version: 66.09
glider: 181
mission: 6
dive: 295
start: 8 5 111 2 26 12
data:
$ID,181
$MISSION,6
$DIVE,295
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40890.734
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,15.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,050811,021937,2035.608,12001.993,32,0.8,32,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.5
$GPS2,050811,022544,2035.599,12002.102,12,1.3,12,-2.4
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WN
$TGT_LATLONG,2036.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,283.9,3718,-25.4,-11.786
$D_GRID,3522
$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
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.54,-94.1,0.0,0.0,0,92,0.00,0.00,-67.45,0.000,2,0.000,0.000,186,2663,2428,0,0,0,0,0,0
$GC,95,-0.66,-189.3,3.5,-3.8,11,135,7.93,2.20,-24.25,0.000,4,0.232,0.037,2102,1184,3641,0,0,0,0,0,0
$GC,149,-0.66,-189.3,22.2,-38.1,19,156,0.00,2.20,0.00,0.000,6,0.000,0.039,2092,2600,3642,0,0,0,0,0,0
$GC,290,-0.66,-189.3,75.1,-31.5,44,298,0.00,1.85,0.00,0.000,4,0.000,0.041,2083,3786,3642,0,0,0,0,0,0
$GC,381,-0.66,-189.3,100.7,-24.9,60,389,0.00,1.62,0.00,0.000,6,0.000,0.024,2083,2690,3642,0,0,0,0,0,0
$GC,525,-0.66,-189.3,132.2,-26.7,85,532,0.00,2.20,0.00,0.000,4,0.000,0.025,2083,1177,3642,0,0,0,0,0,0
$GC,594,-0.66,-189.3,149.9,-23.1,97,602,0.12,2.28,0.00,0.000,6,0.164,0.034,2105,2673,3643,0,0,0,0,0,0
$GC,735,-0.66,-189.3,176.7,-16.6,122,743,0.00,2.25,0.00,0.000,4,0.000,0.027,2105,1181,3644,0,0,0,0,0,0
$GC,779,-0.66,-189.3,182.4,-12.6,129,786,0.00,2.25,0.00,0.000,6,0.000,0.034,2097,2649,3644,0,0,0,0,0,0
$GC,926,-0.66,-189.3,207.8,-18.5,151,930,0.00,1.75,0.00,0.000,4,0.000,0.042,2088,3782,3644,0,0,0,0,0,0
$GC,952,-0.66,-189.3,213.3,-18.7,153,959,0.00,1.67,0.00,0.000,6,0.000,0.024,2088,2639,3644,0,0,0,0,0,0
$GC,1277,-0.66,-189.3,274.2,-17.3,184,1281,0.00,2.10,0.00,0.000,4,0.000,0.028,2088,1209,3644,0,0,0,0,0,0
$GC,1300,-0.66,-189.3,278.1,-17.8,186,1304,0.00,2.17,0.00,0.000,6,0.000,0.036,2079,2640,3644,0,0,0,0,0,0
$GC,1625,-0.66,-189.3,334.0,-17.3,216,1629,0.00,1.73,0.00,0.000,4,0.000,0.042,2070,3784,3642,0,0,0,0,0,0
$GC,1697,-0.66,-189.3,346.5,-15.2,222,1705,0.10,1.67,0.00,0.000,6,0.142,0.024,2104,2653,3641,0,0,0,0,0,0
$GC,2023,-0.66,-189.3,391.1,-14.5,253,2027,0.00,2.12,0.00,0.000,4,0.000,0.030,2103,1206,3639,0,0,0,0,0,0
$GC,2086,-0.66,-189.3,399.6,-12.5,258,2090,0.00,2.22,0.00,0.000,6,0.000,0.035,2098,2651,3638,0,0,0,0,0,0
$GC,2411,-0.66,-189.3,449.4,-16.4,288,2415,0.00,1.73,0.00,0.000,4,0.000,0.045,2089,3787,3635,0,0,0,0,0,0
$GC,2473,-0.66,-189.3,459.6,-15.2,293,2479,0.00,1.65,0.00,0.000,6,0.000,0.025,2089,2658,3634,0,0,0,0,0,0
$GC,2797,-0.66,-189.3,516.7,-18.2,320,2801,0.00,2.12,0.00,0.000,4,0.000,0.031,2089,1217,3631,0,0,0,0,0,0
$GC,2859,-0.66,-189.3,527.3,-15.4,323,2864,0.00,2.20,0.00,0.000,6,0.000,0.037,2083,2650,3631,0,0,0,0,0,0
$GC,3187,-0.66,-189.3,587.3,-18.5,339,3191,0.00,2.15,0.00,0.000,4,0.000,0.031,2083,1217,3627,0,0,0,0,0,0
$GC,3208,-0.66,-189.3,591.5,-17.7,340,3213,0.12,2.20,0.00,0.000,6,0.161,0.038,2106,2647,3626,0,0,0,0,0,0
$GC,3536,-0.66,-189.3,636.8,-13.9,356,3540,0.00,2.15,0.00,0.000,4,0.000,0.032,2107,1218,3623,0,0,0,0,0,0
$GC,3580,-0.66,-189.3,643.0,-13.1,358,3584,0.00,2.17,0.00,0.000,6,0.000,0.038,2099,2633,3623,0,0,0,0,0,0
$GC,3908,-0.66,-189.3,693.1,-15.8,374,3912,0.00,1.77,0.00,0.000,4,0.000,0.048,2090,3776,3620,0,0,0,0,0,0
$GC,3931,-0.66,-189.3,696.8,-15.9,375,3935,0.00,1.65,0.00,0.000,6,0.000,0.028,2091,2658,3619,0,0,0,0,0,0
$GC,4264,-0.66,-189.3,749.1,-15.2,391,4268,0.00,2.15,0.00,0.000,4,0.000,0.031,2090,1212,3616,0,0,0,0,0,0
$GC,4349,-0.66,-191.0,760.1,-11.6,395,4354,0.00,2.20,0.00,0.000,6,0.000,0.038,2084,2633,3615,0,0,0,0,0,0
$GC,4677,-0.66,-191.0,806.0,-14.8,411,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2634,3613,0,0,0,0,0,0
$GC,4987,-0.66,-191.0,852.6,-15.1,426,4991,0.00,1.83,0.00,0.000,4,0.000,0.049,2075,3778,3610,0,0,0,0,0,0
$GC,5002,-0.66,-191.0,855.5,-15.1,426,5010,0.08,1.73,0.00,0.000,6,0.140,0.028,2100,2655,3610,0,0,0,0,0,0
$GC,5319,-0.66,-191.0,900.5,-15.0,442,5323,0.00,2.15,0.00,0.000,4,0.000,0.034,2101,1220,3608,0,0,0,0,0,0
$GC,5413,-0.66,-191.0,914.0,-13.3,446,5417,0.00,2.17,0.00,0.000,6,0.000,0.040,2098,2615,3607,0,0,0,0,0,0
$GC,5729,-0.66,-191.0,960.5,-14.9,461,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2615,3605,0,0,0,0,0,0
$STATE,5933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5933,begin apogee
$GC,5940,-0.13,0.0,992.9,15.7,471,6087,0.52,0.00,142.30,1.088,4,0.125,0.000,2268,2122,2869,0,0,0,0,0,0
$STATE,6088,end apogee,CONTROL_FINISHED_OK
$STATE,6088,begin climb
$GC,6090,0.66,191.0,1005.8,0.0,478,6252,0.75,2.28,153.05,1.065,4,0.057,0.039,2538,730,2089,0,0,0,0,0,0
$GC,6439,0.67,200.4,985.7,11.0,494,6454,0.00,2.22,8.88,0.910,6,0.000,0.035,2538,2135,2052,0,0,0,0,0,0
$GC,6770,0.67,200.4,942.9,13.4,510,6775,0.00,2.17,0.00,0.000,4,0.000,0.037,2547,730,2049,0,0,0,0,0,0
$GC,6780,0.67,200.4,941.3,13.5,510,6787,0.00,2.15,0.00,0.000,6,0.000,0.033,2547,2121,2049,0,0,0,0,0,0
$GC,7097,0.67,200.4,893.1,15.7,526,7101,0.00,2.22,0.00,0.000,4,0.000,0.044,2547,3539,2048,0,0,0,0,0,0
$GC,7309,0.67,200.4,855.2,17.7,535,7313,0.00,2.12,0.00,0.000,6,0.000,0.028,2557,2136,2047,0,0,0,0,0,0
$GC,7632,0.67,200.4,799.0,17.6,551,7636,0.00,2.17,0.00,0.000,4,0.000,0.037,2568,713,2046,0,0,0,0,0,0
$GC,7812,0.67,200.4,768.4,16.7,559,7817,0.12,2.15,0.00,0.000,6,0.184,0.034,2540,2112,2046,0,0,0,0,0,0
$GC,8139,0.67,200.4,719.2,15.1,575,8144,0.00,2.22,0.00,0.000,4,0.000,0.045,2540,3542,2045,0,0,0,0,0,0
$GC,8180,0.67,200.4,712.3,17.7,577,8184,0.00,2.17,0.00,0.000,6,0.000,0.028,2547,2107,2044,0,0,0,0,0,0
$GC,8507,0.67,200.4,656.9,17.3,593,8511,0.00,2.12,0.00,0.000,4,0.000,0.039,2558,716,2043,0,0,0,0,0,0
$GC,8697,0.67,200.4,625.4,14.8,601,8704,0.00,2.12,0.00,0.000,6,0.000,0.034,2558,2076,2043,0,0,0,0,0,0
$GC,9014,0.67,200.4,576.3,15.7,617,9018,0.00,2.28,0.00,0.000,4,0.000,0.044,2558,3541,2043,0,0,0,0,0,0
$GC,9064,0.67,200.4,567.6,16.6,619,9069,0.12,2.20,0.00,0.000,6,0.195,0.028,2540,2084,2042,0,0,0,0,0,0
$GC,9386,0.68,209.0,527.3,11.1,635,9400,0.00,2.15,6.88,0.727,4,0.000,0.038,2548,720,2016,0,0,0,0,0,0
$GC,9491,0.68,211.4,515.4,11.6,639,9498,0.00,2.05,0.00,0.000,6,0.000,0.034,2548,2058,2016,0,0,0,0,0,0
$GC,9814,0.68,211.4,467.3,15.1,664,9818,0.00,2.30,0.00,0.000,4,0.000,0.044,2548,3542,2015,0,0,0,0,0,0
$GC,9846,0.68,211.4,461.9,15.1,666,9853,0.00,2.25,0.00,0.000,6,0.000,0.028,2558,2058,2015,0,0,0,0,0,0
$GC,10172,0.69,217.0,423.9,11.3,697,10185,0.00,2.10,7.72,0.682,4,0.000,0.038,2568,720,1984,0,0,0,0,0,0
$GC,10213,0.70,221.6,418.9,11.4,700,10223,0.00,2.05,5.38,0.533,6,0.000,0.033,2568,2065,1965,0,0,0,0,0,0
$GC,10549,0.70,221.6,366.8,16.0,732,10553,0.00,2.05,0.00,0.000,4,0.000,0.037,2577,723,1964,0,0,0,0,0,0
$GC,10584,0.70,221.6,361.3,15.6,735,10589,0.12,2.08,0.00,0.000,6,0.171,0.034,2548,2078,1964,0,0,0,0,0,0
$GC,10910,0.70,221.6,318.1,12.3,765,10914,0.00,2.25,0.00,0.000,4,0.000,0.045,2548,3533,1964,0,0,0,0,0,0
$GC,10943,0.70,221.6,313.7,13.0,767,10949,0.00,2.22,0.00,0.000,6,0.000,0.029,2556,2064,1964,0,0,0,0,0,0
$GC,11268,0.70,221.6,273.1,13.3,798,11271,0.00,2.03,0.00,0.000,4,0.000,0.037,2565,722,1965,0,0,0,0,0,0
$GC,11417,0.70,221.6,252.1,15.1,811,11421,0.00,2.03,0.00,0.000,6,0.000,0.034,2566,2053,1965,0,0,0,0,0,0
$GC,11748,0.70,221.6,202.2,12.3,842,11752,0.00,2.28,0.00,0.000,4,0.000,0.043,2566,3534,1966,0,0,0,0,0,0
$GC,11804,0.70,221.6,195.3,12.5,849,11811,0.12,2.22,0.00,0.000,6,0.185,0.028,2547,2059,1966,0,0,0,0,0,0
$GC,11946,0.79,298.2,184.9,5.4,874,12004,0.00,0.00,56.15,0.572,6,0.000,0.000,2546,2059,1652,0,0,0,0,0,0
$GC,12140,0.82,324.5,170.7,9.6,907,12167,0.12,2.12,20.60,0.535,4,0.092,0.034,2616,719,1545,0,0,0,0,0,0
$GC,12274,0.83,329.1,154.0,11.4,930,12288,0.00,2.15,5.50,0.467,6,0.000,0.033,2616,2077,1526,0,0,0,0,0,0
$GC,12422,0.83,329.1,133.0,17.1,956,12429,0.00,2.33,0.00,0.000,4,0.000,0.042,2616,3539,1525,0,0,0,0,0,0
$GC,12454,0.83,329.1,126.9,19.0,961,12462,0.15,2.22,0.00,0.000,6,0.166,0.029,2588,2083,1525,0,0,0,0,0,0
$GC,12594,0.83,329.1,103.9,15.2,986,12602,0.00,2.12,0.00,0.000,4,0.000,0.037,2596,713,1525,0,0,0,0,0,0
$GC,12791,0.93,412.0,88.3,4.8,1021,12856,0.00,2.05,60.10,0.498,6,0.000,0.032,2597,2059,1188,0,0,0,0,0,0
$GC,12992,0.98,455.8,77.7,8.1,1055,13031,0.12,2.40,33.15,0.476,4,0.083,0.041,2661,3538,1009,0,0,0,0,0,0
$GC,13050,0.99,463.8,71.4,11.1,1064,13065,0.08,2.30,7.68,0.387,6,0.142,0.028,2646,2073,977,0,0,0,0,0,0
$GC,13199,1.09,539.2,59.4,5.5,1090,13263,0.00,2.15,55.28,0.460,4,0.000,0.037,2655,724,669,0,0,0,0,0,0
$GC,13276,1.19,623.3,55.9,4.7,1102,13327,0.10,2.17,42.20,0.433,6,0.048,0.030,2719,2100,440,0,0,0,0,0,0
$GC,13462,1.19,623.3,32.0,14.2,1134,13471,0.00,2.25,1.15,0.079,4,0.000,0.036,2719,3543,442,0,0,0,0,0,0
$GC,13538,1.19,623.3,20.4,15.1,1147,13546,0.00,2.17,2.55,0.213,6,0.000,0.027,2729,2111,440,0,0,0,0,0,0
$STATE,13655,end climb,SURFACE_DEPTH_REACHED
$STATE,13655,begin surface coast
$FINISH,0.4,1.020785
$STATE,13673,end surface coast,CONTROL_FINISHED_OK
$STATE,13673,begin surface
$SM_CCo,13750,0.00,0.000,0,0,440,595.83
$SM_GC,0.99,6.55,0.00,0.00,0.034,0.000,0.000,199,2639,440,-6.52,1.10,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2027.17,12002.96,040811,222228
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.32
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.5,47.099
$10V_AH,10.0,44.819
$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,17.250,152.950,608.550,0.000,0.000,28.250,23.872,154.649,0.000,0.000,14.691,2780.291,7709.849,664.366,2623.583,336.527,0.000,1902.554,0.000,2361.151,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,48.960,1087.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,809.698,0.000,622.223,0.000,0.000,0.000,936.844,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,323004
$DATA_FILE_SIZE,70244,1171
$CAP_FILE_SIZE,159135,0
$CFSIZE,260165632,223645696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050811,061636,2035.123,12000.927,35,1.2,35,-2.4