version: 66.09
glider: 166
mission: 6
dive: 174
start: 9 5 111 14 50 58
data:
$ID,166
$MISSION,6
$DIVE,174
$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,340
$T_MISSION,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$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,450
$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,-24616.217
$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,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,44
$R_STBD_OVSHOOT,50
$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
$GPS1,050911,144326,2123.583,12404.102,27,99.0,46,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-72.4
$GPS2,050911,145034,2123.451,12404.246,13,99.0,32,-2.8
$SPEED_LIMITS,0.168,0.265
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,310.6,14165,-17.2,-9.706
$D_GRID,5000
$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,16,-0.68,-155.7,0.0,0.0,0,105,0.00,0.00,-86.25,0.000,2,0.000,0.000,124,1496,3157,0,0,0,0,0,0
$GC,108,-0.68,-155.7,6.0,-10.3,12,132,9.35,2.15,-6.90,0.000,4,0.222,0.050,2506,2910,3519,0,0,0,0,0,0
$GC,173,-0.68,-155.7,36.3,-40.5,22,182,0.00,2.17,0.00,0.000,6,0.000,0.035,2504,1497,3520,0,0,0,0,0,0
$GC,501,-0.68,-155.7,133.6,-23.8,83,509,0.00,1.98,0.00,0.000,4,0.000,0.039,2502,203,3521,0,0,0,0,0,0
$GC,572,-0.68,-155.7,152.0,-25.5,95,580,0.08,1.95,0.00,0.000,6,0.162,0.031,2516,1496,3521,0,0,0,0,0,0
$GC,899,-0.68,-155.7,216.2,-20.6,156,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1501,3523,0,0,0,0,0,0
$GC,1234,-0.68,-155.7,273.1,-16.5,205,1238,0.00,2.08,0.00,0.000,4,0.000,0.040,2507,2905,3523,0,0,0,0,0,0
$GC,1290,-0.68,-155.7,281.7,-13.9,210,1294,0.00,2.10,0.00,0.000,6,0.000,0.033,2507,1495,3523,0,0,0,0,0,0
$GC,1617,-0.68,-155.7,329.6,-14.7,240,1621,0.00,1.95,0.00,0.000,4,0.000,0.042,2510,199,3523,0,0,0,0,0,0
$GC,1718,-0.68,-155.7,344.5,-13.5,249,1722,0.00,1.92,0.00,0.000,6,0.000,0.031,2506,1506,3523,0,0,0,0,0,0
$GC,2051,-0.68,-155.7,391.6,-14.9,280,2055,0.00,2.00,0.00,0.000,4,0.000,0.044,2518,208,3522,0,0,0,0,0,0
$GC,2096,-0.68,-155.7,399.2,-16.5,284,2100,0.00,1.92,0.00,0.000,6,0.000,0.034,2509,1495,3522,0,0,0,0,0,0
$GC,2427,-0.68,-155.7,448.3,-13.7,315,2431,0.00,2.15,0.00,0.000,4,0.000,0.045,2498,2914,3520,0,0,0,0,0,0
$GC,2446,-0.68,-155.7,450.5,-13.4,316,2450,0.00,2.12,0.00,0.000,6,0.000,0.035,2498,1506,3520,0,0,0,0,0,0
$GC,2771,-0.68,-155.7,492.1,-13.7,346,2775,0.00,2.03,0.00,0.000,4,0.000,0.047,2498,195,3518,0,0,0,0,0,0
$GC,2868,-0.68,-155.7,507.4,-16.6,354,2876,0.12,1.98,0.00,0.000,6,0.175,0.038,2522,1500,3517,0,0,0,0,0,0
$GC,3193,-0.68,-155.7,549.3,-11.8,385,3197,0.00,2.12,0.00,0.000,4,0.000,0.050,2513,2904,3514,0,0,0,0,0,0
$GC,3283,-0.68,-155.7,559.6,-11.0,392,3290,0.00,2.15,0.00,0.000,6,0.000,0.040,2513,1490,3513,0,0,0,0,0,0
$GC,3608,-0.68,-155.7,597.7,-11.1,423,3612,0.00,2.00,0.00,0.000,4,0.000,0.051,2513,195,3510,0,0,0,0,0,0
$GC,3746,-0.68,-155.7,613.9,-11.9,430,3750,0.00,1.98,0.00,0.000,6,0.000,0.040,2504,1515,3509,0,0,0,0,0,0
$GC,4078,-0.68,-155.7,651.9,-11.0,446,4082,0.00,2.12,0.00,0.000,4,0.000,0.052,2493,2904,3506,0,0,0,0,0,0
$GC,4123,-0.68,-155.7,656.7,-11.0,448,4128,0.12,2.12,0.00,0.000,6,0.158,0.041,2528,1502,3505,0,0,0,0,0,0
$GC,4448,-0.68,-155.7,685.5,-8.7,464,4452,0.00,2.03,0.00,0.000,4,0.000,0.054,2528,199,3503,0,0,0,0,0,0
$GC,4473,-0.68,-155.7,688.0,-8.7,465,4477,0.00,1.98,0.00,0.000,6,0.000,0.041,2521,1501,3503,0,0,0,0,0,0
$GC,4808,-0.68,-155.7,719.6,-9.6,481,4812,0.00,2.17,0.00,0.000,4,0.000,0.053,2501,2907,3499,0,0,0,0,0,0
$GC,4869,-0.68,-155.7,725.7,-9.5,483,4876,0.00,2.15,0.00,0.000,6,0.000,0.041,2500,1493,3499,0,0,0,0,0,0
$GC,5188,-0.68,-155.7,757.6,-10.2,499,5192,0.00,2.03,0.00,0.000,4,0.000,0.054,2498,208,3496,0,0,0,0,0,0
$GC,5225,-0.68,-155.7,762.4,-11.9,500,5233,0.10,2.00,0.00,0.000,6,0.141,0.043,2521,1493,3496,0,0,0,0,0,0
$GC,5542,-0.68,-155.7,791.5,-9.3,516,5546,0.00,2.20,0.00,0.000,4,0.000,0.055,2512,2912,3493,0,0,0,0,0,0
$GC,5588,-0.68,-155.7,795.7,-9.2,518,5592,0.00,2.17,0.00,0.000,6,0.000,0.043,2512,1493,3493,0,0,0,0,0,0
$GC,5909,-0.68,-155.7,827.6,-9.7,534,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1492,3491,0,0,0,0,0,0
$GC,6219,-0.68,-155.7,855.1,-8.4,549,6223,0.00,2.22,0.00,0.000,4,0.000,0.057,2501,2905,3489,0,0,0,0,0,0
$GC,6305,-0.68,-155.7,862.2,-8.5,553,6309,0.00,2.17,0.00,0.000,6,0.000,0.044,2502,1491,3488,0,0,0,0,0,0
$GC,6632,-0.68,-155.7,891.0,-9.0,569,6636,0.00,2.22,0.00,0.000,4,0.000,0.059,2492,2904,3486,0,0,0,0,0,0
$GC,6666,-0.68,-155.7,894.1,-9.2,570,6675,0.12,2.17,0.00,0.000,6,0.156,0.045,2527,1493,3486,0,0,0,0,0,0
$GC,6983,-0.68,-155.7,919.5,-8.0,586,6986,0.00,2.22,0.00,0.000,4,0.000,0.059,2519,2910,3485,0,0,0,0,0,0
$GC,7038,-0.68,-155.7,924.0,-8.1,588,7042,0.00,2.17,0.00,0.000,6,0.000,0.045,2519,1493,3485,0,0,0,0,0,0
$GC,7361,-0.68,-155.7,949.7,-8.0,604,7365,0.00,2.22,0.00,0.000,4,0.000,0.062,2510,2904,3483,0,0,0,0,0,0
$GC,7400,-0.68,-155.7,953.0,-8.3,605,7407,0.00,2.17,0.00,0.000,6,0.000,0.046,2509,1491,3483,0,0,0,0,0,0
$GC,7718,-0.68,-155.7,980.0,-8.6,621,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1491,3481,0,0,0,0,0,0
$STATE,7838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7838,begin apogee
$GC,7844,-0.14,0.0,990.4,8.5,627,7977,0.55,0.00,126.80,1.467,6,0.122,0.000,2692,1855,2884,0,0,0,0,0,0
$STATE,7978,end apogee,CONTROL_FINISHED_OK
$STATE,7978,begin climb
$GC,7982,0.68,155.7,992.5,0.0,633,8130,0.75,0.00,142.38,1.405,6,0.068,0.000,2968,1854,2249,0,0,0,0,0,0
$GC,8436,0.68,155.7,929.0,16.6,655,8440,0.00,2.25,0.00,0.000,4,0.000,0.064,2969,3258,2240,0,0,0,0,0,0
$GC,8485,0.68,155.7,920.1,16.8,657,8489,0.00,2.22,0.00,0.000,6,0.000,0.046,2978,1836,2239,0,0,0,0,0,0
$GC,8807,0.68,155.7,866.6,16.9,673,8811,0.00,2.25,0.00,0.000,4,0.000,0.062,2977,3251,2237,0,0,0,0,0,0
$GC,8858,0.68,155.7,857.4,18.1,675,8863,0.00,2.17,0.00,0.000,6,0.000,0.045,2986,1846,2237,0,0,0,0,0,0
$GC,9180,0.68,155.7,800.2,17.6,691,9184,0.00,2.22,0.00,0.000,4,0.000,0.059,2979,3251,2235,0,0,0,0,0,0
$GC,9257,0.68,155.7,786.7,16.2,694,9265,0.00,2.17,0.00,0.000,6,0.000,0.042,2987,1829,2235,0,0,0,0,0,0
$GC,9576,0.68,155.7,736.6,15.4,710,9580,0.00,2.25,0.00,0.000,4,0.000,0.056,2986,3266,2234,0,0,0,0,0,0
$GC,9623,0.68,155.7,729.2,15.6,712,9627,0.00,2.17,0.00,0.000,6,0.000,0.042,2994,1850,2233,0,0,0,0,0,0
$GC,9952,0.68,155.7,680.4,14.7,728,9955,0.00,2.17,0.00,0.000,4,0.000,0.055,2991,3253,2233,0,0,0,0,0,0
$GC,10042,0.68,155.7,666.5,14.7,732,10047,0.12,2.12,0.00,0.000,6,0.196,0.041,2970,1849,2232,0,0,0,0,0,0
$GC,10374,0.68,155.7,626.9,11.2,748,10378,0.00,2.20,0.00,0.000,4,0.000,0.054,2969,3254,2232,0,0,0,0,0,0
$GC,10431,0.68,155.7,619.9,12.4,750,10438,0.00,2.15,0.00,0.000,6,0.000,0.041,2977,1840,2231,0,0,0,0,0,0
$GC,10751,0.68,155.7,582.3,12.5,772,10755,0.00,2.22,0.00,0.000,4,0.000,0.054,2974,3260,2231,0,0,0,0,0,0
$GC,10781,0.68,155.7,578.7,12.8,774,10785,0.00,2.15,0.00,0.000,6,0.000,0.041,2983,1845,2231,0,0,0,0,0,0
$GC,11107,0.68,155.7,536.0,13.1,804,11111,0.00,2.20,0.00,0.000,4,0.000,0.052,2977,3259,2231,0,0,0,0,0,0
$GC,11175,0.68,155.7,526.1,15.2,809,11183,0.00,2.15,0.00,0.000,6,0.000,0.040,2986,1843,2231,0,0,0,0,0,0
$GC,11500,0.68,155.7,477.4,15.2,840,11504,0.00,2.20,0.00,0.000,4,0.000,0.052,2980,3255,2231,0,0,0,0,0,0
$GC,11529,0.68,155.7,473.0,15.5,842,11533,0.00,2.15,0.00,0.000,6,0.000,0.039,2988,1837,2230,0,0,0,0,0,0
$GC,11853,0.68,155.7,428.5,12.7,872,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1836,2230,0,0,0,0,0,0
$GC,12176,0.68,155.7,392.0,10.9,902,12180,0.00,2.20,0.00,0.000,4,0.000,0.050,2980,3258,2230,0,0,0,0,0,0
$GC,12199,0.68,155.7,389.0,10.8,904,12203,0.00,2.15,0.00,0.000,6,0.000,0.037,2989,1835,2230,0,0,0,0,0,0
$GC,12524,0.68,155.7,350.5,11.6,934,12528,0.00,2.22,0.00,0.000,4,0.000,0.050,2980,3269,2230,0,0,0,0,0,0
$GC,12548,0.68,155.7,347.6,11.8,935,12554,0.00,2.15,0.00,0.000,6,0.000,0.037,2989,1843,2230,0,0,0,0,0,0
$GC,12873,0.68,155.7,309.9,10.7,966,12877,0.00,2.20,0.00,0.000,4,0.000,0.049,2980,3266,2230,0,0,0,0,0,0
$GC,13029,0.68,155.7,293.4,10.5,979,13033,0.00,2.12,0.00,0.000,6,0.000,0.037,2983,1842,2230,0,0,0,0,0,0
$GC,13360,0.69,160.2,259.7,9.5,1010,13364,0.00,2.15,0.00,0.000,4,0.000,0.046,2993,436,2230,0,0,0,0,0,0
$GC,13424,0.69,160.2,253.2,10.7,1015,13428,0.00,2.12,0.00,0.000,6,0.000,0.035,2985,1868,2230,0,0,0,0,0,0
$GC,13748,0.72,188.2,226.0,8.5,1073,13780,0.00,2.17,26.30,0.840,4,0.000,0.050,2985,3244,2115,0,0,0,0,0,0
$GC,13910,0.72,188.2,208.6,10.5,1101,13919,0.00,2.15,0.00,0.000,6,0.000,0.037,2998,1852,2114,0,0,0,0,0,0
$GC,14239,0.74,200.2,178.5,9.2,1162,14262,0.00,2.22,11.80,0.731,4,0.000,0.047,2991,3245,2066,0,0,0,0,0,0
$GC,14408,0.75,207.2,162.4,9.4,1192,14425,0.00,2.15,7.62,0.654,6,0.000,0.035,3000,1847,2039,0,0,0,0,0,0
$GC,14747,0.75,207.2,128.0,10.1,1254,14755,0.00,2.17,0.00,0.000,4,0.000,0.046,2992,3242,2039,0,0,0,0,0,0
$GC,14784,0.75,207.2,123.9,10.4,1260,14792,0.00,2.12,0.00,0.000,6,0.000,0.035,3000,1849,2038,0,0,0,0,0,0
$GC,15109,0.89,321.0,103.2,4.9,1321,15211,0.00,2.30,95.38,0.728,4,0.000,0.044,2992,3252,1574,0,0,0,0,0,0
$GC,15368,0.91,338.3,84.1,9.0,1363,15393,0.08,2.17,15.65,0.647,6,0.054,0.034,3059,1845,1503,0,0,0,0,0,0
$GC,15714,0.91,338.3,45.0,13.0,1426,15722,0.00,2.17,0.00,0.000,4,0.000,0.044,3070,441,1501,0,0,0,0,0,0
$GC,15843,0.91,338.3,29.7,11.8,1449,15853,0.08,2.12,0.00,0.000,6,0.125,0.031,3044,1850,1500,0,0,0,0,0,0
$STATE,16113,end climb,SURFACE_DEPTH_REACHED
$STATE,16114,begin surface coast
$FINISH,1.0,1.021602
$STATE,16144,end surface coast,CONTROL_FINISHED_OK
$STATE,16144,begin surface
$SM_CCo,16161,63.12,0.495,1,0,1048,450.13
$SM_GC,1.90,0.00,0.00,63.12,0.000,0.000,0.495,150,1495,1048,-8.11,-0.14,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2117.95,12401.30,050911,101047
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.85
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.40
$XPDR_PINGS,76
$24V_AH,23.0,40.500
$10V_AH,10.1,29.600
$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,18.925,154.975,425.925,63.125,0.000,28.032,26.837,189.625,19.000,0.000,34.179,3770.650,8128.990,588.624,3697.480,458.009,0.000,1999.800,0.000,3427.626,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,64.260,1467.270,494.955,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.737,1539.341,1818.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,83512,1505
$CAP_FILE_SIZE,172057,0
$CFSIZE,260165632,131989504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.293,141.6,1
$GPS,050911,192257,2122.605,12404.179,26,99.0,45,-2.8