version: 66.12
glider: 187
mission: 4
dive: 199
start: 8 4 114 9 10 57
data:
$ID,187
$MISSION,4
$DIVE,199
$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,-1593669.4
$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,32
$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
$GPS1,040814,090100,4744.490,-12526.668,59,1.0,59,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-73.5
$GPS2,040814,091031,4744.452,-12526.750,13,1.5,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,219.7,143700,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.59,-116.8,396,2401,1445,1216,0.0,0.0,0,91,0.00,0.00,-58.42,0.000,16386,0.000,0.000,393,2401,2884,2937,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,396,2400,2945,2834,3.9,-4.1,6,124,12.85,0.00,-7.57,0.000,19206,0.405,0.000,3119,2400,3337,3380,3295,0,0,0,0,0,0,14.07,28.83,14.56
$GC,364,-0.59,-116.8,3124,2400,3386,3296,52.7,-12.0,33,374,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3341,3386,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,613,-0.59,-116.8,3124,2401,3394,3297,83.1,-10.8,58,623,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.59,-116.8,3124,2401,3388,3303,108.6,-10.3,83,874,0.00,2.47,0.00,0.000,260,0.000,0.095,3124,3814,3342,3388,3297,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1104,-0.59,-116.8,3122,3814,3389,3298,132.8,-10.4,107,1115,0.00,2.40,0.00,0.000,1030,0.000,0.067,3124,2390,3342,3387,3298,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1355,-0.59,-116.8,3125,2386,3388,3298,157.9,-9.8,132,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3343,3388,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1606,-0.59,-116.8,3124,2385,3388,3298,182.9,-9.4,157,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3342,3388,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.59,-116.8,3124,2386,3387,3294,207.4,-9.4,182,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2382,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-0.59,-116.8,3124,2389,3387,3296,231.4,-9.6,207,2116,0.00,2.50,0.00,0.000,260,0.000,0.096,3124,3806,3341,3387,3295,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2167,-0.59,-116.8,3124,3806,3387,3296,237.0,-9.6,213,2178,0.00,2.38,0.00,0.000,1030,0.000,0.067,3124,2404,3341,3387,3295,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2428,-0.59,-116.8,3124,2404,3387,3295,262.1,-9.9,231,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3343,3388,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-0.59,-116.8,3124,2404,3387,3294,291.3,-9.5,241,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3340,3387,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3028,-0.59,-116.8,3124,2404,3389,3293,320.8,-10.1,251,3038,0.00,2.45,0.00,0.000,260,0.000,0.095,3123,3809,3343,3387,3299,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3118,-0.59,-116.8,3124,3808,3387,3293,330.1,-10.2,260,3128,0.00,2.40,0.00,0.000,1030,0.000,0.069,3124,2389,3340,3387,3293,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3448,-0.59,-116.8,3124,2386,3386,3292,362.9,-9.8,273,3458,0.00,2.40,0.00,0.000,516,0.000,0.086,3124,984,3342,3392,3292,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3510,-0.59,-116.8,3124,984,3386,3292,368.6,-9.6,279,3520,0.00,2.42,0.00,0.000,1030,0.000,0.076,3124,2399,3339,3386,3292,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3840,-0.59,-116.8,3124,2398,3386,3291,397.6,-8.6,292,3850,0.00,2.45,0.00,0.000,260,0.000,0.096,3124,3809,3338,3386,3291,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3919,-0.59,-116.8,3124,3809,3385,3290,404.5,-8.8,300,3930,0.00,2.40,0.00,0.000,1030,0.000,0.073,3124,2402,3337,3385,3290,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4233,-0.59,-116.8,3124,2402,3385,3290,433.3,-9.4,311,4243,0.00,2.42,0.00,0.000,516,0.000,0.086,3130,988,3337,3385,3289,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4281,-0.59,-116.8,3124,988,3380,3289,438.4,-9.7,316,4293,0.00,2.42,0.00,0.000,1030,0.000,0.079,3124,2400,3337,3385,3289,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4595,-0.59,-116.8,3124,2400,3384,3288,463.9,-7.8,327,4605,0.00,2.45,0.00,0.000,260,0.000,0.098,3124,3806,3336,3384,3288,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4705,-0.59,-116.8,3123,3808,3384,3285,473.3,-8.3,338,4715,0.00,2.40,0.00,0.000,1030,0.000,0.075,3123,2399,3335,3383,3288,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5018,-0.59,-116.8,3124,2398,3383,3291,498.1,-7.8,349,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3333,3381,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5315,-0.59,-116.8,3124,2397,3383,3287,521.6,-7.6,359,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5616,-0.59,-116.8,3124,2398,3382,3289,544.1,-7.4,369,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5916,-0.59,-116.8,3124,2398,3378,3286,564.3,-6.6,379,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,-0.59,-116.8,3129,2398,3382,3285,584.7,-6.8,389,6226,0.00,2.42,0.00,0.000,516,0.000,0.086,3124,988,3333,3382,3285,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6295,-0.59,-116.8,3124,988,3382,3285,590.5,-7.3,397,6306,0.00,2.45,0.00,0.000,1030,0.000,0.082,3124,2401,3333,3382,3285,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6608,-0.59,-116.8,3124,2404,3382,3284,611.7,-7.1,408,6618,0.00,2.47,0.00,0.000,260,0.000,0.102,3124,3821,3333,3382,3284,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6781,-0.59,-116.8,3124,3821,3381,3283,625.3,-8.4,425,6792,0.00,2.42,0.00,0.000,1030,0.000,0.073,3124,2396,3334,3385,3284,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7091,-0.59,-116.8,3124,2395,3381,3283,649.8,-7.6,436,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3331,3380,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7388,-0.59,-116.8,3126,2395,3381,3282,672.6,-7.8,446,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3331,3381,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7689,-0.59,-116.8,3122,2395,3380,3282,698.0,-8.5,456,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,-0.59,-116.8,3127,2395,3380,3281,721.9,-7.7,466,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8289,-0.59,-116.8,3124,2395,3380,3281,744.2,-7.0,476,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8588,-0.59,-116.8,3124,2395,3374,3280,766.2,-7.4,486,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8889,-0.59,-116.8,3124,2395,3379,3279,787.9,-7.2,496,8899,0.00,2.53,0.00,0.000,260,0.000,0.104,3124,3821,3329,3379,3279,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8938,-0.59,-116.8,3124,3821,3379,3279,791.6,-7.6,501,8949,0.00,2.45,0.00,0.000,1030,0.000,0.076,3124,2394,3329,3379,3280,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9252,-0.59,-116.8,3124,2392,3378,3279,811.9,-6.3,512,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9549,-0.59,-116.8,3123,2392,3379,3278,832.8,-6.9,522,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9849,-0.59,-116.8,3121,2392,3378,3277,852.6,-6.4,532,9860,0.00,2.53,0.00,0.000,260,0.000,0.104,3124,3816,3327,3378,3276,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9909,-0.59,-116.8,3124,3815,3378,3278,856.5,-6.4,538,9919,0.00,2.42,0.00,0.000,1030,0.000,0.078,3124,2405,3328,3379,3278,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10240,-0.59,-116.8,3124,2403,3378,3277,877.3,-6.4,551,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10543,-0.59,-116.8,3124,2404,3380,3277,896.9,-6.8,561,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10843,-0.59,-116.8,3124,2403,3378,3276,917.5,-6.5,571,10852,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3327,3378,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11143,-0.59,-116.8,3124,2402,3377,3275,937.5,-6.8,581,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3326,3377,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11443,-0.59,-116.8,3120,2408,3381,3276,951.6,-1.2,591,11453,0.00,2.50,0.00,0.000,260,0.000,0.100,3124,3820,3326,3377,3275,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,11571,end dive,NO_VERTICAL_VELOCITY
$STATE,11571,begin apogee
$GC,11582,-0.25,0.0,3124,2315,3377,3276,951.6,0.0,604,11693,0.38,0.00,99.40,1.875,10246,0.125,0.000,3248,2315,2858,2933,2783,0,0,0,0,0,0,14.46,28.83,13.28
$STATE,11695,end apogee,CONTROL_FINISHED_OK
$STATE,11695,begin climb
$GC,11699,0.59,116.8,3249,2315,2933,2781,951.6,0.0,608,11825,0.82,2.70,107.65,1.836,10756,0.119,0.099,3519,922,2379,2522,2236,0,0,0,0,0,0,13.95,13.70,13.12
$GC,12055,0.59,116.8,3519,917,2517,2237,925.9,8.7,644,12066,0.00,2.50,0.00,0.000,1030,0.000,0.083,3519,2332,2376,2517,2236,0,0,0,0,0,0,28.83,14.13,28.83
$GC,12386,0.59,116.8,3519,2331,2516,2231,896.7,8.9,657,12396,0.00,2.55,0.00,0.000,516,0.000,0.105,3519,921,2373,2516,2231,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12626,0.59,116.8,3519,921,2515,2228,876.3,8.1,681,12636,0.00,2.47,0.00,0.000,1030,0.000,0.085,3519,2333,2373,2515,2231,0,0,0,0,0,0,28.83,14.38,28.83
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$STATE,23809,end climb,SURFACE_DEPTH_REACHED
$STATE,23809,begin surface coast
$FINISH,1.0,1.010937
$STATE,23860,end surface coast,CONTROL_FINISHED_OK
$STATE,23860,begin surface
$SM_CCo,23887,43.80,0.104,0,0,1328,375.06
$SM_GC,2.00,9.18,2.35,43.80,0.063,0.070,0.104,388,2391,1328,-9.11,0.74,375.06,0,0,0,0,0,0,14.41,14.42,14.38
$IRIDIUM_FIX,4726.11,-12522.59,040814,030308
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.99
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3874336
$PM_FREEKB,57028256
$24V_AH,13.1,47.065
$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,23.325,162.875,313.175,43.800,0.000,0.000,0.000,303.750,0.000,0.000,14.170,3220.541,16841.479,638.557,2982.665,802.375,0.000,2584.705,0.000,2120.858,0.000,0.535,0.000
$DEVICE_MAMPS,405.450,104.805,1875.015,104.040,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23885.000,384.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.828,5.713,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,49868,1369
$CAP_FILE_SIZE,263033,0
$CFSIZE,260034560,238456832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,21006.30,0x2378ba,7,5
$CURRENT,0.022,260.6,1
$GPS,040814,155230,4743.373,-12530.408,110,1.7,110,18.7