version: 66.11
glider: 191
mission: 5
dive: 343
start: 1 6 113 10 36 29
data:
$ID,191
$MISSION,5
$DIVE,343
$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,-5030.4707
$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,23
$R_STBD_OVSHOOT,46
$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,10
$MINV_10V,10
$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
$GPS1,060113,102328,2457.317,-3740.761,37,0.8,37,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-58.8
$GPS2,060113,103559,2457.343,-3740.796,18,0.8,19,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,323.7,43315,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-60.55,0.000,2,0.000,0.000,160,1517,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.6,-6.9,4,108,10.32,1.85,-1.85,0.000,4,0.431,0.083,1987,2575,3461,1,0,0,0,0,0,13.73,14.43,14.74
$GC,328,-0.60,-97.3,27.1,-7.3,20,331,0.00,1.90,0.00,0.000,6,0.000,0.066,1983,1519,3463,0,0,0,0,0,0,28.83,14.37,28.83
$GC,628,-0.57,-97.3,53.0,-8.8,40,629,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,927,-0.55,-97.3,77.7,-8.5,60,929,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1228,-0.53,-97.3,101.6,-8.1,80,1230,0.15,0.00,0.00,0.000,6,0.239,0.000,2017,1519,3463,0,0,0,0,0,0,14.31,28.83,28.83
$GC,1527,-0.54,-97.3,123.9,-7.5,100,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1827,-0.56,-97.3,145.3,-7.9,120,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2128,-0.58,-97.3,167.0,-6.4,140,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.60,-97.3,184.0,-5.4,160,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-0.62,-97.3,201.2,-5.8,180,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.64,-97.3,220.9,-7.4,200,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3327,-0.66,-97.3,246.4,-9.0,220,3332,0.12,1.80,0.00,0.000,4,0.137,0.052,1960,2573,3464,0,0,0,0,0,0,14.64,14.57,28.83
$GC,3527,-0.65,-97.3,266.4,-10.2,228,3534,0.00,1.88,0.00,0.000,6,0.000,0.066,1960,1512,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3855,-0.62,-97.3,295.4,-7.4,239,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4153,-0.59,-97.3,310.5,-4.6,249,4155,0.15,0.00,0.00,0.000,6,0.247,0.000,1994,1511,3463,0,0,0,0,0,0,14.41,28.83,28.83
$GC,4452,-0.59,-97.3,324.2,-5.3,259,4456,0.00,1.80,0.00,0.000,4,0.000,0.053,1988,2569,3462,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4558,-0.59,-97.3,331.1,-6.5,263,4561,0.00,1.85,0.00,0.000,6,0.000,0.066,1989,1521,3462,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4872,-0.59,-97.3,357.1,-8.8,274,4876,0.00,1.80,0.00,0.000,4,0.000,0.053,1980,2574,3461,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4978,-0.59,-97.3,366.4,-8.9,278,4982,0.00,1.88,0.00,0.000,6,0.000,0.067,1981,1513,3461,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5292,-0.59,-97.3,393.2,-8.1,289,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5593,-0.59,-97.3,417.8,-8.3,299,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5892,-0.59,-97.3,441.1,-7.5,309,5896,0.00,1.92,0.00,0.000,4,0.000,0.091,1981,461,3458,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5968,-0.58,-97.3,447.0,-7.7,312,5972,0.00,1.77,0.00,0.000,6,0.000,0.044,1973,1515,3459,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6286,-0.57,-97.3,466.4,-5.7,323,6290,0.12,1.83,0.00,0.000,4,0.245,0.054,1995,2580,3458,0,0,0,0,0,0,14.46,14.62,28.83
$GC,6420,-0.58,-97.3,473.2,-4.8,328,6423,0.00,1.88,0.00,0.000,6,0.000,0.066,1995,1521,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6734,-0.58,-97.3,491.8,-6.4,339,6738,0.00,1.83,0.00,0.000,4,0.000,0.054,1987,2577,3457,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6869,-0.60,-97.3,500.8,-6.8,344,6873,0.00,1.90,0.00,0.000,6,0.000,0.067,1988,1512,3456,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7184,-0.60,-97.3,522.7,-6.7,355,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7483,-0.60,-97.3,541.7,-6.1,365,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1512,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7784,-0.60,-97.3,559.0,-5.7,375,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1513,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8084,-0.60,-97.3,576.7,-6.0,385,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1512,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8383,-0.60,-97.3,596.9,-7.1,395,8387,0.00,1.92,0.00,0.000,4,0.000,0.093,1988,466,3451,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8443,-0.60,-97.3,600.7,-7.7,397,8447,0.00,1.80,0.00,0.000,6,0.000,0.046,1980,1522,3451,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8743,-0.60,-97.3,627.6,-8.6,407,8747,0.00,1.83,0.00,0.000,4,0.000,0.057,1972,2579,3450,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8892,-0.60,-97.3,639.2,-8.7,412,8896,0.00,1.90,0.00,0.000,6,0.000,0.068,1972,1520,3449,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9194,-0.60,-97.3,665.7,-8.0,422,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9493,-0.60,-97.3,688.2,-7.3,432,9497,0.00,1.85,0.00,0.000,4,0.000,0.057,1964,2579,3447,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9613,-0.60,-97.3,695.8,-7.2,436,9617,0.12,1.92,0.00,0.000,6,0.247,0.069,1990,1513,3447,0,0,0,0,0,0,14.19,14.44,28.83
$GC,9913,-0.60,-97.3,716.1,-6.5,446,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1512,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10214,-0.60,-97.3,736.5,-6.8,456,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,-0.61,-97.3,755.8,-6.4,466,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10814,-0.62,-97.3,774.8,-6.6,476,10818,0.00,1.88,0.00,0.000,4,0.000,0.057,1985,2580,3443,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10889,-0.63,-97.3,779.7,-6.6,479,10893,0.00,1.92,0.00,0.000,6,0.000,0.070,1985,1516,3443,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11206,-0.63,-97.3,799.4,-5.9,490,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1516,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11504,-0.63,-97.3,816.2,-5.7,500,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1516,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11803,-0.63,-97.3,833.9,-5.8,510,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1515,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12104,-0.63,-97.3,852.6,-6.4,520,12108,0.00,1.88,0.00,0.000,4,0.000,0.058,1977,2581,3439,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12192,-0.63,-97.3,857.5,-6.5,523,12196,0.00,1.92,0.00,0.000,6,0.000,0.071,1977,1521,3439,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12493,-0.63,-97.3,880.8,-7.8,533,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12794,-0.63,-97.3,904.2,-7.8,543,12795,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13093,-0.63,-97.3,926.4,-7.2,553,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13394,-0.63,-97.3,944.9,-5.7,563,13398,0.00,1.88,0.00,0.000,4,0.000,0.060,1969,2580,3435,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13469,-0.63,-97.3,948.8,-5.3,566,13473,0.00,1.95,0.00,0.000,6,0.000,0.072,1969,1517,3435,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13786,-0.63,-97.3,965.1,-5.2,577,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1515,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14081,begin apogee
$GC,14088,-0.18,0.0,981.6,-5.8,587,14212,0.60,0.00,115.32,1.970,6,0.207,0.000,2127,1388,3064,0,0,0,0,1,0,13.95,28.83,12.93
$STATE,14213,end apogee,CONTROL_FINISHED_OK
$STATE,14213,begin climb
$GC,14217,0.60,97.3,985.4,0.0,591,14356,0.80,2.05,127.28,1.941,4,0.114,0.103,2387,343,2666,0,0,0,0,1,0,14.12,14.05,12.96
$GC,14578,0.58,149.4,981.6,3.8,603,14666,0.00,1.85,75.45,1.792,6,0.000,0.050,2386,1410,2452,0,0,0,0,1,0,28.83,14.54,13.05
$GC,14984,0.54,165.5,960.2,5.4,617,15028,0.00,2.03,33.28,1.235,4,0.000,0.105,2391,347,2389,0,0,0,0,1,0,28.83,14.44,13.27
$GC,15089,0.48,166.6,954.5,6.0,620,15094,0.20,1.83,0.00,0.000,6,0.252,0.049,2347,1404,2388,0,0,0,0,0,0,14.24,14.52,28.83
$GC,15391,0.48,177.7,936.9,5.6,630,15429,0.00,0.00,30.88,1.163,6,0.000,0.000,2348,1405,2337,0,0,0,0,1,0,28.83,28.83,13.30
$GC,15722,0.46,178.9,917.1,6.0,641,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1405,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16019,0.45,181.7,899.1,5.9,651,16024,0.00,0.00,3.42,1.965,6,0.000,0.000,2347,1405,2321,0,0,0,0,0,0,28.83,28.83,13.32
$GC,16322,0.44,187.1,881.0,5.8,661,16332,0.00,2.00,5.40,1.984,4,0.000,0.108,2354,348,2299,0,0,0,0,0,0,28.83,14.59,13.32
$GC,16393,0.43,188.3,877.3,6.0,663,16397,0.00,1.83,0.00,0.000,6,0.000,0.050,2350,1406,2299,0,0,0,0,0,0,28.83,14.64,28.83
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$STATE,28241,end climb,SURFACE_DEPTH_REACHED
$STATE,28241,begin surface coast
$FINISH,0.3,1.025391
$STATE,28258,end surface coast,CONTROL_FINISHED_OK
$STATE,28258,begin surface
$SM_CCo,28279,12.93,0.723,0,0,1756,320.12
$SM_GC,2.07,6.78,0.15,12.93,0.080,0.099,0.723,162,1525,1756,-6.28,-1.41,320.12,0,0,0,0,0,0,14.49,14.65,13.90
$IRIDIUM_FIX,2441.81,-3743.96,060113,020252
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.74
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.70
$XPDR_PINGS,6
$SC_FREEKB,7638400
$TM_FREEKB,4425728
$24V_AH,12.9,163.438
$10V_AH,12.5,0.000
$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,20.150,109.950,590.750,12.925,0.000,0.000,0.000,404.450,1.500,0.000,19.710,3217.640,21917.902,840.296,2451.182,603.691,0.000,2220.472,0.000,1900.891,0.000,0.549,0.000
$DEVICE_MAMPS,430.695,114.750,1984.410,722.925,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28308.000,6734.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.373,13.029,0.000,0.000
$MEM,345624
$DATA_FILE_SIZE,43311,1174
$CAP_FILE_SIZE,242184,0
$CFSIZE,260034560,211226624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.031,269.4,1
$GPS,060113,182928,2459.430,-3743.835,41,0.9,41,-13.9