version: 66.12
glider: 187
mission: 4
dive: 347
start: 9 13 114 4 51 28
data:
$ID,187
$MISSION,4
$DIVE,347
$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,-1593860.9
$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,31
$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
$GPS1,130914,044106,4734.248,-12547.992,48,1.4,48,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-72.0
$GPS2,130914,045101,4734.241,-12547.891,14,1.8,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,229.6,110980,-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,-116.8,406,2403,1440,1219,0.0,0.0,0,79,0.00,0.00,-47.35,0.000,16386,0.000,0.000,399,2404,2516,2606,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,401,2403,2606,2429,3.0,-1.3,5,130,12.88,2.53,-19.20,0.000,18692,0.393,0.114,3121,3806,3338,3382,3294,0,0,0,0,0,0,13.85,14.16,14.47
$GC,209,-0.59,-116.8,3122,3805,3382,3297,24.0,-15.0,18,220,0.00,2.42,0.00,0.000,1030,0.000,0.063,3122,2405,3340,3382,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,460,-0.59,-116.8,3122,2401,3384,3298,56.8,-12.4,43,471,0.00,2.50,0.00,0.000,260,0.000,0.089,3122,3804,3342,3383,3301,0,0,0,0,0,0,28.83,14.12,28.83
$GC,584,-0.59,-116.8,3122,3804,3383,3298,72.4,-13.1,55,596,0.00,2.42,0.00,0.000,1030,0.000,0.063,3122,2393,3340,3383,3298,0,0,0,0,0,0,28.83,14.24,28.83
$GC,837,-0.59,-116.8,3122,2389,3384,3298,100.4,-10.9,80,846,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2388,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1086,-0.59,-116.8,3122,2388,3385,3298,124.8,-9.6,105,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2389,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1336,-0.59,-116.8,3121,2389,3385,3298,149.9,-10.4,130,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2389,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1586,-0.59,-116.8,3122,2388,3385,3298,174.7,-9.9,155,1598,0.00,2.55,0.00,0.000,260,0.000,0.091,3122,3815,3341,3384,3298,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1668,-0.59,-116.8,3122,3815,3385,3299,182.7,-9.5,163,1679,0.00,2.45,0.00,0.000,1030,0.000,0.065,3122,2398,3341,3385,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1919,-0.59,-116.8,3122,2396,3384,3298,205.9,-9.1,188,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2395,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-0.59,-116.8,3122,2395,3384,3298,229.5,-9.7,213,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.59,-116.8,3122,2393,3384,3298,257.0,-10.3,236,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2395,3343,3390,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2739,-0.59,-116.8,3122,2395,3384,3297,287.5,-10.0,246,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2395,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3040,-0.59,-116.8,3122,2395,3388,3296,316.3,-9.5,256,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2395,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3339,-0.59,-116.8,3122,2395,3384,3294,342.9,-8.7,266,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2395,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-0.59,-116.8,3125,2395,3384,3294,368.1,-8.0,276,3650,0.00,2.47,0.00,0.000,516,0.000,0.080,3122,984,3338,3384,3293,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3700,-0.59,-116.8,3122,985,3384,3293,373.2,-8.5,282,3710,0.00,2.50,0.00,0.000,1030,0.000,0.073,3122,2397,3339,3385,3293,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4030,-0.59,-116.8,3122,2398,3384,3292,398.0,-7.5,295,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2397,3338,3384,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-0.59,-116.8,3122,2402,3385,3291,422.5,-8.7,305,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2394,3341,3391,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4631,-0.59,-116.8,3122,2398,3384,3289,448.6,-8.6,315,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3337,3385,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4930,-0.59,-116.8,3122,2397,3384,3289,475.1,-8.8,325,4940,0.00,2.53,0.00,0.000,260,0.000,0.093,3122,3821,3336,3384,3288,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5021,-0.59,-116.8,3122,3821,3384,3289,482.7,-8.3,334,5031,0.00,2.47,0.00,0.000,1030,0.000,0.067,3122,2391,3336,3384,3289,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5351,-0.59,-116.8,3122,2386,3385,3288,509.3,-8.1,347,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2386,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5651,-0.59,-116.8,3122,2386,3387,3287,533.5,-7.9,357,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2386,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5951,-0.59,-116.8,3123,2386,3383,3288,557.5,-8.0,367,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2387,3336,3383,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6251,-0.59,-116.8,3122,2386,3383,3286,581.8,-8.3,377,6261,0.00,2.58,0.00,0.000,260,0.000,0.094,3122,3821,3334,3383,3286,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6341,-0.59,-116.8,3122,3821,3382,3286,589.4,-8.4,386,6351,0.00,2.45,0.00,0.000,1030,0.000,0.067,3122,2404,3334,3382,3286,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6671,-0.59,-116.8,3122,2402,3382,3286,614.4,-7.3,399,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,-0.59,-116.8,3122,2401,3381,3285,635.9,-7.0,409,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2407,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7271,-0.59,-116.8,3122,2401,3382,3285,657.2,-7.1,419,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,-0.59,-116.8,3122,2401,3381,3284,678.6,-7.2,429,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3335,3382,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,-0.59,-116.8,3122,2401,3381,3286,699.9,-7.0,439,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,-0.59,-116.8,3122,2401,3381,3283,721.1,-7.0,449,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8471,-0.59,-116.8,3122,2401,3381,3283,742.3,-7.2,459,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,-0.59,-116.8,3118,2401,3383,3282,763.8,-7.4,469,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3331,3381,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9071,-0.59,-116.8,3122,2401,3380,3281,787.1,-8.1,479,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9372,-0.59,-116.8,3122,2401,3380,3281,810.3,-7.8,489,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,-0.59,-116.8,3122,2401,3380,3281,834.6,-8.2,499,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3327,3374,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9972,-0.59,-116.8,3122,2401,3379,3281,859.2,-8.0,509,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,-0.59,-116.8,3122,2401,3379,3286,880.8,-6.9,519,10284,0.00,2.58,0.00,0.000,260,0.000,0.096,3119,3823,3329,3379,3279,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10355,-0.59,-116.8,3122,3822,3378,3280,886.6,-7.1,527,10367,0.00,2.50,0.00,0.000,1030,0.000,0.070,3122,2390,3329,3379,3279,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10667,-0.59,-116.8,3122,2388,3378,3278,908.0,-6.7,538,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2388,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10968,-0.59,-116.8,3122,2388,3378,3279,928.2,-6.6,548,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2388,3332,3385,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11267,-0.59,-116.8,3119,2393,3378,3278,946.8,-6.2,558,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2388,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11568,-0.59,-116.8,3122,2388,3378,3281,965.8,-6.3,568,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2388,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11867,-0.59,-116.8,3122,2388,3378,3278,985.0,-6.3,578,11876,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2388,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11951,begin apogee
$GC,11960,-0.25,0.0,3122,2329,3378,3277,990.7,-6.4,581,12075,0.40,0.00,103.82,1.920,10246,0.186,0.000,3235,2331,2855,2929,2781,0,0,0,0,0,0,14.07,28.83,13.07
$STATE,12077,end apogee,CONTROL_FINISHED_OK
$STATE,12077,begin climb
$GC,12081,0.59,116.8,3237,2331,2929,2779,993.9,0.0,585,12199,0.90,0.00,110.22,1.886,10246,0.127,0.000,3517,2330,2384,2516,2252,0,0,0,0,0,0,13.83,28.83,12.81
$GC,12494,0.59,116.8,3517,2331,2508,2248,963.3,9.1,599,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2331,2376,2508,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12797,0.59,116.8,3517,2330,2508,2243,935.3,9.4,609,12807,0.00,2.58,0.00,0.000,260,0.000,0.096,3513,3747,2375,2508,2243,0,0,0,0,0,0,28.83,14.11,28.83
$GC,12847,0.59,116.8,3517,3747,2507,2242,929.7,10.5,614,12858,0.00,2.53,0.00,0.000,1030,0.000,0.076,3519,2334,2374,2507,2242,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13160,0.59,116.8,3519,2334,2507,2241,900.1,9.1,625,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2334,2374,2507,2241,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25217,end climb,SURFACE_DEPTH_REACHED
$STATE,25218,begin surface coast
$FINISH,1.6,1.009993
$STATE,25279,end surface coast,CONTROL_FINISHED_OK
$STATE,25279,begin surface
$SM_CCo,25305,27.27,0.100,0,0,1328,375.06
$SM_GC,2.39,9.32,0.15,27.27,0.072,0.137,0.100,396,2403,1328,-9.11,-0.74,375.06,0,0,0,0,0,0,14.21,14.25,14.19
$IRIDIUM_FIX,4716.56,-12544.51,120914,212127
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.56
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3826976
$PM_FREEKB,52580256
$24V_AH,12.8,84.577
$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,23.600,95.750,337.850,27.275,0.000,0.000,0.000,309.950,0.000,0.000,15.174,3201.166,18293.459,596.317,2982.452,834.625,0.000,2558.284,0.000,2020.482,0.000,0.536,0.000
$DEVICE_MAMPS,393.210,199.665,1920.150,100.215,0.000,0.000,0.000,170.595,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25293.000,473.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.832,5.785,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,46608,1311
$CAP_FILE_SIZE,258816,0
$CFSIZE,260034560,222945280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26019.66,0x2378ba,7,5
$CURRENT,0.009, 79.2,1
$GPS,130914,115506,4733.347,-12551.543,33,1.0,33,18.7