version: 66.12
glider: 187
mission: 4
dive: 267
start: 8 22 114 9 0 13
data:
$ID,187
$MISSION,4
$DIVE,267
$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,-1593757.5
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,220814,085035,4744.540,-12526.942,50,1.9,61,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-74.2
$GPS2,220814,085943,4744.517,-12526.910,14,1.7,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,215.9,143603,-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,-116.8,389,2414,1467,1200,0.0,0.0,0,90,0.00,0.00,-57.95,0.000,16386,0.000,0.000,389,2415,2870,2927,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,389,2415,2927,2815,3.9,-3.7,6,130,12.57,2.53,-8.52,0.000,18692,0.385,0.116,3127,3801,3335,3378,3293,0,0,0,0,0,0,13.96,14.22,14.52
$GC,360,-0.59,-116.8,3127,3802,3384,3297,50.1,-13.5,33,371,0.00,2.42,0.00,0.000,1030,0.000,0.064,3127,2389,3341,3384,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,611,-0.59,-116.8,3127,2383,3386,3298,82.5,-14.0,58,621,0.00,2.50,0.00,0.000,260,0.000,0.090,3127,3802,3338,3380,3297,0,0,0,0,0,0,28.83,14.29,28.83
$GC,736,-0.59,-116.8,3124,3802,3386,3298,99.5,-13.8,70,746,0.00,2.40,0.00,0.000,1030,0.000,0.064,3127,2390,3342,3386,3298,0,0,0,0,0,0,28.83,14.32,28.83
$GC,986,-0.59,-116.8,3127,2385,3387,3298,128.5,-10.4,95,996,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3342,3386,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1236,-0.59,-116.8,3127,2385,3386,3298,153.8,-9.5,120,1248,0.00,2.50,0.00,0.000,260,0.000,0.093,3127,3806,3342,3386,3298,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1328,-0.59,-116.8,3127,3801,3386,3298,163.2,-10.3,129,1339,0.00,2.38,0.00,0.000,1030,0.000,0.065,3127,2407,3341,3386,3297,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1579,-0.59,-116.8,3127,2404,3386,3298,185.7,-8.7,154,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3339,3381,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1829,-0.59,-116.8,3127,2404,3386,3298,208.3,-9.1,179,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3345,3386,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,-0.59,-116.8,3127,2404,3386,3297,231.1,-8.8,204,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,-0.59,-116.8,3127,2404,3386,3296,253.8,-9.8,227,2339,0.00,2.42,0.00,0.000,516,0.000,0.076,3129,989,3340,3386,3295,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2419,-0.59,-116.8,3127,989,3387,3295,263.1,-10.5,236,2430,0.00,2.42,0.00,0.000,1030,0.000,0.074,3126,2393,3340,3386,3295,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2750,-0.59,-116.8,3127,2392,3386,3293,296.9,-10.1,249,2760,0.00,2.47,0.00,0.000,260,0.000,0.093,3123,3805,3339,3386,3293,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2849,-0.59,-116.8,3127,3808,3386,3294,307.3,-10.4,259,2859,0.00,2.40,0.00,0.000,1030,0.000,0.067,3127,2397,3341,3383,3300,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3170,-0.59,-116.8,3127,2393,3386,3293,337.2,-8.9,271,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2393,3339,3386,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.59,-116.8,3127,2393,3386,3292,363.2,-8.6,281,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3339,3386,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-0.59,-116.8,3127,2393,3386,3290,390.0,-9.1,291,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3337,3385,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-0.59,-116.8,3127,2393,3385,3289,417.9,-9.2,301,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3337,3385,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.59,-116.8,3127,2393,3386,3288,444.0,-8.5,311,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3336,3385,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.59,-116.8,3127,2393,3385,3287,469.0,-8.1,321,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4970,-0.59,-116.8,3127,2393,3385,3287,493.1,-8.0,331,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5270,-0.59,-116.8,3129,2393,3384,3286,516.8,-7.9,341,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2393,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5570,-0.59,-116.8,3127,2393,3383,3287,540.3,-8.0,351,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5870,-0.59,-116.8,3127,2394,3383,3282,564.8,-8.4,361,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,-0.59,-116.8,3127,2393,3382,3285,591.0,-8.8,371,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6470,-0.59,-116.8,3127,2393,3382,3285,616.1,-8.2,381,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,-0.59,-116.8,3126,2393,3381,3283,638.6,-7.1,391,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2397,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7070,-0.59,-116.8,3127,2393,3382,3283,658.5,-6.5,401,7080,0.00,2.45,0.00,0.000,516,0.000,0.086,3127,990,3332,3382,3283,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7139,-0.59,-116.8,3127,990,3381,3282,663.2,-7.1,408,7150,0.00,2.47,0.00,0.000,1030,0.000,0.080,3127,2401,3331,3381,3282,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7463,-0.59,-116.8,3127,2400,3381,3287,683.8,-6.4,420,7473,0.00,2.50,0.00,0.000,260,0.000,0.097,3127,3817,3329,3381,3278,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7554,-0.59,-116.8,3127,3817,3381,3281,690.3,-6.7,429,7564,0.00,2.45,0.00,0.000,1030,0.000,0.073,3127,2396,3333,3385,3282,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7883,-0.59,-116.8,3123,2394,3380,3281,713.5,-7.1,442,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8184,-0.59,-116.8,3127,2394,3380,3281,735.9,-7.8,452,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8483,-0.59,-116.8,3133,2394,3380,3280,759.7,-8.1,462,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3326,3376,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8784,-0.59,-116.8,3127,2394,3380,3279,783.6,-7.9,472,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9083,-0.59,-116.8,3127,2395,3380,3278,807.8,-7.9,482,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9384,-0.59,-116.8,3126,2394,3376,3275,831.8,-7.8,492,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3331,3384,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9683,-0.59,-116.8,3127,2394,3379,3278,854.3,-7.6,502,9693,0.00,2.45,0.00,0.000,516,0.000,0.087,3127,995,3328,3379,3277,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9774,-0.59,-116.8,3127,991,3379,3278,861.3,-7.9,511,9784,0.00,2.47,0.00,0.000,1030,0.000,0.082,3127,2404,3328,3379,3277,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10104,-0.59,-116.8,3127,2404,3378,3278,885.0,-7.2,524,10114,0.00,2.50,0.00,0.000,260,0.000,0.099,3127,3809,3325,3375,3276,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10214,-0.59,-116.8,3127,3810,3378,3277,892.8,-6.9,535,10224,0.00,2.45,0.00,0.000,1030,0.000,0.076,3127,2405,3327,3377,3277,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10527,-0.59,-116.8,3127,2408,3378,3276,913.7,-6.7,546,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3325,3378,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10827,-0.59,-116.8,3127,2404,3377,3279,933.9,-6.6,556,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3330,3384,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11127,-0.59,-116.8,3127,2404,3377,3276,946.9,-1.2,566,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3326,3377,3276,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11271,end dive,NO_VERTICAL_VELOCITY
$STATE,11271,begin apogee
$GC,11280,-0.25,0.0,3126,2313,3378,3275,947.0,0.0,571,11389,0.38,0.00,101.60,1.866,10246,0.132,0.000,3247,2313,2859,2934,2784,0,0,0,0,0,0,14.33,28.83,13.18
$STATE,11391,end apogee,CONTROL_FINISHED_OK
$STATE,11391,begin climb
$GC,11395,0.59,116.8,3249,2313,2933,2779,946.7,0.0,574,11519,0.82,2.70,108.18,1.833,10500,0.111,0.093,3520,3739,2378,2516,2241,0,0,0,0,0,0,13.90,13.64,12.98
$GC,11748,0.59,116.8,3520,3740,2511,2236,917.1,11.3,610,11759,0.00,2.55,0.00,0.000,1030,0.000,0.079,3522,2333,2374,2512,2237,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12062,0.59,116.8,3522,2334,2512,2234,887.1,9.0,621,12072,0.00,2.58,0.00,0.000,260,0.000,0.099,3521,3742,2373,2512,2234,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12224,0.59,116.8,3521,3742,2508,2234,870.9,10.3,637,12234,0.00,2.50,0.00,0.000,1030,0.000,0.080,3526,2332,2372,2511,2234,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12546,0.59,116.8,3522,2337,2507,2232,841.7,8.6,649,12556,0.00,2.53,0.00,0.000,516,0.000,0.098,3522,914,2371,2511,2231,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12666,0.59,116.8,3522,914,2510,2232,832.1,7.9,661,12676,0.00,2.50,0.00,0.000,1030,0.000,0.080,3522,2334,2370,2510,2231,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12996,0.59,116.8,3519,2333,2512,2231,804.9,8.7,674,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2333,2370,2510,2231,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23348,end climb,SURFACE_DEPTH_REACHED
$STATE,23348,begin surface coast
$FINISH,1.0,1.012785
$STATE,23409,end surface coast,CONTROL_FINISHED_OK
$STATE,23409,begin surface
$SM_CCo,23438,41.72,0.104,0,0,1328,375.06
$SM_GC,1.93,9.27,2.65,41.72,0.071,0.077,0.104,390,2399,1328,-9.11,-0.68,375.06,0,0,0,0,0,0,14.31,14.31,14.30
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$TT8_MAMPS,0.024717,0.024717
$HUMID,48.81
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3852576
$PM_FREEKB,55030816
$24V_AH,13.0,64.121
$10V_AH,13.3,0.000
$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,23.175,119.575,312.100,41.725,0.000,0.000,0.000,287.750,0.000,0.000,15.019,3093.737,16728.168,584.142,2855.456,757.131,0.000,2443.434,0.000,1975.943,0.000,0.536,0.000
$DEVICE_MAMPS,384.795,150.705,1865.835,104.040,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23432.000,412.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.879,5.472,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,46640,1288
$CAP_FILE_SIZE,248389,0
$CFSIZE,260034560,231424000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,20199.00,0x2378ba,7,5
$CURRENT,0.015,277.3,1
$GPS,220814,153336,4743.113,-12530.248,72,1.0,72,18.7