version: 66.12
glider: 187
mission: 4
dive: 138
start: 7 18 114 23 3 47
data:
$ID,187
$MISSION,4
$DIVE,138
$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,-1593379.4
$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,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,25
$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
$GPS1,180714,225536,4729.256,-12556.856,62,1.4,74,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-73.1
$GPS2,180714,230318,4729.222,-12556.797,9,1.4,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,229.5,96444,-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,-116.8,394,2403,1448,1214,0.0,0.0,0,91,0.00,0.00,-59.62,0.000,16386,0.000,0.000,393,2403,2920,2972,2869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,394,2403,2977,2870,3.9,-3.7,6,124,12.98,2.58,-7.28,0.000,18692,0.414,0.119,3127,3816,3341,3388,3294,0,0,0,0,0,0,14.12,14.31,14.55
$GC,334,-0.59,-116.8,3130,3815,3386,3297,54.5,-14.0,30,343,0.00,2.42,0.00,0.000,1030,0.000,0.068,3133,2397,3341,3386,3297,0,0,0,0,0,0,28.83,14.41,28.83
$GC,584,-0.59,-116.8,3128,2394,3388,3297,85.6,-11.9,55,593,0.00,2.50,0.00,0.000,260,0.000,0.097,3127,3814,3342,3388,3297,0,0,0,0,0,0,28.83,14.45,28.83
$GC,744,-0.59,-116.8,3123,3813,3389,3298,104.3,-12.1,71,753,0.00,2.40,0.00,0.000,1030,0.000,0.070,3126,2400,3343,3388,3298,0,0,0,0,0,0,28.83,14.48,28.83
$GC,994,-0.59,-116.8,3127,2400,3388,3302,133.1,-11.3,96,1003,0.00,2.42,0.00,0.000,516,0.000,0.082,3127,985,3344,3389,3299,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1044,-0.59,-116.8,3132,985,3384,3298,138.8,-11.5,101,1054,0.00,2.40,0.00,0.000,1030,0.000,0.077,3127,2398,3343,3389,3298,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1294,-0.59,-116.8,3127,2397,3389,3298,164.7,-10.8,126,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2398,3343,3389,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,-0.59,-116.8,3127,2397,3389,3298,190.4,-9.6,151,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3343,3389,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,-0.59,-116.8,3127,2397,3389,3297,213.9,-9.0,176,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3343,3388,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2045,-0.59,-116.8,3128,2397,3389,3297,236.1,-8.9,201,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2304,-0.59,-116.8,3127,2398,3387,3297,258.6,-8.8,221,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,-0.59,-116.8,3127,2397,3389,3295,285.7,-9.0,231,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3342,3389,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2905,-0.59,-116.8,3127,2397,3388,3294,312.7,-9.0,241,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,-0.59,-116.8,3127,2397,3388,3293,339.7,-8.8,251,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3338,3388,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-0.59,-116.8,3127,2397,3388,3293,365.6,-8.5,261,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3804,-0.59,-116.8,3127,2397,3386,3292,391.3,-8.9,271,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3339,3387,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4105,-0.59,-116.8,3125,2397,3387,3296,417.9,-8.9,281,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3341,3392,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4404,-0.59,-116.8,3127,2398,3389,3287,444.5,-8.8,291,4411,0.00,2.42,0.00,0.000,516,0.000,0.086,3128,984,3340,3391,3289,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4465,-0.59,-116.8,3125,983,3385,3290,450.2,-9.5,297,4472,0.00,2.42,0.00,0.000,1030,0.000,0.083,3127,2397,3337,3385,3290,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4797,-0.59,-116.8,3128,2397,3384,3288,476.9,-8.0,310,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2399,3332,3380,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,-0.59,-116.8,3127,2397,3383,3288,501.1,-8.1,320,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.59,-116.8,3127,2397,3383,3287,524.0,-7.6,330,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.59,-116.8,3127,2397,3385,3292,546.1,-7.3,340,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5994,-0.59,-116.8,3127,2397,3380,3286,567.4,-7.0,350,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6294,-0.59,-116.8,3127,2397,3382,3286,589.2,-7.4,360,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6594,-0.59,-116.8,3127,2397,3382,3286,612.8,-7.9,370,6602,0.00,2.42,0.00,0.000,516,0.000,0.088,3127,986,3334,3382,3286,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6693,-0.59,-116.8,3127,985,3382,3285,621.1,-8.4,380,6703,0.00,2.47,0.00,0.000,1030,0.000,0.085,3127,2396,3333,3382,3285,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7017,-0.59,-116.8,3127,2396,3381,3285,646.4,-7.7,392,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7314,-0.59,-116.8,3127,2396,3381,3284,669.2,-7.7,402,7322,0.00,2.47,0.00,0.000,260,0.000,0.105,3127,3808,3333,3381,3285,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7473,-0.59,-116.8,3127,3809,3381,3283,682.1,-7.9,418,7482,0.00,2.45,0.00,0.000,1030,0.000,0.078,3127,2406,3335,3381,3290,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7797,-0.59,-116.8,3127,2405,3381,3283,707.7,-8.0,430,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8094,-0.59,-116.8,3124,2405,3375,3282,732.1,-8.2,440,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8394,-0.59,-116.8,3127,2405,3380,3282,756.5,-8.0,450,8401,0.00,2.45,0.00,0.000,516,0.000,0.090,3127,983,3330,3380,3281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8463,-0.59,-116.8,3128,983,3379,3282,762.4,-8.6,457,8472,0.00,2.45,0.00,0.000,1030,0.000,0.085,3129,2398,3332,3383,3281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8788,-0.59,-116.8,3127,2400,3380,3281,786.0,-7.0,469,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3332,3384,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9084,-0.59,-116.8,3127,2401,3379,3281,807.0,-6.8,479,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2399,3329,3383,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,-0.59,-116.8,3131,2400,3379,3280,827.2,-6.6,489,9393,0.00,2.47,0.00,0.000,260,0.000,0.105,3127,3818,3329,3379,3280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9463,-0.59,-116.8,3127,3818,3378,3279,832.9,-7.1,497,9473,0.00,2.45,0.00,0.000,1030,0.000,0.079,3127,2383,3329,3379,3280,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9777,-0.59,-116.8,3127,2385,3382,3285,852.8,-6.3,508,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10074,-0.59,-116.8,3127,2385,3379,3278,872.7,-6.7,518,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3331,3379,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10374,-0.59,-116.8,3127,2385,3378,3278,892.8,-6.7,528,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3331,3378,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10674,-0.59,-116.8,3127,2385,3378,3278,913.3,-6.9,538,10681,0.00,2.40,0.00,0.000,516,0.000,0.093,3127,999,3327,3378,3277,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10764,-0.59,-116.8,3127,999,3378,3278,919.9,-7.9,547,10772,0.00,2.45,0.00,0.000,1030,0.000,0.089,3133,2412,3327,3378,3277,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11098,-0.59,-116.8,3127,2407,3377,3277,942.2,-6.7,560,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3327,3377,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11394,-0.59,-116.8,3127,2407,3377,3277,961.6,-6.3,570,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2408,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11694,-0.59,-116.8,3127,2407,3377,3276,979.9,-6.1,580,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2408,3326,3377,3276,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11870,begin apogee
$GC,11879,-0.25,0.0,3127,2335,3377,3276,990.4,-5.8,586,11984,0.38,0.00,100.30,1.918,10246,0.203,0.000,3236,2334,2858,2933,2784,0,0,0,0,0,0,14.45,28.83,13.26
$STATE,11988,end apogee,CONTROL_FINISHED_OK
$STATE,11988,begin climb
$GC,11992,0.59,116.8,3236,2335,2933,2778,992.5,0.0,589,12118,0.88,2.72,108.12,1.883,10756,0.148,0.103,3508,923,2378,2522,2235,0,0,0,0,0,0,13.88,13.68,13.11
$GC,12148,0.59,116.8,3509,924,2521,2235,983.9,8.6,607,12158,0.00,2.55,0.00,0.000,1030,0.000,0.087,3508,2326,2378,2522,2235,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12478,0.59,116.8,3508,2326,2521,2230,953.0,9.2,620,12488,0.00,2.55,0.00,0.000,260,0.000,0.108,3508,3746,2375,2521,2230,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12527,0.59,116.8,3508,3746,2519,2230,948.1,10.3,625,12538,0.00,2.53,0.00,0.000,1030,0.000,0.090,3509,2329,2374,2519,2229,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12841,0.59,116.8,3508,2329,2518,2228,919.6,9.1,636,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2329,2373,2519,2228,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25068,end climb,SURFACE_DEPTH_REACHED
$STATE,25071,begin surface coast
$FINISH,1.0,1.023421
$STATE,25100,end surface coast,CONTROL_FINISHED_OK
$STATE,25100,begin surface
$SM_CCo,25185,0.00,0.000,0,0,1315,378.50
$SM_GC,2.20,9.48,0.12,0.00,0.077,0.164,0.000,392,2405,1315,-9.11,-0.59,378.50,0,0,0,0,0,0,14.28,14.28,28.83
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$TT8_MAMPS,0.024717,0.024717
$HUMID,47.24
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3893856
$PM_FREEKB,58830720
$24V_AH,13.1,31.651
$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,23.950,148.725,397.800,0.000,0.000,0.000,0.000,238.875,0.000,0.000,15.616,3365.303,18004.514,663.032,2855.384,739.530,0.000,2425.180,0.000,2186.040,0.000,0.535,0.000
$DEVICE_MAMPS,413.865,166.770,1917.855,0.000,0.000,0.000,0.000,172.890,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25123.000,12142.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.859,4.073,0.000,0.000
$MEM,290844
$DATA_FILE_SIZE,49968,1438
$CAP_FILE_SIZE,257074,0
$CFSIZE,260034560,244912128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25095.76,0x2378ba,7,5
$CURRENT,0.083, 14.0,1
$GPS,190714,060505,4729.426,-12559.280,41,1.0,46,18.7