version: 66.12
glider: 187
mission: 4
dive: 132
start: 7 17 114 4 52 39
data:
$ID,187
$MISSION,4
$DIVE,132
$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,-1593371.8
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,170714,044406,4738.743,-12540.248,55,1.8,55,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-73.4
$GPS2,170714,045213,4738.689,-12540.187,12,1.8,12,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,211.9,123679,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,394,2425,1458,1204,0.0,0.0,0,91,0.00,0.00,-59.40,0.000,16386,0.000,0.000,395,2426,2906,2958,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,395,2426,2956,2856,3.7,-3.8,6,124,12.65,2.58,-7.57,0.000,18692,0.402,0.119,3126,3837,3337,3381,3293,0,0,0,0,0,0,14.14,14.34,14.56
$GC,354,-0.59,-116.8,3126,3837,3384,3295,54.5,-14.9,32,364,0.00,2.42,0.00,0.000,1030,0.000,0.069,3126,2424,3340,3385,3295,0,0,0,0,0,0,28.83,14.43,28.83
$GC,605,-0.59,-116.8,3126,2424,3387,3295,88.2,-13.1,57,613,0.00,2.40,0.00,0.000,516,0.000,0.080,3126,1014,3341,3388,3294,0,0,0,0,0,0,28.83,14.46,28.83
$GC,634,-0.59,-116.8,3127,1011,3388,3295,91.9,-12.6,60,644,0.00,2.42,0.00,0.000,1030,0.000,0.078,3127,2422,3341,3388,3295,0,0,0,0,0,0,28.83,14.43,28.83
$GC,885,-0.59,-116.8,3127,2422,3388,3296,120.7,-10.5,85,892,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2422,3344,3388,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1134,-0.59,-116.8,3127,2421,3384,3297,146.6,-10.4,110,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2421,3342,3388,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1384,-0.59,-116.8,3127,2421,3388,3296,173.1,-10.2,135,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2421,3342,3388,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1634,-0.59,-116.8,3126,2421,3388,3295,198.9,-10.4,160,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2423,3341,3388,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,-0.59,-116.8,3131,2421,3388,3295,223.3,-9.4,185,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2421,3342,3389,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2134,-0.59,-116.8,3126,2421,3388,3295,246.8,-9.4,210,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2421,3341,3388,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,-0.59,-116.8,3126,2421,3386,3294,270.4,-9.3,221,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2421,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-0.59,-116.8,3126,2421,3388,3299,297.0,-8.5,231,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2421,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2984,-0.59,-116.8,3126,2421,3388,3292,321.3,-8.2,241,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2421,3340,3389,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3284,-0.59,-116.8,3126,2421,3388,3289,345.9,-8.2,251,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2421,3338,3387,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3585,-0.59,-116.8,3126,2420,3387,3289,372.2,-8.8,261,3592,0.00,2.42,0.00,0.000,516,0.000,0.086,3126,1006,3338,3387,3289,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3663,-0.59,-116.8,3126,1008,3387,3289,379.7,-9.5,269,3673,0.00,2.45,0.00,0.000,1030,0.000,0.083,3126,2425,3338,3387,3289,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3974,-0.59,-116.8,3126,2421,3387,3288,407.0,-8.7,280,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2424,3337,3387,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4274,-0.59,-116.8,3126,2425,3386,3291,433.8,-9.2,290,4281,0.00,2.42,0.00,0.000,516,0.000,0.087,3131,1011,3336,3386,3287,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4334,-0.59,-116.8,3126,1012,3386,3287,439.9,-10.2,296,4342,0.00,2.45,0.00,0.000,1030,0.000,0.084,3126,2430,3336,3386,3287,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4667,-0.59,-116.8,3127,2429,3390,3285,470.6,-8.8,309,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2430,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4964,-0.59,-116.8,3126,2427,3380,3286,495.5,-8.3,319,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2430,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5265,-0.59,-116.8,3127,2430,3385,3285,519.3,-7.8,329,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2430,3335,3385,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5564,-0.59,-116.8,3127,2430,3384,3283,542.5,-7.9,339,5571,0.00,2.45,0.00,0.000,516,0.000,0.092,3126,1017,3334,3384,3284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5613,-0.59,-116.8,3126,1016,3385,3284,546.9,-8.9,344,5623,0.00,2.50,0.00,0.000,1030,0.000,0.089,3126,2424,3332,3384,3280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5926,-0.59,-116.8,3126,2424,3383,3283,572.6,-8.4,355,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2424,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6225,-0.59,-116.8,3127,2424,3385,3282,599.0,-8.8,365,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2424,3330,3383,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6524,-0.59,-116.8,3127,2424,3383,3281,624.7,-8.5,375,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2424,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6824,-0.59,-116.8,3126,2424,3388,3281,648.8,-7.8,385,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2424,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7124,-0.59,-116.8,3131,2425,3382,3281,671.3,-7.4,395,7132,0.00,2.45,0.00,0.000,516,0.000,0.094,3129,1014,3331,3382,3281,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7244,-0.59,-116.8,3126,1014,3389,3281,680.8,-8.2,407,7252,0.00,2.47,0.00,0.000,1030,0.000,0.089,3132,2437,3334,3382,3286,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7577,-0.59,-116.8,3125,2437,3381,3280,705.6,-7.6,420,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2437,3332,3385,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7874,-0.59,-116.8,3126,2437,3382,3278,728.6,-7.7,430,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2436,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8174,-0.59,-116.8,3124,2436,3381,3278,750.9,-7.1,440,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2437,3333,3388,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,-0.59,-116.8,3126,2437,3381,3278,771.9,-7.0,450,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2437,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,-0.59,-116.8,3126,2436,3381,3277,792.9,-6.9,460,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2436,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9074,-0.59,-116.8,3126,2436,3380,3277,813.8,-6.9,470,9082,0.00,2.47,0.00,0.000,516,0.000,0.095,3126,1015,3328,3380,3277,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9153,-0.59,-116.8,3126,1015,3379,3282,820.1,-8.0,478,9163,0.00,2.50,0.00,0.000,1030,0.000,0.090,3126,2422,3328,3379,3277,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9468,-0.59,-116.8,3127,2422,3380,3276,843.7,-7.8,489,9475,0.00,2.50,0.00,0.000,260,0.000,0.109,3126,3847,3329,3380,3279,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9545,-0.59,-116.8,3126,3847,3380,3281,850.5,-8.4,497,9554,0.00,2.47,0.00,0.000,1030,0.000,0.079,3122,2404,3327,3379,3276,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9856,-0.59,-116.8,3126,2404,3379,3275,874.9,-7.6,508,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2408,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10155,-0.59,-116.8,3126,2404,3378,3275,897.3,-7.4,518,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10456,-0.59,-116.8,3126,2403,3380,3276,918.2,-6.7,528,10464,0.00,2.40,0.00,0.000,516,0.000,0.093,3126,1014,3327,3380,3274,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10545,-0.59,-116.8,3125,1014,3379,3274,924.7,-7.1,537,10553,0.00,2.45,0.00,0.000,1030,0.000,0.089,3126,2425,3325,3378,3273,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10878,-0.59,-116.8,3127,2425,3378,3274,945.6,-6.1,550,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2425,3326,3379,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11175,-0.59,-116.8,3126,2424,3378,3273,964.9,-6.5,560,11178,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2424,3329,3385,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11475,-0.59,-116.8,3126,2424,3377,3273,985.4,-7.0,570,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2421,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11562,begin apogee
$GC,11571,-0.25,0.0,3126,2327,3378,3273,991.9,-7.2,573,11677,0.40,0.00,100.93,1.922,10246,0.203,0.000,3241,2323,2858,2935,2782,0,0,0,0,0,0,14.44,28.83,13.23
$STATE,11681,end apogee,CONTROL_FINISHED_OK
$STATE,11681,begin climb
$GC,11684,0.59,116.8,3242,2323,2933,2777,995.3,0.0,576,11806,0.88,0.00,109.70,1.884,10246,0.148,0.000,3511,2319,2378,2522,2234,0,0,0,0,0,0,13.88,28.83,13.10
$GC,12105,0.59,116.8,3512,2322,2521,2228,967.9,7.7,591,12115,0.00,2.58,0.00,0.000,260,0.000,0.109,3511,3740,2377,2520,2234,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12165,0.59,116.8,3511,3740,2518,2228,962.4,9.5,597,12176,0.00,2.47,0.00,0.000,1030,0.000,0.086,3519,2342,2371,2518,2224,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12496,0.59,116.8,3516,2342,2518,2226,933.4,8.6,610,12505,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2346,2372,2518,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12798,0.59,116.8,3519,2342,2515,2222,906.5,9.1,620,12808,0.00,2.53,0.00,0.000,516,0.000,0.106,3519,916,2371,2517,2225,0,0,0,0,0,0,28.83,14.42,28.83
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$STATE,24170,end climb,SURFACE_DEPTH_REACHED
$STATE,24170,begin surface coast
$FINISH,0.8,1.023403
$STATE,24198,end surface coast,CONTROL_FINISHED_OK
$STATE,24198,begin surface
$SM_CCo,24284,0.00,0.000,0,0,1300,381.93
$SM_GC,1.95,9.35,0.17,0.00,0.076,0.168,0.000,391,2425,1300,-9.11,-0.71,381.93,0,0,0,0,0,0,14.33,14.34,28.83
$IRIDIUM_FIX,4722.92,-12534.86,160714,212122
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.63
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3895776
$PM_FREEKB,59037280
$24V_AH,13.1,30.018
$10V_AH,13.4,0.000
$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,23.500,128.650,406.225,0.000,0.000,0.000,0.000,264.150,0.000,0.000,15.456,3150.733,17525.838,667.260,2704.114,699.478,0.000,2362.426,0.000,2002.087,0.000,0.536,0.000
$DEVICE_MAMPS,402.390,168.300,1922.445,0.000,0.000,0.000,0.000,171.360,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24220.000,11847.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.832,4.067,0.000,0.000
$MEM,290848
$DATA_FILE_SIZE,46659,1317
$CAP_FILE_SIZE,243977,0
$CFSIZE,260034560,245579776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25628.22,0x2378ba,7,5
$CURRENT,0.010,129.3,1
$GPS,170714,113900,4736.814,-12543.122,50,1.8,50,18.7