version: 66.12
glider: 187
mission: 4
dive: 346
start: 9 12 114 21 37 47
data:
$ID,187
$MISSION,4
$DIVE,346
$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,-1593859.6
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,120914,212823,4736.032,-12544.451,52,1.1,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-72.6
$GPS2,120914,213718,4735.967,-12544.585,14,1.2,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,226.2,116234,-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,-116.8,392,2408,1447,1213,0.0,0.0,0,80,0.00,0.00,-48.75,0.000,16386,0.000,0.000,395,2409,2566,2653,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,395,2408,2654,2484,3.4,-1.9,5,124,12.93,2.58,-17.05,0.000,18692,0.392,0.112,3127,3804,3337,3382,3292,0,0,0,0,0,0,13.86,14.12,14.46
$GC,355,-0.59,-116.8,3127,3808,3382,3297,47.2,-15.0,32,363,0.00,2.42,0.00,0.000,1030,0.000,0.065,3127,2402,3339,3382,3297,0,0,0,0,0,0,28.83,14.20,28.83
$GC,604,-0.59,-116.8,3127,2400,3383,3297,81.1,-12.2,57,613,0.00,2.50,0.00,0.000,260,0.000,0.089,3127,3803,3343,3389,3297,0,0,0,0,0,0,28.83,14.16,28.83
$GC,704,-0.59,-116.8,3127,3802,3383,3297,92.8,-11.7,67,714,0.00,2.42,0.00,0.000,1030,0.000,0.063,3128,2394,3341,3384,3298,0,0,0,0,0,0,28.83,14.24,28.83
$GC,954,-0.59,-116.8,3127,2389,3384,3303,119.1,-10.6,92,962,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1204,-0.59,-116.8,3127,2389,3390,3298,143.1,-9.8,117,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2386,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1454,-0.59,-116.8,3127,2389,3384,3298,169.1,-11.1,142,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2389,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,-0.59,-116.8,3127,2389,3385,3298,195.9,-10.7,167,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3338,3380,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.59,-116.8,3127,2385,3384,3297,221.2,-9.7,192,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2204,-0.59,-116.8,3127,2390,3384,3297,247.0,-10.2,217,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2388,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2475,-0.59,-116.8,3127,2388,3384,3296,272.9,-9.3,228,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2774,-0.59,-116.8,3127,2389,3384,3296,299.8,-8.9,238,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3337,3383,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,-0.59,-116.8,3127,2389,3384,3292,326.2,-8.7,248,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2389,3342,3384,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3374,-0.59,-116.8,3127,2386,3384,3294,352.2,-8.8,258,3382,0.00,2.45,0.00,0.000,516,0.000,0.080,3127,1000,3337,3384,3290,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3434,-0.59,-116.8,3127,1000,3384,3293,357.8,-9.6,264,3442,0.00,2.45,0.00,0.000,1030,0.000,0.075,3127,2395,3340,3384,3296,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3767,-0.59,-116.8,3127,2395,3384,3293,385.6,-7.9,277,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3341,3384,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4064,-0.59,-116.8,3127,2395,3383,3292,406.5,-6.7,287,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3337,3383,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.59,-116.8,3127,2395,3383,3291,427.0,-7.0,297,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3337,3383,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4664,-0.59,-116.8,3127,2396,3382,3290,448.6,-7.3,307,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3336,3383,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4965,-0.59,-116.8,3127,2395,3384,3289,472.5,-8.1,317,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3336,3387,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5264,-0.59,-116.8,3127,2395,3383,3288,497.1,-8.2,327,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3338,3387,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5564,-0.59,-116.8,3127,2395,3383,3287,519.3,-7.2,337,5572,0.00,2.53,0.00,0.000,260,0.000,0.096,3127,3805,3333,3379,3287,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5614,-0.59,-116.8,3127,3808,3383,3287,522.9,-7.2,342,5623,0.00,2.45,0.00,0.000,1030,0.000,0.067,3127,2394,3335,3383,3287,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5924,-0.59,-116.8,3127,2390,3383,3286,542.9,-6.2,353,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6225,-0.59,-116.8,3127,2390,3383,3286,563.6,-7.2,363,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6524,-0.59,-116.8,3127,2390,3383,3286,586.7,-7.9,373,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3335,3382,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6825,-0.59,-116.8,3127,2390,3382,3285,611.7,-8.4,383,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7124,-0.59,-116.8,3127,2391,3382,3285,637.3,-8.4,393,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7424,-0.59,-116.8,3127,2390,3382,3284,661.1,-8.0,403,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7725,-0.59,-116.8,3124,2390,3381,3283,683.9,-7.4,413,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8024,-0.59,-116.8,3127,2390,3381,3283,705.8,-7.5,423,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2390,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8325,-0.59,-116.8,3127,2390,3381,3282,728.6,-7.5,433,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3331,3381,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8624,-0.59,-116.8,3130,2390,3381,3278,750.9,-7.5,443,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3329,3377,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8925,-0.59,-116.8,3127,2391,3380,3284,773.6,-7.6,453,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9224,-0.59,-116.8,3127,2390,3379,3281,795.7,-7.3,463,9233,0.00,2.58,0.00,0.000,260,0.000,0.097,3127,3807,3330,3380,3281,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9303,-0.59,-116.8,3127,3807,3380,3280,801.8,-7.8,471,9314,0.00,2.47,0.00,0.000,1030,0.000,0.073,3127,2397,3330,3379,3281,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9617,-0.59,-116.8,3127,2397,3379,3281,824.9,-7.5,482,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9915,-0.59,-116.8,3127,2397,3378,3280,846.9,-7.1,492,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10215,-0.59,-116.8,3127,2396,3379,3279,866.8,-6.6,502,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10515,-0.59,-116.8,3127,2397,3379,3275,886.4,-6.4,512,10522,0.00,2.50,0.00,0.000,516,0.000,0.086,3127,991,3328,3379,3278,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10575,-0.59,-116.8,3127,996,3378,3278,890.5,-7.0,518,10582,0.00,2.50,0.00,0.000,1030,0.000,0.079,3127,2395,3328,3379,3278,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10907,-0.59,-116.8,3127,2398,3378,3278,911.0,-6.1,531,10915,0.00,2.55,0.00,0.000,260,0.000,0.097,3127,3816,3328,3378,3278,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10985,-0.59,-116.8,3127,3816,3378,3278,915.9,-6.1,539,10994,0.00,2.47,0.00,0.000,1030,0.000,0.071,3127,2404,3328,3378,3278,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11298,-0.59,-116.8,3127,2403,3378,3278,933.8,-5.8,550,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11596,-0.59,-116.8,3128,2404,3378,3277,951.7,-5.9,560,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3327,3377,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11895,-0.59,-116.8,3127,2400,3378,3277,969.6,-5.9,570,11902,0.00,2.58,0.00,0.000,260,0.000,0.096,3127,3823,3327,3377,3277,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11985,-0.59,-116.8,3127,3823,3377,3277,975.2,-6.2,579,11993,0.00,2.50,0.00,0.000,1030,0.000,0.071,3127,2395,3326,3376,3277,0,0,0,0,0,0,28.83,14.20,28.83
$STATE,12252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12252,begin apogee
$GC,12261,-0.25,0.0,3127,2332,3377,3274,991.5,-6.0,590,12375,0.40,0.00,103.88,1.929,10246,0.177,0.000,3243,2332,2855,2930,2781,0,0,0,0,0,0,14.04,28.83,13.07
$STATE,12378,end apogee,CONTROL_FINISHED_OK
$STATE,12378,begin climb
$GC,12382,0.59,116.8,3243,2332,2930,2779,994.3,0.0,594,12500,0.88,0.00,109.50,1.890,10758,0.122,0.000,3518,2332,2382,2511,2254,0,0,0,0,0,0,13.83,28.83,12.81
$GC,12795,0.59,116.8,3518,2331,2509,2249,963.5,9.0,610,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2331,2379,2510,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13099,0.59,116.8,3519,2332,2508,2244,937.2,8.7,620,13109,0.00,2.58,0.00,0.000,260,0.000,0.096,3518,3750,2377,2509,2245,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13148,0.59,116.8,3518,3750,2508,2245,932.1,9.7,625,13159,0.00,2.53,0.00,0.000,1030,0.000,0.075,3519,2336,2376,2508,2245,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,25203,end climb,SURFACE_DEPTH_REACHED
$STATE,25203,begin surface coast
$FINISH,1.5,1.012999
$STATE,25247,end surface coast,CONTROL_FINISHED_OK
$STATE,25247,begin surface
$SM_CCo,25273,24.92,0.099,0,0,1328,375.06
$SM_GC,2.30,9.27,0.15,24.92,0.063,0.135,0.099,400,2403,1328,-9.09,-0.68,375.06,0,0,0,0,0,0,14.16,14.15,14.12
$IRIDIUM_FIX,4722.92,-12541.18,120914,141426
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.66
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3827296
$PM_FREEKB,52580288
$24V_AH,12.8,84.320
$10V_AH,13.1,0.000
$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,23.600,115.725,362.825,24.925,0.000,0.000,0.000,283.800,0.000,0.000,14.886,3184.493,18441.977,639.589,2740.800,807.625,0.000,2379.880,0.000,1998.169,0.000,0.536,0.000
$DEVICE_MAMPS,391.680,184.365,1929.330,98.685,0.000,0.000,0.000,169.065,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25261.000,12575.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.805,4.059,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,46604,1315
$CAP_FILE_SIZE,247965,0
$CFSIZE,260034560,223068160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26010.95,0x2378ba,7,5
$CURRENT,0.051,158.1,1
$GPS,130914,044106,4734.248,-12547.992,48,1.4,48,18.7