version: 66.11
glider: 191
mission: 5
dive: 95
start: 10 14 112 21 6 52
data:
$ID,191
$MISSION,5
$DIVE,95
$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,-3923.47
$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,22
$R_STBD_OVSHOOT,37
$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
$GPS1,141012,205353,2354.831,-3834.278,38,0.9,38,-14.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-59.6
$GPS2,141012,210624,2354.925,-3834.323,15,1.1,16,-14.3
$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,109.2,125827,-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,21,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-60.62,0.000,6,0.000,0.000,162,1499,3460,0,0,0,0,0,0,28.83,28.83,14.90
$GC,88,-0.60,-97.3,4.5,-9.0,4,101,9.35,0.00,0.00,0.000,6,0.422,0.000,1988,1499,3463,1,0,0,0,0,0,14.30,28.83,28.83
$GC,401,-0.52,-97.3,55.0,-14.6,25,405,0.12,1.83,0.00,0.000,4,0.285,0.059,2010,2565,3465,0,0,0,0,0,0,14.56,14.73,28.83
$GC,446,-0.46,-97.3,60.6,-12.8,28,451,0.12,1.88,0.00,0.000,6,0.258,0.070,2037,1494,3465,0,0,0,0,0,0,14.61,14.76,28.83
$GC,746,-0.44,-97.3,86.1,-6.5,48,750,0.00,1.83,0.00,0.000,4,0.000,0.058,2031,2568,3464,0,0,0,0,0,0,28.83,14.78,28.83
$GC,957,-0.44,-97.3,99.7,-6.9,62,961,0.00,1.88,0.00,0.000,6,0.000,0.069,2031,1492,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1257,-0.42,-97.3,120.9,-7.2,82,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1492,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-0.41,-97.3,142.3,-6.5,102,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1491,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1857,-0.40,-97.3,162.0,-7.1,122,1859,0.12,0.00,0.00,0.000,6,0.249,0.000,2060,1491,3466,0,0,0,0,0,0,14.70,28.83,28.83
$GC,2156,-0.42,-97.3,180.9,-6.2,142,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1491,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,-0.44,-97.3,196.3,-4.3,162,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1492,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-0.46,-97.3,209.2,-5.2,182,2761,0.00,1.80,0.00,0.000,4,0.000,0.059,2054,2555,3462,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2831,-0.50,-97.3,213.9,-6.1,187,2835,0.00,1.85,0.00,0.000,6,0.000,0.068,2054,1491,3464,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3131,-0.52,-97.3,233.5,-6.0,207,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1492,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3431,-0.54,-97.3,250.0,-5.9,227,3433,0.12,0.00,0.00,0.000,6,0.142,0.000,2004,1491,3463,0,0,0,0,0,0,14.87,28.83,28.83
$GC,3748,-0.52,-97.3,278.0,-9.0,238,3751,0.00,1.85,0.00,0.000,4,0.000,0.093,2005,446,3462,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3866,-0.48,-97.3,288.1,-9.7,242,3870,0.15,1.77,0.00,0.000,6,0.257,0.051,2030,1503,3461,0,0,0,0,0,0,14.70,14.92,28.83
$GC,4167,-0.48,-97.3,308.2,-5.5,252,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1505,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4466,-0.48,-97.3,323.8,-5.2,262,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1505,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4766,-0.48,-97.3,340.2,-5.6,272,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1505,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,-0.48,-97.3,359.8,-7.0,282,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1505,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-0.48,-97.3,382.4,-7.6,292,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1505,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5666,-0.48,-97.3,403.9,-7.0,302,5670,0.00,1.77,0.00,0.000,4,0.000,0.063,2025,2556,3455,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5741,-0.50,-97.3,409.2,-7.2,305,5745,0.00,1.85,0.00,0.000,6,0.000,0.073,2025,1498,3455,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6056,-0.50,-97.3,433.8,-7.8,316,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1498,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6356,-0.50,-97.3,457.7,-7.9,326,6359,0.00,1.80,0.00,0.000,4,0.000,0.060,2017,2558,3453,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6491,-0.50,-97.3,468.1,-7.7,331,6494,0.00,1.85,0.00,0.000,6,0.000,0.073,2017,1500,3452,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6806,-0.50,-97.3,491.7,-7.1,342,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1500,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7106,-0.50,-97.3,510.8,-6.1,352,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1500,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7406,-0.50,-97.3,528.5,-5.9,362,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1500,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,-0.50,-97.3,549.3,-7.5,372,7710,0.00,1.90,0.00,0.000,4,0.000,0.095,2017,439,3447,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7766,-0.50,-97.3,553.2,-8.0,374,7769,0.00,1.80,0.00,0.000,6,0.000,0.053,2010,1505,3447,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8066,-0.50,-97.3,581.0,-9.1,384,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1506,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8367,-0.50,-97.3,607.6,-8.8,394,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1506,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,-0.50,-97.3,630.3,-7.4,404,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1506,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8967,-0.50,-97.3,648.8,-5.8,414,8970,0.00,1.80,0.00,0.000,4,0.000,0.065,2001,2560,3442,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9086,-0.50,-97.3,654.7,-5.6,418,9090,0.00,1.88,0.00,0.000,6,0.000,0.076,2001,1498,3441,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9386,-0.49,-97.3,675.1,-6.7,428,9391,0.12,1.90,0.00,0.000,4,0.262,0.097,2029,441,3440,0,0,0,0,0,0,14.66,14.78,28.83
$GC,9461,-0.49,-97.3,680.3,-6.9,431,9464,0.00,1.80,0.00,0.000,6,0.000,0.054,2024,1501,3440,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9776,-0.49,-97.3,701.4,-7.0,442,9779,0.00,1.83,0.00,0.000,4,0.000,0.067,2016,2566,3439,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9895,-0.50,-97.3,709.3,-7.5,446,9899,0.00,1.88,0.00,0.000,6,0.000,0.076,2016,1502,3439,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10196,-0.50,-97.3,735.3,-8.5,456,10200,0.00,1.92,0.00,0.000,4,0.000,0.097,2016,436,3438,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10285,-0.50,-97.3,742.7,-9.5,459,10288,0.00,1.83,0.00,0.000,6,0.000,0.055,2008,1509,3437,0,0,0,0,0,0,28.83,14.86,28.83
$GC,10587,-0.50,-97.3,772.4,-9.5,469,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1510,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10886,-0.50,-97.3,800.1,-9.0,479,10889,0.00,1.80,0.00,0.000,4,0.000,0.066,2000,2556,3435,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11005,-0.50,-97.3,808.8,-8.3,483,11008,0.00,1.88,0.00,0.000,6,0.000,0.078,1999,1499,3435,0,0,0,0,0,0,28.83,14.79,28.83
$GC,11307,-0.50,-97.3,833.6,-7.4,493,11310,0.00,1.92,0.00,0.000,4,0.000,0.099,2000,437,3436,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11411,-0.48,-97.3,841.9,-7.9,497,11415,0.17,1.83,0.00,0.000,6,0.248,0.055,2033,1507,3433,0,0,0,0,0,0,14.58,14.84,28.83
$GC,11728,-0.51,-97.3,856.4,-3.9,508,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1508,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12027,-0.53,-97.3,867.3,-3.9,518,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1508,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12327,-0.55,-97.3,880.5,-4.9,528,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1508,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12627,-0.58,-97.3,897.5,-6.1,538,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1508,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12927,-0.60,-97.3,915.7,-6.0,548,12929,0.12,0.00,0.00,0.000,6,0.149,0.000,1990,1508,3428,0,0,0,0,0,0,14.81,28.83,28.83
$GC,13227,-0.59,-97.3,938.4,-7.6,558,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1505,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13526,-0.58,-97.3,959.7,-7.1,568,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1508,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13794,begin apogee
$GC,13798,-0.18,0.0,980.0,-7.9,577,13917,0.50,0.00,110.28,2.203,6,0.221,0.000,2126,1505,3062,0,0,0,0,1,0,14.57,28.83,13.29
$STATE,13919,end apogee,CONTROL_FINISHED_OK
$STATE,13919,begin climb
$GC,13921,0.60,97.3,984.3,0.0,581,14056,0.85,0.00,125.90,2.237,6,0.139,0.000,2380,1509,2667,0,0,0,0,1,0,14.15,28.83,13.20
$GC,14351,0.56,118.8,970.2,5.1,596,14398,0.00,0.00,39.92,1.546,6,0.000,0.000,2380,1509,2577,0,0,0,0,1,0,28.83,28.83,13.57
$GC,14697,0.50,118.8,948.0,7.0,607,14701,0.00,1.98,0.00,0.000,4,0.000,0.105,2388,443,2576,0,0,0,0,0,0,28.83,14.60,28.83
$GC,14771,0.44,118.8,942.0,7.8,610,14775,0.22,1.85,0.00,0.000,6,0.262,0.058,2336,1508,2574,0,0,0,0,0,0,14.50,14.69,28.83
$GC,15087,0.42,118.8,921.5,6.6,621,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1508,2573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15386,0.40,118.8,901.5,6.6,631,15387,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1508,2573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15687,0.38,118.8,882.5,6.2,641,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1508,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15986,0.37,124.4,865.0,5.8,651,15992,0.00,0.00,3.40,2.017,6,0.000,0.000,2336,1508,2555,0,0,0,0,0,0,28.83,28.83,14.02
$GC,16288,0.36,130.5,847.7,5.8,661,16300,0.00,1.90,6.05,2.155,4,0.000,0.109,2343,444,2532,0,0,0,0,0,0,28.83,14.78,14.55
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$STATE,28060,end climb,SURFACE_DEPTH_REACHED
$STATE,28061,begin surface coast
$FINISH,0.8,1.024453
$STATE,28076,end surface coast,CONTROL_FINISHED_OK
$STATE,28076,begin surface
$SM_CCo,28092,67.25,0.711,0,0,1635,350.04
$SM_GC,0.86,6.53,0.00,67.25,0.077,0.000,0.711,160,1503,1635,-6.29,0.08,350.04,0,0,0,0,0,0,14.77,28.83,14.28
$IRIDIUM_FIX,2345.05,-3832.60,141012,202058
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.10
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,26.90
$XPDR_PINGS,2
$SC_FREEKB,7733664
$TM_FREEKB,7000512
$24V_AH,13.2,46.986
$10V_AH,13.4,0.000
$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,19.450,108.175,463.625,67.250,0.000,0.000,0.000,444.275,0.500,0.000,16.741,3224.198,22161.551,754.578,2496.099,266.939,0.000,2157.732,0.000,1887.411,0.000,0.551,0.000
$DEVICE_MAMPS,422.280,109.395,2236.860,711.450,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28115.000,7011.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.280,13.122,0.000,0.000
$MEM,344768
$DATA_FILE_SIZE,43311,1174
$CAP_FILE_SIZE,241231,0
$CFSIZE,260034560,244981760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,5,1,0
$CURRENT,0.020, 29.2,1
$GPS,151012,045734,2354.560,-3830.916,41,1.0,41,-14.3