version: 66.06
glider: 140
mission: 8
dive: 91
start: 10 26 109 23 7 7
data:
$ID,140
$MISSION,8
$DIVE,91
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$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,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,-45987.637
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,230101,6307.123,308.565,40,1.6,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.58
$_SM_ANGLEo,-64.2
$GPS2,230644,6307.101,308.553,15,1.8,15,-3.1
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$TGT_RADIUS,4000.000
$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,111.3,38531,-13.7,-6.875
$D_GRID,843
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-8.40,0.000,2,0.000,0.000,219,2268,2061,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.6,-0.0,1,121,9.20,2.10,-73.38,0.000,4,0.255,0.054,2506,919,3483,0,0,0,0,0,0
$GC,370,-0.66,-116.7,29.8,-10.8,62,377,0.12,2.10,0.00,0.000,6,0.179,0.030,2544,2304,3484,0,0,0,0,0,0
$GC,708,-0.61,-116.7,58.1,-7.9,123,713,0.00,2.08,0.00,0.000,4,0.000,0.036,2544,919,3485,0,0,0,0,0,0
$GC,829,-0.56,-116.7,69.2,-8.8,131,834,0.10,2.08,0.00,0.000,6,0.175,0.029,2577,2302,3485,0,0,0,0,0,0
$GC,1153,-0.59,-116.7,91.6,-6.6,147,1156,0.00,2.08,0.00,0.000,4,0.000,0.041,2576,3699,3486,0,0,0,0,0,0
$GC,1175,-0.64,-116.7,93.1,-6.2,148,1178,0.00,2.00,0.00,0.000,6,0.000,0.024,2577,2301,3485,0,0,0,0,0,0
$GC,1501,-0.67,-116.7,113.1,-5.9,164,1505,0.00,2.10,0.00,0.000,4,0.000,0.041,2577,3697,3485,0,0,0,0,0,0
$GC,1522,-0.72,-116.7,114.4,-5.8,165,1527,0.15,2.00,0.00,0.000,6,0.129,0.025,2529,2293,3486,0,0,0,0,0,0
$GC,1845,-0.66,-116.7,140.4,-8.2,181,1849,0.00,2.03,0.00,0.000,4,0.000,0.037,2529,915,3486,0,0,0,0,0,0
$GC,1868,-0.59,-116.7,142.7,-8.7,182,1872,0.15,2.03,0.00,0.000,6,0.200,0.029,2567,2300,3486,0,0,0,0,0,0
$GC,2193,-0.59,-116.7,166.3,-7.5,198,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2302,3487,0,0,0,0,0,0
$GC,2504,-0.59,-116.7,190.9,-8.4,213,2508,0.00,2.05,0.00,0.000,4,0.000,0.041,2567,3700,3487,0,0,0,0,0,0
$GC,2525,-0.59,-116.7,192.8,-8.2,214,2529,0.00,2.03,0.00,0.000,6,0.000,0.024,2567,2294,3486,0,0,0,0,0,0
$GC,2852,-0.59,-116.7,219.0,-8.0,230,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2293,3487,0,0,0,0,0,0
$GC,3161,-0.59,-116.7,242.0,-7.1,245,3165,0.00,2.10,0.00,0.000,4,0.000,0.041,2567,3702,3487,0,0,0,0,0,0
$GC,3177,-0.62,-116.7,243.2,-7.2,246,3181,0.00,2.00,0.00,0.000,6,0.000,0.025,2568,2296,3487,0,0,0,0,0,0
$GC,3509,-0.62,-116.7,264.6,-6.0,262,3513,0.00,2.10,0.00,0.000,4,0.000,0.041,2567,3705,3487,0,0,0,0,0,0
$GC,3537,-0.66,-116.7,266.4,-6.1,263,3540,0.00,2.00,0.00,0.000,6,0.000,0.025,2567,2295,3486,0,0,0,0,0,0
$GC,3858,-0.70,-116.7,286.5,-6.2,279,3862,0.00,2.10,0.00,0.000,4,0.000,0.041,2567,3702,3487,0,0,0,0,0,0
$GC,3885,-0.74,-116.7,288.3,-6.5,280,3890,0.12,2.00,0.00,0.000,6,0.130,0.025,2528,2290,3487,0,0,0,0,0,0
$GC,4210,-0.69,-116.7,312.2,-7.4,293,4213,0.00,2.00,0.00,0.000,4,0.000,0.038,2527,921,3487,0,0,0,0,0,0
$GC,4231,-0.63,-116.7,313.9,-7.2,293,4236,0.08,2.05,0.00,0.000,6,0.193,0.029,2563,2307,3486,0,0,0,0,0,0
$GC,4549,-0.63,-116.7,334.6,-7.0,304,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2307,3486,0,0,0,0,0,0
$GC,4855,-0.63,-116.7,356.1,-7.0,314,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2306,3486,0,0,0,0,0,0
$GC,5161,-0.63,-116.7,377.1,-6.9,324,5165,0.00,2.05,0.00,0.000,4,0.000,0.042,2563,3704,3485,0,0,0,0,0,0
$GC,5239,-0.69,-116.7,382.3,-6.9,326,5243,0.00,2.03,0.00,0.000,6,0.000,0.025,2563,2297,3485,0,0,0,0,0,0
$GC,5569,-0.72,-116.7,402.3,-6.2,337,5573,0.00,2.10,0.00,0.000,4,0.000,0.043,2563,3700,3484,0,0,0,0,0,0
$GC,5637,-0.77,-116.7,406.6,-6.1,339,5642,0.15,2.00,0.00,0.000,6,0.127,0.025,2515,2288,3484,0,0,0,0,0,0
$GC,5971,-0.72,-116.7,435.5,-9.1,350,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2287,3483,0,0,0,0,0,0
$GC,6277,-0.65,-116.7,464.1,-9.3,360,6279,0.15,0.00,0.00,0.000,6,0.191,0.000,2554,2285,3483,0,0,0,0,0,0
$GC,6583,-0.65,-116.7,489.7,-8.2,370,6587,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,3697,3482,0,0,0,0,0,0
$GC,6627,-0.70,-116.7,493.4,-9.0,371,6631,0.00,1.98,0.00,0.000,6,0.000,0.026,2555,2308,3481,0,0,0,0,0,0
$GC,6984,-0.70,-116.7,518.6,-6.9,379,6988,0.00,2.08,0.00,0.000,4,0.000,0.044,2554,3695,3481,0,0,0,0,0,0
$GC,7033,-0.74,-116.7,522.1,-7.0,379,7037,0.00,2.03,0.00,0.000,6,0.000,0.027,2554,2303,3480,0,0,0,0,0,0
$GC,7354,-0.74,-116.7,542.8,-6.5,385,7358,0.00,2.10,0.00,0.000,4,0.000,0.044,2554,3702,3479,0,0,0,0,0,0
$GC,7393,-0.78,-116.7,545.3,-6.7,385,7397,0.12,2.03,0.00,0.000,6,0.138,0.027,2515,2287,3478,0,0,0,0,0,0
$GC,7718,-0.73,-116.7,572.1,-8.5,391,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2285,3477,0,0,0,0,0,0
$GC,8021,-0.67,-116.7,596.9,-8.2,396,8026,0.12,2.15,0.00,0.000,4,0.193,0.045,2546,3704,3477,0,0,0,0,0,0
$GC,8053,-0.67,-116.7,599.5,-7.5,396,8058,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2310,3476,0,0,0,0,0,0
$GC,8385,-0.67,-116.7,623.0,-7.2,402,8389,0.00,2.10,0.00,0.000,4,0.000,0.044,2546,3704,3475,0,0,0,0,0,0
$GC,8417,-0.67,-116.7,625.4,-7.6,402,8421,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2304,3475,0,0,0,0,0,0
$GC,8749,-0.67,-116.7,648.1,-6.8,408,8753,0.00,2.10,0.00,0.000,4,0.000,0.044,2546,3702,3474,0,0,0,0,0,0
$GC,8804,-0.67,-116.7,651.6,-5.8,408,8811,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2298,3474,0,0,0,0,0,0
$GC,9114,-0.67,-116.7,671.7,-6.6,414,9118,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3694,3472,0,0,0,0,0,0
$GC,9157,-0.67,-116.7,674.6,-6.6,414,9162,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2304,3472,0,0,0,0,0,0
$GC,9484,-0.67,-116.7,695.3,-6.2,420,9488,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3700,3471,0,0,0,0,0,0
$GC,9522,-0.67,-116.7,697.9,-6.5,420,9526,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2288,3471,0,0,0,0,0,0
$GC,9848,-0.67,-116.7,719.3,-6.6,426,9852,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,3699,3470,0,0,0,0,0,0
$GC,9925,-0.67,-116.7,724.8,-7.6,427,9929,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2303,3470,0,0,0,0,0,0
$GC,10280,-0.67,-116.7,749.2,-6.8,433,10284,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,3697,3470,0,0,0,0,0,0
$GC,10306,-0.71,-116.7,751.1,-7.0,433,10311,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2302,3469,0,0,0,0,0,0
$GC,10649,-0.71,-116.7,772.4,-6.2,439,10653,0.00,2.10,0.00,0.000,4,0.000,0.046,2546,3695,3469,0,0,0,0,0,0
$GC,10712,-0.74,-116.7,776.4,-6.3,440,10716,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2296,3469,0,0,0,0,0,0
$GC,11083,-0.74,-116.7,799.5,-6.3,446,11087,0.00,2.12,0.00,0.000,4,0.000,0.046,2546,3702,3468,0,0,0,0,0,0
$GC,11150,-0.77,-116.7,803.8,-6.6,447,11154,0.00,2.03,0.00,0.000,6,0.000,0.028,2546,2303,3468,0,0,0,0,0,0
$GC,11515,-0.77,-116.7,827.5,-6.5,453,11519,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3694,3468,0,0,0,0,0,0
$GC,11587,-0.81,-116.7,832.4,-7.2,454,11591,0.12,2.03,0.00,0.000,6,0.147,0.028,2505,2289,3468,0,0,0,0,0,0
$STATE,11763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11763,begin apogee
$GC,11768,-0.24,0.0,846.1,7.8,457,11866,0.60,0.00,95.53,1.458,6,0.181,0.000,2682,2649,3006,0,0,0,0,0,0
$STATE,11867,end apogee,CONTROL_FINISHED_OK
$STATE,11867,begin climb
$GC,11869,0.80,116.7,848.3,0.0,458,11980,1.10,2.35,101.95,1.370,4,0.124,0.048,3018,4046,2529,0,0,0,0,0,0
$GC,12019,0.54,116.7,842.9,8.9,461,12024,0.35,2.17,0.00,0.000,6,0.191,0.028,2942,2657,2524,0,0,0,0,0,0
$GC,12379,0.57,143.2,821.5,5.8,467,12403,0.00,0.00,22.65,1.344,6,0.000,0.000,2942,2656,2422,0,0,0,0,0,0
$GC,12682,0.59,158.7,802.8,6.3,472,12698,0.00,0.00,14.15,1.325,6,0.000,0.000,2942,2656,2359,0,0,0,0,0,0
$GC,12985,0.59,159.9,782.4,6.8,477,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2657,2354,0,0,0,0,0,0
$GC,13288,0.59,161.2,761.8,6.8,482,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2657,2354,0,0,0,0,0,0
$GC,13591,0.60,171.1,742.1,6.5,487,13605,0.00,0.00,11.65,1.333,6,0.000,0.000,2942,2656,2308,0,0,0,0,0,0
$GC,13894,0.62,184.3,722.7,6.3,492,13913,0.00,2.20,12.85,1.315,4,0.000,0.040,2951,1262,2253,0,0,0,0,0,0
$GC,13947,0.67,222.5,719.3,5.3,492,13988,0.00,2.17,35.30,1.313,6,0.000,0.035,2951,2653,2099,0,0,0,0,0,0
$GC,14327,0.70,222.5,693.0,7.0,499,14328,0.12,0.00,0.00,0.000,6,0.126,0.000,2992,2653,2089,0,0,0,0,0,0
$GC,14629,0.66,222.5,665.9,9.0,504,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2653,2088,0,0,0,0,0,0
$GC,14932,0.63,222.5,637.4,9.4,509,14934,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2653,2087,0,0,0,0,0,0
$GC,15235,0.59,222.5,608.0,9.7,514,15237,0.15,0.00,0.00,0.000,6,0.186,0.000,2955,2653,2085,0,0,0,0,0,0
$GC,15538,0.62,222.5,584.9,7.5,519,15539,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2653,2085,0,0,0,0,0,0
$GC,15841,0.65,222.5,563.0,7.2,524,15842,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2653,2084,0,0,0,0,0,0
$GC,16145,0.69,222.5,541.1,7.3,529,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2653,2084,0,0,0,0,0,0
$GC,16447,0.72,222.5,518.4,7.4,534,16449,0.12,0.00,0.00,0.000,6,0.132,0.000,2995,2653,2084,0,0,0,0,0,0
$GC,16751,0.69,222.5,491.9,8.8,540,16752,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2653,2084,0,0,0,0,0,0
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$GC,18282,0.61,222.5,372.3,6.9,590,18283,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2653,2082,0,0,0,0,0,0
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$GC,22546,0.78,231.7,20.7,9.8,840,22553,0.12,0.00,0.00,0.000,6,0.117,0.000,3019,2659,2064,0,0,0,0,0,0
$STATE,22723,end climb,SURFACE_DEPTH_REACHED
$STATE,22723,begin surface coast
$FINISH,2.7,1.002303
$STATE,22765,end surface coast,CONTROL_FINISHED_OK
$STATE,22765,begin surface
$SM_CCo,22781,35.72,0.782,0,0,1884,275.23
$SM_GC,4.07,0.00,0.00,35.72,0.000,0.000,0.782,213,2278,1884,-7.98,-0.62,275.23
$IRIDIUM_FIX,6239.86,217.82,200199,161628
$TT8_MAMPS,0.027612
$HUMID,1078342571
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.3,16.392
$10V_AH,10.1,10.423
$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,21.300,129.575,300.525,35.725,0.000,31.108,31.184,162.118,0.000,0.000,15.683,1841.839,18358.094,464.584,2045.662,447.010,0.000,1472.549,0.000,2024.707,0.000,0.535,0.000
$DEVICE_MAMPS,254.644,53.690,1458.067,781.573,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.549,899.140,534.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,233972
$DATA_FILE_SIZE,50735,879
$CAP_FILE_SIZE,166505,0
$CFSIZE,260165632,247599104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,326.8,1
$GPS,271009,052837,6306.383,313.884,36,0.9,36,-3.1