version: 66.02
glider: 102
mission: 4
dive: 256
start: 1 9 108 7 32 50
data:
$ID,102
$MISSION,4
$DIVE,256
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,558.0575
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$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,-81120.266
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.5065012
$PRESSURE_SLOPE,0.00011626
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,072008,6352.987,-1339.155,37,1.1,37,-12.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-60.2
$GPS2,073156,6353.054,-1339.082,13,2.0,13,-12.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,0.064
$KALMAN_X,334327.7,-387.9,485.7,-607029.8,-4243.6
$KALMAN_Y,-29697.3,-458.7,203.3,289116.2,1580.2
$MHEAD_RNG_PITCHd_Wd,84.8,14827,-10.7,-6.000
$D_GRID,990
$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
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.95,-146.6,0.0,0.0,0,127,0.00,0.00,-101.93,0.000,2,0.000,0.000,30,1880,2576
$GC,130,-0.95,-146.6,3.8,-1.3,5,193,11.88,2.65,-40.88,0.000,4,0.137,0.079,2284,495,3476
$GC,265,-0.95,-146.6,13.6,-9.5,11,270,0.00,2.50,0.00,0.000,6,0.000,0.042,2284,1905,3476
$GC,593,-0.95,-146.6,41.6,-8.0,27,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3476
$GC,902,-0.95,-146.6,68.1,-7.6,42,906,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3303,3476
$GC,928,-0.95,-146.6,70.1,-7.3,43,932,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1905,3476
$GC,1250,-0.95,-146.6,98.4,-8.5,59,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1906,3476
$GC,1559,-0.95,-146.6,124.0,-8.0,74,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1906,3476
$GC,1868,-0.95,-146.6,147.2,-7.4,89,1872,0.00,2.53,0.00,0.000,4,0.000,0.049,2283,3300,3476
$GC,1901,-0.95,-146.6,150.1,-8.5,90,1907,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1897,3476
$GC,2216,-0.95,-146.6,174.3,-7.7,106,2220,0.00,2.55,0.00,0.000,4,0.000,0.048,2284,3307,3476
$GC,2233,-0.95,-146.6,175.7,-7.7,107,2237,0.00,2.55,0.00,0.000,6,0.000,0.045,2284,1899,3476
$GC,2559,-0.95,-146.6,201.3,-8.1,123,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3476
$GC,2868,-0.95,-146.6,222.2,-6.3,138,2872,0.00,2.55,0.00,0.000,4,0.000,0.048,2284,3304,3476
$GC,2894,-0.95,-146.6,224.1,-7.2,139,2898,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1900,3476
$GC,3215,-0.95,-146.6,244.8,-6.1,155,3219,0.00,2.55,0.00,0.000,4,0.000,0.050,2284,3303,3476
$GC,3264,-0.95,-146.6,248.6,-7.8,157,3268,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1898,3476
$GC,3585,-0.95,-146.6,265.6,-4.8,173,3589,0.00,2.55,0.00,0.000,4,0.000,0.049,2284,3301,3476
$GC,3606,-0.95,-146.6,266.9,-6.1,174,3610,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1899,3476
$GC,3927,-0.95,-146.6,294.4,-9.3,190,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3476
$GC,4236,-0.95,-146.6,320.0,-7.4,205,4240,0.00,2.55,0.00,0.000,4,0.000,0.050,2284,3301,3476
$GC,4285,-0.95,-146.6,323.7,-6.7,207,4289,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1900,3476
$GC,4606,-0.95,-146.6,348.5,-7.6,223,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3476
$GC,4915,-0.95,-146.6,374.1,-7.4,238,4920,0.00,2.62,0.00,0.000,4,0.000,0.069,2284,493,3476
$GC,4942,-0.95,-146.6,376.2,-7.5,239,4947,0.00,2.47,0.00,0.000,6,0.000,0.043,2284,1906,3476
$GC,5258,-0.95,-146.6,392.6,-3.6,254,5263,0.00,2.53,0.00,0.000,4,0.000,0.052,2284,3297,3476
$GC,5336,-0.95,-146.6,396.4,-4.8,257,5342,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1900,3476
$GC,5651,-0.95,-146.6,416.3,-7.0,273,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3476
$GC,5961,-0.95,-146.6,442.0,-8.5,288,5965,0.00,2.55,0.00,0.000,4,0.000,0.051,2284,3301,3475
$GC,5987,-0.95,-146.6,444.5,-9.5,289,5992,0.00,2.58,0.00,0.000,6,0.000,0.047,2284,1898,3475
$GC,6308,-0.95,-146.6,467.6,-6.6,305,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3475
$GC,6618,-0.95,-146.6,491.3,-9.5,320,6622,0.00,2.62,0.00,0.000,4,0.000,0.071,2284,491,3475
$GC,6644,-0.95,-146.6,493.4,-8.6,321,6648,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1903,3475
$GC,6965,-0.95,-146.6,517.3,-9.0,337,6969,0.00,2.55,0.00,0.000,4,0.000,0.054,2284,3303,3475
$GC,7060,-0.95,-146.6,524.9,-8.1,341,7065,0.00,2.55,0.00,0.000,6,0.000,0.050,2284,1901,3475
$GC,7381,-0.95,-146.6,554.3,-9.5,357,7385,0.00,2.55,0.00,0.000,4,0.000,0.054,2283,3298,3475
$GC,7419,-0.95,-146.6,557.9,-9.4,359,7424,0.00,2.53,0.00,0.000,6,0.000,0.049,2284,1901,3475
$GC,7746,-0.95,-146.6,585.9,-8.1,375,7750,0.00,2.58,0.00,0.000,4,0.000,0.055,2284,3305,3475
$GC,7817,-0.95,-146.6,591.7,-8.5,378,7821,0.00,2.55,0.00,0.000,6,0.000,0.048,2284,1898,3475
$GC,8138,-0.95,-146.6,616.5,-7.6,394,8143,0.00,2.55,0.00,0.000,4,0.000,0.056,2284,3298,3475
$GC,8165,-0.95,-146.6,618.2,-6.3,395,8170,0.00,2.53,0.00,0.000,6,0.000,0.049,2284,1902,3475
$GC,8487,-0.95,-146.6,636.8,-7.4,411,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3475
$GC,8796,-0.95,-146.6,658.3,-6.1,426,8800,0.00,2.58,0.00,0.000,4,0.000,0.057,2284,3299,3475
$GC,8880,-0.95,-146.6,663.8,-7.2,430,8884,0.00,2.58,0.00,0.000,6,0.000,0.053,2284,1895,3475
$GC,9206,-0.95,-146.6,688.3,-7.3,446,9210,0.00,2.58,0.00,0.000,4,0.000,0.060,2284,3299,3474
$GC,9260,-0.95,-146.6,693.2,-9.5,448,9266,0.00,2.55,0.00,0.000,6,0.000,0.052,2284,1900,3474
$GC,9575,-0.95,-146.6,716.5,-6.7,464,9580,0.00,2.65,0.00,0.000,4,0.000,0.074,2284,492,3474
$GC,9642,-0.95,-146.6,722.7,-8.7,467,9646,0.00,2.50,0.00,0.000,6,0.000,0.051,2284,1896,3474
$GC,9969,-0.95,-146.6,753.5,-7.1,483,9973,0.00,2.65,0.00,0.000,4,0.000,0.074,2284,489,3473
$GC,9989,-0.95,-146.6,755.3,-8.5,484,9993,0.00,2.53,0.00,0.000,6,0.000,0.052,2284,1903,3473
$GC,10316,-0.95,-146.6,778.2,-5.2,500,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3473
$GC,10626,-0.95,-146.6,810.6,-9.5,515,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3472
$GC,10934,-0.95,-146.6,844.7,-11.4,530,10939,0.00,2.67,0.00,0.000,4,0.000,0.079,2284,493,3472
$GC,10961,-0.95,-146.6,847.1,-9.8,531,10965,0.00,2.53,0.00,0.000,6,0.000,0.054,2284,1899,3472
$GC,11283,-0.95,-146.6,859.5,-0.0,547,11287,0.00,2.65,0.00,0.000,4,0.000,0.076,2284,493,3471
$GC,11405,-0.95,-146.6,859.7,-0.3,552,11411,0.00,2.53,0.00,0.000,6,0.000,0.055,2284,1904,3471
$STATE,11635,end dive,NO_VERTICAL_VELOCITY
$STATE,11636,begin apogee
$GC,11642,-0.36,0.0,859.8,0.0,564,11771,0.60,0.00,126.05,1.407,6,0.051,0.000,2425,2103,2878
$STATE,11771,end apogee,CONTROL_FINISHED_OK
$STATE,11772,begin climb
$GC,11774,0.95,146.6,859.6,0.0,570,11909,1.23,2.72,125.80,1.362,4,0.058,0.071,2698,3497,2279
$GC,12100,0.95,146.6,835.8,9.4,585,12104,0.00,2.58,0.00,0.000,6,0.000,0.056,2698,2104,2279
$GC,12420,0.95,146.6,807.9,10.1,601,12425,0.00,2.65,0.00,0.000,4,0.000,0.066,2698,3501,2279
$GC,12482,0.95,146.6,800.8,10.1,604,12487,0.00,2.60,0.00,0.000,6,0.000,0.058,2698,2096,2279
$GC,12808,1.04,222.8,778.7,3.7,620,12879,0.10,2.72,65.00,1.355,4,0.058,0.064,2732,3503,1968
$GC,12942,1.04,222.8,769.1,6.7,626,12946,0.00,2.62,0.00,0.000,6,0.000,0.056,2731,2100,1968
$GC,13257,1.21,356.6,761.1,2.0,641,13380,0.12,2.83,112.35,1.322,4,0.050,0.086,2773,690,1424
$GC,13404,1.21,359.5,753.3,5.9,648,13413,0.00,2.60,3.83,1.151,6,0.000,0.054,2773,2102,1412
$GC,13735,1.21,359.5,728.0,7.2,664,13739,0.00,2.62,0.00,0.000,4,0.000,0.064,2772,3504,1412
$GC,13857,1.21,359.5,710.2,12.4,669,13863,0.00,2.62,0.00,0.000,6,0.000,0.059,2773,2092,1412
$GC,14172,1.21,359.5,674.7,8.1,685,14177,0.00,2.67,0.00,0.000,4,0.000,0.082,2773,692,1411
$GC,14234,1.21,359.5,668.1,10.3,688,14238,0.00,2.55,0.00,0.000,6,0.000,0.052,2773,2100,1412
$GC,14559,1.21,359.5,630.6,12.8,704,14564,0.00,2.60,0.00,0.000,4,0.000,0.060,2773,3506,1412
$GC,14626,1.21,359.5,622.2,12.6,707,14631,0.00,2.58,0.00,0.000,6,0.000,0.054,2773,2098,1411
$GC,14947,1.21,359.5,585.8,11.0,723,14951,0.00,2.60,0.00,0.000,4,0.000,0.058,2772,3504,1411
$GC,14973,1.21,359.5,582.9,10.3,724,14977,0.00,2.55,0.00,0.000,6,0.000,0.053,2773,2100,1411
$GC,15294,1.21,359.5,551.7,9.8,740,15299,0.00,2.67,0.00,0.000,4,0.000,0.077,2772,690,1411
$GC,15321,1.21,359.5,548.5,10.8,741,15325,0.00,2.55,0.00,0.000,6,0.000,0.049,2773,2101,1411
$GC,15642,1.21,359.5,509.4,11.9,757,15646,0.00,2.70,0.00,0.000,4,0.000,0.075,2773,687,1411
$GC,15674,1.21,359.5,505.6,11.0,758,15680,0.00,2.53,0.00,0.000,6,0.000,0.048,2773,2098,1412
$GC,15989,1.21,359.5,474.7,9.2,774,15990,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2103,1411
$GC,16298,1.21,359.5,443.9,9.8,789,16303,0.00,2.55,0.00,0.000,4,0.000,0.056,2773,3504,1412
$GC,16340,1.21,359.5,439.9,10.9,791,16344,0.00,2.55,0.00,0.000,6,0.000,0.050,2772,2098,1413
$GC,16665,1.21,359.5,404.5,11.3,807,16670,0.00,2.65,0.00,0.000,4,0.000,0.074,2773,691,1413
$GC,16737,1.21,359.5,396.2,12.6,810,16742,0.00,2.50,0.00,0.000,6,0.000,0.045,2773,2103,1412
$GC,17059,1.21,359.5,360.2,11.4,826,17064,0.00,2.67,0.00,0.000,4,0.000,0.071,2773,687,1413
$GC,17085,1.21,359.5,357.1,11.7,827,17090,0.00,2.53,0.00,0.000,6,0.000,0.045,2773,2103,1413
$GC,17406,1.21,359.5,321.7,10.9,843,17411,0.00,2.67,0.00,0.000,4,0.000,0.070,2773,687,1413
$GC,17450,1.21,359.5,316.5,11.6,845,17454,0.00,2.53,0.00,0.000,6,0.000,0.044,2773,2100,1413
$GC,17771,1.21,359.5,281.0,11.5,861,17775,0.00,2.65,0.00,0.000,4,0.000,0.069,2773,691,1414
$GC,17810,1.21,359.5,275.7,12.3,863,17814,0.00,2.50,0.00,0.000,6,0.000,0.044,2773,2103,1414
$GC,18135,1.21,359.5,234.6,11.3,879,18140,0.00,2.62,0.00,0.000,4,0.000,0.069,2773,691,1414
$GC,18162,1.21,359.5,231.6,11.3,880,18166,0.00,2.47,0.00,0.000,6,0.000,0.044,2773,2098,1414
$GC,18483,1.21,359.5,197.3,11.2,896,18484,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2103,1415
$GC,18793,1.23,376.8,179.9,5.5,911,18812,0.00,0.00,15.18,0.972,6,0.000,0.000,2773,2103,1342
$GC,19122,1.23,376.8,147.6,11.6,927,19127,0.00,2.65,0.00,0.000,4,0.000,0.066,2773,691,1342
$GC,19171,1.23,376.8,141.2,11.8,929,19176,0.00,2.50,0.00,0.000,6,0.000,0.042,2772,2111,1342
$GC,19493,1.23,376.8,105.1,10.2,945,19498,0.00,2.65,0.00,0.000,4,0.000,0.066,2773,691,1343
$GC,19532,1.23,376.8,101.1,10.2,947,19537,0.00,2.50,0.00,0.000,6,0.000,0.041,2773,2105,1342
$GC,19859,1.23,376.8,71.7,9.6,963,19863,0.00,2.65,0.00,0.000,4,0.000,0.066,2773,688,1343
$GC,19898,1.23,376.8,67.9,9.4,965,19903,0.00,2.50,0.00,0.000,6,0.000,0.043,2773,2108,1342
$GC,20225,1.23,376.8,35.1,10.7,981,20229,0.00,2.65,0.00,0.000,4,0.000,0.064,2773,685,1342
$GC,20264,1.23,376.8,30.8,11.6,983,20268,0.00,2.50,0.00,0.000,6,0.000,0.043,2773,2105,1343
$STATE,20548,end climb,SURFACE_DEPTH_REACHED
$STATE,20548,begin surface coast
$FINISH,1.9,1.015978
$STATE,20568,end surface coast,CONTROL_FINISHED_OK
$STATE,20568,begin surface
$SM_CCo,20572,106.10,0.774,4,0,602,558.06
$SM_GC,2.63,11.90,0.00,0.00,0.029,0.000,0.000,33,1888,601,-11.26,-0.31,558.30
$IRIDIUM_FIX,6327.46,-1333.73,090108,111113
$TT8_MAMPS,0.026845
$HUMID,2047
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.1,55.099
$10V_AH,10.1,26.981
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.825,217.200,448.200,106.100,0.000,108.217,108.025,238.310,7.750,0.000,0.000,14.750,1837.474,15932.770,777.277,2230.024,742.354,33.374,1938.420,0.000,2182.957,0.000,47.815
$DEVICE_MAMPS,137.293,85.904,1406.678,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,744.020,674.060,567.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50676,998
$CFSIZE,260165632,242409472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,4,0
$GPS,090108,132107,6353.549,-1329.741,41,1.2,52,-12.7