version: 66.12
glider: 187
mission: 4
dive: 349
start: 9 13 114 19 11 58
data:
$ID,187
$MISSION,4
$DIVE,349
$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,-1593863.4
$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,28
$R_STBD_OVSHOOT,35
$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
$GPS1,130914,190130,4731.369,-12554.228,39,1.4,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-73.9
$GPS2,130914,191131,4731.374,-12554.185,14,1.4,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,229.2,101422,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.59,-116.8,397,2417,1444,1213,0.0,0.0,0,79,0.00,0.00,-47.75,0.000,16386,0.000,0.000,398,2418,2530,2621,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,398,2419,2621,2440,3.2,-1.6,5,130,12.65,2.53,-18.30,0.000,18692,0.383,0.113,3120,3797,3337,3382,3293,0,0,0,0,0,0,13.88,14.16,14.47
$GC,350,-0.59,-116.8,3124,3797,3382,3297,46.8,-12.3,32,361,0.00,2.42,0.00,0.000,1030,0.000,0.064,3124,2402,3339,3382,3297,0,0,0,0,0,0,28.83,14.16,28.83
$GC,601,-0.59,-116.8,3126,2402,3379,3298,74.2,-10.2,57,610,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.59,-116.8,3124,2398,3384,3294,101.1,-10.5,82,862,0.00,2.50,0.00,0.000,260,0.000,0.089,3124,3800,3341,3384,3298,0,0,0,0,0,0,28.83,14.20,28.83
$GC,992,-0.59,-116.8,3124,3800,3384,3298,115.3,-9.6,96,1002,0.00,2.42,0.00,0.000,1030,0.000,0.063,3124,2396,3341,3384,3298,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1243,-0.59,-116.8,3124,2386,3385,3298,138.7,-9.8,121,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1492,-0.59,-116.8,3124,2386,3384,3298,164.9,-10.5,146,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1742,-0.59,-116.8,3124,2385,3384,3298,190.4,-9.9,171,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.59,-116.8,3124,2384,3384,3298,214.9,-9.8,196,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2243,-0.59,-116.8,3124,2386,3384,3299,239.5,-10.1,221,2254,0.00,2.53,0.00,0.000,260,0.000,0.090,3124,3803,3341,3384,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2303,-0.59,-116.8,3124,3803,3384,3298,246.1,-11.2,227,2315,0.00,2.42,0.00,0.000,1030,0.000,0.066,3124,2395,3341,3384,3298,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2558,-0.59,-116.8,3124,2391,3387,3297,271.6,-9.9,238,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3343,3384,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2855,-0.59,-116.8,3124,2391,3383,3296,299.3,-8.9,248,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3155,-0.59,-116.8,3124,2392,3388,3295,326.0,-9.1,258,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3340,3386,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3456,-0.59,-116.8,3124,2391,3384,3294,355.3,-9.9,268,3466,0.00,2.53,0.00,0.000,260,0.000,0.092,3124,3800,3338,3384,3293,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3585,-0.59,-116.8,3124,3803,3384,3294,368.9,-10.1,281,3595,0.00,2.42,0.00,0.000,1030,0.000,0.067,3124,2408,3338,3384,3293,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3906,-0.59,-116.8,3124,2404,3383,3293,399.7,-9.4,293,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4206,-0.59,-116.8,3124,2404,3384,3292,426.5,-8.6,303,4216,0.00,2.47,0.00,0.000,516,0.000,0.079,3125,985,3338,3383,3293,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4256,-0.59,-116.8,3124,985,3384,3292,431.0,-9.1,308,4266,0.00,2.47,0.00,0.000,1030,0.000,0.073,3130,2395,3337,3384,3291,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4571,-0.59,-116.8,3124,2395,3383,3290,457.0,-8.4,319,4581,0.00,2.50,0.00,0.000,260,0.000,0.091,3124,3807,3336,3383,3290,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4650,-0.59,-116.8,3124,3807,3381,3290,464.5,-8.8,327,4662,0.00,2.47,0.00,0.000,1030,0.000,0.068,3124,2387,3336,3383,3290,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4964,-0.59,-116.8,3124,2385,3386,3286,492.5,-9.4,338,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3335,3383,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5262,-0.59,-116.8,3124,2385,3380,3288,521.4,-9.7,348,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3335,3383,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5561,-0.59,-116.8,3124,2385,3383,3287,550.1,-9.4,358,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5862,-0.59,-116.8,3122,2385,3383,3286,577.6,-9.1,368,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6161,-0.59,-116.8,3124,2386,3382,3286,603.2,-8.3,378,6171,0.00,2.58,0.00,0.000,260,0.000,0.093,3124,3821,3334,3382,3286,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6230,-0.59,-116.8,3124,3821,3382,3286,609.2,-8.3,385,6240,0.00,2.47,0.00,0.000,1030,0.000,0.067,3124,2394,3337,3387,3287,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6551,-0.59,-116.8,3129,2389,3382,3287,634.4,-7.7,397,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2388,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6852,-0.59,-116.8,3124,2389,3382,3285,657.1,-7.7,407,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2389,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7151,-0.59,-116.8,3124,2389,3381,3285,679.8,-7.2,417,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2389,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7452,-0.59,-116.8,3124,2389,3384,3284,700.3,-6.8,427,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2393,3332,3381,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7751,-0.59,-116.8,3124,2389,3381,3284,721.3,-7.0,437,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2389,3335,3381,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8052,-0.59,-116.8,3124,2393,3377,3283,743.6,-7.7,447,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2389,3331,3380,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8351,-0.59,-116.8,3124,2394,3380,3283,765.5,-7.1,457,8361,0.00,2.58,0.00,0.000,260,0.000,0.095,3124,3811,3331,3380,3282,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8411,-0.59,-116.8,3124,3812,3379,3282,769.8,-7.3,463,8422,0.00,2.47,0.00,0.000,1030,0.000,0.071,3124,2406,3331,3380,3282,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8742,-0.59,-116.8,3124,2407,3380,3282,790.8,-5.9,476,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3334,3380,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9042,-0.59,-116.8,3124,2406,3379,3282,808.6,-6.1,486,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9342,-0.59,-116.8,3124,2406,3379,3281,827.6,-6.4,496,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9642,-0.59,-116.8,3124,2406,3378,3282,847.3,-6.8,506,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9942,-0.59,-116.8,3124,2406,3379,3280,869.9,-7.5,516,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3329,3378,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10245,-0.59,-116.8,3124,2406,3378,3279,892.9,-7.7,526,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10545,-0.59,-116.8,3124,2405,3378,3279,916.1,-7.8,536,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10845,-0.59,-116.8,3124,2405,3380,3284,937.7,-6.9,546,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11145,-0.59,-116.8,3124,2405,3377,3278,957.5,-6.4,556,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11445,-0.59,-116.8,3124,2405,3377,3278,978.0,-6.7,566,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11619,begin apogee
$GC,11627,-0.25,0.0,3124,2315,3378,3278,990.2,-6.9,572,11744,0.40,0.00,104.07,1.922,10246,0.181,0.000,3239,2315,2854,2928,2781,0,0,0,0,0,0,14.04,28.83,13.08
$STATE,11746,end apogee,CONTROL_FINISHED_OK
$STATE,11746,begin climb
$GC,11751,0.59,116.8,3240,2315,2928,2779,994.1,0.0,576,11872,0.88,2.62,109.57,1.893,10756,0.129,0.088,3511,933,2379,2508,2251,0,0,0,0,0,0,13.84,13.50,12.81
$GC,11914,0.59,116.8,3511,933,2508,2250,986.8,7.4,591,11926,0.00,2.58,0.00,0.000,1030,0.000,0.076,3515,2327,2378,2508,2248,0,0,0,0,0,0,28.83,13.64,28.83
$GC,12228,0.59,116.8,3511,2329,2508,2246,959.6,9.0,602,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2329,2377,2508,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12528,0.59,116.8,3511,2329,2508,2242,932.3,9.2,612,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2329,2376,2508,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12828,0.59,116.8,3511,2329,2508,2242,905.0,9.1,622,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2329,2375,2508,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13128,0.59,116.8,3511,2329,2508,2242,879.6,8.1,632,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2329,2374,2508,2241,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24794,end climb,SURFACE_DEPTH_REACHED
$STATE,24794,begin surface coast
$FINISH,1.4,1.002809
$STATE,24842,end surface coast,CONTROL_FINISHED_OK
$STATE,24842,begin surface
$SM_CCo,24869,22.38,0.102,0,0,1328,375.06
$SM_GC,2.14,9.35,0.15,22.38,0.068,0.138,0.102,398,2403,1328,-9.10,-0.68,375.06,0,0,0,0,0,0,14.23,14.24,14.19
$IRIDIUM_FIX,4716.56,-12551.55,130914,111109
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.17
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3826336
$PM_FREEKB,52514336
$24V_AH,12.8,85.104
$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,23.650,115.625,346.600,22.375,0.000,0.000,0.000,312.900,0.000,0.000,15.742,3168.938,17875.096,614.074,2970.511,843.345,0.000,2581.294,0.000,2012.033,0.000,0.535,0.000
$DEVICE_MAMPS,382.500,149.175,1921.680,101.745,0.000,0.000,0.000,166.005,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24860.000,457.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.808,5.886,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,46552,1310
$CAP_FILE_SIZE,259939,0
$CFSIZE,260034560,222728192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25627.85,0x2378ba,7,5
$CURRENT,0.014,124.8,1
$GPS,140914,020824,4730.304,-12557.786,42,1.2,42,18.7