version: 66.04
glider: 160
mission: 3
dive: 266
start: 4 15 109 14 17 37
data:
$ID,160
$MISSION,3
$DIVE,266
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51810
$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,225
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-13147.183
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2613
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3046
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,146
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.900637
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,141107,6306.736,332.667,37,1.4,37,-2.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-65.0
$GPS2,141714,6306.688,332.465,15,1.6,15,-2.9
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$TGT_RADIUS,4000.000
$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,104.6,19987,-13.7,-6.875
$D_GRID,927
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.77,-116.7,0.0,0.0,0,25,0.00,0.00,-7.75,0.000,2,0.000,0.000,126,2160,2137
$GC,28,-0.77,-116.7,3.3,-0.0,1,121,8.02,2.35,-75.15,0.000,4,0.186,0.061,2364,3574,3522
$GC,128,-1.08,-116.7,3.2,-1.1,16,135,0.28,2.17,0.00,0.000,6,0.056,0.031,2258,2173,3523
$GC,473,-0.40,-116.7,58.5,-15.9,77,481,0.70,2.22,0.00,0.000,4,0.137,0.043,2480,765,3524
$GC,539,-0.65,-116.7,63.4,-5.4,88,546,0.22,2.20,0.00,0.000,6,0.054,0.035,2385,2175,3524
$GC,885,-0.49,-116.7,94.4,-9.5,149,892,0.20,0.00,0.00,0.000,6,0.115,0.000,2453,2175,3524
$GC,1231,-0.62,-116.7,117.4,-6.6,210,1237,0.12,0.00,0.00,0.000,6,0.065,0.000,2395,2176,3524
$GC,1576,-0.52,-116.7,149.5,-9.5,271,1582,0.17,0.00,0.00,0.000,6,0.116,0.000,2449,2176,3524
$GC,1895,-0.65,-116.7,171.0,-6.3,292,1897,0.15,0.00,0.00,0.000,6,0.061,0.000,2380,2176,3524
$GC,2207,-0.49,-116.7,197.9,-8.8,312,2209,0.22,0.00,0.00,0.000,6,0.115,0.000,2452,2176,3524
$GC,2522,-0.64,-116.7,216.9,-6.0,328,2524,0.15,0.00,0.00,0.000,6,0.060,0.000,2384,2176,3525
$GC,2831,-0.50,-116.7,243.8,-9.1,343,2833,0.22,0.00,0.00,0.000,6,0.115,0.000,2456,2176,3525
$GC,3142,-0.68,-116.7,262.6,-6.3,358,3144,0.17,0.00,0.00,0.000,6,0.057,0.000,2377,2176,3525
$GC,3450,-0.52,-116.7,292.1,-9.6,373,3451,0.22,0.00,0.00,0.000,6,0.116,0.000,2448,2176,3525
$GC,3759,-0.67,-116.7,313.1,-6.9,388,3764,0.15,2.22,0.00,0.000,4,0.063,0.041,2380,770,3525
$GC,3799,-0.46,-116.7,316.7,-9.8,390,3804,0.28,2.20,0.00,0.000,6,0.121,0.038,2465,2176,3525
$GC,4126,-0.69,-116.7,338.5,-6.7,406,4128,0.22,0.00,0.00,0.000,6,0.054,0.000,2370,2176,3525
$GC,4435,-0.49,-116.7,371.2,-10.7,421,4437,0.28,0.00,0.00,0.000,6,0.115,0.000,2457,2177,3525
$GC,4744,-0.71,-116.7,392.6,-7.2,436,4746,0.20,0.00,0.00,0.000,6,0.053,0.000,2371,2177,3525
$GC,5054,-0.53,-116.7,425.1,-10.7,451,5056,0.22,0.00,0.00,0.000,6,0.117,0.000,2443,2177,3525
$GC,5364,-0.67,-116.7,447.2,-6.3,466,5365,0.15,0.00,0.00,0.000,6,0.061,0.000,2375,2178,3524
$GC,5672,-0.52,-116.7,473.8,-8.3,481,5674,0.22,0.00,0.00,0.000,6,0.117,0.000,2446,2178,3525
$GC,5982,-0.70,-116.7,492.2,-6.2,496,5987,0.17,2.25,0.00,0.000,4,0.057,0.044,2368,771,3525
$GC,6015,-0.47,-116.7,495.1,-9.5,497,6023,0.30,2.20,0.00,0.000,6,0.123,0.039,2460,2168,3525
$GC,6331,-0.72,-116.7,513.5,-5.4,513,6333,0.22,0.00,0.00,0.000,6,0.054,0.000,2363,2168,3525
$GC,6639,-0.53,-116.7,537.8,-7.7,528,6644,0.22,2.22,0.00,0.000,4,0.117,0.044,2440,780,3525
$GC,6680,-0.66,-116.7,540.2,-5.6,530,6684,0.12,2.15,0.00,0.000,6,0.066,0.036,2385,2170,3525
$GC,7013,-0.57,-116.7,565.9,-8.7,546,7017,0.15,2.28,0.00,0.000,4,0.121,0.049,2431,3586,3524
$GC,7056,-0.74,-116.7,569.6,-7.3,548,7061,0.17,2.22,0.00,0.000,6,0.058,0.035,2356,2163,3524
$GC,7378,-0.51,-116.7,600.9,-9.7,564,7382,0.25,2.20,0.00,0.000,4,0.124,0.045,2440,770,3524
$GC,7502,-0.64,-116.7,610.0,-6.6,567,7508,0.00,2.17,0.00,0.000,6,0.000,0.039,2440,2154,3523
$GC,7817,-0.80,-116.7,629.2,-5.9,578,7821,0.22,2.33,0.00,0.000,4,0.057,0.051,2339,3597,3522
$GC,7850,-0.52,-116.7,632.2,-9.1,579,7855,0.35,2.25,0.00,0.000,6,0.127,0.036,2446,2144,3522
$GC,8185,-0.72,-116.7,651.4,-5.4,590,8189,0.20,2.17,0.00,0.000,4,0.058,0.046,2356,768,3521
$GC,8213,-0.54,-116.7,653.6,-9.3,591,8218,0.28,2.20,0.00,0.000,6,0.129,0.039,2438,2172,3521
$GC,8549,-0.70,-116.7,672.8,-5.6,602,8550,0.15,0.00,0.00,0.000,6,0.065,0.000,2375,2174,3519
$GC,8854,-0.58,-116.7,697.3,-8.3,612,8856,0.17,0.00,0.00,0.000,6,0.123,0.000,2430,2174,3519
$GC,9162,-0.71,-116.7,717.2,-6.5,622,9163,0.15,0.00,0.00,0.000,6,0.067,0.000,2364,2174,3517
$GC,9466,-0.54,-116.7,744.9,-9.3,632,9468,0.25,0.00,0.00,0.000,6,0.120,0.000,2443,2174,3516
$GC,9775,-0.74,-116.7,765.0,-6.5,642,9777,0.20,0.00,0.00,0.000,6,0.058,0.000,2360,2174,3515
$GC,10081,-0.55,-116.7,792.7,-9.0,652,10085,0.20,2.28,0.00,0.000,4,0.124,0.047,2428,775,3514
$GC,10124,-0.64,-116.7,796.2,-7.3,653,10128,0.00,2.20,0.00,0.000,6,0.000,0.041,2428,2165,3514
$GC,10449,-0.77,-116.7,815.5,-5.8,664,10451,0.20,0.00,0.00,0.000,6,0.059,0.000,2346,2166,3512
$GC,10755,-0.54,-116.7,841.5,-8.5,674,10757,0.30,0.00,0.00,0.000,6,0.124,0.000,2441,2166,3512
$GC,11061,-0.73,-116.7,857.7,-5.2,684,11063,0.17,0.00,0.00,0.000,6,0.062,0.000,2366,2166,3511
$GC,11370,-0.59,-116.7,881.3,-7.7,694,11371,0.20,0.00,0.00,0.000,6,0.121,0.000,2428,2167,3510
$GC,11675,-0.73,-116.7,898.3,-5.4,704,11677,0.15,0.00,0.00,0.000,6,0.067,0.000,2365,2167,3509
$GC,11981,-0.57,-116.7,922.0,-7.8,714,11986,0.20,2.28,0.00,0.000,4,0.121,0.053,2433,780,3508
$GC,12026,-0.69,-116.7,925.2,-6.4,715,12031,0.15,2.17,0.00,0.000,6,0.070,0.041,2372,2158,3508
$STATE,12065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12065,begin apogee
$GC,12071,-0.23,0.0,928.3,7.6,717,12171,0.52,0.00,97.25,1.371,6,0.120,0.000,2539,2274,3046
$STATE,12172,end apogee,CONTROL_FINISHED_OK
$STATE,12172,begin climb
$GC,12174,0.77,116.7,931.6,0.0,720,12288,0.98,2.58,105.28,1.325,4,0.072,0.051,2863,3673,2569
$GC,12312,0.30,116.7,926.9,8.1,725,12317,0.55,2.38,0.00,0.000,6,0.134,0.034,2716,2277,2567
$GC,12649,0.71,186.6,913.4,4.1,736,12715,0.32,2.45,60.17,1.332,4,0.053,0.045,2851,862,2284
$GC,12889,0.56,186.6,892.6,9.5,743,12894,0.20,2.22,0.00,0.000,6,0.131,0.037,2793,2256,2276
$GC,13224,0.65,186.6,868.5,7.2,754,13228,0.00,2.30,0.00,0.000,4,0.000,0.052,2793,3685,2276
$GC,13268,0.65,186.6,864.9,8.5,755,13272,0.00,2.25,0.00,0.000,6,0.000,0.034,2795,2245,2275
$GC,13599,0.73,186.6,840.1,7.4,766,13603,0.15,2.20,0.00,0.000,4,0.065,0.049,2864,859,2274
$GC,13654,0.53,186.6,834.7,10.5,767,13661,0.25,2.20,0.00,0.000,6,0.126,0.038,2788,2261,2273
$GC,13967,0.66,186.6,812.1,7.2,778,13971,0.12,2.28,0.00,0.000,4,0.069,0.050,2841,3688,2273
$GC,14010,0.44,186.6,807.8,9.5,779,14016,0.30,2.25,0.00,0.000,6,0.129,0.034,2751,2233,2273
$GC,14330,0.76,221.5,789.5,5.5,790,14365,0.28,2.25,29.10,1.273,4,0.054,0.046,2869,866,2142
$GC,14410,0.60,221.5,781.6,10.8,792,14415,0.22,2.20,0.00,0.000,6,0.120,0.036,2801,2255,2139
$GC,14728,0.70,221.5,756.6,7.9,803,14733,0.12,2.30,0.00,0.000,4,0.068,0.054,2855,3674,2136
$GC,14800,0.50,221.5,748.8,10.9,805,14805,0.28,2.22,0.00,0.000,6,0.124,0.036,2771,2254,2136
$GC,15129,0.75,229.9,726.7,6.5,816,15144,0.20,2.25,8.00,1.109,4,0.058,0.046,2865,860,2107
$GC,15184,0.62,229.9,721.5,9.9,817,15189,0.17,2.17,0.00,0.000,6,0.122,0.036,2813,2248,2106
$GC,15496,0.69,229.9,696.7,7.6,827,15500,0.00,2.30,0.00,0.000,4,0.000,0.052,2812,3683,2105
$GC,15569,0.69,229.9,690.5,8.7,829,15573,0.00,2.22,0.00,0.000,6,0.000,0.035,2813,2255,2105
$GC,15898,0.77,229.9,667.1,7.1,840,15902,0.15,2.20,0.00,0.000,4,0.064,0.046,2878,860,2104
$GC,15942,0.59,229.9,663.0,9.8,841,15946,0.25,2.17,0.00,0.000,6,0.123,0.035,2801,2264,2104
$GC,16260,0.74,233.7,641.5,6.7,852,16269,0.15,2.28,4.32,0.868,4,0.062,0.051,2866,3681,2093
$GC,16314,0.50,233.7,635.9,10.4,853,16319,0.30,2.22,0.00,0.000,6,0.121,0.035,2775,2254,2093
$GC,16627,0.75,233.7,614.8,7.0,863,16629,0.22,0.00,0.00,0.000,6,0.054,0.000,2869,2252,2092
$GC,16945,0.62,233.7,578.2,11.9,876,16949,0.20,2.30,0.00,0.000,4,0.114,0.048,2800,3684,2092
$GC,16990,0.70,233.7,573.6,9.4,878,16995,0.12,2.22,0.00,0.000,6,0.064,0.034,2854,2242,2092
$GC,17324,0.62,233.7,537.3,10.7,894,17325,0.15,0.00,0.00,0.000,6,0.125,0.000,2809,2242,2092
$GC,17632,0.72,233.7,509.5,8.7,909,17634,0.10,0.00,0.00,0.000,6,0.078,0.000,2855,2241,2091
$GC,17942,0.65,233.7,479.7,9.4,924,17946,0.12,2.35,0.00,0.000,4,0.125,0.051,2817,3687,2091
$GC,18002,0.65,233.7,474.4,8.4,926,18008,0.00,2.20,0.00,0.000,6,0.000,0.032,2817,2257,2091
$GC,18318,0.73,233.7,451.5,7.5,942,18322,0.00,2.17,0.00,0.000,4,0.000,0.045,2817,861,2091
$GC,18387,0.84,239.9,446.4,6.6,945,18401,0.20,2.17,6.80,0.910,6,0.056,0.035,2901,2260,2068
$GC,18719,0.61,239.9,409.3,11.3,961,18721,0.30,0.00,0.00,0.000,6,0.121,0.000,2805,2260,2067
$GC,19028,0.80,262.4,389.9,6.0,976,19052,0.20,0.00,20.62,0.958,6,0.058,0.000,2889,2260,1976
$GC,19356,0.64,262.4,355.7,10.8,992,19357,0.22,0.00,0.00,0.000,6,0.117,0.000,2818,2261,1971
$GC,19665,0.78,262.4,332.7,7.5,1007,19667,0.15,0.00,0.00,0.000,6,0.063,0.000,2884,2261,1971
$GC,19975,0.64,262.4,299.3,10.7,1022,19979,0.22,2.30,0.00,0.000,4,0.114,0.044,2805,3691,1971
$GC,20014,0.79,262.4,295.9,8.1,1024,20019,0.17,2.22,0.00,0.000,6,0.059,0.032,2882,2252,1971
$GC,20341,0.65,262.4,261.5,10.9,1040,20345,0.20,2.17,0.00,0.000,4,0.115,0.039,2822,855,1971
$GC,20390,0.81,262.4,257.2,7.9,1042,20395,0.15,2.17,0.00,0.000,6,0.060,0.032,2891,2259,1971
$GC,20712,0.65,262.4,222.3,10.9,1058,20716,0.20,2.25,0.00,0.000,4,0.116,0.044,2823,3680,1970
$GC,20779,0.65,262.4,216.3,8.3,1061,20783,0.00,2.20,0.00,0.000,6,0.000,0.031,2823,2248,1971
$GC,21096,0.77,262.4,192.8,7.6,1078,21101,0.12,2.17,0.00,0.000,4,0.066,0.044,2881,858,1971
$GC,21163,0.69,262.4,186.2,10.3,1082,21168,0.17,2.17,0.00,0.000,6,0.117,0.033,2828,2272,1971
$GC,21484,0.80,262.4,161.1,7.6,1102,21486,0.12,0.00,0.00,0.000,6,0.064,0.000,2884,2273,1972
$GC,21809,0.68,262.4,126.5,11.4,1146,21816,0.17,0.00,0.00,0.000,6,0.120,0.000,2829,2272,1972
$GC,22154,0.80,262.4,97.4,8.1,1207,22160,0.12,0.00,0.00,0.000,6,0.064,0.000,2886,2272,1972
$GC,22498,0.66,262.4,57.8,11.9,1268,22504,0.20,0.00,0.00,0.000,6,0.116,0.000,2817,2272,1973
$GC,22842,0.84,262.4,29.1,7.7,1329,22849,0.20,0.00,0.00,0.000,6,0.054,0.000,2908,2272,1973
$STATE,23050,end climb,SURFACE_DEPTH_REACHED
$STATE,23050,begin surface coast
$FINISH,2.6,1.027439
$STATE,23074,end surface coast,CONTROL_FINISHED_OK
$STATE,23074,begin surface
$SM_CCo,23152,0.00,0.000,0,0,1974,262.96
$SM_GC,3.42,7.35,0.00,0.00,0.044,0.000,0.000,132,2183,1974,-7.66,0.08,262.96
$IRIDIUM_FIX,6244.56,334.28,100798,070716
$TT8_MAMPS,0.026845
$HUMID,1665
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,22.1,44.230
$10V_AH,10.6,33.930
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,34.725,130.225,331.550,0.000,0.000,28.380,31.915,180.268,0.000,0.000,0.000,16.761,2636.473,17229.842,503.389,2593.028,543.997,0.000,1782.225,0.000,2564.254,0.000,0.534,0.000
$DEVICE_MAMPS,185.614,66.729,1371.396,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,955.030,758.100,527.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69344,1370
$CAP_FILE_SIZE,185932,0
$CFSIZE,260165632,231944192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,263.1,1
$GPS,150409,204437,6305.833,332.815,31,1.0,31,-2.9