version: 66.12
glider: 187
mission: 4
dive: 198
start: 8 4 114 3 20 50
data:
$ID,187
$MISSION,4
$DIVE,198
$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,4
$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,-1593668.1
$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,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,23
$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,48
$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
$GPS1,040814,031229,4746.287,-12523.775,51,1.9,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-72.0
$GPS2,040814,032024,4746.271,-12523.729,13,1.3,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,203.5,148758,-14.0,-7.333,-18.81,2445
$D_GRID,798
$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,-116.8,395,2392,1458,1200,0.0,0.0,0,90,0.00,0.00,-58.33,0.000,16386,0.000,0.000,395,2390,2871,2929,2813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,395,2390,2929,2813,4.0,-4.1,6,130,12.57,2.60,-8.27,0.000,18692,0.394,0.119,3127,3813,3337,3381,3294,0,0,0,0,0,0,14.08,14.31,14.56
$GC,361,-0.59,-116.8,3127,3812,3384,3297,51.9,-13.6,33,370,0.00,2.45,0.00,0.000,1030,0.000,0.067,3127,2388,3341,3384,3298,0,0,0,0,0,0,28.83,14.41,28.83
$GC,611,-0.59,-116.8,3127,2381,3386,3298,81.9,-10.5,58,619,0.00,2.50,0.00,0.000,260,0.000,0.093,3127,3808,3342,3386,3298,0,0,0,0,0,0,28.83,14.41,28.83
$GC,711,-0.59,-116.8,3127,3808,3382,3298,92.6,-11.3,68,720,0.00,2.40,0.00,0.000,1030,0.000,0.067,3127,2389,3342,3387,3298,0,0,0,0,0,0,28.83,14.46,28.83
$GC,961,-0.59,-116.8,3127,2384,3387,3298,120.9,-11.8,93,970,0.00,2.50,0.00,0.000,260,0.000,0.093,3127,3817,3342,3387,3298,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1071,-0.59,-116.8,3127,3817,3386,3294,134.5,-12.6,104,1080,0.00,2.40,0.00,0.000,1030,0.000,0.069,3128,2403,3342,3387,3298,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1321,-0.59,-116.8,3127,2403,3381,3298,160.9,-9.7,129,1330,0.00,2.47,0.00,0.000,260,0.000,0.094,3127,3810,3342,3386,3298,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1490,-0.59,-116.8,3127,3809,3386,3298,177.2,-9.5,146,1500,0.00,2.45,0.00,0.000,1030,0.000,0.069,3127,2392,3342,3386,3298,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1741,-0.59,-116.8,3127,2390,3386,3298,199.9,-9.0,171,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-0.59,-116.8,3128,2390,3386,3295,222.4,-8.9,196,2001,0.00,2.50,0.00,0.000,260,0.000,0.096,3127,3813,3341,3386,3297,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2071,-0.59,-116.8,3127,3815,3386,3297,230.1,-9.8,204,2081,0.00,2.42,0.00,0.000,1030,0.000,0.072,3127,2396,3340,3384,3297,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2341,-0.59,-116.8,3127,2395,3387,3296,256.0,-9.5,227,2349,0.00,2.47,0.00,0.000,260,0.000,0.096,3129,3801,3339,3382,3296,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2440,-0.59,-116.8,3127,3804,3386,3295,265.7,-9.5,237,2448,0.00,2.40,0.00,0.000,1030,0.000,0.073,3127,2396,3340,3386,3295,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2764,-0.59,-116.8,3128,2395,3386,3294,296.3,-9.5,249,2772,0.00,2.47,0.00,0.000,260,0.000,0.096,3126,3808,3340,3386,3294,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2831,-0.59,-116.8,3127,3808,3386,3293,303.1,-9.6,256,2840,0.00,2.45,0.00,0.000,1030,0.000,0.074,3127,2405,3337,3381,3293,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3155,-0.59,-116.8,3127,2400,3386,3293,331.5,-8.5,268,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3339,3386,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,-0.59,-116.8,3127,2403,3386,3292,358.7,-9.4,278,3459,0.00,2.47,0.00,0.000,260,0.000,0.096,3127,3815,3339,3386,3292,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3644,-0.59,-116.8,3128,3816,3385,3293,377.0,-9.5,297,3653,0.00,2.42,0.00,0.000,1030,0.000,0.072,3127,2392,3341,3390,3292,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3966,-0.59,-116.8,3130,2388,3384,3290,404.8,-8.3,309,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2388,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4263,-0.59,-116.8,3127,2388,3384,3289,427.6,-7.2,319,4271,0.00,2.50,0.00,0.000,260,0.000,0.098,3127,3810,3338,3385,3291,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4382,-0.59,-116.8,3127,3810,3384,3289,436.2,-7.1,331,4390,0.00,2.42,0.00,0.000,1030,0.000,0.075,3127,2396,3336,3384,3288,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4716,-0.59,-116.8,3127,2395,3386,3288,458.6,-6.9,344,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3335,3383,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5013,-0.59,-116.8,3127,2395,3383,3284,481.2,-8.0,354,5020,0.00,2.47,0.00,0.000,260,0.000,0.099,3127,3803,3334,3383,3286,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5133,-0.59,-116.8,3127,3802,3382,3287,491.2,-8.5,366,5140,0.00,2.40,0.00,0.000,1030,0.000,0.074,3127,2394,3336,3382,3291,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5466,-0.59,-116.8,3127,2391,3382,3287,517.4,-7.8,379,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5764,-0.59,-116.8,3127,2391,3382,3286,541.3,-8.1,389,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6063,-0.59,-116.8,3127,2391,3382,3285,562.4,-6.8,399,6070,0.00,2.50,0.00,0.000,260,0.000,0.100,3123,3809,3334,3382,3286,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6123,-0.59,-116.8,3127,3809,3382,3285,566.7,-7.3,405,6130,0.00,2.42,0.00,0.000,1030,0.000,0.077,3128,2395,3333,3382,3285,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6456,-0.59,-116.8,3127,2392,3382,3285,590.1,-7.6,418,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2392,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6753,-0.59,-116.8,3128,2391,3381,3284,614.0,-8.1,428,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2392,3335,3387,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7053,-0.59,-116.8,3127,2392,3381,3283,638.0,-7.8,438,7061,0.00,2.50,0.00,0.000,260,0.000,0.102,3127,3803,3332,3381,3283,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7132,-0.59,-116.8,3127,3803,3381,3283,644.5,-8.3,446,7141,0.00,2.45,0.00,0.000,1030,0.000,0.076,3127,2405,3331,3381,3282,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7446,-0.59,-116.8,3127,2404,3380,3282,667.7,-7.0,457,7453,0.00,2.47,0.00,0.000,260,0.000,0.099,3127,3808,3331,3381,3282,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7573,-0.59,-116.8,3126,3808,3380,3282,676.9,-7.0,470,7581,0.00,2.45,0.00,0.000,1030,0.000,0.080,3127,2395,3331,3380,3282,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7896,-0.59,-116.8,3127,2392,3380,3282,700.6,-7.3,482,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2392,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,-0.59,-116.8,3129,2392,3379,3281,720.8,-6.5,492,8202,0.00,2.50,0.00,0.000,260,0.000,0.102,3127,3803,3330,3380,3281,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8343,-0.59,-116.8,3133,3803,3379,3281,731.6,-7.4,507,8351,0.00,2.42,0.00,0.000,1030,0.000,0.076,3123,2394,3332,3379,3285,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8676,-0.59,-116.8,3127,2392,3379,3281,757.0,-7.9,520,8685,0.00,2.50,0.00,0.000,260,0.000,0.101,3127,3803,3329,3379,3280,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8834,-0.59,-116.8,3127,3803,3378,3280,769.4,-7.8,536,8843,0.00,2.47,0.00,0.000,1030,0.000,0.078,3127,2400,3329,3379,3280,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9158,-0.59,-116.8,3127,2399,3378,3280,792.6,-6.8,548,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9241,begin apogee
$GC,9250,-0.25,0.0,3127,2316,3378,3279,798.4,-6.5,551,9352,0.38,0.00,96.32,1.687,10246,0.198,0.000,3232,2316,2859,2934,2785,0,0,0,0,0,0,14.37,28.83,13.38
$STATE,9355,end apogee,CONTROL_FINISHED_OK
$STATE,9355,begin climb
$GC,9359,0.59,116.8,3236,2316,2932,2781,801.4,0.0,554,9478,0.88,2.58,103.45,1.654,10756,0.143,0.093,3519,936,2379,2521,2238,0,0,0,0,0,0,13.97,13.76,13.23
$GC,9557,0.59,116.8,3519,935,2520,2238,791.5,8.3,576,9567,0.00,2.50,0.00,0.000,1030,0.000,0.080,3519,2332,2378,2520,2237,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9880,0.59,116.8,3520,2332,2519,2234,765.0,7.8,588,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2332,2376,2519,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10181,0.59,116.8,3519,2331,2518,2231,741.2,8.1,598,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2332,2374,2517,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10480,0.59,116.8,3519,2332,2517,2231,715.9,8.6,608,10491,0.00,2.50,0.00,0.000,516,0.000,0.097,3520,931,2373,2515,2231,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10562,0.59,116.8,3519,931,2516,2230,709.4,7.7,616,10573,0.00,2.45,0.00,0.000,1030,0.000,0.082,3519,2339,2373,2515,2231,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10874,0.59,116.8,3519,2339,2515,2226,684.6,8.8,627,10884,0.00,2.47,0.00,0.000,260,0.000,0.102,3519,3737,2372,2515,2230,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10964,0.59,116.8,3519,3736,2513,2230,675.3,10.1,636,10974,0.00,2.42,0.00,0.000,1030,0.000,0.083,3519,2342,2371,2512,2230,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11294,0.59,116.8,3519,2342,2512,2229,645.2,9.1,649,11304,0.00,2.50,0.00,0.000,516,0.000,0.100,3519,916,2371,2512,2230,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11463,0.59,116.8,3520,916,2512,2229,630.2,8.9,666,11474,0.00,2.45,0.00,0.000,1030,0.000,0.082,3523,2331,2370,2512,2229,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11777,0.59,116.8,3520,2332,2512,2229,602.6,8.9,677,11787,0.00,2.50,0.00,0.000,516,0.000,0.100,3519,917,2370,2512,2229,0,0,0,0,0,0,28.83,14.45,28.83
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$STATE,20194,end climb,SURFACE_DEPTH_REACHED
$STATE,20194,begin surface coast
$FINISH,1.0,1.023489
$STATE,20246,end surface coast,CONTROL_FINISHED_OK
$STATE,20246,begin surface
$SM_CCo,20271,28.33,0.103,0,0,1329,375.06
$SM_GC,1.61,9.20,0.15,28.33,0.077,0.143,0.103,396,2401,1329,-9.09,-0.74,375.06,0,0,0,0,0,0,14.45,14.47,14.43
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$TT8_MAMPS,0.023968,0.023968
$HUMID,49.01
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3874656
$PM_FREEKB,57028288
$24V_AH,13.2,46.817
$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,23.150,153.150,311.550,28.325,0.000,0.000,0.000,250.950,0.000,0.000,13.917,2945.564,13983.484,607.867,2526.964,695.383,0.000,2188.324,0.000,1911.184,0.000,0.536,0.000
$DEVICE_MAMPS,393.975,162.945,1686.825,103.275,0.000,0.000,0.000,167.535,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20265.000,9485.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.030,4.064,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,43316,1260
$CAP_FILE_SIZE,225153,0
$CFSIZE,260034560,238616576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18090.92,0x2378ba,7,5
$CURRENT,0.046,219.2,1
$GPS,040814,090100,4744.490,-12526.668,59,1.0,59,18.7