
$CURRENT,0.036,303.6,1
$GPS,160714,143235,4742.287,-12533.794,95,1.3,95,18.7