version: 66.11
glider: 191
mission: 5
dive: 101
start: 10 16 112 20 57 12
data:
$ID,191
$MISSION,5
$DIVE,101
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3931.5801
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,161012,204635,2352.964,-3813.763,30,1.0,30,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-56.1
$GPS2,161012,205643,2353.014,-3813.738,21,1.1,21,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,106.7,91133,-13.3,-6.049,-18.38
$D_GRID,980
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-61.20,0.000,6,0.000,0.000,156,1495,3463,0,0,0,0,0,0,28.83,28.83,14.89
$GC,87,-0.60,-97.3,4.3,-8.9,4,101,9.25,1.88,0.00,0.000,4,0.415,0.079,1993,434,3462,0,0,0,0,0,0,14.40,14.65,28.83
$GC,160,-0.42,-97.3,22.8,-21.9,9,165,0.25,1.80,0.00,0.000,6,0.247,0.047,2051,1499,3464,0,0,0,0,0,0,14.50,14.70,28.83
$GC,460,-0.40,-97.3,51.7,-8.9,29,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1501,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,760,-0.40,-97.3,74.0,-6.0,49,764,0.00,1.80,0.00,0.000,4,0.000,0.057,2044,2568,3465,0,0,0,0,0,0,28.83,14.77,28.83
$GC,985,-0.40,-97.3,89.6,-7.3,64,989,0.00,1.88,0.00,0.000,6,0.000,0.069,2045,1492,3466,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1285,-0.40,-97.3,113.1,-7.8,84,1288,0.00,1.83,0.00,0.000,4,0.000,0.057,2038,2570,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1420,-0.40,-97.3,125.3,-9.4,93,1423,0.00,1.88,0.00,0.000,6,0.000,0.069,2038,1493,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1720,-0.40,-97.3,151.2,-7.6,113,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1494,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,-0.40,-97.3,172.5,-7.0,133,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1494,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,-0.40,-97.3,194.8,-7.5,153,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1494,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2620,-0.40,-97.3,216.5,-7.3,173,2623,0.00,1.80,0.00,0.000,4,0.000,0.058,2030,2559,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2786,-0.41,-97.3,228.0,-6.9,184,2790,0.00,1.85,0.00,0.000,6,0.000,0.070,2030,1498,3469,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3088,-0.41,-97.3,250.2,-7.1,204,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3386,-0.41,-97.3,269.5,-6.2,214,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3685,-0.41,-97.3,286.7,-5.5,224,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1497,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3986,-0.41,-97.3,302.0,-4.9,234,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4285,-0.41,-97.3,317.3,-5.5,244,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4585,-0.41,-97.3,338.7,-8.0,254,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4885,-0.41,-97.3,365.1,-8.8,264,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,-0.41,-97.3,389.0,-7.3,274,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1498,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5485,-0.41,-97.3,408.2,-6.0,284,5489,0.00,1.80,0.00,0.000,4,0.000,0.060,2022,2563,3457,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5620,-0.42,-97.3,415.7,-5.6,289,5625,0.12,1.85,0.00,0.000,6,0.233,0.074,2051,1501,3456,0,0,0,0,0,0,14.71,14.88,28.83
$GC,5937,-0.45,-97.3,432.0,-5.5,300,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1501,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-0.48,-97.3,450.2,-6.4,310,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1501,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6535,-0.50,-97.3,470.5,-6.9,320,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1501,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6836,-0.53,-97.3,492.1,-7.1,330,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1501,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7135,-0.56,-97.3,511.7,-6.1,340,7137,0.15,0.00,0.00,0.000,6,0.130,0.000,1996,1501,3451,0,0,0,0,0,0,14.89,28.83,28.83
$GC,7436,-0.54,-97.3,534.3,-7.1,350,7440,0.00,1.80,0.00,0.000,4,0.000,0.061,1988,2557,3450,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7555,-0.53,-97.3,541.5,-6.8,354,7559,0.12,1.85,0.00,0.000,6,0.246,0.074,2015,1501,3448,0,0,0,0,0,0,14.66,14.84,28.83
$GC,7856,-0.53,-97.3,560.6,-6.1,364,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1501,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8155,-0.53,-97.3,579.4,-6.3,374,8159,0.00,1.90,0.00,0.000,4,0.000,0.096,2015,442,3447,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8214,-0.53,-97.3,582.5,-6.5,376,8218,0.00,1.80,0.00,0.000,6,0.000,0.053,2010,1507,3447,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8515,-0.53,-97.3,604.8,-7.2,386,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1507,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8815,-0.53,-97.3,627.0,-7.4,396,8819,0.00,1.80,0.00,0.000,4,0.000,0.063,2002,2564,3445,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8920,-0.53,-97.3,634.3,-7.0,400,8924,0.00,1.88,0.00,0.000,6,0.000,0.076,2002,1499,3444,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9235,-0.53,-97.3,655.7,-6.5,411,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1499,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9536,-0.52,-97.3,675.3,-6.4,421,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1499,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9835,-0.52,-97.3,697.3,-7.9,431,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1499,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10135,-0.52,-97.3,722.5,-8.3,441,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1499,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10435,-0.52,-97.3,745.2,-7.1,451,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1499,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10736,-0.52,-97.3,762.9,-5.5,461,10739,0.00,1.83,0.00,0.000,4,0.000,0.063,1994,2564,3439,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10840,-0.52,-97.3,767.9,-4.8,465,10844,0.00,1.90,0.00,0.000,6,0.000,0.077,1994,1493,3438,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11156,-0.50,-97.3,783.9,-5.1,476,11158,0.12,0.00,0.00,0.000,6,0.263,0.000,2020,1493,3437,0,0,0,0,0,0,14.61,28.83,28.83
$GC,11457,-0.51,-97.3,798.6,-5.2,486,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1493,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,-0.52,-97.3,816.2,-6.0,496,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1493,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12056,-0.54,-97.3,833.5,-5.7,506,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1493,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12355,-0.55,-97.3,849.5,-5.3,516,12359,0.00,1.90,0.00,0.000,4,0.000,0.101,2021,446,3433,0,0,0,0,0,0,28.83,14.70,28.83
$GC,12460,-0.55,-97.3,856.1,-6.3,520,12463,0.00,1.80,0.00,0.000,6,0.000,0.057,2016,1498,3433,0,0,0,0,0,0,28.83,14.81,28.83
$GC,12776,-0.55,-97.3,875.2,-6.3,531,12779,0.00,1.83,0.00,0.000,4,0.000,0.067,2008,2558,3432,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12895,-0.56,-97.3,881.9,-6.4,535,12898,0.00,1.90,0.00,0.000,6,0.000,0.080,2008,1493,3432,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13195,-0.56,-97.3,904.7,-7.4,545,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1493,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13495,-0.56,-97.3,928.1,-7.9,555,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1493,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13795,-0.56,-97.3,951.8,-7.7,565,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1493,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14095,-0.56,-97.3,974.7,-7.7,575,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1493,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14183,begin apogee
$GC,14187,-0.18,0.0,981.1,-7.2,578,14309,0.43,0.00,113.10,2.318,6,0.213,0.000,2124,1493,3062,0,0,0,0,1,0,14.57,28.83,13.20
$STATE,14310,end apogee,CONTROL_FINISHED_OK
$STATE,14310,begin climb
$GC,14312,0.60,97.3,984.7,0.0,582,14450,0.85,0.00,128.93,2.378,6,0.144,0.000,2382,1492,2665,0,0,0,0,1,0,14.12,28.83,13.15
$GC,14740,0.53,97.3,963.7,7.2,597,14742,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1492,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15040,0.46,97.3,941.6,7.6,607,15045,0.17,1.92,0.00,0.000,4,0.275,0.106,2350,447,2658,0,0,0,0,0,0,14.48,14.63,28.83
$GC,15189,0.42,97.3,932.8,6.6,612,15193,0.00,1.83,0.00,0.000,6,0.000,0.058,2350,1501,2657,0,0,0,0,0,0,28.83,14.73,28.83
$GC,15492,0.40,115.3,915.0,5.3,622,15533,0.00,0.00,34.58,1.434,6,0.000,0.000,2350,1502,2591,0,0,0,0,1,0,28.83,28.83,13.76
$GC,15822,0.40,139.9,898.3,5.0,633,15874,0.12,0.00,44.15,1.660,6,0.276,0.000,2325,1502,2491,0,0,0,0,1,0,14.53,28.83,13.62
$GC,16152,0.44,172.7,883.1,4.7,644,16214,0.00,1.92,52.50,1.796,4,0.000,0.070,2324,2565,2361,0,0,0,0,1,0,28.83,14.31,13.49
$GC,16258,0.41,191.1,877.6,5.3,648,16305,0.00,1.98,36.97,1.486,6,0.000,0.083,2330,1496,2282,0,0,0,0,1,0,28.83,14.41,13.46
$GC,16601,0.41,191.1,856.5,6.2,659,16602,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1496,2280,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28288,end climb,SURFACE_DEPTH_REACHED
$STATE,28288,begin surface coast
$FINISH,0.1,1.024532
$STATE,28305,end surface coast,CONTROL_FINISHED_OK
$STATE,28305,begin surface
$SM_CCo,28382,0.00,0.000,0,0,1574,365.01
$SM_GC,1.02,6.78,0.00,0.00,0.082,0.000,0.000,156,1499,1574,-6.29,-0.11,365.01,0,0,0,0,0,0,14.66,28.83,28.83
$IRIDIUM_FIX,2345.05,-3818.97,161012,131334
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.14
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,27.00
$XPDR_PINGS,1
$SC_FREEKB,7731360
$TM_FREEKB,6938560
$24V_AH,13.2,49.858
$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,18.900,115.925,626.000,0.000,0.000,0.000,0.000,357.825,0.250,0.000,22.441,3188.273,22255.564,861.861,2407.982,268.823,0.000,2194.062,0.000,1879.781,0.000,0.550,0.000
$DEVICE_MAMPS,415.395,107.100,2377.620,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28345.000,6680.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.303,13.116,0.000,0.000
$MEM,344800
$DATA_FILE_SIZE,43325,1169
$CAP_FILE_SIZE,241757,0
$CFSIZE,260034560,244162560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.050, 32.2,1
$GPS,171012,045135,2353.087,-3809.971,41,0.9,41,-14.2