version: 66.07
glider: 511
mission: 5
dive: 369
start: 2 10 111 12 21 10
data:
$ID,511
$MISSION,5
$DIVE,369
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-50472.426
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2579
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,368
$AR_SAMPLENUM,0
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,100211,115627,1830.376,12456.124,163,2.8,182,-2.2
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-74.2
$GPS2,100211,122016,1830.487,12455.942,11,5.5,30,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.208,0.054
$KALMAN_X,-523135.7,107.5,-625.3,246310.2,3330.1
$KALMAN_Y,593223.6,302.7,514.1,-827331.4,-2702.6
$MHEAD_RNG_PITCHd_Wd,286.7,70026,-9.9,-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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,89,0.00,0.00,-60.70,0.000,2,0.000,0.000,42,2041,2637,0,0,0,0,0,0
$GC,93,-0.58,-146.0,3.0,-2.7,6,128,10.23,2.30,-19.45,0.000,4,0.249,0.075,2377,3458,3486,0,0,0,0,0,0
$GC,327,-0.58,-146.0,53.8,-21.0,31,332,0.00,2.17,0.00,0.000,6,0.000,0.045,2376,2049,3489,0,0,0,0,0,0
$GC,587,-0.58,-146.0,113.1,-22.7,56,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2047,3488,0,0,0,0,0,0
$GC,843,-0.58,-146.0,166.6,-18.2,80,847,0.00,2.22,0.00,0.000,4,0.000,0.060,2382,639,3488,0,0,0,0,0,0
$GC,922,-0.58,-146.0,180.4,-15.5,88,926,0.00,2.20,0.00,0.000,6,0.000,0.048,2367,2045,3487,0,0,0,0,0,0
$GC,1189,-0.58,-146.0,224.9,-15.5,106,1193,0.00,2.28,0.00,0.000,4,0.000,0.069,2356,3464,3487,0,0,0,0,0,0
$GC,1267,-0.58,-146.0,237.3,-15.6,109,1272,0.12,2.20,0.00,0.000,6,0.161,0.044,2389,2042,3489,0,0,0,0,0,0
$GC,1582,-0.58,-146.0,272.7,-11.3,124,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2042,3489,0,0,0,0,0,0
$GC,1891,-0.58,-146.0,305.5,-9.7,138,1895,0.00,2.22,0.00,0.000,4,0.000,0.062,2390,639,3488,0,0,0,0,0,0
$GC,1956,-0.58,-146.0,312.1,-9.6,139,1960,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2054,3492,0,0,0,0,0,0
$GC,2300,-0.58,-146.0,345.4,-10.1,148,2304,0.00,2.28,0.00,0.000,4,0.000,0.073,2387,3456,3487,0,0,0,0,0,0
$GC,2371,-0.58,-146.0,352.3,-9.3,149,2375,0.00,2.15,0.00,0.000,6,0.000,0.044,2385,2052,3487,0,0,0,0,0,0
$GC,2710,-0.58,-146.0,383.0,-8.9,158,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2051,3485,0,0,0,0,0,0
$GC,3035,-0.58,-146.0,413.6,-9.5,166,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2051,3483,0,0,0,0,0,0
$GC,3361,-0.58,-146.0,442.9,-8.6,174,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2051,3480,0,0,0,0,0,0
$GC,3685,-0.58,-146.0,472.2,-9.4,182,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2051,3477,0,0,0,0,0,0
$GC,4010,-0.58,-146.0,500.2,-8.3,190,4014,0.00,2.33,0.00,0.000,4,0.000,0.071,2387,3461,3476,0,0,0,0,0,0
$GC,4057,-0.58,-146.0,503.6,-6.6,191,4061,0.00,2.20,0.00,0.000,6,0.000,0.046,2388,2040,3475,0,0,0,0,0,0
$GC,4379,-0.58,-146.0,527.8,-7.8,199,4383,0.00,2.35,0.00,0.000,4,0.000,0.073,2388,3459,3473,0,0,0,0,0,0
$GC,4411,-0.58,-146.0,530.4,-8.3,199,4415,0.00,2.22,0.00,0.000,6,0.000,0.048,2388,2038,3471,0,0,0,0,0,0
$GC,4742,-0.58,-146.0,558.0,-8.6,207,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2037,3471,0,0,0,0,0,0
$GC,5066,-0.58,-146.0,584.6,-7.9,215,5070,0.00,2.33,0.00,0.000,4,0.000,0.072,2388,3460,3467,0,0,0,0,0,0
$GC,5109,-0.58,-146.0,587.8,-7.5,216,5113,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2041,3466,0,0,0,0,0,0
$GC,5436,-0.58,-146.0,613.1,-8.1,224,5440,0.00,2.30,0.00,0.000,4,0.000,0.067,2388,3459,3464,0,0,0,0,0,0
$GC,5458,-0.58,-146.0,615.2,-9.1,224,5462,0.00,2.20,0.00,0.000,6,0.000,0.042,2388,2042,3464,0,0,0,0,0,0
$GC,5802,-0.58,-146.0,643.3,-8.1,233,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2038,3460,0,0,0,0,0,0
$GC,6127,-0.58,-146.0,665.6,-6.4,241,6131,0.00,2.33,0.00,0.000,4,0.000,0.068,2388,3468,3459,0,0,0,0,0,0
$GC,6160,-0.58,-146.0,667.5,-6.0,241,6164,0.00,2.20,0.00,0.000,6,0.000,0.044,2388,2043,3459,0,0,0,0,0,0
$GC,6491,-0.58,-146.0,688.1,-6.5,249,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2039,3459,0,0,0,0,0,0
$GC,6816,-0.58,-146.0,712.5,-7.8,257,6820,0.00,2.33,0.00,0.000,4,0.000,0.068,2388,3463,3455,0,0,0,0,0,0
$GC,6853,-0.58,-146.0,715.4,-8.0,257,6857,0.00,2.20,0.00,0.000,6,0.000,0.044,2387,2045,3453,0,0,0,0,0,0
$GC,7188,-0.58,-146.0,737.7,-6.3,266,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2040,3450,0,0,0,0,0,0
$GC,7513,-0.58,-146.0,757.0,-6.2,274,7517,0.00,2.33,0.00,0.000,4,0.000,0.067,2387,3461,3450,0,0,0,0,0,0
$GC,7556,-0.58,-146.0,759.9,-7.1,275,7560,0.00,2.17,0.00,0.000,6,0.000,0.044,2388,2051,3450,0,0,0,0,0,0
$GC,7882,-0.58,-146.0,783.3,-7.4,283,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2045,3448,0,0,0,0,0,0
$GC,8207,-0.58,-146.0,806.5,-7.0,291,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2045,3447,0,0,0,0,0,0
$GC,8532,-0.58,-146.0,829.1,-7.0,299,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2045,3446,0,0,0,0,0,0
$GC,8858,-0.58,-146.0,851.1,-6.6,307,8862,0.00,2.30,0.00,0.000,4,0.000,0.066,2388,3460,3444,0,0,0,0,0,0
$GC,8890,-0.58,-146.0,853.2,-7.1,307,8894,0.00,2.20,0.00,0.000,6,0.000,0.045,2388,2046,3444,0,0,0,0,0,0
$GC,9226,-0.58,-146.0,873.3,-5.9,316,9230,0.00,2.25,0.00,0.000,4,0.000,0.058,2388,637,3443,0,0,0,0,0,0
$GC,9263,-0.58,-146.0,875.8,-6.5,316,9269,0.00,2.25,0.00,0.000,6,0.000,0.051,2390,2056,3443,0,0,0,0,0,0
$GC,9593,-0.58,-146.0,896.0,-6.2,325,9598,0.00,2.28,0.00,0.000,4,0.000,0.068,2383,3455,3442,0,0,0,0,0,0
$GC,9644,-0.58,-146.0,899.3,-6.9,326,9648,0.00,2.20,0.00,0.000,6,0.000,0.045,2391,2050,3442,0,0,0,0,0,0
$GC,9962,-0.58,-146.0,920.5,-6.8,334,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2046,3441,0,0,0,0,0,0
$GC,10286,-0.58,-146.0,941.1,-6.1,342,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2046,3440,0,0,0,0,0,0
$GC,10612,-0.58,-146.0,958.8,-5.3,350,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2046,3439,0,0,0,0,0,0
$GC,10937,-0.58,-146.0,976.4,-5.5,358,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2046,3439,0,0,0,0,0,0
$STATE,11218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11218,begin apogee
$GC,11224,-0.28,0.0,991.7,5.5,365,11349,0.32,0.00,122.50,1.351,6,0.128,0.000,2491,2101,2891,0,0,0,0,0,0
$STATE,11353,end apogee,CONTROL_FINISHED_OK
$STATE,11353,begin climb
$GC,11355,0.58,146.0,995.5,0.0,368,11499,0.77,2.47,134.20,1.315,4,0.084,0.061,2770,704,2293,0,0,1,0,0,0
$GC,11586,0.58,146.0,982.6,12.0,373,11591,0.00,2.30,0.00,0.000,6,0.000,0.054,2771,2100,2283,0,0,1,0,0,0
$GC,11936,0.58,146.0,945.3,10.5,382,11940,0.00,2.33,0.00,0.000,4,0.000,0.071,2771,3506,2282,0,0,0,0,0,0
$GC,11991,0.58,146.0,938.5,11.4,383,11995,0.00,2.20,0.00,0.000,6,0.000,0.051,2781,2106,2276,0,0,1,0,0,0
$GC,12309,0.58,146.0,905.3,10.4,391,12313,0.00,2.30,0.00,0.000,4,0.000,0.067,2781,3508,2277,0,0,0,0,0,0
$GC,12383,0.58,146.0,896.5,11.7,392,12387,0.00,2.22,0.00,0.000,6,0.000,0.051,2791,2099,2275,0,0,0,0,0,0
$GC,12717,0.58,146.0,859.7,11.0,401,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2092,2276,0,0,0,0,0,0
$GC,13043,0.58,146.0,823.4,11.3,409,13047,0.00,2.33,0.00,0.000,4,0.000,0.067,2791,3514,2275,0,0,0,0,0,0
$GC,13093,0.58,146.0,816.9,12.8,410,13098,0.12,2.25,0.00,0.000,6,0.210,0.051,2771,2090,2274,0,0,1,0,0,0
$GC,13416,0.58,146.0,782.3,10.7,418,13420,0.00,2.28,0.00,0.000,4,0.000,0.064,2780,691,2273,0,0,0,0,0,0
$GC,13459,0.58,146.0,777.6,11.0,419,13463,0.00,2.28,0.00,0.000,6,0.000,0.054,2779,2103,2272,0,0,0,0,0,0
$GC,13786,0.58,146.0,742.6,10.5,427,13790,0.00,2.30,0.00,0.000,4,0.000,0.069,2780,3508,2272,0,0,0,0,0,0
$GC,13823,0.58,146.0,738.2,11.0,427,13829,0.00,2.20,0.00,0.000,6,0.000,0.051,2790,2102,2273,0,0,1,0,0,0
$GC,14154,0.58,146.0,705.7,9.4,436,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2095,2272,0,0,0,0,0,0
$GC,14479,0.58,146.0,673.9,10.1,444,14480,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2095,2273,0,0,0,0,0,0
$GC,14804,0.58,146.0,641.7,9.6,452,14808,0.00,2.30,0.00,0.000,4,0.000,0.066,2791,3507,2272,0,0,0,0,0,0
$GC,14832,0.58,146.0,638.8,10.5,452,14836,0.15,2.25,0.00,0.000,6,0.202,0.051,2766,2100,2272,0,0,0,0,0,0
$GC,15167,0.58,146.0,612.7,7.6,461,15172,0.00,2.30,0.00,0.000,4,0.000,0.063,2771,685,2271,0,0,0,0,0,0
$GC,15218,0.58,146.0,608.4,8.6,462,15222,0.00,2.28,0.00,0.000,6,0.000,0.054,2774,2099,2270,0,0,0,0,0,0
$GC,15536,0.58,146.0,579.4,9.7,470,15540,0.00,2.30,0.00,0.000,4,0.000,0.068,2775,3506,2268,0,0,0,0,0,0
$GC,15573,0.58,146.0,575.2,11.4,470,15576,0.00,2.22,0.00,0.000,6,0.000,0.051,2785,2100,2271,0,0,0,0,0,0
$GC,15907,0.58,146.0,542.9,9.1,479,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2093,2270,0,0,0,0,0,0
$GC,16233,0.58,146.0,518.8,6.9,487,16237,0.00,2.33,0.00,0.000,4,0.000,0.065,2781,3508,2269,0,0,0,0,0,0
$GC,16368,0.58,146.0,507.7,8.3,490,16372,0.12,2.22,0.00,0.000,6,0.200,0.049,2767,2096,2270,0,0,1,0,0,0
$GC,16696,0.58,146.0,482.1,8.0,498,16700,0.00,2.28,0.00,0.000,4,0.000,0.061,2775,688,2272,0,0,0,0,0,0
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$STATE,23826,end climb,SURFACE_DEPTH_REACHED
$STATE,23826,begin surface coast
$FINISH,1.0,1.013041
$STATE,23873,end surface coast,CONTROL_FINISHED_OK
$STATE,23873,begin surface
$SM_CCo,23896,95.15,0.545,0,0,1055,450.12
$SM_GC,1.76,0.00,0.00,95.15,0.000,0.000,0.545,45,2057,1055,-7.92,0.08,450.12
$IRIDIUM_FIX,1821.40,12455.80,050812,060609
$TT8_MAMPS,0.057525
$HUMID,1078676764
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.60
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8432451584
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51959824384
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,74.988
$10V_AH,9.7,51.330
$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,19.625,193.700,364.700,95.150,0.000,81.999,114.934,883.808,0.500,0.000,32.763,1832.532,19217.848,595.247,3241.179,526.140,33.362,1842.759,0.000,2211.266,0.000,0.544,0.000
$DEVICE_MAMPS,249.275,125.788,1351.454,544.570,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,619.295,0.000,0.000,0.000,0.000,0.000,0.000,23401.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.456,0.000,0.000
$MEM,354956
$DATA_FILE_SIZE,33385,916
$CAP_FILE_SIZE,203779,0
$CFSIZE,260165632,226033664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,100211,190236,1830.415,12453.070,41,1.1,41,-2.2