version: 66.11
glider: 129
mission: 4
dive: 23
start: 11 7 112 22 30 51
data:
$ID,129
$MISSION,4
$DIVE,23
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,420
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-2674.4871
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,106
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,071112,221736,1747.505,12428.456,26,1.8,26,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-60.3
$GPS2,071112,223025,1747.612,12428.502,10,1.9,10,-2.0
$SPEED_LIMITS,0.136,0.259
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$TGT_RADIUS,5000.000
$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,250.0,271843,-13.2,-7.857,-16.86
$D_GRID,4027
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.58,-175.2,0.0,0.0,0,73,0.00,0.00,-53.53,0.000,2,0.000,0.000,57,2015,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.58,-175.2,3.1,-5.0,9,114,7.93,2.03,-25.33,0.000,4,0.246,0.057,2040,3325,3127,0,0,0,0,0,0,25.79,26.03,26.30
$GC,275,-0.52,-175.2,33.8,-13.5,40,282,0.15,1.98,0.00,0.000,6,0.142,0.028,2084,1955,3128,0,0,0,0,0,0,26.11,26.22,28.83
$GC,582,-0.48,-175.2,75.8,-11.6,61,587,0.00,1.98,0.00,0.000,4,0.000,0.036,2084,588,3128,0,0,0,0,0,0,28.83,26.37,28.83
$GC,678,-0.48,-175.2,84.8,-11.0,65,685,0.00,1.92,0.00,0.000,6,0.000,0.027,2077,1935,3128,0,0,0,0,0,0,28.83,26.43,28.83
$GC,984,-0.51,-175.2,114.0,-8.6,81,989,0.00,1.98,0.00,0.000,4,0.000,0.035,2077,586,3128,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1021,-0.54,-175.2,115.7,-8.3,82,1028,0.00,1.98,0.00,0.000,6,0.000,0.026,2069,1975,3128,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1327,-0.61,-175.2,141.5,-8.5,98,1332,0.00,2.03,0.00,0.000,4,0.000,0.034,2069,573,3129,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1399,-0.68,-175.2,147.1,-8.9,101,1404,0.00,2.00,0.00,0.000,6,0.000,0.027,2062,1983,3129,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1711,-0.75,-175.2,171.0,-7.6,117,1718,0.12,2.03,0.00,0.000,4,0.091,0.039,1987,3363,3129,0,0,0,0,0,0,26.63,26.59,28.83
$GC,1736,-0.79,-175.2,173.2,-7.9,118,1742,0.00,1.98,0.00,0.000,6,0.000,0.027,1987,1977,3129,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2059,-0.71,-175.2,216.7,-12.7,134,2065,0.12,2.00,0.00,0.000,4,0.157,0.034,2028,577,3129,0,0,0,0,0,0,26.54,26.63,28.83
$GC,2136,-0.71,-175.2,222.8,-10.1,137,2143,0.00,1.98,0.00,0.000,6,0.000,0.027,2019,1973,3129,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2442,-0.71,-175.2,251.0,-9.2,153,2447,0.00,2.03,0.00,0.000,4,0.000,0.035,2019,577,3129,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2528,-0.73,-175.2,258.5,-9.2,157,2533,0.00,2.00,0.00,0.000,6,0.000,0.028,2010,1981,3129,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2846,-0.73,-175.2,284.4,-6.7,173,2851,0.00,2.05,0.00,0.000,4,0.000,0.035,2010,575,3128,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2897,-0.73,-175.2,287.6,-7.1,175,2903,0.00,2.00,0.00,0.000,6,0.000,0.028,2001,1977,3128,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3210,-0.73,-175.2,310.2,-6.7,191,3216,0.00,2.05,0.00,0.000,4,0.000,0.036,2000,572,3127,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3237,-0.73,-175.2,311.9,-6.8,192,3243,0.00,2.03,0.00,0.000,6,0.000,0.029,1995,1973,3127,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3554,-0.73,-175.2,336.6,-8.4,208,3559,0.00,2.05,0.00,0.000,4,0.000,0.036,1995,571,3125,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3631,-0.73,-175.2,342.2,-9.1,211,3638,0.00,2.03,0.00,0.000,6,0.000,0.030,1988,1987,3125,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3936,-0.73,-175.2,369.2,-7.8,227,3942,0.00,2.03,0.00,0.000,4,0.000,0.044,1982,3361,3123,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3963,-0.73,-175.2,370.8,-7.5,228,3969,0.12,1.98,0.00,0.000,6,0.137,0.028,2019,1974,3123,0,0,0,0,0,0,26.63,26.73,28.83
$GC,4282,-0.81,-175.2,389.0,-6.4,244,4288,0.00,2.00,0.00,0.000,4,0.000,0.038,2019,579,3121,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4375,-0.88,-175.2,395.5,-7.8,248,4381,0.15,2.00,0.00,0.000,6,0.086,0.029,1942,1982,3120,0,0,0,0,0,0,26.70,26.72,28.83
$GC,4688,-0.80,-175.2,435.3,-12.5,264,4695,0.15,2.05,0.00,0.000,4,0.144,0.036,1991,579,3117,0,0,0,0,0,0,26.62,26.72,28.83
$GC,4757,-0.77,-175.2,441.8,-10.8,267,4762,0.00,2.00,0.00,0.000,6,0.000,0.031,1988,1971,3117,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5074,-0.77,-175.2,469.3,-8.1,283,5080,0.00,2.05,-0.08,0.000,4,0.000,0.052,1988,578,3146,0,0,0,0,0,0,28.83,26.71,26.62
$GC,5141,-0.77,-175.2,474.8,-8.5,286,5147,0.00,2.03,0.00,0.000,6,0.000,0.031,1982,1988,3146,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5459,-0.77,-175.2,499.1,-7.4,302,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1988,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5760,-0.77,-175.2,520.8,-7.5,317,5765,0.00,2.05,0.00,0.000,4,0.000,0.046,1972,3368,3144,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5786,-0.77,-175.2,522.6,-7.6,318,5792,0.12,2.00,0.00,0.000,6,0.137,0.030,2009,1979,3144,0,0,0,0,0,0,26.65,26.74,28.83
$GC,6104,-0.85,-175.2,543.3,-6.4,334,6111,0.10,2.05,0.00,0.000,4,0.111,0.039,1958,575,3141,0,0,0,0,0,0,26.74,26.72,28.83
$GC,6242,-0.81,-175.2,555.8,-10.6,340,6249,0.15,2.03,0.00,0.000,6,0.144,0.032,1993,1975,3140,0,0,0,0,0,0,26.64,26.73,28.83
$GC,6549,-0.87,-175.2,580.3,-7.7,356,6554,0.00,2.05,0.00,0.000,4,0.000,0.041,1993,567,3138,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6612,-0.92,-175.2,585.7,-8.4,359,6618,0.10,2.05,0.00,0.000,6,0.112,0.032,1946,1988,3137,0,0,0,0,0,0,26.70,26.73,28.83
$GC,6935,-0.87,-175.2,620.4,-10.7,372,6940,0.00,2.10,0.00,0.000,4,0.000,0.041,1942,571,3136,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7012,-0.82,-175.2,627.3,-10.9,374,7018,0.17,2.05,0.00,0.000,6,0.146,0.034,1985,1983,3135,0,0,0,0,0,0,26.63,26.73,28.83
$GC,7331,-0.86,-175.2,650.2,-6.2,385,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1983,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7631,-0.91,-175.2,668.2,-6.0,395,7636,0.00,2.10,0.00,0.000,4,0.000,0.041,1985,570,3133,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7688,-0.95,-175.2,670.5,-6.3,396,7696,0.10,2.05,0.00,0.000,6,0.112,0.034,1929,1991,3132,0,0,0,0,0,0,26.70,26.73,28.83
$GC,7994,-0.88,-175.2,701.3,-10.0,407,7996,0.12,0.00,0.00,0.000,6,0.156,0.000,1968,1991,3131,0,0,0,0,0,0,26.63,28.83,28.83
$GC,8294,-0.88,-175.2,723.6,-7.3,417,8299,0.00,2.10,0.00,0.000,4,0.000,0.042,1968,579,3129,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8360,-0.88,-175.2,728.5,-7.5,419,8365,0.00,2.05,0.00,0.000,6,0.000,0.034,1961,1987,3129,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8688,-0.88,-175.2,753.7,-7.5,430,8694,0.00,2.10,0.00,0.000,4,0.000,0.042,1961,578,3127,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8740,-0.88,-175.2,756.3,-7.6,431,8745,0.00,2.05,0.00,0.000,6,0.000,0.034,1951,1985,3127,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9052,-0.88,-175.2,783.3,-8.1,442,9057,0.00,2.10,0.00,0.000,4,0.000,0.043,1951,575,3125,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9093,-0.88,-175.2,786.2,-8.3,443,9098,0.00,2.05,0.00,0.000,6,0.000,0.035,1941,1978,3124,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9417,-0.85,-175.2,814.1,-7.9,454,9422,0.12,2.08,0.00,0.000,4,0.156,0.041,1983,573,3124,0,0,0,0,0,0,26.64,26.72,28.83
$GC,9474,-0.85,-175.2,816.6,-7.7,455,9482,0.00,2.08,0.00,0.000,6,0.000,0.034,1976,1997,3124,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9781,-0.89,-175.2,834.7,-5.2,466,9786,0.00,2.12,0.00,0.000,4,0.000,0.042,1976,573,3123,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9833,-0.93,-175.2,836.7,-5.4,467,9838,0.00,2.05,0.00,0.000,6,0.000,0.035,1967,1975,3122,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10147,-0.96,-175.2,856.1,-5.9,478,10152,0.00,2.08,0.00,0.000,4,0.000,0.044,1967,578,3123,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10194,-0.99,-175.2,858.3,-6.1,479,10199,0.00,2.05,0.00,0.000,6,0.000,0.035,1959,1978,3121,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10512,-0.99,-175.2,880.0,-6.6,490,10517,0.00,2.10,0.00,0.000,4,0.000,0.044,1959,577,3120,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10558,-0.99,-175.2,882.6,-6.9,491,10564,0.00,2.05,0.00,0.000,6,0.000,0.035,1950,1976,3120,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10878,-0.99,-175.2,907.3,-7.7,502,10883,0.00,2.10,0.00,0.000,4,0.000,0.044,1950,574,3119,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10959,-0.99,-175.2,913.0,-8.3,504,10964,0.00,2.05,0.00,0.000,6,0.000,0.036,1941,1975,3119,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11273,-0.97,-175.2,942.0,-8.9,515,11279,0.00,2.08,0.00,0.000,4,0.000,0.044,1940,581,3118,0,0,0,0,0,0,28.83,26.71,28.83
$GC,11355,-0.93,-175.2,948.4,-9.4,517,11360,0.00,2.05,0.00,0.000,6,0.000,0.037,1931,1978,3118,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11669,-0.90,-175.2,980.3,-9.5,528,11675,0.10,2.10,0.00,0.000,4,0.171,0.043,1958,578,3116,0,0,0,0,0,0,26.64,26.70,28.83
$GC,11746,-0.88,-175.2,985.9,-9.0,530,11752,0.00,2.05,0.00,0.000,6,0.000,0.037,1949,1975,3116,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,11792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11792,begin apogee
$GC,11797,-0.14,0.0,991.0,-8.5,532,11949,0.73,0.00,143.95,1.403,6,0.115,0.000,2202,1786,2409,0,0,0,0,0,0,26.62,28.83,23.69
$STATE,11951,end apogee,CONTROL_FINISHED_OK
$STATE,11951,begin climb
$GC,11952,0.58,175.2,997.7,0.0,537,12115,0.65,2.38,151.27,1.356,4,0.070,0.047,2434,3190,1693,0,0,0,0,0,0,24.76,24.42,23.55
$GC,12342,0.32,175.2,951.3,16.9,550,12348,0.32,2.10,0.00,0.000,6,0.193,0.036,2360,1819,1682,0,0,0,0,0,0,25.58,25.75,28.83
$GC,12671,0.20,175.2,911.8,11.5,561,12676,0.12,2.15,0.00,0.000,4,0.194,0.046,2322,3205,1682,0,0,0,0,0,0,25.98,26.10,28.83
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$STATE,22625,end climb,SURFACE_DEPTH_REACHED
$STATE,22625,begin surface coast
$FINISH,0.8,1.021674
$STATE,22642,end surface coast,CONTROL_FINISHED_OK
$STATE,22642,begin surface
$SM_CCo,22715,0.00,0.000,0,0,590,446.20
$SM_GC,1.29,6.20,0.25,0.00,0.047,0.047,0.000,64,2048,590,-6.75,-1.41,446.20,0,0,0,0,0,0,26.14,26.20,28.83
$IRIDIUM_FIX,1742.84,12427.25,071112,222231
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.60
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,4011456
$24V_AH,23.5,4.261
$10V_AH,10.1,3.488
$FG_AHR_24Vo,120.571
$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,19.900,216.775,504.175,0.000,0.000,0.000,0.000,540.900,0.000,0.000,11.127,3796.072,15240.557,702.528,3473.014,261.213,0.000,2778.240,0.000,2781.362,0.000,0.542,0.000
$DEVICE_MAMPS,245.565,60.435,1403.010,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22672.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.029,0.000,0.000,0.000
$MEM,327400
$DATA_FILE_SIZE,40031,1049
$CAP_FILE_SIZE,273470,0
$CFSIZE,260034560,251092992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173, 68.0,1
$GPS,081112,045035,1746.346,12428.257,33,1.1,33,-2.0