version: 66.11
glider: 191
mission: 5
dive: 79
start: 10 9 112 13 36 4
data:
$ID,191
$MISSION,5
$DIVE,79
$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,-3902.1069
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,091012,132535,2428.437,-3845.246,33,0.8,33,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-59.6
$GPS2,091012,133535,2428.400,-3845.225,19,0.9,19,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,191.3,60040,-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,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-60.75,0.000,6,0.000,0.000,158,1500,3460,0,0,0,0,0,0,28.83,28.83,14.92
$GC,87,-0.60,-97.3,4.7,-10.1,4,101,9.20,1.88,0.00,0.000,4,0.416,0.076,1998,440,3463,0,0,0,0,0,0,14.45,14.69,28.83
$GC,310,-0.51,-97.3,46.5,-17.1,19,315,0.15,1.80,0.00,0.000,6,0.269,0.050,2025,1509,3465,0,0,0,0,0,0,14.60,14.77,28.83
$GC,610,-0.47,-97.3,76.9,-8.8,39,614,0.00,1.90,0.00,0.000,4,0.000,0.091,2025,443,3466,0,0,0,0,0,0,28.83,14.76,28.83
$GC,700,-0.42,-97.3,85.8,-10.1,45,705,0.12,1.77,0.00,0.000,6,0.267,0.050,2046,1497,3468,0,0,0,0,0,0,14.66,14.83,28.83
$GC,1000,-0.41,-97.3,110.2,-8.8,65,1004,0.00,1.80,0.00,0.000,4,0.000,0.060,2040,2560,3467,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1224,-0.41,-97.3,129.6,-8.3,80,1228,0.00,1.85,0.00,0.000,6,0.000,0.069,2040,1495,3466,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1525,-0.41,-97.3,144.3,-3.6,100,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1496,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-0.41,-97.3,157.8,-6.8,120,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1495,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-0.41,-97.3,184.4,-8.8,140,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1495,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,-0.41,-97.3,207.1,-7.2,160,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1495,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2725,-0.41,-97.3,224.9,-5.4,180,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1495,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3024,-0.41,-97.3,242.3,-6.1,200,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1495,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3326,-0.41,-97.3,264.1,-7.8,214,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1497,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3625,-0.41,-97.3,285.0,-6.5,224,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1495,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3925,-0.41,-97.3,303.0,-6.0,234,3929,0.00,1.88,0.00,0.000,4,0.000,0.094,2040,438,3462,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4030,-0.41,-97.3,311.0,-7.7,238,4034,0.00,1.80,0.00,0.000,6,0.000,0.051,2032,1514,3461,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4345,-0.41,-97.3,335.4,-7.6,249,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.41,-97.3,355.8,-6.4,259,4649,0.00,1.75,0.00,0.000,4,0.000,0.060,2024,2556,3459,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4750,-0.41,-97.3,361.9,-5.8,263,4754,0.12,1.83,0.00,0.000,6,0.239,0.071,2052,1500,3458,0,0,0,0,0,0,14.75,14.88,28.83
$GC,5067,-0.44,-97.3,377.9,-5.1,274,5071,0.00,1.88,0.00,0.000,4,0.000,0.095,2053,441,3458,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5155,-0.45,-97.3,382.5,-5.9,277,5159,0.00,1.77,0.00,0.000,6,0.000,0.052,2047,1500,3458,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5455,-0.47,-97.3,403.7,-7.3,287,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1501,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,-0.49,-97.3,426.5,-7.6,297,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1502,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6055,-0.51,-97.3,446.1,-6.0,307,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1502,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6356,-0.52,-97.3,462.7,-5.3,317,6360,0.00,1.90,0.00,0.000,4,0.000,0.096,2048,440,3452,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6460,-0.52,-97.3,468.8,-5.8,321,6464,0.00,1.80,0.00,0.000,6,0.000,0.054,2040,1509,3452,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6776,-0.54,-97.3,483.3,-4.5,332,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1509,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7076,-0.55,-97.3,498.2,-5.3,342,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1509,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7375,-0.57,-97.3,518.5,-7.3,352,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1509,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7676,-0.58,-97.3,540.8,-7.2,362,7680,0.12,1.90,0.00,0.000,4,0.144,0.096,1993,446,3448,0,0,0,0,0,0,14.92,14.85,28.83
$GC,7780,-0.55,-97.3,550.8,-9.6,366,7784,0.00,1.77,0.00,0.000,6,0.000,0.054,1985,1496,3447,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8096,-0.52,-97.3,575.3,-7.6,377,8098,0.15,0.00,0.00,0.000,6,0.262,0.000,2018,1497,3446,0,0,0,0,0,0,14.70,28.83,28.83
$GC,8395,-0.52,-97.3,595.6,-7.2,387,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1498,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8695,-0.52,-97.3,618.8,-7.8,397,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1498,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8995,-0.52,-97.3,641.6,-7.5,407,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1498,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,-0.52,-97.3,665.0,-7.8,417,9299,0.00,1.90,0.00,0.000,4,0.000,0.098,2019,443,3442,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9414,-0.52,-97.3,673.6,-8.3,421,9417,0.00,1.80,0.00,0.000,6,0.000,0.054,2014,1506,3441,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9715,-0.52,-97.3,695.7,-6.7,431,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1506,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10015,-0.52,-97.3,716.6,-7.0,441,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1507,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10315,-0.52,-97.3,737.8,-7.0,451,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1507,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10615,-0.52,-97.3,758.4,-6.8,461,10619,0.00,1.92,0.00,0.000,4,0.000,0.100,2014,443,3437,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10704,-0.52,-97.3,763.9,-7.2,464,10708,0.00,1.80,0.00,0.000,6,0.000,0.056,2006,1499,3437,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11005,-0.52,-97.3,784.5,-6.3,474,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1500,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11306,-0.52,-97.3,801.7,-5.5,484,11309,0.00,1.92,0.00,0.000,4,0.000,0.101,2006,440,3434,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11410,-0.50,-97.3,808.8,-6.8,488,11414,0.00,1.83,0.00,0.000,6,0.000,0.059,1998,1505,3434,0,0,0,0,0,0,28.83,14.87,28.83
$GC,11726,-0.49,-97.3,830.1,-7.0,499,11728,0.15,0.00,0.00,0.000,6,0.255,0.000,2032,1507,3433,0,0,0,0,0,0,14.65,28.83,28.83
$GC,12026,-0.51,-97.3,848.4,-6.5,509,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1506,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12325,-0.53,-97.3,868.5,-6.6,519,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1506,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12626,-0.55,-97.3,886.7,-5.8,529,12630,0.00,1.92,0.00,0.000,4,0.000,0.103,2032,446,3430,0,0,0,0,0,0,28.83,14.74,28.83
$GC,12701,-0.57,-97.3,891.2,-6.0,532,12704,0.00,1.83,0.00,0.000,6,0.000,0.060,2027,1508,3430,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13017,-0.59,-97.3,907.9,-5.3,543,13018,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1509,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13316,-0.60,-97.3,924.3,-5.7,553,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1509,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13616,-0.62,-97.3,943.4,-6.5,563,13618,0.12,0.00,0.00,0.000,6,0.151,0.000,1983,1509,3425,0,0,0,0,0,0,14.82,28.83,28.83
$GC,13915,-0.60,-97.3,967.3,-7.9,573,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1509,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14094,begin apogee
$GC,14098,-0.18,0.0,980.7,-7.3,579,14216,0.52,0.00,108.85,2.179,6,0.222,0.000,2125,1509,3063,0,0,0,0,1,0,14.57,28.83,13.32
$STATE,14218,end apogee,CONTROL_FINISHED_OK
$STATE,14218,begin climb
$GC,14220,0.60,97.3,983.6,0.0,583,14355,0.85,0.00,126.10,2.275,6,0.143,0.000,2378,1508,2666,0,0,0,0,1,0,14.16,28.83,13.11
$GC,14635,0.54,97.3,961.4,7.3,597,14637,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1509,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14935,0.48,97.3,940.4,6.7,607,14940,0.15,1.95,0.00,0.000,4,0.275,0.106,2352,447,2661,0,0,0,0,0,0,14.55,14.66,28.83
$GC,15025,0.43,97.3,935.6,6.5,610,15028,0.00,1.83,0.00,0.000,6,0.000,0.060,2352,1499,2660,0,0,0,0,0,0,28.83,14.75,28.83
$GC,15326,0.40,112.1,918.0,5.4,620,15365,0.12,0.00,31.02,1.297,6,0.267,0.000,2325,1500,2605,0,0,0,0,1,0,14.61,28.83,13.78
$GC,15656,0.44,150.2,902.4,4.4,631,15723,0.00,0.00,59.58,1.867,6,0.000,0.000,2326,1500,2449,0,0,0,0,1,0,28.83,28.83,13.52
$GC,16016,0.49,195.8,886.6,4.1,643,16092,0.00,2.05,66.05,1.922,4,0.000,0.110,2332,442,2264,0,0,0,0,1,0,28.83,14.18,13.40
$GC,16151,0.49,229.6,880.3,4.6,647,16215,0.00,1.88,54.22,1.783,6,0.000,0.060,2332,1497,2126,0,0,0,0,1,0,28.83,14.42,13.38
$GC,16525,0.50,229.6,857.8,6.6,660,16526,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1497,2121,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,27654,end climb,SURFACE_DEPTH_REACHED
$STATE,27654,begin surface coast
$FINISH,0.8,1.024382
$STATE,27670,end surface coast,CONTROL_FINISHED_OK
$STATE,27670,begin surface
$SM_CCo,27686,54.75,0.753,0,0,1634,350.04
$SM_GC,0.77,6.43,0.00,54.75,0.070,0.000,0.753,159,1502,1634,-6.30,0.08,350.04,0,0,0,0,0,0,14.79,28.83,14.32
$IRIDIUM_FIX,2420.48,-3845.88,091012,050500
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.06
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,27.00
$XPDR_PINGS,1
$SC_FREEKB,7739808
$TM_FREEKB,7161984
$24V_AH,13.1,39.629
$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,18.800,115.525,535.850,54.750,0.000,0.000,0.000,354.925,0.250,0.000,20.210,3146.972,21740.949,832.796,2354.416,260.346,0.000,2127.704,0.000,1824.206,0.000,0.551,0.000
$DEVICE_MAMPS,416.160,110.160,2275.110,752.760,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27695.000,6407.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.160,13.124,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,39992,1143
$CAP_FILE_SIZE,238825,0
$CFSIZE,260034560,247128064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.050,322.0,1
$GPS,091012,211935,2425.938,-3845.700,28,1.1,28,-14.2