version: 66.11
glider: 191
mission: 5
dive: 254
start: 12 6 112 21 20 49
data:
$ID,191
$MISSION,5
$DIVE,254
$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,320
$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,-4136.6436
$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,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,47
$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
$GPS1,061212,211004,2512.502,-3719.814,30,0.8,30,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-55.6
$GPS2,061212,212018,2512.427,-3719.703,14,1.0,14,-13.7
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,276.2,141262,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-58.80,0.000,6,0.000,0.000,154,1519,3461,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,4.1,-9.3,4,103,9.57,1.88,0.00,0.000,4,0.415,0.076,1996,461,3464,0,0,0,0,0,0,14.16,14.50,28.83
$GC,297,-0.55,-97.3,30.6,-9.9,18,301,0.00,1.77,0.00,0.000,6,0.000,0.043,1990,1514,3465,0,0,0,0,0,0,28.83,14.59,28.83
$GC,597,-0.52,-97.3,56.5,-8.2,38,599,0.12,0.00,0.00,0.000,6,0.262,0.000,2016,1515,3465,0,0,0,0,0,0,14.38,28.83,28.83
$GC,897,-0.52,-97.3,77.2,-8.0,58,901,0.00,1.80,0.00,0.000,4,0.000,0.054,2011,2574,3466,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1031,-0.52,-97.3,86.9,-6.6,67,1035,0.00,1.85,0.00,0.000,6,0.000,0.064,2011,1520,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1331,-0.52,-97.3,111.6,-7.5,87,1335,0.00,1.80,0.00,0.000,4,0.000,0.053,2003,2578,3466,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1497,-0.52,-97.3,124.2,-8.4,98,1501,0.00,1.85,0.00,0.000,6,0.000,0.063,2003,1520,3466,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1797,-0.52,-97.3,147.2,-6.8,118,1800,0.00,1.90,0.00,0.000,4,0.000,0.086,2003,460,3466,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1932,-0.50,-97.3,156.4,-6.5,127,1936,0.12,1.77,0.00,0.000,6,0.241,0.043,2022,1519,3466,0,0,0,0,0,0,14.32,14.61,28.83
$GC,2232,-0.52,-97.3,169.9,-5.2,147,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,-0.53,-97.3,188.9,-6.9,167,2535,0.00,1.80,0.00,0.000,4,0.000,0.053,2017,2580,3467,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2622,-0.55,-97.3,195.7,-7.9,173,2625,0.00,1.85,0.00,0.000,6,0.000,0.063,2017,1521,3467,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2922,-0.56,-97.3,222.4,-9.7,193,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3225,-0.58,-97.3,250.0,-8.4,213,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.59,-97.3,268.2,-5.1,223,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,-0.60,-97.3,280.2,-4.1,233,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4122,-0.62,-97.3,297.1,-6.2,243,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4423,-0.63,-97.3,320.1,-8.0,253,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4722,-0.65,-97.3,341.5,-6.6,263,4724,0.12,0.00,0.00,0.000,6,0.138,0.000,1969,1521,3463,0,0,0,0,0,0,14.77,28.83,28.83
$GC,5023,-0.62,-97.3,364.8,-7.7,273,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5323,-0.59,-97.3,390.0,-8.5,283,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.57,-97.3,414.6,-8.0,293,5624,0.15,0.00,0.00,0.000,6,0.243,0.000,2002,1521,3460,0,0,0,0,0,0,14.44,28.83,28.83
$GC,5923,-0.57,-97.3,431.3,-4.9,303,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6222,-0.57,-97.3,444.0,-4.3,313,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6522,-0.57,-97.3,461.0,-6.6,323,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6821,-0.57,-97.3,485.6,-8.6,333,6825,0.00,1.80,0.00,0.000,4,0.000,0.056,1997,2578,3457,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6911,-0.58,-97.3,492.3,-8.9,336,6915,0.00,1.85,0.00,0.000,6,0.000,0.067,1997,1522,3457,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7212,-0.58,-97.3,520.3,-8.5,346,7216,0.00,1.80,0.00,0.000,4,0.000,0.055,1990,2578,3456,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7287,-0.58,-97.3,526.5,-8.3,349,7291,0.00,1.88,0.00,0.000,6,0.000,0.067,1989,1513,3455,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7602,-0.58,-97.3,550.4,-7.1,360,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1512,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7901,-0.58,-97.3,572.2,-7.4,370,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1512,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8201,-0.58,-97.3,594.1,-7.3,380,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1512,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,-0.58,-97.3,614.4,-6.5,390,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8802,-0.58,-97.3,632.3,-6.0,400,8805,0.00,1.83,0.00,0.000,4,0.000,0.057,1981,2577,3450,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8907,-0.58,-97.3,638.3,-5.7,404,8911,0.00,1.88,0.00,0.000,6,0.000,0.069,1981,1518,3448,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9222,-0.58,-97.3,660.5,-7.4,415,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1517,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9522,-0.58,-97.3,685.5,-8.7,425,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1517,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9822,-0.58,-97.3,710.7,-8.2,435,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10121,-0.58,-97.3,731.9,-6.5,445,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10423,-0.58,-97.3,751.8,-7.0,455,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10721,-0.58,-97.3,775.1,-8.0,465,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11022,-0.58,-97.3,799.3,-8.0,475,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11321,-0.58,-97.3,821.2,-7.0,485,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1517,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11623,-0.58,-97.3,839.7,-5.8,495,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1517,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11921,-0.58,-97.3,857.5,-6.1,505,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12221,-0.58,-97.3,876.4,-6.3,515,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12523,-0.58,-97.3,894.9,-6.2,525,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1517,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12821,-0.58,-97.3,914.1,-6.7,535,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13123,-0.58,-97.3,934.0,-6.4,545,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13422,-0.58,-97.3,950.0,-4.8,555,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13722,-0.58,-97.3,962.0,-3.7,565,13723,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14023,-0.58,-97.3,975.2,-4.9,575,14024,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14110,begin apogee
$GC,14116,-0.18,0.0,980.5,-5.6,578,14239,0.55,0.00,113.95,2.108,6,0.209,0.000,2128,1397,3062,0,0,0,0,1,0,14.08,28.83,13.00
$STATE,14241,end apogee,CONTROL_FINISHED_OK
$STATE,14241,begin climb
$GC,14244,0.60,97.3,984.7,0.0,582,14383,0.80,1.92,127.88,2.136,4,0.119,0.060,2378,2450,2667,0,0,0,0,1,0,14.12,14.00,12.93
$GC,14517,0.63,194.6,986.6,1.9,591,14653,0.00,1.90,125.78,2.111,6,0.000,0.076,2386,1402,2268,0,0,0,0,1,0,28.83,14.38,12.99
$GC,14967,0.58,194.6,960.0,6.8,607,14971,0.00,1.95,0.00,0.000,4,0.000,0.103,2394,348,2264,0,0,0,0,0,0,28.83,14.48,28.83
$GC,15027,0.53,194.6,956.5,7.2,609,15032,0.12,1.80,0.00,0.000,6,0.264,0.050,2368,1403,2263,0,0,0,0,0,0,14.36,14.62,28.83
$GC,15328,0.50,194.6,935.0,7.0,619,15332,0.00,1.80,0.00,0.000,4,0.000,0.059,2367,2445,2261,0,0,0,0,0,0,28.83,14.57,28.83
$GC,15386,0.47,194.6,931.8,7.1,621,15390,0.00,1.88,0.00,0.000,6,0.000,0.077,2373,1399,2260,0,0,0,0,0,0,28.83,14.59,28.83
$GC,15689,0.44,194.6,908.0,7.6,631,15691,0.17,0.00,0.00,0.000,6,0.262,0.000,2334,1399,2259,0,0,0,0,0,0,14.37,28.83,28.83
$GC,15987,0.44,195.6,889.0,6.0,641,15990,0.00,1.95,0.00,0.000,4,0.000,0.103,2340,346,2259,0,0,0,0,0,0,28.83,14.52,28.83
$GC,16046,0.44,195.6,886.0,6.4,643,16050,0.00,1.80,0.00,0.000,6,0.000,0.052,2340,1398,2258,0,0,0,0,0,0,28.83,14.66,28.83
$GC,16348,0.45,203.1,867.4,5.7,653,16360,0.00,1.80,5.65,1.995,4,0.000,0.061,2340,2450,2236,0,0,0,0,0,0,28.83,14.73,13.51
$GC,16421,0.45,206.4,863.9,5.9,655,16430,0.00,1.88,3.90,1.956,6,0.000,0.080,2347,1402,2219,0,0,0,0,0,0,28.83,14.60,13.59
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$STATE,28016,end climb,SURFACE_DEPTH_REACHED
$STATE,28016,begin surface coast
$FINISH,-0.0,1.006717
$STATE,28034,end surface coast,CONTROL_FINISHED_OK
$STATE,28034,begin surface
$SM_CCo,28053,15.43,0.736,0,0,1757,320.12
$SM_GC,1.27,6.53,0.17,15.43,0.070,0.095,0.736,157,1524,1757,-6.29,-1.41,320.12,0,0,0,0,0,0,14.61,14.69,14.11
$IRIDIUM_FIX,2500.82,-3720.76,061212,141437
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.03
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.80
$XPDR_PINGS,6
$SC_FREEKB,7672608
$TM_FREEKB,5363168
$24V_AH,12.9,121.004
$10V_AH,12.7,0.000
$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,19.175,93.000,550.125,15.425,0.000,0.000,0.000,324.950,1.500,0.000,15.371,3119.647,22017.383,776.143,2290.175,476.331,0.000,2042.237,0.000,1836.546,0.000,0.548,0.000
$DEVICE_MAMPS,414.630,117.810,2135.880,735.930,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28075.000,6577.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.306,13.037,0.000,0.000
$MEM,344792
$DATA_FILE_SIZE,43306,1160
$CAP_FILE_SIZE,233596,0
$CFSIZE,260034560,223531008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.039,254.3,1
$GPS,071212,051004,2511.869,-3723.738,40,0.8,41,-13.7