version: 66.09
glider: 166
mission: 6
dive: 48
start: 8 12 111 14 54 44
data:
$ID,166
$MISSION,6
$DIVE,48
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,310
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-24444.285
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$PRESSURE_SLOPE,0.0001160501
$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,30
$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,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,120811,144415,2308.830,12210.856,39,2.1,58,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.2
$GPS2,120811,145419,2308.998,12210.815,16,1.9,33,-3.1
$SPEED_LIMITS,0.184,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,92.1,192138,-16.6,-10.645
$D_GRID,4813
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.83,-194.6,0.0,0.0,0,107,0.00,0.00,-87.50,0.000,2,0.000,0.000,154,1521,2984,0,0,0,0,0,0
$GC,111,-0.83,-194.6,5.1,-7.7,11,142,8.98,2.12,-13.57,0.000,4,0.226,0.054,2447,2895,3677,0,0,0,0,0,0
$GC,231,-0.58,-194.6,54.3,-37.1,31,240,0.30,2.15,0.00,0.000,6,0.162,0.034,2552,1497,3678,0,0,0,0,0,0
$GC,560,-0.44,-194.6,146.7,-20.9,92,568,0.17,0.00,0.00,0.000,6,0.164,0.000,2599,1495,3679,0,0,0,0,0,0
$GC,890,-0.44,-194.6,199.2,-14.3,153,899,0.00,2.15,0.00,0.000,4,0.000,0.041,2590,2890,3680,0,0,0,0,0,0
$GC,944,-0.47,-194.6,205.9,-12.8,162,952,0.00,2.10,0.00,0.000,6,0.000,0.033,2593,1500,3680,0,0,0,0,0,0
$GC,1272,-0.49,-194.6,245.4,-10.8,223,1280,0.00,1.98,0.00,0.000,4,0.000,0.043,2589,202,3680,0,0,0,0,0,0
$GC,1412,-0.52,-194.6,261.5,-11.4,239,1419,0.00,1.92,0.00,0.000,6,0.000,0.031,2577,1510,3680,0,0,0,0,0,0
$GC,1737,-0.52,-194.6,296.7,-10.9,270,1741,0.00,2.08,0.00,0.000,4,0.000,0.041,2563,2907,3680,0,0,0,0,0,0
$GC,1777,-0.55,-194.6,300.9,-10.7,273,1785,0.00,2.10,0.00,0.000,6,0.000,0.033,2564,1495,3680,0,0,0,0,0,0
$GC,2102,-0.55,-194.6,337.3,-11.5,304,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1495,3678,0,0,0,0,0,0
$GC,2426,-0.58,-194.6,371.9,-11.5,334,2430,0.00,2.12,0.00,0.000,4,0.000,0.043,2552,2907,3676,0,0,0,0,0,0
$GC,2478,-0.62,-194.6,378.4,-11.4,338,2482,0.00,2.10,0.00,0.000,6,0.000,0.034,2553,1493,3676,0,0,0,0,0,0
$GC,2804,-0.63,-194.6,413.4,-9.3,368,2807,0.00,1.90,0.00,0.000,4,0.000,0.044,2554,203,3675,0,0,0,0,0,0
$GC,2828,-0.65,-194.6,415.8,-9.5,370,2832,0.00,1.90,0.00,0.000,6,0.000,0.034,2546,1500,3675,0,0,0,0,0,0
$GC,3159,-0.65,-194.6,449.1,-10.3,401,3163,0.00,1.98,0.00,0.000,4,0.000,0.045,2549,197,3672,0,0,0,0,0,0
$GC,3187,-0.65,-194.6,452.0,-10.2,403,3194,0.00,1.95,0.00,0.000,6,0.000,0.034,2538,1507,3672,0,0,0,0,0,0
$GC,3513,-0.65,-194.6,483.7,-9.0,434,3517,0.00,2.10,0.00,0.000,4,0.000,0.047,2521,2904,3669,0,0,0,0,0,0
$GC,3553,-0.65,-194.6,487.2,-8.4,437,3557,0.00,2.08,0.00,0.000,6,0.000,0.035,2525,1492,3669,0,0,0,0,0,0
$GC,3886,-0.65,-194.6,516.5,-8.9,468,3890,0.00,1.92,0.00,0.000,4,0.000,0.047,2522,196,3666,0,0,0,0,0,0
$GC,3921,-0.65,-194.6,520.3,-10.4,471,3925,0.00,1.92,0.00,0.000,6,0.000,0.036,2512,1498,3666,0,0,0,0,0,0
$GC,4254,-0.64,-194.6,557.3,-12.2,502,4258,0.00,2.12,0.00,0.000,4,0.000,0.050,2499,2904,3664,0,0,0,0,0,0
$GC,4355,-0.64,-194.6,569.6,-11.1,510,4362,0.12,2.08,0.00,0.000,6,0.156,0.038,2536,1500,3662,0,0,0,0,0,0
$GC,4692,-0.66,-194.6,605.1,-10.5,540,4696,0.00,2.17,0.00,0.000,4,0.000,0.052,2526,2910,3660,0,0,0,0,0,0
$GC,4730,-0.70,-194.6,609.5,-10.3,541,4738,0.00,2.12,0.00,0.000,6,0.000,0.039,2526,1495,3659,0,0,0,0,0,0
$GC,5046,-0.72,-194.6,643.4,-10.7,557,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1496,3657,0,0,0,0,0,0
$GC,5358,-0.74,-194.6,678.0,-11.8,572,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1495,3654,0,0,0,0,0,0
$GC,5667,-0.76,-194.6,713.0,-10.8,587,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1495,3652,0,0,0,0,0,0
$GC,5977,-0.78,-194.6,741.0,-8.3,602,5981,0.00,2.17,0.00,0.000,4,0.000,0.057,2515,2901,3650,0,0,0,0,0,0
$GC,6039,-0.83,-194.6,746.0,-7.6,604,6046,0.10,2.12,0.00,0.000,6,0.103,0.043,2461,1504,3650,0,0,0,0,0,0
$GC,6355,-0.76,-194.6,783.9,-12.6,620,6360,0.12,2.03,0.00,0.000,4,0.176,0.057,2496,198,3648,0,0,0,0,0,0
$GC,6456,-0.74,-194.6,795.8,-11.5,624,6463,0.00,1.98,0.00,0.000,6,0.000,0.042,2488,1496,3646,0,0,0,0,0,0
$GC,6772,-0.72,-194.6,833.6,-12.1,640,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1496,3644,0,0,0,0,0,0
$GC,7083,-0.70,-194.6,870.7,-11.9,655,7088,0.12,2.20,0.00,0.000,4,0.171,0.059,2514,2909,3642,0,0,0,0,0,0
$GC,7104,-0.70,-194.6,873.3,-11.7,656,7109,0.00,2.17,0.00,0.000,6,0.000,0.044,2514,1463,3642,0,0,0,0,0,0
$GC,7433,-0.72,-194.6,903.9,-9.1,672,7437,0.00,2.25,0.00,0.000,4,0.000,0.058,2504,2914,3640,0,0,0,0,0,0
$GC,7462,-0.74,-194.6,906.5,-9.3,673,7466,0.00,2.15,0.00,0.000,6,0.000,0.045,2504,1491,3640,0,0,0,0,0,0
$GC,7784,-0.74,-194.6,938.0,-10.0,689,7788,0.00,2.20,0.00,0.000,4,0.000,0.059,2493,2904,3638,0,0,0,0,0,0
$GC,7830,-0.76,-194.6,942.7,-10.2,691,7834,0.00,2.12,0.00,0.000,6,0.000,0.045,2493,1491,3638,0,0,0,0,0,0
$GC,8151,-0.76,-194.6,975.7,-10.0,707,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1491,3637,0,0,0,0,0,0
$STATE,8314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8314,begin apogee
$GC,8319,-0.18,0.0,991.4,9.4,715,8480,0.57,0.00,155.40,1.458,6,0.129,0.000,2682,1859,2884,0,0,0,0,0,0
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8483,0.83,194.6,994.6,0.0,722,8667,0.93,2.45,174.00,1.391,4,0.070,0.063,3012,3251,2089,0,0,0,0,0,0
$GC,8733,0.65,194.6,953.6,23.0,734,8738,0.25,2.28,0.00,0.000,6,0.188,0.044,2959,1850,2085,0,0,0,0,0,0
$GC,9064,0.53,194.6,896.8,16.7,750,9069,0.15,2.28,0.00,0.000,4,0.187,0.063,2910,3258,2081,0,0,0,0,0,0
$GC,9132,0.48,194.6,886.0,13.6,753,9136,0.00,2.20,0.00,0.000,6,0.000,0.044,2918,1846,2080,0,0,0,0,0,0
$GC,9461,0.42,194.6,839.5,14.8,769,9463,0.15,0.00,0.00,0.000,6,0.181,0.000,2879,1846,2078,0,0,0,0,0,0
$GC,9768,0.42,194.6,802.2,11.9,784,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1846,2077,0,0,0,0,0,0
$GC,10077,0.42,194.6,764.9,12.1,799,10081,0.00,2.20,0.00,0.000,4,0.000,0.054,2888,434,2076,0,0,0,0,0,0
$GC,10097,0.42,194.6,762.7,12.4,800,10101,0.00,2.17,0.00,0.000,6,0.000,0.044,2885,1859,2076,0,0,0,0,0,0
$GC,10424,0.42,194.6,722.5,11.7,816,10428,0.00,2.17,0.00,0.000,4,0.000,0.060,2885,3260,2075,0,0,0,0,0,0
$GC,10496,0.42,194.6,713.7,11.8,819,10500,0.00,2.17,0.00,0.000,6,0.000,0.042,2894,1837,2074,0,0,0,0,0,0
$GC,10824,0.40,194.6,676.2,11.6,835,10828,0.00,2.15,0.00,0.000,4,0.000,0.053,2904,444,2074,0,0,0,0,0,0
$GC,10842,0.38,194.6,674.1,11.5,836,10846,0.12,2.15,0.00,0.000,6,0.167,0.044,2872,1854,2074,0,0,0,0,0,0
$GC,11172,0.44,230.9,643.0,9.3,852,11207,0.00,2.25,30.25,1.230,4,0.000,0.059,2869,3258,1941,0,0,0,0,0,0
$GC,11241,0.51,258.9,635.7,9.6,855,11272,0.00,2.17,26.05,1.187,6,0.000,0.040,2877,1844,1828,0,0,0,0,0,0
$GC,11583,0.55,266.7,600.2,10.4,871,11598,0.12,2.25,7.90,1.008,4,0.087,0.051,2949,443,1795,0,0,0,0,0,0
$GC,11620,0.50,266.7,594.9,14.6,873,11629,0.15,2.20,0.00,0.000,6,0.162,0.042,2908,1850,1794,0,0,0,0,0,0
$GC,11945,0.50,266.7,553.9,12.0,904,11949,0.00,2.20,0.00,0.000,4,0.000,0.058,2907,3255,1793,0,0,0,0,0,0
$GC,12045,0.50,266.7,541.9,11.4,912,12052,0.00,2.15,0.00,0.000,6,0.000,0.039,2915,1848,1793,0,0,0,0,0,0
$GC,12371,0.50,266.7,499.1,14.5,943,12375,0.00,2.20,0.00,0.000,4,0.000,0.054,2915,3256,1792,0,0,0,0,0,0
$GC,12422,0.50,266.7,491.2,15.6,947,12426,0.00,2.15,0.00,0.000,6,0.000,0.038,2924,1840,1792,0,0,0,0,0,0
$GC,12747,0.48,266.7,441.0,14.6,977,12751,0.00,2.20,0.00,0.000,4,0.000,0.052,2924,3258,1791,0,0,0,0,0,0
$GC,12766,0.46,266.7,438.5,14.2,978,12771,0.15,2.12,0.00,0.000,6,0.175,0.039,2893,1846,1791,0,0,0,0,0,0
$GC,13097,0.49,266.7,403.6,10.7,1009,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1846,1791,0,0,0,0,0,0
$GC,13419,0.63,345.7,374.3,7.7,1039,13499,0.17,2.33,68.35,1.020,4,0.073,0.047,2991,436,1472,0,0,0,0,0,0
$GC,13514,0.56,345.7,360.5,16.4,1047,13519,0.22,2.25,0.00,0.000,6,0.150,0.039,2929,1851,1471,0,0,0,0,0,0
$GC,13839,0.58,345.7,321.8,11.6,1077,13843,0.00,2.17,0.00,0.000,4,0.000,0.054,2928,3259,1469,0,0,0,0,0,0
$GC,13963,0.63,345.7,306.7,12.1,1087,13970,0.00,2.17,0.00,0.000,6,0.000,0.038,2936,1841,1469,0,0,0,0,0,0
$GC,14289,0.63,345.7,263.1,14.7,1118,14290,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1841,1469,0,0,0,0,0,0
$GC,14608,0.66,345.7,221.5,11.6,1169,14617,0.00,2.17,0.00,0.000,4,0.000,0.049,2947,446,1468,0,0,0,0,0,0
$GC,14651,0.71,345.7,216.7,11.0,1176,14659,0.00,2.15,0.00,0.000,6,0.000,0.037,2947,1838,1468,0,0,0,0,0,0
$GC,14979,0.81,390.8,181.7,9.0,1237,15026,0.15,2.22,37.85,0.826,4,0.075,0.050,3021,3263,1288,0,0,0,0,0,0
$GC,15096,0.77,390.8,164.3,14.6,1255,15104,0.10,2.20,0.00,0.000,6,0.149,0.036,2996,1851,1288,0,0,0,0,0,0
$GC,15422,0.77,390.8,116.5,13.8,1316,15431,0.00,2.22,0.00,0.000,4,0.000,0.049,2994,3269,1287,0,0,0,0,0,0
$GC,15449,0.77,390.8,112.5,13.1,1320,15458,0.00,2.17,0.00,0.000,6,0.000,0.034,3006,1847,1288,0,0,0,0,0,0
$GC,15778,0.84,410.7,75.4,9.9,1381,15802,0.00,2.17,17.58,0.684,4,0.000,0.044,3021,433,1208,0,0,0,0,0,0
$GC,15846,0.97,454.2,69.1,9.1,1391,15891,0.00,2.20,36.35,0.697,6,0.000,0.034,3021,1873,1030,0,0,0,0,0,0
$GC,16210,1.09,483.7,38.7,9.6,1457,16242,0.20,2.20,24.67,0.651,4,0.059,0.045,3122,3253,910,0,0,0,0,0,0
$GC,16294,1.02,483.7,24.9,19.9,1470,16302,0.17,2.17,0.00,0.000,6,0.146,0.033,3073,1844,909,0,0,0,0,0,0
$STATE,16436,end climb,SURFACE_DEPTH_REACHED
$STATE,16436,begin surface coast
$FINISH,0.9,1.021333
$STATE,16459,end surface coast,CONTROL_FINISHED_OK
$STATE,16459,begin surface
$SM_CCo,16536,0.00,0.000,0,0,907,484.96
$SM_GC,1.73,7.68,0.00,0.00,0.036,0.000,0.000,149,1492,907,-8.04,-0.23,484.96,0,0,0,0,0,0
$IRIDIUM_FIX,2258.07,12206.53,120811,101050
$TT8_MAMPS,0.026215,0.026215
$HUMID,32.55
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,26.10
$XPDR_PINGS,81
$24V_AH,23.5,13.801
$10V_AH,10.3,8.900
$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,21.225,142.500,578.400,0.000,0.000,91.957,38.647,164.896,20.250,0.000,34.054,3740.346,8671.728,638.309,3621.002,452.019,0.000,2053.787,0.000,3290.542,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,62.730,1458.090,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.137,1533.569,1631.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324440
$DATA_FILE_SIZE,83523,1500
$CAP_FILE_SIZE,179767,0
$CFSIZE,260165632,143126528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,337.9,1
$GPS,120811,193157,2310.707,12213.126,39,99.0,58,-3.1