version: 66.11
glider: 129
mission: 4
dive: 50
start: 11 14 112 21 18 10
data:
$ID,129
$MISSION,4
$DIVE,50
$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,1
$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,-2708.9392
$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,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,73
$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,0.00039999999
$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
$GPS1,141112,211029,1746.760,12407.929,38,1.2,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-62.9
$GPS2,141112,211743,1746.698,12407.942,12,1.4,12,-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,281.1,239831,-13.2,-7.857,-16.86
$D_GRID,4759
$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,-0.51,-175.2,0.0,0.0,0,67,0.00,0.00,-47.75,0.000,2,0.000,0.000,49,1919,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.51,-175.2,3.2,-6.5,8,113,7.57,2.10,-28.58,0.000,4,0.245,0.051,1960,3311,3124,0,0,0,0,0,0,25.80,26.09,26.37
$GC,225,-0.38,-175.2,43.2,-28.9,30,233,0.20,2.03,0.00,0.000,6,0.155,0.028,2015,1917,3124,0,0,0,0,0,0,26.07,26.24,28.83
$GC,531,-0.29,-175.2,120.1,-20.8,47,537,0.12,2.00,0.00,0.000,4,0.177,0.033,2055,524,3125,0,0,0,0,0,0,26.26,26.39,28.83
$GC,708,-0.29,-175.2,141.1,-10.2,55,716,0.00,2.00,0.00,0.000,6,0.000,0.026,2046,1923,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1014,-0.29,-175.2,171.2,-8.8,71,1020,0.00,2.05,0.00,0.000,4,0.000,0.034,2046,520,3126,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1046,-0.29,-175.2,173.2,-8.8,72,1052,0.00,2.00,0.00,0.000,6,0.000,0.026,2038,1927,3126,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1359,-0.30,-175.2,201.2,-8.2,88,1364,0.00,2.03,0.00,0.000,4,0.000,0.039,2028,3308,3126,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1466,-0.33,-175.2,209.2,-7.8,93,1472,0.00,1.98,0.00,0.000,6,0.000,0.026,2028,1917,3126,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1784,-0.34,-175.2,237.2,-8.7,109,1790,0.00,2.00,0.00,0.000,4,0.000,0.035,2027,532,3126,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1847,-0.35,-175.2,243.0,-9.1,112,1852,0.00,1.98,0.00,0.000,6,0.000,0.026,2019,1924,3124,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2170,-0.36,-175.2,272.3,-8.9,128,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1924,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.38,-175.2,296.5,-7.6,143,2477,0.00,2.05,0.00,0.000,4,0.000,0.035,2019,521,3125,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2494,-0.39,-175.2,298.4,-7.7,144,2500,0.00,2.03,0.00,0.000,6,0.000,0.027,2007,1938,3125,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2818,-0.40,-175.2,325.6,-7.7,160,2823,0.00,2.05,0.00,0.000,4,0.000,0.034,2010,530,3124,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2884,-0.40,-175.2,330.8,-8.1,163,2890,0.00,1.98,0.00,0.000,6,0.000,0.028,2003,1935,3124,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3202,-0.40,-175.2,355.7,-7.5,179,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1935,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-0.42,-175.2,378.7,-7.8,194,3509,0.00,2.05,0.00,0.000,4,0.000,0.036,2003,533,3122,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3541,-0.43,-175.2,380.8,-8.0,195,3548,0.00,2.00,0.00,0.000,6,0.000,0.028,2001,1931,3122,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3846,-0.44,-175.2,404.7,-7.0,211,3852,0.00,2.03,0.00,0.000,4,0.000,0.041,1992,3313,3119,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3879,-0.46,-175.2,406.3,-6.9,212,3884,0.00,1.98,0.00,0.000,6,0.000,0.027,1992,1926,3120,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4192,-0.47,-175.2,429.4,-7.4,228,4197,0.00,2.03,0.00,0.000,4,0.000,0.037,1992,533,3118,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4254,-0.47,-175.2,434.6,-8.1,231,4259,0.00,2.00,0.00,0.000,6,0.000,0.028,1989,1930,3117,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4576,-0.47,-175.2,458.9,-7.2,247,4578,0.00,0.00,-0.08,0.000,6,0.000,0.000,1988,1931,3139,0,0,0,0,0,0,28.83,28.83,26.36
$GC,4877,-0.48,-175.2,478.5,-6.3,262,4882,0.00,2.08,0.00,0.000,4,0.000,0.038,1988,533,3139,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4903,-0.48,-175.2,480.2,-6.5,263,4908,0.00,1.98,0.00,0.000,6,0.000,0.029,1988,1921,3139,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5221,-0.50,-175.2,501.1,-6.6,279,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1922,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-0.51,-175.2,521.1,-6.6,294,5527,0.00,2.05,0.00,0.000,4,0.000,0.038,1988,535,3135,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5569,-0.53,-175.2,524.4,-6.9,296,5575,0.00,2.03,0.00,0.000,6,0.000,0.030,1988,1936,3134,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5887,-0.54,-175.2,546.5,-6.9,312,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1937,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6188,-0.56,-175.2,567.7,-7.2,327,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1936,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6488,-0.58,-175.2,588.0,-6.5,342,6495,0.10,2.05,0.00,0.000,4,0.118,0.044,1934,3315,3130,0,0,0,0,0,0,26.69,26.65,28.83
$GC,6526,-0.59,-175.2,590.0,-6.6,343,6533,0.00,2.00,0.00,0.000,6,0.000,0.030,1934,1933,3128,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6843,-0.56,-175.2,620.7,-9.2,356,6849,0.00,2.05,0.00,0.000,4,0.000,0.039,1934,527,3127,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6940,-0.52,-175.2,630.0,-9.9,359,6946,0.15,2.03,0.00,0.000,6,0.156,0.031,1967,1923,3128,0,0,0,0,0,0,26.54,26.68,28.83
$GC,7269,-0.52,-175.2,653.4,-6.9,370,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1923,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,-0.52,-175.2,674.4,-7.1,380,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1923,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7869,-0.52,-175.2,695.5,-7.0,390,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1923,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8169,-0.52,-175.2,717.9,-7.8,400,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1923,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8469,-0.52,-175.2,741.2,-7.8,410,8474,0.00,2.10,0.00,0.000,4,0.000,0.042,1967,520,3119,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8501,-0.52,-175.2,743.9,-7.8,411,8507,0.00,2.05,0.00,0.000,6,0.000,0.032,1966,1933,3119,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8835,-0.52,-175.2,768.3,-6.9,422,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1933,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,-0.52,-175.2,788.2,-6.4,432,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1933,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9435,-0.52,-175.2,807.6,-6.7,442,9441,0.00,2.12,0.00,0.000,4,0.000,0.042,1961,520,3115,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9462,-0.52,-175.2,807.6,-6.7,442,9469,0.00,2.03,0.00,0.000,6,0.000,0.032,1952,1926,3115,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9769,-0.52,-175.2,833.0,-7.7,453,9775,0.00,2.10,0.00,0.000,4,0.000,0.042,1951,522,3113,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9797,-0.52,-175.2,833.0,-7.7,453,9803,0.00,2.05,0.00,0.000,6,0.000,0.032,1943,1927,3113,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10103,-0.51,-175.2,858.7,-7.6,464,10110,0.12,2.08,0.00,0.000,4,0.156,0.045,1976,3317,3112,0,0,0,0,0,0,26.56,26.64,28.83
$GC,10132,-0.49,-175.2,858.7,-7.6,464,10138,0.00,2.03,0.00,0.000,6,0.000,0.031,1976,1923,3112,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10438,-0.52,-175.2,877.3,-5.2,475,10445,0.00,2.08,0.00,0.000,4,0.000,0.043,1976,509,3112,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10496,-0.54,-175.2,879.5,-5.4,476,10503,0.00,2.05,0.00,0.000,6,0.000,0.033,1968,1931,3111,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10803,-0.55,-175.2,897.6,-5.4,487,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1931,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11102,-0.57,-175.2,912.6,-4.9,497,11104,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1931,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11403,-0.59,-175.2,927.5,-5.1,507,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1931,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11702,-0.60,-175.2,943.6,-5.4,517,11708,0.00,2.10,0.00,0.000,4,0.000,0.043,1968,530,3109,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11736,-0.62,-175.2,945.7,-5.6,518,11741,0.00,2.05,0.00,0.000,6,0.000,0.034,1961,1921,3108,0,0,0,0,0,0,28.83,26.67,28.83
$GC,12069,-0.62,-175.2,965.5,-6.0,529,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1922,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12369,-0.63,-175.2,983.4,-5.9,539,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1922,3107,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12486,begin apogee
$GC,12490,-0.17,0.0,990.6,-6.1,543,12640,0.35,0.00,141.73,1.410,6,0.122,0.000,2081,1921,2408,0,0,0,0,0,0,26.53,28.83,23.76
$STATE,12642,end apogee,CONTROL_FINISHED_OK
$STATE,12642,begin climb
$GC,12643,0.51,175.2,994.4,0.0,548,12804,0.62,2.38,150.73,1.367,4,0.087,0.045,2309,510,1693,0,0,0,0,0,0,24.83,24.33,23.42
$GC,12822,0.47,188.0,984.3,7.5,554,12841,0.00,2.22,12.27,1.208,6,0.000,0.031,2309,1909,1642,0,0,0,0,0,0,28.83,24.77,23.67
$GC,13154,0.45,188.0,951.1,9.8,565,13159,0.00,2.15,0.00,0.000,4,0.000,0.046,2310,3290,1634,0,0,0,0,0,0,28.83,25.75,28.83
$GC,13271,0.42,188.0,940.9,10.7,568,13280,0.17,2.10,0.00,0.000,6,0.168,0.035,2274,1900,1633,0,0,0,0,0,0,25.78,25.94,28.83
$GC,13577,0.43,188.0,913.6,7.9,579,13582,0.00,2.15,0.00,0.000,4,0.000,0.045,2274,3293,1632,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13610,0.43,188.0,910.8,8.1,580,13615,0.00,2.08,0.00,0.000,6,0.000,0.034,2274,1900,1632,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13944,0.44,194.8,884.5,7.7,591,13951,0.00,0.00,5.43,1.028,6,0.000,0.000,2274,1900,1615,0,0,0,0,0,0,28.83,28.83,25.12
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$STATE,24123,end climb,SURFACE_DEPTH_REACHED
$STATE,24123,begin surface coast
$FINISH,0.8,1.020598
$STATE,24141,end surface coast,CONTROL_FINISHED_OK
$STATE,24141,begin surface
$SM_CCo,24214,0.00,0.000,0,0,553,455.28
$SM_GC,1.50,6.25,0.00,0.00,0.044,0.000,0.000,63,1886,553,-6.41,-1.16,455.28,0,0,0,0,0,0,26.41,28.83,28.83
$IRIDIUM_FIX,1740.58,12407.78,141112,141437
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.62
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,4001088
$24V_AH,23.4,9.311
$10V_AH,10.3,7.726
$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,16.700,194.925,537.325,0.000,0.000,0.000,0.000,278.700,0.000,0.000,13.093,3504.036,17278.791,729.657,2863.042,264.654,0.000,2399.643,0.000,2459.521,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,51.255,1409.895,0.000,0.000,0.000,0.000,136.170,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24156.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.238,0.000,0.000,0.000
$MEM,327456
$DATA_FILE_SIZE,39964,1088
$CAP_FILE_SIZE,265598,0
$CFSIZE,260034560,247881728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 63.6,1
$GPS,151112,040300,1747.585,12406.190,40,1.2,40,-2.0