version: 66.11
glider: 191
mission: 5
dive: 424
start: 2 2 113 23 33 1
data:
$ID,191
$MISSION,5
$DIVE,424
$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,320
$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,-5138.2524
$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,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,45
$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,10
$MINV_10V,10
$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,1
$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
$GPS1,020213,232235,2502.188,-3747.425,29,1.6,30,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-57.7
$GPS2,020213,233229,2502.213,-3747.369,19,0.9,19,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,316.5,29103,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.17,0.000,6,0.000,0.000,160,1516,3458,0,0,0,0,0,0,28.83,28.83,14.77
$GC,86,-0.60,-97.3,4.9,-10.4,4,102,9.75,1.83,0.00,0.000,4,0.402,0.051,1984,2580,3462,1,0,0,0,0,0,13.59,14.50,28.83
$GC,324,-0.60,-97.3,32.0,-8.1,20,328,0.00,1.90,0.00,0.000,6,0.000,0.063,1984,1515,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,624,-0.57,-97.3,55.1,-7.6,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.55,-97.3,80.6,-8.9,60,926,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1225,-0.53,-97.3,105.3,-7.6,80,1227,0.12,0.00,0.00,0.000,6,0.249,0.000,2010,1514,3464,0,0,0,0,0,0,14.23,28.83,28.83
$GC,1524,-0.53,-97.3,128.0,-7.9,100,1528,0.00,1.92,0.00,0.000,4,0.000,0.083,2011,460,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1585,-0.53,-97.3,132.9,-8.3,104,1589,0.00,1.80,0.00,0.000,6,0.000,0.042,2005,1521,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1884,-0.53,-97.3,154.3,-6.4,124,1888,0.00,1.83,0.00,0.000,4,0.000,0.053,1997,2580,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2036,-0.55,-97.3,163.9,-6.4,134,2040,0.00,1.88,0.00,0.000,6,0.000,0.062,1998,1521,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2336,-0.55,-97.3,183.7,-7.3,154,2339,0.00,1.92,0.00,0.000,4,0.000,0.083,1997,461,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2455,-0.53,-97.3,192.9,-7.6,162,2459,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1525,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2755,-0.53,-97.3,213.2,-6.4,182,2758,0.00,1.80,0.00,0.000,4,0.000,0.054,1981,2576,3464,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2859,-0.53,-97.3,219.8,-6.4,189,2864,0.15,1.88,0.00,0.000,6,0.222,0.063,2015,1519,3464,0,0,0,0,0,0,14.17,14.45,28.83
$GC,3160,-0.56,-97.3,234.9,-4.9,209,3164,0.00,1.92,0.00,0.000,4,0.000,0.083,2015,460,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3280,-0.57,-97.3,242.0,-6.0,217,3284,0.00,1.80,0.00,0.000,6,0.000,0.041,2011,1529,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3580,-0.58,-97.3,259.0,-5.7,232,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1530,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-0.60,-97.3,277.2,-6.2,242,3884,0.00,1.95,0.00,0.000,4,0.000,0.083,2011,460,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3955,-0.60,-97.3,282.7,-7.1,245,3959,0.00,1.80,0.00,0.000,6,0.000,0.042,2003,1521,3463,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4272,-0.61,-97.3,304.8,-7.0,256,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4571,-0.62,-97.3,325.1,-6.8,266,4574,0.00,1.92,0.00,0.000,4,0.000,0.084,2003,465,3461,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4719,-0.62,-97.3,335.6,-7.9,271,4722,0.00,1.77,0.00,0.000,6,0.000,0.041,1995,1522,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5020,-0.62,-97.3,358.2,-7.0,281,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5320,-0.62,-97.3,378.2,-6.7,291,5323,0.00,1.92,0.00,0.000,4,0.000,0.084,1995,465,3460,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5439,-0.62,-97.3,385.5,-7.0,295,5442,0.00,1.80,0.00,0.000,6,0.000,0.043,1987,1525,3459,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5741,-0.62,-97.3,404.2,-5.7,305,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1525,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6040,-0.62,-97.3,421.3,-5.8,315,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1525,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6340,-0.62,-97.3,440.7,-6.7,325,6344,0.00,1.95,0.00,0.000,4,0.000,0.085,1984,463,3458,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6414,-0.62,-97.3,446.5,-7.6,328,6418,0.00,1.80,0.00,0.000,6,0.000,0.042,1979,1520,3458,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6730,-0.62,-97.3,470.1,-7.5,339,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,-0.62,-97.3,493.0,-7.8,349,7035,0.00,1.95,0.00,0.000,4,0.000,0.085,1979,460,3456,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7089,-0.61,-97.3,496.9,-8.1,351,7093,0.00,1.80,0.00,0.000,6,0.000,0.044,1972,1519,3456,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7391,-0.60,-97.3,524.9,-9.1,361,7395,0.00,1.95,0.00,0.000,4,0.000,0.086,1970,460,3455,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7435,-0.59,-97.3,529.4,-9.5,363,7439,0.15,1.83,0.00,0.000,6,0.243,0.044,1996,1525,3455,0,0,0,0,0,0,14.10,14.52,28.83
$GC,7753,-0.60,-97.3,556.3,-8.4,374,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1527,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,-0.62,-97.3,578.5,-6.7,384,8054,0.00,1.95,0.00,0.000,4,0.000,0.087,1996,469,3453,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8124,-0.62,-97.3,583.5,-6.5,387,8128,0.00,1.80,0.00,0.000,6,0.000,0.044,1991,1521,3453,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8441,-0.62,-97.3,601.2,-5.4,398,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1522,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8741,-0.62,-97.3,618.1,-5.9,408,8744,0.00,1.95,0.00,0.000,4,0.000,0.087,1991,467,3451,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8800,-0.62,-97.3,621.0,-6.2,410,8803,0.00,1.80,0.00,0.000,6,0.000,0.044,1983,1521,3451,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9099,-0.62,-97.3,642.0,-6.7,420,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9400,-0.62,-97.3,660.8,-6.2,430,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9700,-0.62,-97.3,679.6,-6.1,440,9704,0.00,1.95,0.00,0.000,4,0.000,0.089,1982,474,3448,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9789,-0.62,-97.3,684.8,-6.7,443,9793,0.00,1.83,0.00,0.000,6,0.000,0.045,1975,1525,3448,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10091,-0.62,-97.3,704.5,-6.3,453,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1527,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10390,-0.62,-97.3,723.6,-6.4,463,10393,0.00,1.98,0.00,0.000,4,0.000,0.089,1975,467,3446,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10464,-0.62,-97.3,729.2,-7.0,466,10468,0.00,1.83,0.00,0.000,6,0.000,0.045,1967,1522,3445,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10781,-0.62,-97.3,752.1,-7.6,477,10784,0.00,1.85,0.00,0.000,4,0.000,0.057,1959,2578,3445,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10839,-0.62,-97.3,755.6,-7.9,479,10843,0.12,1.92,0.00,0.000,6,0.239,0.067,1984,1516,3444,0,0,0,0,0,0,14.03,14.33,28.83
$GC,11143,-0.62,-97.3,781.1,-8.4,489,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1516,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11440,-0.62,-97.3,805.9,-8.0,499,11443,0.00,1.98,0.00,0.000,4,0.000,0.091,1985,464,3443,0,0,0,0,0,0,28.83,14.17,28.83
$GC,11574,-0.62,-97.3,816.4,-7.9,504,11578,0.00,1.85,0.00,0.000,6,0.000,0.046,1979,1528,3442,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11891,-0.62,-97.3,836.7,-6.2,515,11894,0.00,1.85,0.00,0.000,4,0.000,0.057,1972,2579,3442,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11978,-0.62,-97.3,841.5,-6.4,518,11982,0.00,1.92,0.00,0.000,6,0.000,0.067,1972,1519,3443,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12281,-0.62,-97.3,861.7,-6.5,528,12285,0.00,1.98,0.00,0.000,4,0.000,0.090,1972,461,3440,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12369,-0.61,-97.3,867.2,-7.1,531,12374,0.12,1.85,0.00,0.000,6,0.246,0.045,1989,1523,3440,0,0,0,0,0,0,13.99,14.38,28.83
$GC,12674,-0.62,-97.3,887.4,-6.3,541,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1523,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12970,-0.67,-97.3,908.5,-7.1,551,12973,0.00,1.88,0.00,0.000,4,0.000,0.060,1985,2581,3439,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13075,-0.72,-97.3,915.6,-6.8,555,13078,0.00,1.95,0.00,0.000,6,0.000,0.069,1984,1513,3438,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13394,-0.77,-97.3,937.1,-6.7,566,13402,0.15,1.98,0.00,0.000,4,0.132,0.093,1932,463,3436,0,0,0,0,0,0,14.49,14.08,28.83
$GC,13434,-0.79,-97.3,939.4,-6.8,567,13437,0.00,1.85,0.00,0.000,6,0.000,0.047,1924,1522,3436,0,0,0,0,0,0,28.83,14.34,28.83
$GC,13736,-0.75,-97.3,964.6,-7.9,577,13739,0.00,2.00,0.00,0.000,4,0.000,0.092,1924,463,3436,0,0,0,0,0,0,28.83,14.07,28.83
$STATE,13927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13927,begin apogee
$GC,13936,-0.18,0.0,981.3,-8.5,584,14062,0.82,0.00,114.97,1.850,6,0.236,0.000,2124,1413,3061,0,0,0,0,1,0,13.63,28.83,12.90
$STATE,14064,end apogee,CONTROL_FINISHED_OK
$STATE,14064,begin climb
$GC,14068,0.60,97.3,985.7,0.0,588,14205,0.82,2.08,125.50,1.838,4,0.119,0.097,2386,339,2665,0,0,0,0,1,0,14.19,14.13,12.97
$GC,14396,0.55,134.4,981.8,4.5,600,14467,0.00,1.85,57.83,1.570,6,0.000,0.048,2386,1408,2515,0,0,0,0,1,0,28.83,14.52,13.09
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$STATE,29214,end climb,SURFACE_DEPTH_REACHED
$STATE,29214,begin surface coast
$FINISH,0.2,1.025660
$STATE,29230,end surface coast,CONTROL_FINISHED_OK
$STATE,29230,begin surface
$SM_CCo,29251,18.60,0.699,0,0,1756,320.12
$SM_GC,0.94,6.60,0.15,18.60,0.064,0.096,0.699,156,1517,1756,-6.30,-1.67,320.12,0,0,0,0,0,0,14.37,14.62,13.85
$IRIDIUM_FIX,2451.31,-3746.87,020213,151551
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.53
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.50
$XPDR_PINGS,4
$SC_FREEKB,7607296
$24V_AH,12.9,200.877
$10V_AH,10.6,0.000
$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,20.100,177.950,561.450,18.600,0.000,0.000,0.000,325.375,1.000,0.000,19.636,3431.314,22426.393,893.270,2418.636,682.499,0.000,2254.936,0.000,2014.086,0.000,0.548,0.000
$DEVICE_MAMPS,401.625,100.980,1849.770,699.210,0.000,0.000,0.000,164.475,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29283.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.199,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,46630,1222
$CAP_FILE_SIZE,263477,0
$CFSIZE,260034560,200192000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.037, 25.0,1
$GPS,030213,074205,2504.125,-3749.651,29,1.0,29,-13.9