version: 66.12
glider: 187
mission: 4
dive: 213
start: 8 8 114 12 27 25
data:
$ID,187
$MISSION,4
$DIVE,213
$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,-1593687
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,080814,121659,4719.184,-12622.809,40,2.0,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.6
$GPS2,080814,122659,4719.121,-12622.778,37,1.5,41,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,207.7,58857,-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,-116.8,400,2395,1380,1070,0.0,0.0,0,90,0.00,0.00,-57.58,0.000,16386,0.000,0.000,401,2395,2747,2813,2682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,400,2396,2815,2682,3.6,-3.3,6,130,12.57,2.50,-10.50,0.000,18692,0.392,0.112,3124,3809,3334,3381,3287,0,0,0,0,0,0,14.04,14.29,14.54
$GC,361,-0.59,-116.8,3123,3809,3382,3292,56.3,-13.7,33,372,0.00,2.42,0.00,0.000,1030,0.000,0.065,3125,2388,3337,3382,3292,0,0,0,0,0,0,28.83,14.36,28.83
$GC,611,-0.59,-116.8,3125,2384,3380,3294,90.2,-13.3,58,622,0.00,2.50,0.00,0.000,260,0.000,0.090,3125,3820,3339,3385,3294,0,0,0,0,0,0,28.83,14.39,28.83
$GC,672,-0.59,-116.8,3124,3820,3384,3293,97.8,-12.5,64,683,0.00,2.40,0.00,0.000,1030,0.000,0.064,3121,2394,3342,3390,3294,0,0,0,0,0,0,28.83,14.43,28.83
$GC,925,-0.59,-116.8,3125,2390,3385,3293,126.5,-11.6,89,936,0.00,2.47,0.00,0.000,260,0.000,0.092,3125,3813,3340,3387,3294,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1049,-0.59,-116.8,3126,3813,3385,3289,140.8,-11.5,101,1060,0.00,2.40,0.00,0.000,1030,0.000,0.067,3126,2403,3339,3384,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1299,-0.59,-116.8,3125,2403,3385,3293,167.0,-9.8,126,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3339,3385,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1549,-0.59,-116.8,3125,2403,3385,3293,190.9,-9.3,151,1560,0.00,2.42,0.00,0.000,516,0.000,0.078,3125,984,3339,3385,3293,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1620,-0.59,-116.8,3125,985,3385,3293,197.9,-10.0,158,1631,0.00,2.42,0.00,0.000,1030,0.000,0.074,3126,2397,3339,3385,3293,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1870,-0.59,-116.8,3125,2397,3385,3292,221.2,-9.4,183,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3338,3385,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2121,-0.59,-116.8,3126,2398,3385,3290,244.3,-9.1,208,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,-0.59,-116.8,3125,2397,3385,3289,267.5,-9.3,221,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3337,3385,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,-0.59,-116.8,3125,2397,3384,3287,295.5,-9.2,231,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3335,3384,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2973,-0.59,-116.8,3126,2394,3385,3287,322.1,-8.4,241,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2397,3336,3385,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3272,-0.59,-116.8,3125,2397,3384,3285,346.8,-8.2,251,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3335,3385,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3572,-0.59,-116.8,3125,2397,3384,3283,371.1,-8.0,261,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3333,3384,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3871,-0.59,-116.8,3125,2397,3383,3282,396.4,-9.0,271,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4172,-0.59,-116.8,3125,2397,3383,3277,424.1,-9.4,281,4182,0.00,2.42,0.00,0.000,516,0.000,0.082,3125,988,3331,3382,3281,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4221,-0.59,-116.8,3124,988,3381,3281,428.9,-9.9,286,4232,0.00,2.45,0.00,0.000,1030,0.000,0.078,3125,2412,3331,3382,3281,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4536,-0.59,-116.8,3125,2412,3382,3280,456.2,-8.4,297,4546,0.00,2.42,0.00,0.000,260,0.000,0.099,3125,3808,3331,3383,3280,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4584,-0.59,-116.8,3125,3808,3382,3280,460.8,-8.9,302,4595,0.00,2.40,0.00,0.000,1030,0.000,0.071,3125,2386,3330,3381,3279,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4899,-0.59,-116.8,3125,2386,3381,3278,485.1,-7.6,313,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2385,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5196,-0.59,-116.8,3125,2381,3381,3277,508.2,-7.9,323,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5496,-0.59,-116.8,3125,2384,3381,3277,532.9,-8.6,333,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3326,3380,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5795,-0.59,-116.8,3125,2385,3380,3276,558.5,-8.5,343,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3328,3380,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6096,-0.59,-116.8,3125,2385,3379,3275,581.8,-7.6,353,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3330,3385,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6395,-0.59,-116.8,3125,2385,3379,3274,603.9,-7.2,363,6405,0.00,2.50,0.00,0.000,260,0.000,0.099,3125,3805,3326,3379,3274,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6465,-0.59,-116.8,3125,3805,3378,3274,609.2,-7.8,370,6475,0.00,2.40,0.00,0.000,1030,0.000,0.073,3125,2395,3326,3378,3275,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6788,-0.59,-116.8,3125,2394,3378,3273,632.3,-7.0,382,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2393,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7086,-0.59,-116.8,3121,2393,3378,3272,652.9,-6.9,392,7096,0.00,2.42,0.00,0.000,516,0.000,0.089,3125,995,3325,3378,3272,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7136,-0.59,-116.8,3125,999,3378,3272,656.9,-8.1,397,7146,0.00,2.42,0.00,0.000,1030,0.000,0.083,3126,2399,3325,3378,3272,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7450,-0.59,-116.8,3121,2399,3377,3271,680.6,-7.8,408,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3326,3377,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7746,-0.59,-116.8,3125,2399,3378,3270,704.1,-8.0,418,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3318,3367,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8047,-0.59,-116.8,3125,2398,3377,3269,728.1,-8.1,428,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3323,3377,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8346,-0.59,-116.8,3125,2396,3377,3269,751.3,-7.6,438,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3322,3376,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8647,-0.59,-116.8,3125,2399,3376,3270,773.2,-7.1,448,8657,0.00,2.47,0.00,0.000,260,0.000,0.101,3125,3811,3325,3381,3269,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8726,-0.59,-116.8,3125,3811,3375,3269,779.2,-7.4,456,8737,0.00,2.40,0.00,0.000,1030,0.000,0.073,3125,2404,3320,3371,3269,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9041,-0.59,-116.8,3125,2404,3375,3269,800.9,-6.9,467,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3321,3375,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9337,-0.59,-116.8,3124,2404,3374,3268,821.8,-6.9,477,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3321,3374,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9637,-0.59,-116.8,3125,2404,3374,3267,842.5,-7.0,487,9647,0.00,2.45,0.00,0.000,516,0.000,0.086,3125,990,3322,3377,3268,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9706,-0.59,-116.8,3125,995,3374,3267,847.7,-7.4,494,9716,0.00,2.45,0.00,0.000,1030,0.000,0.081,3125,2401,3321,3375,3267,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10030,-0.59,-116.8,3125,2400,3374,3266,870.3,-7.1,506,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3324,3381,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10330,-0.59,-116.8,3125,2400,3373,3266,890.5,-6.6,516,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3319,3373,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10630,-0.59,-116.8,3125,2397,3374,3266,909.4,-6.0,526,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3319,3373,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10930,-0.59,-116.8,3125,2400,3373,3265,927.3,-5.9,536,10940,0.00,2.50,0.00,0.000,260,0.000,0.103,3125,3822,3317,3369,3265,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11009,-0.59,-116.8,3125,3820,3373,3265,932.8,-6.5,544,11021,0.00,2.42,0.00,0.000,1030,0.000,0.073,3125,2403,3318,3372,3265,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11322,-0.59,-116.8,3125,2403,3372,3265,953.8,-7.1,555,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3318,3372,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11623,-0.59,-116.8,3125,2403,3372,3264,976.4,-7.7,565,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3318,3373,3264,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11826,begin apogee
$GC,11835,-0.25,0.0,3125,2311,3375,3264,992.1,-7.4,572,11942,0.40,0.00,100.18,1.917,10246,0.196,0.000,3244,2311,2857,2936,2778,0,0,0,0,0,0,14.31,28.83,13.23
$STATE,11944,end apogee,CONTROL_FINISHED_OK
$STATE,11944,begin climb
$GC,11948,0.59,116.8,3240,2311,2933,2777,995.2,0.0,575,12072,0.85,0.00,107.97,1.892,10758,0.139,0.000,3508,2312,2379,2521,2237,0,0,0,0,0,0,13.90,28.83,13.03
$GC,12370,0.59,116.8,3508,2311,2520,2232,966.4,8.5,600,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2311,2376,2520,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12672,0.59,116.8,3508,2312,2519,2230,938.8,9.5,610,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2311,2374,2519,2230,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25214,end climb,SURFACE_DEPTH_REACHED
$STATE,25214,begin surface coast
$FINISH,1.0,1.023594
$STATE,25256,end surface coast,CONTROL_FINISHED_OK
$STATE,25256,begin surface
$SM_CCo,25282,14.65,0.101,0,0,1328,375.06
$SM_GC,2.58,9.25,0.12,14.65,0.070,0.183,0.101,401,2401,1328,-9.09,-0.88,375.06,0,0,0,0,0,0,14.31,14.32,14.31
$IRIDIUM_FIX,4703.87,-12623.60,080814,050542
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.80
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3869856
$PM_FREEKB,56555232
$24V_AH,13.0,50.795
$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,23.450,128.300,371.525,14.650,0.000,0.000,0.000,297.925,0.000,0.000,42.636,3195.147,18212.127,634.837,3019.461,815.558,0.000,2627.971,0.000,2008.610,0.000,0.537,0.000
$DEVICE_MAMPS,391.680,182.835,1917.090,100.980,0.000,0.000,0.000,166.005,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25284.000,458.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.813,5.829,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,46616,1324
$CAP_FILE_SIZE,267253,0
$CFSIZE,260034560,236924928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,26319.82,0x2378ba,7,5
$CURRENT,0.058,320.9,1
$GPS,080814,193059,4717.844,-12626.470,60,1.3,65,18.6