version: 66.09
glider: 167
mission: 8
dive: 317
start: 8 18 111 17 10 40
data:
$ID,167
$MISSION,8
$DIVE,317
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-56789.684
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,180811,170230,1933.822,12419.418,42,1.3,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.5
$GPS2,180811,171016,1933.811,12419.324,11,5.4,30,-2.4
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,154.1,194234,-15.3,-9.706
$D_GRID,5000
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,116,0.00,0.00,-92.28,0.000,2,0.000,0.000,110,1893,3063,0,0,0,0,0,0
$GC,119,-0.62,-194.6,5.7,-9.6,12,144,10.02,2.12,-9.38,0.000,4,0.231,0.038,2603,464,3635,0,0,0,0,0,0
$GC,209,-0.62,-194.6,38.8,-25.7,27,217,0.00,2.08,0.00,0.000,6,0.000,0.030,2595,1875,3637,0,0,0,0,0,0
$GC,287,-0.62,-194.6,56.8,-24.1,40,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1875,3637,0,0,0,0,0,0
$GC,365,-0.62,-194.6,73.7,-19.4,53,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1875,3638,0,0,0,0,0,0
$GC,441,-0.62,-194.6,89.3,-20.4,66,449,0.00,2.10,0.00,0.000,4,0.000,0.032,2585,3268,3638,0,0,0,0,0,0
$GC,486,-0.62,-194.6,97.6,-17.8,73,495,0.00,2.08,0.00,0.000,6,0.000,0.017,2585,1812,3638,0,0,0,0,0,0
$GC,565,-0.62,-194.6,111.1,-17.4,86,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1812,3638,0,0,0,0,0,0
$GC,642,-0.62,-194.6,123.5,-15.6,99,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1812,3638,0,0,0,0,0,0
$GC,715,-0.62,-194.6,135.3,-16.2,112,724,0.00,2.17,0.00,0.000,4,0.000,0.029,2575,3273,3638,0,0,0,0,0,0
$GC,745,-0.62,-194.6,140.6,-16.7,116,754,0.00,2.12,0.00,0.000,6,0.000,0.018,2575,1787,3638,0,0,0,0,0,0
$GC,825,-0.62,-194.6,155.1,-18.7,129,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1786,3639,0,0,0,0,0,0
$GC,900,-0.62,-194.6,169.6,-19.7,142,909,0.00,2.22,0.00,0.000,4,0.000,0.031,2570,3273,3639,0,0,0,0,0,0
$GC,936,-0.62,-194.6,176.3,-19.8,147,945,0.00,2.05,0.00,0.000,6,0.000,0.017,2571,1834,3638,0,0,0,0,0,0
$GC,1012,-0.62,-194.6,192.2,-21.3,160,1020,0.00,1.95,0.00,0.000,4,0.000,0.027,2571,493,3638,0,0,0,0,0,0
$GC,1034,-0.62,-194.6,197.0,-21.7,163,1044,0.10,1.95,0.00,0.000,6,0.141,0.020,2595,1849,3639,0,0,0,0,0,0
$GC,1118,-0.62,-194.6,213.2,-19.4,171,1123,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,3264,3638,0,0,0,0,0,0
$GC,1146,-0.62,-194.6,219.2,-19.4,173,1153,0.00,2.00,0.00,0.000,6,0.000,0.017,2587,1829,3638,0,0,0,0,0,0
$GC,1474,-0.62,-194.6,274.6,-15.9,204,1478,0.00,2.12,0.00,0.000,4,0.000,0.030,2581,3259,3638,0,0,0,0,0,0
$GC,1509,-0.62,-194.6,280.0,-14.5,207,1513,0.00,1.92,0.00,0.000,6,0.000,0.017,2581,1877,3637,0,0,0,0,0,0
$GC,1839,-0.62,-194.6,324.3,-13.5,238,1843,0.00,1.98,0.00,0.000,4,0.000,0.028,2581,508,3636,0,0,0,0,0,0
$GC,1857,-0.62,-194.6,326.8,-13.6,239,1864,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,1922,3636,0,0,0,0,0,0
$GC,2182,-0.62,-194.6,380.7,-16.8,270,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1922,3635,0,0,0,0,0,0
$GC,2504,-0.62,-194.6,430.2,-13.4,300,2509,0.00,2.00,0.00,0.000,4,0.000,0.034,2574,3263,3634,0,0,0,0,0,0
$GC,2589,-0.62,-194.6,439.0,-9.0,307,2596,0.00,2.00,0.00,0.000,6,0.000,0.018,2574,1837,3634,0,0,0,0,0,0
$GC,2915,-0.62,-194.6,468.2,-9.3,338,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1837,3633,0,0,0,0,0,0
$GC,3235,-0.62,-194.6,496.0,-9.3,368,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1837,3631,0,0,0,0,0,0
$GC,3555,-0.62,-194.6,528.6,-10.9,386,3559,0.00,2.10,0.00,0.000,4,0.000,0.033,2574,3263,3629,0,0,0,0,0,0
$GC,3622,-0.62,-194.6,536.1,-10.6,389,3627,0.00,1.98,0.00,0.000,6,0.000,0.018,2574,1877,3628,0,0,0,0,0,0
$GC,3951,-0.62,-194.6,575.8,-12.6,405,3954,0.00,2.08,0.00,0.000,4,0.000,0.033,2573,3262,3626,0,0,0,0,0,0
$GC,4140,-0.62,-194.6,597.1,-9.8,413,4144,0.00,1.88,0.00,0.000,6,0.000,0.018,2573,1941,3625,0,0,0,0,0,0
$GC,4464,-0.62,-194.6,629.0,-9.6,429,4469,0.00,2.12,0.00,0.000,4,0.000,0.031,2573,504,3623,0,0,0,0,0,0
$GC,4491,-0.62,-194.6,631.8,-9.2,430,4495,0.00,2.10,0.00,0.000,6,0.000,0.021,2573,1949,3623,0,0,0,0,0,0
$GC,4813,-0.62,-194.6,659.9,-8.8,446,4817,0.00,1.92,0.00,0.000,4,0.000,0.036,2573,3262,3620,0,0,0,0,0,0
$GC,4876,-0.62,-194.6,665.0,-7.6,448,4883,0.00,1.85,0.00,0.000,6,0.000,0.019,2573,1946,3620,0,0,0,0,0,0
$GC,5193,-0.62,-194.6,690.3,-8.3,464,5197,0.00,2.12,0.00,0.000,4,0.000,0.030,2573,511,3618,0,0,0,0,0,0
$GC,5225,-0.62,-194.6,693.3,-8.4,465,5229,0.00,2.08,0.00,0.000,6,0.000,0.021,2573,1952,3618,0,0,0,0,0,0
$GC,5550,-0.62,-194.6,718.9,-8.0,481,5553,0.00,1.92,0.00,0.000,4,0.000,0.036,2574,3262,3615,0,0,0,0,0,0
$GC,5599,-0.62,-194.6,722.9,-7.4,483,5603,0.00,1.85,0.00,0.000,6,0.000,0.019,2574,1949,3614,0,0,0,0,0,0
$GC,5929,-0.62,-194.6,746.2,-7.3,499,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1949,3612,0,0,0,0,0,0
$GC,6238,-0.62,-194.6,767.8,-7.0,514,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1949,3610,0,0,0,0,0,0
$GC,6545,-0.62,-194.6,790.5,-7.5,529,6550,0.00,2.15,0.00,0.000,4,0.000,0.031,2574,506,3607,0,0,0,0,0,0
$GC,6597,-0.62,-194.6,794.9,-8.7,531,6601,0.00,2.12,0.00,0.000,6,0.000,0.022,2573,1970,3607,0,0,0,0,0,0
$GC,6920,-0.62,-194.6,825.2,-10.0,547,6923,0.00,1.92,0.00,0.000,4,0.000,0.038,2573,3266,3605,0,0,0,0,0,0
$GC,6991,-0.62,-194.6,831.9,-9.3,550,6994,0.00,1.83,0.00,0.000,6,0.000,0.020,2574,1973,3605,0,0,0,0,0,0
$GC,7324,-0.62,-194.6,864.1,-9.4,566,7328,0.00,2.15,0.00,0.000,4,0.000,0.030,2574,511,3603,0,0,0,0,0,0
$GC,7364,-0.62,-194.6,867.5,-9.0,568,7368,0.00,2.10,0.00,0.000,6,0.000,0.022,2574,1959,3603,0,0,0,0,0,0
$GC,7692,-0.62,-194.6,891.5,-6.6,584,7696,0.00,1.95,0.00,0.000,4,0.000,0.037,2573,3269,3600,0,0,0,0,0,0
$GC,7721,-0.62,-194.6,893.5,-6.3,585,7725,0.00,1.88,0.00,0.000,6,0.000,0.019,2574,1945,3601,0,0,0,0,0,0
$GC,8049,-0.62,-194.6,912.9,-6.3,601,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1945,3599,0,0,0,0,0,0
$GC,8359,-0.62,-194.6,934.2,-7.4,616,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1945,3598,0,0,0,0,0,0
$GC,8667,-0.62,-194.6,957.6,-7.4,631,8671,0.00,1.98,0.00,0.000,4,0.000,0.037,2574,3260,3596,0,0,0,0,0,0
$GC,8701,-0.62,-194.6,960.0,-7.3,632,8704,0.00,1.85,0.00,0.000,6,0.000,0.019,2574,1956,3596,0,0,0,0,0,0
$GC,9023,-0.62,-194.6,980.0,-6.0,648,9027,0.00,2.03,0.00,0.000,4,0.000,0.039,2574,3262,3595,0,0,0,0,0,0
$GC,9046,-0.62,-194.6,981.4,-6.0,649,9050,0.00,1.85,0.00,0.000,6,0.000,0.022,2573,1973,3595,0,0,0,0,0,0
$STATE,9211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9212,begin apogee
$GC,9219,-0.20,0.0,990.4,5.4,657,9382,0.47,0.00,155.98,1.387,4,0.116,0.000,2733,2067,2838,0,0,0,0,0,0
$STATE,9383,end apogee,CONTROL_FINISHED_OK
$STATE,9383,begin climb
$GC,9387,0.62,194.6,991.4,0.0,664,9565,0.80,2.28,169.18,1.330,4,0.081,0.039,3002,3467,2044,0,0,0,0,0,0
$GC,9729,0.62,194.6,945.5,15.3,680,9733,0.00,2.03,0.00,0.000,6,0.000,0.021,3012,2090,2035,0,0,0,0,0,0
$GC,10057,0.62,194.6,899.3,13.6,696,10061,0.00,2.12,0.00,0.000,4,0.000,0.036,3012,3473,2033,0,0,0,0,0,0
$GC,10236,0.62,194.6,875.5,12.6,704,10240,0.00,2.12,0.00,0.000,6,0.000,0.021,3020,2029,2032,0,0,0,0,0,0
$GC,10565,0.62,194.6,838.3,11.1,720,10569,0.00,2.00,0.00,0.000,4,0.000,0.034,3023,682,2031,0,0,0,0,0,0
$GC,10667,0.62,194.6,827.2,10.7,724,10670,0.00,1.92,0.00,0.000,6,0.000,0.023,3023,1986,2031,0,0,0,0,0,0
$GC,10989,0.62,194.6,790.4,11.7,740,10993,0.00,2.25,0.00,0.000,4,0.000,0.037,3023,3471,2030,0,0,0,0,0,0
$GC,11032,0.62,194.6,784.4,13.1,742,11037,0.12,2.10,0.00,0.000,6,0.167,0.021,2999,2012,2030,0,0,0,0,0,0
$GC,11361,0.62,194.6,746.6,12.4,758,11365,0.00,1.98,0.00,0.000,4,0.000,0.033,3007,680,2029,0,0,0,0,0,0
$GC,11466,0.62,194.6,732.4,13.3,762,11473,0.00,1.98,0.00,0.000,6,0.000,0.023,3007,2008,2029,0,0,0,0,0,0
$GC,11784,0.62,194.6,688.2,14.5,778,11789,0.00,2.22,0.00,0.000,4,0.000,0.038,3007,3465,2028,0,0,0,0,0,0
$GC,11834,0.62,194.6,680.3,15.4,780,11838,0.00,2.15,0.00,0.000,6,0.000,0.021,3016,1974,2028,0,0,0,0,0,0
$GC,12157,0.62,194.6,634.6,13.8,796,12161,0.00,1.90,0.00,0.000,4,0.000,0.033,3025,672,2028,0,0,0,0,0,0
$GC,12257,0.62,194.6,621.9,12.2,800,12262,0.00,1.90,0.00,0.000,6,0.000,0.023,3024,1954,2028,0,0,0,0,0,0
$GC,12579,0.65,218.1,589.5,8.9,816,12603,0.00,2.38,18.52,1.088,4,0.000,0.037,3024,3468,1949,0,0,0,0,0,0
$GC,12615,0.69,249.3,586.2,8.7,817,12649,0.00,2.22,28.52,1.089,6,0.000,0.021,3030,1949,1822,0,0,0,0,0,0
$GC,12958,0.69,249.3,552.8,10.5,834,12963,0.00,1.90,0.00,0.000,4,0.000,0.033,3040,688,1815,0,0,0,0,0,0
$GC,13006,0.69,249.3,547.5,11.2,836,13011,0.00,1.90,0.00,0.000,6,0.000,0.022,3040,1955,1815,0,0,0,0,0,0
$GC,13339,0.69,249.3,507.6,11.7,852,13343,0.00,2.30,0.00,0.000,4,0.000,0.037,3040,3475,1814,0,0,0,0,0,0
$GC,13537,0.69,249.3,480.6,14.2,867,13541,0.00,2.08,0.00,0.000,6,0.000,0.021,3050,2041,1813,0,0,0,0,0,0
$GC,13862,0.69,249.3,439.2,12.5,897,13866,0.00,2.03,0.00,0.000,4,0.000,0.032,3060,674,1812,0,0,0,0,0,0
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$GC,16789,0.78,324.8,128.6,9.1,1217,16813,0.00,2.30,15.48,0.660,4,0.000,0.032,3068,3492,1513,0,0,0,0,0,0
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$STATE,18094,end climb,SURFACE_DEPTH_REACHED
$STATE,18094,begin surface coast
$FINISH,0.8,1.009151
$STATE,18127,end surface coast,CONTROL_FINISHED_OK
$STATE,18127,begin surface
$SM_CCo,18205,0.00,0.000,0,0,529,566.64
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$IRIDIUM_FIX,1929.80,12418.85,180811,111120
$TT8_MAMPS,0.027713,0.027713
$HUMID,36.88
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.40
$XPDR_PINGS,61
$24V_AH,22.9,58.718
$10V_AH,9.8,51.790
$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,19.550,188.625,635.475,0.000,0.000,29.060,23.689,222.725,15.250,0.000,32.484,3629.233,9958.028,726.873,3462.965,872.384,0.000,2346.463,0.000,3404.274,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,76.500,1386.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.378,1112.791,1405.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,83671,1428
$CAP_FILE_SIZE,203887,0
$CFSIZE,260165632,111349760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,282.2,1
$GPS,180811,221525,1931.620,12419.344,40,1.1,41,-2.4