version: 66.12
glider: 187
mission: 4
dive: 277
start: 8 25 114 8 15 41
data:
$ID,187
$MISSION,4
$DIVE,277
$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,-1593770
$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,33
$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
$GPS1,250814,080455,4728.821,-12559.375,63,2.0,64,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-71.8
$GPS2,250814,081515,4728.820,-12559.429,12,2.4,32,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,220.6,93284,-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,-116.8,394,2403,1444,1219,0.0,0.0,0,91,0.00,0.00,-58.38,0.000,16386,0.000,0.000,395,2404,2906,2958,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,394,2404,2958,2856,4.3,-4.6,6,131,12.82,2.58,-7.05,0.000,18692,0.395,0.112,3122,3811,3338,3379,3298,0,0,0,0,0,0,13.93,14.22,14.49
$GC,362,-0.59,-116.8,3122,3810,3382,3300,53.2,-11.7,33,373,0.00,2.42,0.00,0.000,1030,0.000,0.064,3122,2412,3339,3381,3297,0,0,0,0,0,0,28.83,14.30,28.83
$GC,612,-0.59,-116.8,3122,2403,3385,3300,86.4,-13.9,58,623,0.00,2.50,0.00,0.000,260,0.000,0.090,3122,3815,3343,3386,3300,0,0,0,0,0,0,28.83,14.28,28.83
$GC,673,-0.59,-116.8,3122,3813,3385,3301,94.4,-13.7,64,685,0.00,2.42,0.00,0.000,1030,0.000,0.063,3123,2387,3340,3385,3296,0,0,0,0,0,0,28.83,14.36,28.83
$GC,927,-0.59,-116.8,3122,2384,3386,3297,124.7,-11.0,89,936,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2384,3342,3385,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1176,-0.59,-116.8,3123,2384,3392,3306,148.6,-9.4,114,1187,0.00,2.53,0.00,0.000,260,0.000,0.091,3122,3808,3342,3385,3300,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1279,-0.59,-116.8,3123,3805,3386,3301,159.3,-11.3,124,1291,0.00,2.40,0.00,0.000,1030,0.000,0.064,3122,2405,3343,3386,3300,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1531,-0.59,-116.8,3122,2403,3385,3300,187.9,-11.4,149,1542,0.00,2.47,0.00,0.000,260,0.000,0.090,3123,3808,3340,3385,3295,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1634,-0.59,-116.8,3122,3808,3385,3300,199.4,-11.2,159,1645,0.00,2.42,0.00,0.000,1030,0.000,0.066,3128,2399,3343,3385,3301,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1885,-0.59,-116.8,3123,2396,3385,3303,225.4,-10.2,184,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2396,3342,3385,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2135,-0.59,-116.8,3122,2396,3385,3300,250.5,-9.7,209,2145,0.00,2.45,0.00,0.000,516,0.000,0.078,3122,983,3342,3385,3299,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2205,-0.59,-116.8,3123,983,3385,3299,257.7,-10.4,216,2216,0.00,2.45,0.00,0.000,1030,0.000,0.073,3118,2398,3341,3385,3298,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2528,-0.59,-116.8,3123,2397,3385,3297,288.6,-9.8,228,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2397,3343,3385,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2826,-0.59,-116.8,3123,2397,3385,3301,315.8,-8.5,238,2836,0.00,2.47,0.00,0.000,260,0.000,0.092,3122,3815,3340,3385,3296,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2885,-0.59,-116.8,3122,3814,3385,3296,320.9,-8.2,244,2896,0.00,2.42,0.00,0.000,1030,0.000,0.066,3122,2389,3340,3385,3296,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3216,-0.59,-116.8,3122,2384,3385,3295,348.1,-8.7,257,3226,0.00,2.40,0.00,0.000,516,0.000,0.078,3123,992,3339,3385,3294,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3265,-0.59,-116.8,3123,991,3384,3294,352.8,-9.9,262,3276,0.00,2.45,0.00,0.000,1030,0.000,0.075,3126,2405,3339,3385,3294,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3580,-0.59,-116.8,3123,2404,3384,3293,383.3,-9.8,273,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3876,-0.59,-116.8,3123,2405,3380,3292,410.6,-8.9,283,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3338,3384,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4177,-0.59,-116.8,3123,2404,3384,3291,435.6,-8.1,293,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2409,3337,3384,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4476,-0.59,-116.8,3122,2404,3383,3290,458.2,-7.5,303,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.59,-116.8,3122,2404,3383,3289,481.2,-7.8,313,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2404,3336,3383,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5076,-0.59,-116.8,3122,2404,3383,3289,504.3,-7.7,323,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3335,3382,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5377,-0.59,-116.8,3122,2404,3382,3288,529.4,-8.7,333,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5676,-0.59,-116.8,3122,2404,3382,3291,555.1,-8.4,343,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3332,3377,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5977,-0.59,-116.8,3122,2404,3382,3286,578.4,-7.5,353,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6276,-0.59,-116.8,3122,2404,3381,3286,599.3,-6.8,363,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3333,3381,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6577,-0.59,-116.8,3120,2404,3381,3286,619.1,-6.5,373,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,-0.59,-116.8,3122,2404,3381,3286,638.3,-6.6,383,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3332,3380,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7177,-0.59,-116.8,3123,2404,3381,3285,658.4,-6.7,393,7187,0.00,2.47,0.00,0.000,516,0.000,0.087,3123,1001,3333,3381,3285,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7237,-0.59,-116.8,3122,1001,3380,3285,662.8,-7.7,399,7247,0.00,2.47,0.00,0.000,1030,0.000,0.083,3122,2405,3332,3380,3284,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7567,-0.59,-116.8,3123,2405,3380,3279,686.4,-7.1,412,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3332,3380,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7867,-0.59,-116.8,3122,2405,3382,3279,708.4,-7.3,422,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3331,3380,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8167,-0.59,-116.8,3122,2405,3379,3282,730.2,-7.3,432,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2407,3330,3379,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8467,-0.59,-116.8,3122,2405,3379,3282,751.4,-7.0,442,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3331,3379,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8767,-0.59,-116.8,3123,2405,3379,3282,773.5,-7.5,452,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2405,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9067,-0.59,-116.8,3122,2405,3375,3277,795.9,-7.5,462,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3329,3378,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9367,-0.59,-116.8,3122,2404,3378,3281,818.1,-7.4,472,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3329,3378,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9667,-0.59,-116.8,3122,2405,3378,3280,839.6,-7.2,482,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2406,3329,3378,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9967,-0.59,-116.8,3122,2401,3378,3276,861.8,-7.4,492,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10269,-0.59,-116.8,3124,2405,3377,3279,884.5,-7.5,502,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3328,3377,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10570,-0.59,-116.8,3122,2405,3378,3279,906.2,-7.0,512,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2405,3328,3377,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10869,-0.59,-116.8,3122,2405,3377,3279,926.6,-6.7,522,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3327,3377,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11170,-0.59,-116.8,3122,2405,3377,3279,946.1,-6.2,532,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2405,3327,3377,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11470,-0.59,-116.8,3122,2406,3377,3278,963.9,-5.8,542,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3330,3377,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11770,-0.59,-116.8,3122,2404,3377,3277,981.4,-6.1,552,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11914,begin apogee
$GC,11922,-0.25,0.0,3122,2334,3377,3277,990.8,-6.3,557,12039,0.40,0.00,103.05,1.910,10246,0.189,0.000,3238,2334,2857,2932,2782,0,0,0,0,0,0,14.21,28.83,13.14
$STATE,12041,end apogee,CONTROL_FINISHED_OK
$STATE,12042,begin climb
$GC,12046,0.59,116.8,3238,2334,2931,2779,994.1,0.0,561,12164,0.90,0.00,110.65,1.881,10246,0.133,0.000,3518,2333,2381,2517,2245,0,0,0,0,0,0,13.89,28.83,12.93
$GC,12457,0.59,116.8,3518,2333,2512,2237,965.8,8.3,575,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2333,2374,2513,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12760,0.59,116.8,3518,2330,2512,2235,940.6,8.6,585,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2333,2373,2512,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13060,0.59,116.8,3518,2333,2512,2234,913.5,9.3,595,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2333,2373,2512,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13360,0.59,116.8,3518,2334,2511,2233,885.8,9.1,605,13369,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2333,2372,2511,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24550,end climb,SURFACE_DEPTH_REACHED
$STATE,24550,begin surface coast
$FINISH,1.4,1.023647
$STATE,24598,end surface coast,CONTROL_FINISHED_OK
$STATE,24598,begin surface
$SM_CCo,24626,37.58,0.103,0,0,1328,375.06
$SM_GC,2.05,9.25,2.38,37.58,0.068,0.068,0.103,390,2407,1328,-9.12,0.96,375.06,0,0,0,0,0,0,14.27,14.26,14.25
$IRIDIUM_FIX,4710.21,-12555.56,250814,000027
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.05
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3849376
$PM_FREEKB,54692992
$24V_AH,12.9,66.762
$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,23.500,114.250,345.075,37.575,0.000,0.000,0.000,323.150,0.000,0.000,33.055,3046.510,17894.096,616.355,2904.404,801.428,0.000,2547.871,0.000,1897.269,0.000,0.536,0.000
$DEVICE_MAMPS,394.740,161.415,1910.205,103.275,0.000,0.000,0.000,169.065,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24619.000,469.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.805,5.831,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,43333,1244
$CAP_FILE_SIZE,252554,0
$CFSIZE,260034560,230318080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26458.66,0x2378ba,7,5
$CURRENT,0.073,147.7,1
$GPS,250814,150835,4726.671,-12602.183,53,1.0,58,18.7