version: 66.12
glider: 187
mission: 4
dive: 355
start: 9 15 114 14 56 3
data:
$ID,187
$MISSION,4
$DIVE,355
$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,-1593873.8
$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,26
$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
$GPS1,150914,144523,4723.833,-12612.958,98,1.2,98,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-74.8
$GPS2,150914,145537,4723.803,-12613.054,15,1.2,15,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,208.0,73888,-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,-116.8,397,2400,1442,1219,0.0,0.0,0,79,0.00,0.00,-47.65,0.000,16386,0.000,0.000,397,2400,2529,2618,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,396,2400,2625,2440,3.2,-1.6,5,130,12.55,2.55,-17.58,0.000,18692,0.376,0.112,3127,3803,3339,3383,3295,0,0,0,0,0,0,13.85,14.14,14.47
$GC,360,-0.59,-116.8,3127,3803,3383,3299,51.3,-15.3,33,371,0.00,2.42,0.00,0.000,1030,0.000,0.063,3128,2395,3340,3382,3299,0,0,0,0,0,0,28.83,14.19,28.83
$GC,611,-0.59,-116.8,3128,2390,3385,3299,84.5,-13.8,58,621,0.00,2.53,0.00,0.000,260,0.000,0.088,3128,3817,3340,3382,3299,0,0,0,0,0,0,28.83,14.18,28.83
$GC,771,-0.59,-116.8,3128,3822,3385,3300,105.3,-11.5,74,782,0.00,2.42,0.00,0.000,1030,0.000,0.061,3128,2402,3342,3385,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1021,-0.59,-116.8,3127,2396,3385,3300,131.7,-10.8,99,1033,0.00,2.45,0.00,0.000,516,0.000,0.075,3127,982,3342,3385,3299,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1052,-0.59,-116.8,3128,981,3385,3300,135.2,-10.8,102,1063,0.00,2.47,0.00,0.000,1030,0.000,0.069,3128,2406,3342,3385,3300,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1303,-0.59,-116.8,3128,2406,3385,3300,159.2,-9.6,127,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3345,3385,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1554,-0.59,-116.8,3124,2406,3385,3300,183.1,-9.3,152,1565,0.00,2.50,0.00,0.000,260,0.000,0.090,3128,3815,3339,3385,3294,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1624,-0.59,-116.8,3128,3815,3386,3300,190.1,-9.8,159,1636,0.00,2.45,0.00,0.000,1030,0.000,0.063,3127,2388,3342,3385,3300,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1876,-0.59,-116.8,3128,2388,3388,3299,213.5,-9.1,184,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2389,3342,3385,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2127,-0.59,-116.8,3128,2388,3385,3299,235.4,-8.8,209,2138,0.00,2.42,0.00,0.000,516,0.000,0.078,3128,1006,3345,3385,3305,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2208,-0.59,-116.8,3128,1004,3387,3302,242.9,-9.2,217,2219,0.00,2.45,0.00,0.000,1030,0.000,0.071,3128,2397,3342,3385,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2479,-0.59,-116.8,3127,2397,3385,3298,266.0,-8.5,232,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2780,-0.59,-116.8,3127,2397,3385,3298,291.5,-8.5,242,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,-0.59,-116.8,3128,2397,3385,3297,317.5,-8.6,252,3090,0.00,2.50,0.00,0.000,260,0.000,0.091,3127,3821,3340,3385,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3160,-0.59,-116.8,3128,3821,3385,3292,324.4,-8.6,260,3171,0.00,2.45,0.00,0.000,1030,0.000,0.065,3128,2405,3340,3385,3296,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3472,-0.59,-116.8,3128,2404,3385,3294,351.0,-8.7,271,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3337,3380,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-0.59,-116.8,3128,2404,3385,3294,377.3,-8.8,281,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3342,3391,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4070,-0.59,-116.8,3127,2404,3385,3293,402.8,-8.4,291,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.59,-116.8,3132,2404,3385,3292,427.8,-8.2,301,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2408,3338,3385,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-0.59,-116.8,3128,2404,3384,3291,452.0,-8.0,311,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3338,3385,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4970,-0.59,-116.8,3127,2404,3385,3290,474.7,-7.6,321,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3337,3385,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.59,-116.8,3127,2404,3385,3289,497.9,-7.7,331,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3337,3385,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5570,-0.59,-116.8,3128,2404,3384,3284,522.0,-8.2,341,5580,0.00,2.47,0.00,0.000,516,0.000,0.079,3127,984,3336,3384,3288,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5630,-0.59,-116.8,3128,983,3384,3287,527.4,-8.9,347,5640,0.00,2.47,0.00,0.000,1030,0.000,0.074,3128,2399,3331,3379,3283,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5964,-0.59,-116.8,3128,2396,3383,3283,553.7,-8.0,360,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3333,3383,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6260,-0.59,-116.8,3127,2399,3383,3286,576.6,-7.4,370,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6561,-0.59,-116.8,3133,2399,3382,3286,597.7,-6.8,380,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6860,-0.59,-116.8,3128,2399,3382,3285,619.2,-7.2,390,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7161,-0.59,-116.8,3128,2399,3382,3286,642.0,-7.7,400,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7460,-0.59,-116.8,3128,2399,3381,3285,663.8,-7.1,410,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7761,-0.59,-116.8,3131,2399,3382,3285,684.1,-6.7,420,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8060,-0.59,-116.8,3127,2399,3382,3284,704.8,-7.0,430,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3332,3381,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8361,-0.59,-116.8,3127,2398,3381,3284,726.2,-7.1,440,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8660,-0.59,-116.8,3128,2399,3381,3283,747.6,-7.1,450,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8961,-0.59,-116.8,3127,2398,3383,3283,768.6,-7.0,460,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9260,-0.59,-116.8,3128,2396,3381,3282,788.8,-6.7,470,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3332,3380,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9561,-0.59,-116.8,3127,2399,3380,3281,807.9,-6.2,480,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9860,-0.59,-116.8,3127,2399,3380,3281,826.4,-6.0,490,9870,0.00,2.50,0.00,0.000,516,0.000,0.081,3128,983,3330,3380,3281,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9921,-0.59,-116.8,3127,983,3380,3281,830.2,-6.6,496,9931,0.00,2.50,0.00,0.000,1030,0.000,0.077,3128,2399,3330,3380,3281,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10251,-0.59,-116.8,3128,2399,3379,3281,849.2,-5.8,509,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10554,-0.59,-116.8,3127,2399,3379,3281,866.9,-6.0,519,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2396,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10854,-0.59,-116.8,3127,2399,3379,3280,884.3,-5.8,529,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11154,-0.59,-116.8,3128,2399,3379,3279,902.6,-6.3,539,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3331,3384,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11454,-0.59,-116.8,3128,2399,3378,3279,922.1,-6.5,549,11465,0.00,2.47,0.00,0.000,516,0.000,0.081,3128,993,3332,3380,3284,0,0,0,0,0,0,28.83,14.10,28.83
$GC,11524,-0.59,-116.8,3128,994,3379,3278,927.5,-7.6,556,11534,0.00,2.50,0.00,0.000,1030,0.000,0.078,3128,2401,3328,3378,3279,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11845,-0.59,-116.8,3128,2404,3372,3278,950.0,-7.0,568,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3327,3377,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12147,-0.59,-116.8,3128,2404,3377,3278,971.1,-7.0,578,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3327,3377,3278,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12445,begin apogee
$GC,12454,-0.25,0.0,3128,2329,3377,3278,991.8,-6.8,588,12567,0.38,0.00,103.40,1.926,10246,0.184,0.000,3236,2334,2856,2928,2784,0,0,0,0,0,0,14.04,28.83,13.07
$STATE,12570,end apogee,CONTROL_FINISHED_OK
$STATE,12570,begin climb
$GC,12573,0.59,116.8,3236,2329,2928,2781,995.7,0.0,592,12691,0.90,0.00,110.22,1.894,10246,0.126,0.000,3516,2328,2381,2509,2253,0,0,0,0,0,0,13.83,28.83,12.79
$GC,12984,0.59,116.8,3516,2329,2507,2248,968.7,8.3,606,12994,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2328,2377,2507,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13288,0.59,116.8,3515,2328,2507,2244,943.9,8.1,616,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2329,2375,2507,2244,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26203,end climb,SURFACE_DEPTH_REACHED
$STATE,26203,begin surface coast
$FINISH,2.9,1.023575
$STATE,26214,end surface coast,CONTROL_FINISHED_OK
$STATE,26214,begin surface
$SM_CCo,26242,25.77,0.101,0,0,1328,375.06
$SM_GC,2.45,9.35,2.38,25.77,0.067,0.066,0.101,391,2395,1328,-9.11,0.90,375.06,0,0,0,0,0,0,14.23,14.25,14.19
$IRIDIUM_FIX,4710.21,-12608.90,150914,070745
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.00
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3824416
$PM_FREEKB,52306848
$24V_AH,12.8,86.728
$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,23.550,79.600,344.050,25.775,0.000,0.000,0.000,325.900,0.000,0.000,16.711,3222.778,19202.488,576.060,3026.202,832.645,0.000,2576.012,0.000,1987.369,0.000,0.536,0.000
$DEVICE_MAMPS,375.615,177.480,1926.270,100.980,0.000,0.000,0.000,169.065,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26237.000,513.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.808,5.786,0.000,0.000
$MEM,290828
$DATA_FILE_SIZE,46582,1306
$CAP_FILE_SIZE,259807,0
$CFSIZE,260034560,222060544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26365.45,0x2378ba,7,5
$CURRENT,0.019,320.8,1
$GPS,150914,221556,4722.172,-12616.312,52,3.2,72,18.6