version: 66.12
glider: 187
mission: 4
dive: 506
start: 10 23 114 8 24 20
data:
$ID,187
$MISSION,4
$DIVE,506
$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,1
$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,-1594118.5
$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
$GPS1,231014,081323,4745.842,-12528.432,58,1.4,75,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-72.0
$GPS2,231014,082350,4745.840,-12528.509,15,1.6,22,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,83.9,25313,-14.0,-7.333,-18.81,2445
$D_GRID,837
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,390,2398,1437,1152,0.0,0.0,0,92,0.00,0.00,-58.70,0.000,16386,0.000,0.000,388,2399,2817,2874,2761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.59,-116.8,390,2400,2875,2765,3.9,-3.5,6,132,12.85,2.58,-9.43,0.000,18692,0.377,0.109,3126,3816,3338,3382,3295,0,0,0,0,0,0,13.74,14.11,14.49
$GC,363,-0.59,-116.8,3126,3812,3382,3297,54.4,-13.5,33,371,0.00,2.45,0.00,0.000,1030,0.000,0.061,3126,2394,3339,3381,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,612,-0.59,-116.8,3127,2389,3380,3299,80.3,-10.1,58,621,0.00,2.55,0.00,0.000,260,0.000,0.087,3126,3818,3341,3384,3299,0,0,0,0,0,0,28.83,14.13,28.83
$GC,683,-0.59,-116.8,3126,3819,3384,3299,87.4,-10.0,65,691,0.00,2.45,0.00,0.000,1030,0.000,0.060,3126,2394,3341,3384,3299,0,0,0,0,0,0,28.83,14.21,28.83
$GC,932,-0.59,-116.8,3126,2389,3385,3300,111.9,-10.5,90,939,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2388,3342,3384,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1182,-0.59,-116.8,3126,2389,3384,3300,137.3,-10.0,115,1190,0.00,2.45,0.00,0.000,516,0.000,0.075,3126,995,3342,3384,3300,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1212,-0.59,-116.8,3123,995,3384,3299,140.4,-10.2,118,1221,0.00,2.47,0.00,0.000,1030,0.000,0.070,3127,2406,3342,3384,3300,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1462,-0.59,-116.8,3127,2406,3384,3300,163.6,-8.9,143,1471,0.00,2.50,0.00,0.000,260,0.000,0.089,3126,3808,3342,3384,3300,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1533,-0.59,-116.8,3126,3808,3384,3300,170.2,-9.3,150,1542,0.00,2.45,0.00,0.000,1030,0.000,0.064,3131,2403,3342,3384,3300,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1782,-0.59,-116.8,3123,2403,3379,3299,193.4,-9.6,175,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3342,3384,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2032,-0.59,-116.8,3126,2402,3384,3299,217.6,-9.6,200,2042,0.00,2.53,0.00,0.000,260,0.000,0.086,3126,3819,3341,3384,3299,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2093,-0.59,-116.8,3126,3819,3384,3299,223.4,-9.8,206,2101,0.00,2.45,0.00,0.000,1030,0.000,0.063,3126,2404,3341,3384,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2342,-0.59,-116.8,3126,2400,3384,3297,246.2,-8.8,231,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,-0.59,-116.8,3126,2400,3378,3302,268.0,-8.2,243,2610,0.00,2.53,0.00,0.000,260,0.000,0.088,3126,3809,3340,3384,3296,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2671,-0.59,-116.8,3126,3809,3389,3301,273.8,-8.3,250,2680,0.00,2.50,0.00,0.000,1030,0.000,0.063,3125,2396,3340,3384,3296,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2996,-0.59,-116.8,3126,2395,3386,3294,299.5,-7.8,262,3004,0.00,2.55,0.00,0.000,260,0.000,0.090,3127,3819,3339,3384,3294,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3083,-0.59,-116.8,3126,3819,3384,3291,306.8,-7.9,271,3091,0.00,2.47,0.00,0.000,1030,0.000,0.065,3131,2401,3338,3384,3293,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3417,-0.59,-116.8,3126,2398,3385,3293,331.6,-7.5,284,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3714,-0.59,-116.8,3126,2399,3383,3289,355.1,-8.0,294,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3337,3383,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4014,-0.59,-116.8,3126,2398,3383,3295,377.7,-7.3,304,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3336,3383,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4314,-0.59,-116.8,3126,2398,3386,3289,398.5,-7.0,314,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2398,3335,3383,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4614,-0.59,-116.8,3127,2398,3383,3285,418.8,-6.5,324,4622,0.00,2.50,0.00,0.000,516,0.000,0.076,3126,984,3335,3383,3287,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4666,-0.59,-116.8,3127,982,3383,3287,422.2,-7.1,329,4674,0.00,2.50,0.00,0.000,1030,0.000,0.070,3126,2396,3332,3382,3283,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4977,-0.59,-116.8,3125,2396,3383,3287,440.4,-5.6,340,4986,0.00,2.55,0.00,0.000,260,0.000,0.091,3126,3822,3334,3382,3286,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5055,-0.59,-116.8,3126,3822,3382,3286,445.3,-6.2,348,5065,0.00,2.50,0.00,0.000,1030,0.000,0.065,3126,2392,3334,3382,3286,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5368,-0.59,-116.8,3127,2389,3382,3286,464.6,-6.4,359,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2390,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5668,-0.59,-116.8,3126,2389,3382,3285,486.3,-7.5,369,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5965,-0.59,-116.8,3126,2389,3381,3284,510.9,-8.5,379,5973,0.00,2.58,0.00,0.000,260,0.000,0.093,3128,3810,3331,3377,3285,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6015,-0.59,-116.8,3126,3811,3381,3285,515.3,-8.9,384,6025,0.00,2.47,0.00,0.000,1030,0.000,0.068,3126,2401,3333,3381,3285,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6330,-0.59,-116.8,3126,2400,3378,3284,541.9,-8.2,395,6337,0.00,2.50,0.00,0.000,516,0.000,0.078,3126,988,3332,3381,3284,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6377,-0.59,-116.8,3126,988,3381,3284,546.1,-8.5,400,6387,0.00,2.53,0.00,0.000,1030,0.000,0.073,3126,2402,3331,3381,3282,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6688,-0.59,-116.8,3126,2402,3380,3283,568.7,-7.1,411,6696,0.00,2.58,0.00,0.000,260,0.000,0.093,3124,3821,3331,3380,3283,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6778,-0.59,-116.8,3126,3821,3381,3283,575.4,-7.5,420,6786,0.00,2.50,0.00,0.000,1030,0.000,0.068,3126,2396,3331,3380,3283,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7113,-0.59,-116.8,3126,2395,3376,3282,599.3,-7.5,433,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3328,3375,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-0.59,-116.8,3126,2396,3379,3281,621.7,-7.2,443,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3329,3377,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7708,-0.59,-116.8,3126,2395,3379,3281,642.9,-7.1,453,7715,0.00,2.60,0.00,0.000,260,0.000,0.093,3126,3822,3330,3379,3281,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7828,-0.59,-116.8,3126,3820,3378,3281,651.5,-7.4,465,7835,0.00,2.50,0.00,0.000,1030,0.000,0.068,3126,2403,3329,3378,3281,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8160,-0.59,-116.8,3122,2401,3378,3280,673.4,-6.3,478,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3329,3378,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8459,-0.59,-116.8,3126,2402,3378,3279,692.6,-6.3,488,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8757,-0.59,-116.8,3126,2402,3379,3278,710.7,-6.2,498,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3329,3378,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9058,-0.59,-116.8,3126,2402,3378,3278,730.1,-6.4,508,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9357,-0.59,-116.8,3126,2401,3377,3277,748.1,-6.0,518,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3330,3384,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9659,-0.59,-116.8,3124,2401,3377,3277,765.9,-6.0,528,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3325,3377,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9957,-0.59,-116.8,3126,2401,3376,3277,783.2,-5.6,538,9965,0.00,2.58,0.00,0.000,260,0.000,0.092,3126,3809,3326,3377,3276,0,0,0,0,0,0,28.83,14.01,28.83
$GC,10006,-0.59,-116.8,3126,3812,3376,3276,786.2,-6.2,543,10016,0.00,2.53,0.00,0.000,1030,0.000,0.067,3126,2404,3326,3376,3277,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10322,-0.59,-116.8,3126,2404,3377,3276,804.3,-5.6,554,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3326,3376,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10617,-0.59,-116.8,3126,2403,3375,3276,821.8,-5.9,564,10626,0.00,2.58,0.00,0.000,260,0.000,0.092,3126,3812,3325,3375,3276,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10678,-0.59,-116.8,3126,3813,3375,3275,825.1,-5.9,570,10686,0.00,2.50,0.00,0.000,1030,0.000,0.068,3126,2403,3325,3375,3276,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,10884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10884,begin apogee
$GC,10893,-0.25,0.0,3126,2314,3376,3275,837.2,-5.8,579,11007,0.38,0.00,103.88,1.720,10246,0.176,0.000,3237,2318,2855,2925,2786,0,0,0,0,0,0,13.90,28.83,12.91
$STATE,11010,end apogee,CONTROL_FINISHED_OK
$STATE,11010,begin climb
$GC,11015,0.59,116.8,3237,2314,2924,2782,840.0,0.0,583,11140,0.85,2.75,108.15,1.695,10500,0.122,0.090,3511,3736,2377,2501,2254,0,0,0,0,0,0,13.86,13.64,12.71
$GC,11250,0.59,116.8,3511,3740,2505,2250,825.7,9.6,607,11260,0.00,2.50,0.00,0.000,1030,0.000,0.072,3519,2347,2379,2505,2254,0,0,0,0,0,0,28.83,13.96,28.83
$GC,11580,0.59,116.8,3519,2346,2505,2253,799.9,7.3,620,11591,0.00,2.58,0.00,0.000,516,0.000,0.090,3519,915,2379,2505,2253,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,22338,end climb,SURFACE_DEPTH_REACHED
$STATE,22338,begin surface coast
$FINISH,1.2,1.023789
$STATE,22370,end surface coast,CONTROL_FINISHED_OK
$STATE,22370,begin surface
$SM_CCo,22402,1.70,0.099,0,0,1328,375.06
$SM_GC,3.24,9.27,2.35,1.70,0.060,0.063,0.099,398,2408,1328,-9.10,1.19,375.06,0,0,0,0,0,0,14.18,14.24,14.16
$IRIDIUM_FIX,4726.11,-12533.38,231014,010155
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.85
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3776096
$PM_FREEKB,47938560
$24V_AH,12.7,123.214
$10V_AH,12.4,0.000
$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,23.900,196.950,405.725,1.700,0.000,0.000,0.000,344.650,0.000,0.000,23.613,3063.150,15631.119,714.686,2742.179,857.249,0.000,2505.577,0.000,2010.996,0.000,0.536,0.000
$DEVICE_MAMPS,377.145,159.885,1719.720,99.450,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22404.000,11138.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.971,4.077,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,46625,1306
$CAP_FILE_SIZE,249734,0
$CFSIZE,260034560,206790656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25581.73,0x2378ba,7,5
$CURRENT,0.151,347.9,1
$GPS,231014,143958,4747.098,-12525.890,61,5.0,81,18.7