version: 66.12
glider: 187
mission: 4
dive: 206
start: 8 6 114 10 13 54
data:
$ID,187
$MISSION,4
$DIVE,206
$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,-1593678.2
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,060814,100430,4730.668,-12555.960,40,1.6,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.5
$GPS2,060814,101325,4730.690,-12556.006,13,1.5,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,224.6,98812,-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,-116.8,395,2413,1405,1099,0.0,0.0,0,91,0.00,0.00,-59.67,0.000,16386,0.000,0.000,395,2412,2853,2909,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,395,2412,2910,2795,4.0,-4.0,6,125,12.40,2.55,-8.43,0.000,18692,0.384,0.117,3124,3818,3337,3382,3292,0,0,0,0,0,0,14.06,14.30,14.54
$GC,355,-0.59,-116.8,3125,3818,3386,3296,56.4,-13.1,32,365,0.00,2.40,0.00,0.000,1030,0.000,0.063,3123,2402,3341,3386,3296,0,0,0,0,0,0,28.83,14.38,28.83
$GC,605,-0.59,-116.8,3125,2400,3389,3297,86.9,-11.2,57,614,0.00,2.45,0.00,0.000,260,0.000,0.092,3125,3807,3342,3388,3297,0,0,0,0,0,0,28.83,14.35,28.83
$GC,845,-0.59,-116.8,3125,3806,3387,3298,116.9,-12.9,81,855,0.00,2.38,0.00,0.000,1030,0.000,0.067,3125,2401,3341,3388,3294,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1095,-0.59,-116.8,3125,2400,3389,3298,143.9,-8.8,106,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3344,3388,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1345,-0.59,-116.8,3125,2400,3388,3298,168.9,-10.5,131,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3343,3389,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1595,-0.59,-116.8,3125,2401,3388,3297,195.1,-10.4,156,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3343,3388,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,-0.59,-116.8,3125,2401,3388,3297,221.3,-10.5,181,1854,0.00,2.42,0.00,0.000,516,0.000,0.080,3126,981,3343,3388,3298,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1915,-0.59,-116.8,3125,981,3388,3296,229.1,-11.2,188,1924,0.00,2.42,0.00,0.000,1030,0.000,0.075,3122,2400,3342,3388,3296,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2185,-0.59,-116.8,3120,2397,3388,3294,256.6,-9.6,211,2193,0.00,2.45,0.00,0.000,260,0.000,0.093,3125,3814,3341,3388,3294,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2234,-0.59,-116.8,3125,3814,3388,3294,261.6,-10.2,216,2245,0.00,2.42,0.00,0.000,1030,0.000,0.067,3125,2404,3341,3388,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2548,-0.59,-116.8,3125,2403,3388,3293,291.0,-9.7,227,2555,0.00,2.42,0.00,0.000,516,0.000,0.081,3125,983,3340,3388,3293,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2594,-0.59,-116.8,3125,982,3388,3293,295.9,-9.8,232,2605,0.00,2.47,0.00,0.000,1030,0.000,0.075,3125,2400,3340,3388,3293,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2908,-0.59,-116.8,3125,2400,3387,3292,325.3,-9.4,243,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3339,3388,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3205,-0.59,-116.8,3125,2400,3387,3290,352.9,-8.9,253,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3338,3388,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3505,-0.59,-116.8,3125,2400,3388,3288,376.8,-7.6,263,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3337,3388,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3805,-0.59,-116.8,3129,2400,3383,3287,398.8,-7.8,273,3812,0.00,2.45,0.00,0.000,260,0.000,0.098,3125,3807,3337,3387,3287,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3874,-0.59,-116.8,3125,3807,3386,3287,405.1,-9.0,280,3883,0.00,2.42,0.00,0.000,1030,0.000,0.071,3125,2405,3337,3387,3287,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4198,-0.59,-116.8,3125,2403,3385,3286,432.4,-8.6,292,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4495,-0.59,-116.8,3125,2404,3385,3282,459.8,-9.1,302,4503,0.00,2.42,0.00,0.000,516,0.000,0.084,3125,991,3336,3386,3286,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4565,-0.59,-116.8,3125,992,3385,3286,466.7,-10.1,309,4573,0.00,2.42,0.00,0.000,1030,0.000,0.079,3123,2398,3335,3385,3286,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4888,-0.59,-116.8,3125,2398,3384,3285,495.2,-8.5,321,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3336,3385,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5185,-0.59,-116.8,3125,2398,3382,3283,518.7,-7.5,331,5193,0.00,2.47,0.00,0.000,260,0.000,0.098,3126,3814,3334,3384,3284,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5245,-0.59,-116.8,3125,3814,3383,3283,523.2,-7.7,337,5253,0.00,2.40,0.00,0.000,1030,0.000,0.072,3125,2403,3334,3385,3283,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5578,-0.59,-116.8,3125,2396,3383,3287,544.4,-6.2,350,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5875,-0.59,-116.8,3128,2396,3384,3282,565.8,-7.2,360,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6175,-0.59,-116.8,3125,2396,3382,3281,589.6,-7.8,370,6183,0.00,2.50,0.00,0.000,260,0.000,0.100,3125,3816,3331,3382,3281,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6245,-0.59,-116.8,3125,3816,3382,3281,595.3,-7.9,377,6253,0.00,2.42,0.00,0.000,1030,0.000,0.076,3125,2398,3332,3382,3283,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6568,-0.59,-116.8,3122,2395,3378,3281,620.1,-7.7,389,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3329,3382,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,-0.59,-116.8,3124,2392,3382,3279,644.2,-8.2,399,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7166,-0.59,-116.8,3125,2394,3381,3280,668.5,-8.1,409,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,-0.59,-116.8,3125,2394,3381,3278,692.9,-8.1,419,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3327,3381,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7766,-0.59,-116.8,3125,2394,3381,3277,717.7,-8.5,429,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3332,3387,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8065,-0.59,-116.8,3125,2394,3381,3277,743.4,-8.6,439,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8366,-0.59,-116.8,3125,2390,3380,3276,767.1,-7.6,449,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8665,-0.59,-116.8,3125,2394,3380,3276,788.9,-7.0,459,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2394,3328,3380,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8966,-0.59,-116.8,3125,2393,3386,3275,808.1,-6.3,469,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3327,3380,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9265,-0.59,-116.8,3125,2394,3380,3274,825.4,-5.6,479,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3326,3379,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9566,-0.59,-116.8,3125,2398,3375,3274,843.7,-6.3,489,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3326,3379,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9865,-0.59,-116.8,3125,2391,3379,3273,863.3,-6.8,499,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10166,-0.59,-116.8,3125,2393,3379,3273,884.4,-7.1,509,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10465,-0.59,-116.8,3125,2394,3381,3276,904.2,-6.5,519,10472,0.00,2.53,0.00,0.000,260,0.000,0.103,3125,3813,3325,3379,3272,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10534,-0.59,-116.8,3125,3813,3378,3272,909.0,-6.8,526,10543,0.00,2.45,0.00,0.000,1030,0.000,0.076,3126,2391,3325,3378,3272,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10858,-0.59,-116.8,3126,2390,3378,3272,929.8,-6.4,538,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2390,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11155,-0.59,-116.8,3125,2387,3377,3271,949.0,-6.5,548,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2390,3324,3378,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11455,-0.59,-116.8,3121,2390,3378,3271,967.3,-5.9,558,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2388,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,-0.59,-116.8,3126,2390,3378,3270,984.3,-5.7,568,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2390,3324,3378,3270,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11871,begin apogee
$GC,11880,-0.25,0.0,3125,2330,3377,3270,991.1,-5.7,572,11987,0.40,0.00,101.12,1.922,10246,0.195,0.000,3241,2330,2857,2936,2778,0,0,0,0,0,0,14.31,28.83,13.22
$STATE,11990,end apogee,CONTROL_FINISHED_OK
$STATE,11990,begin climb
$GC,11994,0.59,116.8,3241,2331,2934,2778,993.1,0.0,575,12116,0.85,0.00,109.45,1.886,10246,0.139,0.000,3508,2330,2376,2518,2235,0,0,0,0,0,0,13.89,28.83,13.05
$GC,12415,0.59,116.8,3508,2330,2521,2229,961.5,8.8,590,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2373,2521,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12718,0.59,116.8,3507,2330,2521,2227,935.9,8.4,600,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2374,2521,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13018,0.59,116.8,3507,2330,2520,2227,911.4,8.0,610,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2330,2373,2520,2226,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25323,end climb,SURFACE_DEPTH_REACHED
$STATE,25323,begin surface coast
$FINISH,1.1,1.021337
$STATE,25365,end surface coast,CONTROL_FINISHED_OK
$STATE,25365,begin surface
$SM_CCo,25393,6.55,0.102,0,0,1329,375.06
$SM_GC,3.66,9.20,2.38,6.55,0.062,0.069,0.102,387,2385,1329,-9.12,0.51,375.06,0,0,0,0,0,0,14.38,14.38,14.34
$IRIDIUM_FIX,4713.38,-12550.40,060814,030345
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.29
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3872096
$PM_FREEKB,56759488
$24V_AH,13.1,48.913
$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,23.225,113.400,365.675,6.550,0.000,0.000,0.000,298.250,0.000,0.000,14.516,3161.413,18617.350,623.153,2738.796,777.990,0.000,2377.257,0.000,1954.816,0.000,0.537,0.000
$DEVICE_MAMPS,384.030,187.425,1922.445,101.745,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25388.000,12208.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.788,4.062,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,46625,1289
$CAP_FILE_SIZE,248627,0
$CFSIZE,260034560,237711360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25405.85,0x2378ba,7,5
$CURRENT,0.072,193.2,1
$GPS,060814,171923,4728.591,-12559.976,77,1.2,77,18.7