version: 66.09
glider: 167
mission: 8
dive: 63
start: 6 23 111 7 50 35
data:
$ID,167
$MISSION,8
$DIVE,63
$N_DIVES,70
$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,300
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-56463.336
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,81
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-16.233358
$PRESSURE_SLOPE,0.0001158971
$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,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,2
$XPDR_VALID,3
$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,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,230611,073007,1934.937,12423.088,43,1.1,44,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.8
$GPS2,230611,075013,1935.052,12423.012,11,1.3,16,-2.4
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,185.0,195700,-17.0,-11.000
$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,15,begin dive
$GC,19,-0.67,-194.6,0.0,0.0,0,103,0.00,0.00,-81.38,0.000,2,0.000,0.000,107,1863,3066,0,0,0,0,0,0
$GC,106,-0.67,-194.6,5.3,-9.8,11,133,9.68,2.08,-9.55,0.000,4,0.230,0.043,2573,484,3636,0,0,0,0,0,0
$GC,299,-0.67,-194.6,77.3,-26.6,45,308,0.00,2.00,0.00,0.000,6,0.000,0.021,2567,1852,3638,0,0,0,0,0,0
$GC,375,-0.67,-194.6,98.9,-28.0,58,383,0.00,2.12,0.00,0.000,4,0.000,0.031,2556,3278,3638,0,0,0,0,0,0
$GC,405,-0.67,-194.6,107.0,-27.8,62,413,0.00,2.03,0.00,0.000,6,0.000,0.018,2556,1872,3638,0,0,0,0,0,0
$GC,481,-0.67,-194.6,129.4,-28.7,75,490,0.00,2.03,0.00,0.000,4,0.000,0.027,2557,485,3638,0,0,0,0,0,0
$GC,568,-0.67,-194.6,150.2,-22.2,90,577,0.10,2.03,0.00,0.000,6,0.157,0.021,2580,1880,3638,0,0,0,0,0,0
$GC,644,-0.67,-194.6,165.2,-18.2,103,652,0.00,2.08,0.00,0.000,4,0.000,0.032,2572,3278,3638,0,0,0,0,0,0
$GC,672,-0.67,-194.6,170.0,-17.4,107,681,0.00,2.03,0.00,0.000,6,0.000,0.018,2571,1865,3638,0,0,0,0,0,0
$GC,753,-0.67,-194.6,186.3,-22.2,120,762,0.00,2.10,0.00,0.000,4,0.000,0.031,2562,3273,3638,0,0,0,0,0,0
$GC,781,-0.67,-194.6,193.0,-23.5,124,790,0.00,2.00,0.00,0.000,6,0.000,0.019,2563,1877,3638,0,0,0,0,0,0
$GC,858,-0.67,-194.6,210.0,-22.6,137,867,0.00,2.03,0.00,0.000,4,0.000,0.029,2562,491,3638,0,0,0,0,0,0
$GC,1020,-0.67,-194.6,244.2,-19.1,165,1030,0.00,2.00,0.00,0.000,6,0.000,0.021,2559,1874,3638,0,0,0,0,0,0
$GC,1096,-0.67,-194.6,258.3,-18.1,174,1100,0.00,2.08,0.00,0.000,4,0.000,0.032,2548,3281,3638,0,0,0,0,0,0
$GC,1111,-0.67,-194.6,260.6,-18.1,175,1116,0.12,1.98,0.00,0.000,6,0.171,0.018,2581,1846,3638,0,0,0,0,0,0
$GC,1437,-0.67,-194.6,313.3,-16.0,205,1441,0.00,2.10,0.00,0.000,4,0.000,0.030,2574,3275,3637,0,0,0,0,0,0
$GC,1569,-0.67,-194.6,332.5,-13.1,216,1573,0.00,1.95,0.00,0.000,6,0.000,0.018,2574,1890,3637,0,0,0,0,0,0
$GC,1899,-0.67,-194.6,374.9,-11.7,247,1903,0.00,2.00,0.00,0.000,4,0.000,0.030,2574,498,3635,0,0,0,0,0,0
$GC,1950,-0.67,-194.6,380.9,-11.5,251,1957,0.00,2.00,0.00,0.000,6,0.000,0.022,2573,1876,3635,0,0,0,0,0,0
$GC,2276,-0.67,-194.6,419.2,-12.5,282,2280,0.00,2.00,0.00,0.000,4,0.000,0.030,2573,486,3633,0,0,0,0,0,0
$GC,2305,-0.67,-194.6,423.3,-13.8,284,2312,0.00,2.00,0.00,0.000,6,0.000,0.021,2570,1881,3633,0,0,0,0,0,0
$GC,2631,-0.67,-194.6,465.4,-11.9,315,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1881,3630,0,0,0,0,0,0
$GC,2952,-0.67,-194.6,503.8,-12.6,345,2956,0.00,2.03,0.00,0.000,4,0.000,0.034,2562,3267,3628,0,0,0,0,0,0
$GC,2974,-0.67,-194.6,506.9,-12.2,347,2978,0.00,1.98,0.00,0.000,6,0.000,0.019,2562,1866,3628,0,0,0,0,0,0
$GC,3306,-0.67,-194.6,545.4,-11.1,378,3310,0.00,2.00,0.00,0.000,4,0.000,0.033,2562,505,3625,0,0,0,0,0,0
$GC,3333,-0.67,-194.6,548.8,-11.7,380,3340,0.00,1.98,0.00,0.000,6,0.000,0.022,2561,1883,3625,0,0,0,0,0,0
$GC,3658,-0.67,-194.6,587.9,-11.7,411,3663,0.00,2.05,0.00,0.000,4,0.000,0.034,2561,3262,3622,0,0,0,0,0,0
$GC,3705,-0.67,-194.6,592.8,-10.9,415,3709,0.00,1.95,0.00,0.000,6,0.000,0.020,2561,1862,3622,0,0,0,0,0,0
$GC,4030,-0.67,-194.6,625.4,-9.5,434,4033,0.00,1.98,0.00,0.000,4,0.000,0.031,2561,501,3619,0,0,0,0,0,0
$GC,4068,-0.67,-194.6,629.6,-10.2,435,4075,0.00,1.98,0.00,0.000,6,0.000,0.023,2561,1870,3619,0,0,0,0,0,0
$GC,4388,-0.67,-194.6,659.5,-9.6,451,4392,0.00,2.08,0.00,0.000,4,0.000,0.037,2561,3273,3616,0,0,0,0,0,0
$GC,4459,-0.67,-194.6,666.4,-8.8,454,4463,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1883,3615,0,0,0,0,0,0
$GC,4782,-0.67,-194.6,695.1,-8.6,470,4785,0.00,2.00,0.00,0.000,4,0.000,0.032,2561,493,3612,0,0,0,0,0,0
$GC,4832,-0.67,-194.6,700.2,-9.6,472,4836,0.00,2.03,0.00,0.000,6,0.000,0.023,2560,1875,3611,0,0,0,0,0,0
$GC,5159,-0.67,-194.6,729.4,-9.1,488,5163,0.00,2.08,0.00,0.000,4,0.000,0.037,2560,3273,3608,0,0,0,0,0,0
$GC,5217,-0.67,-194.6,734.6,-9.1,490,5223,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1871,3607,0,0,0,0,0,0
$GC,5533,-0.67,-194.6,764.4,-9.3,506,5537,0.00,2.10,0.00,0.000,4,0.000,0.035,2560,3277,3605,0,0,0,0,0,0
$GC,5585,-0.67,-194.6,769.2,-9.2,508,5589,0.00,2.03,0.00,0.000,6,0.000,0.022,2560,1883,3605,0,0,0,0,0,0
$GC,5906,-0.67,-194.6,796.1,-8.2,524,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1882,3602,0,0,0,0,0,0
$GC,6215,-0.67,-194.6,821.5,-8.2,539,6219,0.00,2.08,0.00,0.000,4,0.000,0.037,2560,3267,3600,0,0,0,0,0,0
$GC,6261,-0.67,-194.6,825.4,-8.4,541,6266,0.00,2.03,0.00,0.000,6,0.000,0.021,2560,1869,3599,0,0,0,0,0,0
$GC,6588,-0.67,-194.6,855.3,-9.6,557,6592,0.00,2.08,0.00,0.000,4,0.000,0.037,2560,3267,3597,0,0,0,0,0,0
$GC,6615,-0.67,-194.6,858.1,-9.7,558,6619,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1872,3597,0,0,0,0,0,0
$GC,6941,-0.67,-194.6,890.4,-10.1,574,6945,0.00,2.00,0.00,0.000,4,0.000,0.033,2560,487,3595,0,0,0,0,0,0
$GC,6976,-0.67,-194.6,894.3,-9.8,575,6980,0.00,2.03,0.00,0.000,6,0.000,0.023,2559,1880,3595,0,0,0,0,0,0
$GC,7299,-0.67,-194.6,925.0,-9.3,591,7303,0.00,2.08,0.00,0.000,4,0.000,0.039,2559,3268,3593,0,0,0,0,0,0
$GC,7394,-0.67,-194.6,934.2,-9.5,595,7398,0.00,2.00,0.00,0.000,6,0.000,0.022,2559,1872,3593,0,0,0,0,0,0
$GC,7723,-0.67,-194.6,965.3,-9.4,611,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1871,3591,0,0,0,0,0,0
$STATE,7987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7987,begin apogee
$GC,7993,-0.20,0.0,990.0,9.0,624,8147,0.50,0.00,149.05,1.397,6,0.129,0.000,2726,2086,2839,0,0,0,0,0,0
$STATE,8148,end apogee,CONTROL_FINISHED_OK
$STATE,8148,begin climb
$GC,8152,0.67,194.6,993.9,0.0,631,8321,0.82,0.00,162.48,1.341,6,0.080,0.000,3013,2085,2045,0,0,0,0,0,0
$GC,8625,0.67,194.6,930.1,15.6,654,8629,0.00,2.12,0.00,0.000,4,0.000,0.039,3013,3469,2034,0,0,0,0,0,0
$GC,8666,0.67,194.6,923.1,17.2,656,8670,0.00,2.08,0.00,0.000,6,0.000,0.023,3020,2085,2033,0,0,0,0,0,0
$GC,8995,0.67,194.6,870.5,15.8,672,8999,0.00,2.10,0.00,0.000,4,0.000,0.035,3032,691,2031,0,0,0,0,0,0
$GC,9113,0.67,194.6,850.8,16.3,677,9117,0.00,2.05,0.00,0.000,6,0.000,0.024,3031,2076,2031,0,0,0,0,0,0
$GC,9434,0.67,194.6,799.7,15.8,693,9438,0.00,2.10,0.00,0.000,4,0.000,0.040,3031,3477,2030,0,0,0,0,0,0
$GC,9484,0.67,194.6,790.9,17.1,695,9488,0.00,2.08,0.00,0.000,6,0.000,0.022,3041,2065,2029,0,0,0,0,0,0
$GC,9809,0.67,194.6,739.3,15.7,711,9813,0.00,2.05,0.00,0.000,4,0.000,0.034,3052,686,2029,0,0,0,0,0,0
$GC,9881,0.67,194.6,727.5,15.4,714,9885,0.12,2.03,0.00,0.000,6,0.164,0.024,3019,2082,2029,0,0,0,0,0,0
$GC,10209,0.67,194.6,685.2,12.3,730,10212,0.00,2.08,0.00,0.000,4,0.000,0.040,3018,3462,2028,0,0,0,0,0,0
$GC,10303,0.67,194.6,672.6,13.0,734,10307,0.00,2.03,0.00,0.000,6,0.000,0.022,3026,2074,2028,0,0,0,0,0,0
$GC,10631,0.67,194.6,631.3,13.3,750,10635,0.00,2.05,0.00,0.000,4,0.000,0.035,3037,689,2027,0,0,0,0,0,0
$GC,10732,0.67,194.6,616.8,14.1,754,10737,0.00,2.05,0.00,0.000,6,0.000,0.024,3037,2064,2027,0,0,0,0,0,0
$GC,11062,0.67,194.6,570.5,13.8,779,11066,0.00,2.05,0.00,0.000,4,0.000,0.034,3046,681,2027,0,0,0,0,0,0
$GC,11100,0.67,194.6,564.6,13.7,782,11108,0.12,2.08,0.00,0.000,6,0.158,0.024,3012,2095,2027,0,0,0,0,0,0
$GC,11429,0.67,194.6,525.0,12.1,813,11433,0.00,2.03,0.00,0.000,4,0.000,0.040,3013,3463,2026,0,0,0,0,0,0
$GC,11487,0.67,194.6,517.2,13.2,818,11491,0.00,2.00,0.00,0.000,6,0.000,0.023,3020,2072,2025,0,0,0,0,0,0
$GC,11818,0.67,194.6,476.1,12.3,849,11822,0.00,2.05,0.00,0.000,4,0.000,0.035,3032,682,2025,0,0,0,0,0,0
$GC,11889,0.67,194.6,467.1,13.1,855,11893,0.00,2.03,0.00,0.000,6,0.000,0.024,3031,2077,2025,0,0,0,0,0,0
$GC,12220,0.67,194.6,420.9,13.8,886,12223,0.00,2.08,0.00,0.000,4,0.000,0.034,3041,684,2025,0,0,0,0,0,0
$GC,12255,0.67,194.6,415.9,14.1,889,12259,0.00,2.03,0.00,0.000,6,0.000,0.023,3041,2082,2025,0,0,0,0,0,0
$GC,12587,0.67,194.6,369.0,13.5,920,12591,0.00,2.10,0.00,0.000,4,0.000,0.039,3041,3468,2025,0,0,0,0,0,0
$GC,12727,0.67,194.6,349.6,13.8,932,12735,0.12,2.03,0.00,0.000,6,0.178,0.022,3018,2066,2025,0,0,0,0,0,0
$GC,13053,0.73,245.4,319.1,9.1,963,13098,0.00,2.08,38.47,0.901,4,0.000,0.031,3026,689,1837,0,0,0,0,0,0
$GC,13227,0.73,245.4,299.8,12.0,978,13235,0.00,2.05,0.00,0.000,6,0.000,0.021,3026,2092,1833,0,0,0,0,0,0
$GC,13554,0.73,245.4,262.1,11.0,1009,13558,0.00,2.05,0.00,0.000,4,0.000,0.037,3026,3469,1832,0,0,0,0,0,0
$GC,13646,0.73,245.4,250.8,13.6,1017,13650,0.00,2.03,0.00,0.000,6,0.000,0.021,3035,2069,1830,0,0,0,0,0,0
$GC,13973,0.75,264.2,210.7,10.3,1077,13997,0.00,2.05,15.82,0.755,4,0.000,0.031,3046,672,1759,0,0,0,0,0,0
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$GC,15688,0.98,450.2,11.5,12.3,1365,15695,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2079,1000,0,0,0,0,0,0
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$STATE,15800,end climb,SURFACE_DEPTH_REACHED
$STATE,15800,begin surface coast
$FINISH,0.7,1.021343
$STATE,15845,end surface coast,CONTROL_FINISHED_OK
$STATE,15845,begin surface
$SM_CCo,15924,0.00,0.000,0,0,995,452.09
$SM_GC,1.36,7.90,0.00,0.00,0.049,0.000,0.000,129,1812,995,-8.29,-1.81,452.09,0,0,0,0,0,0
$IRIDIUM_FIX,1927.51,12423.91,230611,070710
$TT8_MAMPS,0.028462,0.028462
$HUMID,31.61
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,28.60
$XPDR_PINGS,29
$24V_AH,24.0,12.979
$10V_AH,10.3,10.486
$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,19.600,167.950,516.125,0.000,0.000,94.213,112.734,618.889,7.250,0.000,17.621,3507.331,8308.955,650.364,3689.616,953.919,0.000,2086.224,0.000,3206.978,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,42.840,1396.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,947.149,1656.350,1454.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330080
$DATA_FILE_SIZE,80176,1393
$CAP_FILE_SIZE,190633,0
$CFSIZE,260165632,136425472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,336.2,1
$GPS,230611,121707,1933.276,12422.429,30,1.0,31,-2.4