version: 66.11
glider: 167
mission: 16
dive: 287
start: 8 10 113 7 13 32
data:
$ID,167
$MISSION,16
$DIVE,287
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$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,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975553.5
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-15.330984
$PRESSURE_SLOPE,0.0001158971
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,100813,070236,2023.078,12243.413,29,1.0,29,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.9
$GPS2,100813,071259,2023.221,12243.478,40,1.3,40,-2.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,T6
$TGT_LATLONG,2000.000,12245.000
$TGT_RADIUS,10000.000
$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,169.7,43086,-18.3,-10.000,-23.91,2793
$D_GRID,2887
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.12,-184.9,127,2182,666,669,0.0,0.0,0,114,0.00,0.00,-84.65,0.000,16386,0.000,0.000,127,2183,2798,2773,2824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.12,-184.9,126,2183,2773,2824,3.0,-1.7,15,158,10.30,2.10,-20.02,0.000,18948,0.233,0.036,2647,739,3724,3717,3731,0,0,0,0,0,0,25.41,26.11,26.46
$GC,187,-1.00,-184.9,2647,739,3717,3732,21.4,-34.6,25,194,0.20,2.03,0.00,0.000,3078,0.201,0.021,2686,2140,3724,3716,3732,0,0,0,0,0,0,25.53,26.13,28.83
$GC,495,-0.93,-184.9,2686,2141,3717,3732,112.1,-27.1,45,500,0.00,2.08,0.00,0.000,260,0.000,0.033,2678,3548,3724,3717,3732,0,0,0,0,0,0,28.83,26.20,28.83
$GC,712,-0.87,-184.9,2677,3547,3718,3732,160.8,-22.3,55,718,0.20,2.00,0.00,0.000,3078,0.159,0.015,2731,2109,3725,3718,3732,0,0,0,0,0,0,25.86,26.41,28.83
$GC,1028,-0.83,-184.9,2731,2108,3720,3732,216.9,-15.7,71,1034,0.00,2.15,0.00,0.000,260,0.000,0.033,2723,3552,3726,3721,3732,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1141,-0.80,-184.9,1600,3551,3714,3730,233.1,-15.0,76,1147,0.12,1.95,0.00,0.000,3078,0.161,0.015,2754,2141,3726,3720,3732,0,0,0,0,0,0,26.10,26.48,28.83
$GC,1462,-0.78,-184.9,2754,2141,3722,3732,276.3,-13.4,92,1467,0.00,1.95,0.00,0.000,516,0.000,0.028,2755,775,3727,3722,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1511,-0.77,-184.9,1680,773,3716,3728,282.2,-13.2,94,1517,0.00,1.98,0.00,0.000,1030,0.000,0.023,2751,2154,3726,3721,3732,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1831,-0.75,-184.9,2751,2154,3729,3732,323.5,-12.6,110,1837,0.00,2.05,0.00,0.000,260,0.000,0.034,2739,3553,3727,3722,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1906,-0.74,-184.9,2739,3553,3721,3732,332.2,-13.4,113,1913,0.12,1.95,0.00,0.000,3078,0.155,0.015,2773,2141,3727,3722,3732,0,0,0,0,0,0,26.15,26.52,28.83
$GC,2224,-0.74,-184.9,2772,2140,3722,3730,375.6,-13.5,129,2229,0.00,1.95,0.00,0.000,516,0.000,0.028,2773,774,3726,3722,3730,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2258,-0.74,-184.9,2773,775,3722,3729,379.0,-13.4,130,2263,0.00,1.98,0.00,0.000,1030,0.000,0.023,2766,2154,3725,3722,3728,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2573,-0.74,-184.9,2765,2154,3721,3726,421.5,-12.9,146,2579,0.00,2.05,0.00,0.000,260,0.000,0.036,2766,3543,3724,3722,3726,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2642,-0.74,-184.9,1712,3542,3715,3723,429.5,-12.2,149,2648,0.00,1.95,0.00,0.000,1030,0.000,0.016,2766,2147,3723,3721,3725,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2963,-0.74,-184.9,2765,2147,3721,3721,462.8,-9.8,165,2968,0.00,1.95,0.00,0.000,516,0.000,0.028,2766,782,3720,3721,3720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3017,-0.74,-184.9,2765,782,3721,3721,467.4,-10.1,167,3023,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2149,3721,3722,3720,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3333,-0.74,-184.9,2765,2149,3721,3714,502.9,-11.3,183,3338,0.00,2.08,0.00,0.000,260,0.000,0.037,2765,3546,3718,3721,3715,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3382,-0.74,-184.9,2765,3546,3721,3713,508.4,-11.9,185,3387,0.00,1.95,0.00,0.000,1030,0.000,0.017,2765,2151,3718,3723,3713,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3702,-0.74,-184.9,2765,2152,3721,3708,551.1,-13.2,201,3707,0.00,1.98,0.00,0.000,516,0.000,0.028,2765,777,3714,3721,3707,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3741,-0.74,-184.9,2765,777,3721,3707,554.3,-13.0,202,3749,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2149,3714,3721,3707,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4047,-0.74,-184.9,2765,2148,3723,3702,592.2,-10.9,218,4053,0.00,2.08,0.00,0.000,260,0.000,0.037,2765,3542,3712,3721,3703,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4102,-0.74,-184.9,2765,3542,3721,3701,597.1,-10.7,220,4107,0.00,1.95,0.00,0.000,1030,0.000,0.018,2765,2155,3711,3721,3701,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4439,-0.74,-184.9,2765,2154,3721,3694,631.4,-10.6,232,4445,0.00,2.00,0.00,0.000,516,0.000,0.029,2765,779,3707,3721,3694,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4495,-0.74,-184.9,2765,779,3721,3693,635.8,-10.9,233,4500,0.00,2.00,0.00,0.000,1030,0.000,0.025,2766,2157,3706,3721,3692,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4810,-0.74,-184.9,2765,2157,3721,3687,673.6,-11.2,244,4815,0.00,2.08,0.00,0.000,260,0.000,0.037,2765,3546,3703,3721,3686,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4879,-0.74,-184.9,1728,3544,3714,3682,680.6,-11.0,246,4884,0.00,1.98,0.00,0.000,1030,0.000,0.019,2765,2150,3703,3720,3686,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5212,-0.74,-184.9,2765,2150,3717,3683,716.7,-10.9,257,5217,0.00,2.00,0.00,0.000,516,0.000,0.030,2765,775,3700,3717,3683,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5247,-0.74,-184.9,2765,775,3717,3683,720.9,-11.0,258,5252,0.00,2.03,0.00,0.000,1030,0.000,0.026,2765,2156,3699,3717,3682,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5585,-0.74,-184.9,2765,2156,3714,3678,758.5,-11.5,269,5590,0.00,2.10,0.00,0.000,260,0.000,0.039,2765,3549,3696,3714,3678,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5674,-0.74,-184.9,2764,3549,3712,3678,766.6,-11.6,271,5681,0.00,2.00,0.00,0.000,1030,0.000,0.020,2764,2141,3695,3712,3678,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5981,-0.74,-184.9,2764,2140,3711,3674,806.9,-12.3,282,5986,0.00,2.00,0.00,0.000,516,0.000,0.031,2765,771,3692,3711,3674,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6029,-0.74,-184.9,2765,770,3711,3674,811.2,-12.3,283,6035,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2147,3692,3711,3673,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6354,-0.74,-184.9,2765,2147,3709,3670,851.3,-11.7,294,6359,0.00,2.12,0.00,0.000,260,0.000,0.041,2765,3547,3689,3709,3669,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6443,-0.74,-184.9,2765,3547,3707,3669,859.5,-11.9,296,6449,0.00,2.00,0.00,0.000,1030,0.000,0.021,2765,2146,3688,3707,3669,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6750,-0.74,-184.9,2765,2146,3706,3667,897.5,-11.2,307,6755,0.00,2.00,0.00,0.000,516,0.000,0.032,2765,782,3686,3706,3666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6818,-0.74,-184.9,2765,782,3705,3666,905.1,-11.4,309,6823,0.00,2.03,0.00,0.000,1030,0.000,0.028,2764,2156,3685,3705,3666,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7151,-0.74,-184.9,2765,2156,3704,3662,941.1,-10.5,320,7156,0.00,2.12,0.00,0.000,260,0.000,0.041,2765,3553,3683,3704,3663,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7241,-0.75,-184.9,2765,3553,3703,3663,948.0,-10.2,322,7248,0.00,2.03,0.00,0.000,1030,0.000,0.022,2764,2137,3682,3703,3662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7549,-0.76,-184.9,2765,2137,3702,3659,981.5,-10.4,333,7555,0.00,2.00,0.00,0.000,516,0.000,0.031,2765,775,3680,3702,3659,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7585,-0.77,-184.9,2764,775,3702,3659,985.8,-10.5,334,7590,0.00,2.05,0.00,0.000,1030,0.000,0.028,2765,2153,3680,3701,3659,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,7646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7646,begin apogee
$GC,7655,-0.18,0.0,2765,2043,3701,3658,992.7,-10.7,336,7811,0.57,0.00,147.95,1.231,10246,0.121,0.000,2952,2043,2970,3034,2906,0,0,0,0,0,0,25.65,28.83,23.89
$STATE,7813,end apogee,CONTROL_FINISHED_OK
$STATE,7814,begin climb
$GC,7817,1.12,184.9,2951,2043,3029,2894,1000.3,0.0,341,7984,1.20,2.25,158.12,1.187,10756,0.066,0.035,3381,696,2209,2295,2123,0,0,0,0,0,0,24.96,24.47,23.58
$GC,8019,1.05,184.9,3381,696,2285,2117,987.6,10.5,348,8025,0.00,2.15,0.00,0.000,1030,0.000,0.028,3381,2044,2200,2284,2117,0,0,0,0,0,0,28.83,25.00,28.83
$GC,8358,0.99,184.9,3381,2044,2284,2107,941.2,13.8,359,8363,0.15,2.20,0.00,0.000,4356,0.174,0.039,3340,3467,2194,2284,2105,0,0,0,0,0,0,25.67,25.92,28.83
$GC,8545,0.94,184.9,3340,3467,2283,2102,915.2,13.4,365,8551,0.00,2.08,0.00,0.000,1030,0.000,0.024,3348,2075,2192,2283,2102,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8884,0.89,184.9,3347,2075,2283,2100,873.2,12.5,376,8889,0.15,2.12,0.00,0.000,4612,0.173,0.034,3315,658,2190,2283,2098,0,0,0,0,0,0,25.89,26.16,28.83
$GC,8913,0.85,184.9,3314,657,2283,2099,873.2,12.5,376,8921,0.00,2.10,0.00,0.000,1030,0.000,0.028,3315,2066,2191,2283,2099,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9223,0.84,194.5,3314,2065,2283,2097,838.2,9.6,387,9229,0.00,2.20,1.48,0.230,8452,0.000,0.041,3314,3454,2177,2265,2090,0,0,0,0,0,0,28.83,26.15,24.20
$GC,9325,0.80,194.5,2304,3452,2183,2087,827.3,10.9,390,9331,0.17,2.10,0.00,0.000,5126,0.168,0.025,3278,2040,2184,2266,2102,0,0,0,0,0,0,25.80,26.29,28.83
$GC,9660,0.91,243.0,3278,2040,2266,2101,798.8,8.2,401,9720,0.00,2.20,51.90,1.095,8708,0.000,0.037,3287,665,1972,2067,1877,0,0,0,0,0,0,28.83,25.40,24.50
$GC,9791,0.94,262.9,3286,665,2060,1872,787.2,9.3,405,9815,0.00,2.10,19.33,1.116,9222,0.000,0.028,3287,2041,1898,1992,1805,0,0,0,0,0,0,28.83,25.71,24.46
$GC,10145,0.97,276.3,3287,2041,1984,1786,752.3,9.5,417,10164,0.12,2.20,13.25,1.141,10500,0.081,0.040,3352,3457,1837,1931,1744,0,0,0,0,0,0,26.13,25.77,24.84
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$GC,13738,1.08,390.5,3362,2057,1511,1337,360.7,9.4,570,13758,0.00,2.12,13.52,0.913,8452,0.000,0.037,3362,3451,1370,1454,1286,0,0,0,0,0,0,28.83,26.06,25.19
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$STATE,17059,end climb,SURFACE_DEPTH_REACHED
$STATE,17059,begin surface coast
$FINISH,1.3,1.021027
$STATE,17087,end surface coast,CONTROL_FINISHED_OK
$STATE,17087,begin surface
$SM_CCo,17110,17.55,0.125,0,0,665,564.93
$SM_GC,2.17,8.50,0.15,17.55,0.029,0.068,0.125,136,2177,665,-8.91,-1.47,564.93,0,0,0,0,0,0,26.24,26.42,25.82
$IRIDIUM_FIX,2013.37,12244.67,100813,020256
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.25
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.70
$XPDR_PINGS,9
$SC_FREEKB,7606848
$24V_AH,23.6,45.243
$10V_AH,10.2,28.317
$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
$DEVICE_SECS,23.250,173.775,580.650,17.550,0.000,0.000,0.000,322.100,2.250,0.000,41.134,2724.735,11152.146,731.716,2481.575,656.107,0.000,2266.964,0.000,2065.639,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.122,0.000,0.000,0.000
$MEM,342956
$DATA_FILE_SIZE,30136,773
$CAP_FILE_SIZE,209438,0
$CFSIZE,260034560,225476608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.183, 52.8,1
$GPS,100813,120024,2022.976,12245.022,38,1.3,38,-2.9