version: 66.12
glider: 187
mission: 4
dive: 201
start: 8 4 114 22 50 0
data:
$ID,187
$MISSION,4
$DIVE,201
$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,-1593672
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,040814,224029,4741.668,-12534.191,58,1.1,63,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-71.4
$GPS2,040814,224930,4741.603,-12534.269,13,1.5,18,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,210.6,132898,-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,-116.8,392,2412,1449,1208,0.0,0.0,0,79,0.00,0.00,-47.85,0.000,16386,0.000,0.000,392,2412,2563,2647,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,392,2412,2647,2480,3.4,-2.8,5,123,12.45,2.55,-15.62,0.000,18692,0.388,0.119,3126,3808,3336,3384,3288,0,0,0,0,0,0,14.07,14.31,14.55
$GC,353,-0.59,-116.8,3126,3809,3384,3294,46.5,-15.0,32,364,0.00,2.42,0.00,0.000,1030,0.000,0.068,3123,2389,3339,3385,3293,0,0,0,0,0,0,28.83,14.39,28.83
$GC,604,-0.59,-116.8,3126,2384,3387,3294,80.9,-12.3,57,615,0.00,2.50,0.00,0.000,260,0.000,0.093,3126,3812,3341,3387,3296,0,0,0,0,0,0,28.83,14.39,28.83
$GC,845,-0.59,-116.8,3126,3812,3387,3295,110.3,-11.8,81,856,0.00,2.40,0.00,0.000,1030,0.000,0.068,3126,2405,3341,3387,3295,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1097,-0.59,-116.8,3126,2404,3387,3295,137.4,-9.9,106,1107,0.00,2.45,0.00,0.000,260,0.000,0.093,3126,3806,3341,3387,3295,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1167,-0.59,-116.8,3127,3809,3387,3295,145.0,-10.4,113,1178,0.00,2.40,0.00,0.000,1030,0.000,0.069,3126,2393,3341,3388,3295,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1419,-0.59,-116.8,3126,2391,3387,3294,172.0,-11.4,138,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1668,-0.59,-116.8,3127,2388,3387,3295,199.0,-10.4,163,1679,0.00,2.40,0.00,0.000,516,0.000,0.085,3126,995,3341,3387,3295,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1798,-0.59,-116.8,3126,995,3387,3294,213.6,-11.3,176,1809,0.00,2.42,0.00,0.000,1030,0.000,0.080,3126,2404,3340,3387,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2049,-0.59,-116.8,3126,2404,3387,3294,239.2,-9.9,201,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,-0.59,-116.8,3126,2404,3387,3293,264.5,-9.0,218,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2620,-0.59,-116.8,3126,2404,3387,3289,291.8,-9.1,228,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3339,3387,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,-0.59,-116.8,3126,2404,3386,3291,318.2,-8.9,238,2930,0.00,2.47,0.00,0.000,260,0.000,0.099,3126,3809,3339,3387,3291,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3001,-0.59,-116.8,3126,3809,3386,3291,325.5,-8.7,246,3012,0.00,2.40,0.00,0.000,1030,0.000,0.073,3126,2399,3338,3387,3290,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3314,-0.59,-116.8,3126,2398,3387,3290,353.7,-9.2,257,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3338,3387,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-0.59,-116.8,3127,2398,3386,3287,381.7,-9.1,267,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3335,3386,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,-0.59,-116.8,3126,2402,3386,3286,408.3,-8.7,277,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4210,-0.59,-116.8,3126,2398,3385,3292,434.3,-8.4,287,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.59,-116.8,3128,2398,3385,3286,459.0,-7.8,297,4520,0.00,2.47,0.00,0.000,260,0.000,0.101,3127,3806,3338,3390,3286,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4589,-0.59,-116.8,3126,3804,3384,3286,465.4,-7.8,305,4601,0.00,2.40,0.00,0.000,1030,0.000,0.074,3126,2404,3334,3384,3285,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4902,-0.59,-116.8,3133,2401,3384,3285,492.1,-8.6,316,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3334,3384,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5201,-0.59,-116.8,3126,2402,3384,3284,518.7,-8.6,326,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3333,3383,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.59,-116.8,3126,2402,3383,3283,542.3,-7.6,336,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,-0.59,-116.8,3123,2402,3382,3282,565.7,-7.8,346,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6100,-0.59,-116.8,3129,2402,3382,3282,588.8,-7.9,356,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6401,-0.59,-116.8,3130,2402,3388,3281,615.0,-9.1,366,6411,0.00,2.47,0.00,0.000,260,0.000,0.100,3126,3804,3331,3382,3281,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6461,-0.59,-116.8,3132,3805,3382,3281,620.5,-8.9,372,6471,0.00,2.42,0.00,0.000,1030,0.000,0.073,3126,2393,3331,3382,3281,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6791,-0.59,-116.8,3126,2388,3381,3281,648.9,-8.5,385,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2388,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,-0.59,-116.8,3126,2388,3381,3280,672.5,-7.6,395,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2388,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7391,-0.59,-116.8,3126,2388,3381,3279,695.8,-7.4,405,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2393,3330,3382,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7691,-0.59,-116.8,3126,2388,3379,3278,716.5,-6.9,415,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7991,-0.59,-116.8,3126,2388,3381,3278,737.8,-6.8,425,8002,0.00,2.55,0.00,0.000,260,0.000,0.103,3126,3817,3329,3381,3278,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8072,-0.59,-116.8,3126,3818,3380,3278,743.1,-6.6,433,8084,0.00,2.45,0.00,0.000,1030,0.000,0.077,3127,2390,3328,3381,3276,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8386,-0.59,-116.8,3126,2390,3380,3279,761.4,-5.7,444,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2390,3331,3385,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8682,-0.59,-116.8,3126,2390,3379,3277,779.0,-6.3,454,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2390,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8982,-0.59,-116.8,3126,2389,3379,3276,800.5,-7.6,464,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9282,-0.59,-116.8,3127,2390,3378,3273,822.6,-7.2,474,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2390,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9582,-0.59,-116.8,3127,2389,3378,3276,844.5,-7.3,484,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3327,3378,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9882,-0.59,-116.8,3127,2389,3378,3275,866.7,-7.5,494,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10185,-0.59,-116.8,3127,2395,3378,3274,889.1,-7.4,504,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3326,3378,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10485,-0.59,-116.8,3128,2389,3378,3273,911.7,-7.5,514,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2389,3324,3375,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10785,-0.59,-116.8,3126,2389,3380,3273,930.6,-6.1,524,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2392,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11085,-0.59,-116.8,3126,2389,3378,3273,948.7,-6.0,534,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11385,-0.59,-116.8,3126,2389,3378,3272,966.7,-6.1,544,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3325,3378,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11685,-0.59,-116.8,3126,2389,3378,3272,987.3,-7.2,554,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3327,3382,3272,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11738,begin apogee
$GC,11747,-0.25,0.0,3124,2333,3377,3271,991.6,-7.3,556,11855,0.40,0.00,100.50,1.928,10246,0.199,0.000,3242,2333,2859,2934,2784,0,0,0,0,0,0,14.35,28.83,13.25
$STATE,11857,end apogee,CONTROL_FINISHED_OK
$STATE,11857,begin climb
$GC,11861,0.59,116.8,3241,2333,2933,2780,995.1,0.0,559,11982,0.85,0.00,109.57,1.891,10758,0.140,0.000,3514,2333,2378,2520,2236,0,0,0,0,0,0,13.90,28.83,13.06
$GC,12282,0.59,116.8,3509,2333,2518,2230,968.2,8.2,578,12292,0.00,2.55,0.00,0.000,516,0.000,0.101,3508,928,2374,2518,2230,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12331,0.59,116.8,3509,926,2518,2230,963.8,8.3,583,12342,0.00,2.50,0.00,0.000,1030,0.000,0.085,3508,2331,2373,2518,2229,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12645,0.59,116.8,3508,2331,2517,2228,937.8,8.3,594,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2372,2517,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12945,0.59,116.8,3508,2331,2515,2227,912.8,8.2,604,12954,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2331,2371,2516,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13245,0.59,116.8,3508,2330,2515,2226,889.6,7.6,614,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2370,2515,2226,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24954,end climb,SURFACE_DEPTH_REACHED
$STATE,24955,begin surface coast
$FINISH,1.0,1.021823
$STATE,25026,end surface coast,CONTROL_FINISHED_OK
$STATE,25026,begin surface
$SM_CCo,25052,28.12,0.101,0,0,1328,375.06
$SM_GC,1.74,9.30,0.12,28.12,0.078,0.198,0.101,392,2401,1328,-9.11,-0.82,375.06,0,0,0,0,0,0,14.40,14.38,14.38
$IRIDIUM_FIX,4726.11,-12538.58,040814,151527
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.74
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3873696
$PM_FREEKB,56960224
$24V_AH,13.1,47.588
$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,23.375,118.975,335.025,28.125,0.000,0.000,0.000,274.775,0.000,0.000,19.726,3165.365,18121.068,600.356,2927.143,795.247,0.000,2531.186,0.000,1983.121,0.000,0.536,0.000
$DEVICE_MAMPS,387.855,198.135,1927.800,100.980,0.000,0.000,0.000,170.595,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25050.000,471.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.810,5.606,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,46620,1291
$CAP_FILE_SIZE,261019,0
$CFSIZE,260034560,238252032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,24464.09,0x2378ba,7,5
$CURRENT,0.057,215.6,1
$GPS,050814,054937,4739.349,-12538.132,45,1.6,45,18.7