version: 66.11
glider: 191
mission: 5
dive: 422
start: 2 2 113 7 18 52
data:
$ID,191
$MISSION,5
$DIVE,422
$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,-5135.7349
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,020213,070835,2457.883,-3742.703,29,1.0,29,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-53.3
$GPS2,020213,071822,2457.950,-3742.744,19,0.9,20,-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,313.3,40159,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-60.80,0.000,2,0.000,0.000,162,1499,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.60,-97.3,3.5,-7.1,4,105,9.73,1.90,-2.85,0.000,4,0.405,0.106,1997,460,3460,1,0,0,0,0,0,13.71,14.46,14.80
$GC,325,-0.57,-97.3,28.7,-6.0,20,328,0.00,1.83,0.00,0.000,6,0.000,0.042,1991,1533,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,626,-0.55,-97.3,51.6,-7.5,40,629,0.00,1.95,0.00,0.000,4,0.000,0.082,1992,463,3463,0,0,0,0,0,0,28.83,14.35,28.83
$GC,715,-0.53,-97.3,59.0,-7.7,46,720,0.15,1.80,0.00,0.000,6,0.239,0.041,2017,1524,3463,0,0,0,0,0,0,14.15,14.46,28.83
$GC,1016,-0.53,-97.3,77.1,-7.0,66,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1315,-0.53,-97.3,97.6,-7.0,86,1319,0.00,1.95,0.00,0.000,4,0.000,0.083,2017,457,3462,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1435,-0.53,-97.3,106.1,-7.3,94,1439,0.00,1.80,0.00,0.000,6,0.000,0.041,2012,1521,3462,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1735,-0.53,-97.3,127.6,-6.9,114,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2035,-0.53,-97.3,145.7,-5.2,134,2039,0.00,1.92,0.00,0.000,4,0.000,0.081,2012,460,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2139,-0.53,-97.3,151.9,-6.0,141,2143,0.00,1.80,0.00,0.000,6,0.000,0.041,2005,1524,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2439,-0.53,-97.3,170.6,-6.6,161,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2739,-0.53,-97.3,193.8,-8.3,181,2743,0.00,1.95,0.00,0.000,4,0.000,0.083,2004,457,3464,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2859,-0.53,-97.3,203.8,-8.4,189,2863,0.00,1.80,0.00,0.000,6,0.000,0.041,1996,1522,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3159,-0.53,-97.3,224.7,-6.8,209,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.53,-97.3,247.3,-7.8,229,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.53,-97.3,270.1,-6.7,241,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.53,-97.3,290.7,-7.1,251,4078,0.00,1.80,0.00,0.000,4,0.000,0.053,1988,2576,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4134,-0.53,-97.3,294.1,-7.3,253,4139,0.12,1.88,0.00,0.000,6,0.228,0.062,2014,1516,3463,0,0,0,0,0,0,14.21,14.47,28.83
$GC,4437,-0.55,-97.3,315.7,-6.6,263,4441,0.00,1.90,0.00,0.000,4,0.000,0.083,2014,466,3463,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4525,-0.56,-97.3,320.7,-6.5,266,4529,0.00,1.77,0.00,0.000,6,0.000,0.041,2009,1521,3463,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4828,-0.58,-97.3,336.7,-4.5,276,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5126,-0.59,-97.3,350.2,-4.7,286,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5425,-0.61,-97.3,366.7,-5.9,296,5429,0.00,1.92,0.00,0.000,4,0.000,0.083,2009,464,3461,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5500,-0.61,-97.3,372.2,-7.1,299,5504,0.00,1.80,0.00,0.000,6,0.000,0.041,2002,1528,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5815,-0.61,-97.3,396.9,-8.2,310,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1529,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.62,-97.3,422.4,-8.6,320,6119,0.00,1.95,0.00,0.000,4,0.000,0.085,2001,463,3459,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6204,-0.62,-97.3,429.0,-8.8,323,6208,0.00,1.80,0.00,0.000,6,0.000,0.042,1994,1525,3459,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6504,-0.62,-97.3,453.4,-7.3,333,6508,0.00,1.80,0.00,0.000,4,0.000,0.054,1986,2576,3458,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6563,-0.62,-97.3,456.6,-7.1,335,6567,0.00,1.88,0.00,0.000,6,0.000,0.063,1986,1524,3458,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6865,-0.62,-97.3,478.4,-6.8,345,6869,0.00,1.95,0.00,0.000,4,0.000,0.085,1986,456,3457,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6924,-0.62,-97.3,481.9,-7.2,347,6927,0.00,1.83,0.00,0.000,6,0.000,0.043,1979,1528,3457,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7224,-0.62,-97.3,505.9,-7.9,357,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7525,-0.62,-97.3,528.4,-7.3,367,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7825,-0.62,-97.3,548.2,-6.4,377,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8125,-0.62,-97.3,567.9,-6.9,387,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8425,-0.62,-97.3,589.3,-7.0,397,8428,0.00,1.98,0.00,0.000,4,0.000,0.087,1978,460,3453,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8530,-0.61,-97.3,597.0,-7.4,401,8534,0.00,1.83,0.00,0.000,6,0.000,0.043,1970,1526,3453,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8849,-0.60,-97.3,616.3,-5.9,412,8856,0.00,1.83,0.00,0.000,4,0.000,0.055,1965,2577,3452,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8919,-0.60,-97.3,619.6,-5.7,414,8924,0.15,1.90,0.00,0.000,6,0.229,0.066,1995,1516,3451,0,0,0,0,0,0,14.07,14.38,28.83
$GC,9224,-0.61,-97.3,635.4,-5.2,424,9231,0.00,1.95,0.00,0.000,4,0.000,0.088,1995,461,3451,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9353,-0.61,-97.3,643.6,-6.8,428,9357,0.00,1.83,0.00,0.000,6,0.000,0.043,1990,1527,3449,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9656,-0.61,-97.3,667.0,-7.8,438,9659,0.00,1.83,0.00,0.000,4,0.000,0.054,1982,2579,3449,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9730,-0.62,-97.3,672.8,-7.8,441,9734,0.00,1.90,0.00,0.000,6,0.000,0.064,1982,1519,3448,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10045,-0.62,-97.3,695.6,-6.8,452,10049,0.00,1.95,0.00,0.000,4,0.000,0.087,1983,462,3447,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10163,-0.62,-97.3,702.9,-6.9,456,10167,0.00,1.83,0.00,0.000,6,0.000,0.043,1975,1526,3447,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10465,-0.62,-97.3,720.9,-5.6,466,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1527,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10766,-0.62,-97.3,737.6,-5.5,476,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1526,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11065,-0.62,-97.3,754.9,-6.0,486,11069,0.00,1.98,0.00,0.000,4,0.000,0.089,1974,467,3444,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11141,-0.62,-97.3,760.2,-6.9,489,11145,0.00,1.83,0.00,0.000,6,0.000,0.045,1968,1523,3444,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11455,-0.62,-97.3,783.2,-7.6,500,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1524,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,-0.62,-97.3,808.0,-8.7,510,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1524,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12055,-0.62,-97.3,835.5,-9.2,520,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1524,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12354,-0.62,-97.3,860.4,-7.8,530,12356,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1524,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12656,-0.62,-97.3,879.2,-5.5,540,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1524,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12955,-0.62,-97.3,893.2,-4.4,550,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1524,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13256,-0.62,-97.3,906.5,-4.7,560,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1524,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13554,-0.62,-97.3,923.4,-6.2,570,13558,0.00,2.00,0.00,0.000,4,0.000,0.092,1967,466,3436,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13630,-0.61,-97.3,929.4,-7.6,573,13634,0.15,1.85,0.00,0.000,6,0.253,0.048,1990,1520,3437,0,0,0,0,0,0,13.86,14.33,28.83
$GC,13950,-0.62,-97.3,953.4,-8.3,584,13956,0.00,1.85,0.00,0.000,4,0.000,0.060,1986,2574,3435,0,0,0,0,0,0,28.83,14.18,28.83
$GC,14019,-0.64,-97.3,958.7,-8.6,586,14023,0.00,1.92,0.00,0.000,6,0.000,0.070,1985,1524,3435,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,14257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14257,begin apogee
$GC,14266,-0.18,0.0,982.7,-9.5,594,14392,0.55,0.00,114.47,1.879,6,0.203,0.000,2129,1393,3065,0,0,0,0,1,0,13.76,28.83,12.90
$STATE,14394,end apogee,CONTROL_FINISHED_OK
$STATE,14394,begin climb
$GC,14397,0.60,97.3,991.5,0.0,598,14536,0.80,2.03,127.35,1.871,4,0.106,0.098,2389,346,2665,0,0,0,0,1,0,14.21,14.13,12.97
$GC,14739,0.63,199.2,998.5,1.7,610,14879,0.00,1.85,129.27,1.877,6,0.000,0.048,2389,1416,2251,0,0,0,0,1,0,28.83,14.53,13.02
$GC,15190,0.58,199.2,970.8,7.7,626,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1416,2244,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28122,end climb,SURFACE_DEPTH_REACHED
$STATE,28122,begin surface coast
$FINISH,0.1,1.011429
$STATE,28141,end surface coast,CONTROL_FINISHED_OK
$STATE,28141,begin surface
$SM_CCo,28221,0.00,0.000,0,0,1755,320.36
$SM_GC,1.11,6.62,0.15,0.00,0.064,0.099,0.000,153,1524,1755,-6.30,-1.44,320.36,0,0,0,0,0,0,14.41,14.60,28.83
$IRIDIUM_FIX,2444.18,-3738.75,010213,222259
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.53
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.60
$XPDR_PINGS,4
$SC_FREEKB,7608064
$24V_AH,12.9,200.061
$10V_AH,12.7,0.000
$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,20.025,159.500,585.200,0.000,0.000,0.000,0.000,313.375,1.000,0.000,21.160,3298.841,21605.289,872.052,2365.559,646.585,0.000,2201.740,0.000,1966.815,0.000,0.550,0.000
$DEVICE_MAMPS,405.450,107.865,1952.280,0.000,0.000,0.000,0.000,169.065,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28193.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.209,0.000,0.000,0.000
$MEM,345516
$DATA_FILE_SIZE,43291,1174
$CAP_FILE_SIZE,249330,0
$CFSIZE,260034560,200454144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.024,344.9,1
$GPS,020213,151034,2459.727,-3745.332,39,0.8,39,-13.9