version: 66.10
glider: 169
mission: 5
dive: 149
start: 12 8 111 3 27 19
data:
$ID,169
$MISSION,5
$DIVE,149
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,300
$T_MISSION,340
$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,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,225
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-10471.544
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,081211,032031,2313.416,12202.892,70,1.1,70,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-57.6
$GPS2,081211,032656,2313.568,12202.898,15,1.1,15,-3.1
$SPEED_LIMITS,0.191,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,2305.931,12154.597
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,228.1,20000,-13.7,-11.000
$D_GRID,4198
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.70,-292.0,0.0,0.0,0,120,0.00,0.00,-100.18,0.000,2,0.000,0.000,116,2685,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.70,-292.0,3.6,-8.1,18,154,6.57,1.83,-18.10,0.000,4,0.229,0.059,1765,3825,3963,0,0,0,0,0,0,25.53,26.04,26.44
$GC,278,-0.62,-292.0,72.8,-29.6,47,285,0.12,1.85,0.00,0.000,6,0.159,0.025,1806,2571,3964,0,0,0,0,0,0,25.91,26.19,28.83
$GC,588,-0.51,-292.0,177.4,-32.0,108,596,0.12,2.03,0.00,0.000,4,0.171,0.024,1850,1166,3964,0,0,0,0,0,0,26.08,26.29,28.83
$GC,624,-0.45,-292.0,187.2,-23.9,114,631,0.00,2.28,0.00,0.000,6,0.000,0.044,1840,2658,3964,0,0,0,0,0,0,28.83,26.22,28.83
$GC,934,-0.39,-292.0,253.1,-20.9,151,938,0.12,1.75,0.00,0.000,4,0.157,0.047,1872,3813,3963,0,0,0,0,0,0,26.20,26.25,28.83
$GC,997,-0.40,-292.0,262.0,-11.7,157,1000,0.00,1.80,0.00,0.000,6,0.000,0.026,1872,2565,3963,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1308,-0.41,-292.0,293.5,-9.0,188,1317,0.00,1.98,0.00,0.000,4,0.000,0.047,1863,3820,3963,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1344,-0.44,-292.0,295.9,-7.9,191,1350,0.00,1.80,0.00,0.000,6,0.000,0.027,1864,2559,3963,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1650,-0.45,-292.0,319.7,-8.6,222,1659,0.00,1.98,0.00,0.000,4,0.000,0.048,1856,3812,3962,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1693,-0.47,-292.0,323.2,-8.3,226,1696,0.00,1.80,0.00,0.000,6,0.000,0.027,1856,2563,3961,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2004,-0.48,-292.0,353.2,-10.4,257,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2558,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2308,-0.49,-292.0,380.6,-8.2,287,2316,0.00,1.95,0.00,0.000,4,0.000,0.049,1848,3823,3958,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2352,-0.52,-292.0,384.2,-8.3,291,2359,0.00,1.80,0.00,0.000,6,0.000,0.027,1849,2559,3957,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2661,-0.54,-292.0,407.2,-7.1,322,2670,0.00,2.00,0.00,0.000,4,0.000,0.031,1848,1179,3955,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2687,-0.56,-292.0,408.9,-7.0,324,2693,0.00,2.22,0.00,0.000,6,0.000,0.042,1848,2655,3956,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2993,-0.58,-292.0,429.7,-6.6,355,3002,0.00,2.17,0.00,0.000,4,0.000,0.031,1848,1176,3953,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3017,-0.61,-292.0,431.2,-6.9,357,3024,0.00,2.22,0.00,0.000,6,0.000,0.042,1846,2654,3953,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3325,-0.63,-292.0,453.6,-8.1,388,3329,0.12,1.80,0.00,0.000,4,0.076,0.047,1743,3828,3950,0,0,0,0,0,0,26.65,26.33,28.83
$GC,3357,-0.61,-292.0,457.9,-11.9,391,3361,0.17,1.85,0.00,0.000,6,0.118,0.027,1816,2560,3950,0,0,0,0,0,0,26.09,26.50,28.83
$GC,3669,-0.59,-292.0,499.0,-13.0,422,3678,0.00,1.98,0.00,0.000,4,0.000,0.050,1807,3812,3948,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3694,-0.57,-292.0,501.9,-13.1,424,3700,0.00,1.80,0.00,0.000,6,0.000,0.027,1807,2559,3948,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4001,-0.53,-292.0,543.9,-14.5,455,4005,0.10,2.00,0.00,0.000,4,0.153,0.031,1835,1185,3946,0,0,0,0,0,0,26.45,26.41,28.83
$GC,4045,-0.53,-292.0,548.4,-10.6,459,4052,0.00,2.22,0.00,0.000,6,0.000,0.044,1827,2653,3945,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4353,-0.53,-292.0,574.9,-8.5,490,4357,0.00,1.83,0.00,0.000,4,0.000,0.050,1819,3815,3944,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4377,-0.53,-292.0,576.9,-8.7,492,4384,0.00,1.80,0.00,0.000,6,0.000,0.027,1818,2562,3944,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4686,-0.53,-292.0,607.0,-10.4,520,4691,0.00,2.00,0.00,0.000,4,0.000,0.034,1818,1188,3942,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4729,-0.54,-292.0,611.0,-10.4,522,4733,0.00,2.22,0.00,0.000,6,0.000,0.042,1813,2656,3942,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5041,-0.53,-292.0,648.2,-12.2,538,5044,0.00,1.77,0.00,0.000,4,0.000,0.050,1804,3813,3938,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5071,-0.53,-292.0,650.9,-12.3,539,5075,0.12,1.80,0.00,0.000,6,0.117,0.028,1845,2566,3938,0,0,0,0,0,0,26.28,26.48,28.83
$GC,5378,-0.56,-292.0,675.4,-7.1,554,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2565,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5679,-0.60,-292.0,693.4,-5.6,569,5684,0.00,1.98,0.00,0.000,4,0.000,0.050,1837,3820,3933,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5708,-0.63,-292.0,694.3,-5.3,570,5716,0.00,1.83,0.00,0.000,6,0.000,0.028,1837,2563,3933,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6017,-0.74,-292.0,717.2,-7.9,586,6024,0.17,2.00,0.00,0.000,4,0.090,0.032,1770,1185,3932,0,0,0,0,0,0,26.44,26.36,28.83
$GC,6103,-0.85,-292.0,722.8,-6.9,590,6109,0.08,2.20,0.00,0.000,6,0.064,0.041,1726,2657,3931,0,0,0,0,0,0,26.26,26.34,28.83
$GC,6417,-0.76,-292.0,783.5,-22.4,606,6419,0.12,0.00,0.00,0.000,6,0.164,0.000,1758,2658,3929,0,0,0,0,0,0,26.29,28.83,28.83
$GC,6718,-0.71,-292.0,836.9,-16.4,621,6723,0.00,2.15,0.00,0.000,4,0.000,0.031,1769,1182,3928,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6780,-0.68,-292.0,844.8,-13.9,624,6785,0.12,2.22,0.00,0.000,6,0.135,0.044,1796,2654,3927,0,0,0,0,0,0,26.13,26.28,28.83
$GC,7095,-0.67,-292.0,876.3,-9.6,640,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2654,3926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7393,-0.66,-292.0,905.2,-9.6,655,7399,0.00,2.17,0.00,0.000,4,0.000,0.033,1796,1182,3924,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7441,-0.66,-292.0,908.8,-9.4,657,7445,0.00,2.25,0.00,0.000,6,0.000,0.045,1787,2652,3924,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7748,-0.64,-292.0,941.8,-11.1,672,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,2652,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8048,-0.63,-292.0,975.6,-11.5,687,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,2651,3920,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8185,begin apogee
$GC,8192,-0.20,0.0,991.4,-11.4,694,8408,0.45,0.12,205.43,1.174,6,0.100,0.086,1946,2530,2967,0,0,0,0,0,0,26.01,24.65,23.89
$STATE,8409,end apogee,CONTROL_FINISHED_OK
$STATE,8409,begin climb
$GC,8411,0.70,292.0,1003.2,0.0,705,8689,0.77,2.28,267.55,1.167,4,0.038,0.050,2255,3810,1777,0,0,0,0,0,0,24.89,24.12,23.34
$GC,8852,0.60,292.0,917.5,27.3,727,8858,0.20,2.12,0.00,0.000,6,0.176,0.037,2208,2476,1756,0,0,0,0,0,0,25.08,25.38,28.83
$GC,9172,0.53,292.0,850.2,20.5,743,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2474,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9472,0.46,292.0,787.3,20.9,758,9478,0.15,2.12,0.00,0.000,4,0.184,0.044,2163,3822,1751,0,0,0,0,0,0,25.79,26.00,28.83
$GC,9515,0.41,292.0,779.1,20.9,760,9519,0.12,2.08,0.00,0.000,6,0.160,0.031,2141,2463,1751,0,0,0,0,0,0,25.84,26.08,28.83
$GC,9827,0.40,292.0,737.5,13.1,776,9833,0.00,2.10,0.00,0.000,4,0.000,0.039,2150,1055,1750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9861,0.39,292.0,735.0,12.9,777,9867,0.00,2.25,0.00,0.000,6,0.000,0.041,2151,2523,1749,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10167,0.37,292.0,690.7,14.4,793,10173,0.00,2.03,0.00,0.000,4,0.000,0.048,2151,3822,1749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10208,0.35,292.0,684.5,14.8,795,10212,0.15,2.05,0.00,0.000,6,0.150,0.031,2119,2466,1748,0,0,0,0,0,0,25.94,26.22,28.83
$GC,10532,0.41,337.8,651.0,9.8,811,10577,0.00,2.20,33.22,0.939,4,0.000,0.039,2130,1066,1601,0,0,0,0,1,0,28.83,25.75,24.83
$GC,10611,0.51,401.2,643.5,9.4,815,10682,0.10,2.25,59.62,1.134,6,0.037,0.041,2219,2523,1342,0,0,0,0,1,0,25.82,25.79,24.15
$GC,10990,0.45,401.2,563.2,21.8,842,11001,0.20,2.05,1.67,0.175,4,0.158,0.047,2156,3805,1341,0,0,0,0,0,0,25.63,25.84,25.54
$GC,11064,0.46,401.2,552.7,11.3,849,11073,0.00,2.03,0.00,0.000,6,0.000,0.032,2166,2465,1351,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11376,0.46,401.2,515.3,13.3,880,11385,0.00,2.10,0.00,0.000,4,0.000,0.040,2176,1068,1351,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11427,0.47,401.2,509.1,11.2,885,11436,0.00,2.25,0.00,0.000,6,0.000,0.041,2176,2525,1351,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11738,0.45,401.2,464.4,15.1,916,11747,0.00,2.20,0.00,0.000,4,0.000,0.039,2187,1070,1350,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11760,0.44,401.2,461.2,15.0,918,11769,0.12,2.22,0.00,0.000,6,0.136,0.041,2151,2524,1351,0,0,0,0,0,0,26.00,26.15,28.83
$GC,12070,0.45,401.2,426.5,11.5,949,12073,0.00,2.20,0.00,0.000,4,0.000,0.037,2161,1057,1351,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12102,0.47,401.2,423.1,11.0,952,12111,0.00,2.22,0.00,0.000,6,0.000,0.040,2161,2522,1351,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12411,0.47,401.2,385.1,13.1,983,12420,0.00,2.20,0.00,0.000,4,0.000,0.038,2172,1051,1351,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12453,0.50,405.0,380.5,10.9,987,12463,0.00,2.22,3.28,0.561,6,0.000,0.041,2172,2523,1326,0,0,0,0,0,0,28.83,26.22,25.01
$GC,12762,0.50,405.0,340.2,13.6,1018,12772,0.00,2.25,2.08,0.252,4,0.000,0.040,2183,1057,1328,0,0,0,0,0,0,28.83,26.27,24.83
$GC,12788,0.50,405.0,337.2,13.4,1020,12795,0.00,2.22,0.00,0.000,6,0.000,0.040,2183,2527,1337,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13095,0.48,405.0,294.5,14.2,1051,13116,0.00,12.90,1.98,0.181,4,0.000,0.003,2183,3984,1337,0,0,84,1,0,0,28.83,26.20,25.78
$STATE,13119,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,13132,238.30,0.717,1,0,434,624.04
$SM_GC,1.00,5.18,2.35,0.00,0.030,0.033,0.000,129,2462,449,-5.80,0.23,620.61,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12203.80,071211,232351
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.3,32.627
$10V_AH,10.2,22.916
$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,15.425,134.625,574.825,238.300,0.000,29.067,16.944,205.457,0.000,0.000,17.689,2601.409,9716.581,901.293,2281.448,284.235,0.000,2089.168,0.000,1905.426,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,86.445,1173.510,716.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,717.739,1502.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324740
$DATA_FILE_SIZE,70397,1053
$CAP_FILE_SIZE,152819,8
$CFSIZE,260165632,209162240
$ERRORS,0,1,0,0,0,0,0,0,0,1,0,0,84,3,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,ROLL_DEAD
$GPS,081211,074525,2314.594,12201.823,37,1.2,37,-3.1