version: 66.12
glider: 187
mission: 4
dive: 283
start: 8 27 114 2 51 23
data:
$ID,187
$MISSION,4
$DIVE,283
$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,-1593780.4
$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,25
$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
$GPS1,270814,024129,4719.861,-12617.161,72,1.0,77,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.4
$GPS2,270814,025054,4719.734,-12617.164,14,1.3,19,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,223.3,65292,-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,-116.8,387,2404,1453,1213,0.0,0.0,0,80,0.00,0.00,-47.90,0.000,16386,0.000,0.000,387,2402,2572,2658,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,387,2402,2659,2487,3.0,-2.1,5,124,12.48,2.58,-15.18,0.000,18692,0.377,0.114,3124,3808,3337,3382,3293,0,0,0,0,0,0,13.93,14.23,14.50
$GC,355,-0.59,-116.8,3126,3808,3384,3297,53.6,-12.9,32,365,0.00,2.40,0.00,0.000,1030,0.000,0.061,3126,2404,3341,3384,3298,0,0,0,0,0,0,28.83,14.31,28.83
$GC,605,-0.59,-116.8,3126,2401,3387,3297,86.4,-13.4,57,616,0.00,2.47,0.00,0.000,260,0.000,0.087,3126,3810,3342,3387,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,775,-0.59,-116.8,3126,3809,3387,3299,108.3,-12.6,74,786,0.00,2.40,0.00,0.000,1030,0.000,0.062,3126,2391,3344,3389,3299,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1026,-0.59,-116.8,3126,2387,3386,3299,134.2,-10.0,99,1038,0.00,2.50,0.00,0.000,260,0.000,0.090,3126,3803,3342,3387,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1107,-0.59,-116.8,3126,3803,3387,3299,142.4,-10.3,107,1119,0.00,2.38,0.00,0.000,1030,0.000,0.062,3126,2407,3343,3387,3300,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1359,-0.59,-116.8,3126,2404,3387,3299,166.8,-9.6,132,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3343,3387,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.59,-116.8,3126,2403,3387,3298,190.5,-9.1,157,1619,0.00,2.47,0.00,0.000,260,0.000,0.088,3126,3819,3342,3386,3298,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1729,-0.59,-116.8,3126,3819,3386,3298,201.7,-9.8,169,1740,0.00,2.42,0.00,0.000,1030,0.000,0.064,3126,2389,3342,3386,3298,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1980,-0.59,-116.8,3126,2384,3387,3296,225.1,-9.5,194,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,-0.59,-116.8,3126,2384,3387,3291,248.6,-8.9,219,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2384,3340,3386,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2490,-0.59,-116.8,3126,2384,3386,3294,270.5,-8.4,229,2500,0.00,2.40,0.00,0.000,516,0.000,0.077,3126,985,3343,3394,3293,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2550,-0.59,-116.8,3126,985,3386,3293,276.0,-9.5,235,2561,0.00,2.45,0.00,0.000,1030,0.000,0.073,3126,2397,3339,3386,3293,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2881,-0.59,-116.8,3128,2396,3386,3292,304.5,-8.7,248,2891,0.00,2.47,0.00,0.000,260,0.000,0.091,3126,3811,3339,3386,3292,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2950,-0.59,-116.8,3126,3811,3382,3292,311.0,-8.9,255,2961,0.00,2.42,0.00,0.000,1030,0.000,0.065,3127,2394,3338,3386,3291,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3274,-0.59,-116.8,3126,2387,3385,3289,340.6,-9.4,267,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2392,3339,3389,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3572,-0.59,-116.8,3126,2389,3385,3288,369.1,-9.3,277,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2389,3336,3385,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3871,-0.59,-116.8,3126,2389,3385,3287,396.6,-9.1,287,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3333,3384,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4171,-0.59,-116.8,3126,2389,3384,3286,422.5,-8.6,297,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-0.59,-116.8,3126,2389,3383,3287,448.6,-8.8,307,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2389,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4771,-0.59,-116.8,3126,2392,3382,3285,474.9,-8.7,317,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5071,-0.59,-116.8,3126,2389,3382,3284,499.2,-7.8,327,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5371,-0.59,-116.8,3126,2389,3382,3286,521.3,-7.4,337,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5671,-0.59,-116.8,3126,2389,3388,3282,544.1,-7.6,347,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2389,3331,3381,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5971,-0.59,-116.8,3126,2389,3388,3287,567.6,-8.0,357,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3329,3377,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,-0.59,-116.8,3126,2389,3381,3281,591.7,-8.2,367,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3330,3381,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6571,-0.59,-116.8,3126,2389,3380,3279,616.4,-8.2,377,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6871,-0.59,-116.8,3127,2389,3380,3279,640.9,-8.2,387,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7171,-0.59,-116.8,3122,2389,3379,3278,665.8,-8.3,397,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7471,-0.59,-116.8,3126,2389,3382,3277,690.0,-7.8,407,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3329,3382,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7771,-0.59,-116.8,3126,2389,3378,3277,713.1,-7.7,417,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8071,-0.59,-116.8,3126,2389,3378,3276,733.8,-6.7,427,8082,0.00,2.55,0.00,0.000,260,0.000,0.099,3126,3809,3326,3377,3276,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8141,-0.59,-116.8,3126,3809,3377,3276,738.6,-7.0,434,8151,0.00,2.45,0.00,0.000,1030,0.000,0.074,3126,2400,3326,3377,3276,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8465,-0.59,-116.8,3126,2398,3377,3275,759.9,-6.7,446,8475,0.00,2.47,0.00,0.000,516,0.000,0.085,3126,984,3326,3377,3275,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8525,-0.59,-116.8,3123,983,3377,3280,764.6,-7.7,452,8535,0.00,2.50,0.00,0.000,1030,0.000,0.078,3126,2407,3326,3377,3275,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8855,-0.59,-116.8,3126,2408,3376,3274,786.6,-6.5,465,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2408,3325,3377,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9155,-0.59,-116.8,3126,2407,3377,3273,805.6,-6.2,475,9165,0.00,2.50,0.00,0.000,260,0.000,0.099,3131,3817,3324,3376,3273,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9234,-0.59,-116.8,3126,3816,3375,3273,810.8,-6.7,483,9246,0.00,2.47,0.00,0.000,1030,0.000,0.074,3126,2390,3324,3376,3273,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9548,-0.59,-116.8,3126,2386,3376,3273,829.8,-6.1,494,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3324,3376,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9846,-0.59,-116.8,3126,2386,3375,3272,848.0,-6.1,504,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3321,3370,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10147,-0.59,-116.8,3126,2386,3376,3272,867.5,-6.6,514,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3323,3375,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10449,-0.59,-116.8,3126,2386,3375,3270,888.6,-7.2,524,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3323,3375,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10747,-0.59,-116.8,3127,2386,3375,3270,910.0,-7.1,534,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3322,3375,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11049,-0.59,-116.8,3127,2386,3375,3270,930.0,-6.6,544,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2386,3321,3374,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11347,-0.59,-116.8,3127,2386,3374,3269,948.3,-6.0,554,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3322,3375,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11649,-0.59,-116.8,3126,2386,3374,3269,965.2,-5.6,564,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3321,3374,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11948,-0.59,-116.8,3126,2386,3374,3269,983.0,-6.1,574,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2387,3321,3373,3270,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12061,begin apogee
$GC,12070,-0.25,0.0,3126,2331,3374,3269,990.5,-6.3,578,12179,0.40,0.00,101.68,1.913,10246,0.184,0.000,3242,2326,2859,2934,2785,0,0,0,0,0,0,14.18,28.83,13.13
$STATE,12181,end apogee,CONTROL_FINISHED_OK
$STATE,12181,begin climb
$GC,12185,0.59,116.8,3243,2326,2932,2780,993.4,0.0,581,12306,0.85,0.00,109.75,1.886,10246,0.127,0.000,3513,2326,2379,2515,2243,0,0,0,0,0,0,13.87,28.83,12.92
$GC,12605,0.59,116.8,3514,2326,2514,2241,966.4,7.8,596,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2326,2377,2514,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12909,0.59,116.8,3514,2325,2509,2238,943.6,7.4,606,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2328,2375,2513,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13208,0.59,116.8,3513,2326,2512,2237,920.8,7.9,616,13217,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2325,2374,2512,2236,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25115,end climb,SURFACE_DEPTH_REACHED
$STATE,25116,begin surface coast
$FINISH,1.0,1.022872
$STATE,25157,end surface coast,CONTROL_FINISHED_OK
$STATE,25157,begin surface
$SM_CCo,25243,0.00,0.000,0,0,1221,401.56
$SM_GC,2.22,9.23,0.12,0.00,0.065,0.160,0.000,391,2407,1221,-9.10,-0.62,401.56,0,0,0,0,0,0,14.28,14.21,28.83
$IRIDIUM_FIX,4703.87,-12610.28,260814,191936
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.89
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3847456
$PM_FREEKB,54491552
$24V_AH,12.9,68.399
$10V_AH,13.2,0.000
$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,23.075,94.500,422.100,0.000,0.000,0.000,0.000,288.075,0.000,0.000,20.333,3131.051,18296.602,628.400,2926.005,805.390,0.000,2554.459,0.000,1963.833,0.000,0.537,0.000
$DEVICE_MAMPS,377.145,207.315,1912.500,0.000,0.000,0.000,0.000,169.065,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25182.000,470.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.784,5.700,0.000,0.000
$MEM,290828
$DATA_FILE_SIZE,43385,1287
$CAP_FILE_SIZE,253922,0
$CFSIZE,260034560,229679104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,25801.70,0x2378ba,7,5
$CURRENT,0.064, 36.5,1
$GPS,270814,095353,4719.281,-12620.070,59,1.7,59,18.6