version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 200
start: 8 23 116 11 8 38
data:
$ID,542
$MISSION,14
$DIVE,200
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$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,333
$T_MISSION,343
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,150
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-41440.977
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.17088
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$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,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,230816,105552,-4304.757,830.160,158,1.0,158,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.0
$GPS2,230816,110748,-4304.697,830.169,26,1.2,26,-25.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,-4305.930,830.000
$TGT_RADIUS,1000.000
$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,209.5,2295,-16.6,-10.010,-19.51,2679
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.58,-97.3,138,1942,2050,1948,0.0,0.0,0,63,0.00,0.00,-43.08,0.000,16390,0.000,0.000,138,1942,3098,3178,3018,0,0,0,0,0,0,28.83,28.83,26.29
$GC,65,-0.58,-97.3,138,1942,3178,3019,3.1,-5.2,7,81,9.07,2.28,0.00,0.000,2308,0.240,0.048,2367,3379,3100,3181,3019,0,0,0,0,0,0,25.28,25.81,28.83
$GC,272,-0.58,-97.3,1408,3378,3160,3014,35.4,-14.4,46,279,0.00,2.30,0.00,0.000,1030,0.000,0.054,2367,1953,3101,3185,3018,0,0,0,0,0,0,28.83,25.83,28.83
$GC,403,-0.58,-97.3,2367,1952,3186,3018,55.3,-15.0,71,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1952,3102,3185,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,717,-0.58,-97.3,2367,1952,3186,3018,102.1,-14.8,132,727,0.00,2.28,0.00,0.000,516,0.000,0.065,2366,548,3101,3185,3018,0,0,0,0,0,0,28.83,25.90,28.83
$GC,782,-0.58,-97.3,2367,548,3186,3018,112.2,-16.2,138,789,0.00,2.28,0.00,0.000,1030,0.000,0.054,2357,1957,3102,3186,3019,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1090,-0.58,-97.3,2357,1957,3186,3018,161.6,-15.4,169,1098,0.00,2.25,0.00,0.000,260,0.000,0.060,2346,3370,3102,3186,3018,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1252,-0.58,-97.3,2346,3370,3186,3018,185.8,-14.0,185,1261,0.15,2.22,0.00,0.000,3078,0.180,0.052,2382,1955,3102,3186,3018,0,0,0,0,0,0,25.75,26.05,28.83
$GC,1562,-0.58,-97.3,2381,1955,3187,3019,226.2,-13.8,216,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3102,3186,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1863,-0.58,-97.3,2381,1955,3187,3019,268.6,-14.2,246,1872,0.00,2.22,0.00,0.000,260,0.000,0.060,2373,3366,3103,3187,3019,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1907,-0.58,-97.3,1556,3365,3169,3015,274.6,-13.9,250,1915,0.00,2.28,0.00,0.000,1030,0.000,0.052,2373,1955,3103,3187,3019,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2215,-0.58,-97.3,2373,1955,3187,3018,314.6,-12.6,281,2224,0.00,2.28,0.00,0.000,516,0.000,0.064,2373,538,3103,3187,3019,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2257,-0.58,-97.3,2373,538,3187,3019,320.1,-13.6,285,2265,0.00,2.25,0.00,0.000,1030,0.000,0.053,2363,1960,3103,3187,3019,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2566,-0.58,-97.3,2363,1960,3187,3019,361.0,-13.4,316,2576,0.00,2.25,0.00,0.000,260,0.000,0.060,2352,3369,3103,3187,3019,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2621,-0.58,-97.3,2352,3369,3188,3019,368.2,-13.4,321,2629,0.08,2.28,0.00,0.000,3078,0.164,0.051,2375,1955,3103,3187,3019,0,0,0,0,0,0,25.89,26.13,28.83
$GC,2928,-0.58,-97.3,2375,1954,3188,3019,408.1,-12.7,349,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3103,3188,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3229,-0.58,-97.3,2375,1954,3187,3019,442.6,-10.9,364,3235,0.00,2.25,0.00,0.000,260,0.000,0.061,2367,3369,3103,3187,3019,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3302,-0.58,-97.3,2367,3369,3187,3019,449.2,-11.0,367,3309,0.00,2.22,0.00,0.000,1030,0.000,0.052,2367,1954,3103,3188,3019,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3608,-0.58,-97.3,2367,1954,3187,3018,485.9,-12.0,383,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1954,3103,3187,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3908,-0.58,-97.3,2367,1954,3188,3018,522.4,-11.9,398,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1953,3103,3188,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4209,-0.58,-97.3,2367,1954,3188,3018,558.2,-11.9,413,4214,0.00,2.28,0.00,0.000,260,0.000,0.062,2357,3377,3103,3188,3018,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4261,-0.58,-97.3,2357,3377,3188,3018,563.1,-12.1,415,4269,0.00,2.25,0.00,0.000,1030,0.000,0.054,2357,1954,3103,3188,3019,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4569,-0.58,-97.3,2357,1953,3188,3018,605.2,-13.7,431,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1953,3103,3188,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4868,-0.58,-97.3,2357,1954,3188,3018,645.0,-13.0,446,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1954,3103,3188,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5168,-0.58,-97.3,2357,1954,3188,3018,683.2,-12.7,461,5172,0.00,2.28,0.00,0.000,260,0.000,0.063,2347,3369,3102,3187,3018,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5225,-0.58,-97.3,2346,3369,3188,3018,690.5,-12.9,464,5232,0.15,2.25,0.00,0.000,3078,0.181,0.054,2383,1952,3102,3187,3018,0,0,0,0,0,0,25.84,26.14,28.83
$GC,5545,-0.58,-97.3,2382,1952,3187,3017,726.4,-11.2,480,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1952,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5844,-0.58,-97.3,2382,1952,3188,3016,761.5,-12.2,495,5848,0.00,2.28,0.00,0.000,516,0.000,0.071,2383,550,3102,3188,3016,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5889,-0.58,-97.3,2382,550,3188,3016,766.2,-12.7,497,5893,0.00,2.22,0.00,0.000,1030,0.000,0.057,2375,1954,3102,3188,3016,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6196,-0.58,-97.3,2374,1955,3188,3016,807.4,-13.1,512,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1954,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.58,-97.3,2374,1955,3188,3016,845.2,-12.2,527,6502,0.00,2.28,0.00,0.000,260,0.000,0.067,2364,3376,3101,3188,3015,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6589,-0.58,-97.3,2363,3376,3188,3015,854.5,-11.7,531,6597,0.00,2.28,0.00,0.000,1030,0.000,0.057,2364,1951,3101,3188,3015,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6896,-0.58,-97.3,2363,1951,3188,3015,891.8,-11.6,547,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1951,3101,3188,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7196,-0.58,-97.3,2363,1951,3187,3013,926.6,-11.4,562,7202,0.00,2.30,0.00,0.000,260,0.000,0.067,2353,3370,3100,3187,3013,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7239,-0.58,-97.3,2353,3370,3188,3013,931.2,-11.6,564,7244,0.12,2.25,0.00,0.000,3078,0.182,0.058,2381,1954,3100,3187,3013,0,0,0,0,0,0,25.86,26.09,28.83
$GC,7552,-0.58,-97.3,2382,1953,3187,3012,963.7,-10.0,580,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1953,3100,3188,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,-0.58,-97.3,2381,1954,3188,3012,993.1,-9.5,595,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1954,3099,3187,3012,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7930,begin apogee
$GC,7934,-0.14,0.0,2381,1857,3187,3011,1000.6,-9.4,599,8032,0.47,0.00,89.18,1.742,10246,0.154,0.000,2523,1857,2699,2787,2612,0,0,0,0,0,0,25.70,28.83,23.44
$STATE,8032,end apogee,CONTROL_FINISHED_OK
$STATE,8033,begin climb
$GC,8034,0.58,97.3,2523,1857,2787,2612,1003.6,0.0,604,8132,0.73,0.00,94.07,1.688,10246,0.099,0.000,2756,1857,2303,2375,2231,0,0,0,0,0,0,24.64,28.83,22.58
$GC,8432,0.58,97.3,2756,1857,2368,2220,967.4,10.5,624,8438,0.00,2.40,0.00,0.000,260,0.000,0.068,2756,3292,2294,2368,2220,0,0,0,0,0,0,28.83,25.23,28.83
$GC,8504,0.58,97.3,2756,3292,2365,2220,960.8,10.9,627,8512,0.00,2.35,0.00,0.000,1030,0.000,0.061,2766,1884,2293,2366,2220,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8811,0.58,97.3,2766,1884,2365,2218,925.4,10.8,643,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1884,2291,2365,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,0.58,97.3,2766,1884,2365,2217,894.6,10.0,658,9117,0.00,2.30,0.00,0.000,260,0.000,0.067,2766,3290,2291,2365,2217,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9164,0.58,97.3,2766,3290,2364,2217,890.5,10.1,660,9171,0.00,2.33,0.00,0.000,1030,0.000,0.063,2776,1870,2290,2364,2216,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9472,0.58,98.1,2776,1870,2364,2216,858.0,10.0,676,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1870,2290,2364,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9772,0.59,101.8,2776,1870,2363,2215,828.4,9.9,691,9777,0.00,2.33,0.00,0.000,260,0.000,0.068,2776,3295,2289,2363,2216,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9824,0.59,101.8,2776,3295,2362,2215,824.2,10.1,693,9831,0.00,2.33,0.00,0.000,1030,0.000,0.063,2787,1866,2289,2362,2216,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10131,0.60,111.3,2787,1866,2362,2215,792.1,9.6,709,10152,0.00,2.40,11.52,1.529,8452,0.000,0.069,2787,3293,2246,2320,2172,0,0,0,0,0,0,28.83,25.84,24.73
$GC,10217,0.60,111.3,2787,3293,2318,2173,783.0,10.9,713,10222,0.12,2.33,0.00,0.000,5126,0.208,0.063,2772,1876,2245,2318,2172,0,0,0,0,0,0,25.58,25.81,28.83
$GC,10530,0.63,133.9,2772,1876,2318,2172,753.3,9.1,729,10555,0.00,0.00,23.15,1.567,8198,0.000,0.000,2772,1876,2154,2228,2080,0,0,0,0,0,0,28.83,28.83,24.34
$GC,10849,0.63,133.9,2772,1876,2223,2074,717.9,11.7,745,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1876,2148,2223,2074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11150,0.63,133.9,2772,1876,2222,2073,682.5,11.7,760,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1876,2147,2222,2073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11449,0.63,133.9,2772,1876,2222,2073,649.1,10.9,775,11453,0.00,2.30,0.00,0.000,260,0.000,0.068,2770,3290,2147,2222,2073,0,0,0,0,0,0,28.83,25.94,28.83
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$GC,12822,0.63,133.9,2789,1865,2220,2072,497.0,10.6,844,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1865,2146,2220,2072,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,13846,0.63,133.9,2800,3291,2218,2072,380.7,12.3,903,13855,0.15,2.30,0.00,0.000,5126,0.202,0.060,2777,1868,2145,2218,2072,0,0,0,0,0,0,25.77,26.10,28.83
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$STATE,16694,end climb,SURFACE_DEPTH_REACHED
$STATE,16694,begin surface coast
$FINISH,0.9,1.026643
$STATE,16712,end surface coast,CONTROL_FINISHED_OK
$STATE,16712,begin surface
$SM_CCo,16786,0.00,0.000,0,0,1799,221.01
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$IRIDIUM_FIX,-4247.91,831.99,200609,000028
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.39
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.6,29.312
$10V_AH,10.1,19.103
$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
$DEVICE_SECS,18.075,115.100,293.650,0.000,0.000,79.803,83.873,275.802,0.000,0.000,27.767,3200.898,10750.921,477.367,2897.594,198.668,0.000,1613.561,0.000,2253.980,0.000,1.011,0.000
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$SENSOR_SECS,890.843,243.004,776.555,352.118,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353120
$DATA_FILE_SIZE,83713,1245
$CAP_FILE_SIZE,154606,0
$CFSIZE,259252224,244244480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.139, 14.7,1
$GPS,230816,154950,-4305.550,830.422,36,1.4,51,-25.1