version: 66.12
glider: 187
mission: 4
dive: 218
start: 8 10 114 0 16 59
data:
$ID,187
$MISSION,4
$DIVE,218
$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,-1593693.2
$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,23
$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
$GPS1,100814,000735,4710.932,-12639.953,45,1.0,50,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-73.8
$GPS2,100814,001630,4710.833,-12639.955,15,1.0,15,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,201.9,32304,-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,28,-0.59,-116.8,395,2402,1402,1091,0.0,0.0,0,90,0.00,0.00,-58.90,0.000,16386,0.000,0.000,389,2402,2816,2876,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,389,2402,2883,2757,3.8,-3.4,6,131,12.88,2.55,-9.30,0.000,18692,0.400,0.112,3125,3806,3342,3383,3301,0,0,0,0,0,0,14.03,14.28,14.52
$GC,361,-0.59,-116.8,3125,3807,3387,3294,55.5,-12.7,33,370,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2389,3340,3387,3294,0,0,0,0,0,0,28.83,14.38,28.83
$GC,611,-0.59,-116.8,3128,2384,3389,3298,88.7,-12.7,58,619,0.00,2.50,0.00,0.000,260,0.000,0.090,3126,3809,3343,3389,3298,0,0,0,0,0,0,28.83,14.37,28.83
$GC,681,-0.59,-116.8,3126,3809,3384,3299,97.1,-11.5,65,690,0.00,2.38,0.00,0.000,1030,0.000,0.062,3125,2397,3343,3389,3298,0,0,0,0,0,0,28.83,14.42,28.83
$GC,931,-0.59,-116.8,3125,2393,3391,3298,123.5,-11.2,90,940,0.00,2.47,0.00,0.000,260,0.000,0.091,3126,3804,3344,3389,3299,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1031,-0.59,-116.8,3126,3803,3390,3298,134.6,-10.6,100,1041,0.00,2.38,0.00,0.000,1030,0.000,0.067,3126,2394,3342,3386,3299,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1282,-0.59,-116.8,3126,2391,3390,3299,159.8,-9.8,125,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3344,3390,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-0.59,-116.8,3127,2392,3390,3298,183.1,-9.3,150,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2392,3347,3390,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1781,-0.59,-116.8,3126,2391,3390,3297,207.7,-10.6,175,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2392,3344,3390,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2031,-0.59,-116.8,3126,2392,3390,3296,232.0,-9.4,200,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3343,3390,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2301,-0.59,-116.8,3125,2392,3390,3294,256.1,-9.0,223,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.59,-116.8,3126,2390,3389,3293,282.5,-8.5,233,2609,0.00,2.47,0.00,0.000,260,0.000,0.096,3123,3804,3340,3389,3292,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2650,-0.59,-116.8,3125,3804,3387,3292,286.8,-8.5,238,2660,0.00,2.38,0.00,0.000,1030,0.000,0.070,3122,2405,3340,3389,3292,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2964,-0.59,-116.8,3125,2409,3388,3291,313.0,-8.6,249,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3339,3389,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,-0.59,-116.8,3126,2405,3389,3289,340.2,-9.3,259,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3339,3389,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-0.59,-116.8,3122,2405,3388,3288,366.5,-8.4,269,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2406,3337,3388,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.59,-116.8,3126,2405,3386,3284,391.6,-8.4,279,3868,0.00,2.42,0.00,0.000,516,0.000,0.081,3125,991,3337,3387,3287,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3921,-0.59,-116.8,3129,991,3387,3287,397.1,-9.4,285,3929,0.00,2.42,0.00,0.000,1030,0.000,0.078,3126,2402,3336,3387,3286,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4254,-0.59,-116.8,3126,2402,3386,3286,425.3,-8.7,298,4261,0.00,2.45,0.00,0.000,260,0.000,0.098,3125,3807,3339,3392,3286,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4302,-0.59,-116.8,3125,3807,3385,3286,429.7,-9.1,303,4310,0.00,2.40,0.00,0.000,1030,0.000,0.070,3129,2396,3334,3382,3286,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4614,-0.59,-116.8,3125,2395,3385,3284,456.6,-8.6,314,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3335,3385,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4911,-0.59,-116.8,3126,2392,3384,3283,481.6,-8.1,324,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3337,3391,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,-0.59,-116.8,3125,2395,3384,3282,505.7,-8.2,334,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3333,3384,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,-0.59,-116.8,3126,2395,3383,3282,531.3,-8.4,344,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5811,-0.59,-116.8,3126,2395,3382,3281,555.7,-8.0,354,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3331,3383,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6111,-0.59,-116.8,3131,2394,3381,3280,579.0,-7.8,364,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6411,-0.59,-116.8,3126,2395,3382,3279,602.6,-8.0,374,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,-0.59,-116.8,3126,2394,3382,3278,626.6,-8.1,384,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7011,-0.59,-116.8,3125,2395,3381,3277,650.5,-7.8,394,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7312,-0.59,-116.8,3123,2395,3380,3277,673.5,-7.6,404,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7611,-0.59,-116.8,3126,2395,3381,3276,696.0,-7.5,414,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3326,3376,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7911,-0.59,-116.8,3125,2395,3382,3275,718.2,-7.5,424,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8211,-0.59,-116.8,3125,2399,3380,3275,740.5,-7.4,434,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8512,-0.59,-116.8,3125,2401,3380,3276,763.2,-7.5,444,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3326,3379,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8811,-0.59,-116.8,3125,2395,3375,3273,785.4,-7.4,454,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3322,3375,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,-0.59,-116.8,3122,2394,3379,3273,807.8,-7.4,464,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3326,3379,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9411,-0.59,-116.8,3124,2394,3378,3271,829.3,-6.9,474,9419,0.00,2.45,0.00,0.000,516,0.000,0.091,3125,987,3325,3378,3272,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9471,-0.59,-116.8,3126,987,3378,3277,833.8,-7.6,480,9480,0.00,2.47,0.00,0.000,1030,0.000,0.084,3126,2404,3325,3378,3272,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9805,-0.59,-116.8,3126,2405,3378,3271,855.3,-6.2,493,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3324,3378,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10101,-0.59,-116.8,3126,2406,3377,3270,873.5,-6.1,503,10109,0.00,2.50,0.00,0.000,260,0.000,0.103,3126,3813,3324,3378,3270,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10171,-0.59,-116.8,3131,3812,3377,3270,878.1,-6.6,510,10179,0.00,2.45,0.00,0.000,1030,0.000,0.077,3126,2404,3323,3377,3270,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10494,-0.59,-116.8,3126,2404,3377,3270,898.2,-6.3,522,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3323,3377,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10792,-0.59,-116.8,3124,2403,3377,3269,917.3,-6.4,532,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3323,3377,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11091,-0.59,-116.8,3118,2405,3377,3269,937.0,-6.6,542,11099,0.00,2.47,0.00,0.000,516,0.000,0.087,3125,983,3323,3377,3269,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11140,-0.59,-116.8,3126,983,3377,3270,940.6,-7.5,547,11150,0.00,2.53,0.00,0.000,1030,0.000,0.081,3125,2402,3322,3377,3268,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11455,-0.59,-116.8,3126,2402,3376,3264,961.8,-6.8,558,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3323,3377,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11751,-0.59,-116.8,3126,2398,3377,3264,982.1,-6.8,568,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3322,3377,3268,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11868,begin apogee
$GC,11877,-0.25,0.0,3126,2327,3376,3264,990.1,-6.7,572,11983,0.40,0.00,101.12,1.916,10246,0.194,0.000,3241,2324,2858,2935,2782,0,0,0,0,0,0,14.31,28.83,13.20
$STATE,11986,end apogee,CONTROL_FINISHED_OK
$STATE,11986,begin climb
$GC,11990,0.59,116.8,3241,2327,2933,2777,992.8,0.0,575,12112,0.85,0.00,108.78,1.892,10758,0.135,0.000,3509,2327,2379,2521,2237,0,0,0,0,0,0,13.89,28.83,13.02
$GC,12411,0.59,116.8,3509,2326,2519,2232,962.6,8.8,598,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2323,2375,2519,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12714,0.59,116.8,3509,2327,2518,2230,937.0,8.5,608,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2327,2374,2518,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13014,0.59,116.8,3509,2327,2518,2225,912.0,8.4,618,13024,0.00,2.47,0.00,0.000,516,0.000,0.096,3510,930,2372,2517,2228,0,0,0,0,0,0,28.83,14.32,28.83
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$STATE,25136,end climb,SURFACE_DEPTH_REACHED
$STATE,25136,begin surface coast
$FINISH,0.9,1.022932
$STATE,25168,end surface coast,CONTROL_FINISHED_OK
$STATE,25169,begin surface
$SM_CCo,25255,0.00,0.000,0,0,1225,400.57
$SM_GC,2.20,9.43,0.15,0.00,0.067,0.142,0.000,392,2410,1225,-9.11,-0.62,400.57,0,0,0,0,0,0,14.29,14.27,28.83
$IRIDIUM_FIX,4654.38,-12631.92,090814,161651
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.38
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3868256
$PM_FREEKB,56357024
$24V_AH,13.0,52.173
$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,23.800,103.850,421.625,0.000,0.000,0.000,0.000,296.275,0.000,0.000,16.119,3168.678,18451.104,637.422,2759.306,753.130,0.000,2394.481,0.000,1980.108,0.000,0.537,0.000
$DEVICE_MAMPS,400.095,177.480,1915.560,0.000,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25194.000,12194.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.834,4.072,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,46579,1309
$CAP_FILE_SIZE,246449,0
$CFSIZE,260034560,236408832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26016.09,0x2378ba,7,5
$CURRENT,0.059,315.5,1
$GPS,100814,071944,4709.453,-12643.501,42,3.3,62,18.6