version: 66.12
glider: 187
mission: 4
dive: 284
start: 8 27 114 10 3 50
data:
$ID,187
$MISSION,4
$DIVE,284
$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,-1593781.6
$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,25
$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
$GPS1,270814,095353,4719.281,-12620.070,59,1.7,59,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-73.6
$GPS2,270814,100321,4719.256,-12620.051,17,2.6,37,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,210.7,61788,-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,27,-0.59,-116.8,391,2409,1375,1070,0.0,0.0,0,80,0.00,0.00,-48.90,0.000,16386,0.000,0.000,390,2408,2496,2582,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,391,2409,2582,2414,3.1,-2.2,5,125,12.32,2.55,-17.80,0.000,18692,0.373,0.114,3123,3804,3337,3383,3292,0,0,0,0,0,0,13.93,14.19,14.50
$GC,305,-0.59,-116.8,3123,3804,3387,3294,48.9,-13.4,27,314,0.00,2.40,0.00,0.000,1030,0.000,0.063,3123,2393,3339,3385,3294,0,0,0,0,0,0,28.83,14.28,28.83
$GC,555,-0.59,-116.8,3126,2388,3387,3296,77.5,-11.1,52,564,0.00,2.50,0.00,0.000,260,0.000,0.086,3123,3814,3341,3386,3296,0,0,0,0,0,0,28.83,14.27,28.83
$GC,795,-0.59,-116.8,3128,3813,3387,3298,105.1,-11.6,76,804,0.00,2.40,0.00,0.000,1030,0.000,0.060,3123,2392,3342,3387,3298,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1045,-0.59,-116.8,3123,2387,3388,3298,130.8,-9.1,101,1055,0.00,2.50,0.00,0.000,260,0.000,0.086,3123,3813,3342,3387,3298,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1115,-0.59,-116.8,3123,3813,3387,3298,138.0,-10.3,108,1124,0.00,2.40,0.00,0.000,1030,0.000,0.062,3123,2394,3342,3387,3298,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1365,-0.59,-116.8,3123,2395,3387,3298,162.4,-9.4,133,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2390,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1615,-0.59,-116.8,3123,2390,3384,3298,185.8,-9.5,158,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2390,3342,3389,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-0.59,-116.8,3123,2390,3387,3297,209.7,-9.3,183,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2390,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2115,-0.59,-116.8,3123,2390,3390,3295,232.6,-9.6,208,2124,0.00,2.50,0.00,0.000,260,0.000,0.091,3122,3804,3341,3387,3296,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2185,-0.59,-116.8,3123,3803,3387,3295,239.4,-9.5,215,2194,0.00,2.40,0.00,0.000,1030,0.000,0.066,3123,2393,3341,3387,3295,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2455,-0.59,-116.8,3119,2392,3387,3293,265.6,-9.8,232,2462,0.00,2.50,0.00,0.000,260,0.000,0.091,3124,3807,3340,3387,3293,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2515,-0.59,-116.8,3123,3806,3386,3296,271.5,-9.9,238,2523,0.00,2.40,0.00,0.000,1030,0.000,0.067,3123,2403,3340,3387,3293,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2848,-0.59,-116.8,3122,2397,3385,3291,300.5,-8.6,251,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3339,3387,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,-0.59,-116.8,3122,2400,3387,3289,326.8,-8.7,261,3153,0.00,2.47,0.00,0.000,260,0.000,0.092,3123,3805,3338,3387,3290,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3265,-0.59,-116.8,3123,3805,3386,3289,337.8,-9.0,273,3274,0.00,2.40,0.00,0.000,1030,0.000,0.067,3123,2397,3341,3393,3289,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3598,-0.59,-116.8,3123,2396,3386,3287,367.1,-8.9,286,3606,0.00,2.50,0.00,0.000,260,0.000,0.093,3123,3810,3337,3387,3287,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3676,-0.59,-116.8,3123,3805,3387,3287,374.4,-9.1,294,3685,0.00,2.45,0.00,0.000,1030,0.000,0.068,3123,2389,3335,3385,3286,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3988,-0.59,-116.8,3122,2388,3385,3285,400.2,-8.1,305,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2384,3337,3385,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4286,-0.59,-116.8,3123,2384,3384,3283,424.4,-8.1,315,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2387,3334,3385,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4586,-0.59,-116.8,3122,2384,3388,3283,449.9,-8.7,325,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3333,3384,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4887,-0.59,-116.8,3123,2384,3383,3282,475.6,-8.4,335,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2384,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,-0.59,-116.8,3123,2384,3383,3281,499.5,-7.8,345,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5486,-0.59,-116.8,3123,2384,3382,3280,523.4,-8.1,355,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2384,3334,3389,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5786,-0.59,-116.8,3124,2384,3382,3279,549.7,-8.9,365,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6086,-0.59,-116.8,3123,2384,3381,3278,576.0,-8.8,375,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2384,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,-0.59,-116.8,3123,2388,3381,3277,601.4,-8.3,385,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2384,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6686,-0.59,-116.8,3123,2384,3381,3276,624.6,-7.5,395,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2384,3330,3381,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,-0.59,-116.8,3123,2383,3381,3275,645.9,-7.1,405,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3327,3380,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7286,-0.59,-116.8,3123,2384,3380,3275,666.5,-6.8,415,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2383,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7586,-0.59,-116.8,3121,2385,3379,3274,687.7,-7.2,425,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2384,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7886,-0.59,-116.8,3123,2386,3379,3273,710.1,-7.7,435,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3326,3379,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8186,-0.59,-116.8,3123,2384,3379,3272,732.6,-7.4,445,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3323,3374,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8486,-0.59,-116.8,3123,2384,3378,3271,754.8,-7.5,455,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2384,3324,3378,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8786,-0.59,-116.8,3123,2383,3378,3271,775.8,-7.0,465,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2384,3327,3384,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9086,-0.59,-116.8,3123,2383,3377,3270,796.1,-6.7,475,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3324,3378,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9386,-0.59,-116.8,3123,2383,3377,3270,815.8,-6.7,485,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3323,3378,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9686,-0.59,-116.8,3123,2379,3377,3269,837.4,-7.1,495,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3323,3377,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,-0.59,-116.8,3124,2383,3377,3266,858.3,-6.9,505,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2383,3323,3377,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10286,-0.59,-116.8,3123,2383,3375,3269,878.7,-6.9,515,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3322,3376,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10586,-0.59,-116.8,3123,2383,3376,3268,899.9,-7.3,525,10590,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3322,3376,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10886,-0.59,-116.8,3123,2382,3376,3268,922.6,-7.4,535,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3320,3376,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11186,-0.59,-116.8,3123,2384,3375,3267,944.1,-7.3,545,11194,0.00,2.45,0.00,0.000,516,0.000,0.087,3123,996,3322,3376,3268,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11235,-0.59,-116.8,3124,997,3375,3268,948.0,-8.1,550,11245,0.00,2.50,0.00,0.000,1030,0.000,0.081,3123,2416,3320,3374,3267,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11549,-0.59,-116.8,3124,2416,3374,3267,970.0,-7.1,561,11553,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2416,3321,3375,3267,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11842,begin apogee
$GC,11851,-0.25,0.0,3123,2330,3374,3266,990.4,-6.7,571,11958,0.40,0.00,101.78,1.911,10246,0.182,0.000,3244,2330,2858,2933,2783,0,0,0,0,0,0,14.19,28.83,13.14
$STATE,11961,end apogee,CONTROL_FINISHED_OK
$STATE,11961,begin climb
$GC,11965,0.59,116.8,3240,2330,2931,2778,993.2,0.0,574,12089,0.85,0.00,109.30,1.882,10758,0.125,0.000,3512,2334,2379,2516,2242,0,0,0,0,0,0,13.87,28.83,12.90
$GC,12386,0.59,116.8,3512,2328,2515,2236,963.0,8.8,599,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2329,2375,2515,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12688,0.59,116.8,3512,2330,2513,2235,936.5,8.8,609,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2330,2372,2513,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12989,0.59,116.8,3512,2331,2512,2234,911.6,8.2,619,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2330,2373,2512,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13289,0.59,116.8,3512,2330,2512,2237,888.2,7.7,629,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2330,2373,2513,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13589,0.59,116.8,3512,2335,2511,2233,864.8,8.0,639,13599,0.00,2.55,0.00,0.000,260,0.000,0.098,3512,3749,2371,2511,2232,0,0,0,0,0,0,28.83,14.29,28.83
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$STATE,25090,end climb,SURFACE_DEPTH_REACHED
$STATE,25090,begin surface coast
$FINISH,1.1,1.022849
$STATE,25132,end surface coast,CONTROL_FINISHED_OK
$STATE,25132,begin surface
$SM_CCo,25157,20.05,0.101,0,0,1328,375.06
$SM_GC,2.73,9.38,0.12,20.05,0.061,0.177,0.101,393,2401,1328,-9.10,-0.76,375.06,0,0,0,0,0,0,14.28,14.23,14.22
$IRIDIUM_FIX,4700.70,-12617.28,270814,020255
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.90
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3847136
$PM_FREEKB,54423200
$24V_AH,12.9,68.675
$10V_AH,12.8,0.000
$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,23.200,89.425,369.975,20.050,0.000,0.000,0.000,303.300,0.000,0.000,38.171,3145.585,18491.203,593.166,2755.136,743.994,0.000,2325.535,0.000,1968.047,0.000,0.537,0.000
$DEVICE_MAMPS,373.320,177.480,1910.970,100.980,0.000,0.000,0.000,163.710,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25158.000,12174.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.835,4.058,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,46555,1292
$CAP_FILE_SIZE,241060,0
$CFSIZE,260034560,229588992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25945.87,0x2378ba,7,5
$CURRENT,0.010, 40.8,1
$GPS,270814,170554,4717.605,-12622.956,94,1.5,94,18.6