version: 66.11
glider: 191
mission: 5
dive: 69
start: 10 6 112 5 39 30
data:
$ID,191
$MISSION,5
$DIVE,69
$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,-3888.2383
$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,23
$R_STBD_OVSHOOT,40
$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
$GPS1,061012,052859,2449.980,-3837.923,38,0.8,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.6
$GPS2,061012,053901,2449.974,-3837.891,17,1.7,17,-14.1
$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,277.9,10268,-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,-61.58,0.000,2,0.000,0.000,156,1491,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.60,-97.3,3.5,-7.3,4,100,9.27,0.00,-1.88,0.000,6,0.421,0.000,1989,1490,3462,0,0,0,0,0,0,14.45,28.83,14.89
$GC,399,-0.52,-97.3,49.3,-12.0,25,403,0.12,1.83,0.00,0.000,4,0.288,0.063,2011,2551,3465,0,0,0,0,0,0,14.64,14.78,28.83
$GC,595,-0.48,-97.3,67.0,-8.7,38,599,0.00,1.83,0.00,0.000,6,0.000,0.070,2011,1499,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,894,-0.44,-97.3,100.2,-11.9,58,899,0.15,1.88,0.00,0.000,4,0.251,0.091,2045,443,3467,0,0,0,0,0,0,14.71,14.80,28.83
$GC,984,-0.41,-97.3,110.7,-11.1,64,988,0.00,1.77,0.00,0.000,6,0.000,0.050,2040,1498,3467,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1284,-0.40,-97.3,135.9,-7.2,84,1287,0.00,1.80,0.00,0.000,4,0.000,0.061,2032,2558,3468,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1404,-0.40,-97.3,143.4,-6.0,92,1408,0.00,1.85,0.00,0.000,6,0.000,0.072,2032,1495,3468,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1704,-0.39,-97.3,161.1,-6.4,112,1709,0.12,1.88,0.00,0.000,4,0.249,0.093,2061,441,3468,0,0,0,0,0,0,14.76,14.83,28.83
$GC,1824,-0.39,-97.3,169.4,-7.1,120,1827,0.00,1.77,0.00,0.000,6,0.000,0.050,2058,1500,3468,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2124,-0.40,-97.3,187.8,-5.5,140,2128,0.00,1.80,0.00,0.000,4,0.000,0.061,2047,2563,3468,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2215,-0.42,-97.3,192.8,-5.7,146,2219,0.00,1.85,0.00,0.000,6,0.000,0.073,2047,1500,3465,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2514,-0.42,-97.3,211.3,-6.4,166,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1500,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2814,-0.42,-97.3,232.6,-7.2,186,2817,0.00,1.88,0.00,0.000,4,0.000,0.093,2047,441,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2919,-0.42,-97.3,241.0,-7.8,193,2922,0.00,1.77,0.00,0.000,6,0.000,0.051,2040,1500,3468,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3233,-0.42,-97.3,262.2,-6.1,208,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1502,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3534,-0.42,-97.3,281.0,-6.6,218,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1502,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3833,-0.42,-97.3,302.8,-7.3,228,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1502,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4135,-0.42,-97.3,321.7,-5.8,238,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1502,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4434,-0.42,-97.3,338.7,-5.9,248,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1502,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4734,-0.42,-97.3,360.3,-7.6,258,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1502,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.42,-97.3,383.4,-7.4,268,5037,0.00,1.90,0.00,0.000,4,0.000,0.096,2040,437,3460,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5152,-0.42,-97.3,391.4,-7.6,272,5156,0.00,1.80,0.00,0.000,6,0.000,0.054,2032,1509,3459,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5455,-0.42,-97.3,411.0,-6.0,282,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1511,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5753,-0.42,-97.3,429.0,-6.2,292,5757,0.00,1.90,0.00,0.000,4,0.000,0.096,2032,446,3457,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5843,-0.42,-97.3,434.6,-7.2,295,5847,0.00,1.77,0.00,0.000,6,0.000,0.054,2024,1500,3457,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6144,-0.42,-97.3,458.9,-7.9,305,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1501,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6444,-0.42,-97.3,483.3,-8.1,315,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1501,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6744,-0.42,-97.3,507.3,-7.9,325,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1501,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7044,-0.42,-97.3,531.3,-8.2,335,7048,0.00,1.90,0.00,0.000,4,0.000,0.098,2024,440,3452,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7120,-0.42,-97.3,538.3,-9.0,338,7124,0.15,1.80,0.00,0.000,6,0.247,0.055,2051,1505,3451,0,0,0,0,0,0,14.76,14.94,28.83
$GC,7436,-0.45,-97.3,560.3,-6.9,349,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1507,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7734,-0.47,-97.3,580.1,-6.5,359,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1506,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8035,-0.50,-97.3,598.7,-6.2,369,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1506,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8334,-0.53,-97.3,617.6,-6.4,379,8338,0.00,1.92,0.00,0.000,4,0.000,0.099,2048,437,3448,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8484,-0.54,-97.3,626.7,-6.9,384,8488,0.00,1.80,0.00,0.000,6,0.000,0.056,2045,1498,3447,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8785,-0.57,-97.3,645.0,-5.5,394,8787,0.12,0.00,0.00,0.000,6,0.142,0.000,1999,1499,3446,0,0,0,0,0,0,14.92,28.83,28.83
$GC,9085,-0.55,-97.3,665.5,-6.8,404,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1499,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9384,-0.54,-97.3,687.3,-7.4,414,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1499,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9685,-0.52,-97.3,711.2,-8.1,424,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1499,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9984,-0.51,-97.3,735.6,-8.0,434,9988,0.00,1.90,0.00,0.000,4,0.000,0.100,1999,445,3441,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10074,-0.49,-97.3,742.0,-8.4,437,10078,0.15,1.80,0.00,0.000,6,0.257,0.058,2024,1502,3441,0,0,0,0,0,0,14.69,14.91,28.83
$GC,10375,-0.50,-97.3,761.7,-5.8,447,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1503,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10674,-0.50,-97.3,778.6,-5.6,457,10678,0.00,1.92,0.00,0.000,4,0.000,0.102,2024,440,3439,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10779,-0.50,-97.3,785.9,-6.9,461,10782,0.00,1.83,0.00,0.000,6,0.000,0.059,2019,1506,3439,0,0,0,0,0,0,28.83,14.89,28.83
$GC,11094,-0.50,-97.3,806.4,-6.6,472,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1508,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11394,-0.50,-97.3,825.4,-6.1,482,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1508,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11694,-0.50,-97.3,842.5,-5.6,492,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1508,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11994,-0.50,-97.3,858.7,-5.3,502,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1508,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12295,-0.50,-97.3,874.8,-5.5,512,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1508,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12594,-0.50,-97.3,892.8,-6.2,522,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1508,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12894,-0.50,-97.3,913.0,-6.7,532,12898,0.00,1.95,0.00,0.000,4,0.000,0.105,2019,438,3433,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13012,-0.50,-97.3,920.9,-7.5,536,13016,0.00,1.83,0.00,0.000,6,0.000,0.061,2011,1499,3432,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13314,-0.50,-97.3,942.2,-6.5,546,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1500,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13614,-0.50,-97.3,959.9,-5.5,556,13615,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1501,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13914,-0.50,-97.3,976.7,-5.6,566,13916,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1501,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13972,begin apogee
$GC,13976,-0.18,0.0,980.0,-5.5,568,14096,0.43,0.00,111.88,2.294,6,0.215,0.000,2128,1500,3062,0,0,0,0,1,0,14.64,28.83,13.25
$STATE,14098,end apogee,CONTROL_FINISHED_OK
$STATE,14098,begin climb
$GC,14100,0.60,97.3,982.1,0.0,572,14235,0.85,0.00,126.35,2.263,6,0.144,0.000,2379,1500,2665,0,0,0,0,1,0,14.13,28.83,13.24
$GC,14529,0.54,97.3,959.8,6.6,587,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1500,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14829,0.50,113.6,942.7,5.4,597,14873,0.00,1.92,33.20,1.359,4,0.000,0.108,2387,440,2599,0,0,0,0,1,0,28.83,14.53,13.70
$GC,15010,0.43,113.6,931.1,6.7,603,15015,0.25,1.85,0.00,0.000,6,0.264,0.063,2328,1498,2600,0,0,0,0,0,0,14.52,14.67,28.83
$GC,15325,0.46,148.6,916.8,4.6,614,15391,0.00,2.03,56.22,1.935,4,0.000,0.111,2334,444,2458,0,0,0,0,1,0,28.83,14.30,13.52
$GC,15430,0.41,175.9,911.6,4.9,618,15489,0.00,1.88,47.95,1.724,6,0.000,0.062,2334,1500,2345,0,0,0,0,1,0,28.83,14.45,13.42
$GC,15788,0.41,175.9,887.7,6.9,630,15790,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1500,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16089,0.41,175.9,866.1,7.4,640,16093,0.00,1.95,0.00,0.000,4,0.000,0.109,2339,441,2338,0,0,0,0,0,0,28.83,14.70,28.83
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$STATE,28117,end climb,SURFACE_DEPTH_REACHED
$STATE,28118,begin surface coast
$FINISH,0.1,1.024483
$STATE,28134,end surface coast,CONTROL_FINISHED_OK
$STATE,28135,begin surface
$SM_CCo,28151,51.00,0.760,0,0,1635,350.04
$SM_GC,0.67,6.50,0.00,51.00,0.074,0.000,0.760,159,1506,1635,-6.30,0.17,350.04,0,0,0,0,0,0,14.81,28.83,14.33
$IRIDIUM_FIX,2441.81,-3834.77,051012,212151
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.66
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,27.00
$XPDR_PINGS,2
$SC_FREEKB,7743648
$TM_FREEKB,7263712
$24V_AH,13.2,35.128
$10V_AH,13.5,0.000
$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,19.025,122.925,581.575,51.000,0.000,0.000,0.000,360.750,0.500,0.000,17.844,3187.875,22092.584,891.652,2389.144,235.949,0.000,2212.941,0.000,1853.730,0.000,0.549,0.000
$DEVICE_MAMPS,420.750,110.925,2294.235,760.410,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28177.000,6604.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.231,13.096,0.000,0.000
$MEM,344724
$DATA_FILE_SIZE,43349,1164
$CAP_FILE_SIZE,244793,0
$CFSIZE,260034560,248475648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$CURRENT,0.035,351.7,1
$GPS,061012,133053,2450.289,-3841.361,41,0.9,41,-14.2