version: 66.11
glider: 191
mission: 5
dive: 63
start: 10 4 112 5 25 29
data:
$ID,191
$MISSION,5
$DIVE,63
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,350
$N_FILEKB,8
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3880.1208
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$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,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,041012,051528,2451.359,-3819.863,41,0.8,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.1
$GPS2,041012,052500,2451.438,-3819.851,19,0.9,20,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,midP
$TGT_LATLONG,2450.000,-3844.000
$TGT_RADIUS,1852.000
$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,267.1,40675,-13.3,-6.049,-18.38
$D_GRID,980
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.75,0.000,6,0.000,0.000,155,1512,3460,0,0,0,0,0,0,28.83,28.83,14.92
$GC,86,-0.60,-97.3,4.4,-9.1,4,100,9.35,1.90,0.00,0.000,4,0.426,0.080,1996,435,3463,0,0,0,0,0,0,14.47,14.69,28.83
$GC,324,-0.50,-97.3,46.8,-15.4,20,328,0.15,1.80,0.00,0.000,6,0.278,0.052,2025,1497,3465,0,0,0,0,0,0,14.63,14.81,28.83
$GC,624,-0.46,-97.3,79.5,-7.5,40,628,0.00,1.88,0.00,0.000,4,0.000,0.092,2022,441,3466,0,0,0,0,0,0,28.83,14.77,28.83
$GC,715,-0.41,-97.3,87.4,-9.1,46,719,0.15,1.80,0.00,0.000,6,0.259,0.051,2050,1511,3466,0,0,0,0,0,0,14.71,14.84,28.83
$GC,1014,-0.41,-97.3,112.9,-8.8,66,1018,0.00,1.92,0.00,0.000,4,0.000,0.093,2051,436,3468,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1119,-0.39,-97.3,123.1,-9.7,73,1123,0.00,1.80,0.00,0.000,6,0.000,0.050,2045,1511,3467,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1418,-0.39,-97.3,144.1,-6.1,93,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1512,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.39,-97.3,160.4,-5.9,113,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1512,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.39,-97.3,181.7,-7.8,133,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1512,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,-0.39,-97.3,204.9,-7.6,153,2322,0.00,1.90,0.00,0.000,4,0.000,0.093,2045,441,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2469,-0.39,-97.3,216.4,-7.4,163,2472,0.00,1.77,0.00,0.000,6,0.000,0.052,2037,1496,3467,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2769,-0.39,-97.3,233.7,-5.3,183,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1499,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.39,-97.3,250.2,-5.9,203,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1500,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3369,-0.39,-97.3,271.9,-7.6,213,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1500,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3668,-0.39,-97.3,291.9,-6.3,223,3672,0.00,1.88,0.00,0.000,4,0.000,0.096,2037,441,3464,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3743,-0.39,-97.3,297.2,-6.9,226,3748,0.12,1.77,0.00,0.000,6,0.251,0.053,2057,1503,3464,0,0,0,0,0,0,14.82,14.97,28.83
$GC,4060,-0.41,-97.3,316.5,-6.3,237,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1505,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-0.44,-97.3,335.7,-6.5,247,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1505,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4660,-0.46,-97.3,355.2,-6.4,257,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1505,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-0.49,-97.3,373.0,-5.8,267,4963,0.00,1.90,0.00,0.000,4,0.000,0.098,2058,440,3459,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5064,-0.51,-97.3,379.7,-6.4,271,5068,0.00,1.80,0.00,0.000,6,0.000,0.055,2053,1509,3459,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5380,-0.53,-97.3,399.3,-6.5,282,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,1511,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5679,-0.55,-97.3,419.2,-6.4,292,5681,0.12,0.00,0.00,0.000,6,0.141,0.000,2003,1511,3457,0,0,0,0,0,0,14.97,28.83,28.83
$GC,5979,-0.53,-97.3,441.7,-7.4,302,5983,0.00,1.90,0.00,0.000,4,0.000,0.098,2003,443,3456,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6114,-0.49,-97.3,452.8,-8.4,307,6119,0.15,1.77,0.00,0.000,6,0.254,0.054,2029,1499,3455,0,0,0,0,0,0,14.77,14.95,28.83
$GC,6430,-0.49,-97.3,474.1,-6.8,318,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1501,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6729,-0.49,-97.3,495.9,-7.1,328,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1501,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7028,-0.49,-97.3,515.3,-6.3,338,7032,0.00,1.90,0.00,0.000,4,0.000,0.098,2029,437,3452,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7117,-0.49,-97.3,520.6,-6.8,341,7121,0.00,1.80,0.00,0.000,6,0.000,0.055,2024,1505,3452,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7419,-0.49,-97.3,541.2,-6.6,351,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1506,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7719,-0.49,-97.3,561.9,-6.9,361,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1506,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8019,-0.49,-97.3,582.5,-6.8,371,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1506,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8319,-0.49,-97.3,600.4,-5.8,381,8322,0.00,1.92,0.00,0.000,4,0.000,0.100,2024,434,3448,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8468,-0.48,-97.3,609.3,-6.8,386,8472,0.00,1.80,0.00,0.000,6,0.000,0.056,2016,1498,3447,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8769,-0.48,-97.3,629.5,-6.7,396,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1500,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,-0.48,-97.3,651.7,-7.7,406,9072,0.00,1.90,0.00,0.000,4,0.000,0.099,2016,441,3445,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9188,-0.47,-97.3,660.7,-8.6,410,9193,0.12,1.80,0.00,0.000,6,0.259,0.056,2034,1503,3445,0,0,0,0,0,0,14.74,14.93,28.83
$GC,9490,-0.49,-97.3,679.9,-5.6,420,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1504,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,-0.50,-97.3,695.2,-5.0,430,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1504,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10089,-0.52,-97.3,712.3,-6.1,440,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1504,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10390,-0.54,-97.3,733.1,-7.1,450,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1504,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10689,-0.56,-97.3,752.9,-6.3,460,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1504,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10989,-0.58,-97.3,769.3,-5.1,470,10993,0.00,1.92,0.00,0.000,4,0.000,0.103,2035,442,3439,0,0,0,0,0,0,28.83,14.82,28.83
$GC,11095,-0.59,-97.3,775.3,-5.7,474,11099,0.00,1.80,0.00,0.000,6,0.000,0.059,2030,1499,3438,0,0,0,0,0,0,28.83,14.90,28.83
$GC,11410,-0.61,-97.3,791.1,-5.0,485,11412,0.12,0.00,0.00,0.000,6,0.149,0.000,1984,1500,3437,0,0,0,0,0,0,14.89,28.83,28.83
$GC,11709,-0.58,-97.3,811.7,-7.2,495,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1500,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12009,-0.56,-97.3,834.9,-8.1,505,12013,0.00,1.92,0.00,0.000,4,0.000,0.104,1984,439,3435,0,0,0,0,0,0,28.83,14.80,28.83
$GC,12098,-0.53,-97.3,841.8,-9.0,508,12103,0.17,1.83,0.00,0.000,6,0.265,0.060,2016,1504,3434,0,0,0,0,0,0,14.65,14.88,28.83
$GC,12399,-0.53,-97.3,863.6,-6.6,518,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1505,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12699,-0.53,-97.3,883.5,-6.6,528,12700,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1505,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12998,-0.53,-97.3,904.2,-7.1,538,13000,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1505,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13299,-0.53,-97.3,924.0,-6.4,548,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1505,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13599,-0.53,-97.3,942.7,-6.2,558,13603,0.00,1.95,0.00,0.000,4,0.000,0.106,2016,438,3430,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13718,-0.53,-97.3,950.1,-7.1,562,13721,0.00,1.83,0.00,0.000,6,0.000,0.062,2011,1497,3429,0,0,0,0,0,0,28.83,14.85,28.83
$GC,14019,-0.53,-97.3,970.5,-6.5,572,14020,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1499,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14167,begin apogee
$GC,14171,-0.18,0.0,980.6,-6.6,577,14292,0.43,0.00,113.00,2.359,6,0.219,0.000,2126,1499,3062,0,0,0,0,1,0,14.64,28.83,13.19
$STATE,14294,end apogee,CONTROL_FINISHED_OK
$STATE,14294,begin climb
$GC,14296,0.60,97.3,983.7,0.0,581,14433,0.85,0.00,128.73,2.398,6,0.145,0.000,2378,1499,2665,0,0,0,0,1,0,14.12,28.83,13.19
$GC,14724,0.54,97.3,962.1,7.3,596,14725,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1499,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15024,0.48,97.3,942.1,6.7,606,15026,0.15,0.00,0.00,0.000,6,0.285,0.000,2346,1499,2659,0,0,0,0,0,0,14.58,28.83,28.83
$GC,15325,0.48,117.4,925.9,5.2,616,15372,0.00,2.00,36.92,1.509,4,0.000,0.112,2352,439,2584,0,0,0,0,1,0,28.83,14.54,13.72
$GC,15459,0.46,132.6,918.5,5.4,620,15503,0.00,1.88,33.70,1.399,6,0.000,0.063,2352,1509,2524,0,0,0,0,1,0,28.83,14.66,13.62
$GC,15820,0.44,135.5,897.8,5.9,632,15827,0.00,2.00,2.95,2.036,4,0.000,0.111,2359,438,2509,0,0,0,0,0,0,28.83,14.66,13.90
$GC,15895,0.40,135.5,892.4,6.8,635,15899,0.17,1.85,0.00,0.000,6,0.256,0.063,2320,1502,2509,0,0,0,0,0,0,14.60,14.73,28.83
$GC,16211,0.40,136.0,873.8,6.0,646,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1502,2508,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28913,end climb,SURFACE_DEPTH_REACHED
$STATE,28913,begin surface coast
$FINISH,0.7,1.024314
$STATE,28929,end surface coast,CONTROL_FINISHED_OK
$STATE,28929,begin surface
$SM_CCo,28945,45.58,0.768,0,0,1633,350.04
$SM_GC,1.31,6.57,0.00,45.58,0.076,0.000,0.768,159,1496,1633,-6.29,-0.11,350.04,0,0,0,0,0,0,14.78,28.83,14.30
$IRIDIUM_FIX,2441.81,-3814.37,031012,212137
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.86
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,27.00
$XPDR_PINGS,1
$SC_FREEKB,7745952
$TM_FREEKB,7324160
$24V_AH,13.2,32.289
$10V_AH,13.4,0.000
$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,19.325,111.875,577.175,45.575,0.000,0.000,0.000,340.025,0.250,0.000,20.806,3252.246,22794.650,870.868,2414.509,225.856,0.000,2191.821,0.000,1899.744,0.000,0.550,0.000
$DEVICE_MAMPS,426.105,111.690,2398.275,768.060,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28968.000,6583.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.185,13.121,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,43305,1187
$CAP_FILE_SIZE,245828,0
$CFSIZE,260034560,249290752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$CURRENT,0.045,352.1,1
$GPS,041012,132958,2451.136,-3823.078,38,0.7,38,-14.1