version: 66.12
glider: 187
mission: 4
dive: 220
start: 8 10 114 14 36 21
data:
$ID,187
$MISSION,4
$DIVE,220
$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,-1593695.8
$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,28
$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
$GPS1,100814,142724,4706.751,-12645.953,41,2.0,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-73.9
$GPS2,100814,143555,4706.713,-12645.973,12,1.6,12,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,222.1,21644,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,399,2395,1432,1131,0.0,0.0,0,92,0.00,0.00,-59.85,0.000,16386,0.000,0.000,396,2399,2898,2949,2848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.59,-116.8,399,2399,2951,2848,4.2,-4.3,6,125,12.55,2.58,-7.32,0.000,18692,0.389,0.113,3126,3820,3339,3381,3298,0,0,0,0,0,0,13.99,14.26,14.52
$GC,355,-0.59,-116.8,3126,3821,3383,3299,60.9,-13.5,32,364,0.00,2.42,0.00,0.000,1030,0.000,0.064,3127,2399,3343,3387,3299,0,0,0,0,0,0,28.83,14.37,28.83
$GC,605,-0.59,-116.8,3127,2395,3389,3301,91.6,-11.7,57,614,0.00,2.50,0.00,0.000,260,0.000,0.093,3127,3820,3345,3391,3300,0,0,0,0,0,0,28.83,14.37,28.83
$GC,715,-0.59,-116.8,3127,3820,3390,3300,105.2,-12.1,68,725,0.00,2.45,0.00,0.000,1030,0.000,0.063,3128,2404,3345,3389,3301,0,0,0,0,0,0,28.83,14.40,28.83
$GC,965,-0.59,-116.8,3127,2403,3390,3301,132.3,-10.5,93,973,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3343,3386,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1216,-0.59,-116.8,3127,2403,3389,3301,159.0,-10.5,118,1224,0.00,2.47,0.00,0.000,260,0.000,0.093,3127,3815,3347,3394,3301,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1325,-0.59,-116.8,3127,3815,3392,3301,170.7,-10.8,129,1335,0.00,2.40,0.00,0.000,1030,0.000,0.065,3126,2394,3343,3385,3301,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1575,-0.59,-116.8,3126,2390,3390,3296,197.3,-10.3,154,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3345,3390,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-0.59,-116.8,3127,2390,3389,3300,222.6,-10.1,179,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3345,3390,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,-0.59,-116.8,3127,2390,3390,3299,246.5,-9.4,204,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3344,3390,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2325,-0.59,-116.8,3127,2390,3386,3297,269.9,-9.3,215,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2388,3343,3390,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-0.59,-116.8,3127,2390,3390,3295,297.8,-9.0,225,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2925,-0.59,-116.8,3127,2390,3390,3294,323.3,-8.4,235,2933,0.00,2.50,0.00,0.000,260,0.000,0.096,3127,3807,3342,3390,3294,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2986,-0.59,-116.8,3126,3807,3389,3293,328.5,-8.7,241,2994,0.00,2.40,0.00,0.000,1030,0.000,0.071,3127,2398,3341,3389,3293,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3318,-0.59,-116.8,3127,2397,3389,3292,356.0,-8.5,254,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3340,3389,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-0.59,-116.8,3127,2394,3389,3292,382.9,-9.2,264,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3340,3389,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3915,-0.59,-116.8,3127,2397,3388,3289,410.2,-9.1,274,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3339,3388,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4215,-0.59,-116.8,3127,2396,3387,3288,437.2,-8.8,284,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3337,3387,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4516,-0.59,-116.8,3128,2397,3386,3287,462.4,-8.4,294,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4815,-0.59,-116.8,3127,2397,3385,3287,488.5,-8.8,304,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5116,-0.59,-116.8,3127,2397,3385,3286,514.4,-8.5,314,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5415,-0.59,-116.8,3129,2398,3384,3286,539.2,-8.3,324,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3337,3388,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5716,-0.59,-116.8,3127,2397,3384,3285,562.6,-7.6,334,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3332,3379,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6015,-0.59,-116.8,3127,2398,3383,3284,585.2,-7.4,344,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3333,3383,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6316,-0.59,-116.8,3127,2397,3383,3283,607.4,-7.3,354,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,-0.59,-116.8,3127,2398,3383,3282,629.9,-7.5,364,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6915,-0.59,-116.8,3127,2397,3378,3281,653.2,-7.7,374,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,-0.59,-116.8,3132,2397,3381,3281,675.9,-7.5,384,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7515,-0.59,-116.8,3127,2397,3382,3280,697.4,-7.1,394,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7815,-0.59,-116.8,3127,2397,3381,3279,719.4,-7.4,404,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3330,3382,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8115,-0.59,-116.8,3127,2397,3381,3278,741.0,-7.3,414,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3333,3388,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8415,-0.59,-116.8,3127,2397,3379,3278,762.2,-7.1,424,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3328,3383,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8715,-0.59,-116.8,3127,2397,3381,3274,784.2,-7.4,434,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9015,-0.59,-116.8,3127,2397,3382,3277,808.1,-8.0,444,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3327,3377,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9316,-0.59,-116.8,3127,2397,3380,3276,831.6,-7.7,454,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3328,3380,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,-0.59,-116.8,3127,2401,3379,3276,852.8,-6.9,464,9622,0.00,2.53,0.00,0.000,260,0.000,0.103,3127,3810,3328,3380,3276,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9686,-0.59,-116.8,3127,3809,3379,3282,857.6,-6.7,471,9693,0.00,2.45,0.00,0.000,1030,0.000,0.076,3127,2391,3327,3379,3276,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10008,-0.59,-116.8,3127,2387,3379,3275,877.3,-6.0,483,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10305,-0.59,-116.8,3127,2387,3379,3274,896.3,-6.4,493,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10605,-0.59,-116.8,3127,2387,3378,3274,916.1,-6.6,503,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3324,3374,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10905,-0.59,-116.8,3125,2387,3378,3274,936.5,-6.9,513,10913,0.00,2.53,0.00,0.000,260,0.000,0.102,3127,3805,3326,3379,3273,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10984,-0.59,-116.8,3127,3808,3375,3273,942.5,-7.3,521,10994,0.00,2.47,0.00,0.000,1030,0.000,0.082,3127,2406,3325,3376,3274,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11298,-0.59,-116.8,3126,2407,3376,3273,964.5,-7.1,532,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2406,3326,3380,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11596,-0.59,-116.8,3127,2406,3376,3273,986.0,-7.2,542,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2407,3324,3376,3273,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11651,begin apogee
$GC,11660,-0.25,0.0,3127,2319,3377,3273,990.1,-7.1,544,11766,0.40,0.00,100.57,1.919,10246,0.191,0.000,3240,2314,2859,2934,2785,0,0,0,0,0,0,14.26,28.83,13.21
$STATE,11769,end apogee,CONTROL_FINISHED_OK
$STATE,11769,begin climb
$GC,11773,0.59,116.8,3243,2314,2935,2781,993.6,0.0,547,11897,0.85,0.00,109.62,1.892,10758,0.132,0.000,3512,2314,2376,2521,2232,0,0,0,0,0,0,13.89,28.83,13.02
$GC,12195,0.59,116.8,3512,2314,2520,2230,967.4,7.6,568,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2315,2375,2520,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12498,0.59,116.8,3512,2314,2518,2229,944.0,7.8,578,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2314,2374,2518,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12798,0.59,116.8,3513,2317,2518,2228,921.1,7.8,588,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2314,2373,2518,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13098,0.59,116.8,3512,2314,2517,2228,897.4,8.0,598,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2314,2372,2517,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13398,0.59,116.8,3512,2314,2517,2227,871.6,8.7,608,13408,0.00,2.45,0.00,0.000,516,0.000,0.095,3519,933,2372,2517,2227,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13447,0.59,116.8,3519,932,2512,2222,866.9,8.9,613,13459,0.00,2.45,0.00,0.000,1030,0.000,0.082,3519,2334,2372,2517,2227,0,0,0,0,0,0,28.83,14.42,28.83
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$STATE,24904,end climb,SURFACE_DEPTH_REACHED
$STATE,24904,begin surface coast
$FINISH,0.9,1.017135
$STATE,24956,end surface coast,CONTROL_FINISHED_OK
$STATE,24957,begin surface
$SM_CCo,24986,35.92,0.103,0,0,1328,375.06
$SM_GC,1.65,9.15,0.15,35.92,0.063,0.152,0.103,386,2402,1328,-9.11,-0.79,375.06,0,0,0,0,0,0,14.43,14.38,14.36
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$TT8_MAMPS,0.024717,0.024717
$HUMID,48.70
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3867616
$PM_FREEKB,56290464
$24V_AH,13.0,52.717
$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,23.075,89.125,342.225,35.925,0.000,0.000,0.000,274.525,0.000,0.000,13.645,3122.650,18385.520,594.873,2678.162,731.942,0.000,2283.430,0.000,1934.225,0.000,0.537,0.000
$DEVICE_MAMPS,388.620,169.065,1918.620,103.275,0.000,0.000,0.000,171.360,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24981.000,11972.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.788,4.060,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,43297,1278
$CAP_FILE_SIZE,240521,0
$CFSIZE,260034560,236212224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25585.82,0x2378ba,7,5
$CURRENT,0.067,321.5,1
$GPS,100814,213529,4706.234,-12650.398,74,1.4,74,18.6